diff options
Diffstat (limited to 'rtos')
28 files changed, 6098 insertions, 3252 deletions
diff --git a/rtos/FreeRTOS/Source/croutine.c b/rtos/FreeRTOS/Source/croutine.c index 0f481a5..ccc9bb2 100644 --- a/rtos/FreeRTOS/Source/croutine.c +++ b/rtos/FreeRTOS/Source/croutine.c @@ -1,60 +1,64 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following + FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html - 1 tab == 4 spaces! - *************************************************************************** * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * * * - * http://www.FreeRTOS.org/FAQHelp.html * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and @@ -67,6 +71,9 @@ #include "task.h" #include "croutine.h" +/* Remove the whole file is co-routines are not being used. */ +#if( configUSE_CO_ROUTINES != 0 ) + /* * Some kernel aware debuggers require data to be viewed to be global, rather * than file scope. @@ -292,7 +299,7 @@ CRCB_t *pxCRCB; have been moved to the pending ready list and the following line is still valid. Also the pvContainer parameter will have been set to NULL so the following lines are also valid. */ - uxListRemove( &( pxCRCB->xGenericListItem ) ); + ( void ) uxListRemove( &( pxCRCB->xGenericListItem ) ); /* Is the co-routine waiting on an event also? */ if( pxCRCB->xEventListItem.pvContainer ) @@ -384,3 +391,5 @@ BaseType_t xReturn; return xReturn; } +#endif /* configUSE_CO_ROUTINES == 0 */ + diff --git a/rtos/FreeRTOS/Source/event_groups.c b/rtos/FreeRTOS/Source/event_groups.c index 11e4004..dad975f 100644 --- a/rtos/FreeRTOS/Source/event_groups.c +++ b/rtos/FreeRTOS/Source/event_groups.c @@ -1,60 +1,64 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following + FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html - 1 tab == 4 spaces! - *************************************************************************** * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * * * - * http://www.FreeRTOS.org/FAQHelp.html * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and @@ -135,7 +139,7 @@ EventGroupHandle_t xEventGroupCreate( void ) { EventGroup_t *pxEventBits; - pxEventBits = pvPortMalloc( sizeof( EventGroup_t ) ); + pxEventBits = ( EventGroup_t * ) pvPortMalloc( sizeof( EventGroup_t ) ); if( pxEventBits != NULL ) { pxEventBits->uxEventBits = 0; @@ -179,7 +183,7 @@ BaseType_t xTimeoutOccurred = pdFALSE; /* Rendezvous always clear the bits. They will have been cleared already unless this is the only task in the rendezvous. */ - pxEventBits->uxEventBits &= uxBitsToWaitFor; + pxEventBits->uxEventBits &= ~uxBitsToWaitFor; xTicksToWait = 0; } @@ -237,7 +241,7 @@ BaseType_t xTimeoutOccurred = pdFALSE; /* Although the task got here because it timed out before the bits it was waiting for were set, it is possible that since it unblocked another task has set the bits. If this is the case - then it may be required to clear the bits before exiting. */ + then it needs to clear the bits before exiting. */ if( ( uxReturn & uxBitsToWaitFor ) == uxBitsToWaitFor ) { pxEventBits->uxEventBits &= ~uxBitsToWaitFor; @@ -253,13 +257,16 @@ BaseType_t xTimeoutOccurred = pdFALSE; } else { - /* The task unblocked because the bits were set. Clear the control - bits before returning the value. */ - uxReturn &= ~eventEVENT_BITS_CONTROL_BYTES; + /* The task unblocked because the bits were set. */ } + + /* Control bits might be set as the task had blocked should not be + returned. */ + uxReturn &= ~eventEVENT_BITS_CONTROL_BYTES; } traceEVENT_GROUP_SYNC_END( xEventGroup, uxBitsToSet, uxBitsToWaitFor, xTimeoutOccurred ); + return uxReturn; } /*-----------------------------------------------------------*/ @@ -273,6 +280,7 @@ BaseType_t xTimeoutOccurred = pdFALSE; /* Check the user is not attempting to wait on the bits used by the kernel itself, and that at least one bit is being requested. */ + configASSERT( xEventGroup ); configASSERT( ( uxBitsToWaitFor & eventEVENT_BITS_CONTROL_BYTES ) == 0 ); configASSERT( uxBitsToWaitFor != 0 ); #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) @@ -394,16 +402,19 @@ BaseType_t xTimeoutOccurred = pdFALSE; } taskEXIT_CRITICAL(); + /* Prevent compiler warnings when trace macros are not used. */ xTimeoutOccurred = pdFALSE; } else { - /* The task unblocked because the bits were set. Clear the control - bits before returning the value. */ - uxReturn &= ~eventEVENT_BITS_CONTROL_BYTES; + /* The task unblocked because the bits were set. */ } + + /* The task blocked so control bits may have been set. */ + uxReturn &= ~eventEVENT_BITS_CONTROL_BYTES; } traceEVENT_GROUP_WAIT_BITS_END( xEventGroup, uxBitsToWaitFor, xTimeoutOccurred ); + return uxReturn; } /*-----------------------------------------------------------*/ @@ -415,6 +426,7 @@ EventBits_t uxReturn; /* Check the user is not attempting to clear the bits used by the kernel itself. */ + configASSERT( xEventGroup ); configASSERT( ( uxBitsToClear & eventEVENT_BITS_CONTROL_BYTES ) == 0 ); taskENTER_CRITICAL(); @@ -434,26 +446,30 @@ EventBits_t uxReturn; } /*-----------------------------------------------------------*/ -EventBits_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ) +#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) ) + + BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ) + { + BaseType_t xReturn; + + traceEVENT_GROUP_CLEAR_BITS_FROM_ISR( xEventGroup, uxBitsToClear ); + xReturn = xTimerPendFunctionCallFromISR( vEventGroupClearBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToClear, NULL ); + + return xReturn; + } + +#endif +/*-----------------------------------------------------------*/ + +EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) { UBaseType_t uxSavedInterruptStatus; EventGroup_t *pxEventBits = ( EventGroup_t * ) xEventGroup; EventBits_t uxReturn; - /* Check the user is not attempting to clear the bits used by the kernel - itself. */ - configASSERT( ( uxBitsToClear & eventEVENT_BITS_CONTROL_BYTES ) == 0 ); - uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); { - traceEVENT_GROUP_CLEAR_BITS_FROM_ISR( xEventGroup, uxBitsToClear ); - - /* The value returned is the event group value prior to the bits being - cleared. */ uxReturn = pxEventBits->uxEventBits; - - /* Clear the bits. */ - pxEventBits->uxEventBits &= ~uxBitsToClear; } portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); @@ -472,6 +488,7 @@ BaseType_t xMatchFound = pdFALSE; /* Check the user is not attempting to set the bits used by the kernel itself. */ + configASSERT( xEventGroup ); configASSERT( ( uxBitsToSet & eventEVENT_BITS_CONTROL_BYTES ) == 0 ); pxList = &( pxEventBits->xTasksWaitingForBits ); @@ -585,6 +602,14 @@ void vEventGroupSetBitsCallback( void *pvEventGroup, const uint32_t ulBitsToSet } /*-----------------------------------------------------------*/ +/* For internal use only - execute a 'clear bits' command that was pended from +an interrupt. */ +void vEventGroupClearBitsCallback( void *pvEventGroup, const uint32_t ulBitsToClear ) +{ + ( void ) xEventGroupClearBits( pvEventGroup, ( EventBits_t ) ulBitsToClear ); +} +/*-----------------------------------------------------------*/ + static BaseType_t prvTestWaitCondition( const EventBits_t uxCurrentEventBits, const EventBits_t uxBitsToWaitFor, const BaseType_t xWaitForAllBits ) { BaseType_t xWaitConditionMet = pdFALSE; @@ -621,6 +646,7 @@ BaseType_t xWaitConditionMet = pdFALSE; /*-----------------------------------------------------------*/ #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) ) + BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken ) { BaseType_t xReturn; @@ -630,10 +656,12 @@ BaseType_t xWaitConditionMet = pdFALSE; return xReturn; } + #endif /*-----------------------------------------------------------*/ #if (configUSE_TRACE_FACILITY == 1) + UBaseType_t uxEventGroupGetNumber( void* xEventGroup ) { UBaseType_t xReturn; @@ -650,5 +678,6 @@ BaseType_t xWaitConditionMet = pdFALSE; return xReturn; } + #endif diff --git a/rtos/FreeRTOS/Source/include/FreeRTOS.h b/rtos/FreeRTOS/Source/include/FreeRTOS.h index 8362ec4..9dc712a 100644 --- a/rtos/FreeRTOS/Source/include/FreeRTOS.h +++ b/rtos/FreeRTOS/Source/include/FreeRTOS.h @@ -1,60 +1,64 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following + FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html - 1 tab == 4 spaces! - *************************************************************************** * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * * * - * http://www.FreeRTOS.org/FAQHelp.html * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and @@ -90,17 +94,11 @@ extern "C" { #endif -/* Basic FreeRTOS definitions. */ -#include "projdefs.h" - /* Application specific configuration options. */ #include "FreeRTOSConfig.h" -/* configUSE_PORT_OPTIMISED_TASK_SELECTION must be defined before portable.h -is included as it is used by the port layer. */ -#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION - #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 -#endif +/* Basic FreeRTOS definitions. */ +#include "projdefs.h" /* Definitions specific to the port being used. */ #include "portable.h" @@ -131,10 +129,6 @@ is included as it is used by the port layer. */ #error Missing definition: configUSE_TICK_HOOK must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. #endif -#ifndef configUSE_CO_ROUTINES - #error Missing definition: configUSE_CO_ROUTINES must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. -#endif - #ifndef INCLUDE_vTaskPrioritySet #error Missing definition: INCLUDE_vTaskPrioritySet must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. #endif @@ -163,16 +157,20 @@ is included as it is used by the port layer. */ #error Missing definition: configUSE_16_BIT_TICKS must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. #endif +#ifndef configMAX_PRIORITIES + #error configMAX_PRIORITIES must be defined to be greater than or equal to 1. +#endif + +#ifndef configUSE_CO_ROUTINES + #define configUSE_CO_ROUTINES 0 +#endif + #if configUSE_CO_ROUTINES != 0 #ifndef configMAX_CO_ROUTINE_PRIORITIES #error configMAX_CO_ROUTINE_PRIORITIES must be greater than or equal to 1. #endif #endif -#ifndef configMAX_PRIORITIES - #error configMAX_PRIORITIES must be defined to be greater than or equal to 1. -#endif - #ifndef INCLUDE_xTaskGetIdleTaskHandle #define INCLUDE_xTaskGetIdleTaskHandle 0 #endif @@ -197,6 +195,10 @@ is included as it is used by the port layer. */ #define configUSE_APPLICATION_TASK_TAG 0 #endif +#ifndef configNUM_THREAD_LOCAL_STORAGE_POINTERS + #define configNUM_THREAD_LOCAL_STORAGE_POINTERS 0 +#endif + #ifndef INCLUDE_uxTaskGetStackHighWaterMark #define INCLUDE_uxTaskGetStackHighWaterMark 0 #endif @@ -609,12 +611,40 @@ is included as it is used by the port layer. */ #ifndef tracePEND_FUNC_CALL_FROM_ISR #define tracePEND_FUNC_CALL_FROM_ISR(xFunctionToPend, pvParameter1, ulParameter2, ret) -#endif +#endif #ifndef traceQUEUE_REGISTRY_ADD #define traceQUEUE_REGISTRY_ADD(xQueue, pcQueueName) #endif +#ifndef traceTASK_NOTIFY_TAKE_BLOCK + #define traceTASK_NOTIFY_TAKE_BLOCK() +#endif + +#ifndef traceTASK_NOTIFY_TAKE + #define traceTASK_NOTIFY_TAKE() +#endif + +#ifndef traceTASK_NOTIFY_WAIT_BLOCK + #define traceTASK_NOTIFY_WAIT_BLOCK() +#endif + +#ifndef traceTASK_NOTIFY_WAIT + #define traceTASK_NOTIFY_WAIT() +#endif + +#ifndef traceTASK_NOTIFY + #define traceTASK_NOTIFY() +#endif + +#ifndef traceTASK_NOTIFY_FROM_ISR + #define traceTASK_NOTIFY_FROM_ISR() +#endif + +#ifndef traceTASK_NOTIFY_GIVE_FROM_ISR + #define traceTASK_NOTIFY_GIVE_FROM_ISR() +#endif + #ifndef configGENERATE_RUN_TIME_STATS #define configGENERATE_RUN_TIME_STATS 0 #endif @@ -717,6 +747,47 @@ is included as it is used by the port layer. */ #define mtCOVERAGE_TEST_MARKER() #endif +#ifndef mtCOVERAGE_TEST_DELAY + #define mtCOVERAGE_TEST_DELAY() +#endif + +#ifndef portASSERT_IF_IN_ISR + #define portASSERT_IF_IN_ISR() +#endif + +#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 +#endif + +#ifndef configAPPLICATION_ALLOCATED_HEAP + #define configAPPLICATION_ALLOCATED_HEAP 0 +#endif + +#ifndef configUSE_TASK_NOTIFICATIONS + #define configUSE_TASK_NOTIFICATIONS 1 +#endif + +#ifndef portTICK_TYPE_IS_ATOMIC + #define portTICK_TYPE_IS_ATOMIC 0 +#endif + +#if( portTICK_TYPE_IS_ATOMIC == 0 ) + /* Either variables of tick type cannot be read atomically, or + portTICK_TYPE_IS_ATOMIC was not set - map the critical sections used when + the tick count is returned to the standard critical section macros. */ + #define portTICK_TYPE_ENTER_CRITICAL() portENTER_CRITICAL() + #define portTICK_TYPE_EXIT_CRITICAL() portEXIT_CRITICAL() + #define portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR() portSET_INTERRUPT_MASK_FROM_ISR() + #define portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( x ) portCLEAR_INTERRUPT_MASK_FROM_ISR( ( x ) ) +#else + /* The tick type can be read atomically, so critical sections used when the + tick count is returned can be defined away. */ + #define portTICK_TYPE_ENTER_CRITICAL() + #define portTICK_TYPE_EXIT_CRITICAL() + #define portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR() 0 + #define portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( x ) ( void ) x +#endif + /* Definitions to allow backward compatibility with FreeRTOS versions prior to V8 if desired. */ #ifndef configENABLE_BACKWARD_COMPATIBILITY @@ -748,6 +819,14 @@ V8 if desired. */ #define xList List_t #endif /* configENABLE_BACKWARD_COMPATIBILITY */ +/* Set configUSE_TASK_FPU_SUPPORT to 0 to omit floating point support even +if floating point hardware is otherwise supported by the FreeRTOS port in use. +This constant is not supported by all FreeRTOS ports that include floating +point support. */ +#ifndef configUSE_TASK_FPU_SUPPORT + #define configUSE_TASK_FPU_SUPPORT 1 +#endif + #ifdef __cplusplus } #endif diff --git a/rtos/FreeRTOS/Source/include/StackMacros.h b/rtos/FreeRTOS/Source/include/StackMacros.h index dfdcff3..b75025c 100644 --- a/rtos/FreeRTOS/Source/include/StackMacros.h +++ b/rtos/FreeRTOS/Source/include/StackMacros.h @@ -1,60 +1,64 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following + FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html - 1 tab == 4 spaces! - *************************************************************************** * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * * * - * http://www.FreeRTOS.org/FAQHelp.html * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and @@ -82,28 +86,10 @@ /*-----------------------------------------------------------*/ -#if( configCHECK_FOR_STACK_OVERFLOW == 0 ) - - /* FreeRTOSConfig.h is not set to check for stack overflows. */ - #define taskFIRST_CHECK_FOR_STACK_OVERFLOW() - #define taskSECOND_CHECK_FOR_STACK_OVERFLOW() - -#endif /* configCHECK_FOR_STACK_OVERFLOW == 0 */ -/*-----------------------------------------------------------*/ - -#if( configCHECK_FOR_STACK_OVERFLOW == 1 ) - - /* FreeRTOSConfig.h is only set to use the first method of - overflow checking. */ - #define taskSECOND_CHECK_FOR_STACK_OVERFLOW() - -#endif -/*-----------------------------------------------------------*/ - -#if( ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH < 0 ) ) +#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH < 0 ) ) /* Only the current stack state is to be checked. */ - #define taskFIRST_CHECK_FOR_STACK_OVERFLOW() \ + #define taskCHECK_FOR_STACK_OVERFLOW() \ { \ /* Is the currently saved stack pointer within the stack limit? */ \ if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \ @@ -112,13 +98,13 @@ } \ } -#endif /* configCHECK_FOR_STACK_OVERFLOW > 0 */ +#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */ /*-----------------------------------------------------------*/ -#if( ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH > 0 ) ) +#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH > 0 ) ) /* Only the current stack state is to be checked. */ - #define taskFIRST_CHECK_FOR_STACK_OVERFLOW() \ + #define taskCHECK_FOR_STACK_OVERFLOW() \ { \ \ /* Is the currently saved stack pointer within the stack limit? */ \ @@ -133,20 +119,18 @@ #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) ) - #define taskSECOND_CHECK_FOR_STACK_OVERFLOW() \ - { \ - static const uint8_t ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \ - tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \ - tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \ - tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \ - tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \ - \ - \ - /* Has the extremity of the task stack ever been written over? */ \ - if( memcmp( ( void * ) pxCurrentTCB->pxStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \ - { \ - vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ - } \ + #define taskCHECK_FOR_STACK_OVERFLOW() \ + { \ + const uint32_t * const pulStack = ( uint32_t * ) pxCurrentTCB->pxStack; \ + const uint32_t ulCheckValue = ( uint32_t ) 0xa5a5a5a5; \ + \ + if( ( pulStack[ 0 ] != ulCheckValue ) || \ + ( pulStack[ 1 ] != ulCheckValue ) || \ + ( pulStack[ 2 ] != ulCheckValue ) || \ + ( pulStack[ 3 ] != ulCheckValue ) ) \ + { \ + vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ + } \ } #endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */ @@ -154,7 +138,7 @@ #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) ) - #define taskSECOND_CHECK_FOR_STACK_OVERFLOW() \ + #define taskCHECK_FOR_STACK_OVERFLOW() \ { \ int8_t *pcEndOfStack = ( int8_t * ) pxCurrentTCB->pxEndOfStack; \ static const uint8_t ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \ @@ -176,5 +160,12 @@ #endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */ /*-----------------------------------------------------------*/ +/* Remove stack overflow macro if not being used. */ +#ifndef taskCHECK_FOR_STACK_OVERFLOW + #define taskCHECK_FOR_STACK_OVERFLOW() +#endif + + + #endif /* STACK_MACROS_H */ diff --git a/rtos/FreeRTOS/Source/include/croutine.h b/rtos/FreeRTOS/Source/include/croutine.h index a1ca754..fcbd9f5 100644 --- a/rtos/FreeRTOS/Source/include/croutine.h +++ b/rtos/FreeRTOS/Source/include/croutine.h @@ -1,60 +1,64 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following + FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html - 1 tab == 4 spaces! - *************************************************************************** * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * * * - * http://www.FreeRTOS.org/FAQHelp.html * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and diff --git a/rtos/FreeRTOS/Source/include/deprecated_definitions.h b/rtos/FreeRTOS/Source/include/deprecated_definitions.h new file mode 100644 index 0000000..c339193 --- /dev/null +++ b/rtos/FreeRTOS/Source/include/deprecated_definitions.h @@ -0,0 +1,321 @@ +/* + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. + All rights reserved + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. + + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** + + FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. Full license text is available on the following + link: http://www.freertos.org/a00114.html + + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * + * * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * + * * + *************************************************************************** + + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. + + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. + + http://www.SafeRTOS.com - High Integrity Systems also provide a safety + engineered and independently SIL3 certified version for use in safety and + mission critical applications that require provable dependability. + + 1 tab == 4 spaces! +*/ + +#ifndef DEPRECATED_DEFINITIONS_H +#define DEPRECATED_DEFINITIONS_H + + +/* Each FreeRTOS port has a unique portmacro.h header file. Originally a +pre-processor definition was used to ensure the pre-processor found the correct +portmacro.h file for the port being used. That scheme was deprecated in favour +of setting the compiler's include path such that it found the correct +portmacro.h file - removing the need for the constant and allowing the +portmacro.h file to be located anywhere in relation to the port being used. The +definitions below remain in the code for backward compatibility only. New +projects should not use them. */ + +#ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT + #include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h" + typedef void ( __interrupt __far *pxISR )(); +#endif + +#ifdef OPEN_WATCOM_FLASH_LITE_186_PORT + #include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h" + typedef void ( __interrupt __far *pxISR )(); +#endif + +#ifdef GCC_MEGA_AVR + #include "../portable/GCC/ATMega323/portmacro.h" +#endif + +#ifdef IAR_MEGA_AVR + #include "../portable/IAR/ATMega323/portmacro.h" +#endif + +#ifdef MPLAB_PIC24_PORT + #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h" +#endif + +#ifdef MPLAB_DSPIC_PORT + #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h" +#endif + +#ifdef MPLAB_PIC18F_PORT + #include "../../Source/portable/MPLAB/PIC18F/portmacro.h" +#endif + +#ifdef MPLAB_PIC32MX_PORT + #include "../../Source/portable/MPLAB/PIC32MX/portmacro.h" +#endif + +#ifdef _FEDPICC + #include "libFreeRTOS/Include/portmacro.h" +#endif + +#ifdef SDCC_CYGNAL + #include "../../Source/portable/SDCC/Cygnal/portmacro.h" +#endif + +#ifdef GCC_ARM7 + #include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h" +#endif + +#ifdef GCC_ARM7_ECLIPSE + #include "portmacro.h" +#endif + +#ifdef ROWLEY_LPC23xx + #include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h" +#endif + +#ifdef IAR_MSP430 + #include "..\..\Source\portable\IAR\MSP430\portmacro.h" +#endif + +#ifdef GCC_MSP430 + #include "../../Source/portable/GCC/MSP430F449/portmacro.h" +#endif + +#ifdef ROWLEY_MSP430 + #include "../../Source/portable/Rowley/MSP430F449/portmacro.h" +#endif + +#ifdef ARM7_LPC21xx_KEIL_RVDS + #include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h" +#endif + +#ifdef SAM7_GCC + #include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h" +#endif + +#ifdef SAM7_IAR + #include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h" +#endif + +#ifdef SAM9XE_IAR + #include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h" +#endif + +#ifdef LPC2000_IAR + #include "..\..\Source\portable\IAR\LPC2000\portmacro.h" +#endif + +#ifdef STR71X_IAR + #include "..\..\Source\portable\IAR\STR71x\portmacro.h" +#endif + +#ifdef STR75X_IAR + #include "..\..\Source\portable\IAR\STR75x\portmacro.h" +#endif + +#ifdef STR75X_GCC + #include "..\..\Source\portable\GCC\STR75x\portmacro.h" +#endif + +#ifdef STR91X_IAR + #include "..\..\Source\portable\IAR\STR91x\portmacro.h" +#endif + +#ifdef GCC_H8S + #include "../../Source/portable/GCC/H8S2329/portmacro.h" +#endif + +#ifdef GCC_AT91FR40008 + #include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h" +#endif + +#ifdef RVDS_ARMCM3_LM3S102 + #include "../../Source/portable/RVDS/ARM_CM3/portmacro.h" +#endif + +#ifdef GCC_ARMCM3_LM3S102 + #include "../../Source/portable/GCC/ARM_CM3/portmacro.h" +#endif + +#ifdef GCC_ARMCM3 + #include "../../Source/portable/GCC/ARM_CM3/portmacro.h" +#endif + +#ifdef IAR_ARM_CM3 + #include "../../Source/portable/IAR/ARM_CM3/portmacro.h" +#endif + +#ifdef IAR_ARMCM3_LM + #include "../../Source/portable/IAR/ARM_CM3/portmacro.h" +#endif + +#ifdef HCS12_CODE_WARRIOR + #include "../../Source/portable/CodeWarrior/HCS12/portmacro.h" +#endif + +#ifdef MICROBLAZE_GCC + #include "../../Source/portable/GCC/MicroBlaze/portmacro.h" +#endif + +#ifdef TERN_EE + #include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h" +#endif + +#ifdef GCC_HCS12 + #include "../../Source/portable/GCC/HCS12/portmacro.h" +#endif + +#ifdef GCC_MCF5235 + #include "../../Source/portable/GCC/MCF5235/portmacro.h" +#endif + +#ifdef COLDFIRE_V2_GCC + #include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h" +#endif + +#ifdef COLDFIRE_V2_CODEWARRIOR + #include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h" +#endif + +#ifdef GCC_PPC405 + #include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h" +#endif + +#ifdef GCC_PPC440 + #include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h" +#endif + +#ifdef _16FX_SOFTUNE + #include "..\..\Source\portable\Softune\MB96340\portmacro.h" +#endif + +#ifdef BCC_INDUSTRIAL_PC_PORT + /* A short file name has to be used in place of the normal + FreeRTOSConfig.h when using the Borland compiler. */ + #include "frconfig.h" + #include "..\portable\BCC\16BitDOS\PC\prtmacro.h" + typedef void ( __interrupt __far *pxISR )(); +#endif + +#ifdef BCC_FLASH_LITE_186_PORT + /* A short file name has to be used in place of the normal + FreeRTOSConfig.h when using the Borland compiler. */ + #include "frconfig.h" + #include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h" + typedef void ( __interrupt __far *pxISR )(); +#endif + +#ifdef __GNUC__ + #ifdef __AVR32_AVR32A__ + #include "portmacro.h" + #endif +#endif + +#ifdef __ICCAVR32__ + #ifdef __CORE__ + #if __CORE__ == __AVR32A__ + #include "portmacro.h" + #endif + #endif +#endif + +#ifdef __91467D + #include "portmacro.h" +#endif + +#ifdef __96340 + #include "portmacro.h" +#endif + + +#ifdef __IAR_V850ES_Fx3__ + #include "../../Source/portable/IAR/V850ES/portmacro.h" +#endif + +#ifdef __IAR_V850ES_Jx3__ + #include "../../Source/portable/IAR/V850ES/portmacro.h" +#endif + +#ifdef __IAR_V850ES_Jx3_L__ + #include "../../Source/portable/IAR/V850ES/portmacro.h" +#endif + +#ifdef __IAR_V850ES_Jx2__ + #include "../../Source/portable/IAR/V850ES/portmacro.h" +#endif + +#ifdef __IAR_V850ES_Hx2__ + #include "../../Source/portable/IAR/V850ES/portmacro.h" +#endif + +#ifdef __IAR_78K0R_Kx3__ + #include "../../Source/portable/IAR/78K0R/portmacro.h" +#endif + +#ifdef __IAR_78K0R_Kx3L__ + #include "../../Source/portable/IAR/78K0R/portmacro.h" +#endif + +#endif /* DEPRECATED_DEFINITIONS_H */ + diff --git a/rtos/FreeRTOS/Source/include/event_groups.h b/rtos/FreeRTOS/Source/include/event_groups.h index f6dd2a5..b2ac972 100644 --- a/rtos/FreeRTOS/Source/include/event_groups.h +++ b/rtos/FreeRTOS/Source/include/event_groups.h @@ -1,60 +1,64 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following + FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html - 1 tab == 4 spaces! - *************************************************************************** * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * * * - * http://www.FreeRTOS.org/FAQHelp.html * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and @@ -325,16 +329,61 @@ EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBit /** * event_groups.h *<pre> - EventBits_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ); + BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet ); </pre> * - * A version of xEventGroupClearBits() that can be called from an interrupt - * service routine. See the xEventGroupClearBits() documentation. + * A version of xEventGroupClearBits() that can be called from an interrupt. * - * \defgroup xEventGroupClearBitsFromISR xEventGroupClearBitsFromISR + * Setting bits in an event group is not a deterministic operation because there + * are an unknown number of tasks that may be waiting for the bit or bits being + * set. FreeRTOS does not allow nondeterministic operations to be performed + * while interrupts are disabled, so protects event groups that are accessed + * from tasks by suspending the scheduler rather than disabling interrupts. As + * a result event groups cannot be accessed directly from an interrupt service + * routine. Therefore xEventGroupClearBitsFromISR() sends a message to the + * timer task to have the clear operation performed in the context of the timer + * task. + * + * @param xEventGroup The event group in which the bits are to be cleared. + * + * @param uxBitsToClear A bitwise value that indicates the bit or bits to clear. + * For example, to clear bit 3 only, set uxBitsToClear to 0x08. To clear bit 3 + * and bit 0 set uxBitsToClear to 0x09. + * + * @return If the request to execute the function was posted successfully then + * pdPASS is returned, otherwise pdFALSE is returned. pdFALSE will be returned + * if the timer service queue was full. + * + * Example usage: + <pre> + #define BIT_0 ( 1 << 0 ) + #define BIT_4 ( 1 << 4 ) + + // An event group which it is assumed has already been created by a call to + // xEventGroupCreate(). + EventGroupHandle_t xEventGroup; + + void anInterruptHandler( void ) + { + // Clear bit 0 and bit 4 in xEventGroup. + xResult = xEventGroupClearBitsFromISR( + xEventGroup, // The event group being updated. + BIT_0 | BIT_4 ); // The bits being set. + + if( xResult == pdPASS ) + { + // The message was posted successfully. + } + } + </pre> + * \defgroup xEventGroupSetBitsFromISR xEventGroupSetBitsFromISR * \ingroup EventGroup */ -EventBits_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION; +#if( configUSE_TRACE_FACILITY == 1 ) + BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet ) PRIVILEGED_FUNCTION; +#else + #define xEventGroupClearBitsFromISR( xEventGroup, uxBitsToClear ) xTimerPendFunctionCallFromISR( vEventGroupClearBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToClear, NULL ) +#endif /** * event_groups.h @@ -483,7 +532,7 @@ EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_ * \ingroup EventGroup */ #if( configUSE_TRACE_FACILITY == 1 ) - BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken ); + BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; #else #define xEventGroupSetBitsFromISR( xEventGroup, uxBitsToSet, pxHigherPriorityTaskWoken ) xTimerPendFunctionCallFromISR( vEventGroupSetBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToSet, pxHigherPriorityTaskWoken ) #endif @@ -648,7 +697,7 @@ EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t u * \defgroup xEventGroupGetBitsFromISR xEventGroupGetBitsFromISR * \ingroup EventGroup */ -#define xEventGroupGetBitsFromISR( xEventGroup ) xEventGroupClearBitsFromISR( xEventGroup, 0 ) +EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION; /** * event_groups.h @@ -662,13 +711,14 @@ EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t u * * @param xEventGroup The event group being deleted. */ -void vEventGroupDelete( EventGroupHandle_t xEventGroup ); +void vEventGroupDelete( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION; /* For internal use only. */ -void vEventGroupSetBitsCallback( void *pvEventGroup, const uint32_t ulBitsToSet ); +void vEventGroupSetBitsCallback( void *pvEventGroup, const uint32_t ulBitsToSet ) PRIVILEGED_FUNCTION; +void vEventGroupClearBitsCallback( void *pvEventGroup, const uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION; #if (configUSE_TRACE_FACILITY == 1) - UBaseType_t uxEventGroupGetNumber( void* xEventGroup ); + UBaseType_t uxEventGroupGetNumber( void* xEventGroup ) PRIVILEGED_FUNCTION; #endif #ifdef __cplusplus diff --git a/rtos/FreeRTOS/Source/include/list.h b/rtos/FreeRTOS/Source/include/list.h index 183dc84..d7164f7 100644 --- a/rtos/FreeRTOS/Source/include/list.h +++ b/rtos/FreeRTOS/Source/include/list.h @@ -1,60 +1,64 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following + FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html - 1 tab == 4 spaces! - *************************************************************************** * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * * * - * http://www.FreeRTOS.org/FAQHelp.html * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and @@ -91,6 +95,9 @@ * \ingroup FreeRTOSIntro */ +#ifndef INC_FREERTOS_H + #error FreeRTOS.h must be included before list.h +#endif #ifndef LIST_H #define LIST_H @@ -130,21 +137,62 @@ #ifdef __cplusplus extern "C" { #endif + +/* Macros that can be used to place known values within the list structures, +then check that the known values do not get corrupted during the execution of +the application. These may catch the list data structures being overwritten in +memory. They will not catch data errors caused by incorrect configuration or +use of FreeRTOS.*/ +#if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 ) + /* Define the macros to do nothing. */ + #define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE + #define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE + #define listFIRST_LIST_INTEGRITY_CHECK_VALUE + #define listSECOND_LIST_INTEGRITY_CHECK_VALUE + #define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) + #define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) + #define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) + #define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) + #define listTEST_LIST_ITEM_INTEGRITY( pxItem ) + #define listTEST_LIST_INTEGRITY( pxList ) +#else + /* Define macros that add new members into the list structures. */ + #define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue1; + #define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue2; + #define listFIRST_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue1; + #define listSECOND_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue2; + + /* Define macros that set the new structure members to known values. */ + #define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue1 = pdINTEGRITY_CHECK_VALUE + #define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue2 = pdINTEGRITY_CHECK_VALUE + #define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) ( pxList )->xListIntegrityValue1 = pdINTEGRITY_CHECK_VALUE + #define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) ( pxList )->xListIntegrityValue2 = pdINTEGRITY_CHECK_VALUE + + /* Define macros that will assert if one of the structure members does not + contain its expected value. */ + #define listTEST_LIST_ITEM_INTEGRITY( pxItem ) configASSERT( ( ( pxItem )->xListItemIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxItem )->xListItemIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) ) + #define listTEST_LIST_INTEGRITY( pxList ) configASSERT( ( ( pxList )->xListIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxList )->xListIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) ) +#endif /* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES */ + + /* * Definition of the only type of object that a list can contain. */ struct xLIST_ITEM { + listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ configLIST_VOLATILE TickType_t xItemValue; /*< The value being listed. In most cases this is used to sort the list in descending order. */ struct xLIST_ITEM * configLIST_VOLATILE pxNext; /*< Pointer to the next ListItem_t in the list. */ struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; /*< Pointer to the previous ListItem_t in the list. */ void * pvOwner; /*< Pointer to the object (normally a TCB) that contains the list item. There is therefore a two way link between the object containing the list item and the list item itself. */ void * configLIST_VOLATILE pvContainer; /*< Pointer to the list in which this list item is placed (if any). */ + listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ }; typedef struct xLIST_ITEM ListItem_t; /* For some reason lint wants this as two separate definitions. */ struct xMINI_LIST_ITEM { + listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ configLIST_VOLATILE TickType_t xItemValue; struct xLIST_ITEM * configLIST_VOLATILE pxNext; struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; @@ -156,9 +204,11 @@ typedef struct xMINI_LIST_ITEM MiniListItem_t; */ typedef struct xLIST { + listFIRST_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ configLIST_VOLATILE UBaseType_t uxNumberOfItems; - ListItem_t * configLIST_VOLATILE pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to listGET_OWNER_OF_NEXT_ENTRY (). */ - MiniListItem_t xListEnd; /*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */ + ListItem_t * configLIST_VOLATILE pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to listGET_OWNER_OF_NEXT_ENTRY (). */ + MiniListItem_t xListEnd; /*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */ + listSECOND_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ } List_t; /* @@ -333,7 +383,7 @@ List_t * const pxConstList = ( pxList ); \ * \page vListInitialise vListInitialise * \ingroup LinkedList */ -void vListInitialise( List_t * const pxList ); +void vListInitialise( List_t * const pxList ) PRIVILEGED_FUNCTION; /* * Must be called before a list item is used. This sets the list container to @@ -344,7 +394,7 @@ void vListInitialise( List_t * const pxList ); * \page vListInitialiseItem vListInitialiseItem * \ingroup LinkedList */ -void vListInitialiseItem( ListItem_t * const pxItem ); +void vListInitialiseItem( ListItem_t * const pxItem ) PRIVILEGED_FUNCTION; /* * Insert a list item into a list. The item will be inserted into the list in @@ -357,7 +407,7 @@ void vListInitialiseItem( ListItem_t * const pxItem ); * \page vListInsert vListInsert * \ingroup LinkedList */ -void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem ); +void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION; /* * Insert a list item into a list. The item will be inserted in a position @@ -378,7 +428,7 @@ void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem ); * \page vListInsertEnd vListInsertEnd * \ingroup LinkedList */ -void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem ); +void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION; /* * Remove an item from a list. The list item has a pointer to the list that @@ -393,7 +443,7 @@ void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem ); * \page uxListRemove uxListRemove * \ingroup LinkedList */ -UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ); +UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ) PRIVILEGED_FUNCTION; #ifdef __cplusplus } diff --git a/rtos/FreeRTOS/Source/include/mpu_wrappers.h b/rtos/FreeRTOS/Source/include/mpu_wrappers.h index 2893681..4ba5ea3 100644 --- a/rtos/FreeRTOS/Source/include/mpu_wrappers.h +++ b/rtos/FreeRTOS/Source/include/mpu_wrappers.h @@ -1,60 +1,64 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following + FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html - 1 tab == 4 spaces! - *************************************************************************** * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * * * - * http://www.FreeRTOS.org/FAQHelp.html * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and @@ -99,6 +103,9 @@ only for ports that are using the MPU. */ #define xTaskGetSchedulerState MPU_xTaskGetSchedulerState #define xTaskGetIdleTaskHandle MPU_xTaskGetIdleTaskHandle #define uxTaskGetSystemState MPU_uxTaskGetSystemState + #define xTaskGenericNotify MPU_xTaskGenericNotify + #define xTaskNotifyWait MPU_xTaskNotifyWait + #define ulTaskNotifyTake MPU_ulTaskNotifyTake #define xQueueGenericCreate MPU_xQueueGenericCreate #define xQueueCreateMutex MPU_xQueueCreateMutex @@ -116,18 +123,36 @@ only for ports that are using the MPU. */ #define xQueueSelectFromSet MPU_xQueueSelectFromSet #define xQueueAddToSet MPU_xQueueAddToSet #define xQueueRemoveFromSet MPU_xQueueRemoveFromSet - #define xQueuePeekFromISR MPU_xQueuePeekFromISR + #define xQueueGetMutexHolder MPU_xQueueGetMutexHolder + #define xQueueGetMutexHolder MPU_xQueueGetMutexHolder #define pvPortMalloc MPU_pvPortMalloc #define vPortFree MPU_vPortFree #define xPortGetFreeHeapSize MPU_xPortGetFreeHeapSize #define vPortInitialiseBlocks MPU_vPortInitialiseBlocks + #define xPortGetMinimumEverFreeHeapSize MPU_xPortGetMinimumEverFreeHeapSize #if configQUEUE_REGISTRY_SIZE > 0 #define vQueueAddToRegistry MPU_vQueueAddToRegistry #define vQueueUnregisterQueue MPU_vQueueUnregisterQueue #endif + #define xTimerCreate MPU_xTimerCreate + #define pvTimerGetTimerID MPU_pvTimerGetTimerID + #define vTimerSetTimerID MPU_vTimerSetTimerID + #define xTimerIsTimerActive MPU_xTimerIsTimerActive + #define xTimerGetTimerDaemonTaskHandle MPU_xTimerGetTimerDaemonTaskHandle + #define xTimerPendFunctionCall MPU_xTimerPendFunctionCall + #define pcTimerGetTimerName MPU_pcTimerGetTimerName + #define xTimerGenericCommand MPU_xTimerGenericCommand + + #define xEventGroupCreate MPU_xEventGroupCreate + #define xEventGroupWaitBits MPU_xEventGroupWaitBits + #define xEventGroupClearBits MPU_xEventGroupClearBits + #define xEventGroupSetBits MPU_xEventGroupSetBits + #define xEventGroupSync MPU_xEventGroupSync + #define vEventGroupDelete MPU_vEventGroupDelete + /* Remove the privileged function macro. */ #define PRIVILEGED_FUNCTION diff --git a/rtos/FreeRTOS/Source/include/portable.h b/rtos/FreeRTOS/Source/include/portable.h index 59829eb..bbf0bcf 100644 --- a/rtos/FreeRTOS/Source/include/portable.h +++ b/rtos/FreeRTOS/Source/include/portable.h @@ -1,60 +1,64 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following + FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html - 1 tab == 4 spaces! - *************************************************************************** * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * * * - * http://www.FreeRTOS.org/FAQHelp.html * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and @@ -70,255 +74,32 @@ #ifndef PORTABLE_H #define PORTABLE_H -/* Include the macro file relevant to the port being used. -NOTE: The following definitions are *DEPRECATED* as it is preferred to instead -just add the path to the correct portmacro.h header file to the compiler's -include path. */ -#ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT - #include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h" - typedef void ( __interrupt __far *pxISR )(); -#endif - -#ifdef OPEN_WATCOM_FLASH_LITE_186_PORT - #include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h" - typedef void ( __interrupt __far *pxISR )(); -#endif - -#ifdef GCC_MEGA_AVR - #include "../portable/GCC/ATMega323/portmacro.h" -#endif - -#ifdef IAR_MEGA_AVR - #include "../portable/IAR/ATMega323/portmacro.h" -#endif - -#ifdef MPLAB_PIC24_PORT - #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h" -#endif - -#ifdef MPLAB_DSPIC_PORT - #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h" -#endif - -#ifdef MPLAB_PIC18F_PORT - #include "../../Source/portable/MPLAB/PIC18F/portmacro.h" -#endif - -#ifdef MPLAB_PIC32MX_PORT - #include "../../Source/portable/MPLAB/PIC32MX/portmacro.h" -#endif - -#ifdef _FEDPICC - #include "libFreeRTOS/Include/portmacro.h" -#endif - -#ifdef SDCC_CYGNAL - #include "../../Source/portable/SDCC/Cygnal/portmacro.h" -#endif - -#ifdef GCC_ARM7 - #include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h" -#endif - -#ifdef GCC_ARM7_ECLIPSE - #include "portmacro.h" -#endif - -#ifdef ROWLEY_LPC23xx - #include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h" -#endif - -#ifdef IAR_MSP430 - #include "..