Update FreeRTOS

2 files changed, 160 insertions, 117 deletions

diff --git a/src/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c b/src/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
index 3bd37f7..4732d98 100644
--- a/src/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
+++ b/src/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
@@ -1,60 +1,64 @@
 /*

-    FreeRTOS V8.0.1 - 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.                                   !<<

+    ***************************************************************************

 

     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

@@ -97,6 +101,12 @@
 #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 )

 

@@ -111,15 +121,15 @@
 #define portPRIGROUP_SHIFT					( 8UL )

 

 /* Masks off all bits but the VECTACTIVE bits in the ICSR register. */

-#define portVECTACTIVE_MASK					( 0x1FUL )

+#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 )

+#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 )

+#define portINITIAL_XPSR					( 0x01000000 )

+#define portINITIAL_EXEC_RETURN				( 0xfffffffd )

 

 /* The systick is a 24-bit counter. */

 #define portMAX_24_BIT_NUMBER				( 0xffffffUL )

@@ -130,7 +140,7 @@ 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

+prvTaskExitError() in case it messes up unwinding of the stack in the

 debugger. */

 #ifdef configTASK_RETURN_ADDRESS

 	#define portTASK_RETURN_ADDRESS	configTASK_RETURN_ADDRESS

@@ -301,6 +311,12 @@ BaseType_t xPortStartScheduler( void )
 	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;

@@ -384,27 +400,13 @@ void vPortEndScheduler( void )
 }

 /*-----------------------------------------------------------*/

 

-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" );

-	

+

 	/* 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 

+	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. */

@@ -426,37 +428,6 @@ void vPortExitCritical( void )
 }

 /*-----------------------------------------------------------*/

 

-__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. */

@@ -480,6 +451,8 @@ void xPortPendSVHandler( void )
 	"	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"

diff --git a/src/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h b/src/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
index e1b1d1f..073e408 100644
--- a/src/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
+++ b/src/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
@@ -1,60 +1,64 @@
 /*

-    FreeRTOS V8.0.1 - 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.                                   !<<

+    ***************************************************************************

 

     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

@@ -100,6 +104,10 @@ typedef unsigned long UBaseType_t;
 #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

 /*-----------------------------------------------------------*/

 

@@ -109,25 +117,31 @@ typedef unsigned long UBaseType_t;
 #define portBYTE_ALIGNMENT			8

 /*-----------------------------------------------------------*/

 

-

 /* Scheduler utilities. */

-extern void vPortYield( void );

+#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 portYIELD()					vPortYield()

-#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT

+#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 );

-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 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()

 

@@ -148,6 +162,10 @@ not necessary for to use this port.  They are defined so the common demo files
 /*-----------------------------------------------------------*/

 

 /* 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. */

@@ -184,6 +202,58 @@ not necessary for to use this port.  They are defined so the common demo files
 /* 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