diff --git a/README.md b/README.md index b574bad55..a6d383add 100644 --- a/README.md +++ b/README.md @@ -14,12 +14,12 @@ application projects. That way you will have the correct FreeRTOS source files included, and the correct include paths configured. Once a demo application is building and executing you can remove the demo application files, and start to add in your own application source files. See the -[FreeRTOS Kernel Quick Start Guide](https://www.FreeRTOS.org/FreeRTOS-quick-start-guide.html) +[FreeRTOS Kernel Quick Start Guide](https://www.freertos.org/Documentation/01-FreeRTOS-quick-start/01-Beginners-guide/02-Quick-start-guide) for detailed instructions and other useful links. Additionally, for FreeRTOS kernel feature information refer to the -[Developer Documentation](https://www.FreeRTOS.org/features.html), -and [API Reference](https://www.FreeRTOS.org/a00106.html). +[Developer Documentation](https://www.freertos.org/Documentation/02-Kernel/02-Kernel-features/00-Developer-docs), +and [API Reference](https://www.freertos.org/Documentation/02-Kernel/04-API-references/01-Task-creation/00-TaskHandle). Also for contributing and creating a Pull Request please refer to [the instructions here](.github/CONTRIBUTING.md#contributing-via-pull-request). diff --git a/examples/cmake_example/main.c b/examples/cmake_example/main.c index b7ced4dd9..96a2abfe1 100644 --- a/examples/cmake_example/main.c +++ b/examples/cmake_example/main.c @@ -30,7 +30,7 @@ * This is a simple main that will start the FreeRTOS-Kernel and run a periodic task * that only delays if compiled with the template port, this project will do nothing. * For more information on getting started please look here: - * https://freertos.org/FreeRTOS-quick-start-guide.html + * https://www.freertos.org/Documentation/01-FreeRTOS-quick-start/01-Beginners-guide/02-Quick-start-guide */ /* FreeRTOS includes. */ diff --git a/include/queue.h b/include/queue.h index 62d095a8e..80345b9f0 100644 --- a/include/queue.h +++ b/include/queue.h @@ -1645,7 +1645,7 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION; * or semaphores contained in the set is in a state where a queue read or * semaphore take operation would be successful. * - * Note 1: See the documentation on https://www.FreeRTOS.org/RTOS-queue-sets.html + * Note 1: See the documentation on https://www.freertos.org/Documentation/02-Kernel/04-API-references/07-Queue-sets/00-RTOS-queue-sets * for reasons why queue sets are very rarely needed in practice as there are * simpler methods of blocking on multiple objects. * @@ -1742,7 +1742,7 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION; * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this * function. * - * Note 1: See the documentation on https://www.FreeRTOS.org/RTOS-queue-sets.html + * Note 1: See the documentation on https://www.freertos.org/Documentation/02-Kernel/04-API-references/07-Queue-sets/00-RTOS-queue-sets * for reasons why queue sets are very rarely needed in practice as there are * simpler methods of blocking on multiple objects. * diff --git a/list.c b/list.c index eb9efbd2d..0c0f3676e 100644 --- a/list.c +++ b/list.c @@ -166,7 +166,7 @@ void vListInsert( List_t * const pxList, { /* *** NOTE *********************************************************** * If you find your application is crashing here then likely causes are - * listed below. In addition see https://www.FreeRTOS.org/FAQHelp.html for + * listed below. In addition see https://www.freertos.org/Why-FreeRTOS/FAQs for * more tips, and ensure configASSERT() is defined! * https://www.FreeRTOS.org/a00110.html#configASSERT * diff --git a/portable/ARMv8M/non_secure/port.c b/portable/ARMv8M/non_secure/port.c index c9b596d12..75e9ea9dd 100644 --- a/portable/ARMv8M/non_secure/port.c +++ b/portable/ARMv8M/non_secure/port.c @@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/CCS/ARM_CM3/port.c b/portable/CCS/ARM_CM3/port.c index 5ed26c2d2..8373c14c0 100644 --- a/portable/CCS/ARM_CM3/port.c +++ b/portable/CCS/ARM_CM3/port.c @@ -669,7 +669,7 @@ void vPortSetupTimerInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/CCS/ARM_CM4F/port.c b/portable/CCS/ARM_CM4F/port.c