mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-12 20:08:48 +01:00
d1c9ac0705
work man :-D
397 lines
11 KiB
C
397 lines
11 KiB
C
/*
|
|
FreeRTOS V7.0.0 - Copyright (C) 2011 Real Time Engineers Ltd.
|
|
|
|
|
|
FreeRTOS supports many tools and architectures. V7.0.0 is sponsored by:
|
|
Atollic AB - Atollic provides professional embedded systems development
|
|
tools for C/C++ development, code analysis and test automation.
|
|
See http://www.atollic.com
|
|
|
|
|
|
***************************************************************************
|
|
* *
|
|
* FreeRTOS tutorial books are available in pdf and paperback. *
|
|
* Complete, revised, and edited pdf reference manuals are also *
|
|
* available. *
|
|
* *
|
|
* Purchasing FreeRTOS documentation will not only help you, by *
|
|
* ensuring you get running as quickly as possible and with an *
|
|
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
|
* the FreeRTOS project to continue with its mission of providing *
|
|
* professional grade, cross platform, de facto standard solutions *
|
|
* for microcontrollers - completely free of charge! *
|
|
* *
|
|
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
|
* *
|
|
* Thank you for using FreeRTOS, and thank you for your support! *
|
|
* *
|
|
***************************************************************************
|
|
|
|
|
|
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. See the GNU General Public License for
|
|
more details. You should have received a copy of the GNU General Public
|
|
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
|
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
|
by writing to Richard Barry, contact details for whom are available on the
|
|
FreeRTOS WEB site.
|
|
|
|
1 tab == 4 spaces!
|
|
|
|
http://www.FreeRTOS.org - Documentation, latest information, license and
|
|
contact details.
|
|
|
|
http://www.SafeRTOS.com - A version that is certified for use in safety
|
|
critical systems.
|
|
|
|
http://www.OpenRTOS.com - Commercial support, development, porting,
|
|
licensing and training services.
|
|
*/
|
|
|
|
/*-----------------------------------------------------------
|
|
* Portable layer API. Each function must be defined for each port.
|
|
*----------------------------------------------------------*/
|
|
|
|
#ifndef PORTABLE_H
|
|
#define PORTABLE_H
|
|
|
|
/* Include the macro file relevant to the port being used. */
|
|
|
|
#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
|
|
|
|
/* 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"
|
|
#endif
|
|
|
|
#if portBYTE_ALIGNMENT == 8
|
|
#define portBYTE_ALIGNMENT_MASK ( 0x0007 )
|
|
#endif
|
|
|
|
#if portBYTE_ALIGNMENT == 4
|
|
#define portBYTE_ALIGNMENT_MASK ( 0x0003 )
|
|
#endif
|
|
|
|
#if portBYTE_ALIGNMENT == 2
|
|
#define portBYTE_ALIGNMENT_MASK ( 0x0001 )
|
|
#endif
|
|
|
|
#if portBYTE_ALIGNMENT == 1
|
|
#define portBYTE_ALIGNMENT_MASK ( 0x0000 )
|
|
#endif
|
|
|
|
#ifndef portBYTE_ALIGNMENT_MASK
|
|
#error "Invalid portBYTE_ALIGNMENT definition"
|
|
#endif
|
|
|
|
#ifndef portNUM_CONFIGURABLE_REGIONS
|
|
#define portNUM_CONFIGURABLE_REGIONS 1
|
|
#endif
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
#include "mpu_wrappers.h"
|
|
|
|
/*
|
|
* Setup the stack of a new task so it is ready to be placed under the
|
|
* scheduler control. The registers have to be placed on the stack in
|
|
* the order that the port expects to find them.
|
|
*
|
|
*/
|
|
#if( portUSING_MPU_WRAPPERS == 1 )
|
|
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters, portBASE_TYPE xRunPrivileged ) PRIVILEGED_FUNCTION;
|
|
#else
|
|
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters );
|
|
#endif
|
|
|
|
/*
|
|
* Map to the memory management routines required for the port.
|
|
*/
|
|
void *pvPortMalloc( size_t xSize ) PRIVILEGED_FUNCTION;
|
|
void vPortFree( void *pv ) PRIVILEGED_FUNCTION;
|
|
void vPortInitialiseBlocks( void ) PRIVILEGED_FUNCTION;
|
|
size_t xPortGetFreeHeapSize( void ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* Setup the hardware ready for the scheduler to take control. This generally
|
|
* sets up a tick interrupt and sets timers for the correct tick frequency.
|
|
*/
|
|
portBASE_TYPE xPortStartScheduler( void ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* Undo any hardware/ISR setup that was performed by xPortStartScheduler() so
|
|
* the hardware is left in its original condition after the scheduler stops
|
|
* executing.
|
|
*/
|
|
void vPortEndScheduler( void ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* The structures and methods of manipulating the MPU are contained within the
|
|
* port layer.
|
|
*
|
|
* Fills the xMPUSettings structure with the memory region information
|
|
* contained in xRegions.
|
|
*/
|
|
#if( portUSING_MPU_WRAPPERS == 1 )
|
|
struct xMEMORY_REGION;
|
|
void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, portSTACK_TYPE *pxBottomOfStack, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
|
|
#endif
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* PORTABLE_H */
|
|
|