From daa4301da2981fadb6999c694754c16e5d82d781 Mon Sep 17 00:00:00 2001 From: "Matthias P. Braendli" Date: Fri, 19 Apr 2019 17:55:29 +0200 Subject: Upgrade FreeRTOS to 10.2.0 --- src/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c | 272 +++++++++++---------- .../Source/portable/GCC/ARM_CM4F/portmacro.h | 126 ++++------ 2 files changed, 198 insertions(+), 200 deletions(-) (limited to 'src/FreeRTOS/Source/portable/GCC/ARM_CM4F') diff --git a/src/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c b/src/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c index 4732d98..e75f81e 100644 --- a/src/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c +++ b/src/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c @@ -1,71 +1,29 @@ /* - 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! -*/ + * FreeRTOS Kernel V10.2.0 + * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * http://www.FreeRTOS.org + * http://aws.amazon.com/freertos + * + * 1 tab == 4 spaces! + */ /*----------------------------------------------------------- * Implementation of functions defined in portable.h for the ARM CM4F port. @@ -129,11 +87,15 @@ r0p1 port. */ /* Constants required to set up the initial stack. */ #define portINITIAL_XPSR ( 0x01000000 ) -#define portINITIAL_EXEC_RETURN ( 0xfffffffd ) +#define portINITIAL_EXC_RETURN ( 0xfffffffd ) /* The systick is a 24-bit counter. */ #define portMAX_24_BIT_NUMBER ( 0xffffffUL ) +/* For strict compliance with the Cortex-M spec the task start address should +have bit-0 clear, as it is loaded into the PC on exit from an ISR. */ +#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL ) + /* A fiddle factor to estimate the number of SysTick counts that would have occurred while the SysTick counter is stopped during tickless idle calculations. */ @@ -148,10 +110,6 @@ debugger. */ #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 @@ -174,7 +132,7 @@ static void prvPortStartFirstTask( void ) __attribute__ (( naked )); /* * Function to enable the VFP. */ - static void vPortEnableVFP( void ) __attribute__ (( naked )); +static void vPortEnableVFP( void ) __attribute__ (( naked )); /* * Used to catch tasks that attempt to return from their implementing function. @@ -183,10 +141,14 @@ static void prvTaskExitError( void ); /*-----------------------------------------------------------*/ +/* Each task maintains its own interrupt status in the critical nesting +variable. */ +static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; + /* * The number of SysTick increments that make up one tick period. */ -#if configUSE_TICKLESS_IDLE == 1 +#if( configUSE_TICKLESS_IDLE == 1 ) static uint32_t ulTimerCountsForOneTick = 0; #endif /* configUSE_TICKLESS_IDLE */ @@ -194,7 +156,7 @@ static void prvTaskExitError( void ); * 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 +#if( configUSE_TICKLESS_IDLE == 1 ) static uint32_t xMaximumPossibleSuppressedTicks = 0; #endif /* configUSE_TICKLESS_IDLE */ @@ -202,7 +164,7 @@ static void prvTaskExitError( void ); * Compensate for the CPU cycles that pass while the SysTick is stopped (low * power functionality only. */ -#if configUSE_TICKLESS_IDLE == 1 +#if( configUSE_TICKLESS_IDLE == 1 ) static uint32_t ulStoppedTimerCompensation = 0; #endif /* configUSE_TICKLESS_IDLE */ @@ -211,7 +173,7 @@ static void prvTaskExitError( void ); * FreeRTOS API functions are not called from interrupts that have been assigned * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. */ -#if ( configASSERT_DEFINED == 1 ) +#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; @@ -233,7 +195,7 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ pxTopOfStack--; - *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ + *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ @@ -244,7 +206,7 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px /* A save method is being used that requires each task to maintain its own exec return value. */ pxTopOfStack--; - *pxTopOfStack = portINITIAL_EXEC_RETURN; + *pxTopOfStack = portINITIAL_EXC_RETURN; pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ @@ -254,6 +216,8 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px static void prvTaskExitError( void ) { +volatile uint32_t ulDummy = 0; + /* 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 ). @@ -262,7 +226,16 @@ static void prvTaskExitError( void ) defined, then stop here so application writers can catch the error. */ configASSERT( uxCriticalNesting == ~0UL ); portDISABLE_INTERRUPTS(); - for( ;; ); + while( ulDummy == 0 ) + { + /* This file calls prvTaskExitError() after the scheduler has been + started to remove a compiler warning about the function being defined + but never called. ulDummy is used purely to quieten other warnings + about code appearing after this function is called - making ulDummy + volatile makes the compiler think the function could return and + therefore not output an 'unreachable code' warning for code that appears + after it. */ + } } /*-----------------------------------------------------------*/ @@ -279,7 +252,7 @@ void vPortSVCHandler( void ) " msr basepri, r0 \n" " bx r14 \n" " \n" - " .align 2 \n" + " .align 4 \n" "pxCurrentTCBConst2: .word pxCurrentTCB \n" ); } @@ -287,11 +260,17 @@ void vPortSVCHandler( void ) static void prvPortStartFirstTask( void ) { + /* Start the first task. This also clears the bit that indicates the FPU is + in use in case the FPU was used before the scheduler was started - which + would otherwise result in the unnecessary leaving of space in the SVC stack + for lazy saving of FPU registers. */ __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. */ + " mov r0, #0 \n" /* Clear the bit that indicates the FPU is in use, see comment above. */ + " msr control, r0 \n" " cpsie i \n" /* Globally enable interrupts. */ " cpsie f \n" " dsb \n" @@ -350,6 +329,24 @@ BaseType_t xPortStartScheduler( void ) ucMaxPriorityValue <<= ( uint8_t ) 0x01; } + #ifdef __NVIC_PRIO_BITS + { + /* Check the CMSIS configuration that defines the number of + priority bits matches the number of priority bits actually queried + from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS ); + } + #endif + + #ifdef configPRIO_BITS + { + /* Check the FreeRTOS configuration that defines the number of + priority bits matches the number of priority bits actually queried + from the hardware. */ + configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS ); + } + #endif + /* Shift the priority group value back to its position within the AIRCR register. */ ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; @@ -384,7 +381,10 @@ BaseType_t xPortStartScheduler( void ) /* 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. */ + functionality by defining configTASK_RETURN_ADDRESS. Call + vTaskSwitchContext() so link time optimisation does not remove the + symbol. */ + vTaskSwitchContext(); prvTaskExitError(); /* Should not get here! */ @@ -445,18 +445,17 @@ void xPortPendSVHandler( void ) " 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" + " stmdb sp!, {r0, r3} \n" " mov r0, %0 \n" " msr basepri, r0 \n" " dsb \n" - " isb \n" + " isb \n" " bl vTaskSwitchContext \n" " mov r0, #0 \n" " msr basepri, r0 \n" - " ldmia sp!, {r3} \n" + " ldmia sp!, {r0, r3} \n" " \n" " ldr r1, [r3] \n" /* The first item in pxCurrentTCB is the task top of stack. */ " ldr r0, [r1] \n" @@ -479,7 +478,7 @@ void xPortPendSVHandler( void ) " \n" " bx r14 \n" " \n" - " .align 2 \n" + " .align 4 \n" "pxCurrentTCBConst: .word pxCurrentTCB \n" ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY) ); @@ -492,7 +491,7 @@ void xPortSysTickHandler( void ) 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(); + portDISABLE_INTERRUPTS(); { /* Increment the RTOS tick. */ if( xTaskIncrementTick() != pdFALSE ) @@ -502,15 +501,15 @@ void xPortSysTickHandler( void ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } } - portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 ); + portENABLE_INTERRUPTS(); } /*-----------------------------------------------------------*/ -#if configUSE_TICKLESS_IDLE == 1 +#if( configUSE_TICKLESS_IDLE == 1 ) __attribute__((weak)) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) { - uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickCTRL; + uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; TickType_t xModifiableIdleTime; /* Make sure the SysTick reload value does not overflow the counter. */ @@ -536,7 +535,9 @@ void xPortSysTickHandler( void ) /* 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" ); + __asm volatile( "cpsid i" ::: "memory" ); + __asm volatile( "dsb" ); + __asm volatile( "isb" ); /* If a context switch is pending or a task is waiting for the scheduler to be unsuspended then abandon the low power entry. */ @@ -555,7 +556,7 @@ void xPortSysTickHandler( void ) /* Re-enable interrupts - see comments above the cpsid instruction() above. */ - __asm volatile( "cpsie i" ); + __asm volatile( "cpsie i" ::: "memory" ); } else { @@ -578,29 +579,47 @@ void xPortSysTickHandler( void ) configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); if( xModifiableIdleTime > 0 ) { - __asm volatile( "dsb" ); + __asm volatile( "dsb" ::: "memory" ); __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 ) + /* Re-enable interrupts to allow the interrupt that brought the MCU + out of sleep mode to execute immediately. see comments above + __disable_interrupt() call above. */ + __asm volatile( "cpsie i" ::: "memory" ); + __asm volatile( "dsb" ); + __asm volatile( "isb" ); + + /* Disable interrupts again because the clock is about to be stopped + and interrupts that execute while the clock is stopped will increase + any slippage between the time maintained by the RTOS and calendar + time. */ + __asm volatile( "cpsid i" ::: "memory" ); + __asm volatile( "dsb" ); + __asm volatile( "isb" ); + + /* Disable the SysTick clock without reading the + portNVIC_SYSTICK_CTRL_REG register to ensure the + portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. 