\..\Source\portable\IAR\MSP430\portmacro.h" -#endif - -#ifdef GCC_MSP430 - #include "../../Source/portable/GCC/MSP430F449/portmacro.h" -#endif - -#ifdef ROWLEY_MSP430 - #include "../../Source/portable/Rowley/MSP430F449/portmacro.h" -#endif - -#ifdef ARM7_LPC21xx_KEIL_RVDS - #include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h" -#endif - -#ifdef SAM7_GCC - #include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h" -#endif - -#ifdef SAM7_IAR - #include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h" -#endif - -#ifdef SAM9XE_IAR - #include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h" -#endif - -#ifdef LPC2000_IAR - #include "..\..\Source\portable\IAR\LPC2000\portmacro.h" -#endif - -#ifdef STR71X_IAR - #include "..\..\Source\portable\IAR\STR71x\portmacro.h" -#endif - -#ifdef STR75X_IAR - #include "..\..\Source\portable\IAR\STR75x\portmacro.h" -#endif - -#ifdef STR75X_GCC - #include "..\..\Source\portable\GCC\STR75x\portmacro.h" -#endif - -#ifdef STR91X_IAR - #include "..\..\Source\portable\IAR\STR91x\portmacro.h" -#endif - -#ifdef GCC_H8S - #include "../../Source/portable/GCC/H8S2329/portmacro.h" -#endif - -#ifdef GCC_AT91FR40008 - #include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h" -#endif - -#ifdef RVDS_ARMCM3_LM3S102 - #include "../../Source/portable/RVDS/ARM_CM3/portmacro.h" -#endif - -#ifdef GCC_ARMCM3_LM3S102 - #include "../../Source/portable/GCC/ARM_CM3/portmacro.h" -#endif - -#ifdef GCC_ARMCM3 - #include "../../Source/portable/GCC/ARM_CM3/portmacro.h" -#endif - -#ifdef IAR_ARM_CM3 - #include "../../Source/portable/IAR/ARM_CM3/portmacro.h" -#endif - -#ifdef IAR_ARMCM3_LM - #include "../../Source/portable/IAR/ARM_CM3/portmacro.h" -#endif - -#ifdef HCS12_CODE_WARRIOR - #include "../../Source/portable/CodeWarrior/HCS12/portmacro.h" -#endif - -#ifdef MICROBLAZE_GCC - #include "../../Source/portable/GCC/MicroBlaze/portmacro.h" -#endif - -#ifdef TERN_EE - #include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h" -#endif - -#ifdef GCC_HCS12 - #include "../../Source/portable/GCC/HCS12/portmacro.h" -#endif - -#ifdef GCC_MCF5235 - #include "../../Source/portable/GCC/MCF5235/portmacro.h" -#endif - -#ifdef COLDFIRE_V2_GCC - #include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h" -#endif - -#ifdef COLDFIRE_V2_CODEWARRIOR - #include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h" -#endif - -#ifdef GCC_PPC405 - #include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h" -#endif - -#ifdef GCC_PPC440 - #include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h" -#endif - -#ifdef _16FX_SOFTUNE - #include "..\..\Source\portable\Softune\MB96340\portmacro.h" -#endif - -#ifdef BCC_INDUSTRIAL_PC_PORT - /* A short file name has to be used in place of the normal - FreeRTOSConfig.h when using the Borland compiler. */ - #include "frconfig.h" - #include "..\portable\BCC\16BitDOS\PC\prtmacro.h" - typedef void ( __interrupt __far *pxISR )(); -#endif - -#ifdef BCC_FLASH_LITE_186_PORT - /* A short file name has to be used in place of the normal - FreeRTOSConfig.h when using the Borland compiler. */ - #include "frconfig.h" - #include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h" - typedef void ( __interrupt __far *pxISR )(); -#endif - -#ifdef __GNUC__ - #ifdef __AVR32_AVR32A__ - #include "portmacro.h" - #endif -#endif - -#ifdef __ICCAVR32__ - #ifdef __CORE__ - #if __CORE__ == __AVR32A__ - #include "portmacro.h" - #endif - #endif -#endif - -#ifdef __91467D - #include "portmacro.h" -#endif - -#ifdef __96340 +/* Each FreeRTOS port has a unique portmacro.h header file. Originally a +pre-processor definition was used to ensure the pre-processor found the correct +portmacro.h file for the port being used. That scheme was deprecated in favour +of setting the compiler's include path such that it found the correct +portmacro.h file - removing the need for the constant and allowing the +portmacro.h file to be located anywhere in relation to the port being used. +Purely for reasons of backward compatibility the old method is still valid, but +to make it clear that new projects should not use it, support for the port +specific constants has been moved into the deprecated_definitions.h header +file. */ +#include "deprecated_definitions.h" + +/* If portENTER_CRITICAL is not defined then including deprecated_definitions.h +did not result in a portmacro.h header file being included - and it should be +included here. In this case the path to the correct portmacro.h header file +must be set in the compiler's include path. */ +#ifndef portENTER_CRITICAL #include "portmacro.h" #endif - -#ifdef __IAR_V850ES_Fx3__ - #include "../../Source/portable/IAR/V850ES/portmacro.h" -#endif - -#ifdef __IAR_V850ES_Jx3__ - #include "../../Source/portable/IAR/V850ES/portmacro.h" -#endif - -#ifdef __IAR_V850ES_Jx3_L__ - #include "../../Source/portable/IAR/V850ES/portmacro.h" -#endif - -#ifdef __IAR_V850ES_Jx2__ - #include "../../Source/portable/IAR/V850ES/portmacro.h" -#endif - -#ifdef __IAR_V850ES_Hx2__ - #include "../../Source/portable/IAR/V850ES/portmacro.h" +#if portBYTE_ALIGNMENT == 32 + #define portBYTE_ALIGNMENT_MASK ( 0x001f ) #endif -#ifdef __IAR_78K0R_Kx3__ - #include "../../Source/portable/IAR/78K0R/portmacro.h" -#endif - -#ifdef __IAR_78K0R_Kx3L__ - #include "../../Source/portable/IAR/78K0R/portmacro.h" -#endif - -/* Catch all to ensure portmacro.h is included in the build. Newer demos -have the path as part of the project options, rather than as relative from -the project location. If portENTER_CRITICAL() has not been defined then -portmacro.h has not yet been included - as every portmacro.h provides a -portENTER_CRITICAL() definition. Check the demo application for your demo -to find the path to the correct portmacro.h file. */ -#ifndef portENTER_CRITICAL - #include "portmacro.h" +#if portBYTE_ALIGNMENT == 16 + #define portBYTE_ALIGNMENT_MASK ( 0x000f ) #endif #if portBYTE_ALIGNMENT == 8 @@ -363,6 +144,27 @@ extern "C" { StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) PRIVILEGED_FUNCTION; #endif +/* Used by heap_5.c. */ +typedef struct HeapRegion +{ + uint8_t *pucStartAddress; + size_t xSizeInBytes; +} HeapRegion_t; + +/* + * Used to define multiple heap regions for use by heap_5.c. This function + * must be called before any calls to pvPortMalloc() - not creating a task, + * queue, semaphore, mutex, software timer, event group, etc. will result in + * pvPortMalloc being called. + * + * pxHeapRegions passes in an array of HeapRegion_t structures - each of which + * defines a region of memory that can be used as the heap. The array is + * terminated by a HeapRegions_t structure that has a size of 0. The region + * with the lowest start address must appear first in the array. + */ +void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions ) PRIVILEGED_FUNCTION; + + /* * Map to the memory management routines required for the port. */ diff --git a/rtos/FreeRTOS/Source/include/projdefs.h b/rtos/FreeRTOS/Source/include/projdefs.h index 813b4d0..ffe46f4 100644 --- a/rtos/FreeRTOS/Source/include/projdefs.h +++ b/rtos/FreeRTOS/Source/include/projdefs.h @@ -1,60 +1,64 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following + FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html - 1 tab == 4 spaces! - *************************************************************************** * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * * * - * http://www.FreeRTOS.org/FAQHelp.html * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and @@ -72,6 +76,9 @@ */ typedef void (*TaskFunction_t)( void * ); +/* Converts a time in milliseconds to a time in ticks. */ +#define pdMS_TO_TICKS( xTimeInMs ) ( ( TickType_t ) ( ( ( TickType_t ) ( xTimeInMs ) * ( TickType_t ) configTICK_RATE_HZ ) / ( TickType_t ) 1000 ) ) + #define pdFALSE ( ( BaseType_t ) 0 ) #define pdTRUE ( ( BaseType_t ) 1 ) @@ -80,11 +87,69 @@ typedef void (*TaskFunction_t)( void * ); #define errQUEUE_EMPTY ( ( BaseType_t ) 0 ) #define errQUEUE_FULL ( ( BaseType_t ) 0 ) -/* Error definitions. */ +/* FreeRTOS error definitions. */ #define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ( -1 ) #define errQUEUE_BLOCKED ( -4 ) #define errQUEUE_YIELD ( -5 ) +/* Macros used for basic data corruption checks. */ +#ifndef configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES + #define configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES 0 +#endif + +#if( configUSE_16_BIT_TICKS == 1 ) + #define pdINTEGRITY_CHECK_VALUE 0x5a5a +#else + #define pdINTEGRITY_CHECK_VALUE 0x5a5a5a5aUL +#endif + +/* The following errno values are used by FreeRTOS+ components, not FreeRTOS +itself. */ +#define pdFREERTOS_ERRNO_NONE 0 /* No errors */ +#define pdFREERTOS_ERRNO_ENOENT 2 /* No such file or directory */ +#define pdFREERTOS_ERRNO_EIO 5 /* I/O error */ +#define pdFREERTOS_ERRNO_ENXIO 6 /* No such device or address */ +#define pdFREERTOS_ERRNO_EBADF 9 /* Bad file number */ +#define pdFREERTOS_ERRNO_EAGAIN 11 /* No more processes */ +#define pdFREERTOS_ERRNO_EWOULDBLOCK 11 /* Operation would block */ +#define pdFREERTOS_ERRNO_ENOMEM 12 /* Not enough memory */ +#define pdFREERTOS_ERRNO_EACCES 13 /* Permission denied */ +#define pdFREERTOS_ERRNO_EFAULT 14 /* Bad address */ +#define pdFREERTOS_ERRNO_EBUSY 16 /* Mount device busy */ +#define pdFREERTOS_ERRNO_EEXIST 17 /* File exists */ +#define pdFREERTOS_ERRNO_EXDEV 18 /* Cross-device link */ +#define pdFREERTOS_ERRNO_ENODEV 19 /* No such device */ +#define pdFREERTOS_ERRNO_ENOTDIR 20 /* Not a directory */ +#define pdFREERTOS_ERRNO_EISDIR 21 /* Is a directory */ +#define pdFREERTOS_ERRNO_EINVAL 22 /* Invalid argument */ +#define pdFREERTOS_ERRNO_ENOSPC 28 /* No space left on device */ +#define pdFREERTOS_ERRNO_ESPIPE 29 /* Illegal seek */ +#define pdFREERTOS_ERRNO_EROFS 30 /* Read only file system */ +#define pdFREERTOS_ERRNO_EUNATCH 42 /* Protocol driver not attached */ +#define pdFREERTOS_ERRNO_EBADE 50 /* Invalid exchange */ +#define pdFREERTOS_ERRNO_EFTYPE 79 /* Inappropriate file type or format */ +#define pdFREERTOS_ERRNO_ENMFILE 89 /* No more files */ +#define pdFREERTOS_ERRNO_ENOTEMPTY 90 /* Directory not empty */ +#define pdFREERTOS_ERRNO_ENAMETOOLONG 91 /* File or path name too long */ +#define pdFREERTOS_ERRNO_EOPNOTSUPP 95 /* Operation not supported on transport endpoint */ +#define pdFREERTOS_ERRNO_ENOBUFS 105 /* No buffer space available */ +#define pdFREERTOS_ERRNO_ENOPROTOOPT 109 /* Protocol not available */ +#define pdFREERTOS_ERRNO_EADDRINUSE 112 /* Address already in use */ +#define pdFREERTOS_ERRNO_ETIMEDOUT 116 /* Connection timed out */ +#define pdFREERTOS_ERRNO_EINPROGRESS 119 /* Connection already in progress */ +#define pdFREERTOS_ERRNO_EALREADY 120 /* Socket already connected */ +#define pdFREERTOS_ERRNO_EADDRNOTAVAIL 125 /* Address not available */ +#define pdFREERTOS_ERRNO_EISCONN 127 /* Socket is already connected */ +#define pdFREERTOS_ERRNO_ENOTCONN 128 /* Socket is not connected */ +#define pdFREERTOS_ERRNO_ENOMEDIUM 135 /* No medium inserted */ +#define pdFREERTOS_ERRNO_EILSEQ 138 /* An invalid UTF-16 sequence was encountered. */ +#define pdFREERTOS_ERRNO_ECANCELED 140 /* Operation canceled. */ + +/* The following endian values are used by FreeRTOS+ components, not FreeRTOS +itself. */ +#define pdFREERTOS_LITTLE_ENDIAN 0 +#define pdFREERTOS_BIG_ENDIAN 1 + #endif /* PROJDEFS_H */ diff --git a/rtos/FreeRTOS/Source/include/queue.h b/rtos/FreeRTOS/Source/include/queue.h index f42ac86..d6fb808 100644 --- a/rtos/FreeRTOS/Source/include/queue.h +++ b/rtos/FreeRTOS/Source/include/queue.h @@ -1,60 +1,64 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following + FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html - 1 tab == 4 spaces! - *************************************************************************** * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * * * - * http://www.FreeRTOS.org/FAQHelp.html * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and @@ -1269,7 +1273,8 @@ uint32_t ulVarToSend, ulValReceived; * * It is preferred that the macros xQueueSendFromISR(), * xQueueSendToFrontFromISR() and xQueueSendToBackFromISR() be used in place - * of calling this function directly. + * of calling this function directly. xQueueGiveFromISR() is an + * equivalent for use by semaphores that don't actually copy any data. * * Post an item on a queue. It is safe to use this function from within an * interrupt service routine. @@ -1333,6 +1338,7 @@ uint32_t ulVarToSend, ulValReceived; * \ingroup QueueManagement */ BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION; +BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; /** * queue. h @@ -1446,8 +1452,8 @@ UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue ) PRIVILEG * responsiveness to gain execution speed, whereas the fully featured API * sacrifices execution speed to ensure better interrupt responsiveness. */ -BaseType_t xQueueAltGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, BaseType_t xCopyPosition ); -BaseType_t xQueueAltGenericReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait, BaseType_t xJustPeeking ); +BaseType_t xQueueAltGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION; +BaseType_t xQueueAltGenericReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait, BaseType_t xJustPeeking ) PRIVILEGED_FUNCTION; #define xQueueAltSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_FRONT ) #define xQueueAltSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK ) #define xQueueAltReceive( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdFALSE ) @@ -1484,10 +1490,8 @@ BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWa BaseType_t xQueueGiveMutexRecursive( QueueHandle_t pxMutex ) PRIVILEGED_FUNCTION; /* - * Reset a queue back to its original empty state. pdPASS is returned if the - * queue is successfully reset. pdFAIL is returned if the queue could not be - * reset because there are tasks blocked on the queue waiting to either - * receive from the queue or send to the queue. + * Reset a queue back to its original empty state. The return value is now + * obsolete and is always set to pdPASS. */ #define xQueueReset( xQueue ) xQueueGenericReset( xQueue, pdFALSE ) @@ -1672,7 +1676,7 @@ QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, const Ti QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION; /* Not public API functions. */ -void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; +void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely ) PRIVILEGED_FUNCTION; BaseType_t xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue ) PRIVILEGED_FUNCTION; void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber ) PRIVILEGED_FUNCTION; UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; diff --git a/rtos/FreeRTOS/Source/include/semphr.h b/rtos/FreeRTOS/Source/include/semphr.h index 47bb87c..405014c 100644 --- a/rtos/FreeRTOS/Source/include/semphr.h +++ b/rtos/FreeRTOS/Source/include/semphr.h @@ -1,60 +1,64 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following + FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html - 1 tab == 4 spaces! - *************************************************************************** * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * * * - * http://www.FreeRTOS.org/FAQHelp.html * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and @@ -605,7 +609,7 @@ typedef QueueHandle_t SemaphoreHandle_t; * \defgroup xSemaphoreGiveFromISR xSemaphoreGiveFromISR * \ingroup Semaphores */ -#define xSemaphoreGiveFromISR( xSemaphore, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( QueueHandle_t ) ( xSemaphore ), NULL, ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK ) +#define xSemaphoreGiveFromISR( xSemaphore, pxHigherPriorityTaskWoken ) xQueueGiveFromISR( ( QueueHandle_t ) ( xSemaphore ), ( pxHigherPriorityTaskWoken ) ) /** * semphr. h diff --git a/rtos/FreeRTOS/Source/include/task.h b/rtos/FreeRTOS/Source/include/task.h index 2884f51..f2c0e17 100644 --- a/rtos/FreeRTOS/Source/include/task.h +++ b/rtos/FreeRTOS/Source/include/task.h @@ -1,60 +1,64 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following + FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html - 1 tab == 4 spaces! - *************************************************************************** * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * * * - * http://www.FreeRTOS.org/FAQHelp.html * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and @@ -81,10 +85,10 @@ extern "C" { * MACROS AND DEFINITIONS *----------------------------------------------------------*/ -#define tskKERNEL_VERSION_NUMBER "V8.0.0" +#define tskKERNEL_VERSION_NUMBER "V8.2.3" #define tskKERNEL_VERSION_MAJOR 8 -#define tskKERNEL_VERSION_MINOR 0 -#define tskKERNEL_VERSION_BUILD 0 +#define tskKERNEL_VERSION_MINOR 2 +#define tskKERNEL_VERSION_BUILD 3 /** * task. h @@ -114,13 +118,23 @@ typedef enum eDeleted /* The task being queried has been deleted, but its TCB has not yet been freed. */ } eTaskState; +/* Actions that can be performed when vTaskNotify() is called. */ +typedef enum +{ + eNoAction = 0, /* Notify the task without updating its notify value. */ + eSetBits, /* Set bits in the task's notification value. */ + eIncrement, /* Increment the task's notification value. */ + eSetValueWithOverwrite, /* Set the task's notification value to a specific value even if the previous value has not yet been read by the task. */ + eSetValueWithoutOverwrite /* Set the task's notification value if the previous value has been read by the task. */ +} eNotifyAction; + /* * Used internally only. */ typedef struct xTIME_OUT { BaseType_t xOverflowCount; - TickType_t xTimeOnEntering; + TickType_t xTimeOnEntering; } TimeOut_t; /* @@ -200,6 +214,7 @@ typedef enum * \ingroup SchedulerControl */ #define taskENTER_CRITICAL() portENTER_CRITICAL() +#define taskENTER_CRITICAL_FROM_ISR() portSET_INTERRUPT_MASK_FROM_ISR() /** * task. h @@ -214,7 +229,7 @@ typedef enum * \ingroup SchedulerControl */ #define taskEXIT_CRITICAL() portEXIT_CRITICAL() - +#define taskEXIT_CRITICAL_FROM_ISR( x ) portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) /** * task. h * @@ -647,6 +662,14 @@ UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask ) PRIVILEGED_FUNCTION; /** * task. h + * <pre>UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask );</pre> + * + * A version of uxTaskPriorityGet() that can be used from an ISR. + */ +UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask ) PRIVILEGED_FUNCTION; + +/** + * task. h * <pre>eTaskState eTaskGetState( TaskHandle_t xTask );</pre> * * INCLUDE_eTaskGetState must be defined as 1 for this function to be available. @@ -1136,6 +1159,18 @@ constant. */ #endif /* configUSE_APPLICATION_TASK_TAG ==1 */ #endif /* ifdef configUSE_APPLICATION_TASK_TAG */ +#if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) + + /* Each task contains an array of pointers that is dimensioned by the + configNUM_THREAD_LOCAL_STORAGE_POINTERS setting in FreeRTOSConfig.h. The + kernel does not use the pointers itself, so the application writer can use + the pointers for any purpose they wish. The following two functions are + used to set and query a pointer respectively. */ + void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue ) PRIVILEGED_FUNCTION; + void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex ) PRIVILEGED_FUNCTION; + +#endif + /** * task.h * <pre>BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter );</pre> @@ -1156,7 +1191,7 @@ BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter ) * Simply returns the handle of the idle task. It is not valid to call * xTaskGetIdleTaskHandle() before the scheduler has been started. */ -TaskHandle_t xTaskGetIdleTaskHandle( void ); +TaskHandle_t xTaskGetIdleTaskHandle( void ) PRIVILEGED_FUNCTION; /** * configUSE_TRACE_FACILITY must be defined as 1 in FreeRTOSConfig.h for @@ -1255,7 +1290,7 @@ TaskHandle_t xTaskGetIdleTaskHandle( void ); } </pre> */ -UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime ); +UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime ) PRIVILEGED_FUNCTION; /** * task. h @@ -1358,6 +1393,441 @@ void vTaskList( char * pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unquali */ void vTaskGetRunTimeStats( char *pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ +/** + * task. h + * <PRE>BaseType_t xTaskNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction );</PRE> + * + * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this + * function to be available. + * + * When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private + * "notification value", which is a 32-bit unsigned integer (uint32_t). + * + * Events can be sent to a task using an intermediary object. Examples of such + * objects are queues, semaphores, mutexes and event groups. Task notifications + * are a method of sending an event directly to a task without the need for such + * an intermediary object. + * + * A notification sent to a task can optionally perform an action, such as + * update, overwrite or increment the task's notification value. In that way + * task notifications can be used to send data to a task, or be used as light + * weight and fast binary or counting semaphores. + * + * A notification sent to a task will remain pending until it is cleared by the + * task calling xTaskNotifyWait() or ulTaskNotifyTake(). If the task was + * already in the Blocked state to wait for a notification when the notification + * arrives then the task will automatically be removed from the Blocked state + * (unblocked) and the notification cleared. + * + * A task can use xTaskNotifyWait() to [optionally] block to wait for a + * notification to be pending, or ulTaskNotifyTake() to [optionally] block + * to wait for its notification value to have a non-zero value. The task does + * not consume any CPU time while it is in the Blocked state. + * + * See http://www.FreeRTOS.org/RTOS-task-notifications.html for details. + * + * @param xTaskToNotify The handle of the task being notified. The handle to a + * task can be returned from the xTaskCreate() API function used to create the + * task, and the handle of the currently running task can be obtained by calling + * xTaskGetCurrentTaskHandle(). + * + * @param ulValue Data that can be sent with the notification. How the data is + * used depends on the value of the eAction parameter. + * + * @param eAction Specifies how the notification updates the task's notification + * value, if at all. Valid values for eAction are as follows: + * + * eSetBits - + * The task's notification value is bitwise ORed with ulValue. xTaskNofify() + * always returns pdPASS in this case. + * + * eIncrement - + * The task's notification value is incremented. ulValue is not used and + * xTaskNotify() always returns pdPASS in this case. + * + * eSetValueWithOverwrite - + * The task's notification value is set to the value of ulValue, even if the + * task being notified had not yet processed the previous notification (the + * task already had a notification pending). xTaskNotify() always returns + * pdPASS in this case. + * + * eSetValueWithoutOverwrite - + * If the task being notified did not already have a notification pending then + * the task's notification value is set to ulValue and xTaskNotify() will + * return pdPASS. If the task being notified already had a notification + * pending then no action is performed and pdFAIL is returned. + * + * eNoAction - + * The task receives a notification without its notification value being + * updated. ulValue is not used and xTaskNotify() always returns pdPASS in + * this case. + * + * pulPreviousNotificationValue - + * Can be used to pass out the subject task's notification value before any + * bits are modified by the notify function. + * + * @return Dependent on the value of eAction. See the description of the + * eAction parameter. + * + * \defgroup xTaskNotify xTaskNotify + * \ingroup TaskNotifications + */ +BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue ) PRIVILEGED_FUNCTION; +#define xTaskNotify( xTaskToNotify, ulValue, eAction ) xTaskGenericNotify( ( xTaskToNotify ), ( ulValue ), ( eAction ), NULL ) +#define xTaskNotifyAndQuery( xTaskToNotify, ulValue, eAction, pulPreviousNotifyValue ) xTaskGenericNotify( ( xTaskToNotify ), ( ulValue ), ( eAction ), ( pulPreviousNotifyValue ) ) + +/** + * task. h + * <PRE>BaseType_t xTaskNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken );</PRE> + * + * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this + * function to be available. + * + * When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private + * "notification value", which is a 32-bit unsigned integer (uint32_t). + * + * A version of xTaskNotify() that can be used from an interrupt service routine + * (ISR). + * + * Events can be sent to a task using an intermediary object. Examples of such + * objects are queues, semaphores, mutexes and event groups. Task notifications + * are a method of sending an event directly to a task without the need for such + * an intermediary object. + * + * A notification sent to a task can optionally perform an action, such as + * update, overwrite or increment the task's notification value. In that way + * task notifications can be used to send data to a task, or be used as light + * weight and fast binary or counting semaphores. + * + * A notification sent to a task will remain pending until it is cleared by the + * task calling xTaskNotifyWait() or ulTaskNotifyTake(). If the task was + * already in the Blocked state to wait for a notification when the notification + * arrives then the task will automatically be removed from the Blocked state + * (unblocked) and the notification cleared. + * + * A task can use xTaskNotifyWait() to [optionally] block to wait for a + * notification to be pending, or ulTaskNotifyTake() to [optionally] block + * to wait for its notification value to have a non-zero value. The task does + * not consume any CPU time while it is in the Blocked state. + * + * See http://www.FreeRTOS.org/RTOS-task-notifications.html for details. + * + * @param xTaskToNotify The handle of the task being notified. The handle to a + * task can be returned from the xTaskCreate() API function used to create the + * task, and the handle of the currently running task can be obtained by calling + * xTaskGetCurrentTaskHandle(). + * + * @param ulValue Data that can be sent with the notification. How the data is + * used depends on the value of the eAction parameter. + * + * @param eAction Specifies how the notification updates the task's notification + * value, if at all. Valid values for eAction are as follows: + * + * eSetBits - + * The task's notification value is bitwise ORed with ulValue. xTaskNofify() + * always returns pdPASS in this case. + * + * eIncrement - + * The task's notification value is incremented. ulValue is not used and + * xTaskNotify() always returns pdPASS in this case. + * + * eSetValueWithOverwrite - + * The task's notification value is set to the value of ulValue, even if the + * task being notified had not yet processed the previous notification (the + * task already had a notification pending). xTaskNotify() always returns + * pdPASS in this case. + * + * eSetValueWithoutOverwrite - + * If the task being notified did not already have a notification pending then + * the task's notification value is set to ulValue and xTaskNotify() will + * return pdPASS. If the task being notified already had a notification + * pending then no action is performed and pdFAIL is returned. + * + * eNoAction - + * The task receives a notification without its notification value being + * updated. ulValue is not used and xTaskNotify() always returns pdPASS in + * this case. + * + * @param pxHigherPriorityTaskWoken xTaskNotifyFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending the notification caused the + * task to which the notification was sent to leave the Blocked state, and the + * unblocked task has a priority higher than the currently running task. If + * xTaskNotifyFromISR() sets this value to pdTRUE then a context switch should + * be requested before the interrupt is exited. How a context switch is + * requested from an ISR is dependent on the port - see the documentation page + * for the port in use. + * + * @return Dependent on the value of eAction. See the description of the + * eAction parameter. + * + * \defgroup xTaskNotify xTaskNotify + * \ingroup TaskNotifications + */ +BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; +#define xTaskNotifyFromISR( xTaskToNotify, ulValue, eAction, pxHigherPriorityTaskWoken ) xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( ulValue ), ( eAction ), NULL, ( pxHigherPriorityTaskWoken ) ) +#define xTaskNotifyAndQueryFromISR( xTaskToNotify, ulValue, eAction, pulPreviousNotificationValue, pxHigherPriorityTaskWoken ) xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( ulValue ), ( eAction ), ( pulPreviousNotificationValue ), ( pxHigherPriorityTaskWoken ) ) + +/** + * task. h + * <PRE>BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait );</pre> + * + * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this + * function to be available. + * + * When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private + * "notification value", which is a 32-bit unsigned integer (uint32_t). + * + * Events can be sent to a task using an intermediary object. Examples of such + * objects are queues, semaphores, mutexes and event groups. Task notifications + * are a method of sending an event directly to a task without the need for such + * an intermediary object. + * + * A notification sent to a task can optionally perform an action, such as + * update, overwrite or increment the task's notification value. In that way + * task notifications can be used to send data to a task, or be used as light + * weight and fast binary or counting semaphores. + * + * A notification sent to a task will remain pending until it is cleared by the + * task calling xTaskNotifyWait() or ulTaskNotifyTake(). If the task was + * already in the Blocked state to wait for a notification when the notification + * arrives then the task will automatically be removed from the Blocked state + * (unblocked) and the notification cleared. + * + * A task can use xTaskNotifyWait() to [optionally] block to wait for a + * notification to be pending, or ulTaskNotifyTake() to [optionally] block + * to wait for its notification value to have a non-zero value. The task does + * not consume any CPU time while it is in the Blocked state. + * + * See http://www.FreeRTOS.org/RTOS-task-notifications.html for details. + * + * @param ulBitsToClearOnEntry Bits that are set in ulBitsToClearOnEntry value + * will be cleared in the calling task's notification value before the task + * checks to see if any notifications are pending, and optionally blocks if no + * notifications are pending. Setting ulBitsToClearOnEntry to ULONG_MAX (if + * limits.h is included) or 0xffffffffUL (if limits.h is not included) will have + * the effect of resetting the task's notification value to 0. Setting + * ulBitsToClearOnEntry to 0 will leave the task's notification value unchanged. + * + * @param ulBitsToClearOnExit If a notification is pending or received before + * the calling task exits the xTaskNotifyWait() function then the task's + * notification value (see the xTaskNotify() API function) is passed out using + * the pulNotificationValue parameter. Then any bits that are set in + * ulBitsToClearOnExit will be cleared in the task's notification value (note + * *pulNotificationValue is set before any bits are cleared). Setting + * ulBitsToClearOnExit to ULONG_MAX (if limits.h is included) or 0xffffffffUL + * (if limits.h is not included) will have the effect of resetting the task's + * notification value to 0 before the function exits. Setting + * ulBitsToClearOnExit to 0 will leave the task's notification value unchanged + * when the function exits (in which case the value passed out in + * pulNotificationValue will match the task's notification value). + * + * @param pulNotificationValue Used to pass the task's notification value out + * of the function. Note the value passed out will not be effected by the + * clearing of any bits caused by ulBitsToClearOnExit being non-zero. + * + * @param xTicksToWait The maximum amount of time that the task should wait in + * the Blocked state for a notification to be received, should a notification + * not already be pending when xTaskNotifyWait() was called. The task + * will not consume any processing time while it is in the Blocked state. This + * is specified in kernel ticks, the macro pdMS_TO_TICSK( value_in_ms ) can be + * used to convert a time specified in milliseconds to a time specified in + * ticks. + * + * @return If a notification was received (including notifications that were + * already pending when xTaskNotifyWait was called) then pdPASS is + * returned. Otherwise pdFAIL is returned. + * + * \defgroup xTaskNotifyWait xTaskNotifyWait + * \ingroup TaskNotifications + */ +BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; + +/** + * task. h + * <PRE>BaseType_t xTaskNotifyGive( TaskHandle_t xTaskToNotify );</PRE> + * + * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this macro + * to be available. + * + * When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private + * "notification value", which is a 32-bit unsigned integer (uint32_t). + * + * Events can be sent to a task using an intermediary object. Examples of such + * objects are queues, semaphores, mutexes and event groups. Task notifications + * are a method of sending an event directly to a task without the need for such + * an intermediary object. + * + * A notification sent to a task can optionally perform an action, such as + * update, overwrite or increment the task's notification value. In that way + * task notifications can be used to send data to a task, or be used as light + * weight and fast binary or counting semaphores. + * + * xTaskNotifyGive() is a helper macro intended for use when task notifications + * are used as light weight and faster binary or counting semaphore equivalents. + * Actual FreeRTOS semaphores are given using the xSemaphoreGive() API function, + * the equivalent action that instead uses a task notification is + * xTaskNotifyGive(). + * + * When task notifications are being used as a binary or counting semaphore + * equivalent then the task being notified should wait for the notification + * using the ulTaskNotificationTake() API function rather than the + * xTaskNotifyWait() API function. + * + * See http://www.FreeRTOS.org/RTOS-task-notifications.html for more details. + * + * @param xTaskToNotify The handle of the task being notified. The handle to a + * task can be returned from the xTaskCreate() API function used to create the + * task, and the handle of the currently running task can be obtained by calling + * xTaskGetCurrentTaskHandle(). + * + * @return xTaskNotifyGive() is a macro that calls xTaskNotify() with the + * eAction parameter set to eIncrement - so pdPASS is always returned. + * + * \defgroup xTaskNotifyGive xTaskNotifyGive + * \ingroup TaskNotifications + */ +#define xTaskNotifyGive( xTaskToNotify ) xTaskGenericNotify( ( xTaskToNotify ), ( 0 ), eIncrement, NULL ) + +/** + * task. h + * <PRE>void vTaskNotifyGiveFromISR( TaskHandle_t xTaskHandle, BaseType_t *pxHigherPriorityTaskWoken ); + * + * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this macro + * to be available. + * + * When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private + * "notification value", which is a 32-bit unsigned integer (uint32_t). + * + * A version of xTaskNotifyGive() that can be called from an interrupt service + * routine (ISR). + * + * Events can be sent to a task using an intermediary object. Examples of such + * objects are queues, semaphores, mutexes and event groups. Task notifications + * are a method of sending an event directly to a task without the need for such + * an intermediary object. + * + * A notification sent to a task can optionally perform an action, such as + * update, overwrite or increment the task's notification value. In that way + * task notifications can be used to send data to a task, or be used as light + * weight and fast binary or counting semaphores. + * + * vTaskNotifyGiveFromISR() is intended for use when task notifications are + * used as light weight and faster binary or counting semaphore equivalents. + * Actual FreeRTOS semaphores are given from an ISR using the + * xSemaphoreGiveFromISR() API function, the equivalent action that instead uses + * a task notification is vTaskNotifyGiveFromISR(). + * + * When task notifications are being used as a binary or counting semaphore + * equivalent then the task being notified should wait for the notification + * using the ulTaskNotificationTake() API function rather than the + * xTaskNotifyWait() API function. + * + * See http://www.FreeRTOS.org/RTOS-task-notifications.html for more details. + * + * @param xTaskToNotify The handle of the task being notified. The handle to a + * task can be returned from the xTaskCreate() API function used to create the + * task, and the handle of the currently running task can be obtained by calling + * xTaskGetCurrentTaskHandle(). + * + * @param pxHigherPriorityTaskWoken vTaskNotifyGiveFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending the notification caused the + * task to which the notification was sent to leave the Blocked state, and the + * unblocked task has a priority higher than the currently running task. If + * vTaskNotifyGiveFromISR() sets this value to pdTRUE then a context switch + * should be requested before the interrupt is exited. How a context switch is + * requested from an ISR is dependent on the port - see the documentation page + * for the port in use. + * + * \defgroup xTaskNotifyWait xTaskNotifyWait + * \ingroup TaskNotifications + */ +void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; + +/** + * task. h + * <PRE>uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait );</pre> + * + * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this + * function to be available. + * + * When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private + * "notification value", which is a 32-bit unsigned integer (uint32_t). + * + * Events can be sent to a task using an intermediary object. Examples of such + * objects are queues, semaphores, mutexes and event groups. Task notifications + * are a method of sending an event directly to a task without the need for such + * an intermediary object. + * + * A notification sent to a task can optionally perform an action, such as + * update, overwrite or increment the task's notification value. In that way + * task notifications can be used to send data to a task, or be used as light + * weight and fast binary or counting semaphores. + * + * ulTaskNotifyTake() is intended for use when a task