index 1ac7a59e6..1ad05077d 100644 --- a/portable/CCS/ARM_CM4F/port.c +++ b/portable/CCS/ARM_CM4F/port.c @@ -694,7 +694,7 @@ void vPortSetupTimerInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/GCC/ARM_CM0/port.c b/portable/GCC/ARM_CM0/port.c index 608afa5de..c3053c543 100644 --- a/portable/GCC/ARM_CM0/port.c +++ b/portable/GCC/ARM_CM0/port.c @@ -1288,7 +1288,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if diff --git a/portable/GCC/ARM_CM23/non_secure/port.c b/portable/GCC/ARM_CM23/non_secure/port.c index c9b596d12..75e9ea9dd 100644 --- a/portable/GCC/ARM_CM23/non_secure/port.c +++ b/portable/GCC/ARM_CM23/non_secure/port.c @@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/GCC/ARM_CM23_NTZ/non_secure/port.c b/portable/GCC/ARM_CM23_NTZ/non_secure/port.c index c9b596d12..75e9ea9dd 100644 --- a/portable/GCC/ARM_CM23_NTZ/non_secure/port.c +++ b/portable/GCC/ARM_CM23_NTZ/non_secure/port.c @@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/GCC/ARM_CM3/port.c b/portable/GCC/ARM_CM3/port.c index 5adf39bd7..ba7a718ab 100644 --- a/portable/GCC/ARM_CM3/port.c +++ b/portable/GCC/ARM_CM3/port.c @@ -292,7 +292,7 @@ BaseType_t xPortStartScheduler( void ) * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -801,7 +801,7 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/GCC/ARM_CM33/non_secure/port.c b/portable/GCC/ARM_CM33/non_secure/port.c index c9b596d12..75e9ea9dd 100644 --- a/portable/GCC/ARM_CM33/non_secure/port.c +++ b/portable/GCC/ARM_CM33/non_secure/port.c @@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/GCC/ARM_CM33_NTZ/non_secure/port.c b/portable/GCC/ARM_CM33_NTZ/non_secure/port.c index c9b596d12..75e9ea9dd 100644 --- a/portable/GCC/ARM_CM33_NTZ/non_secure/port.c +++ b/portable/GCC/ARM_CM33_NTZ/non_secure/port.c @@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/GCC/ARM_CM35P/non_secure/port.c b/portable/GCC/ARM_CM35P/non_secure/port.c index c9b596d12..75e9ea9dd 100644 --- a/portable/GCC/ARM_CM35P/non_secure/port.c +++ b/portable/GCC/ARM_CM35P/non_secure/port.c @@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/GCC/ARM_CM35P_NTZ/non_secure/port.c b/portable/GCC/ARM_CM35P_NTZ/non_secure/port.c index c9b596d12..75e9ea9dd 100644 --- a/portable/GCC/ARM_CM35P_NTZ/non_secure/port.c +++ b/portable/GCC/ARM_CM35P_NTZ/non_secure/port.c @@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/GCC/ARM_CM3_MPU/port.c b/portable/GCC/ARM_CM3_MPU/port.c index 6a36f1a88..bbe00b61f 100644 --- a/portable/GCC/ARM_CM3_MPU/port.c +++ b/portable/GCC/ARM_CM3_MPU/port.c @@ -767,7 +767,7 @@ BaseType_t xPortStartScheduler( void ) * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -1462,7 +1462,7 @@ void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/GCC/ARM_CM4F/port.c b/portable/GCC/ARM_CM4F/port.c index 532bbce88..c4194f767 100644 --- a/portable/GCC/ARM_CM4F/port.c +++ b/portable/GCC/ARM_CM4F/port.c @@ -335,7 +335,7 @@ BaseType_t xPortStartScheduler( void ) * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -886,7 +886,7 @@ static void vPortEnableVFP( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/GCC/ARM_CM4_MPU/port.c b/portable/GCC/ARM_CM4_MPU/port.c index 68b2ab13f..30a65c423 100644 --- a/portable/GCC/ARM_CM4_MPU/port.c +++ b/portable/GCC/ARM_CM4_MPU/port.c @@ -853,7 +853,7 @@ BaseType_t xPortStartScheduler( void ) * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -1605,7 +1605,7 @@ void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/GCC/ARM_CM55/non_secure/port.c b/portable/GCC/ARM_CM55/non_secure/port.c index c9b596d12..75e9ea9dd 100644 --- a/portable/GCC/ARM_CM55/non_secure/port.c +++ b/portable/GCC/ARM_CM55/non_secure/port.c @@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/GCC/ARM_CM55_NTZ/non_secure/port.c b/portable/GCC/ARM_CM55_NTZ/non_secure/port.c index c9b596d12..75e9ea9dd 100644 --- a/portable/GCC/ARM_CM55_NTZ/non_secure/port.c +++ b/portable/GCC/ARM_CM55_NTZ/non_secure/port.c @@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/GCC/ARM_CM7/r0p1/port.c b/portable/GCC/ARM_CM7/r0p1/port.c index ac067274d..766f0242d 100644 --- a/portable/GCC/ARM_CM7/r0p1/port.c +++ b/portable/GCC/ARM_CM7/r0p1/port.c @@ -323,7 +323,7 @@ BaseType_t