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*/ + portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); + + /* Determine if the SysTick clock has already counted to zero and + been set back to the current reload value (the reload back being + correct for the entire expected idle time) or if the SysTick is yet + to count to zero (in which case an interrupt other than the SysTick + must have brought the system out of sleep mode). */ + if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) { uint32_t ulCalculatedLoadValue; - /* The tick interrupt has already executed, and the SysTick - count reloaded with ulReloadValue. Reset the + /* The tick interrupt is already pending, 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 ); @@ -615,11 +634,9 @@ void xPortSysTickHandler( void ) 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. */ + /* 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 @@ -636,22 +653,19 @@ void xPortSysTickHandler( void ) /* The reload value is set to whatever fraction of a single tick period remains. */ - portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; + portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * 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. */ + value. */ 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(); + portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + + /* Exit with interrpts enabled. */ + __asm volatile( "cpsie i" ::: "memory" ); } } @@ -665,7 +679,7 @@ void xPortSysTickHandler( void ) __attribute__(( weak )) void vPortSetupTimerInterrupt( void ) { /* Calculate the constants required to configure the tick interrupt. */ - #if configUSE_TICKLESS_IDLE == 1 + #if( configUSE_TICKLESS_IDLE == 1 ) { ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; @@ -673,6 +687,10 @@ __attribute__(( weak )) void vPortSetupTimerInterrupt( void ) } #endif /* configUSE_TICKLESS_IDLE */ + /* Stop and clear the SysTick. */ + portNVIC_SYSTICK_CTRL_REG = 0UL; + portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; + /* 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 ); @@ -702,7 +720,7 @@ static void vPortEnableVFP( void ) uint8_t ucCurrentPriority; /* Obtain the number of the currently executing interrupt. */ - __asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) ); + __asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" ); /* Is the interrupt number a user defined interrupt? */ if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) @@ -748,7 +766,7 @@ static void vPortEnableVFP( void ) 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. */ + of zero will result in unpredictable behaviour. */ configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); } diff --git a/src/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h b/src/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h index 073e408..85c718c 100644 --- a/src/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h +++ b/src/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h @@ -1,71 +1,29 @@ /* - 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! -*/ + * FreeRTOS Kernel V10.2.0 + * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * http://www.FreeRTOS.org + * http://aws.amazon.com/freertos + * + * 1 tab == 4 spaces! + */ #ifndef PORTMACRO_H @@ -125,7 +83,7 @@ typedef unsigned long UBaseType_t; \ /* Barriers are normally not required but do ensure the code is completely \ within the specified behaviour for the architecture. */ \ - __asm volatile( "dsb" ); \ + __asm volatile( "dsb" ::: "memory" ); \ __asm volatile( "isb" ); \ } @@ -173,7 +131,7 @@ not necessary for to use this port. They are defined so the common demo files { uint8_t ucReturn; - __asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) ); + __asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) : "memory" ); return ucReturn; } @@ -188,7 +146,7 @@ not necessary for to use this port. They are defined so the common demo files /*-----------------------------------------------------------*/ - #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - ucPortCountLeadingZeros( ( uxReadyPriorities ) ) ) + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) ucPortCountLeadingZeros( ( uxReadyPriorities ) ) ) #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ @@ -202,10 +160,32 @@ not necessary for to use this port. They are defined so the common demo files /* portNOP() is not required by this port. */ #define portNOP() +#define portINLINE __inline + #ifndef portFORCE_INLINE #define portFORCE_INLINE inline __attribute__(( always_inline)) #endif +portFORCE_INLINE static BaseType_t xPortIsInsideInterrupt( void ) +{ +uint32_t ulCurrentInterrupt; +BaseType_t xReturn; + + /* Obtain the number of the currently executing interrupt. */ + __asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" ); + + if( ulCurrentInterrupt == 0 ) + { + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; +} + /*-----------------------------------------------------------*/ portFORCE_INLINE static void vPortRaiseBASEPRI( void ) @@ -218,7 +198,7 @@ uint32_t ulNewBASEPRI; " msr basepri, %0 \n" \ " isb \n" \ " dsb \n" \ - :"=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) + :"=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory" ); } @@ -235,7 +215,7 @@ uint32_t ulOriginalBASEPRI, ulNewBASEPRI; " msr basepri, %1 \n" \ " isb \n" \ " dsb \n" \ - :"=r" (ulOriginalBASEPRI), "=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) + :"=r" (ulOriginalBASEPRI), "=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory" ); /* This return will not be reached but is necessary to prevent compiler @@ -248,7 +228,7 @@ portFORCE_INLINE static void vPortSetBASEPRI( uint32_t ulNewMaskValue ) { __asm volatile ( - " msr basepri, %0 " :: "r" ( ulNewMaskValue ) + " msr basepri, %0 " :: "r" ( ulNewMaskValue ) : "memory" ); } /*-----------------------------------------------------------*/ -- cgit v1.2.3