notification is used as a + * faster and lighter weight binary or counting semaphore alternative. Actual + * FreeRTOS semaphores are taken using the xSemaphoreTake() API function, the + * equivalent action that instead uses a task notification is + * ulTaskNotifyTake(). + * + * When a task is using its notification value as a binary or counting semaphore + * other tasks should send notifications to it using the xTaskNotifyGive() + * macro, or xTaskNotify() function with the eAction parameter set to + * eIncrement. + * + * ulTaskNotifyTake() can either clear the task's notification value to + * zero on exit, in which case the notification value acts like a binary + * semaphore, or decrement the task's notification value on exit, in which case + * the notification value acts like a counting semaphore. + * + * A task can use ulTaskNotifyTake() to [optionally] block to wait for a + * the task's notification value to be non-zero. The task does not consume any + * CPU time while it is in the Blocked state. + * + * Where as xTaskNotifyWait() will return when a notification is pending, + * ulTaskNotifyTake() will return when the task's notification value is + * not zero. + * + * See http://www.FreeRTOS.org/RTOS-task-notifications.html for details. + * + * @param xClearCountOnExit if xClearCountOnExit is pdFALSE then the task's + * notification value is decremented when the function exits. In this way the + * notification value acts like a counting semaphore. If xClearCountOnExit is + * not pdFALSE then the task's notification value is cleared to zero when the + * function exits. In this way the notification value acts like a binary + * semaphore. + * + * @param xTicksToWait The maximum amount of time that the task should wait in + * the Blocked state for the task's notification value to be greater than zero, + * should the count not already be greater than zero when + * ulTaskNotifyTake() was called. The task will not consume any processing + * time while it is in the Blocked state. This is specified in kernel ticks, + * the macro pdMS_TO_TICSK( value_in_ms ) can be used to convert a time + * specified in milliseconds to a time specified in ticks. + * + * @return The task's notification count before it is either cleared to zero or + * decremented (see the xClearCountOnExit parameter). + * + * \defgroup ulTaskNotifyTake ulTaskNotifyTake + * \ingroup TaskNotifications + */ +uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; + +/** + * task. h + * <PRE>BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask );</pre> + * + * If the notification state of the task referenced by the handle xTask is + * eNotified, then set the task's notification state to eNotWaitingNotification. + * The task's notification value is not altered. Set xTask to NULL to clear the + * notification state of the calling task. + * + * @return pdTRUE if the task's notification state was set to + * eNotWaitingNotification, otherwise pdFALSE. + * \defgroup xTaskNotifyStateClear xTaskNotifyStateClear + * \ingroup TaskNotifications + */ +BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask ); + /*----------------------------------------------------------- * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES *----------------------------------------------------------*/ @@ -1424,7 +1894,7 @@ void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xIte * indefinitely, whereas vTaskPlaceOnEventList() does. * */ -void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; +void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely ) PRIVILEGED_FUNCTION; /* * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN @@ -1507,7 +1977,7 @@ void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_FUNCTIO * Set the priority of a task back to its proper priority in the case that it * inherited a higher priority while it was holding a semaphore. */ -void vTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_FUNCTION; +BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_FUNCTION; /* * Generic version of the task creation function which is in turn called by the @@ -1552,6 +2022,12 @@ void vTaskStepTick( const TickType_t xTicksToJump ) PRIVILEGED_FUNCTION; */ eSleepModeStatus eTaskConfirmSleepModeStatus( void ) PRIVILEGED_FUNCTION; +/* + * For internal use only. Increment the mutex held count when a mutex is + * taken and return the handle of the task that has taken the mutex. + */ +void *pvTaskIncrementMutexHeldCount( void ) PRIVILEGED_FUNCTION; + #ifdef __cplusplus } #endif diff --git a/rtos/FreeRTOS/Source/include/timers.h b/rtos/FreeRTOS/Source/include/timers.h index 27ea841..c1186b9 100644 --- a/rtos/FreeRTOS/Source/include/timers.h +++ b/rtos/FreeRTOS/Source/include/timers.h @@ -1,60 +1,64 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following + FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html - 1 tab == 4 spaces! - *************************************************************************** * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * * * - * http://www.FreeRTOS.org/FAQHelp.html * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and @@ -74,7 +78,7 @@ /*lint -e537 This headers are only multiply included if the application code happens to also be including task.h. */ #include "task.h" -/*lint +e956 */ +/*lint +e537 */ #ifdef __cplusplus extern "C" { @@ -261,11 +265,11 @@ TimerHandle_t xTimerCreate( const char * const pcTimerName, const TickType_t xTi * Returns the ID assigned to the timer. * * IDs are assigned to timers using the pvTimerID parameter of the call to - * xTimerCreated() that was used to create the timer. + * xTimerCreated() that was used to create the timer, and by calling the + * vTimerSetTimerID() API function. * * If the same callback function is assigned to multiple timers then the timer - * ID can be used within the callback function to identify which timer actually - * expired. + * ID can be used as time specific (timer local) storage. * * @param xTimer The timer being queried. * @@ -275,7 +279,28 @@ TimerHandle_t xTimerCreate( const char * const pcTimerName, const TickType_t xTi * * See the xTimerCreate() API function example usage scenario. */ -void *pvTimerGetTimerID( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; +void *pvTimerGetTimerID( const TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; + +/** + * void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID ); + * + * Sets the ID assigned to the timer. + * + * IDs are assigned to timers using the pvTimerID parameter of the call to + * xTimerCreated() that was used to create the timer. + * + * If the same callback function is assigned to multiple timers then the timer + * ID can be used as time specific (timer local) storage. + * + * @param xTimer The timer being updated. + * + * @param pvNewID The ID to assign to the timer. + * + * Example usage: + * + * See the xTimerCreate() API function example usage scenario. + */ +void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID ) PRIVILEGED_FUNCTION; /** * BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer ); @@ -323,7 +348,7 @@ BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; * Simply returns the handle of the timer service/daemon task. It it not valid * to call xTimerGetTimerDaemonTaskHandle() before the scheduler has been started. */ -TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ); +TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION; /** * BaseType_t xTimerStart( TimerHandle_t xTimer, TickType_t xTicksToWait ); @@ -1058,7 +1083,7 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ); * } * @endverbatim */ -BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken ); +BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; /** * BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, @@ -1092,7 +1117,18 @@ BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void * timer daemon task, otherwise pdFALSE is returned. * */ -BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait ); +BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; + +/** + * const char * const pcTimerGetTimerName( TimerHandle_t xTimer ); + * + * Returns the name that was assigned to a timer when the timer was created. + * + * @param xTimer The handle of the timer being queried. + * + * @return The name assigned to the timer specified by the xTimer parameter. + */ +const char * pcTimerGetTimerName( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ /* * Functions beyond this part are not part of the public API and are intended diff --git a/rtos/FreeRTOS/Source/list.c b/rtos/FreeRTOS/Source/list.c index 307f956..ce20cd8 100644 --- a/rtos/FreeRTOS/Source/list.c +++ b/rtos/FreeRTOS/Source/list.c @@ -1,60 +1,64 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following + FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html - 1 tab == 4 spaces! - *************************************************************************** * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * * * - * http://www.FreeRTOS.org/FAQHelp.html * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and @@ -89,6 +93,11 @@ void vListInitialise( List_t * const pxList ) pxList->xListEnd.pxPrevious = ( ListItem_t * ) &( pxList->xListEnd );/*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */ pxList->uxNumberOfItems = ( UBaseType_t ) 0U; + + /* Write known values into the list if + configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ + listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ); + listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ); } /*-----------------------------------------------------------*/ @@ -96,6 +105,11 @@ void vListInitialiseItem( ListItem_t * const pxItem ) { /* Make sure the list item is not recorded as being on a list. */ pxItem->pvContainer = NULL; + + /* Write known values into the list item if + configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ + listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ); + listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ); } /*-----------------------------------------------------------*/ @@ -103,11 +117,21 @@ void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem ) { ListItem_t * const pxIndex = pxList->pxIndex; + /* Only effective when configASSERT() is also defined, these tests may catch + the list data structures being overwritten in memory. They will not catch + data errors caused by incorrect configuration or use of FreeRTOS. */ + listTEST_LIST_INTEGRITY( pxList ); + listTEST_LIST_ITEM_INTEGRITY( pxNewListItem ); + /* Insert a new list item into pxList, but rather than sort the list, makes the new list item the last item to be removed by a call to listGET_OWNER_OF_NEXT_ENTRY(). */ pxNewListItem->pxNext = pxIndex; pxNewListItem->pxPrevious = pxIndex->pxPrevious; + + /* Only used during decision coverage testing. */ + mtCOVERAGE_TEST_DELAY(); + pxIndex->pxPrevious->pxNext = pxNewListItem; pxIndex->pxPrevious = pxNewListItem; @@ -123,15 +147,20 @@ void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem ) ListItem_t *pxIterator; const TickType_t xValueOfInsertion = pxNewListItem->xItemValue; + /* Only effective when configASSERT() is also defined, these tests may catch + the list data structures being overwritten in memory. They will not catch + data errors caused by incorrect configuration or use of FreeRTOS. */ + listTEST_LIST_INTEGRITY( pxList ); + listTEST_LIST_ITEM_INTEGRITY( pxNewListItem ); + /* Insert the new list item into the list, sorted in xItemValue order. - If the list already contains a list item with the same item value then - the new list item should be placed after it. This ensures that TCB's which - are stored in ready lists (all of which have the same xItemValue value) - get an equal share of the CPU. However, if the xItemValue is the same as - the back marker the iteration loop below will not end. This means we need - to guard against this by checking the value first and modifying the - algorithm slightly if necessary. */ + If the list already contains a list item with the same item value then the + new list item should be placed after it. This ensures that TCB's which are + stored in ready lists (all of which have the same xItemValue value) get a + share of the CPU. However, if the xItemValue is the same as the back marker + the iteration loop below will not end. Therefore the value is checked + first, and the algorithm slightly modified if necessary. */ if( xValueOfInsertion == portMAX_DELAY ) { pxIterator = pxList->xListEnd.pxPrevious; @@ -139,27 +168,31 @@ const TickType_t xValueOfInsertion = pxNewListItem->xItemValue; else { /* *** NOTE *********************************************************** - If you find your application is crashing here then likely causes are: + If you find your application is crashing here then likely causes are + listed below. In addition see http://www.freertos.org/FAQHelp.html for + more tips, and ensure configASSERT() is defined! + http://www.freertos.org/a00110.html#configASSERT + 1) Stack overflow - see http://www.freertos.org/Stacks-and-stack-overflow-checking.html - 2) Incorrect interrupt priority assignment, especially on Cortex-M3 + 2) Incorrect interrupt priority assignment, especially on Cortex-M parts where numerically high priority values denote low actual - interrupt priories, which can seem counter intuitive. See - configMAX_SYSCALL_INTERRUPT_PRIORITY on http://www.freertos.org/a00110.html + interrupt priorities, which can seem counter intuitive. See + http://www.freertos.org/RTOS-Cortex-M3-M4.html and the definition + of configMAX_SYSCALL_INTERRUPT_PRIORITY on + http://www.freertos.org/a00110.html 3) Calling an API function from within a critical section or when the scheduler is suspended, or calling an API function that does not end in "FromISR" from an interrupt. 4) Using a queue or semaphore before it has been initialised or before the scheduler has been started (are interrupts firing before vTaskStartScheduler() has been called?). - See http://www.freertos.org/FAQHelp.html for more tips, and ensure - configASSERT() is defined! http://www.freertos.org/a00110.html#configASSERT **********************************************************************/ for( pxIterator = ( ListItem_t * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext ) /*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */ { - /* There is nothing to do here, we are just iterating to the - wanted insertion position. */ + /* There is nothing to do here, just iterating to the wanted + insertion position. */ } } @@ -185,6 +218,9 @@ List_t * const pxList = ( List_t * ) pxItemToRemove->pvContainer; pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious; pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext; + /* Only used during decision coverage testing. */ + mtCOVERAGE_TEST_DELAY(); + /* Make sure the index is left pointing to a valid item. */ if( pxList->pxIndex == pxItemToRemove ) { diff --git a/rtos/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c b/rtos/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c index 2bb5414..4732d98 100644 --- a/rtos/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c +++ b/rtos/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c @@ -1,770 +1,757 @@ -/* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. - All rights reserved - - VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - - This file is part of the FreeRTOS distribution. - - FreeRTOS is free software; you can redistribute it and/or modify it under - the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. - - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. - - FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY - WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following - link: http://www.freertos.org/a00114.html - - 1 tab == 4 spaces! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool, a DOS - compatible FAT file system, and our tiny thread aware UDP/IP stack. - - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. - - http://www.SafeRTOS.com - High Integrity Systems also provide a safety - engineered and independently SIL3 certified version for use in safety and - mission critical applications that require provable dependability. - - 1 tab == 4 spaces! -*/ - -/*----------------------------------------------------------- - * Implementation of functions defined in portable.h for the ARM CM4F port. - *----------------------------------------------------------*/ - -/* Scheduler includes. */ -#include "FreeRTOS.h" -#include "task.h" - -#ifndef __VFP_FP__ - #error This port can only be used when the project options are configured to enable hardware floating point support. -#endif - -#ifndef configSYSTICK_CLOCK_HZ - #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ - /* Ensure the SysTick is clocked at the same frequency as the core. */ - #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) -#else - /* The way the SysTick is clocked is not modified in case it is not the same - as the core. */ - #define portNVIC_SYSTICK_CLK_BIT ( 0 ) -#endif - -/* Constants required to manipulate the core. Registers first... */ -#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000e010 ) ) -#define portNVIC_SYSTICK_LOAD_REG ( * ( ( volatile uint32_t * ) 0xe000e014 ) ) -#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( * ( ( volatile uint32_t * ) 0xe000e018 ) ) -#define portNVIC_SYSPRI2_REG ( * ( ( volatile uint32_t * ) 0xe000ed20 ) ) -/* ...then bits in the registers. */ -#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) -#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) -#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) -#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL ) -#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL ) - -#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) -#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) - -/* Constants required to check the validity of an interrupt priority. */ -#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) -#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) -#define portAIRCR_REG ( * ( ( volatile uint32_t * ) 0xE000ED0C ) ) -#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) -#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) -#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) -#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) -#define portPRIGROUP_SHIFT ( 8UL ) - -/* Constants required to manipulate the VFP. */ -#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */ -#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL ) - -/* Constants required to set up the initial stack. */ -#define portINITIAL_XPSR ( 0x01000000 ) -#define portINITIAL_EXEC_RETURN ( 0xfffffffd ) - -/* The systick is a 24-bit counter. */ -#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) - -/* A fiddle factor to estimate the number of SysTick counts that would have -occurred while the SysTick counter is stopped during tickless idle -calculations. */ -#define portMISSED_COUNTS_FACTOR ( 45UL ) - -/* Let the user override the pre-loading of the initial LR with the address of -prvTaskExitError() in case is messes up unwinding of the stack in the -debugger. */ -#ifdef configTASK_RETURN_ADDRESS - #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS -#else - #define portTASK_RETURN_ADDRESS prvTaskExitError -#endif - -/* Each task maintains its own interrupt status in the critical nesting -variable. */ -static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; - -/* - * Setup the timer to generate the tick interrupts. The implementation in this - * file is weak to allow application writers to change the timer used to - * generate the tick interrupt. - */ -void vPortSetupTimerInterrupt( void ); - -/* - * Exception handlers. - */ -void xPortPendSVHandler( void ) __attribute__ (( naked )); -void xPortSysTickHandler( void ); -void vPortSVCHandler( void ) __attribute__ (( naked )); - -/* - * Start first task is a separate function so it can be tested in isolation. - */ -static void prvPortStartFirstTask( void ) __attribute__ (( naked )); - -/* - * Function to enable the VFP. - */ - static void vPortEnableVFP( void ) __attribute__ (( naked )); - -/* - * Used to catch tasks that attempt to return from their implementing function. - */ -static void prvTaskExitError( void ); - -/*-----------------------------------------------------------*/ - -/* - * The number of SysTick increments that make up one tick period. - */ -#if configUSE_TICKLESS_IDLE == 1 - static uint32_t ulTimerCountsForOneTick = 0; -#endif /* configUSE_TICKLESS_IDLE */ - -/* - * The maximum number of tick periods that can be suppressed is limited by the - * 24 bit resolution of the SysTick timer. - */ -#if configUSE_TICKLESS_IDLE == 1 - static uint32_t xMaximumPossibleSuppressedTicks = 0; -#endif /* configUSE_TICKLESS_IDLE */ - -/* - * Compensate for the CPU cycles that pass while the SysTick is stopped (low - * power functionality only. - */ -#if configUSE_TICKLESS_IDLE == 1 - static uint32_t ulStoppedTimerCompensation = 0; -#endif /* configUSE_TICKLESS_IDLE */ - -/* - * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure - * FreeRTOS API functions are not called from interrupts that have been assigned - * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. - */ -#if ( configASSERT_DEFINED == 1 ) - static uint8_t ucMaxSysCallPriority = 0; - static uint32_t ulMaxPRIGROUPValue = 0; - static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16; -#endif /* configASSERT_DEFINED */ - -/*-----------------------------------------------------------*/ - -/* - * See header file for description. - */ -StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) -{ - /* Simulate the stack frame as it would be created by a context switch - interrupt. */ - - /* Offset added to account for the way the MCU uses the stack on entry/exit - of interrupts, and to ensure alignment. */ - pxTopOfStack--; - - *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ - pxTopOfStack--; - *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ - pxTopOfStack--; - *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ - - /* Save code space by skipping register initialisation. */ - pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ - *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ - - /* A save method is being used that requires each task to maintain its - own exec return value. */ - pxTopOfStack--; - *pxTopOfStack = portINITIAL_EXEC_RETURN; - - pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ - - return pxTopOfStack; -} -/*-----------------------------------------------------------*/ - -static void prvTaskExitError( void ) -{ - /* A function that implements a task must not exit or attempt to return to - its caller as there is nothing to return to. If a task wants to exit it - should instead call vTaskDelete( NULL ). - - Artificially force an assert() to be triggered if configASSERT() is - defined, then stop here so application writers can catch the error. */ - configASSERT( uxCriticalNesting == ~0UL ); - portDISABLE_INTERRUPTS(); - for( ;; ); -} -/*-----------------------------------------------------------*/ - -void vPortSVCHandler( void ) -{ - __asm volatile ( - " ldr r3, pxCurrentTCBConst2 \n" /* Restore the context. */ - " ldr r1, [r3] \n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */ - " ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */ - " ldmia r0!, {r4-r11, r14} \n" /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */ - " msr psp, r0 \n" /* Restore the task stack pointer. */ - " isb \n" - " mov r0, #0 \n" - " msr basepri, r0 \n" - " bx r14 \n" - " \n" - " .align 2 \n" - "pxCurrentTCBConst2: .word pxCurrentTCB \n" - ); -} -/*-----------------------------------------------------------*/ - -static void prvPortStartFirstTask( void ) -{ - __asm volatile( - " ldr r0, =0xE000ED08 \n" /* Use the NVIC offset register to locate the stack. */ - " ldr r0, [r0] \n" - " ldr r0, [r0] \n" - " msr msp, r0 \n" /* Set the msp back to the start of the stack. */ - " cpsie i \n" /* Globally enable interrupts. */ - " dsb \n" - " isb \n" - " svc 0 \n" /* System call to start first task. */ - " nop \n" - ); -} -/*-----------------------------------------------------------*/ - -/* - * See header file for description. - */ -BaseType_t xPortStartScheduler( void ) -{ - /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. - See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ - configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY ); - - #if( configASSERT_DEFINED == 1 ) - { - volatile uint32_t ulOriginalPriority; - volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); - volatile uint8_t ucMaxPriorityValue; - - /* Determine the maximum priority from which ISR safe FreeRTOS API - functions can be called. ISR safe functions are those that end in - "FromISR". FreeRTOS maintains separate thread and ISR API functions to - ensure interrupt entry is as fast and simple as possible. - - Save the interrupt priority value that is about to be clobbered. */ - ulOriginalPriority = *pucFirstUserPriorityRegister; - - /* Determine the number of priority bits available. First write to all - possible bits. */ - *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; - - /* Read the value back to see how many bits stuck. */ - ucMaxPriorityValue = *pucFirstUserPriorityRegister; - - /* Use the same mask on the maximum system call priority. */ - ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; - - /* Calculate the maximum acceptable priority group value for the number - of bits read back. */ - ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; - while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) - { - ulMaxPRIGROUPValue--; - ucMaxPriorityValue <<= ( uint8_t ) 0x01; - } - - /* Shift the priority group value back to its position within the AIRCR - register. */ - ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; - ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; - - /* Restore the clobbered interrupt priority register to its original - value. */ - *pucFirstUserPriorityRegister = ulOriginalPriority; - } - #endif /* conifgASSERT_DEFINED */ - - /* Make PendSV and SysTick the lowest priority interrupts. */ - portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI; - portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI; - - /* Start the timer that generates the tick ISR. Interrupts are disabled - here already. */ - vPortSetupTimerInterrupt(); - - /* Initialise the critical nesting count ready for the first task. */ - uxCriticalNesting = 0; - - /* Ensure the VFP is enabled - it should be anyway. */ - vPortEnableVFP(); - - /* Lazy save always. */ - *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS; - - /* Start the first task. */ - prvPortStartFirstTask(); - - /* Should never get here as the tasks will now be executing! Call the task - exit error function to prevent compiler warnings about a static function - not being called in the case that the application writer overrides this - functionality by defining configTASK_RETURN_ADDRESS. */ - prvTaskExitError(); - - /* Should not get here! */ - return 0; -} -/*-----------------------------------------------------------*/ - -void vPortEndScheduler( void ) -{ - /* Not implemented in ports where there is nothing to return to. - Artificially force an assert. */ - configASSERT( uxCriticalNesting == 1000UL ); -} -/*-----------------------------------------------------------*/ - -void vPortYield( void ) -{ - /* Set a PendSV to request a context switch. */ - portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; - - /* Barriers are normally not required but do ensure the code is completely - within the specified behaviour for the architecture. */ - __asm volatile( "dsb" ); - __asm volatile( "isb" ); -} -/*-----------------------------------------------------------*/ - -void vPortEnterCritical( void ) -{ - portDISABLE_INTERRUPTS(); - uxCriticalNesting++; - __asm volatile( "dsb" ); - __asm volatile( "isb" ); -} -/*-----------------------------------------------------------*/ - -void vPortExitCritical( void ) -{ - configASSERT( uxCriticalNesting ); - uxCriticalNesting--; - if( uxCriticalNesting == 0 ) - { - portENABLE_INTERRUPTS(); - } -} -/*-----------------------------------------------------------*/ - -__attribute__(( naked )) uint32_t ulPortSetInterruptMask( void ) -{ - __asm volatile \ - ( \ - " mrs r0, basepri \n" \ - " mov r1, %0 \n" \ - " msr basepri, r1 \n" \ - " bx lr \n" \ - :: "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "r0", "r1" \ - ); - - /* This return will not be reached but is necessary to prevent compiler - warnings. */ - return 0; -} -/*-----------------------------------------------------------*/ - -__attribute__(( naked )) void vPortClearInterruptMask( uint32_t ulNewMaskValue ) -{ - __asm volatile \ - ( \ - " msr basepri, r0 \n" \ - " bx lr \n" \ - :::"r0" \ - ); - - /* Just to avoid compiler warnings. */ - ( void ) ulNewMaskValue; -} -/*-----------------------------------------------------------*/ - -void xPortPendSVHandler( void ) -{ - /* This is a naked function. */ - - __asm volatile - ( - " mrs r0, psp \n" - " isb \n" - " \n" - " ldr r3, pxCurrentTCBConst \n" /* Get the location of the current TCB. */ - " ldr r2, [r3] \n" - " \n" - " tst r14, #0x10 \n" /* Is the task using the FPU context? If so, push high vfp registers. */ - " it eq \n" - " vstmdbeq r0!, {s16-s31} \n" - " \n" - " stmdb r0!, {r4-r11, r14} \n" /* Save the core registers. */ - " \n" - " str r0, [r2] \n" /* Save the new top of stack into the first member of the TCB. */ - " \n" - " stmdb sp!, {r3} \n" - " mov r0, %0 \n" - " msr basepri, r0 \n" - " bl vTaskSwitchContext \n" - " mov r0, #0 \n" - " msr basepri, r0 \n" - " ldmia sp!, {r3} \n" - " \n" - " ldr r1, [r3] \n" /* The first item in pxCurrentTCB is the task top of stack. */ - " ldr r0, [r1] \n" - " \n" - " ldmia r0!, {r4-r11, r14} \n" /* Pop the core registers. */ - " \n" - " tst r14, #0x10 \n" /* Is the task using the FPU context? If so, pop the high vfp registers too. */ - " it eq \n" - " vldmiaeq r0!, {s16-s31} \n" - " \n" - " msr psp, r0 \n" - " isb \n" - " \n" - #ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata workaround. */ - #if WORKAROUND_PMU_CM001 == 1 - " push { r14 } \n" - " pop { pc } \n" - #endif - #endif - " \n" - " bx r14 \n" - " \n" - " .align 2 \n" - "pxCurrentTCBConst: .word pxCurrentTCB \n" - ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY) - ); -} -/*-----------------------------------------------------------*/ - -void xPortSysTickHandler( void ) -{ - /* The SysTick runs at the lowest interrupt priority, so when this interrupt - executes all interrupts must be unmasked. There is therefore no need to - save and then restore the interrupt mask value as its value is already - known. */ - ( void ) portSET_INTERRUPT_MASK_FROM_ISR(); - { - /* Increment the RTOS tick. */ - if( xTaskIncrementTick() != pdFALSE ) - { - /* A context switch is required. Context switching is performed in - the PendSV interrupt. Pend the PendSV interrupt. */ - portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; - } - } - portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 ); -} -/*-----------------------------------------------------------*/ - -#if configUSE_TICKLESS_IDLE == 1 - - __attribute__((weak)) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) - { - uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickCTRL; - TickType_t xModifiableIdleTime; - - /* Make sure the SysTick reload value does not overflow the counter. */ - if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) - { - xExpectedIdleTime = xMaximumPossibleSuppressedTicks; - } - - /* Stop the SysTick momentarily. The time the SysTick is stopped for - is accounted for as best it can be, but using the tickless mode will - inevitably result in some tiny drift of the time maintained by the - kernel with respect to calendar time. */ - portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; - - /* Calculate the reload value required to wait xExpectedIdleTime - tick periods. -1 is used because this code will execute part way - through one of the tick periods. */ - ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); - if( ulReloadValue > ulStoppedTimerCompensation ) - { - ulReloadValue -= ulStoppedTimerCompensation; - } - - /* Enter a critical section but don't use the taskENTER_CRITICAL() - method as that will mask interrupts that should exit sleep mode. */ - __asm volatile( "cpsid i" ); - - /* If a context switch is pending or a task is waiting for the scheduler - to be unsuspended then abandon the low power entry. */ - if( eTaskConfirmSleepModeStatus() == eAbortSleep ) - { - /* Restart from whatever is left in the count register to complete - this tick period. */ - portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; - - /* Restart SysTick. */ - portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; - - /* Reset the reload register to the value required for normal tick - periods. */ - portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; - - /* Re-enable interrupts - see comments above the cpsid instruction() - above. */ - __asm volatile( "cpsie i" ); - } - else - { - /* Set the new reload value. */ - portNVIC_SYSTICK_LOAD_REG = ulReloadValue; - - /* Clear the SysTick count flag and set the count value back to - zero. */ - portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; - - /* Restart SysTick. */ - portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; - - /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can - set its parameter to 0 to indicate that its implementation contains - its own wait for interrupt or wait for event instruction, and so wfi - should not be executed again. However, the original expected idle - time variable must remain unmodified, so a copy is taken. */ - xModifiableIdleTime = xExpectedIdleTime; - configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); - if( xModifiableIdleTime > 0 ) - { - __asm volatile( "dsb" ); - __asm volatile( "wfi" ); - __asm volatile( "isb" ); - } - configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); - - /* Stop SysTick. Again, the time the SysTick is stopped for is - accounted for as best it can be, but using the tickless mode will - inevitably result in some tiny drift of the time maintained by the - kernel with respect to calendar time. */ - ulSysTickCTRL = portNVIC_SYSTICK_CTRL_REG; - portNVIC_SYSTICK_CTRL_REG = ( ulSysTickCTRL & ~portNVIC_SYSTICK_ENABLE_BIT ); - - /* Re-enable interrupts - see comments above the cpsid instruction() - above. */ - __asm volatile( "cpsie i" ); - - if( ( ulSysTickCTRL & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) - { - uint32_t ulCalculatedLoadValue; - - /* The tick interrupt has already executed, and the SysTick - count reloaded with ulReloadValue. Reset the - portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick - period. */ - ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); - - /* Don't allow a tiny value, or values that have somehow - underflowed because the post sleep hook did something - that took too long. */ - if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) - { - ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); - } - - portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; - - /* The tick interrupt handler will already have pended the tick - processing in the kernel. As the pending tick will be - processed as soon as this function exits, the tick value - maintained by the tick is stepped forward by one less than the - time spent waiting. */ - ulCompleteTickPeriods = xExpectedIdleTime - 1UL; - } - else - { - /* Something other than the tick interrupt ended the sleep. - Work out how long the sleep lasted rounded to complete tick - periods (not the ulReload value which accounted for part - ticks). */ - ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; - - /* How many complete tick periods passed while the processor - was waiting? */ - ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; - - /* The reload value is set to whatever fraction of a single tick - period remains. */ - portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; - } - - /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG - again, then set portNVIC_SYSTICK_LOAD_REG back to its standard - value. The critical section is used to ensure the tick interrupt - can only execute once in the case that the reload register is near - zero. */ - portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; - portENTER_CRITICAL(); - { - portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; - vTaskStepTick( ulCompleteTickPeriods ); - portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; - } - portEXIT_CRITICAL(); - } - } - -#endif /* #if configUSE_TICKLESS_IDLE */ -/*-----------------------------------------------------------*/ - -/* - * Setup the systick timer to generate the tick interrupts at the required - * frequency. - */ -__attribute__(( weak )) void vPortSetupTimerInterrupt( void ) -{ - /* Calculate the constants required to configure the tick interrupt. */ - #if configUSE_TICKLESS_IDLE == 1 - { - ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); - xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; - ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); - } - #endif /* configUSE_TICKLESS_IDLE */ - - /* Configure SysTick to interrupt at the requested rate. */ - portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; - portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT ); -} -/*-----------------------------------------------------------*/ - -/* This is a naked function. */ -static void vPortEnableVFP( void ) -{ - __asm volatile - ( - " ldr.w r0, =0xE000ED88 \n" /* The FPU enable bits are in the CPACR. */ - " ldr r1, [r0] \n" - " \n" - " orr r1, r1, #( 0xf << 20 ) \n" /* Enable CP10 and CP11 coprocessors, then save back. */ - " str r1, [r0] \n" - " bx r14 " - ); -} -/*-----------------------------------------------------------*/ - -#if( configASSERT_DEFINED == 1 ) - - void vPortValidateInterruptPriority( void ) - { - uint32_t ulCurrentInterrupt; - uint8_t ucCurrentPriority; - - /* Obtain the number of the currently executing interrupt. */ - __asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) ); - - /* Is the interrupt number a user defined interrupt? */ - if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) - { - /* Look up the interrupt's priority. */ - ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; - - /* The following assertion will fail if a service routine (ISR) for - an interrupt that has been assigned a priority above - configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API - function. ISR safe FreeRTOS API functions must *only* be called - from interrupts that have been assigned a priority at or below - configMAX_SYSCALL_INTERRUPT_PRIORITY. - - Numerically low interrupt priority numbers represent logically high - interrupt priorities, therefore the priority of the interrupt must - be set to a value equal to or numerically *higher* than - configMAX_SYSCALL_INTERRUPT_PRIORITY. - - Interrupts that use the FreeRTOS API must not be left at their - default priority of zero as that is the highest possible priority, - which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, - and therefore also guaranteed to be invalid. - - FreeRTOS maintains separate thread and ISR API functions to ensure - interrupt entry is as fast and simple as possible. - - The following links provide detailed information: - http://www.freertos.org/RTOS-Cortex-M3-M4.html - http://www.freertos.org/FAQHelp.html */ - configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); - } - - /* Priority grouping: The interrupt controller (NVIC) allows the bits - that define each interrupt's priority to be split between bits that - define the interrupt's pre-emption priority bits and bits that define - the interrupt's sub-priority. For simplicity all bits must be defined - to be pre-emption priority bits. The following assertion will fail if - this is not the case (if some bits represent a sub-priority). - - If the application only uses CMSIS libraries for interrupt - configuration then the correct setting can be achieved on all Cortex-M - devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the - scheduler. Note however that some vendor specific peripheral libraries - assume a non-zero priority group setting, in which cases using a value - of zero will result in unpredicable behaviour. */ - configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); - } - -#endif /* configASSERT_DEFINED */ - - +/*
+ FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
+ All rights reserved
+
+ VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+
+ This file is part of the FreeRTOS distribution.