xPortStartScheduler( void ) * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -876,7 +876,7 @@ static void vPortEnableVFP( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/GCC/ARM_CM85/non_secure/port.c b/portable/GCC/ARM_CM85/non_secure/port.c index c9b596d12..75e9ea9dd 100644 --- a/portable/GCC/ARM_CM85/non_secure/port.c +++ b/portable/GCC/ARM_CM85/non_secure/port.c @@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/GCC/ARM_CM85_NTZ/non_secure/port.c b/portable/GCC/ARM_CM85_NTZ/non_secure/port.c index c9b596d12..75e9ea9dd 100644 --- a/portable/GCC/ARM_CM85_NTZ/non_secure/port.c +++ b/portable/GCC/ARM_CM85_NTZ/non_secure/port.c @@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/GCC/ARM_CRx_No_GIC/port.c b/portable/GCC/ARM_CRx_No_GIC/port.c index 7294fb760..bd5a19a49 100644 --- a/portable/GCC/ARM_CRx_No_GIC/port.c +++ b/portable/GCC/ARM_CRx_No_GIC/port.c @@ -28,6 +28,7 @@ /* Standard includes. */ #include +#include /* Scheduler includes. */ #include "FreeRTOS.h" @@ -80,13 +81,22 @@ #define portTASK_RETURN_ADDRESS prvTaskExitError #endif +/* The space on the stack required to hold the FPU registers. */ +#if ( configFPU_D32 == 1 ) + #define portFPU_REGISTER_WORDS ( ( 32 * 2 ) + 1 ) /* D0-D31 and FPSCR. */ +#else + #define portFPU_REGISTER_WORDS ( ( 16 * 2 ) + 1 ) /* D0-D15 and FPSCR. */ +#endif /* configFPU_D32 */ + /*-----------------------------------------------------------*/ /* - * Starts the first task executing. This function is necessarily written in - * assembly code so is implemented in portASM.s. + * These functions are necessarily written in assembly code, so are implemented + * in portASM.S. */ extern void vPortRestoreTaskContext( void ); +extern void vPortInitialiseFPSCR( void ); +extern uint32_t ulReadAPSR( void ); /* * Used to catch tasks that attempt to return from their implementing function. @@ -184,12 +194,33 @@ StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, /* The task will start with a critical nesting count of 0 as interrupts are * enabled. */ *pxTopOfStack = portNO_CRITICAL_NESTING; - pxTopOfStack--; - /* The task will start without a floating point context. A task that uses - * the floating point hardware must call vPortTaskUsesFPU() before executing - * any floating point instructions. */ - *pxTopOfStack = portNO_FLOATING_POINT_CONTEXT; + #if ( configUSE_TASK_FPU_SUPPORT == 1 ) + { + /* The task will start without a floating point context. A task that uses + * the floating point hardware must call vPortTaskUsesFPU() before executing + * any floating point instructions. */ + pxTopOfStack--; + *pxTopOfStack = portNO_FLOATING_POINT_CONTEXT; + } + #elif ( configUSE_TASK_FPU_SUPPORT == 2 ) + { + /* The task will start with a floating point context. Leave enough + * space for the registers - and ensure they are initialised to 0. */ + pxTopOfStack -= portFPU_REGISTER_WORDS; + memset( pxTopOfStack, 0x00, portFPU_REGISTER_WORDS * sizeof( StackType_t ) ); + + /* Initialise the slot containing ulPortTaskHasFPUContext to true as + * the task starts with a floating point context. */ + pxTopOfStack--; + *pxTopOfStack = pdTRUE; + ulPortTaskHasFPUContext = pdTRUE; + } + #else + { + #error "Invalid configUSE_TASK_FPU_SUPPORT value - configUSE_TASK_FPU_SUPPORT must be set to 1, 2, or left undefined." + } + #endif /* if ( configUSE_TASK_FPU_SUPPORT == 1 ) */ return pxTopOfStack; } @@ -218,7 +249,7 @@ BaseType_t xPortStartScheduler( void ) /* Only continue if the CPU is not in User mode. The CPU must be in a * Privileged mode for the scheduler to start. */ - __asm volatile ( "MRS %0, APSR" : "=r" ( ulAPSR )::"memory" ); + ulAPSR = ulReadAPSR(); ulAPSR &= portAPSR_MODE_BITS_MASK; configASSERT( ulAPSR != portAPSR_USER_MODE ); @@ -310,15 +341,17 @@ void FreeRTOS_Tick_Handler( void ) } /*-----------------------------------------------------------*/ -void vPortTaskUsesFPU( void ) -{ - uint32_t ulInitialFPSCR = 0; +#if ( configUSE_TASK_FPU_SUPPORT != 2 ) - /* A task is registering the fact that it needs an FPU context. Set the - * FPU flag (which is saved as part of the task context). */ - ulPortTaskHasFPUContext = pdTRUE; + void vPortTaskUsesFPU( void ) + { + /* A task is registering the fact that it needs an FPU context. Set the + * FPU flag (which is saved as part of the task context). */ + ulPortTaskHasFPUContext = pdTRUE; - /* Initialise the floating point status register. */ - __asm volatile ( "FMXR FPSCR, %0" ::"r" ( ulInitialFPSCR ) : "memory" ); -} + /* Initialise the floating point status register. */ + vPortInitialiseFPSCR(); + } + +#endif /* configUSE_TASK_FPU_SUPPORT */ /*-----------------------------------------------------------*/ diff --git a/portable/GCC/ARM_CRx_No_GIC/portASM.S b/portable/GCC/ARM_CRx_No_GIC/portASM.S index 349a940d9..9945fc2d9 100644 --- a/portable/GCC/ARM_CRx_No_GIC/portASM.S +++ b/portable/GCC/ARM_CRx_No_GIC/portASM.S @@ -28,14 +28,14 @@ .text .arm + .syntax unified - .set SYS_MODE, 0x1f - .set SVC_MODE, 0x13 - .set IRQ_MODE, 0x12 + .set SYS_MODE, 0x1f + .set SVC_MODE, 0x13 + .set IRQ_MODE, 0x12 + .set CPSR_I_BIT, 0x80 /* Variables and functions. */ - .extern ulMaxAPIPriorityMask - .extern _freertos_vector_table .extern pxCurrentTCB .extern vTaskSwitchContext .extern vApplicationIRQHandler @@ -47,29 +47,38 @@ .global FreeRTOS_IRQ_Handler .global FreeRTOS_SVC_Handler .global vPortRestoreTaskContext + .global vPortInitialiseFPSCR + .global ulReadAPSR + .global vPortYield + .global vPortEnableInterrupts + .global vPortDisableInterrupts + .global ulPortSetInterruptMaskFromISR + .global ulPortCountLeadingZeros + .weak vApplicationSVCHandler +/*-----------------------------------------------------------*/ .macro portSAVE_CONTEXT /* Save the LR and SPSR onto the system mode stack before switching to - system mode to save the remaining system mode registers. */ - SRSDB sp!, #SYS_MODE + * system mode to save the remaining system mode registers. */ + SRSDB SP!, #SYS_MODE CPS #SYS_MODE PUSH {R0-R12, R14} /* Push the critical nesting count. */ - LDR R2, ulCriticalNestingConst + LDR R2, =ulCriticalNesting LDR R1, [R2] PUSH {R1} /* Does the task have a floating point context that needs saving? If - ulPortTaskHasFPUContext is 0 then no. */ - LDR R2, ulPortTaskHasFPUContextConst + * ulPortTaskHasFPUContext is 0 then no. */ + LDR R2, =ulPortTaskHasFPUContext LDR R3, [R2] CMP R3, #0 /* Save the floating point context, if any. */ - FMRXNE R1, FPSCR + VMRSNE R1, FPSCR VPUSHNE {D0-D15} #if configFPU_D32 == 1 VPUSHNE {D16-D31} @@ -80,24 +89,24 @@ PUSH {R3} /* Save the stack pointer in the TCB. */ - LDR R0, pxCurrentTCBConst + LDR R0, =pxCurrentTCB LDR R1, [R0] STR SP, [R1] .endm -; /**********************************************************************/ +/*-----------------------------------------------------------*/ .macro portRESTORE_CONTEXT /* Set the SP to point to the stack of the task being restored. */ - LDR R0, pxCurrentTCBConst + LDR R0, =pxCurrentTCB LDR R1, [R0] LDR SP, [R1] /* Is there a floating point context to restore? If the restored - ulPortTaskHasFPUContext is zero then no. */ - LDR R0, ulPortTaskHasFPUContextConst + * ulPortTaskHasFPUContext is zero then no. */ + LDR R0, =ulPortTaskHasFPUContext POP {R1} STR R1, [R0] CMP R1, #0 @@ -111,7 +120,7 @@ VMSRNE FPSCR, R0 /* Restore the critical section nesting depth. */ - LDR R0, ulCriticalNestingConst + LDR R0, =ulCriticalNesting POP {R1} STR R1, [R0] @@ -120,29 +129,17 @@ POP {R0-R12, R14} /* Return to the task code, loading CPSR on the way. */ - RFEIA sp! + RFEIA SP! .endm +/*-----------------------------------------------------------*/ - - -/****************************************************************************** - * SVC handler is used to yield. - *****************************************************************************/ -.align 4 -.type FreeRTOS_SVC_Handler, %function -FreeRTOS_SVC_Handler: - /* Save the context of the current task and select a new task to run. */ - portSAVE_CONTEXT - LDR R0, vTaskSwitchContextConst - BLX R0 - portRESTORE_CONTEXT - - -/****************************************************************************** +/* + * void vPortRestoreTaskContext( void ); + * * vPortRestoreTaskContext is used to start the scheduler. - *****************************************************************************/ + */ .align 4 .type vPortRestoreTaskContext, %function