+
+ FreeRTOS is free software; you can redistribute it and/or modify it under
+ the terms of the GNU General Public License (version 2) as published by the
+ Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
+
+ ***************************************************************************
+ >>! NOTE: The modification to the GPL is included to allow you to !<<
+ >>! distribute a combined work that includes FreeRTOS without being !<<
+ >>! obliged to provide the source code for proprietary components !<<
+ >>! outside of the FreeRTOS kernel. !<<
+ ***************************************************************************
+
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+ WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ FOR A PARTICULAR PURPOSE. Full license text is available on the following
+ link: http://www.freertos.org/a00114.html
+
+ ***************************************************************************
+ * *
+ * FreeRTOS provides completely free yet professionally developed, *
+ * robust, strictly quality controlled, supported, and cross *
+ * platform software that is more than just the market leader, it *
+ * is the industry's de facto standard. *
+ * *
+ * Help yourself get started quickly while simultaneously helping *
+ * to support the FreeRTOS project by purchasing a FreeRTOS *
+ * tutorial book, reference manual, or both: *
+ * http://www.FreeRTOS.org/Documentation *
+ * *
+ ***************************************************************************
+
+ http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
+ the FAQ page "My application does not run, what could be wrong?". Have you
+ defined configASSERT()?
+
+ http://www.FreeRTOS.org/support - In return for receiving this top quality
+ embedded software for free we request you assist our global community by
+ participating in the support forum.
+
+ http://www.FreeRTOS.org/training - Investing in training allows your team to
+ be as productive as possible as early as possible. Now you can receive
+ FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
+ Ltd, and the world's leading authority on the world's leading RTOS.
+
+ http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+ including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+ compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+ http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
+ Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
+
+ http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
+ Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
+ licenses offer ticketed support, indemnification and commercial middleware.
+
+ http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+ engineered and independently SIL3 certified version for use in safety and
+ mission critical applications that require provable dependability.
+
+ 1 tab == 4 spaces!
+*/
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the ARM CM4F port.
+ *----------------------------------------------------------*/
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+#ifndef __VFP_FP__
+ #error This port can only be used when the project options are configured to enable hardware floating point support.
+#endif
+
+#ifndef configSYSTICK_CLOCK_HZ
+ #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
+ /* Ensure the SysTick is clocked at the same frequency as the core. */
+ #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
+#else
+ /* The way the SysTick is clocked is not modified in case it is not the same
+ as the core. */
+ #define portNVIC_SYSTICK_CLK_BIT ( 0 )
+#endif
+
+/* Constants required to manipulate the core. Registers first... */
+#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000e010 ) )
+#define portNVIC_SYSTICK_LOAD_REG ( * ( ( volatile uint32_t * ) 0xe000e014 ) )
+#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( * ( ( volatile uint32_t * ) 0xe000e018 ) )
+#define portNVIC_SYSPRI2_REG ( * ( ( volatile uint32_t * ) 0xe000ed20 ) )
+/* ...then bits in the registers. */
+#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL )
+#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL )
+#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL )
+#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL )
+#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL )
+
+/* Constants used to detect a Cortex-M7 r0p1 core, which should use the ARM_CM7
+r0p1 port. */
+#define portCPUID ( * ( ( volatile uint32_t * ) 0xE000ed00 ) )
+#define portCORTEX_M7_r0p1_ID ( 0x410FC271UL )
+#define portCORTEX_M7_r0p0_ID ( 0x410FC270UL )
+
+#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
+#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
+
+/* Constants required to check the validity of an interrupt priority. */
+#define portFIRST_USER_INTERRUPT_NUMBER ( 16 )
+#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 )
+#define portAIRCR_REG ( * ( ( volatile uint32_t * ) 0xE000ED0C ) )
+#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff )
+#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 )
+#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 )
+#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL )
+#define portPRIGROUP_SHIFT ( 8UL )
+
+/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */
+#define portVECTACTIVE_MASK ( 0xFFUL )
+
+/* Constants required to manipulate the VFP. */
+#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */
+#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL )
+
+/* Constants required to set up the initial stack. */
+#define portINITIAL_XPSR ( 0x01000000 )
+#define portINITIAL_EXEC_RETURN ( 0xfffffffd )
+
+/* The systick is a 24-bit counter. */
+#define portMAX_24_BIT_NUMBER ( 0xffffffUL )
+
+/* A fiddle factor to estimate the number of SysTick counts that would have
+occurred while the SysTick counter is stopped during tickless idle
+calculations. */
+#define portMISSED_COUNTS_FACTOR ( 45UL )
+
+/* Let the user override the pre-loading of the initial LR with the address of
+prvTaskExitError() in case it messes up unwinding of the stack in the
+debugger. */
+#ifdef configTASK_RETURN_ADDRESS
+ #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS
+#else
+ #define portTASK_RETURN_ADDRESS prvTaskExitError
+#endif
+
+/* Each task maintains its own interrupt status in the critical nesting
+variable. */
+static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
+
+/*
+ * Setup the timer to generate the tick interrupts. The implementation in this
+ * file is weak to allow application writers to change the timer used to
+ * generate the tick interrupt.
+ */
+void vPortSetupTimerInterrupt( void );
+
+/*
+ * Exception handlers.
+ */
+void xPortPendSVHandler( void ) __attribute__ (( naked ));
+void xPortSysTickHandler( void );
+void vPortSVCHandler( void ) __attribute__ (( naked ));
+
+/*
+ * Start first task is a separate function so it can be tested in isolation.
+ */
+static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
+
+/*
+ * Function to enable the VFP.
+ */
+ static void vPortEnableVFP( void ) __attribute__ (( naked ));
+
+/*
+ * Used to catch tasks that attempt to return from their implementing function.
+ */
+static void prvTaskExitError( void );
+
+/*-----------------------------------------------------------*/
+
+/*
+ * The number of SysTick increments that make up one tick period.
+ */
+#if configUSE_TICKLESS_IDLE == 1
+ static uint32_t ulTimerCountsForOneTick = 0;
+#endif /* configUSE_TICKLESS_IDLE */
+
+/*
+ * The maximum number of tick periods that can be suppressed is limited by the
+ * 24 bit resolution of the SysTick timer.
+ */
+#if configUSE_TICKLESS_IDLE == 1
+ static uint32_t xMaximumPossibleSuppressedTicks = 0;
+#endif /* configUSE_TICKLESS_IDLE */
+
+/*
+ * Compensate for the CPU cycles that pass while the SysTick is stopped (low
+ * power functionality only.
+ */
+#if configUSE_TICKLESS_IDLE == 1
+ static uint32_t ulStoppedTimerCompensation = 0;
+#endif /* configUSE_TICKLESS_IDLE */
+
+/*
+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure
+ * FreeRTOS API functions are not called from interrupts that have been assigned
+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
+ */
+#if ( configASSERT_DEFINED == 1 )
+ static uint8_t ucMaxSysCallPriority = 0;
+ static uint32_t ulMaxPRIGROUPValue = 0;
+ static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16;
+#endif /* configASSERT_DEFINED */
+
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+ /* Simulate the stack frame as it would be created by a context switch
+ interrupt. */
+
+ /* Offset added to account for the way the MCU uses the stack on entry/exit
+ of interrupts, and to ensure alignment. */
+ pxTopOfStack--;
+
+ *pxTopOfStack = portINITIAL_XPSR; /* xPSR */
+ pxTopOfStack--;
+ *pxTopOfStack = ( StackType_t ) pxCode; /* PC */
+ pxTopOfStack--;
+ *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
+
+ /* Save code space by skipping register initialisation. */
+ pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
+ *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
+
+ /* A save method is being used that requires each task to maintain its
+ own exec return value. */
+ pxTopOfStack--;
+ *pxTopOfStack = portINITIAL_EXEC_RETURN;
+
+ pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */
+
+ return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+static void prvTaskExitError( void )
+{
+ /* A function that implements a task must not exit or attempt to return to
+ its caller as there is nothing to return to. If a task wants to exit it
+ should instead call vTaskDelete( NULL ).
+
+ Artificially force an assert() to be triggered if configASSERT() is
+ defined, then stop here so application writers can catch the error. */
+ configASSERT( uxCriticalNesting == ~0UL );
+ portDISABLE_INTERRUPTS();
+ for( ;; );
+}
+/*-----------------------------------------------------------*/
+
+void vPortSVCHandler( void )
+{
+ __asm volatile (
+ " ldr r3, pxCurrentTCBConst2 \n" /* Restore the context. */
+ " ldr r1, [r3] \n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
+ " ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */
+ " ldmia r0!, {r4-r11, r14} \n" /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */
+ " msr psp, r0 \n" /* Restore the task stack pointer. */
+ " isb \n"
+ " mov r0, #0 \n"
+ " msr basepri, r0 \n"
+ " bx r14 \n"
+ " \n"
+ " .align 2 \n"
+ "pxCurrentTCBConst2: .word pxCurrentTCB \n"
+ );
+}
+/*-----------------------------------------------------------*/
+
+static void prvPortStartFirstTask( void )
+{
+ __asm volatile(
+ " ldr r0, =0xE000ED08 \n" /* Use the NVIC offset register to locate the stack. */
+ " ldr r0, [r0] \n"
+ " ldr r0, [r0] \n"
+ " msr msp, r0 \n" /* Set the msp back to the start of the stack. */
+ " cpsie i \n" /* Globally enable interrupts. */
+ " cpsie f \n"
+ " dsb \n"
+ " isb \n"
+ " svc 0 \n" /* System call to start first task. */
+ " nop \n"
+ );
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+BaseType_t xPortStartScheduler( void )
+{
+ /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.
+ See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
+ configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );
+
+ /* This port can be used on all revisions of the Cortex-M7 core other than
+ the r0p1 parts. r0p1 parts should use the port from the
+ /source/portable/GCC/ARM_CM7/r0p1 directory. */
+ configASSERT( portCPUID != portCORTEX_M7_r0p1_ID );
+ configASSERT( portCPUID != portCORTEX_M7_r0p0_ID );
+
+ #if( configASSERT_DEFINED == 1 )
+ {
+ volatile uint32_t ulOriginalPriority;
+ volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
+ volatile uint8_t ucMaxPriorityValue;
+
+ /* Determine the maximum priority from which ISR safe FreeRTOS API
+ functions can be called. ISR safe functions are those that end in
+ "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ ensure interrupt entry is as fast and simple as possible.
+
+ Save the interrupt priority value that is about to be clobbered. */
+ ulOriginalPriority = *pucFirstUserPriorityRegister;
+
+ /* Determine the number of priority bits available. First write to all
+ possible bits. */
+ *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
+
+ /* Read the value back to see how many bits stuck. */
+ ucMaxPriorityValue = *pucFirstUserPriorityRegister;
+
+ /* Use the same mask on the maximum system call priority. */
+ ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;
+
+ /* Calculate the maximum acceptable priority group value for the number
+ of bits read back. */
+ ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS;
+ while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
+ {
+ ulMaxPRIGROUPValue--;
+ ucMaxPriorityValue <<= ( uint8_t ) 0x01;
+ }
+
+ /* Shift the priority group value back to its position within the AIRCR
+ register. */
+ ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
+ ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
+
+ /* Restore the clobbered interrupt priority register to its original
+ value. */
+ *pucFirstUserPriorityRegister = ulOriginalPriority;
+ }
+ #endif /* conifgASSERT_DEFINED */
+
+ /* Make PendSV and SysTick the lowest priority interrupts. */
+ portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
+ portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
+
+ /* Start the timer that generates the tick ISR. Interrupts are disabled
+ here already. */
+ vPortSetupTimerInterrupt();
+
+ /* Initialise the critical nesting count ready for the first task. */
+ uxCriticalNesting = 0;
+
+ /* Ensure the VFP is enabled - it should be anyway. */
+ vPortEnableVFP();
+
+ /* Lazy save always. */
+ *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS;
+
+ /* Start the first task. */
+ prvPortStartFirstTask();
+
+ /* Should never get here as the tasks will now be executing! Call the task
+ exit error function to prevent compiler warnings about a static function
+ not being called in the case that the application writer overrides this
+ functionality by defining configTASK_RETURN_ADDRESS. */
+ prvTaskExitError();
+
+ /* Should not get here! */
+ return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+ /* Not implemented in ports where there is nothing to return to.
+ Artificially force an assert. */
+ configASSERT( uxCriticalNesting == 1000UL );
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnterCritical( void )
+{
+ portDISABLE_INTERRUPTS();
+ uxCriticalNesting++;
+
+ /* This is not the interrupt safe version of the enter critical function so
+ assert() if it is being called from an interrupt context. Only API
+ functions that end in "FromISR" can be used in an interrupt. Only assert if
+ the critical nesting count is 1 to protect against recursive calls if the
+ assert function also uses a critical section. */
+ if( uxCriticalNesting == 1 )
+ {
+ configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 );
+ }
+}
+/*-----------------------------------------------------------*/
+
+void vPortExitCritical( void )
+{
+ configASSERT( uxCriticalNesting );
+ uxCriticalNesting--;
+ if( uxCriticalNesting == 0 )
+ {
+ portENABLE_INTERRUPTS();
+ }
+}
+/*-----------------------------------------------------------*/
+
+void xPortPendSVHandler( void )
+{
+ /* This is a naked function. */
+
+ __asm volatile
+ (
+ " mrs r0, psp \n"
+ " isb \n"
+ " \n"
+ " ldr r3, pxCurrentTCBConst \n" /* Get the location of the current TCB. */
+ " ldr r2, [r3] \n"
+ " \n"
+ " tst r14, #0x10 \n" /* Is the task using the FPU context? If so, push high vfp registers. */
+ " it eq \n"
+ " vstmdbeq r0!, {s16-s31} \n"
+ " \n"
+ " stmdb r0!, {r4-r11, r14} \n" /* Save the core registers. */
+ " \n"
+ " str r0, [r2] \n" /* Save the new top of stack into the first member of the TCB. */
+ " \n"
+ " stmdb sp!, {r3} \n"
+ " mov r0, %0 \n"
+ " msr basepri, r0 \n"
+ " dsb \n"
+ " isb \n"
+ " bl vTaskSwitchContext \n"
+ " mov r0, #0 \n"
+ " msr basepri, r0 \n"
+ " ldmia sp!, {r3} \n"
+ " \n"
+ " ldr r1, [r3] \n" /* The first item in pxCurrentTCB is the task top of stack. */
+ " ldr r0, [r1] \n"
+ " \n"
+ " ldmia r0!, {r4-r11, r14} \n" /* Pop the core registers. */
+ " \n"
+ " tst r14, #0x10 \n" /* Is the task using the FPU context? If so, pop the high vfp registers too. */
+ " it eq \n"
+ " vldmiaeq r0!, {s16-s31} \n"
+ " \n"
+ " msr psp, r0 \n"
+ " isb \n"
+ " \n"
+ #ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata workaround. */
+ #if WORKAROUND_PMU_CM001 == 1
+ " push { r14 } \n"
+ " pop { pc } \n"
+ #endif
+ #endif
+ " \n"
+ " bx r14 \n"
+ " \n"
+ " .align 2 \n"
+ "pxCurrentTCBConst: .word pxCurrentTCB \n"
+ ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY)
+ );
+}
+/*-----------------------------------------------------------*/
+
+void xPortSysTickHandler( void )
+{
+ /* The SysTick runs at the lowest interrupt priority, so when this interrupt
+ executes all interrupts must be unmasked. There is therefore no need to
+ save and then restore the interrupt mask value as its value is already
+ known. */
+ ( void ) portSET_INTERRUPT_MASK_FROM_ISR();
+ {
+ /* Increment the RTOS tick. */
+ if( xTaskIncrementTick() != pdFALSE )
+ {
+ /* A context switch is required. Context switching is performed in
+ the PendSV interrupt. Pend the PendSV interrupt. */
+ portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+ }
+ }
+ portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 );
+}
+/*-----------------------------------------------------------*/
+
+#if configUSE_TICKLESS_IDLE == 1
+
+ __attribute__((weak)) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
+ {
+ uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickCTRL;
+ TickType_t xModifiableIdleTime;
+
+ /* Make sure the SysTick reload value does not overflow the counter. */
+ if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
+ {
+ xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
+ }
+
+ /* Stop the SysTick momentarily. The time the SysTick is stopped for
+ is accounted for as best it can be, but using the tickless mode will
+ inevitably result in some tiny drift of the time maintained by the
+ kernel with respect to calendar time. */
+ portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT;
+
+ /* Calculate the reload value required to wait xExpectedIdleTime
+ tick periods. -1 is used because this code will execute part way
+ through one of the tick periods. */
+ ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
+ if( ulReloadValue > ulStoppedTimerCompensation )
+ {
+ ulReloadValue -= ulStoppedTimerCompensation;
+ }
+
+ /* Enter a critical section but don't use the taskENTER_CRITICAL()
+ method as that will mask interrupts that should exit sleep mode. */
+ __asm volatile( "cpsid i" );
+
+ /* If a context switch is pending or a task is waiting for the scheduler
+ to be unsuspended then abandon the low power entry. */
+ if( eTaskConfirmSleepModeStatus() == eAbortSleep )
+ {
+ /* Restart from whatever is left in the count register to complete
+ this tick period. */
+ portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
+
+ /* Restart SysTick. */
+ portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
+
+ /* Reset the reload register to the value required for normal tick
+ periods. */
+ portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+
+ /* Re-enable interrupts - see comments above the cpsid instruction()
+ above. */
+ __asm volatile( "cpsie i" );
+ }
+ else
+ {
+ /* Set the new reload value. */
+ portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
+
+ /* Clear the SysTick count flag and set the count value back to
+ zero. */
+ portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+
+ /* Restart SysTick. */
+ portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
+
+ /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can
+ set its parameter to 0 to indicate that its implementation contains
+ its own wait for interrupt or wait for event instruction, and so wfi
+ should not be executed again. However, the original expected idle
+ time variable must remain unmodified, so a copy is taken. */
+ xModifiableIdleTime = xExpectedIdleTime;
+ configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
+ if( xModifiableIdleTime > 0 )
+ {
+ __asm volatile( "dsb" );
+ __asm volatile( "wfi" );
+ __asm volatile( "isb" );
+ }
+ configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
+
+ /* Stop SysTick. Again, the time the SysTick is stopped for is
+ accounted for as best it can be, but using the tickless mode will
+ inevitably result in some tiny drift of the time maintained by the
+ kernel with respect to calendar time. */
+ ulSysTickCTRL = portNVIC_SYSTICK_CTRL_REG;
+ portNVIC_SYSTICK_CTRL_REG = ( ulSysTickCTRL & ~portNVIC_SYSTICK_ENABLE_BIT );
+
+ /* Re-enable interrupts - see comments above the cpsid instruction()
+ above. */
+ __asm volatile( "cpsie i" );
+
+ if( ( ulSysTickCTRL & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
+ {
+ uint32_t ulCalculatedLoadValue;
+
+ /* The tick interrupt has already executed, and the SysTick
+ count reloaded with ulReloadValue. Reset the
+ portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
+ period. */
+ ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
+
+ /* Don't allow a tiny value, or values that have somehow
+ underflowed because the post sleep hook did something
+ that took too long. */
+ if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
+ {
+ ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
+ }
+
+ portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
+
+ /* The tick interrupt handler will already have pended the tick
+ processing in the kernel. As the pending tick will be
+ processed as soon as this function exits, the tick value
+ maintained by the tick is stepped forward by one less than the
+ time spent waiting. */
+ ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
+ }
+ else
+ {
+ /* Something other than the tick interrupt ended the sleep.
+ Work out how long the sleep lasted rounded to complete tick
+ periods (not the ulReload value which accounted for part
+ ticks). */
+ ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
+
+ /* How many complete tick periods passed while the processor
+ was waiting? */
+ ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;
+
+ /* The reload value is set to whatever fraction of a single tick
+ period remains. */
+ portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
+ }
+
+ /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
+ again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
+ value. The critical section is used to ensure the tick interrupt
+ can only execute once in the case that the reload register is near
+ zero. */
+ portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+ portENTER_CRITICAL();
+ {
+ portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
+ vTaskStepTick( ulCompleteTickPeriods );
+ portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+ }
+ portEXIT_CRITICAL();
+ }
+ }
+
+#endif /* #if configUSE_TICKLESS_IDLE */
+/*-----------------------------------------------------------*/
+
+/*
+ * Setup the systick timer to generate the tick interrupts at the required
+ * frequency.
+ */
+__attribute__(( weak )) void vPortSetupTimerInterrupt( void )
+{
+ /* Calculate the constants required to configure the tick interrupt. */
+ #if configUSE_TICKLESS_IDLE == 1
+ {
+ ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
+ xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
+ ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
+ }
+ #endif /* configUSE_TICKLESS_IDLE */
+
+ /* Configure SysTick to interrupt at the requested rate. */
+ portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
+ portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT );
+}
+/*-----------------------------------------------------------*/
+
+/* This is a naked function. */
+static void vPortEnableVFP( void )
+{
+ __asm volatile
+ (
+ " ldr.w r0, =0xE000ED88 \n" /* The FPU enable bits are in the CPACR. */
+ " ldr r1, [r0] \n"
+ " \n"
+ " orr r1, r1, #( 0xf << 20 ) \n" /* Enable CP10 and CP11 coprocessors, then save back. */
+ " str r1, [r0] \n"
+ " bx r14 "
+ );
+}
+/*-----------------------------------------------------------*/
+
+#if( configASSERT_DEFINED == 1 )
+
+ void vPortValidateInterruptPriority( void )
+ {
+ uint32_t ulCurrentInterrupt;
+ uint8_t ucCurrentPriority;
+
+ /* Obtain the number of the currently executing interrupt. */
+ __asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) );
+
+ /* Is the interrupt number a user defined interrupt? */
+ if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
+ {
+ /* Look up the interrupt's priority. */
+ ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
+
+ /* The following assertion will fail if a service routine (ISR) for
+ an interrupt that has been assigned a priority above
+ configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+ function. ISR safe FreeRTOS API functions must *only* be called
+ from interrupts that have been assigned a priority at or below
+ configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+ Numerically low interrupt priority numbers represent logically high
+ interrupt priorities, therefore the priority of the interrupt must
+ be set to a value equal to or numerically *higher* than
+ configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+ Interrupts that use the FreeRTOS API must not be left at their
+ default priority of zero as that is the highest possible priority,
+ which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY,
+ and therefore also guaranteed to be invalid.
+
+ FreeRTOS maintains separate thread and ISR API functions to ensure
+ interrupt entry is as fast and simple as possible.
+
+ The following links provide detailed information:
+ http://www.freertos.org/RTOS-Cortex-M3-M4.html
+ http://www.freertos.org/FAQHelp.html */
+ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
+ }
+
+ /* Priority grouping: The interrupt controller (NVIC) allows the bits
+ that define each interrupt's priority to be split between bits that
+ define the interrupt's pre-emption priority bits and bits that define
+ the interrupt's sub-priority. For simplicity all bits must be defined
+ to be pre-emption priority bits. The following assertion will fail if
+ this is not the case (if some bits represent a sub-priority).
+
+ If the application only uses CMSIS libraries for interrupt
+ configuration then the correct setting can be achieved on all Cortex-M
+ devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
+ scheduler. Note however that some vendor specific peripheral libraries
+ assume a non-zero priority group setting, in which cases using a value
+ of zero will result in unpredicable behaviour. */
+ configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
+ }
+
+#endif /* configASSERT_DEFINED */
+
+
diff --git a/rtos/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h b/rtos/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h index 239e066..073e408 100644 --- a/rtos/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h +++ b/rtos/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h @@ -1,192 +1,262 @@ -/* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. - All rights reserved - - VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - - This file is part of the FreeRTOS distribution. - - FreeRTOS is free software; you can redistribute it and/or modify it under - the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. - - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. - - FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY - WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following - link: http://www.freertos.org/a00114.html - - 1 tab == 4 spaces! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool, a DOS - compatible FAT file system, and our tiny thread aware UDP/IP stack. - - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. - - http://www.SafeRTOS.com - High Integrity Systems also provide a safety - engineered and independently SIL3 certified version for use in safety and - mission critical applications that require provable dependability. - - 1 tab == 4 spaces! -*/ - - -#ifndef PORTMACRO_H -#define PORTMACRO_H - -#ifdef __cplusplus -extern "C" { -#endif - -/*----------------------------------------------------------- - * Port specific definitions. - * - * The settings in this file configure FreeRTOS correctly for the - * given hardware and compiler. - * - * These settings should not be altered. - *----------------------------------------------------------- - */ - -/* Type definitions. */ -#define portCHAR char -#define portFLOAT float -#define portDOUBLE double -#define portLONG long -#define portSHORT short -#define portSTACK_TYPE uint32_t -#define portBASE_TYPE long - -typedef portSTACK_TYPE StackType_t; -typedef long BaseType_t; -typedef unsigned long UBaseType_t; - -#if( configUSE_16_BIT_TICKS == 1 ) - typedef uint16_t TickType_t; - #define portMAX_DELAY ( TickType_t ) 0xffff -#else - typedef uint32_t TickType_t; - #define portMAX_DELAY ( TickType_t ) 0xffffffffUL -#endif -/*-----------------------------------------------------------*/ - -/* Architecture specifics. */ -#define portSTACK_GROWTH ( -1 ) -#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) -#define portBYTE_ALIGNMENT 8 -/*-----------------------------------------------------------*/ - - -/* Scheduler utilities. */ -extern void vPortYield( void ); -#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) ) -#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) -#define portYIELD() vPortYield() -#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT -#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) -/*-----------------------------------------------------------*/ - -/* Critical section management. */ -extern void vPortEnterCritical( void ); -extern void vPortExitCritical( void ); -extern uint32_t ulPortSetInterruptMask( void ); -extern void vPortClearInterruptMask( uint32_t ulNewMaskValue ); -#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetInterruptMask() -#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask(x) -#define portDISABLE_INTERRUPTS() ulPortSetInterruptMask() -#define portENABLE_INTERRUPTS() vPortClearInterruptMask(0) -#define portENTER_CRITICAL() vPortEnterCritical() -#define portEXIT_CRITICAL() vPortExitCritical() - -/*-----------------------------------------------------------*/ - -/* Task function macros as described on the FreeRTOS.org WEB site. These are -not necessary for to use this port. They are defined so the common demo files -(which build with all the ports) will build. */ -#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) -#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) -/*-----------------------------------------------------------*/ - -/* Tickless idle/low power functionality. */ -#ifndef portSUPPRESS_TICKS_AND_SLEEP - extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); - #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) -#endif -/*-----------------------------------------------------------*/ - -/* Architecture specific optimisations. */ -#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 - - /* Generic helper function. */ - __attribute__( ( always_inline ) ) static inline uint8_t ucPortCountLeadingZeros( uint32_t ulBitmap ) - { - uint8_t ucReturn; - - __asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) ); - return ucReturn; - } - - /* Check the configuration. */ - #if( configMAX_PRIORITIES > 32 ) - #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. - #endif - - /* Store/clear the ready priorities in a bit map. */ - #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) - #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) - - /*-----------------------------------------------------------*/ - - #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - ucPortCountLeadingZeros( ( uxReadyPriorities ) ) ) - -#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ - -/*-----------------------------------------------------------*/ - -#ifdef configASSERT - void vPortValidateInterruptPriority( void ); - #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() -#endif - -/* portNOP() is not required by this port. */ -#define portNOP() - -#ifdef __cplusplus -} -#endif - -#endif /* PORTMACRO_H */ - +/*
+ FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
+ All rights reserved
+
+ VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+
+ This file is part of the FreeRTOS distribution.
+
+ FreeRTOS is free software; you can redistribute it and/or modify it under
+ the terms of the GNU General Public License (version 2) as published by the
+ Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
+
+ ***************************************************************************
+ >>! NOTE: The modification to the GPL is included to allow you to !<<
+ >>! distribute a combined work that includes FreeRTOS without being !<<
+ >>! obliged to provide the source code for proprietary components !<<
+ >>! outside of the FreeRTOS kernel. !<<
+ ***************************************************************************
+
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+ WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ FOR A PARTICULAR PURPOSE. Full license text is available on the following
+ link: http://www.freertos.org/a00114.html
+
+ ***************************************************************************
+ * *
+ * FreeRTOS provides completely free yet professionally developed, *
+ * robust, strictly quality controlled, supported, and cross *
+ * platform software that is more than just the market leader, it *
+ * is the industry's de facto standard. *
+ * *
+ * Help yourself get started quickly while simultaneously helping *
+ * to support the FreeRTOS project by purchasing a FreeRTOS *
+ * tutorial book, reference manual, or both: *
+ * http://www.FreeRTOS.org/Documentation *
+ * *
+ ***************************************************************************
+
+ http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
+ the FAQ page "My application does not run, what could be wrong?". Have you
+ defined configASSERT()?
+
+ http://www.FreeRTOS.org/support - In return for receiving this top quality
+ embedded software for free we request you assist our global community by
+ participating in the support forum.
+
+ http://www.FreeRTOS.org/training - Investing in training allows your team to
+ be as productive as possible as early as possible. Now you can receive
+ FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
+ Ltd, and the world's leading authority on the world's leading RTOS.
+
+ http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+ including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+ compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+ http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
+ Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
+
+ http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
+ Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
+ licenses offer ticketed support, indemnification and commercial middleware.
+
+ http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+ engineered and independently SIL3 certified version for use in safety and
+ mission critical applications that require provable dependability.
+
+ 1 tab == 4 spaces!
+*/
+
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR char
+#define portFLOAT float
+#define portDOUBLE double
+#define portLONG long
+#define portSHORT short
+#define portSTACK_TYPE uint32_t
+#define portBASE_TYPE long
+
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+ typedef uint16_t TickType_t;
+ #define portMAX_DELAY ( TickType_t ) 0xffff
+#else
+ typedef uint32_t TickType_t;
+ #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+
+ /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
+ not need to be guarded with a critical section. */
+ #define portTICK_TYPE_IS_ATOMIC 1
+#endif
+/*-----------------------------------------------------------*/
+
+/* Architecture specifics. */
+#define portSTACK_GROWTH ( -1 )
+#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT 8
+/*-----------------------------------------------------------*/
+
+/* Scheduler utilities. */
+#define portYIELD() \
+{ \
+ /* Set a PendSV to request a context switch. */ \
+ portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+ \
+ /* Barriers are normally not required but do ensure the code is completely \
+ within the specified behaviour for the architecture. */ \
+ __asm volatile( "dsb" ); \
+ __asm volatile( "isb" ); \
+}
+
+#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) )
+#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD()
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
+/*-----------------------------------------------------------*/
+
+/* Critical section management. */
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortRaiseBASEPRI()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortSetBASEPRI(x)
+#define portDISABLE_INTERRUPTS() vPortRaiseBASEPRI()
+#define portENABLE_INTERRUPTS() vPortSetBASEPRI(0)
+#define portENTER_CRITICAL() vPortEnterCritical()
+#define portEXIT_CRITICAL() vPortExitCritical()
+
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site. These are
+not necessary for to use this port. They are defined so the common demo files
+(which build with all the ports) will build. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+/*-----------------------------------------------------------*/
+
+/* Tickless idle/low power functionality. */
+#ifndef portSUPPRESS_TICKS_AND_SLEEP
+ extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
+ #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
+#endif
+/*-----------------------------------------------------------*/
+
+/* Architecture specific optimisations. */
+#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
+ #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
+#endif
+
+#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
+
+ /* Generic helper function. */
+ __attribute__( ( always_inline ) ) static inline uint8_t ucPortCountLeadingZeros( uint32_t ulBitmap )
+ {
+ uint8_t ucReturn;
+
+ __asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) );
+ return ucReturn;
+ }
+
+ /* Check the configuration. */
+ #if( configMAX_PRIORITIES > 32 )
+ #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.