vPortRestoreTaskContext: @@ -150,72 +147,212 @@ vPortRestoreTaskContext: CPS #SYS_MODE portRESTORE_CONTEXT +/*-----------------------------------------------------------*/ + +/* + * void vPortInitialiseFPSCR( void ); + * + * vPortInitialiseFPSCR is used to initialize the FPSCR register. + */ +.align 4 +.type vPortInitialiseFPSCR, %function +vPortInitialiseFPSCR: + MOV R0, #0 + VMSR FPSCR, R0 + BX LR + +/*-----------------------------------------------------------*/ + +/* + * uint32_t ulReadAPSR( void ); + * + * ulReadAPSR is used to read the value of APSR context. + */ +.align 4 +.type ulReadAPSR, %function +ulReadAPSR: + MRS R0, APSR + BX LR + +/*-----------------------------------------------------------*/ + +/* + * void vPortYield( void ); + */ +.align 4 +.type vPortYield, %function +vPortYield: + SVC 0 + ISB + BX LR + +/*-----------------------------------------------------------*/ + +/* + * void vPortEnableInterrupts( void ); + */ +.align 4 +.type vPortEnableInterrupts, %function +vPortEnableInterrupts: + CPSIE I + BX LR + +/*-----------------------------------------------------------*/ + +/* + * void vPortDisableInterrupts( void ); + */ +.align 4 +.type vPortDisableInterrupts, %function +vPortDisableInterrupts: + CPSID I + DSB + ISB + BX LR + +/*-----------------------------------------------------------*/ + +/* + * uint32_t ulPortSetInterruptMaskFromISR( void ); + */ +.align 4 +.type ulPortSetInterruptMaskFromISR, %function +ulPortSetInterruptMaskFromISR: + MRS R0, CPSR + AND R0, R0, #CPSR_I_BIT + CPSID I + DSB + ISB + BX LR + +/*-----------------------------------------------------------*/ + +/* + * void vApplicationSVCHandler( uint32_t ulSvcNumber ); + */ +.align 4 +.type vApplicationSVCHandler, %function +vApplicationSVCHandler: + B vApplicationSVCHandler + +/*-----------------------------------------------------------*/ + +/* + * UBaseType_t ulPortCountLeadingZeros( UBaseType_t ulBitmap ); + * + * According to the Procedure Call Standard for the ARM Architecture (AAPCS): + * - Parameter ulBitmap is passed in R0. + * - Return value must be in R0. + */ +.align 4 +.type ulPortCountLeadingZeros, %function +ulPortCountLeadingZeros: + CLZ R0, R0 + BX LR + +/*-----------------------------------------------------------*/ + +/* + * SVC handler is used to yield. + */ +.align 4 +.type FreeRTOS_SVC_Handler, %function +FreeRTOS_SVC_Handler: + PUSH { R0-R1 } + + /* ---------------------------- Get Caller SVC Number ---------------------------- */ + MRS R0, SPSR /* R0 = CPSR at the time of SVC. */ + TST R0, #0x20 /* Check Thumb bit (5) in CPSR. */ + LDRHNE R0, [LR, #-0x2] /* If Thumb, load halfword. */ + BICNE R0, R0, #0xFF00 /* And extract immidiate field (i.e. SVC number). */ + LDREQ R0, [LR, #-0x4] /* If ARM, load word. */ + BICEQ R0, R0, #0xFF000000 /* And extract immidiate field (i.e. SVC number). */ + + /* --------------------------------- SVC Routing --------------------------------- */ + CMP R0, #0 + BEQ svcPortYield + BNE svcApplicationCall + +svcPortYield: + POP { R0-R1 } + portSAVE_CONTEXT + BLX vTaskSwitchContext + portRESTORE_CONTEXT + +svcApplicationCall: + POP { R0-R1 } + portSAVE_CONTEXT + BLX vApplicationSVCHandler + portRESTORE_CONTEXT + +/*-----------------------------------------------------------*/ + .align 4 .type FreeRTOS_IRQ_Handler, %function FreeRTOS_IRQ_Handler: /* Return to the interrupted instruction. */ - SUB lr, lr, #4 + SUB LR, LR, #4 /* Push the return address and SPSR. */ - PUSH {lr} - MRS lr, SPSR - PUSH {lr} + PUSH {LR} + MRS LR, SPSR + PUSH {LR} /* Change to supervisor mode to allow reentry. */ - CPS #0x13 + CPS #SVC_MODE /* Push used registers. */ - PUSH {r0-r3, r12} + PUSH {R0-R3, R12} /* Increment nesting count. r3 holds the address of ulPortInterruptNesting - for future use. r1 holds the original ulPortInterruptNesting value for - future use. */ - LDR r3, ulPortInterruptNestingConst - LDR r1, [r3] - ADD r0, r1, #1 - STR r0, [r3] + * for future use. r1 holds the original ulPortInterruptNesting value for + * future use. */ + LDR R3, =ulPortInterruptNesting + LDR R1, [R3] + ADD R0, R1, #1 + STR R0, [R3] /* Ensure bit 2 of the stack pointer is clear. r2 