+ #endif
+
+ /* Store/clear the ready priorities in a bit map. */
+ #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
+ #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
+
+ /*-----------------------------------------------------------*/
+
+ #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - ucPortCountLeadingZeros( ( uxReadyPriorities ) ) )
+
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+/*-----------------------------------------------------------*/
+
+#ifdef configASSERT
+ void vPortValidateInterruptPriority( void );
+ #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority()
+#endif
+
+/* portNOP() is not required by this port. */
+#define portNOP()
+
+#ifndef portFORCE_INLINE
+ #define portFORCE_INLINE inline __attribute__(( always_inline))
+#endif
+
+/*-----------------------------------------------------------*/
+
+portFORCE_INLINE static void vPortRaiseBASEPRI( void )
+{
+uint32_t ulNewBASEPRI;
+
+ __asm volatile
+ (
+ " mov %0, %1 \n" \
+ " msr basepri, %0 \n" \
+ " isb \n" \
+ " dsb \n" \
+ :"=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY )
+ );
+}
+
+/*-----------------------------------------------------------*/
+
+portFORCE_INLINE static uint32_t ulPortRaiseBASEPRI( void )
+{
+uint32_t ulOriginalBASEPRI, ulNewBASEPRI;
+
+ __asm volatile
+ (
+ " mrs %0, basepri \n" \
+ " mov %1, %2 \n" \
+ " msr basepri, %1 \n" \
+ " isb \n" \
+ " dsb \n" \
+ :"=r" (ulOriginalBASEPRI), "=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY )
+ );
+
+ /* This return will not be reached but is necessary to prevent compiler
+ warnings. */
+ return ulOriginalBASEPRI;
+}
+/*-----------------------------------------------------------*/
+
+portFORCE_INLINE static void vPortSetBASEPRI( uint32_t ulNewMaskValue )
+{
+ __asm volatile
+ (
+ " msr basepri, %0 " :: "r" ( ulNewMaskValue )
+ );
+}
+/*-----------------------------------------------------------*/
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */
+
diff --git a/rtos/FreeRTOS/Source/portable/MemMang/heap_1.c b/rtos/FreeRTOS/Source/portable/MemMang/heap_1.c index 52a8ff0..06958d3 100644 --- a/rtos/FreeRTOS/Source/portable/MemMang/heap_1.c +++ b/rtos/FreeRTOS/Source/portable/MemMang/heap_1.c @@ -1,60 +1,64 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following + FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html - 1 tab == 4 spaces! - *************************************************************************** * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * * * - * http://www.FreeRTOS.org/FAQHelp.html * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and @@ -111,7 +115,7 @@ static uint8_t *pucAlignedHeap = NULL; if( pucAlignedHeap == NULL ) { /* Ensure the heap starts on a correctly aligned boundary. */ - pucAlignedHeap = ( uint8_t * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) ); + pucAlignedHeap = ( uint8_t * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); } /* Check there is enough room left for the allocation. */ @@ -125,8 +129,8 @@ static uint8_t *pucAlignedHeap = NULL; } traceMALLOC( pvReturn, xWantedSize ); - } - xTaskResumeAll(); + } + ( void ) xTaskResumeAll(); #if( configUSE_MALLOC_FAILED_HOOK == 1 ) { diff --git a/rtos/FreeRTOS/Source/portable/MemMang/heap_2.c b/rtos/FreeRTOS/Source/portable/MemMang/heap_2.c index 4a06b42..96220e9 100644 --- a/rtos/FreeRTOS/Source/portable/MemMang/heap_2.c +++ b/rtos/FreeRTOS/Source/portable/MemMang/heap_2.c @@ -1,60 +1,64 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following + FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html - 1 tab == 4 spaces! - *************************************************************************** * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * * * - * http://www.FreeRTOS.org/FAQHelp.html * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and @@ -218,7 +222,7 @@ void *pvReturn = NULL; traceMALLOC( pvReturn, xWantedSize ); } - xTaskResumeAll(); + ( void ) xTaskResumeAll(); #if( configUSE_MALLOC_FAILED_HOOK == 1 ) { @@ -256,7 +260,7 @@ BlockLink_t *pxLink; xFreeBytesRemaining += pxLink->xBlockSize; traceFREE( pv, pxLink->xBlockSize ); } - xTaskResumeAll(); + ( void ) xTaskResumeAll(); } } /*-----------------------------------------------------------*/ @@ -279,7 +283,7 @@ BlockLink_t *pxFirstFreeBlock; uint8_t *pucAlignedHeap; /* Ensure the heap starts on a correctly aligned boundary. */ - pucAlignedHeap = ( uint8_t * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) ); + pucAlignedHeap = ( uint8_t * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /* xStart is used to hold a pointer to the first item in the list of free blocks. The void cast is used to prevent compiler warnings. */ diff --git a/rtos/FreeRTOS/Source/portable/MemMang/heap_3.c b/rtos/FreeRTOS/Source/portable/MemMang/heap_3.c index 71fe4d4..da85a58 100644 --- a/rtos/FreeRTOS/Source/portable/MemMang/heap_3.c +++ b/rtos/FreeRTOS/Source/portable/MemMang/heap_3.c @@ -1,60 +1,64 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following + FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html - 1 tab == 4 spaces! - *************************************************************************** * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * * * - * http://www.FreeRTOS.org/FAQHelp.html * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and @@ -71,7 +75,7 @@ * This file can only be used if the linker is configured to to generate * a heap memory area. * - * See heap_1.c, heap_2.c and heap_4.c for alternative implementations, and the + * See heap_1.c, heap_2.c and heap_4.c for alternative implementations, and the * memory management pages of http://www.FreeRTOS.org for more information. */ @@ -98,7 +102,7 @@ void *pvReturn; pvReturn = malloc( xWantedSize ); traceMALLOC( pvReturn, xWantedSize ); } - xTaskResumeAll(); + ( void ) xTaskResumeAll(); #if( configUSE_MALLOC_FAILED_HOOK == 1 ) { @@ -109,7 +113,7 @@ void *pvReturn; } } #endif - + return pvReturn; } /*-----------------------------------------------------------*/ @@ -123,7 +127,7 @@ void vPortFree( void *pv ) free( pv ); traceFREE( pv, 0 ); } - xTaskResumeAll(); + ( void ) xTaskResumeAll(); } } diff --git a/rtos/FreeRTOS/Source/portable/MemMang/heap_4.c b/rtos/FreeRTOS/Source/portable/MemMang/heap_4.c index 64d9622..97855c4 100644 --- a/rtos/FreeRTOS/Source/portable/MemMang/heap_4.c +++ b/rtos/FreeRTOS/Source/portable/MemMang/heap_4.c @@ -1,60 +1,64 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following + FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html - 1 tab == 4 spaces! - *************************************************************************** * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * * * - * http://www.FreeRTOS.org/FAQHelp.html * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and @@ -84,16 +88,19 @@ task.h is included from an application file. */ #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /* Block sizes must not get too small. */ -#define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( heapSTRUCT_SIZE * 2 ) ) +#define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( xHeapStructSize << 1 ) ) /* Assumes 8bit bytes! */ #define heapBITS_PER_BYTE ( ( size_t ) 8 ) -/* A few bytes might be lost to byte aligning the heap start address. */ -#define heapADJUSTED_HEAP_SIZE ( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT ) - /* Allocate the memory for the heap. */ -static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ]; +#if( configAPPLICATION_ALLOCATED_HEAP == 1 ) + /* The application writer has already defined the array used for the RTOS + heap - probably so it can be placed in a special segment or address. */ + extern uint8_t ucHeap[ configTOTAL_HEAP_SIZE ]; +#else + static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ]; +#endif /* configAPPLICATION_ALLOCATED_HEAP */ /* Define the linked list structure. This is used to link free blocks in order of their memory address. */ @@ -123,18 +130,15 @@ static void prvHeapInit( void ); /* The size of the structure placed at the beginning of each allocated memory block must by correctly byte aligned. */ -static const uint16_t heapSTRUCT_SIZE = ( ( sizeof ( BlockLink_t ) + ( portBYTE_ALIGNMENT - 1 ) ) & ~portBYTE_ALIGNMENT_MASK ); - -/* Ensure the pxEnd pointer will end up on the correct byte alignment. */ -static const size_t xTotalHeapSize = ( ( size_t ) heapADJUSTED_HEAP_SIZE ) & ( ( size_t ) ~portBYTE_ALIGNMENT_MASK ); +static const size_t xHeapStructSize = ( sizeof( BlockLink_t ) + ( ( size_t ) ( portBYTE_ALIGNMENT - 1 ) ) ) & ~( ( size_t ) portBYTE_ALIGNMENT_MASK ); /* Create a couple of list links to mark the start and end of the list. */ static BlockLink_t xStart, *pxEnd = NULL; /* Keeps track of the number of free bytes remaining, but says nothing about fragmentation. */ -static size_t xFreeBytesRemaining = ( ( size_t ) heapADJUSTED_HEAP_SIZE ) & ( ( size_t ) ~portBYTE_ALIGNMENT_MASK ); -static size_t xMinimumEverFreeBytesRemaining = ( ( size_t ) heapADJUSTED_HEAP_SIZE ) & ( ( size_t ) ~portBYTE_ALIGNMENT_MASK ); +static size_t xFreeBytesRemaining = 0U; +static size_t xMinimumEverFreeBytesRemaining = 0U; /* Gets set to the top bit of an size_t type. When this bit in the xBlockSize member of an BlockLink_t structure is set then the block belongs to the @@ -172,7 +176,7 @@ void *pvReturn = NULL; structure in addition to the requested amount of bytes. */ if( xWantedSize > 0 ) { - xWantedSize += heapSTRUCT_SIZE; + xWantedSize += xHeapStructSize; /* Ensure that blocks are always aligned to the required number of bytes. */ @@ -180,6 +184,7 @@ void *pvReturn = NULL; { /* Byte alignment required. */ xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) ); + configASSERT( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) == 0 ); } else { @@ -209,7 +214,7 @@ void *pvReturn = NULL; { /* Return the memory space pointed to - jumping over the BlockLink_t structure at its start. */ - pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE ); + pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize ); /* This block is being returned for use so must be taken out of the list of free blocks. */ @@ -224,6 +229,7 @@ void *pvReturn = NULL; cast is used to prevent byte alignment warnings from the compiler. */ pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize ); + configASSERT( ( ( ( size_t ) pxNewBlockLink ) & portBYTE_ALIGNMENT_MASK ) == 0 ); /* Calculate the sizes of two blocks split from the single block. */ @@ -231,7 +237,7 @@ void *pvReturn = NULL; pxBlock->xBlockSize = xWantedSize; /* Insert the new block into the list of free blocks. */ - prvInsertBlockIntoFreeList( ( pxNewBlockLink ) ); + prvInsertBlockIntoFreeList( pxNewBlockLink ); } else { @@ -271,7 +277,7 @@ void *pvReturn = NULL; traceMALLOC( pvReturn, xWantedSize ); } - xTaskResumeAll(); + ( void ) xTaskResumeAll(); #if( configUSE_MALLOC_FAILED_HOOK == 1 ) { @@ -287,6 +293,7 @@ void *pvReturn = NULL; } #endif + configASSERT( ( ( ( uint32_t ) pvReturn ) & portBYTE_ALIGNMENT_MASK ) == 0 ); return pvReturn; } /*-----------------------------------------------------------*/ @@ -300,7 +307,7 @@ BlockLink_t *pxLink; { /* The memory being freed will have an BlockLink_t structure immediately before it. */ - puc -= heapSTRUCT_SIZE; + puc -= xHeapStructSize; /* This casting is to keep the compiler from issuing warnings. */ pxLink = ( void * ) puc; @@ -322,9 +329,9 @@ BlockLink_t *pxLink; /* Add this block to the list of free blocks. */ xFreeBytesRemaining += pxLink->xBlockSize; traceFREE( pv, pxLink->xBlockSize ); - prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) ); + prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) ); } - xTaskResumeAll(); + ( void ) xTaskResumeAll(); } else { @@ -360,10 +367,21 @@ void vPortInitialiseBlocks( void ) static void prvHeapInit( void ) { BlockLink_t *pxFirstFreeBlock; -uint8_t *pucHeapEnd, *pucAlignedHeap; +uint8_t *pucAlignedHeap; +size_t uxAddress; +size_t xTotalHeapSize = configTOTAL_HEAP_SIZE; /* Ensure the heap starts on a correctly aligned boundary. */ - pucAlignedHeap = ( uint8_t * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) ); + uxAddress = ( size_t ) ucHeap; + + if( ( uxAddress & portBYTE_ALIGNMENT_MASK ) != 0 ) + { + uxAddress += ( portBYTE_ALIGNMENT - 1 ); + uxAddress &= ~( ( size_t ) portBYTE_ALIGNMENT_MASK ); + xTotalHeapSize -= uxAddress - ( size_t ) ucHeap; + } + + pucAlignedHeap = ( uint8_t * ) uxAddress; /* xStart is used to hold a pointer to the first item in the list of free blocks. The void cast is used to prevent compiler warnings. */ @@ -372,21 +390,22 @@ uint8_t *pucHeapEnd, *pucAlignedHeap; /* pxEnd is used to mark the end of the list of free blocks and is inserted at the end of the heap space. */ - pucHeapEnd = pucAlignedHeap + xTotalHeapSize; - pucHeapEnd -= heapSTRUCT_SIZE; - pxEnd = ( void * ) pucHeapEnd; - configASSERT( ( ( ( uint32_t ) pxEnd ) & ( ( uint32_t ) portBYTE_ALIGNMENT_MASK ) ) == 0UL ); + uxAddress = ( ( size_t ) pucAlignedHeap ) + xTotalHeapSize; + uxAddress -= xHeapStructSize; + uxAddress &= ~( ( size_t ) portBYTE_ALIGNMENT_MASK ); + pxEnd = ( void * ) uxAddress; pxEnd->xBlockSize = 0; pxEnd->pxNextFreeBlock = NULL; /* To start with there is a single free block that is sized to take up the entire heap space, minus the space taken by pxEnd. */ pxFirstFreeBlock = ( void * ) pucAlignedHeap; - pxFirstFreeBlock->xBlockSize = xTotalHeapSize - heapSTRUCT_SIZE; + pxFirstFreeBlock->xBlockSize = uxAddress - ( size_t ) pxFirstFreeBlock; pxFirstFreeBlock->pxNextFreeBlock = pxEnd; - /* The heap now contains pxEnd. */ - xFreeBytesRemaining -= heapSTRUCT_SIZE; + /* Only one block exists - and it covers the entire usable heap space. */ + xMinimumEverFreeBytesRemaining = pxFirstFreeBlock->xBlockSize; + xFreeBytesRemaining = pxFirstFreeBlock->xBlockSize; /* Work out the position of the top bit in a size_t variable. */ xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * heapBITS_PER_BYTE ) - 1 ); diff --git a/rtos/FreeRTOS/Source/portable/MemMang/heap_5.c b/rtos/FreeRTOS/Source/portable/MemMang/heap_5.c new file mode 100644 index 0000000..9d92021 --- /dev/null +++ b/rtos/FreeRTOS/Source/portable/MemMang/heap_5.c @@ -0,0 +1,523 @@ +/* + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. + All rights reserved + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. + + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** + + FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. Full license text is available on the following + link: http://www.freertos.org/a00114.html + + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * + * * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * + * * + *************************************************************************** + + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. + + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. + + http://www.SafeRTOS.com - High Integrity Systems also provide a safety + engineered and independently SIL3 certified version for use in safety and + mission critical applications that require provable dependability. + + 1 tab == 4 spaces! +*/ + +/* + * A sample implementation of pvPortMalloc() that allows the heap to be defined + * across multiple non-contigous blocks and combines (coalescences) adjacent + * memory blocks as they are freed. + * + * See heap_1.c, heap_2.c, heap_3.c and heap_4.c for alternative + * implementations, and the memory management pages of http://www.FreeRTOS.org + * for more information. + * + * Usage notes: + * + * vPortDefineHeapRegions() ***must*** be called before pvPortMalloc(). + * pvPortMalloc() will be called if any task objects (tasks, queues, event + * groups, etc.) are created, therefore vPortDefineHeapRegions() ***must*** be + * called before any other objects are defined. + * + * vPortDefineHeapRegions() takes a single parameter. The parameter is an array + * of HeapRegion_t structures. HeapRegion_t is defined in portable.h as + * + * typedef struct HeapRegion + * { + * uint8_t *pucStartAddress; << Start address of a block of memory that will be part of the heap. + * size_t xSizeInBytes; << Size of the block of memory. + * } HeapRegion_t; + * + * The array is terminated using a NULL zero sized region definition, and the + * memory regions defined in the array ***must*** appear in address order from + * low address to high address. So the following is a valid example of how + * to use the function. + * + * HeapRegion_t xHeapRegions[] = + * { + * { ( uint8_t * ) 0x80000000UL, 0x10000 }, << Defines a block of 0x10000 bytes starting at address 0x80000000 + * { ( uint8_t * ) 0x90000000UL, 0xa0000 }, << Defines a block of 0xa0000 bytes starting at address of 0x90000000 + * { NULL, 0 } << Terminates the array. + * }; + * + * vPortDefineHeapRegions( xHeapRegions ); << Pass the array into vPortDefineHeapRegions(). + * + * Note 0x80000000 is the lower address so appears in the array first. + * + */ +#include <stdlib.h> + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining +all the API functions to use the MPU wrappers. That should only be done when +task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#include "FreeRTOS.h" +#include "task.h" + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* Block sizes must not get too small. */ +#define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( xHeapStructSize << 1 ) ) + +/* Assumes 8bit bytes! */ +#define heapBITS_PER_BYTE ( ( size_t ) 8 ) + +/* Define the linked list structure. This is used to link free blocks in order +of their memory address. */ +typedef struct A_BLOCK_LINK +{ + struct A_BLOCK_LINK *pxNextFreeBlock; /*<< The next free block in the list. */ + size_t xBlockSize; /*<< The size of the free block. */ +} BlockLink_t; + +/*-----------------------------------------------------------*/ + +/* + * Inserts a block of memory that is being freed into the correct position in + * the list of free memory blocks. The block being freed will be merged with + * the block in front it and/or the block behind it if the memory blocks are + * adjacent to each other. + */ +static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert ); + +/*-----------------------------------------------------------*/ + +/* The size of the structure placed at the beginning of each allocated memory +block must by correctly byte aligned. */ +static const size_t xHeapStructSize = ( sizeof( BlockLink_t ) + ( ( size_t ) ( portBYTE_ALIGNMENT - 1 ) ) ) & ~( ( size_t ) portBYTE_ALIGNMENT_MASK ); + +/* Create a couple of list links to mark the start and end of the list. */ +static BlockLink_t xStart, *pxEnd = NULL; + +/* Keeps track of the number of free bytes remaining, but says nothing about +fragmentation. */ +static size_t xFreeBytesRemaining = 0U; +static size_t xMinimumEverFreeBytesRemaining = 0U; + +/* Gets set to the top bit of an size_t type. When this bit in the xBlockSize +member of an BlockLink_t structure is set then the block belongs to the +application. When the bit is free the block is still part of the free heap +space. */ +static size_t xBlockAllocatedBit = 0; + +/*-----------------------------------------------------------*/ + +void *pvPortMalloc( size_t xWantedSize ) +{ +BlockLink_t *pxBlock, *pxPreviousBlock, *pxNewBlockLink; +void *pvReturn = NULL; + + /* The heap must be initialised before the first call to + prvPortMalloc(). */ + configASSERT( pxEnd ); + + vTaskSuspendAll(); + { + /* Check the requested block size is not so large that the top bit is + set. The top bit of the block size member of the BlockLink_t structure + is used to determine who owns the block - the application or the + kernel, so it must be free. */ + if( ( xWantedSize & xBlockAllocatedBit ) == 0 ) + { + /* The wanted size is increased so it can contain a BlockLink_t + structure in addition to the requested amount of bytes. */ + if( xWantedSize > 0 ) + { + xWantedSize += xHeapStructSize; + + /* Ensure that blocks are always aligned to the required number + of bytes. */ + if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0x00 ) + { + /* Byte alignment required. */ + xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) ) + { + /* Traverse the list from the start (lowest address) block until + one of adequate size is found. */ + pxPreviousBlock = &xStart; + pxBlock = xStart.pxNextFreeBlock; + while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) ) + { + pxPreviousBlock = pxBlock; + pxBlock = pxBlock->pxNextFreeBlock; + } + + /* If the end marker was reached then a block of adequate size + was not found. */ + if( pxBlock != pxEnd ) + { + /* Return the memory space pointed to - jumping over the + BlockLink_t structure at its start. */ + pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize ); + + /* This block is being returned for use so must be taken out + of the list of free blocks. */ + pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock; + + /* If the block is larger than required it can be split into + two. */ + if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE ) + { + /* This block is to be split into two. Create a new + block following the number of bytes requested. The void + cast is used to prevent byte alignment warnings from the + compiler. */ + pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize ); + + /* Calculate the sizes of two blocks split from the + single block. */ + pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize; + pxBlock->xBlockSize = xWantedSize; + + /* Insert the new block into the list of free blocks. */ + prvInsertBlockIntoFreeList( ( pxNewBlockLink ) ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + xFreeBytesRemaining -= pxBlock->xBlockSize; + + if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining ) + { + xMinimumEverFreeBytesRemaining = xFreeBytesRemaining; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* The block is being returned - it is allocated and owned + by the application and has no "next" block. */ + pxBlock->xBlockSize |= xBlockAllocatedBit; + pxBlock->pxNextFreeBlock = NULL; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + traceMALLOC( pvReturn, xWantedSize ); + } + ( void ) xTaskResumeAll(); + + #if( configUSE_MALLOC_FAILED_HOOK == 1 ) + { + if( pvReturn == NULL ) + { + extern void vApplicationMallocFailedHook( void ); + vApplicationMallocFailedHook(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif + + return pvReturn; +} +/*-----------------------------------------------------------*/ + +void vPortFree( void *pv ) +{ +uint8_t *puc = ( uint8_t * ) pv; +BlockLink_t *pxLink; + + if( pv != NULL ) + { + /* The memory being freed will have an BlockLink_t structure immediately + before it. */ + puc -= xHeapStructSize; + + /* This casting is to keep the compiler from issuing warnings. */ + pxLink = ( void * ) puc; + + /* Check the block is actually allocated. */ + configASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ); + configASSERT( pxLink->pxNextFreeBlock == NULL ); + + if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ) + { + if( pxLink->pxNextFreeBlock == NULL ) + { + /* The block is being returned to the heap - it is no longer + allocated. */ + pxLink->xBlockSize &= ~xBlockAllocatedBit; + + vTaskSuspendAll(); + { + /* Add this block to the list of free blocks. */ + xFreeBytesRemaining += pxLink->xBlockSize; + traceFREE( pv, pxLink->xBlockSize ); + prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) ); + } + ( void ) xTaskResumeAll(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } +} +/*-----------------------------------------------------------*/ + +size_t xPortGetFreeHeapSize( void ) +{ + return xFreeBytesRemaining; +} +/*-----------------------------------------------------------*/ + +size_t xPortGetMinimumEverFreeHeapSize( void ) +{ + return xMinimumEverFreeBytesRemaining; +} +/*-----------------------------------------------------------*/ + +static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert ) +{ +BlockLink_t *pxIterator; +uint8_t *puc; + + /* Iterate through the list until a block is found that has a higher address + than the block being inserted. */ + for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock ) + { + /* Nothing to do here, just iterate to the right position. */ + } + + /* Do the block being inserted, and the block it is being inserted after + make a contiguous block of memory? */ + puc = ( uint8_t * ) pxIterator; + if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert ) + { + pxIterator->xBlockSize += pxBlockToInsert->xBlockSize; + pxBlockToInsert = pxIterator; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Do the block being inserted, and the block it is being inserted before + make a contiguous block of memory? */ + puc = ( uint8_t * ) pxBlockToInsert; + if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) pxIterator->pxNextFreeBlock ) + { + if( pxIterator->pxNextFreeBlock != pxEnd ) + { + /* Form one big block from the two blocks. */ + pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize; + pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock->pxNextFreeBlock; + } + else + { + pxBlockToInsert->pxNextFreeBlock = pxEnd; + } + } + else + { + pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock; + } + + /* If the block being inserted plugged a gab, so was merged with the block + before and the block after, then it's pxNextFreeBlock pointer will have + already been set, and should not be set here as that would make it point + to itself. */ + if( pxIterator != pxBlockToInsert ) + { + pxIterator->pxNextFreeBlock = pxBlockToInsert; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } +} +/*-----------------------------------------------------------*/ + +void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions ) +{ +BlockLink_t *pxFirstFreeBlockInRegion = NULL, *pxPreviousFreeBlock; +size_t xAlignedHeap; +size_t xTotalRegionSize, xTotalHeapSize = 0; +BaseType_t xDefinedRegions = 0; +size_t xAddress; +const HeapRegion_t *pxHeapRegion; + + /* Can only call once! */ + configASSERT( pxEnd == NULL ); + + pxHeapRegion = &( pxHeapRegions[ xDefinedRegions ] ); + + while( pxHeapRegion->xSizeInBytes > 0 ) + { + xTotalRegionSize = pxHeapRegion->xSizeInBytes; + + /* Ensure the heap region starts on a correctly aligned boundary. */ + xAddress = ( size_t ) pxHeapRegion->pucStartAddress; + if( ( xAddress & portBYTE_ALIGNMENT_MASK ) != 0 ) + { + xAddress += ( portBYTE_ALIGNMENT - 1 ); + xAddress &= ~portBYTE_ALIGNMENT_MASK; + + /* Adjust the size for the bytes lost to alignment. */ + xTotalRegionSize -= xAddress - ( size_t ) pxHeapRegion->pucStartAddress; + } + + xAlignedHeap = xAddress; + + /* Set xStart if it has not already been set. */ + if( xDefinedRegions == 0 ) + { + /* xStart is used to hold a pointer to the first item in the list of + free blocks. The void cast is used to prevent compiler warnings. */ + xStart.pxNextFreeBlock = ( BlockLink_t * ) xAlignedHeap; + xStart.xBlockSize = ( size_t ) 0; + } + else + { + /* Should only get here if one region has already been added to the + heap. */ + configASSERT( pxEnd != NULL ); + + /* Check blocks are passed in with increasing start addresses. */ + configASSERT( xAddress > ( size_t ) pxEnd ); + } + + /* Remember the location of the end marker in the previous region, if + any. */ + pxPreviousFreeBlock = pxEnd; + + /* pxEnd is used to mark the end of the list of free blocks and is + inserted at the end of the region space. */ + xAddress = xAlignedHeap + xTotalRegionSize; + xAddress -= xHeapStructSize; + xAddress &= ~portBYTE_ALIGNMENT_MASK; + pxEnd = ( BlockLink_t * ) xAddress; + pxEnd->xBlockSize = 0; + pxEnd->pxNextFreeBlock = NULL; + + /* To start with there is a single free block in this region that is + sized to take up the entire heap region minus the space taken by the + free block structure. */ + pxFirstFreeBlockInRegion = ( BlockLink_t * ) xAlignedHeap; + pxFirstFreeBlockInRegion->xBlockSize = xAddress - ( size_t ) pxFirstFreeBlockInRegion; + pxFirstFreeBlockInRegion->pxNextFreeBlock = pxEnd; + + /* If this is not the first region that makes up the entire heap space + then link the previous region to this region. */ + if( pxPreviousFreeBlock != NULL ) + { + pxPreviousFreeBlock->pxNextFreeBlock = pxFirstFreeBlockInRegion; + } + + xTotalHeapSize += pxFirstFreeBlockInRegion->xBlockSize; + + /* Move onto the next HeapRegion_t structure. */ + xDefinedRegions++; + pxHeapRegion = &( pxHeapRegions[ xDefinedRegions ] ); + } + + xMinimumEverFreeBytesRemaining = xTotalHeapSize; + xFreeBytesRemaining = xTotalHeapSize; + + /* Check something was actually defined before it is accessed. */ + configASSERT( xTotalHeapSize ); + + /* Work out the position of the top bit in a size_t variable. */ + xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * heapBITS_PER_BYTE ) - 1 ); +} + diff --git a/rtos/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c b/rtos/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c index 5d7f4dd..18577f4 100644 --- a/rtos/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c +++ b/rtos/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c @@ -1,780 +1,782 @@ -/* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. - All rights reserved - - VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - - This file is part of the FreeRTOS distribution. - - FreeRTOS is free software; you can redistribute it and/or modify it under - the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. - - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. - - FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY - WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following - link: http://www.freertos.org/a00114.html - - 1 tab == 4 spaces! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool, a DOS - compatible FAT file system, and our tiny thread aware UDP/IP stack. - - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. - - http://www.SafeRTOS.com - High Integrity Systems also provide a safety - engineered and independently SIL3 certified version for use in safety and - mission critical applications that require provable dependability. - - 1 tab == 4 spaces! -*/ - -/*----------------------------------------------------------- - * Implementation of functions defined in portable.h for the ARM CM4F port. - *----------------------------------------------------------*/ - -/* Scheduler includes. */ -#include "FreeRTOS.h" -#include "task.h" - -#ifndef __TARGET_FPU_VFP - #error This port can only be used when the project options are configured to enable hardware floating point support. -#endif - -#if configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 - #error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html -#endif - -#ifndef configSYSTICK_CLOCK_HZ - #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ - /* Ensure the SysTick is clocked at the same frequency as the core. */ - #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) -#else - /* The way the SysTick is clocked is not modified in case it is not the same - as the core. */ - #define portNVIC_SYSTICK_CLK_BIT ( 0 ) -#endif - -/* The __weak attribute does not work as you might expect with the Keil tools -so the configOVERRIDE_DEFAULT_TICK_CONFIGURATION constant must be set to 1 if -the application writer wants to provide their own implementation of -vPortSetupTimerInterrupt(). Ensure configOVERRIDE_DEFAULT_TICK_CONFIGURATION -is defined. */ -#ifndef configOVERRIDE_DEFAULT_TICK_CONFIGURATION - #define configOVERRIDE_DEFAULT_TICK_CONFIGURATION 0 -#endif - -/* Constants required to manipulate the core. Registers first... */ -#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000e010 ) ) -#define portNVIC_SYSTICK_LOAD_REG ( * ( ( volatile uint32_t * ) 0xe000e014 ) ) -#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( * ( ( volatile uint32_t * ) 0xe000e018 ) ) -#define portNVIC_SYSPRI2_REG ( * ( ( volatile uint32_t * ) 0xe000ed20 ) ) -/* ...then bits in the registers. */ -#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) -#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) -#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) -#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL ) -#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL ) - -#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) -#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) - -/* Constants required to check the validity of an interrupt priority. */ -#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) -#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) -#define portAIRCR_REG ( * ( ( volatile uint32_t * ) 0xE000ED0C ) ) -#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) -#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) -#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) -#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) -#define portPRIGROUP_SHIFT ( 8UL ) - -/* Constants required to manipulate the VFP. */ -#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */ -#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL ) - -/* Constants required to set up the initial stack. */ -#define portINITIAL_XPSR ( 0x01000000 ) -#define portINITIAL_EXEC_RETURN ( 0xfffffffd ) - -/* Constants used with memory barrier intrinsics. */ -#define portSY_FULL_READ_WRITE ( 15 ) - -/* The systick is a 24-bit counter. */ -#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) - -/* A fiddle factor to estimate the number of SysTick counts that would have -occurred while the SysTick counter is stopped during tickless idle -calculations. */ -#define portMISSED_COUNTS_FACTOR ( 45UL ) - -/* Each task maintains its own interrupt status in the critical nesting -variable. */ -static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; - -/* - * Setup the timer to generate the tick interrupts. The implementation in this - * file is weak to allow application writers to change the timer used to - * generate the tick interrupt. - */ -void vPortSetupTimerInterrupt( void ); - -/* - * Exception handlers. - */ -void xPortPendSVHandler( void ); -void xPortSysTickHandler( void ); -void vPortSVCHandler( void ); - -/* - * Start first task is a separate function so it can be tested in isolation. - */ -static void prvStartFirstTask( void ); - -/* - * Functions defined in portasm.s to enable the VFP. - */ -static void prvEnableVFP( void ); - -/* - * Used to catch tasks that attempt to return from their implementing function. - */ -static void prvTaskExitError( void ); - -/*-----------------------------------------------------------*/ - -/* - * The number of SysTick increments that make up one tick period. - */ -#if configUSE_TICKLESS_IDLE == 1 - static uint32_t ulTimerCountsForOneTick = 0; -#endif /* configUSE_TICKLESS_IDLE */ - -/* - * The maximum number of tick periods that can be suppressed is limited by the - * 24 bit resolution of the SysTick timer. - */ -#if configUSE_TICKLESS_IDLE == 1 - static uint32_t xMaximumPossibleSuppressedTicks = 0; -#endif /* configUSE_TICKLESS_IDLE */ - -/* - * Compensate for the CPU cycles that pass while the SysTick is stopped (low - * power functionality only. - */ -#if configUSE_TICKLESS_IDLE == 1 - static uint32_t ulStoppedTimerCompensation = 0; -#endif /* configUSE_TICKLESS_IDLE */ - -/* - * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure - * FreeRTOS API functions are not called from interrupts that have been assigned - * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. - */ -#if ( configASSERT_DEFINED == 1 ) - static uint8_t ucMaxSysCallPriority = 0; - static uint32_t ulMaxPRIGROUPValue = 0; - static const volatile uint8_t * const pcInterruptPriorityRegisters = ( uint8_t * ) portNVIC_IP_REGISTERS_OFFSET_16; -#endif /* configASSERT_DEFINED */ - -/*-----------------------------------------------------------*/ - -/* - * See header file for description. - */ -StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) -{ - /* Simulate the stack frame as it would be created by a context switch - interrupt. */ - - /* Offset added to account for the way the MCU uses the stack on entry/exit - of interrupts, and to ensure alignment. */ - pxTopOfStack--; - - *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ - pxTopOfStack--; - *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ - pxTopOfStack--; - *pxTopOfStack = ( StackType_t ) prvTaskExitError; /* LR */ - - /* Save code space by skipping register initialisation. */ - pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ - *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ - - /* A save method is being used that requires each task to maintain its - own exec return value. */ - pxTopOfStack--; - *pxTopOfStack = portINITIAL_EXEC_RETURN; - - pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ - - return pxTopOfStack; -} -/*-----------------------------------------------------------*/ - -static void prvTaskExitError( void ) -{ - /* A function that implements a task must not exit or attempt to return to - its caller as there is nothing to return to. If a task wants to exit it - should instead call vTaskDelete( NULL ). - - Artificially force an assert() to be triggered if configASSERT() is - defined, then stop here so application writers can catch the error. */ - configASSERT( uxCriticalNesting == ~0UL ); - portDISABLE_INTERRUPTS(); - for( ;; ); -} -/*-----------------------------------------------------------*/ - -__asm void vPortSVCHandler( void ) -{ - PRESERVE8 - - /* Get the location of the current TCB. */ - ldr r3, =pxCurrentTCB - ldr r1, [r3] - ldr r0, [r1] - /* Pop the core registers. */ - ldmia r0!, {r4-r11, r14} - msr psp, r0 - isb - mov r0, #0 - msr basepri, r0 - bx r14 -} -/*-----------------------------------------------------------*/ - -__asm void prvStartFirstTask( void ) -{ - PRESERVE8 - - /* Use the NVIC offset register to locate the stack. */ - ldr r0, =0xE000ED08 - ldr r0, [r0] - ldr r0, [r0] - /* Set the msp back to the start of the stack. */ - msr msp, r0 - /* Globally enable interrupts. */ - cpsie i - dsb - isb - /* Call SVC to start the first task. */ - svc 0 - nop -} -/*-----------------------------------------------------------*/ - -__asm void prvEnableVFP( void ) -{ - PRESERVE8 - - /* The FPU enable bits are in the CPACR. */ - ldr.w r0, =0xE000ED88 - ldr r1, [r0] - - /* Enable CP10 and CP11 coprocessors, then save back. */ - orr r1, r1, #( 0xf << 20 ) - str r1, [r0] - bx r14 - nop -} -/*-----------------------------------------------------------*/ - -/* - * See header file for description. - */ -BaseType_t xPortStartScheduler( void ) -{ - #if( configASSERT_DEFINED == 1 ) - { - volatile uint32_t ulOriginalPriority; - volatile uint8_t * const pucFirstUserPriorityRegister = ( uint8_t * ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); - volatile uint8_t ucMaxPriorityValue; - - /* Determine the maximum priority from which ISR safe FreeRTOS API - functions can be called. ISR safe functions are those that end in - "FromISR". FreeRTOS maintains separate thread and ISR API functions to - ensure interrupt entry is as fast and simple as possible. - - Save the interrupt priority value that is about to be clobbered. */ - ulOriginalPriority = *pucFirstUserPriorityRegister; - - /* Determine the number of priority bits available. First write to all - possible bits. */ - *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; - - /* Read the value back to see how many bits stuck. */ - ucMaxPriorityValue = *pucFirstUserPriorityRegister; - - /* Use the same mask on the maximum system call priority. */ - ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; - - /* Calculate the maximum acceptable priority group value for the number - of bits read back. */ - ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; - while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) - { - ulMaxPRIGROUPValue--; - ucMaxPriorityValue <<= ( uint8_t ) 0x01; - } - - /* Shift the priority group value back to its position within the AIRCR - register. */ - ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; - ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; - - /* Restore the clobbered interrupt priority register to its original - value. */ - *pucFirstUserPriorityRegister = ulOriginalPriority; - } - #endif /* conifgASSERT_DEFINED */ - - /* Make PendSV and SysTick the lowest priority interrupts. */ - portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI; - portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI; - - /* Start the timer that generates the tick ISR. Interrupts are disabled - here already. */ - vPortSetupTimerInterrupt(); - - /* Initialise the critical nesting count ready for the first task. */ - uxCriticalNesting = 0; - - /* Ensure the VFP is enabled - it should be anyway. */ - prvEnableVFP(); - - /* Lazy save always. */ - *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS; - - /* Start the first task. */ - prvStartFirstTask(); - - /* Should not get here! */ - return 0; -} -/*-----------------------------------------------------------*/ - -void vPortEndScheduler( void ) -{ - /* Not implemented in ports where there is nothing to return to. - Artificially force an assert. */ - configASSERT( uxCriticalNesting == 1000UL ); -} -/*-----------------------------------------------------------*/ - -void vPortYield( void ) -{ - /* Set a PendSV to request a context switch. */ - portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; - - /* Barriers are normally not required but do ensure the code is completely - within the specified behaviour for the architecture. */ - __dsb( portSY_FULL_READ_WRITE ); - __isb( portSY_FULL_READ_WRITE ); -} -/*-----------------------------------------------------------*/ - -void vPortEnterCritical( void ) -{ - portDISABLE_INTERRUPTS(); - uxCriticalNesting++; - __dsb( portSY_FULL_READ_WRITE ); - __isb( portSY_FULL_READ_WRITE ); -} -/*-----------------------------------------------------------*/ - -void vPortExitCritical( void ) -{ - configASSERT( uxCriticalNesting ); - uxCriticalNesting--; - if( uxCriticalNesting == 0 ) - { - portENABLE_INTERRUPTS(); - } -} -/*-----------------------------------------------------------*/ - -__asm void xPortPendSVHandler( void ) -{ - extern uxCriticalNesting; - extern pxCurrentTCB; - extern vTaskSwitchContext; - - PRESERVE8 - - mrs r0, psp - isb - /* Get the location of the current TCB. */ - ldr r3, =pxCurrentTCB - ldr r2, [r3] - - /* Is the task using the FPU context? If so, push high vfp registers. */ - tst r14, #0x10 - it eq - vstmdbeq r0!, {s16-s31} - - /* Save the core registers. */ - stmdb r0!, {r4-r11, r14} - - /* Save the new top of stack into the first member of the TCB. */ - str r0, [r2] - - stmdb sp!, {r3} - mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY - msr basepri, r0 - bl vTaskSwitchContext - mov r0, #0 - msr basepri, r0 - ldmia sp!, {r3} - - /* The first item in pxCurrentTCB is the task top of stack. */ - ldr r1, [r3] - ldr r0, [r1] - - /* Pop the core registers. */ - ldmia r0!, {r4-r11, r14} - - /* Is the task using the FPU context? If so, pop the high vfp registers - too. */ - tst r14, #0x10 - it eq - vldmiaeq r0!, {s16-s31} - - msr psp, r0 - isb - #ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata */ - #if WORKAROUND_PMU_CM001 == 1 - push { r14 } - pop { pc } - nop - #endif - #endif - - bx r14 - nop - nop -} -/*-----------------------------------------------------------*/ - -void xPortSysTickHandler( void ) -{ - /* The SysTick runs at the lowest interrupt priority, so when this interrupt - executes all interrupts must be unmasked. There is therefore no need to - save and then restore the interrupt mask value as its value is already - known. */ - ( void ) portSET_INTERRUPT_MASK_FROM_ISR(); - { - /* Increment the RTOS tick. */ - if( xTaskIncrementTick() != pdFALSE ) - { - /* A context switch is required. Context switching is performed in - the PendSV interrupt. Pend the PendSV interrupt. */ - portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; - } - } - portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 ); -} -/*-----------------------------------------------------------*/ - -#if configUSE_TICKLESS_IDLE == 1 - - __weak void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) - { - uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickCTRL; - TickType_t xModifiableIdleTime; - - /* Make sure the SysTick reload value does not overflow the counter. */ - if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) - { - xExpectedIdleTime = xMaximumPossibleSuppressedTicks; - } - - /* Stop the SysTick momentarily. The time the SysTick is stopped for - is accounted for as best it can be, but using the tickless mode will - inevitably result in some tiny drift of the time maintained by the - kernel with respect to calendar time. */ - portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; - - /* Calculate the reload value required to wait xExpectedIdleTime - tick periods. -1 is used because this code will execute part way - through one of the tick periods. */ - ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); - if( ulReloadValue > ulStoppedTimerCompensation ) - { - ulReloadValue -= ulStoppedTimerCompensation; - } - - /* Enter a critical section but don't use the taskENTER_CRITICAL() - method as that will mask interrupts that should exit sleep mode. */ - __disable_irq(); - - /* If a context switch is pending or a task is waiting for the scheduler - to be unsuspended then abandon the low power entry. */ - if( eTaskConfirmSleepModeStatus() == eAbortSleep ) - { - /* Restart from whatever is left in the count register to complete - this tick period. */ - portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; - - /* Restart SysTick. */ - portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; - - /* Reset the reload register to the value required for normal tick - periods. */ - portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; - - /* Re-enable interrupts - see comments above __disable_irq() call - above. */ - __enable_irq(); - } - else - { - /* Set the new reload value. */ - portNVIC_SYSTICK_LOAD_REG = ulReloadValue; - - /* Clear the SysTick count flag and set the count value back to - zero. */ - portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; - - /* Restart SysTick. */ - portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; - - /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can - set its parameter to 0 to indicate that its implementation contains - its own wait for interrupt or wait for event instruction, and so wfi - should not be executed again. However, the original expected idle - time variable must remain unmodified, so a copy is taken. */ - xModifiableIdleTime = xExpectedIdleTime; - configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); - if( xModifiableIdleTime > 0 ) - { - __dsb( portSY_FULL_READ_WRITE ); - __wfi(); - __isb( portSY_FULL_READ_WRITE ); - } - configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); - - /* Stop SysTick. Again, the time the SysTick is stopped for is - accounted for as best it can be, but using the tickless mode will - inevitably result in some tiny drift of the time maintained by the - kernel with respect to calendar time. */ - ulSysTickCTRL = portNVIC_SYSTICK_CTRL_REG; - portNVIC_SYSTICK_CTRL_REG = ( ulSysTickCTRL & ~portNVIC_SYSTICK_ENABLE_BIT ); - - /* Re-enable interrupts - see comments above __disable_irq() call - above. */ - __enable_irq(); - - if( ( ulSysTickCTRL & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) - { - uint32_t ulCalculatedLoadValue; - - /* The tick interrupt has already executed, and the SysTick - count reloaded with ulReloadValue. Reset the - portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick - period. */ - ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); - - /* Don't allow a tiny value, or values that have somehow - underflowed because the post sleep hook did something - that took too long. */ - if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) - { - ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); - } - - portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; - - /* The tick interrupt handler will already have pended the tick - processing in the kernel. As the pending tick will be - processed as soon as this function exits, the tick value - maintained by the tick is stepped forward by one less than the - time spent waiting. */ - ulCompleteTickPeriods = xExpectedIdleTime - 1UL; - } - else - { - /* Something other than the tick interrupt ended the sleep. - Work out how long the sleep lasted rounded to complete tick - periods (not the ulReload value which accounted for part - ticks). */ - ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; - - /* How many complete tick periods passed while the processor - was waiting? */ - ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; - - /* The reload value is set to whatever fraction of a single tick - period remains. */ - portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; - } - - /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG - again, then set portNVIC_SYSTICK_LOAD_REG back to its standard - value. The critical section is used to ensure the tick interrupt - can only execute once in the case that the reload register is near - zero. */ - portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; - portENTER_CRITICAL(); - { - portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; - vTaskStepTick( ulCompleteTickPeriods ); - portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; - } - portEXIT_CRITICAL(); - } - } - -#endif /* #if configUSE_TICKLESS_IDLE */ - -/*-----------------------------------------------------------*/ - -/* - * Setup the SysTick timer to generate the tick interrupts at the required - * frequency. - */ -#if configOVERRIDE_DEFAULT_TICK_CONFIGURATION == 0 - - void vPortSetupTimerInterrupt( void ) - { - /* Calculate the constants required to configure the tick interrupt. */ - #if configUSE_TICKLESS_IDLE == 1 - { - ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); - xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; - ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); - } - #endif /* configUSE_TICKLESS_IDLE */ - - /* Configure SysTick to interrupt at the requested rate. */ - portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; - portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT ); - } - -#endif /* configOVERRIDE_DEFAULT_TICK_CONFIGURATION */ -/*-----------------------------------------------------------*/ - -__asm uint32_t ulPortSetInterruptMask( void ) -{ - PRESERVE8 - - mrs r0, basepri - mov r1, #configMAX_SYSCALL_INTERRUPT_PRIORITY - msr basepri, r1 - bx r14 -} -/*-----------------------------------------------------------*/ - -__asm void vPortClearInterruptMask( uint32_t ulNewMask ) -{ - PRESERVE8 - - msr basepri, r0 - bx r14 -} -/*-----------------------------------------------------------*/ - -__asm uint32_t vPortGetIPSR( void ) -{ - PRESERVE8 - - mrs r0, ipsr - bx r14 -} -/*-----------------------------------------------------------*/ - -#if( configASSERT_DEFINED == 1 ) - - void vPortValidateInterruptPriority( void ) - { - uint32_t ulCurrentInterrupt; - uint8_t ucCurrentPriority; - - /* Obtain the number of the currently executing interrupt. */ - ulCurrentInterrupt = vPortGetIPSR(); - - /* Is the interrupt number a user defined interrupt? */ - if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) - { - /* Look up the interrupt's priority. */ - ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; - - /* The following assertion will fail if a service routine (ISR) for - an interrupt that has been assigned a priority above - configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API - function. ISR safe FreeRTOS API functions must *only* be called - from interrupts that have been assigned a priority at or below - configMAX_SYSCALL_INTERRUPT_PRIORITY. - - Numerically low interrupt priority numbers represent logically high - interrupt priorities, therefore the priority of the interrupt must - be set to a value equal to or numerically *higher* than - configMAX_SYSCALL_INTERRUPT_PRIORITY. - - Interrupts that use the FreeRTOS API must not be left at their - default priority of zero as that is the highest possible priority, - which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, - and therefore also guaranteed to be invalid. - - FreeRTOS maintains separate thread and ISR API functions to ensure - interrupt entry is as fast and simple as possible. - - The following links provide detailed information: - http://www.freertos.org/RTOS-Cortex-M3-M4.html - http://www.freertos.org/FAQHelp.html */ - configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); - } - - /* Priority grouping: The interrupt controller (NVIC) allows the bits - that define each interrupt's priority to be split between bits that - define the interrupt's pre-emption priority bits and bits that define - the interrupt's sub-priority. For simplicity all bits must be defined - to be pre-emption priority bits. The following assertion will fail if - this is not the case (if some bits represent a sub-priority). - - If the application only uses CMSIS libraries for interrupt - configuration then the correct setting can be achieved on all Cortex-M - devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the - scheduler. Note however that some vendor specific peripheral libraries - assume a non-zero priority group setting, in which cases using a value - of zero will result in unpredicable behaviour. */ - configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); - } - -#endif /* configASSERT_DEFINED */ - - +/*
+ FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
+ All rights reserved
+
+ VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+
+ This file is part of the FreeRTOS distribution.