holds the bit 2 value for - future use. */ - MOV r0, sp - AND r2, r0, #4 - SUB sp, sp, r2 + * future use. */ + MOV R0, SP + AND R2, R0, #4 + SUB SP, SP, R2 /* Call the interrupt handler. */ - PUSH {r0-r3, lr} - LDR r1, vApplicationIRQHandlerConst - BLX r1 - POP {r0-r3, lr} - ADD sp, sp, r2 + PUSH {R0-R3, LR} + BLX vApplicationIRQHandler + POP {R0-R3, LR} + ADD SP, SP, R2 + /* Disable IRQs incase vApplicationIRQHandler enabled them for re-entry. */ CPSID i DSB ISB /* Write to the EOI register. */ - LDR r0, ulICCEOIRConst - LDR r2, [r0] - STR r0, [r2] + LDR R0, =ulICCEOIR + LDR R2, [R0] + STR R0, [R2] /* Restore the old nesting count. */ - STR r1, [r3] + STR R1, [R3] /* A context switch is never performed if the nesting count is not 0. */ - CMP r1, #0 + CMP R1, #0 BNE exit_without_switch /* Did the interrupt request a context switch? r1 holds the address of - ulPortYieldRequired and r0 the value of ulPortYieldRequired for future - use. */ - LDR r1, ulPortYieldRequiredConst - LDR r0, [r1] - CMP r0, #0 + * ulPortYieldRequired and r0 the value of ulPortYieldRequired for future + * use. */ + LDR R1, =ulPortYieldRequired + LDR R0, [R1] + CMP R0, #0 BNE switch_before_exit exit_without_switch: /* No context switch. Restore used registers, LR_irq and SPSR before - returning. */ - POP {r0-r3, r12} + * returning. */ + POP {R0-R3, R12} CPS #IRQ_MODE POP {LR} MSR SPSR_cxsf, LR @@ -224,13 +361,13 @@ exit_without_switch: switch_before_exit: /* A context switch is to be performed. Clear the context switch pending - flag. */ - MOV r0, #0 - STR r0, [r1] + * flag. */ + MOV R0, #0 + STR R0, [R1] /* Restore used registers, LR-irq and SPSR before saving the context - to the task stack. */ - POP {r0-r3, r12} + * to the task stack. */ + POP {R0-R3, R12} CPS #IRQ_MODE POP {LR} MSR SPSR_cxsf, LR @@ -238,23 +375,15 @@ switch_before_exit: portSAVE_CONTEXT /* Call the function that selects the new task to execute. - vTaskSwitchContext() if vTaskSwitchContext() uses LDRD or STRD - instructions, or 8 byte aligned stack allocated data. LR does not need - saving as a new LR will be loaded by portRESTORE_CONTEXT anyway. */ - LDR R0, vTaskSwitchContextConst - BLX R0 + * vTaskSwitchContext() if vTaskSwitchContext() uses LDRD or STRD + * instructions, or 8 byte aligned stack allocated data. LR does not need + * saving as a new LR will be loaded by portRESTORE_CONTEXT anyway. */ + BLX vTaskSwitchContext /* Restore the context of, and branch to, the task selected to execute - next. */ + * next. */ portRESTORE_CONTEXT -ulICCEOIRConst: .word ulICCEOIR -pxCurrentTCBConst: .word pxCurrentTCB -ulCriticalNestingConst: .word ulCriticalNesting -ulPortTaskHasFPUContextConst: .word ulPortTaskHasFPUContext -vTaskSwitchContextConst: .word vTaskSwitchContext -vApplicationIRQHandlerConst: .word vApplicationIRQHandler -ulPortInterruptNestingConst: .word ulPortInterruptNesting -ulPortYieldRequiredConst: .word ulPortYieldRequired +/*-----------------------------------------------------------*/ .end diff --git a/portable/GCC/ARM_CRx_No_GIC/portmacro.h b/portable/GCC/ARM_CRx_No_GIC/portmacro.h index 5a9ae265e..b29bd9be1 100644 --- a/portable/GCC/ARM_CRx_No_GIC/portmacro.h +++ b/portable/GCC/ARM_CRx_No_GIC/portmacro.h @@ -59,7 +59,7 @@ typedef long BaseType_t; typedef unsigned long UBaseType_t; typedef uint32_t TickType_t; -#define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#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. */ @@ -88,47 +88,31 @@ typedef uint32_t TickType_t; } #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) -#define portYIELD() \ - __asm volatile ( "SWI 0 \n" \ - "ISB " ::: "memory" ); +void vPortYield( void ); -/*----------------------------------------------------------- -* Critical section control -*----------------------------------------------------------*/ +#define portYIELD() vPortYield(); + +/*-----------------------------------------------------------*/ + +/* + * Critical section management. + */ extern void vPortEnterCritical( void ); extern void vPortExitCritical( void ); -extern uint32_t ulPortSetInterruptMask( void ); -extern void vPortClearInterruptMask( uint32_t ulNewMaskValue ); -extern void