+
+ FreeRTOS is free software; you can redistribute it and/or modify it under
+ the terms of the GNU General Public License (version 2) as published by the
+ Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
+
+ ***************************************************************************
+ >>! NOTE: The modification to the GPL is included to allow you to !<<
+ >>! distribute a combined work that includes FreeRTOS without being !<<
+ >>! obliged to provide the source code for proprietary components !<<
+ >>! outside of the FreeRTOS kernel. !<<
+ ***************************************************************************
+
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+ WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ FOR A PARTICULAR PURPOSE. Full license text is available on the following
+ link: http://www.freertos.org/a00114.html
+
+ ***************************************************************************
+ * *
+ * FreeRTOS provides completely free yet professionally developed, *
+ * robust, strictly quality controlled, supported, and cross *
+ * platform software that is more than just the market leader, it *
+ * is the industry's de facto standard. *
+ * *
+ * Help yourself get started quickly while simultaneously helping *
+ * to support the FreeRTOS project by purchasing a FreeRTOS *
+ * tutorial book, reference manual, or both: *
+ * http://www.FreeRTOS.org/Documentation *
+ * *
+ ***************************************************************************
+
+ http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
+ the FAQ page "My application does not run, what could be wrong?". Have you
+ defined configASSERT()?
+
+ http://www.FreeRTOS.org/support - In return for receiving this top quality
+ embedded software for free we request you assist our global community by
+ participating in the support forum.
+
+ http://www.FreeRTOS.org/training - Investing in training allows your team to
+ be as productive as possible as early as possible. Now you can receive
+ FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
+ Ltd, and the world's leading authority on the world's leading RTOS.
+
+ http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+ including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+ compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+ http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
+ Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
+
+ http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
+ Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
+ licenses offer ticketed support, indemnification and commercial middleware.
+
+ http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+ engineered and independently SIL3 certified version for use in safety and
+ mission critical applications that require provable dependability.
+
+ 1 tab == 4 spaces!
+*/
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the ARM CM4F port.
+ *----------------------------------------------------------*/
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+#ifndef __TARGET_FPU_VFP
+ #error This port can only be used when the project options are configured to enable hardware floating point support.
+#endif
+
+#if configMAX_SYSCALL_INTERRUPT_PRIORITY == 0
+ #error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
+#endif
+
+#ifndef configSYSTICK_CLOCK_HZ
+ #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
+ /* Ensure the SysTick is clocked at the same frequency as the core. */
+ #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
+#else
+ /* The way the SysTick is clocked is not modified in case it is not the same
+ as the core. */
+ #define portNVIC_SYSTICK_CLK_BIT ( 0 )
+#endif
+
+/* The __weak attribute does not work as you might expect with the Keil tools
+so the configOVERRIDE_DEFAULT_TICK_CONFIGURATION constant must be set to 1 if
+the application writer wants to provide their own implementation of
+vPortSetupTimerInterrupt(). Ensure configOVERRIDE_DEFAULT_TICK_CONFIGURATION
+is defined. */
+#ifndef configOVERRIDE_DEFAULT_TICK_CONFIGURATION
+ #define configOVERRIDE_DEFAULT_TICK_CONFIGURATION 0
+#endif
+
+/* Constants required to manipulate the core. Registers first... */
+#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000e010 ) )
+#define portNVIC_SYSTICK_LOAD_REG ( * ( ( volatile uint32_t * ) 0xe000e014 ) )
+#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( * ( ( volatile uint32_t * ) 0xe000e018 ) )
+#define portNVIC_SYSPRI2_REG ( * ( ( volatile uint32_t * ) 0xe000ed20 ) )
+/* ...then bits in the registers. */
+#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL )
+#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL )
+#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL )
+#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL )
+#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL )
+
+/* Constants used to detect a Cortex-M7 r0p1 core, which should use the ARM_CM7
+r0p1 port. */
+#define portCPUID ( * ( ( volatile uint32_t * ) 0xE000ed00 ) )
+#define portCORTEX_M7_r0p1_ID ( 0x410FC271UL )
+#define portCORTEX_M7_r0p0_ID ( 0x410FC270UL )
+
+#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
+#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
+
+/* Constants required to check the validity of an interrupt priority. */
+#define portFIRST_USER_INTERRUPT_NUMBER ( 16 )
+#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 )
+#define portAIRCR_REG ( * ( ( volatile uint32_t * ) 0xE000ED0C ) )
+#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff )
+#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 )
+#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 )
+#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL )
+#define portPRIGROUP_SHIFT ( 8UL )
+
+/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */
+#define portVECTACTIVE_MASK ( 0xFFUL )
+
+/* Constants required to manipulate the VFP. */
+#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */
+#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL )
+
+/* Constants required to set up the initial stack. */
+#define portINITIAL_XPSR ( 0x01000000 )
+#define portINITIAL_EXEC_RETURN ( 0xfffffffd )
+
+/* The systick is a 24-bit counter. */
+#define portMAX_24_BIT_NUMBER ( 0xffffffUL )
+
+/* A fiddle factor to estimate the number of SysTick counts that would have
+occurred while the SysTick counter is stopped during tickless idle
+calculations. */
+#define portMISSED_COUNTS_FACTOR ( 45UL )
+
+/* Each task maintains its own interrupt status in the critical nesting
+variable. */
+static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
+
+/*
+ * Setup the timer to generate the tick interrupts. The implementation in this
+ * file is weak to allow application writers to change the timer used to
+ * generate the tick interrupt.
+ */
+void vPortSetupTimerInterrupt( void );
+
+/*
+ * Exception handlers.
+ */
+void xPortPendSVHandler( void );
+void xPortSysTickHandler( void );
+void vPortSVCHandler( void );
+
+/*
+ * Start first task is a separate function so it can be tested in isolation.
+ */
+static void prvStartFirstTask( void );
+
+/*
+ * Functions defined in portasm.s to enable the VFP.
+ */
+static void prvEnableVFP( void );
+
+/*
+ * Used to catch tasks that attempt to return from their implementing function.
+ */
+static void prvTaskExitError( void );
+
+/*-----------------------------------------------------------*/
+
+/*
+ * The number of SysTick increments that make up one tick period.
+ */
+#if configUSE_TICKLESS_IDLE == 1
+ static uint32_t ulTimerCountsForOneTick = 0;
+#endif /* configUSE_TICKLESS_IDLE */
+
+/*
+ * The maximum number of tick periods that can be suppressed is limited by the
+ * 24 bit resolution of the SysTick timer.
+ */
+#if configUSE_TICKLESS_IDLE == 1
+ static uint32_t xMaximumPossibleSuppressedTicks = 0;
+#endif /* configUSE_TICKLESS_IDLE */
+
+/*
+ * Compensate for the CPU cycles that pass while the SysTick is stopped (low
+ * power functionality only.
+ */
+#if configUSE_TICKLESS_IDLE == 1
+ static uint32_t ulStoppedTimerCompensation = 0;
+#endif /* configUSE_TICKLESS_IDLE */
+
+/*
+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure
+ * FreeRTOS API functions are not called from interrupts that have been assigned
+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
+ */
+#if ( configASSERT_DEFINED == 1 )
+ static uint8_t ucMaxSysCallPriority = 0;
+ static uint32_t ulMaxPRIGROUPValue = 0;
+ static const volatile uint8_t * const pcInterruptPriorityRegisters = ( uint8_t * ) portNVIC_IP_REGISTERS_OFFSET_16;
+#endif /* configASSERT_DEFINED */
+
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+ /* Simulate the stack frame as it would be created by a context switch
+ interrupt. */
+
+ /* Offset added to account for the way the MCU uses the stack on entry/exit
+ of interrupts, and to ensure alignment. */
+ pxTopOfStack--;
+
+ *pxTopOfStack = portINITIAL_XPSR; /* xPSR */
+ pxTopOfStack--;
+ *pxTopOfStack = ( StackType_t ) pxCode; /* PC */
+ pxTopOfStack--;
+ *pxTopOfStack = ( StackType_t ) prvTaskExitError; /* LR */
+
+ /* Save code space by skipping register initialisation. */
+ pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
+ *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
+
+ /* A save method is being used that requires each task to maintain its
+ own exec return value. */
+ pxTopOfStack--;
+ *pxTopOfStack = portINITIAL_EXEC_RETURN;
+
+ pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */
+
+ return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+static void prvTaskExitError( void )
+{
+ /* A function that implements a task must not exit or attempt to return to
+ its caller as there is nothing to return to. If a task wants to exit it
+ should instead call vTaskDelete( NULL ).
+
+ Artificially force an assert() to be triggered if configASSERT() is
+ defined, then stop here so application writers can catch the error. */
+ configASSERT( uxCriticalNesting == ~0UL );
+ portDISABLE_INTERRUPTS();
+ for( ;; );
+}
+/*-----------------------------------------------------------*/
+
+__asm void vPortSVCHandler( void )
+{
+ PRESERVE8
+
+ /* Get the location of the current TCB. */
+ ldr r3, =pxCurrentTCB
+ ldr r1, [r3]
+ ldr r0, [r1]
+ /* Pop the core registers. */
+ ldmia r0!, {r4-r11, r14}
+ msr psp, r0
+ isb
+ mov r0, #0
+ msr basepri, r0
+ bx r14
+}
+/*-----------------------------------------------------------*/
+
+__asm void prvStartFirstTask( void )
+{
+ PRESERVE8
+
+ /* Use the NVIC offset register to locate the stack. */
+ ldr r0, =0xE000ED08
+ ldr r0, [r0]
+ ldr r0, [r0]
+ /* Set the msp back to the start of the stack. */
+ msr msp, r0
+ /* Globally enable interrupts. */
+ cpsie i
+ cpsie f
+ dsb
+ isb
+ /* Call SVC to start the first task. */
+ svc 0
+ nop
+ nop
+}
+/*-----------------------------------------------------------*/
+
+__asm void prvEnableVFP( void )
+{
+ PRESERVE8
+
+ /* The FPU enable bits are in the CPACR. */
+ ldr.w r0, =0xE000ED88
+ ldr r1, [r0]
+
+ /* Enable CP10 and CP11 coprocessors, then save back. */
+ orr r1, r1, #( 0xf << 20 )
+ str r1, [r0]
+ bx r14
+ nop
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+BaseType_t xPortStartScheduler( void )
+{
+ /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.
+ See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
+ configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );
+
+ /* This port can be used on all revisions of the Cortex-M7 core other than
+ the r0p1 parts. r0p1 parts should use the port from the
+ /source/portable/GCC/ARM_CM7/r0p1 directory. */
+ configASSERT( portCPUID != portCORTEX_M7_r0p1_ID );
+ configASSERT( portCPUID != portCORTEX_M7_r0p0_ID );
+
+ #if( configASSERT_DEFINED == 1 )
+ {
+ volatile uint32_t ulOriginalPriority;
+ volatile uint8_t * const pucFirstUserPriorityRegister = ( uint8_t * ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
+ volatile uint8_t ucMaxPriorityValue;
+
+ /* Determine the maximum priority from which ISR safe FreeRTOS API
+ functions can be called. ISR safe functions are those that end in
+ "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ ensure interrupt entry is as fast and simple as possible.
+
+ Save the interrupt priority value that is about to be clobbered. */
+ ulOriginalPriority = *pucFirstUserPriorityRegister;
+
+ /* Determine the number of priority bits available. First write to all
+ possible bits. */
+ *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
+
+ /* Read the value back to see how many bits stuck. */
+ ucMaxPriorityValue = *pucFirstUserPriorityRegister;
+
+ /* The kernel interrupt priority should be set to the lowest
+ priority. */
+ configASSERT( ucMaxPriorityValue == ( configKERNEL_INTERRUPT_PRIORITY & ucMaxPriorityValue ) );
+
+ /* Use the same mask on the maximum system call priority. */
+ ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;
+
+ /* Calculate the maximum acceptable priority group value for the number
+ of bits read back. */
+ ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS;
+ while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
+ {
+ ulMaxPRIGROUPValue--;
+ ucMaxPriorityValue <<= ( uint8_t ) 0x01;
+ }
+
+ /* Shift the priority group value back to its position within the AIRCR
+ register. */
+ ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
+ ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
+
+ /* Restore the clobbered interrupt priority register to its original
+ value. */
+ *pucFirstUserPriorityRegister = ulOriginalPriority;
+ }
+ #endif /* conifgASSERT_DEFINED */
+
+ /* Make PendSV and SysTick the lowest priority interrupts. */
+ portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
+ portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
+
+ /* Start the timer that generates the tick ISR. Interrupts are disabled
+ here already. */
+ vPortSetupTimerInterrupt();
+
+ /* Initialise the critical nesting count ready for the first task. */
+ uxCriticalNesting = 0;
+
+ /* Ensure the VFP is enabled - it should be anyway. */
+ prvEnableVFP();
+
+ /* Lazy save always. */
+ *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS;
+
+ /* Start the first task. */
+ prvStartFirstTask();
+
+ /* Should not get here! */
+ return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+ /* Not implemented in ports where there is nothing to return to.
+ Artificially force an assert. */
+ configASSERT( uxCriticalNesting == 1000UL );
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnterCritical( void )
+{
+ portDISABLE_INTERRUPTS();
+ uxCriticalNesting++;
+
+ /* This is not the interrupt safe version of the enter critical function so
+ assert() if it is being called from an interrupt context. Only API
+ functions that end in "FromISR" can be used in an interrupt. Only assert if
+ the critical nesting count is 1 to protect against recursive calls if the
+ assert function also uses a critical section. */
+ if( uxCriticalNesting == 1 )
+ {
+ configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 );
+ }
+}
+/*-----------------------------------------------------------*/
+
+void vPortExitCritical( void )
+{
+ configASSERT( uxCriticalNesting );
+ uxCriticalNesting--;
+ if( uxCriticalNesting == 0 )
+ {
+ portENABLE_INTERRUPTS();
+ }
+}
+/*-----------------------------------------------------------*/
+
+__asm void xPortPendSVHandler( void )
+{
+ extern uxCriticalNesting;
+ extern pxCurrentTCB;
+ extern vTaskSwitchContext;
+
+ PRESERVE8
+
+ mrs r0, psp
+ isb
+ /* Get the location of the current TCB. */
+ ldr r3, =pxCurrentTCB
+ ldr r2, [r3]
+
+ /* Is the task using the FPU context? If so, push high vfp registers. */
+ tst r14, #0x10
+ it eq
+ vstmdbeq r0!, {s16-s31}
+
+ /* Save the core registers. */
+ stmdb r0!, {r4-r11, r14}
+
+ /* Save the new top of stack into the first member of the TCB. */
+ str r0, [r2]
+
+ stmdb sp!, {r3}
+ mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
+ msr basepri, r0
+ dsb
+ isb
+ bl vTaskSwitchContext
+ mov r0, #0
+ msr basepri, r0
+ ldmia sp!, {r3}
+
+ /* The first item in pxCurrentTCB is the task top of stack. */
+ ldr r1, [r3]
+ ldr r0, [r1]
+
+ /* Pop the core registers. */
+ ldmia r0!, {r4-r11, r14}
+
+ /* Is the task using the FPU context? If so, pop the high vfp registers
+ too. */
+ tst r14, #0x10
+ it eq
+ vldmiaeq r0!, {s16-s31}
+
+ msr psp, r0
+ isb
+ #ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata */
+ #if WORKAROUND_PMU_CM001 == 1
+ push { r14 }
+ pop { pc }
+ nop
+ #endif
+ #endif
+
+ bx r14
+}
+/*-----------------------------------------------------------*/
+
+void xPortSysTickHandler( void )
+{
+ /* The SysTick runs at the lowest interrupt priority, so when this interrupt
+ executes all interrupts must be unmasked. There is therefore no need to
+ save and then restore the interrupt mask value as its value is already
+ known. */
+ ( void ) portSET_INTERRUPT_MASK_FROM_ISR();
+ {
+ /* Increment the RTOS tick. */
+ if( xTaskIncrementTick() != pdFALSE )
+ {
+ /* A context switch is required. Context switching is performed in
+ the PendSV interrupt. Pend the PendSV interrupt. */
+ portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+ }
+ }
+ portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 );
+}
+/*-----------------------------------------------------------*/
+
+#if configUSE_TICKLESS_IDLE == 1
+
+ __weak void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
+ {
+ uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickCTRL;
+ TickType_t xModifiableIdleTime;
+
+ /* Make sure the SysTick reload value does not overflow the counter. */
+ if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
+ {
+ xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
+ }
+
+ /* Stop the SysTick momentarily. The time the SysTick is stopped for
+ is accounted for as best it can be, but using the tickless mode will
+ inevitably result in some tiny drift of the time maintained by the
+ kernel with respect to calendar time. */
+ portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT;
+
+ /* Calculate the reload value required to wait xExpectedIdleTime
+ tick periods. -1 is used because this code will execute part way
+ through one of the tick periods. */
+ ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
+ if( ulReloadValue > ulStoppedTimerCompensation )
+ {
+ ulReloadValue -= ulStoppedTimerCompensation;
+ }
+
+ /* Enter a critical section but don't use the taskENTER_CRITICAL()
+ method as that will mask interrupts that should exit sleep mode. */
+ __disable_irq();
+
+ /* If a context switch is pending or a task is waiting for the scheduler
+ to be unsuspended then abandon the low power entry. */
+ if( eTaskConfirmSleepModeStatus() == eAbortSleep )
+ {
+ /* Restart from whatever is left in the count register to complete
+ this tick period. */
+ portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
+
+ /* Restart SysTick. */
+ portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
+
+ /* Reset the reload register to the value required for normal tick
+ periods. */
+ portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+
+ /* Re-enable interrupts - see comments above __disable_irq() call
+ above. */
+ __enable_irq();
+ }
+ else
+ {
+ /* Set the new reload value. */
+ portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
+
+ /* Clear the SysTick count flag and set the count value back to
+ zero. */
+ portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+
+ /* Restart SysTick. */
+ portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
+
+ /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can
+ set its parameter to 0 to indicate that its implementation contains
+ its own wait for interrupt or wait for event instruction, and so wfi
+ should not be executed again. However, the original expected idle
+ time variable must remain unmodified, so a copy is taken. */
+ xModifiableIdleTime = xExpectedIdleTime;
+ configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
+ if( xModifiableIdleTime > 0 )
+ {
+ __dsb( portSY_FULL_READ_WRITE );
+ __wfi();
+ __isb( portSY_FULL_READ_WRITE );
+ }
+ configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
+
+ /* Stop SysTick. Again, the time the SysTick is stopped for is
+ accounted for as best it can be, but using the tickless mode will
+ inevitably result in some tiny drift of the time maintained by the
+ kernel with respect to calendar time. */
+ ulSysTickCTRL = portNVIC_SYSTICK_CTRL_REG;
+ portNVIC_SYSTICK_CTRL_REG = ( ulSysTickCTRL & ~portNVIC_SYSTICK_ENABLE_BIT );
+
+ /* Re-enable interrupts - see comments above __disable_irq() call
+ above. */
+ __enable_irq();
+
+ if( ( ulSysTickCTRL & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
+ {
+ uint32_t ulCalculatedLoadValue;
+
+ /* The tick interrupt has already executed, and the SysTick
+ count reloaded with ulReloadValue. Reset the
+ portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
+ period. */
+ ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
+
+ /* Don't allow a tiny value, or values that have somehow
+ underflowed because the post sleep hook did something
+ that took too long. */
+ if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
+ {
+ ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
+ }
+
+ portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
+
+ /* The tick interrupt handler will already have pended the tick
+ processing in the kernel. As the pending tick will be
+ processed as soon as this function exits, the tick value
+ maintained by the tick is stepped forward by one less than the
+ time spent waiting. */
+ ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
+ }
+ else
+ {
+ /* Something other than the tick interrupt ended the sleep.
+ Work out how long the sleep lasted rounded to complete tick
+ periods (not the ulReload value which accounted for part
+ ticks). */
+ ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
+
+ /* How many complete tick periods passed while the processor
+ was waiting? */
+ ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;
+
+ /* The reload value is set to whatever fraction of a single tick
+ period remains. */
+ portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
+ }
+
+ /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
+ again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
+ value. The critical section is used to ensure the tick interrupt
+ can only execute once in the case that the reload register is near
+ zero. */
+ portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+ portENTER_CRITICAL();
+ {
+ portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
+ vTaskStepTick( ulCompleteTickPeriods );
+ portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+ }
+ portEXIT_CRITICAL();
+ }
+ }
+
+#endif /* #if configUSE_TICKLESS_IDLE */
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Setup the SysTick timer to generate the tick interrupts at the required
+ * frequency.
+ */
+#if configOVERRIDE_DEFAULT_TICK_CONFIGURATION == 0
+
+ void vPortSetupTimerInterrupt( void )
+ {
+ /* Calculate the constants required to configure the tick interrupt. */
+ #if configUSE_TICKLESS_IDLE == 1
+ {
+ ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
+ xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
+ ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
+ }
+ #endif /* configUSE_TICKLESS_IDLE */
+
+ /* Configure SysTick to interrupt at the requested rate. */
+ portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
+ portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT );
+ }
+
+#endif /* configOVERRIDE_DEFAULT_TICK_CONFIGURATION */
+/*-----------------------------------------------------------*/
+
+__asm uint32_t vPortGetIPSR( void )
+{
+ PRESERVE8
+
+ mrs r0, ipsr
+ bx r14
+}
+/*-----------------------------------------------------------*/
+
+#if( configASSERT_DEFINED == 1 )
+
+ void vPortValidateInterruptPriority( void )
+ {
+ uint32_t ulCurrentInterrupt;
+ uint8_t ucCurrentPriority;
+
+ /* Obtain the number of the currently executing interrupt. */
+ ulCurrentInterrupt = vPortGetIPSR();
+
+ /* Is the interrupt number a user defined interrupt? */
+ if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
+ {
+ /* Look up the interrupt's priority. */
+ ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
+
+ /* The following assertion will fail if a service routine (ISR) for
+ an interrupt that has been assigned a priority above
+ configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+ function. ISR safe FreeRTOS API functions must *only* be called
+ from interrupts that have been assigned a priority at or below
+ configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+ Numerically low interrupt priority numbers represent logically high
+ interrupt priorities, therefore the priority of the interrupt must
+ be set to a value equal to or numerically *higher* than
+ configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+ Interrupts that use the FreeRTOS API must not be left at their
+ default priority of zero as that is the highest possible priority,
+ which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY,
+ and therefore also guaranteed to be invalid.
+
+ FreeRTOS maintains separate thread and ISR API functions to ensure
+ interrupt entry is as fast and simple as possible.
+
+ The following links provide detailed information:
+ http://www.freertos.org/RTOS-Cortex-M3-M4.html
+ http://www.freertos.org/FAQHelp.html */
+ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
+ }
+
+ /* Priority grouping: The interrupt controller (NVIC) allows the bits
+ that define each interrupt's priority to be split between bits that
+ define the interrupt's pre-emption priority bits and bits that define
+ the interrupt's sub-priority. For simplicity all bits must be defined
+ to be pre-emption priority bits. The following assertion will fail if
+ this is not the case (if some bits represent a sub-priority).
+
+ If the application only uses CMSIS libraries for interrupt
+ configuration then the correct setting can be achieved on all Cortex-M
+ devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
+ scheduler. Note however that some vendor specific peripheral libraries
+ assume a non-zero priority group setting, in which cases using a value
+ of zero will result in unpredicable behaviour. */
+ configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
+ }
+
+#endif /* configASSERT_DEFINED */
+
+
diff --git a/rtos/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h b/rtos/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h index 38720dd..d65d260 100644 --- a/rtos/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h +++ b/rtos/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h @@ -1,182 +1,256 @@ -/* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. - All rights reserved - - VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - - This file is part of the FreeRTOS distribution. - - FreeRTOS is free software; you can redistribute it and/or modify it under - the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. - - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. - - FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY - WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following - link: http://www.freertos.org/a00114.html - - 1 tab == 4 spaces! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool, a DOS - compatible FAT file system, and our tiny thread aware UDP/IP stack. - - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. - - http://www.SafeRTOS.com - High Integrity Systems also provide a safety - engineered and independently SIL3 certified version for use in safety and - mission critical applications that require provable dependability. - - 1 tab == 4 spaces! -*/ - - -#ifndef PORTMACRO_H -#define PORTMACRO_H - -#ifdef __cplusplus -extern "C" { -#endif - -/*----------------------------------------------------------- - * Port specific definitions. - * - * The settings in this file configure FreeRTOS correctly for the - * given hardware and compiler. - * - * These settings should not be altered. - *----------------------------------------------------------- - */ - -/* Type definitions. */ -#define portCHAR char -#define portFLOAT float -#define portDOUBLE double -#define portLONG long -#define portSHORT short -#define portSTACK_TYPE uint32_t -#define portBASE_TYPE long - -typedef portSTACK_TYPE StackType_t; -typedef long BaseType_t; -typedef unsigned long UBaseType_t; - -#if( configUSE_16_BIT_TICKS == 1 ) - typedef uint16_t TickType_t; - #define portMAX_DELAY ( TickType_t ) 0xffff -#else - typedef uint32_t TickType_t; - #define portMAX_DELAY ( TickType_t ) 0xffffffffUL -#endif -/*-----------------------------------------------------------*/ - -/* Architecture specifics. */ -#define portSTACK_GROWTH ( -1 ) -#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) -#define portBYTE_ALIGNMENT 8 -/*-----------------------------------------------------------*/ - -/* Scheduler utilities. */ -extern void vPortYield( void ); -#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) ) -#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) -#define portYIELD() vPortYield() -#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT -#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) -/*-----------------------------------------------------------*/ - -/* Critical section management. */ -extern uint32_t ulPortSetInterruptMask( void ); -extern void vPortClearInterruptMask( uint32_t ulNewMask ); -extern void vPortEnterCritical( void ); -extern void vPortExitCritical( void ); - -#define portDISABLE_INTERRUPTS() ulPortSetInterruptMask() -#define portENABLE_INTERRUPTS() vPortClearInterruptMask( 0 ) -#define portENTER_CRITICAL() vPortEnterCritical() -#define portEXIT_CRITICAL() vPortExitCritical() -#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetInterruptMask() -#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask(x) - -/*-----------------------------------------------------------*/ - -/* Tickless idle/low power functionality. */ -#ifndef portSUPPRESS_TICKS_AND_SLEEP - extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); - #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) -#endif -/*-----------------------------------------------------------*/ - -/* Port specific optimisations. */ -#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 - - /* Check the configuration. */ - #if( configMAX_PRIORITIES > 32 ) - #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. - #endif - - /* Store/clear the ready priorities in a bit map. */ - #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) - #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) - - /*-----------------------------------------------------------*/ - - #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __clz( ( uxReadyPriorities ) ) ) - -#endif /* taskRECORD_READY_PRIORITY */ -/*-----------------------------------------------------------*/ - -/* Task function macros as described on the FreeRTOS.org WEB site. These are -not necessary for to use this port. They are defined so the common demo files -(which build with all the ports) will build. */ -#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) -#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) -/*-----------------------------------------------------------*/ - -#ifdef configASSERT - void vPortValidateInterruptPriority( void ); - #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() -#endif - -/* portNOP() is not required by this port. */ -#define portNOP() - -#ifdef __cplusplus -} -#endif - -#endif /* PORTMACRO_H */ - +/*
+ FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
+ All rights reserved
+
+ VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+
+ This file is part of the FreeRTOS distribution.
+
+ FreeRTOS is free software; you can redistribute it and/or modify it under
+ the terms of the GNU General Public License (version 2) as published by the
+ Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
+
+ ***************************************************************************
+ >>! NOTE: The modification to the GPL is included to allow you to !<<
+ >>! distribute a combined work that includes FreeRTOS without being !<<
+ >>! obliged to provide the source code for proprietary components !<<
+ >>! outside of the FreeRTOS kernel. !<<
+ ***************************************************************************
+
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+ WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ FOR A PARTICULAR PURPOSE. Full license text is available on the following
+ link: http://www.freertos.org/a00114.html
+
+ ***************************************************************************
+ * *
+ * FreeRTOS provides completely free yet professionally developed, *
+ * robust, strictly quality controlled, supported, and cross *
+ * platform software that is more than just the market leader, it *
+ * is the industry's de facto standard. *
+ * *
+ * Help yourself get started quickly while simultaneously helping *
+ * to support the FreeRTOS project by purchasing a FreeRTOS *
+ * tutorial book, reference manual, or both: *
+ * http://www.FreeRTOS.org/Documentation *
+ * *
+ ***************************************************************************
+
+ http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
+ the FAQ page "My application does not run, what could be wrong?". Have you
+ defined configASSERT()?
+
+ http://www.FreeRTOS.org/support - In return for receiving this top quality
+ embedded software for free we request you assist our global community by
+ participating in the support forum.
+
+ http://www.FreeRTOS.org/training - Investing in training allows your team to
+ be as productive as possible as early as possible. Now you can receive
+ FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
+ Ltd, and the world's leading authority on the world's leading RTOS.
+
+ http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+ including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+ compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+ http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
+ Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
+
+ http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
+ Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
+ licenses offer ticketed support, indemnification and commercial middleware.
+
+ http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+ engineered and independently SIL3 certified version for use in safety and
+ mission critical applications that require provable dependability.
+
+ 1 tab == 4 spaces!
+*/
+
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR char
+#define portFLOAT float
+#define portDOUBLE double
+#define portLONG long
+#define portSHORT short
+#define portSTACK_TYPE uint32_t
+#define portBASE_TYPE long
+
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+ typedef uint16_t TickType_t;
+ #define portMAX_DELAY ( TickType_t ) 0xffff
+#else
+ typedef uint32_t TickType_t;
+ #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+
+ /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
+ not need to be guarded with a critical section. */
+ #define portTICK_TYPE_IS_ATOMIC 1
+#endif
+/*-----------------------------------------------------------*/
+
+/* Architecture specifics. */
+#define portSTACK_GROWTH ( -1 )
+#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT 8
+
+/* Constants used with memory barrier intrinsics. */
+#define portSY_FULL_READ_WRITE ( 15 )
+
+/*-----------------------------------------------------------*/
+
+/* Scheduler utilities. */
+#define portYIELD() \
+{ \
+ /* Set a PendSV to request a context switch. */ \
+ portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+ \
+ /* Barriers are normally not required but do ensure the code is completely \
+ within the specified behaviour for the architecture. */ \
+ __dsb( portSY_FULL_READ_WRITE ); \
+ __isb( portSY_FULL_READ_WRITE ); \
+}
+/*-----------------------------------------------------------*/
+
+#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) )
+#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD()
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
+/*-----------------------------------------------------------*/
+
+/* Critical section management. */
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+
+#define portDISABLE_INTERRUPTS() vPortRaiseBASEPRI()
+#define portENABLE_INTERRUPTS() vPortSetBASEPRI( 0 )
+#define portENTER_CRITICAL() vPortEnterCritical()
+#define portEXIT_CRITICAL() vPortExitCritical()
+#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortRaiseBASEPRI()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortSetBASEPRI(x)
+
+/*-----------------------------------------------------------*/
+
+/* Tickless idle/low power functionality. */
+#ifndef portSUPPRESS_TICKS_AND_SLEEP
+ extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
+ #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
+#endif
+/*-----------------------------------------------------------*/
+
+/* Port specific optimisations. */
+#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
+ #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
+#endif
+
+#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
+
+ /* Check the configuration. */
+ #if( configMAX_PRIORITIES > 32 )
+ #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.
+ #endif
+
+ /* Store/clear the ready priorities in a bit map. */
+ #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
+ #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
+
+ /*-----------------------------------------------------------*/
+
+ #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __clz( ( uxReadyPriorities ) ) )
+
+#endif /* taskRECORD_READY_PRIORITY */
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site. These are
+not necessary for to use this port. They are defined so the common demo files
+(which build with all the ports) will build. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+/*-----------------------------------------------------------*/
+
+#ifdef configASSERT
+ void vPortValidateInterruptPriority( void );
+ #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority()
+#endif
+
+/* portNOP() is not required by this port. */
+#define portNOP()
+
+#ifndef portFORCE_INLINE
+ #define portFORCE_INLINE __forceinline
+#endif
+
+/*-----------------------------------------------------------*/
+
+static portFORCE_INLINE void vPortSetBASEPRI( uint32_t ulBASEPRI )
+{
+ __asm
+ {
+ /* Barrier instructions are not used as this function is only used to
+ lower the BASEPRI value. */
+ msr basepri, ulBASEPRI
+ }
+}
+/*-----------------------------------------------------------*/
+
+static portFORCE_INLINE void vPortRaiseBASEPRI( void )
+{
+uint32_t ulNewBASEPRI = configMAX_SYSCALL_INTERRUPT_PRIORITY;
+
+ __asm
+ {
+ /* Set BASEPRI to the max syscall priority to effect a critical
+ section. */
+ msr basepri, ulNewBASEPRI
+ dsb
+ isb
+ }
+}
+/*-----------------------------------------------------------*/
+
+static portFORCE_INLINE uint32_t ulPortRaiseBASEPRI( void )
+{
+uint32_t ulReturn, ulNewBASEPRI = configMAX_SYSCALL_INTERRUPT_PRIORITY;
+
+ __asm
+ {
+ /* Set BASEPRI to the max syscall priority to effect a critical
+ section. */
+ mrs ulReturn, basepri
+ msr basepri, ulNewBASEPRI
+ dsb
+ isb
+ }
+
+ return ulReturn;
+}
+/*-----------------------------------------------------------*/
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */
+
diff --git a/rtos/FreeRTOS/Source/queue.c b/rtos/FreeRTOS/Source/queue.c index 70de24b..25fcc26 100644 --- a/rtos/FreeRTOS/Source/queue.c +++ b/rtos/FreeRTOS/Source/queue.c @@ -1,60 +1,64 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following + FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html - 1 tab == 4 spaces! - *************************************************************************** * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * * * - * http://www.FreeRTOS.org/FAQHelp.html * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and @@ -120,7 +124,8 @@ zero. */ /* * Definition of the queue used by the scheduler. - * Items are queued by copy, not reference. + * Items are queued by copy, not reference. See the following link for the + * rationale: http://www.freertos.org/Embedded-RTOS-Queues.html */ typedef struct QueueDefinition { @@ -184,7 +189,7 @@ typedef xQUEUE Queue_t; /* The queue registry is simply an array of QueueRegistryItem_t structures. The pcQueueName member of a structure being NULL is indicative of the array position being vacant. */ - QueueRegistryItem_t xQueueRegistry[ configQUEUE_REGISTRY_SIZE ]; + PRIVILEGED_DATA QueueRegistryItem_t xQueueRegistry[ configQUEUE_REGISTRY_SIZE ]; #endif /* configQUEUE_REGISTRY_SIZE */ @@ -216,7 +221,7 @@ static BaseType_t prvIsQueueFull( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION; * Copies an item into the queue, either at the front of the queue or the * back of the queue. */ -static void prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition ) PRIVILEGED_FUNCTION; +static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition ) PRIVILEGED_FUNCTION; /* * Copies an item out of a queue. @@ -315,50 +320,60 @@ QueueHandle_t xReturn = NULL; configUSE_TRACE_FACILITY not be set to 1. */ ( void ) ucQueueType; - /* Allocate the new queue structure. */ - if( uxQueueLength > ( UBaseType_t ) 0 ) + configASSERT( uxQueueLength > ( UBaseType_t ) 0 ); + + if( uxItemSize == ( UBaseType_t ) 0 ) { - pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) ); - if( pxNewQueue != NULL ) - { - /* Create the list of pointers to queue items. The queue is one byte - longer than asked for to make wrap checking easier/faster. */ - xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + /* There is not going to be a queue storage area. */ + xQueueSizeInBytes = ( size_t ) 0; + } + else + { + /* The queue is one byte longer than asked for to make wrap checking + easier/faster. */ + xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + } - pxNewQueue->pcHead = ( int8_t * ) pvPortMalloc( xQueueSizeInBytes ); - if( pxNewQueue->pcHead != NULL ) - { - /* Initialise the queue members as described above where the - queue type is defined. */ - pxNewQueue->uxLength = uxQueueLength; - pxNewQueue->uxItemSize = uxItemSize; - ( void ) xQueueGenericReset( pxNewQueue, pdTRUE ); + /* Allocate the new queue structure and storage area. */ + pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) + xQueueSizeInBytes ); - #if ( configUSE_TRACE_FACILITY == 1 ) - { - pxNewQueue->ucQueueType = ucQueueType; - } - #endif /* configUSE_TRACE_FACILITY */ + if( pxNewQueue != NULL ) + { + if( uxItemSize == ( UBaseType_t ) 0 ) + { + /* No RAM was allocated for the queue storage area, but PC head + cannot be set to NULL because NULL is used as a key to say the queue + is used as a mutex. Therefore just set pcHead to point to the queue + as a benign value that is known to be within the memory map. */ + pxNewQueue->pcHead = ( int8_t * ) pxNewQueue; + } + else + { + /* Jump past the queue structure to find the location of the queue + storage area. */ + pxNewQueue->pcHead = ( ( int8_t * ) pxNewQueue ) + sizeof( Queue_t ); + } - #if( configUSE_QUEUE_SETS == 1 ) - { - pxNewQueue->pxQueueSetContainer = NULL; - } - #endif /* configUSE_QUEUE_SETS */ + /* Initialise the queue members as described above where the queue type + is defined. */ + pxNewQueue->uxLength = uxQueueLength; + pxNewQueue->uxItemSize = uxItemSize; + ( void ) xQueueGenericReset( pxNewQueue, pdTRUE ); - traceQUEUE_CREATE( pxNewQueue ); - xReturn = pxNewQueue; - } - else - { - traceQUEUE_CREATE_FAILED( ucQueueType ); - vPortFree( pxNewQueue ); - } + #if ( configUSE_TRACE_FACILITY == 1 ) + { + pxNewQueue->ucQueueType = ucQueueType; } - else + #endif /* configUSE_TRACE_FACILITY */ + + #if( configUSE_QUEUE_SETS == 1 ) { - mtCOVERAGE_TEST_MARKER(); + pxNewQueue->pxQueueSetContainer = NULL; } + #endif /* configUSE_QUEUE_SETS */ + + traceQUEUE_CREATE( pxNewQueue ); + xReturn = pxNewQueue; } else { @@ -429,7 +444,6 @@ QueueHandle_t xReturn = NULL; traceCREATE_MUTEX_FAILED(); } - configASSERT( pxNewQueue ); return pxNewQueue; } @@ -461,7 +475,7 @@ QueueHandle_t xReturn = NULL; taskEXIT_CRITICAL(); return pxReturn; - } + } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */ #endif /*-----------------------------------------------------------*/ @@ -508,7 +522,8 @@ QueueHandle_t xReturn = NULL; } else { - /* We cannot give the mutex because we are not the holder. */ + /* The mutex cannot be given because the calling task is not the + holder. */ xReturn = pdFAIL; traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex ); @@ -543,8 +558,9 @@ QueueHandle_t xReturn = NULL; { xReturn = xQueueGenericReceive( pxMutex, NULL, xTicksToWait, pdFALSE ); - /* pdPASS will only be returned if we successfully obtained the mutex, - we may have blocked to reach here. */ + /* pdPASS will only be returned if the mutex was successfully + obtained. The calling task may have entered the Blocked state + before reaching here. */ if( xReturn == pdPASS ) { ( pxMutex->u.uxRecursiveCallCount )++; @@ -592,7 +608,7 @@ QueueHandle_t xReturn = NULL; BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition ) { -BaseType_t xEntryTimeSet = pdFALSE; +BaseType_t xEntryTimeSet = pdFALSE, xYieldRequired; TimeOut_t xTimeOut; Queue_t * const pxQueue = ( Queue_t * ) xQueue; @@ -613,14 +629,14 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue; { taskENTER_CRITICAL(); { - /* Is there room on the queue now? The running task must be - the highest priority task wanting to access the queue. If - the head item in the queue is to be overwritten then it does - not matter if the queue is full. */ + /* Is there room on the queue now? The running task must be the + highest priority task wanting to access the queue. If the head item + in the queue is to be overwritten then it does not matter if the + queue is full. */ if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) ) { traceQUEUE_SEND( pxQueue ); - prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); + xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); #if ( configUSE_QUEUE_SETS == 1 ) { @@ -657,6 +673,14 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue; mtCOVERAGE_TEST_MARKER(); } } + else if( xYieldRequired != pdFALSE ) + { + /* This path is a special case that will only get + executed if the task was holding multiple mutexes + and the mutexes were given back in an order that is + different to that in which they were taken. */ + queueYIELD_IF_USING_PREEMPTION(); + } else { mtCOVERAGE_TEST_MARKER(); @@ -682,6 +706,14 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue; mtCOVERAGE_TEST_MARKER(); } } + else if( xYieldRequired != pdFALSE ) + { + /* This path is a special case that will only get + executed if the task was holding multiple mutexes and + the mutexes were given back in an order that is + different to that in which they were taken. */ + queueYIELD_IF_USING_PREEMPTION(); + } else { mtCOVERAGE_TEST_MARKER(); @@ -690,9 +722,6 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue; #endif /* configUSE_QUEUE_SETS */ taskEXIT_CRITICAL(); - - /* Return to the original privilege level before exiting the - function. */ return pdPASS; } else @@ -928,7 +957,7 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue; { traceQUEUE_PEEK( pxQueue ); - /* We are not removing the data, so reset our read + /* The data is not being removed, so reset our read pointer. */ pxQueue->u.pcReadFrom = pcOriginalReadPosition; @@ -1059,7 +1088,12 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue; { traceQUEUE_SEND_FROM_ISR( pxQueue ); - prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); + /* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a + semaphore or mutex. That means prvCopyDataToQueue() cannot result + in a task disinheriting a priority and prvCopyDataToQueue() can be + called here even though the disinherit function does not check if + the scheduler is suspended before accessing the ready lists. */ + ( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); /* The event list is not altered if the queue is locked. This will be done when the queue is unlocked later. */ @@ -1094,8 +1128,169 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue; { if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) { - /* The task waiting has a higher priority so record that a - context switch is required. */ + /* The task waiting has a higher priority so + record that a context switch is required. */ + if( pxHigherPriorityTaskWoken != NULL ) + { + *pxHigherPriorityTaskWoken = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } + #else /* configUSE_QUEUE_SETS */ + { + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The task waiting has a higher priority so record that a + context switch is required. */ + if( pxHigherPriorityTaskWoken != NULL ) + { + *pxHigherPriorityTaskWoken = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* configUSE_QUEUE_SETS */ + } + else + { + /* Increment the lock count so the task that unlocks the queue + knows that data was posted while it was locked. */ + ++( pxQueue->xTxLock ); + } + + xReturn = pdPASS; + } + else + { + traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue ); + xReturn = errQUEUE_FULL; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken ) +{ +BaseType_t xReturn; +UBaseType_t uxSavedInterruptStatus; +Queue_t * const pxQueue = ( Queue_t * ) xQueue; + + /* Similar to xQueueGenericSendFromISR() but used with semaphores where the + item size is 0. Don't directly wake a task that was blocked on a queue + read, instead return a flag to say whether a context switch is required or + not (i.e. has a task with a higher priority than us been woken by this + post). */ + + configASSERT( pxQueue ); + + /* xQueueGenericSendFromISR() should be used instead of xQueueGiveFromISR() + if the item size is not 0. */ + configASSERT( pxQueue->uxItemSize == 0 ); + + /* Normally a mutex would not be given from an interrupt, especially if + there is a mutex holder, as priority inheritance makes no sense for an + interrupts, only tasks. */ + configASSERT( !( ( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) && ( pxQueue->pxMutexHolder != NULL ) ) ); + + /* RTOS ports that support interrupt nesting have the concept of a maximum + system call (or maximum API call) interrupt priority. Interrupts that are + above the maximum system call priority are kept permanently enabled, even + when the RTOS kernel is in a critical section, but cannot make any calls to + FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h + then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion + failure if a FreeRTOS API function is called from an interrupt that has been + assigned a priority above the configured maximum system call priority. + Only FreeRTOS functions that end in FromISR can be called from interrupts + that have been assigned a priority at or (logically) below the maximum + system call interrupt priority. FreeRTOS maintains a separate interrupt + safe API to ensure interrupt entry is as fast and as simple as possible. + More information (albeit Cortex-M specific) is provided on the following + link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */ + portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); + + uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* When the queue is used to implement a semaphore no data is ever + moved through the queue but it is still valid to see if the queue 'has + space'. */ + if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) + { + traceQUEUE_SEND_FROM_ISR( pxQueue ); + + /* A task can only have an inherited priority if it is a mutex + holder - and if there is a mutex holder then the mutex cannot be + given from an ISR. As this is the ISR version of the function it + can be assumed there is no mutex holder and no need to determine if + priority disinheritance is needed. Simply increase the count of + messages (semaphores) available. */ + ++( pxQueue->uxMessagesWaiting ); + + /* The event list is not altered if the queue is locked. This will + be done when the queue is unlocked later. */ + if( pxQueue->xTxLock == queueUNLOCKED ) + { + #if ( configUSE_QUEUE_SETS == 1 ) + { + if( pxQueue->pxQueueSetContainer != NULL ) + { + if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) == pdTRUE ) + { + /* The semaphore is a member of a queue set, and + posting to the queue set caused a higher priority + task to unblock. A context switch is required. */ + if( pxHigherPriorityTaskWoken != NULL ) + { + *pxHigherPriorityTaskWoken = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The task waiting has a higher priority so + record that a context switch is required. */ if( pxHigherPriorityTaskWoken != NULL ) { *pxHigherPriorityTaskWoken = pdTRUE; @@ -1189,8 +1384,8 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue; { taskENTER_CRITICAL(); { - /* Is there data in the queue now? To be running we must be - the highest priority task wanting to access the queue. */ + /* Is there data in the queue now? To be running the calling task + must be the highest priority task wanting to access the queue. */ if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 ) { /* Remember the read position in case the queue is only being @@ -1212,14 +1407,14 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue; { /* Record the information required to implement priority inheritance should it become necessary. */ - pxQueue->pxMutexHolder = ( int8_t * ) xTaskGetCurrentTaskHandle(); /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */ + pxQueue->pxMutexHolder = ( int8_t * ) pvTaskIncrementMutexHeldCount(); /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */ } else { mtCOVERAGE_TEST_MARKER(); } } - #endif + #endif /* configUSE_MUTEXES */ if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) { @@ -1249,8 +1444,6 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue; any other tasks waiting for the data. */ if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) { - /* Tasks that are removed from the event list will get added to - the pending ready list as the scheduler is still suspended. */ if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) { /* The task waiting has a higher priority than this task. */ @@ -1451,6 +1644,7 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue; configASSERT( pxQueue ); configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) ); + configASSERT( pxQueue->uxItemSize != 0 ); /* Can't peek a semaphore. */ /* RTOS ports that support interrupt nesting have the concept of a maximum system call (or maximum API call) interrupt priority. Interrupts that are @@ -1553,10 +1747,6 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue; vQueueUnregisterQueue( pxQueue ); } #endif - if( pxQueue->pcHead != NULL ) - { - vPortFree( pxQueue->pcHead ); - } vPortFree( pxQueue ); } /*-----------------------------------------------------------*/ @@ -1591,8 +1781,10 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue; #endif /* configUSE_TRACE_FACILITY */ /*-----------------------------------------------------------*/ -static void prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition ) +static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition ) { +BaseType_t xReturn = pdFALSE; + if( pxQueue->uxItemSize == ( UBaseType_t ) 0 ) { #if ( configUSE_MUTEXES == 1 ) @@ -1600,7 +1792,7 @@ static void prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQue if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) { /* The mutex is no longer being held. */ - vTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder ); + xReturn = xTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder ); pxQueue->pxMutexHolder = NULL; } else @@ -1658,12 +1850,14 @@ static void prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQue } ++( pxQueue->uxMessagesWaiting ); + + return xReturn; } /*-----------------------------------------------------------*/ static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer ) { - if( pxQueue->uxQueueType != queueQUEUE_IS_MUTEX ) + if( pxQueue->uxItemSize != ( UBaseType_t ) 0 ) { pxQueue->u.pcReadFrom += pxQueue->uxItemSize; if( pxQueue->u.pcReadFrom >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */ @@ -1676,10 +1870,6 @@ static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer } ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 MISRA exception as the casts are only redundant for some ports. Also previous logic ensures a null pointer can only be passed to memcpy() when the count is 0. */ } - else - { - mtCOVERAGE_TEST_MARKER(); - } } /*-----------------------------------------------------------*/ @@ -2209,7 +2399,7 @@ BaseType_t xReturn; #if ( configUSE_TIMERS == 1 ) - void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait ) + void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely ) { Queue_t * const pxQueue = ( Queue_t * ) xQueue; @@ -2231,7 +2421,7 @@ BaseType_t xReturn; if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0U ) { /* There is nothing in the queue, block for the specified period. */ - vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait ); + vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait, xWaitIndefinitely ); } else { @@ -2367,14 +2557,23 @@ BaseType_t xReturn; if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength ) { traceQUEUE_SEND( pxQueueSetContainer ); - /* The data copies is the handle of the queue that contains data. */ - prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition ); - if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE ) + + /* The data copied is the handle of the queue that contains data. */ + xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition ); + + if( pxQueueSetContainer->xTxLock == queueUNLOCKED ) { - if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE ) + if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE ) { - /* The task waiting has a higher priority */ - xReturn = pdTRUE; + if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The task waiting has a higher priority. */ + xReturn = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } } else { @@ -2383,7 +2582,7 @@ BaseType_t xReturn; } else { - mtCOVERAGE_TEST_MARKER(); + ( pxQueueSetContainer->xTxLock )++; } } else diff --git a/rtos/FreeRTOS/Source/tasks.c b/rtos/FreeRTOS/Source/tasks.c index 57bebd0..b363bde 100644 --- a/rtos/FreeRTOS/Source/tasks.c +++ b/rtos/FreeRTOS/Source/tasks.c @@ -1,60 +1,64 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following + FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html - 1 tab == 4 spaces! - *************************************************************************** * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * * * - * http://www.FreeRTOS.org/FAQHelp.html * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and @@ -84,6 +88,8 @@ header files above, but not in this file, in order to generate the correct privileged Vs unprivileged linkage and placement. */ #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */ +/* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting +functions but without including stdio.h here. */ #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) /* At the bottom of this file are two optional functions that can be used to generate human readable text from the raw data generated by the @@ -93,8 +99,8 @@ privileged Vs unprivileged linkage and placement. */ #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */ /* Sanity check the configuration. */ -#if configUSE_TICKLESS_IDLE != 0 - #if INCLUDE_vTaskSuspend != 1 +#if( configUSE_TICKLESS_IDLE != 0 ) + #if( INCLUDE_vTaskSuspend != 1 ) #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0 #endif /* INCLUDE_vTaskSuspend */ #endif /* configUSE_TICKLESS_IDLE */ @@ -112,6 +118,14 @@ privileged Vs unprivileged linkage and placement. */ #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API() #endif +/* Value that can be assigned to the eNotifyState member of the TCB. */ +typedef enum +{ + eNotWaitingNotification = 0, + eWaitingNotification, + eNotified +} eNotifyValue; + /* * Task control block. A task control block (TCB) is allocated for each task, * and stores task state information, including a pointer to the task's context @@ -123,6 +137,7 @@ typedef struct tskTaskControlBlock #if ( portUSING_MPU_WRAPPERS == 1 ) xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */ + BaseType_t xUsingStaticallyAllocatedStack; /* Set to pdTRUE if the stack is a statically allocated array, and pdFALSE if the stack is dynamically allocated. */ #endif ListItem_t xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */ @@ -146,12 +161,17 @@ typedef struct tskTaskControlBlock #if ( configUSE_MUTEXES == 1 ) UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */ + UBaseType_t uxMutexesHeld; #endif #if ( configUSE_APPLICATION_TASK_TAG == 1 ) TaskHookFunction_t pxTaskTag; #endif + #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) + void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ]; + #endif + #if ( configGENERATE_RUN_TIME_STATS == 1 ) uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */ #endif @@ -167,6 +187,11 @@ typedef struct tskTaskControlBlock struct _reent xNewLib_reent; #endif + #if ( configUSE_TASK_NOTIFICATIONS == 1 ) + volatile uint32_t ulNotifiedValue; + volatile eNotifyValue eNotifyState; + #endif + } tskTCB; /* The old tskTCB name is maintained above then typedefed to the new TCB_t name @@ -222,11 +247,11 @@ PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE; PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0; PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U; -PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = portMAX_DELAY; +PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */ /* Context switches are held pending while the scheduler is suspended. Also, -interrupts must not manipulate the xStateListItem of a TCB, or any of the -lists the xStateListItem can be referenced from, if the scheduler is suspended. +interrupts must not manipulate the xGenericListItem of a TCB, or any of the +lists the xGenericListItem can be referenced from, if the scheduler is suspended. If an interrupt needs to unblock a task while the scheduler is suspended then it moves the task's event list item into the xPendingReadyList, ready for the kernel to move the task from the pending ready list into the real ready list @@ -327,12 +352,12 @@ PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t /* A port optimised version is provided, call it only if the TCB being reset is being referenced from a ready list. If it is referenced from a delayed or suspended list then it won't be in a ready list. */ - #define taskRESET_READY_PRIORITY( uxPriority ) \ - { \ - if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \ - { \ - portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \ - } \ + #define taskRESET_READY_PRIORITY( uxPriority ) \ + { \ + if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \ + { \ + portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \ + } \ } #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ @@ -362,7 +387,7 @@ count overflows. */ * the task. It is inserted at the end of the list. */ #define prvAddTaskToReadyList( pxTCB ) \ - traceMOVED_TASK_TO_READY_STATE( pxTCB ) \ + traceMOVED_TASK_TO_READY_STATE( pxTCB ); \ taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \ vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) ) /*-----------------------------------------------------------*/ @@ -411,7 +436,9 @@ static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const p * currently in the Suspended state, or pdFALSE if the task referenced by xTask * is in any other state. */ -static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION; +#if ( INCLUDE_vTaskSuspend == 1 ) + static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION; +#endif /* INCLUDE_vTaskSuspend */ /* * Utility to ready all the lists used by the scheduler. This is called @@ -510,15 +537,25 @@ static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * */ static void prvResetNextTaskUnblockTime( void ); +#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) + + /* + * Helper function used to pad task names with spaces when printing out + * human readable tables of task information. + */ + static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ); + +#endif /*-----------------------------------------------------------*/ BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ { BaseType_t xReturn; TCB_t * pxNewTCB; +StackType_t *pxTopOfStack; configASSERT( pxTaskCode ); - configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) ); + configASSERT( ( ( uxPriority & ( UBaseType_t ) ( ~portPRIVILEGE_BIT ) ) < ( UBaseType_t ) configMAX_PRIORITIES ) ); /* Allocate the memory required by the TCB and stack for the new task, checking that the allocation was successful. */ @@ -526,8 +563,6 @@ TCB_t * pxNewTCB; if( pxNewTCB != NULL ) { - StackType_t *pxTopOfStack; - #if( portUSING_MPU_WRAPPERS == 1 ) /* Should the task be created in privileged mode? */ BaseType_t xRunPrivileged; @@ -540,6 +575,20 @@ TCB_t * pxNewTCB; xRunPrivileged = pdFALSE; } uxPriority &= ~portPRIVILEGE_BIT; + + if( puxStackBuffer != NULL ) + { + /* The application provided its own stack. Note this so no + attempt is made to delete the stack should that task be + deleted. */ + pxNewTCB->xUsingStaticallyAllocatedStack = pdTRUE; + } + else + { + /* The stack was allocated dynamically. Note this so it can be + deleted again if the task is deleted. */ + pxNewTCB->xUsingStaticallyAllocatedStack = pdFALSE; + } #endif /* portUSING_MPU_WRAPPERS == 1 */ /* Calculate the top of stack address. This depends on whether the @@ -549,17 +598,17 @@ TCB_t * pxNewTCB; #if( portSTACK_GROWTH < 0 ) { pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 ); - pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */ + pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */ /* Check the alignment of the calculated top of stack is correct. */ - configASSERT( ( ( ( uint32_t ) pxTopOfStack & ( uint32_t ) portBYTE_ALIGNMENT_MASK ) == 0UL ) ); + configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) ); } #else /* portSTACK_GROWTH */ { pxTopOfStack = pxNewTCB->pxStack; /* Check the alignment of the stack buffer is correct. */ - configASSERT( ( ( ( uint32_t ) pxNewTCB->pxStack & ( uint32_t ) portBYTE_ALIGNMENT_MASK ) == 0UL ) ); + configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) ); /* If we want to use stack checking on architectures that use a positive stack growth direction then we also need to store the @@ -760,7 +809,11 @@ TCB_t * pxNewTCB; { /* Reset the next expected unblock time in case it referred to the task that has just been deleted. */ - prvResetNextTaskUnblockTime(); + taskENTER_CRITICAL(); + { + prvResetNextTaskUnblockTime(); + } + taskEXIT_CRITICAL(); } } } @@ -986,7 +1039,7 @@ TCB_t * pxNewTCB; } #endif - else + else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */ { /* If the task is not in any other state, it must be in the Ready (including pending ready) state. */ @@ -995,7 +1048,7 @@ TCB_t * pxNewTCB; } return eReturn; - } + } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */ #endif /* INCLUDE_eTaskGetState */ /*-----------------------------------------------------------*/ @@ -1009,8 +1062,8 @@ TCB_t * pxNewTCB; taskENTER_CRITICAL(); { - /* If null is passed in here then we are changing the - priority of the calling function. */ + /* If null is passed in here then it is the priority of the that + called uxTaskPriorityGet() that is being queried. */ pxTCB = prvGetTCBFromHandle( xTask ); uxReturn = pxTCB->uxPriority; } @@ -1022,6 +1075,46 @@ TCB_t * pxNewTCB; #endif /* INCLUDE_uxTaskPriorityGet */ /*-----------------------------------------------------------*/ +#if ( INCLUDE_uxTaskPriorityGet == 1 ) + + UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask ) + { + TCB_t *pxTCB; + UBaseType_t uxReturn, uxSavedInterruptState; + + /* RTOS ports that support interrupt nesting have the concept of a + maximum system call (or maximum API call) interrupt priority. + Interrupts that are above the maximum system call priority are keep + permanently enabled, even when the RTOS kernel is in a critical section, + but cannot make any calls to FreeRTOS API functions. If configASSERT() + is defined in FreeRTOSConfig.h then + portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion + failure if a FreeRTOS API function is called from an interrupt that has + been assigned a priority above the configured maximum system call + priority. Only FreeRTOS functions that end in FromISR can be called + from interrupts that have been assigned a priority at or (logically) + below the maximum system call interrupt priority. FreeRTOS maintains a + separate interrupt safe API to ensure interrupt entry is as fast and as + simple as possible. More information (albeit Cortex-M specific) is + provided on the following link: + http://www.freertos.org/RTOS-Cortex-M3-M4.html */ + portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); + + uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* If null is passed in here then it is the priority of the calling + task that is being queried. */ + pxTCB = prvGetTCBFromHandle( xTask ); + uxReturn = pxTCB->uxPriority; + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState ); + + return uxReturn; + } + +#endif /* INCLUDE_uxTaskPriorityGet */ +/*-----------------------------------------------------------*/ + #if ( INCLUDE_vTaskPrioritySet == 1 ) void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority ) @@ -1259,7 +1352,11 @@ TCB_t * pxNewTCB; /* A task other than the currently running task was suspended, reset the next expected unblock time in case it referred to the task that is now in the Suspended state. */ - prvResetNextTaskUnblockTime(); + taskENTER_CRITICAL(); + { + prvResetNextTaskUnblockTime(); + } + taskEXIT_CRITICAL(); } else { @@ -1491,6 +1588,7 @@ BaseType_t xReturn; } #endif /* configUSE_NEWLIB_REENTRANT */ + xNextTaskUnblockTime = portMAX_DELAY; xSchedulerRunning = pdTRUE; xTickCount = ( TickType_t ) 0U; @@ -1601,8 +1699,8 @@ BaseType_t xAlreadyYielded = pdFALSE; ( void ) uxListRemove( &( pxTCB->xGenericListItem ) ); prvAddTaskToReadyList( pxTCB ); - /* If we have moved a task that has a priority higher than - the current task then we should yield. */ + /* If the moved task has a priority higher than the current + task then a yield must be performed. */ if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) { xYieldPending = pdTRUE; @@ -1668,11 +1766,11 @@ TickType_t xTaskGetTickCount( void ) TickType_t xTicks; /* Critical section required if running on a 16 bit processor. */ - taskENTER_CRITICAL(); + portTICK_TYPE_ENTER_CRITICAL(); { xTicks = xTickCount; } - taskEXIT_CRITICAL(); + portTICK_TYPE_EXIT_CRITICAL(); return xTicks; } @@ -1699,11 +1797,11 @@ UBaseType_t uxSavedInterruptStatus; link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */ portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); - uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR(); { xReturn = xTickCount; } - portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); return xReturn; } @@ -1719,7 +1817,7 @@ UBaseType_t uxTaskGetNumberOfTasks( void ) #if ( INCLUDE_pcTaskGetTaskName == 1 ) - char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery ) + char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ { TCB_t *pxTCB; @@ -1871,7 +1969,7 @@ BaseType_t xSwitchRequired = pdFALSE; /* See if this tick has made a timeout expire. Tasks are stored in the queue in the order of their wake time - meaning once one task has been found whose block time has not expired there is no need to - look any further down the list. */ + look any further down the list. */ if( xConstTickCount >= xNextTaskUnblockTime ) { for( ;; ) @@ -2142,11 +2240,12 @@ void vTaskSwitchContext( void ) } #endif /* configGENERATE_RUN_TIME_STATS */ - taskFIRST_CHECK_FOR_STACK_OVERFLOW(); - taskSECOND_CHECK_FOR_STACK_OVERFLOW(); + /* Check for stack overflow, if configured. */ + taskCHECK_FOR_STACK_OVERFLOW(); + /* Select a new task to run using either the generic C or port + optimised asm code. */ taskSELECT_HIGHEST_PRIORITY_TASK(); - traceTASK_SWITCHED_IN(); #if ( configUSE_NEWLIB_REENTRANT == 1 ) @@ -2287,7 +2386,7 @@ TickType_t xTimeToWake; #if configUSE_TIMERS == 1 - void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait ) + void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely ) { TickType_t xTimeToWake; @@ -2296,7 +2395,7 @@ TickType_t xTimeToWake; /* This function should not be called by application code hence the 'Restricted' in its name. It is not part of the public API. It is designed for use by kernel code, and has special calling requirements - - it should be called from a critical section. */ + it should be called with the scheduler suspended. */ /* Place the event list item of the TCB in the appropriate event list. @@ -2307,7 +2406,8 @@ TickType_t xTimeToWake; /* We must remove this task from the ready list before adding it to the blocked list as the same list item is used for both lists. This - function is called form a critical section. */ + function is called with the scheduler locked so interrupts will not + access the lists at the same time. */ if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) { /* The current task must be in a ready list, so there is no need to @@ -2319,12 +2419,44 @@ TickType_t xTimeToWake; mtCOVERAGE_TEST_MARKER(); } - /* Calculate the time at which the task should be woken if the event does - not occur. This may overflow but this doesn't matter. */ - xTimeToWake = xTickCount + xTicksToWait; + /* If vTaskSuspend() is available then the suspended task list is also + available and a task that is blocking indefinitely can enter the + suspended state (it is not really suspended as it will re-enter the + Ready state when the event it is waiting indefinitely for occurs). + Blocking indefinitely is useful when using tickless idle mode as when + all tasks are blocked indefinitely all timers can be turned off. */ + #if( INCLUDE_vTaskSuspend == 1 ) + { + if( xWaitIndefinitely == pdTRUE ) + { + /* Add the task to the suspended task list instead of a delayed + task list to ensure the task is not woken by a timing event. It + will block indefinitely. */ + vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) ); + } + else + { + /* Calculate the time at which the task should be woken if the + event does not occur. This may overflow but this doesn't + matter. */ + xTimeToWake = xTickCount + xTicksToWait; + traceTASK_DELAY_UNTIL(); + prvAddCurrentTaskToDelayedList( xTimeToWake ); + } + } + #else + { + /* Calculate the time at which the task should be woken if the event + does not occur. This may overflow but this doesn't matter. */ + xTimeToWake = xTickCount + xTicksToWait; + traceTASK_DELAY_UNTIL(); + prvAddCurrentTaskToDelayedList( xTimeToWake ); - traceTASK_DELAY_UNTIL(); - prvAddCurrentTaskToDelayedList( xTimeToWake ); + /* Remove compiler warnings when INCLUDE_vTaskSuspend() is not + defined. */ + ( void ) xWaitIndefinitely; + } + #endif } #endif /* configUSE_TIMERS */ @@ -2380,6 +2512,20 @@ BaseType_t xReturn; xReturn = pdFALSE; } + #if( configUSE_TICKLESS_IDLE != 0 ) + { + /* If a task is blocked on a kernel object then xNextTaskUnblockTime + might be set to the blocked task's time out time. If the task is + unblocked for a reason other than a timeout xNextTaskUnblockTime is + normally left unchanged, because it is automatically reset to a new + value when the tick count equals xNextTaskUnblockTime. However if + tickless idling is used it might be more important to enter sleep mode + at the earliest possible time - so reset xNextTaskUnblockTime here to + ensure it is updated at the earliest possible time. */ + prvResetNextTaskUnblockTime(); + } + #endif + return xReturn; } /*-----------------------------------------------------------*/ @@ -2644,10 +2790,12 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters ) } /*-----------------------------------------------------------*/ -#if configUSE_TICKLESS_IDLE != 0 +#if( configUSE_TICKLESS_IDLE != 0 ) eSleepModeStatus eTaskConfirmSleepModeStatus( void ) { + /* The idle task exists in addition to the application tasks. */ + const UBaseType_t uxNonApplicationTasks = 1; eSleepModeStatus eReturn = eStandardSleep; if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 ) @@ -2662,29 +2810,23 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters ) } else { - #if configUSE_TIMERS == 0 + /* If all the tasks are in the suspended list (which might mean they + have an infinite block time rather than actually being suspended) + then it is safe to turn all clocks off and just wait for external + interrupts. */ + if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) ) { - /* The idle task exists in addition to the application tasks. */ - const UBaseType_t uxNonApplicationTasks = 1; - - /* If timers are not being used and all the tasks are in the - suspended list (which might mean they have an infinite block - time rather than actually being suspended) then it is safe to - turn all clocks off and just wait for external interrupts. */ - if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) ) - { - eReturn = eNoTasksWaitingTimeout; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } + eReturn = eNoTasksWaitingTimeout; + } + else + { + mtCOVERAGE_TEST_MARKER(); } - #endif /* configUSE_TIMERS */ } return eReturn; } + #endif /* configUSE_TICKLESS_IDLE */ /*-----------------------------------------------------------*/ @@ -2729,6 +2871,7 @@ UBaseType_t x; #if ( configUSE_MUTEXES == 1 ) { pxTCB->uxBasePriority = uxPriority; + pxTCB->uxMutexesHeld = 0; } #endif /* configUSE_MUTEXES */ @@ -2772,6 +2915,22 @@ UBaseType_t x; } #endif /* portUSING_MPU_WRAPPERS */ + #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) + { + for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ ) + { + pxTCB->pvThreadLocalStoragePointers[ x ] = NULL; + } + } + #endif + + #if ( configUSE_TASK_NOTIFICATIONS == 1 ) + { + pxTCB->ulNotifiedValue = 0; + pxTCB->eNotifyState = eNotWaitingNotification; + } + #endif + #if ( configUSE_NEWLIB_REENTRANT == 1 ) { /* Initialise this task's Newlib reent structure. */ @@ -2781,13 +2940,53 @@ UBaseType_t x; } /*-----------------------------------------------------------*/ +#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) + + void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue ) + { + TCB_t *pxTCB; + + if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS ) + { + pxTCB = prvGetTCBFromHandle( xTaskToSet ); + pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue; + } + } + +#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */ +/*-----------------------------------------------------------*/ + +#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) + + void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex ) + { + void *pvReturn = NULL; + TCB_t *pxTCB; + + if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS ) + { + pxTCB = prvGetTCBFromHandle( xTaskToQuery ); + pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ]; + } + else + { + pvReturn = NULL; + } + + return pvReturn; + } + +#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */ +/*-----------------------------------------------------------*/ + #if ( portUSING_MPU_WRAPPERS == 1 ) void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions ) { TCB_t *pxTCB; - /* If null is passed in here then we are deleting ourselves. */ + /* If null is passed in here then we are modifying the MPU settings of + the calling task. */ pxTCB = prvGetTCBFromHandle( xTaskToModify ); vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 ); @@ -2903,33 +3102,71 @@ static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * { TCB_t *pxNewTCB; - /* Allocate space for the TCB. Where the memory comes from depends on - the implementation of the port malloc function. */ - pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); - - if( pxNewTCB != NULL ) + /* If the stack grows down then allocate the stack then the TCB so the stack + does not grow into the TCB. Likewise if the stack grows up then allocate + the TCB then the stack. */ + #if( portSTACK_GROWTH > 0 ) { - /* Allocate space for the stack used by the task being created. - The base of the stack memory stored in the TCB so the task can - be deleted later if required. */ - pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + /* Allocate space for the TCB. Where the memory comes from depends on + the implementation of the port malloc function. */ + pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); - if( pxNewTCB->pxStack == NULL ) + if( pxNewTCB != NULL ) { - /* Could not allocate the stack. Delete the allocated TCB. */ - vPortFree( pxNewTCB ); - pxNewTCB = NULL; + /* Allocate space for the stack used by the task being created. + The base of the stack memory stored in the TCB so the task can + be deleted later if required. */ + pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + + if( pxNewTCB->pxStack == NULL ) + { + /* Could not allocate the stack. Delete the allocated TCB. */ + vPortFree( pxNewTCB ); + pxNewTCB = NULL; + } } - else + } + #else /* portSTACK_GROWTH */ + { + StackType_t *pxStack; + + /* Allocate space for the stack used by the task being created. */ + pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + + if( pxStack != NULL ) { - /* Avoid dependency on memset() if it is not required. */ - #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) + /* Allocate space for the TCB. Where the memory comes from depends + on the implementation of the port malloc function. */ + pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); + + if( pxNewTCB != NULL ) { - /* Just to help debugging. */ - ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) ); + /* Store the stack location in the TCB. */ + pxNewTCB->pxStack = pxStack; } - #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */ + else + { + /* The stack cannot be used as the TCB was not created. Free it + again. */ + vPortFree( pxStack ); + } + } + else + { + pxNewTCB = NULL; + } + } + #endif /* portSTACK_GROWTH */ + + if( pxNewTCB != NULL ) + { + /* Avoid dependency on memset() if it is not required. */ + #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) + { + /* Just to help debugging. */ + ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) ); } + #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */ } return pxNewTCB; @@ -3027,13 +3264,13 @@ TCB_t *pxNewTCB; { uint32_t ulCount = 0U; - while( *pucStackByte == tskSTACK_FILL_BYTE ) + while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE ) { pucStackByte -= portSTACK_GROWTH; ulCount++; } - ulCount /= ( uint32_t ) sizeof( StackType_t ); + ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */ return ( uint16_t ) ulCount; } @@ -3078,9 +3315,29 @@ TCB_t *pxNewTCB; want to allocate and clean RAM statically. */ portCLEAN_UP_TCB( pxTCB ); - /* Free up the memory allocated by the scheduler for the task. It is up to - the task to free any memory allocated at the application level. */ - vPortFreeAligned( pxTCB->pxStack ); + /* Free up the memory allocated by the scheduler for the task. It is up + to the task to free any memory allocated at the application level. */ + #if ( configUSE_NEWLIB_REENTRANT == 1 ) + { + _reclaim_reent( &( pxTCB->xNewLib_reent ) ); + } + #endif /* configUSE_NEWLIB_REENTRANT */ + + #if( portUSING_MPU_WRAPPERS == 1 ) + { + /* Only free the stack if it was allocated dynamically in the first + place. */ + if( pxTCB->xUsingStaticallyAllocatedStack == pdFALSE ) + { + vPortFreeAligned( pxTCB->pxStack ); + } + } + #else + { + vPortFreeAligned( pxTCB->pxStack ); + } + #endif + vPortFree( pxTCB ); } @@ -3093,9 +3350,8 @@ TCB_t *pxTCB; if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) { - /* The new current delayed list is empty. Set - xNextTaskUnblockTime to the maximum possible value so it is - extremely unlikely that the + /* The new current delayed list is empty. Set xNextTaskUnblockTime to + the maximum possible value so it is extremely unlikely that the if( xTickCount >= xNextTaskUnblockTime ) test will pass until there is an item in the delayed list. */ xNextTaskUnblockTime = portMAX_DELAY; @@ -3167,6 +3423,9 @@ TCB_t *pxTCB; locked then the mutex holder might now be NULL. */ if( pxMutexHolder != NULL ) { + /* If the holder of the mutex has a priority below the priority of + the task attempting to obtain the mutex then it will temporarily + inherit the priority of the task attempting to obtain the mutex. */ if( pxTCB->uxPriority < pxCurrentTCB->uxPriority ) { /* Adjust the mutex holder state to account for its new @@ -3181,8 +3440,8 @@ TCB_t *pxTCB; mtCOVERAGE_TEST_MARKER(); } - /* If the task being modified is in the ready state it will need to - be moved into a new list. */ + /* If the task being modified is in the ready state it will need + to be moved into a new list. */ if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE ) { if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) @@ -3222,41 +3481,68 @@ TCB_t *pxTCB; #if ( configUSE_MUTEXES == 1 ) - void vTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) + BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) { TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder; + BaseType_t xReturn = pdFALSE; if( pxMutexHolder != NULL ) { + /* A task can only have an inherited priority if it holds the mutex. + If the mutex is held by a task then it cannot be given from an + interrupt, and if a mutex is given by the holding task then it must + be the running state task. */ + configASSERT( pxTCB == pxCurrentTCB ); + + configASSERT( pxTCB->uxMutexesHeld ); + ( pxTCB->uxMutexesHeld )--; + + /* Has the holder of the mutex inherited the priority of another + task? */ if( pxTCB->uxPriority != pxTCB->uxBasePriority ) { - /* We must be the running task to be able to give the mutex back. - Remove ourselves from the ready list we currently appear in. */ - if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) + /* Only disinherit if no other mutexes are held. */ + if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 ) { - taskRESET_READY_PRIORITY( pxTCB->uxPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } + /* A task can only have an inherited priority if it holds + the mutex. If the mutex is held by a task then it cannot be + given from an interrupt, and if a mutex is given by the + holding task then it must be the running state task. Remove + the holding task from the ready list. */ + if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) + { + taskRESET_READY_PRIORITY( pxTCB->uxPriority ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } - /* Disinherit the priority before adding the task into the new - ready list. */ - traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority ); - pxTCB->uxPriority = pxTCB->uxBasePriority; + /* Disinherit the priority before adding the task into the + new ready list. */ + traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority ); + pxTCB->uxPriority = pxTCB->uxBasePriority; - /* Only reset the event list item value if the value is not - being used for anything else. */ - if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL ) - { + /* Reset the event list item value. It cannot be in use for + any other purpose if this task is running, and it must be + running to give back the mutex. */ listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + prvAddTaskToReadyList( pxTCB ); + + /* Return true to indicate that a context switch is required. + This is only actually required in the corner case whereby + multiple mutexes were held and the mutexes were given back + in an order different to that in which they were taken. + If a context switch did not occur when the first mutex was + returned, even if a task was waiting on it, then a context + switch should occur when the last mutex is returned whether + a task is waiting on it or not. */ + xReturn = pdTRUE; } else { mtCOVERAGE_TEST_MARKER(); } - prvAddTaskToReadyList( pxTCB ); } else { @@ -3267,6 +3553,8 @@ TCB_t *pxTCB; { mtCOVERAGE_TEST_MARKER(); } + + return xReturn; } #endif /* configUSE_MUTEXES */ @@ -3281,6 +3569,17 @@ TCB_t *pxTCB; if( xSchedulerRunning != pdFALSE ) { ( pxCurrentTCB->uxCriticalNesting )++; + + /* This is not the interrupt safe version of the enter critical + function so assert() if it is being called from an interrupt + context. Only API functions that end in "FromISR" can be used in an + interrupt. Only assert if the critical nesting count is 1 to + protect against recursive calls if the assert function also uses a + critical section. */ + if( pxCurrentTCB->uxCriticalNesting == 1 ) + { + portASSERT_IF_IN_ISR(); + } } else { @@ -3324,7 +3623,33 @@ TCB_t *pxTCB; #endif /* portCRITICAL_NESTING_IN_TCB */ /*-----------------------------------------------------------*/ -#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) +#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) + + static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) + { + size_t x; + + /* Start by copying the entire string. */ + strcpy( pcBuffer, pcTaskName ); + + /* Pad the end of the string with spaces to ensure columns line up when + printed out. */ + for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ ) + { + pcBuffer[ x ] = ' '; + } + + /* Terminate. */ + pcBuffer[ x ] = 0x00; + + /* Return the new end of string. */ + return &( pcBuffer[ x ] ); + } + +#endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */ +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) void vTaskList( char * pcWriteBuffer ) { @@ -3377,25 +3702,30 @@ TCB_t *pxTCB; { switch( pxTaskStatusArray[ x ].eCurrentState ) { - case eReady: cStatus = tskREADY_CHAR; - break; + case eReady: cStatus = tskREADY_CHAR; + break; - case eBlocked: cStatus = tskBLOCKED_CHAR; - break; + case eBlocked: cStatus = tskBLOCKED_CHAR; + break; - case eSuspended: cStatus = tskSUSPENDED_CHAR; - break; + case eSuspended: cStatus = tskSUSPENDED_CHAR; + break; - case eDeleted: cStatus = tskDELETED_CHAR; - break; + case eDeleted: cStatus = tskDELETED_CHAR; + break; - default: /* Should not get here, but it is included - to prevent static checking errors. */ - cStatus = 0x00; - break; + default: /* Should not get here, but it is included + to prevent static checking errors. */ + cStatus = 0x00; + break; } - sprintf( pcWriteBuffer, "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); + /* Write the task name to the string, padding with spaces so it + can be printed in tabular form more easily. */ + pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName ); + + /* Write the rest of the string. */ + sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); pcWriteBuffer += strlen( pcWriteBuffer ); } @@ -3408,10 +3738,10 @@ TCB_t *pxTCB; } } -#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */ +#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */ /*----------------------------------------------------------*/ -#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) +#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) void vTaskGetRunTimeStats( char *pcWriteBuffer ) { @@ -3479,17 +3809,22 @@ TCB_t *pxTCB; ulTotalRunTimeDiv100 has already been divided by 100. */ ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime; + /* Write the task name to the string, padding with + spaces so it can be printed in tabular form more + easily. */ + pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName ); + if( ulStatsAsPercentage > 0UL ) { #ifdef portLU_PRINTF_SPECIFIER_REQUIRED { - sprintf( pcWriteBuffer, "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage ); + sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage ); } #else { /* sizeof( int ) == sizeof( long ) so a smaller printf() library can be used. */ - sprintf( pcWriteBuffer, "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); + sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); } #endif } @@ -3499,13 +3834,13 @@ TCB_t *pxTCB; consumed less than 1% of the total run time. */ #ifdef portLU_PRINTF_SPECIFIER_REQUIRED { - sprintf( pcWriteBuffer, "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter ); + sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter ); } #else { /* sizeof( int ) == sizeof( long ) so a smaller printf() library can be used. */ - sprintf( pcWriteBuffer, "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); + sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); } #endif } @@ -3527,7 +3862,7 @@ TCB_t *pxTCB; } } -#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */ +#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */ /*-----------------------------------------------------------*/ TickType_t uxTaskResetEventItemValue( void ) @@ -3544,6 +3879,598 @@ TickType_t uxReturn; } /*-----------------------------------------------------------*/ +#if ( configUSE_MUTEXES == 1 ) + + void *pvTaskIncrementMutexHeldCount( void ) + { + /* If xSemaphoreCreateMutex() is called before any tasks have been created + then pxCurrentTCB will be NULL. */ + if( pxCurrentTCB != NULL ) + { + ( pxCurrentTCB->uxMutexesHeld )++; + } + + return pxCurrentTCB; + } + +#endif /* configUSE_MUTEXES */ +/*-----------------------------------------------------------*/ + +#if( configUSE_TASK_NOTIFICATIONS == 1 ) + + uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait ) + { + TickType_t xTimeToWake; + uint32_t ulReturn; + + taskENTER_CRITICAL(); + { + /* Only block if the notification count is not already non-zero. */ + if( pxCurrentTCB->ulNotifiedValue == 0UL ) + { + /* Mark this task as waiting for a notification. */ + pxCurrentTCB->eNotifyState = eWaitingNotification; + + if( xTicksToWait > ( TickType_t ) 0 ) + { + /* The task is going to block. First it must be removed + from the ready list. */ + if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) + { + /* The current task must be in a ready list, so there is + no need to check, and the port reset macro can be called + directly. */ + portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + if( xTicksToWait == portMAX_DELAY ) + { + /* Add the task to the suspended task list instead + of a delayed task list to ensure the task is not + woken by a timing event. It will block + indefinitely. */ + vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) ); + } + else + { + /* Calculate the time at which the task should be + woken if no notification events occur. This may + overflow but this doesn't matter, the scheduler will + handle it. */ + xTimeToWake = xTickCount + xTicksToWait; + prvAddCurrentTaskToDelayedList( xTimeToWake ); + } + } + #else /* INCLUDE_vTaskSuspend */ + { + /* Calculate the time at which the task should be + woken if the event does not occur. This may + overflow but this doesn't matter, the scheduler will + handle it. */ + xTimeToWake = xTickCount + xTicksToWait; + prvAddCurrentTaskToDelayedList( xTimeToWake ); + } + #endif /* INCLUDE_vTaskSuspend */ + + traceTASK_NOTIFY_TAKE_BLOCK(); + + /* All ports are written to allow a yield in a critical + section (some will yield immediately, others wait until the + critical section exits) - but it is not something that + application code should ever do. */ + portYIELD_WITHIN_API(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + taskEXIT_CRITICAL(); + + taskENTER_CRITICAL(); + { + traceTASK_NOTIFY_TAKE(); + ulReturn = pxCurrentTCB->ulNotifiedValue; + + if( ulReturn != 0UL ) + { + if( xClearCountOnExit != pdFALSE ) + { + pxCurrentTCB->ulNotifiedValue = 0UL; + } + else + { + ( pxCurrentTCB->ulNotifiedValue )--; + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + pxCurrentTCB->eNotifyState = eNotWaitingNotification; + } + taskEXIT_CRITICAL(); + + return ulReturn; + } + +#endif /* configUSE_TASK_NOTIFICATIONS */ +/*-----------------------------------------------------------*/ + +#if( configUSE_TASK_NOTIFICATIONS == 1 ) + + BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait ) + { + TickType_t xTimeToWake; + BaseType_t xReturn; + + taskENTER_CRITICAL(); + { + /* Only block if a notification is not already pending. */ + if( pxCurrentTCB->eNotifyState != eNotified ) + { + /* Clear bits in the task's notification value as bits may get + set by the notifying task or interrupt. This can be used to + clear the value to zero. */ + pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry; + + /* Mark this task as waiting for a notification. */ + pxCurrentTCB->eNotifyState = eWaitingNotification; + + if( xTicksToWait > ( TickType_t ) 0 ) + { + /* The task is going to block. First it must be removed + from the ready list. */ + if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) + { + /* The current task must be in a ready list, so there is + no need to check, and the port reset macro can be called + directly. */ + portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + if( xTicksToWait == portMAX_DELAY ) + { + /* Add the task to the suspended task list instead + of a delayed task list to ensure the task is not + woken by a timing event. It will block + indefinitely. */ + vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) ); + } + else + { + /* Calculate the time at which the task should be + woken if no notification events occur. This may + overflow but this doesn't matter, the scheduler will + handle it. */ + xTimeToWake = xTickCount + xTicksToWait; + prvAddCurrentTaskToDelayedList( xTimeToWake ); + } + } + #else /* INCLUDE_vTaskSuspend */ + { + /* Calculate the time at which the task should be + woken if the event does not occur. This may + overflow but this doesn't matter, the scheduler will + handle it. */ + xTimeToWake = xTickCount + xTicksToWait; + prvAddCurrentTaskToDelayedList( xTimeToWake ); + } + #endif /* INCLUDE_vTaskSuspend */ + + traceTASK_NOTIFY_WAIT_BLOCK(); + + /* All ports are written to allow a yield in a critical + section (some will yield immediately, others wait until the + critical section exits) - but it is not something that + application code should ever do. */ + portYIELD_WITHIN_API(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + taskEXIT_CRITICAL(); + + taskENTER_CRITICAL(); + { + traceTASK_NOTIFY_WAIT(); + + if( pulNotificationValue != NULL ) + { + /* Output the current notification value, which may or may not + have changed. */ + *pulNotificationValue = pxCurrentTCB->ulNotifiedValue; + } + + /* If eNotifyValue is set then either the task never entered the + blocked state (because a notification was already pending) or the + task unblocked because of a notification. Otherwise the task + unblocked because of a timeout. */ + if( pxCurrentTCB->eNotifyState == eWaitingNotification ) + { + /* A notification was not received. */ + xReturn = pdFALSE; + } + else + { + /* A notification was already pending or a notification was + received while the task was waiting. */ + pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit; + xReturn = pdTRUE; + } + + pxCurrentTCB->eNotifyState = eNotWaitingNotification; + } + taskEXIT_CRITICAL(); + + return xReturn; + } + +#endif /* configUSE_TASK_NOTIFICATIONS */ +/*-----------------------------------------------------------*/ + +#if( configUSE_TASK_NOTIFICATIONS == 1 ) + + BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue ) + { + TCB_t * pxTCB; + eNotifyValue eOriginalNotifyState; + BaseType_t xReturn = pdPASS; + + configASSERT( xTaskToNotify ); + pxTCB = ( TCB_t * ) xTaskToNotify; + + taskENTER_CRITICAL(); + { + if( pulPreviousNotificationValue != NULL ) + { + *pulPreviousNotificationValue = pxTCB->ulNotifiedValue; + } + + eOriginalNotifyState = pxTCB->eNotifyState; + + pxTCB->eNotifyState = eNotified; + + switch( eAction ) + { + case eSetBits : + pxTCB->ulNotifiedValue |= ulValue; + break; + + case eIncrement : + ( pxTCB->ulNotifiedValue )++; + break; + + case eSetValueWithOverwrite : + pxTCB->ulNotifiedValue = ulValue; + break; + + case eSetValueWithoutOverwrite : + if( eOriginalNotifyState != eNotified ) + { + pxTCB->ulNotifiedValue = ulValue; + } + else + { + /* The value could not be written to the task. */ + xReturn = pdFAIL; + } + break; + + case eNoAction: + /* The task is being notified without its notify value being + updated. */ + break; + } + + traceTASK_NOTIFY(); + + /* If the task is in the blocked state specifically to wait for a + notification then unblock it now. */ + if( eOriginalNotifyState == eWaitingNotification ) + { + ( void ) uxListRemove( &( pxTCB->xGenericListItem ) ); + prvAddTaskToReadyList( pxTCB ); + + /* The task should not have been on an event list. */ + configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ); + + #if( configUSE_TICKLESS_IDLE != 0 ) + { + /* If a task is blocked waiting for a notification then + xNextTaskUnblockTime might be set to the blocked task's time + out time. If the task is unblocked for a reason other than + a timeout xNextTaskUnblockTime is normally left unchanged, + because it will automatically get reset to a new value when + the tick count equals xNextTaskUnblockTime. However if + tickless idling is used it might be more important to enter + sleep mode at the earliest possible time - so reset + xNextTaskUnblockTime here to ensure it is updated at the + earliest possible time. */ + prvResetNextTaskUnblockTime(); + } + #endif + + if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) + { + /* The notified task has a priority above the currently + executing task so a yield is required. */ + taskYIELD_IF_USING_PREEMPTION(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + taskEXIT_CRITICAL(); + + return xReturn; + } + +#endif /* configUSE_TASK_NOTIFICATIONS */ +/*-----------------------------------------------------------*/ + +#if( configUSE_TASK_NOTIFICATIONS == 1 ) + + BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken ) + { + TCB_t * pxTCB; + eNotifyValue eOriginalNotifyState; + BaseType_t xReturn = pdPASS; + UBaseType_t uxSavedInterruptStatus; + + configASSERT( xTaskToNotify ); + + /* RTOS ports that support interrupt nesting have the concept of a + maximum system call (or maximum API call) interrupt priority. + Interrupts that are above the maximum system call priority are keep + permanently enabled, even when the RTOS kernel is in a critical section, + but cannot make any calls to FreeRTOS API functions. If configASSERT() + is defined in FreeRTOSConfig.h then + portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion + failure if a FreeRTOS API function is called from an interrupt that has + been assigned a priority above the configured maximum system call + priority. Only FreeRTOS functions that end in FromISR can be called + from interrupts that have been assigned a priority at or (logically) + below the maximum system call interrupt priority. FreeRTOS maintains a + separate interrupt safe API to ensure interrupt entry is as fast and as + simple as possible. More information (albeit Cortex-M specific) is + provided on the following link: + http://www.freertos.org/RTOS-Cortex-M3-M4.html */ + portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); + + pxTCB = ( TCB_t * ) xTaskToNotify; + + uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + { + if( pulPreviousNotificationValue != NULL ) + { + *pulPreviousNotificationValue = pxTCB->ulNotifiedValue; + } + + eOriginalNotifyState = pxTCB->eNotifyState; + pxTCB->eNotifyState = eNotified; + + switch( eAction ) + { + case eSetBits : + pxTCB->ulNotifiedValue |= ulValue; + break; + + case eIncrement : + ( pxTCB->ulNotifiedValue )++; + break; + + case eSetValueWithOverwrite : + pxTCB->ulNotifiedValue = ulValue; + break; + + case eSetValueWithoutOverwrite : + if( eOriginalNotifyState != eNotified ) + { + pxTCB->ulNotifiedValue = ulValue; + } + else + { + /* The value could not be written to the task. */ + xReturn = pdFAIL; + } + break; + + case eNoAction : + /* The task is being notified without its notify value being + updated. */ + break; + } + + traceTASK_NOTIFY_FROM_ISR(); + + /* If the task is in the blocked state specifically to wait for a + notification then unblock it now. */ + if( eOriginalNotifyState == eWaitingNotification ) + { + /* The task should not have been on an event list. */ + configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ); + + if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) + { + ( void ) uxListRemove( &( pxTCB->xGenericListItem ) ); + prvAddTaskToReadyList( pxTCB ); + } + else + { + /* The delayed and ready lists cannot be accessed, so hold + this task pending until the scheduler is resumed. */ + vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); + } + + if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) + { + /* The notified task has a priority above the currently + executing task so a yield is required. */ + if( pxHigherPriorityTaskWoken != NULL ) + { + *pxHigherPriorityTaskWoken = pdTRUE; + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + + return xReturn; + } + +#endif /* configUSE_TASK_NOTIFICATIONS */ +/*-----------------------------------------------------------*/ + +#if( configUSE_TASK_NOTIFICATIONS == 1 ) + + void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken ) + { + TCB_t * pxTCB; + eNotifyValue eOriginalNotifyState; + UBaseType_t uxSavedInterruptStatus; + + configASSERT( xTaskToNotify ); + + /* RTOS ports that support interrupt nesting have the concept of a + maximum system call (or maximum API call) interrupt priority. + Interrupts that are above the maximum system call priority are keep + permanently enabled, even when the RTOS kernel is in a critical section, + but cannot make any calls to FreeRTOS API functions. If configASSERT() + is defined in FreeRTOSConfig.h then + portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion + failure if a FreeRTOS API function is called from an interrupt that has + been assigned a priority above the configured maximum system call + priority. Only FreeRTOS functions that end in FromISR can be called + from interrupts that have been assigned a priority at or (logically) + below the maximum system call interrupt priority. FreeRTOS maintains a + separate interrupt safe API to ensure interrupt entry is as fast and as + simple as possible. More information (albeit Cortex-M specific) is + provided on the following link: + http://www.freertos.org/RTOS-Cortex-M3-M4.html */ + portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); + + pxTCB = ( TCB_t * ) xTaskToNotify; + + uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + { + eOriginalNotifyState = pxTCB->eNotifyState; + pxTCB->eNotifyState = eNotified; + + /* 'Giving' is equivalent to incrementing a count in a counting + semaphore. */ + ( pxTCB->ulNotifiedValue )++; + + traceTASK_NOTIFY_GIVE_FROM_ISR(); + + /* If the task is in the blocked state specifically to wait for a + notification then unblock it now. */ + if( eOriginalNotifyState == eWaitingNotification ) + { + /* The task should not have been on an event list. */ + configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ); + + if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) + { + ( void ) uxListRemove( &( pxTCB->xGenericListItem ) ); + prvAddTaskToReadyList( pxTCB ); + } + else + { + /* The delayed and ready lists cannot be accessed, so hold + this task pending until the scheduler is resumed. */ + vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); + } + + if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) + { + /* The notified task has a priority above the currently + executing task so a yield is required. */ + if( pxHigherPriorityTaskWoken != NULL ) + { + *pxHigherPriorityTaskWoken = pdTRUE; + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + } + +#endif /* configUSE_TASK_NOTIFICATIONS */ + +/*-----------------------------------------------------------*/ + +#if( configUSE_TASK_NOTIFICATIONS == 1 ) + + BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask ) + { + TCB_t *pxTCB; + BaseType_t xReturn; + + pxTCB = ( TCB_t * ) xTask; + + /* If null is passed in here then it is the calling task that is having + its notification state cleared. */ + pxTCB = prvGetTCBFromHandle( pxTCB ); + + taskENTER_CRITICAL(); + { + if( pxTCB->eNotifyState == eNotified ) + { + pxTCB->eNotifyState = eNotWaitingNotification; + xReturn = pdPASS; + } + else + { + xReturn = pdFAIL; + } + } + taskEXIT_CRITICAL(); + + return xReturn; + } + +#endif /* configUSE_TASK_NOTIFICATIONS */ + #ifdef FREERTOS_MODULE_TEST #include "tasks_test_access_functions.h" #endif diff --git a/rtos/FreeRTOS/Source/timers.c b/rtos/FreeRTOS/Source/timers.c index c4ba832..560573b 100644 --- a/rtos/FreeRTOS/Source/timers.c +++ b/rtos/FreeRTOS/Source/timers.c @@ -1,60 +1,64 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that has become a de facto standard. * - * * - * Help yourself get started quickly and support the FreeRTOS * - * project by purchasing a FreeRTOS tutorial book, reference * - * manual, or both from: http://www.FreeRTOS.org/Documentation * - * * - * Thank you! * - * * - *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - >>! NOTE: The modification to the GPL is included to allow you to distribute - >>! a combined work that includes FreeRTOS without being obliged to provide - >>! the source code for proprietary components outside of the FreeRTOS - >>! kernel. + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available from the following + FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html - 1 tab == 4 spaces! - *************************************************************************** * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?" * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * * * - * http://www.FreeRTOS.org/FAQHelp.html * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and middleware. + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and @@ -191,7 +195,7 @@ static void prvTimerTask( void *pvParameters ) PRIVILEGED_FUNCTION; * Called by the timer service task to interpret and process a command it * received on the timer queue. */ -static void prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION; +static void prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION; /* * Insert the timer into either xActiveTimerList1, or xActiveTimerList2, @@ -229,7 +233,7 @@ static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) PRIV * If a timer has expired, process it. Otherwise, block the timer service task * until either a timer does expire or a command is received. */ -static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, const BaseType_t xListWasEmpty ) PRIVILEGED_FUNCTION; +static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty ) PRIVILEGED_FUNCTION; /*-----------------------------------------------------------*/ @@ -314,6 +318,8 @@ BaseType_t xTimerGenericCommand( TimerHandle_t xTimer, const BaseType_t xCommand BaseType_t xReturn = pdFAIL; DaemonTaskMessage_t xMessage; + configASSERT( xTimer ); + /* Send a message to the timer service task to perform a particular action on a particular timer definition. */ if( xTimerQueue != NULL ) @@ -363,6 +369,15 @@ DaemonTaskMessage_t xMessage; #endif /*-----------------------------------------------------------*/ +const char * pcTimerGetTimerName( TimerHandle_t xTimer ) +{ +Timer_t *pxTimer = ( Timer_t * ) xTimer; + + configASSERT( xTimer ); + return pxTimer->pcTimerName; +} +/*-----------------------------------------------------------*/ + static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow ) { BaseType_t xResult; @@ -427,7 +442,7 @@ BaseType_t xListWasEmpty; } /*-----------------------------------------------------------*/ -static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, const BaseType_t xListWasEmpty ) +static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty ) { TickType_t xTimeNow; BaseType_t xTimerListsWereSwitched; @@ -456,14 +471,21 @@ BaseType_t xTimerListsWereSwitched; received - whichever comes first. The following line cannot be reached unless xNextExpireTime > xTimeNow, except in the case when the current timer list is empty. */ - vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ) ); + if( xListWasEmpty != pdFALSE ) + { + /* The current timer list is empty - is the overflow list + also empty? */ + xListWasEmpty = listLIST_IS_EMPTY( pxOverflowTimerList ); + } + + vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ), xListWasEmpty ); if( xTaskResumeAll() == pdFALSE ) { - /* Yield to wait for either a command to arrive, or the block time - to expire. If a command arrived between the critical section being - exited and this yield then the yield will not cause the task - to block. */ + /* Yield to wait for either a command to arrive, or the + block time to expire. If a command arrived between the + critical section being exited and this yield then the yield + will not cause the task to block. */ portYIELD_WITHIN_API(); } else @@ -583,7 +605,7 @@ TickType_t xTimeNow; { /* Negative commands are pended function calls rather than timer commands. */ - if( xMessage.xMessageID < 0 ) + if( xMessage.xMessageID < ( BaseType_t ) 0 ) { const CallbackParameters_t * const pxCallback = &( xMessage.u.xCallbackParameters ); @@ -798,13 +820,15 @@ BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer ) BaseType_t xTimerIsInActiveList; Timer_t *pxTimer = ( Timer_t * ) xTimer; + configASSERT( xTimer ); + /* Is the timer in the list of active timers? */ taskENTER_CRITICAL(); { /* Checking to see if it is in the NULL list in effect checks to see if it is referenced from either the current or the overflow timer lists in one go, but the logic has to be reversed, hence the '!'. */ - xTimerIsInActiveList = !( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) ); + xTimerIsInActiveList = ( BaseType_t ) !( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) ); } taskEXIT_CRITICAL(); @@ -815,8 +839,31 @@ Timer_t *pxTimer = ( Timer_t * ) xTimer; void *pvTimerGetTimerID( const TimerHandle_t xTimer ) { Timer_t * const pxTimer = ( Timer_t * ) xTimer; +void *pvReturn; + + configASSERT( xTimer ); + + taskENTER_CRITICAL(); + { + pvReturn = pxTimer->pvTimerID; + } + taskEXIT_CRITICAL(); + + return pvReturn; +} +/*-----------------------------------------------------------*/ + +void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID ) +{ +Timer_t * const pxTimer = ( Timer_t * ) xTimer; + + configASSERT( xTimer ); - return pxTimer->pvTimerID; + taskENTER_CRITICAL(); + { + pxTimer->pvTimerID = pvNewID; + } + taskEXIT_CRITICAL(); } /*-----------------------------------------------------------*/ @@ -835,7 +882,7 @@ Timer_t * const pxTimer = ( Timer_t * ) xTimer; xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2; xReturn = xQueueSendFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken ); - + tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, xReturn ); return xReturn; @@ -851,6 +898,11 @@ Timer_t * const pxTimer = ( Timer_t * ) xTimer; DaemonTaskMessage_t xMessage; BaseType_t xReturn; + /* This function can only be called after a timer has been created or + after the scheduler has been started because, until then, the timer + queue does not exist. */ + configASSERT( xTimerQueue ); + /* Complete the message with the function parameters and post it to the daemon task. */ xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK; @@ -861,7 +913,7 @@ Timer_t * const pxTimer = ( Timer_t * ) xTimer; xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait ); tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, xReturn ); - + return xReturn; } |