vPortInstallFreeRTOSVectorTable( void ); - -/* The I bit within the CPSR. */ -#define portINTERRUPT_ENABLE_BIT ( 1 << 7 ) +extern void vPortEnableInterrupts( void ); +extern void vPortDisableInterrupts( void ); +extern uint32_t ulPortSetInterruptMaskFromISR( void ); /* In the absence of a priority mask register, these functions and macros * globally enable and disable interrupts. */ -#define portENTER_CRITICAL() vPortEnterCritical(); -#define portEXIT_CRITICAL() vPortExitCritical(); -#define portENABLE_INTERRUPTS() __asm volatile ( "CPSIE i \n" ::: "memory" ); -#define portDISABLE_INTERRUPTS() \ - __asm volatile ( "CPSID i \n" \ - "DSB \n" \ - "ISB " ::: "memory" ); - -__attribute__( ( always_inline ) ) static __inline uint32_t portINLINE_SET_INTERRUPT_MASK_FROM_ISR( void ) -{ - volatile uint32_t ulCPSR; - - __asm volatile ( "MRS %0, CPSR" : "=r" ( ulCPSR )::"memory" ); - - ulCPSR &= portINTERRUPT_ENABLE_BIT; - portDISABLE_INTERRUPTS(); - return ulCPSR; -} - -#define portSET_INTERRUPT_MASK_FROM_ISR() portINLINE_SET_INTERRUPT_MASK_FROM_ISR() -#define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) do { if( x == 0 ) portENABLE_INTERRUPTS( ); } while( 0 ) +#define portENTER_CRITICAL() vPortEnterCritical(); +#define portEXIT_CRITICAL() vPortExitCritical(); +#define portENABLE_INTERRUPTS() vPortEnableInterrupts(); +#define portDISABLE_INTERRUPTS() vPortDisableInterrupts(); +#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetInterruptMaskFromISR(); +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) do { if( x == 0 ) portENABLE_INTERRUPTS(); } while( 0 ) /*-----------------------------------------------------------*/ @@ -148,9 +132,27 @@ __attribute__( ( always_inline ) ) static __inline uint32_t portINLINE_SET_INTER * handler for whichever peripheral is used to generate the RTOS tick. */ void FreeRTOS_Tick_Handler( void ); -/* Any task that uses the floating point unit MUST call vPortTaskUsesFPU() - * before any floating point instructions are executed. */ -void vPortTaskUsesFPU( void ); +/** + * @brief Returns the number of leading zeros in a 32 bit variable. + * + * @param[in] ulBitmap 32-Bit number to count leading zeros in. + * + * @return The number of leading zeros in ulBitmap. + */ +UBaseType_t ulPortCountLeadingZeros( UBaseType_t ulBitmap ); + +/* If configUSE_TASK_FPU_SUPPORT is set to 1 (or left undefined) then tasks are + * created without an FPU context and must call vPortTaskUsesFPU() to give + * themselves an FPU context before using any FPU instructions. If + * configUSE_TASK_FPU_SUPPORT is set to 2 then all tasks will have an FPU + * context by default. */ +#if ( configUSE_TASK_FPU_SUPPORT != 2 ) + void vPortTaskUsesFPU( void ); +#else + /* Each task has an FPU context already, so define this function as a + * no-op. */ + #define vPortTaskUsesFPU() +#endif #define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU() #define portLOWEST_INTERRUPT_PRIORITY ( ( ( uint32_t ) configUNIQUE_INTERRUPT_PRIORITIES ) - 1UL ) @@ -163,19 +165,15 @@ void vPortTaskUsesFPU( void ); #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 -/* Store/clear the ready priorities in a bit map. */ + /* Store, clear and get 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 = ( 31UL - ( uint32_t ) __builtin_clz( uxReadyPriorities ) ) + #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ulPortCountLeadingZeros( ( uxTopReadyPriority ) ) ) #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ #define portNOP() __asm volatile ( "NOP" ) -#define portINLINE __inline - +#define portINLINE __inline #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" ) /* *INDENT-OFF* */ diff --git a/portable/IAR/ARM_CA9/port.c b/portable/IAR/ARM_CA9/port.c index b558099af..f26ae3790 100644 --- a/portable/IAR/ARM_CA9/port.c +++ b/portable/IAR/ARM_CA9/port.c @@ -427,7 +427,7 @@ uint32_t ulPortSetInterruptMask( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER >= ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) ); /* Priority grouping: The interrupt controller (GIC) allows the bits diff --git a/portable/IAR/ARM_CM0/port.c b/portable/IAR/ARM_CM0/port.c index 809b6c417..6f5ec0ad5 100644 --- a/portable/IAR/ARM_CM0/port.c +++ b/portable/IAR/ARM_CM0/port.c @@ -205,7 +205,7 @@ BaseType_t xPortStartScheduler( void ) * * Assertion failures here indicate incorrect installation of the * FreeRTOS handler. For help installing the FreeRTOS handler, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if diff --git a/portable/IAR/ARM_CM23/non_secure/port.c b/portable/IAR/ARM_CM23/non_secure/port.c index c9b596d12..75e9ea9dd 100644 --- a/portable/IAR/ARM_CM23/non_secure/port.c +++ b/portable/IAR/ARM_CM23/non_secure/port.c @@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/IAR/ARM_CM23_NTZ/non_secure/port.c b/portable/IAR/ARM_CM23_NTZ/non_secure/port.c index c9b596d12..75e9ea9dd 100644 --- a/portable/IAR/ARM_CM23_NTZ/non_secure/port.c +++ b/portable/IAR/ARM_CM23_NTZ/non_secure/port.c @@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/IAR/ARM_CM3/port.c b/portable/IAR/ARM_CM3/port.c index 5d0d5aab5..ef590cf95 100644 --- a/portable/IAR/ARM_CM3/port.c +++ b/portable/IAR/ARM_CM3/port.c @@ -246,7 +246,7 @@ BaseType_t xPortStartScheduler( void ) * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -709,7 +709,7 @@ __weak void vPortSetupTimerInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/IAR/ARM_CM33/non_secure/port.c b/portable/IAR/ARM_CM33/non_secure/port.c index c9b596d12..75e9ea9dd 100644 --- a/portable/IAR/ARM_CM33/non_secure/port.c +++ b/portable/IAR/ARM_CM33/non_secure/port.c @@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/IAR/ARM_CM33_NTZ/non_secure/port.c b/portable/IAR/ARM_CM33_NTZ/non_secure/port.c index c9b596d12..75e9ea9dd 100644 --- a/portable/IAR/ARM_CM33_NTZ/non_secure/port.c +++ b/portable/IAR/ARM_CM33_NTZ/non_secure/port.c @@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/IAR/ARM_CM35P/non_secure/port.c b/portable/IAR/ARM_CM35P/non_secure/port.c index c9b596d12..75e9ea9dd 100644 --- a/portable/IAR/ARM_CM35P/non_secure/port.c +++ b/portable/IAR/ARM_CM35P/non_secure/port.c @@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/IAR/ARM_CM35P_NTZ/non_secure/port.c b/portable/IAR/ARM_CM35P_NTZ/non_secure/port.c index c9b596d12..75e9ea9dd 100644 --- a/portable/IAR/ARM_CM35P_NTZ/non_secure/port.c +++ b/portable/IAR/ARM_CM35P_NTZ/non_secure/port.c @@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/IAR/ARM_CM4F/port.c b/portable/IAR/ARM_CM4F/port.c index a4e2193b2..b96329a05 100644 --- a/portable/IAR/ARM_CM4F/port.c +++ b/portable/IAR/ARM_CM4F/port.c @@ -284,7 +284,7 @@ BaseType_t xPortStartScheduler( void ) * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -753,7 +753,7 @@ __weak void vPortSetupTimerInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/IAR/ARM_CM4F_MPU/port.c b/portable/IAR/ARM_CM4F_MPU/port.c index da070c56a..66092df01 100644 --- a/portable/IAR/ARM_CM4F_MPU/port.c +++ b/portable/IAR/ARM_CM4F_MPU/port.c @@ -748,7 +748,7 @@ BaseType_t xPortStartScheduler( void ) * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -1336,7 +1336,7 @@ void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/IAR/ARM_CM55/non_secure/port.c b/portable/IAR/ARM_CM55/non_secure/port.c index c9b596d12..75e9ea9dd 100644 --- a/portable/IAR/ARM_CM55/non_secure/port.c +++ b/portable/IAR/ARM_CM55/non_secure/port.c @@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/IAR/ARM_CM55_NTZ/non_secure/port.c b/portable/IAR/ARM_CM55_NTZ/non_secure/port.c index c9b596d12..75e9ea9dd 100644 --- a/portable/IAR/ARM_CM55_NTZ/non_secure/port.c +++ b/portable/IAR/ARM_CM55_NTZ/non_secure/port.c @@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/IAR/ARM_CM7/r0p1/port.c b/portable/IAR/ARM_CM7/r0p1/port.c index 35a5b0b1b..723389633 100644 --- a/portable/IAR/ARM_CM7/r0p1/port.c +++ b/portable/IAR/ARM_CM7/r0p1/port.c @@ -272,7 +272,7 @@ BaseType_t xPortStartScheduler( void ) * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -741,7 +741,7 @@ __weak void vPortSetupTimerInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/IAR/ARM_CM85/non_secure/port.c b/portable/IAR/ARM_CM85/non_secure/port.c index c9b596d12..75e9ea9dd 100644 --- a/portable/IAR/ARM_CM85/non_secure/port.c +++ b/portable/IAR/ARM_CM85/non_secure/port.c @@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/IAR/ARM_CM85_NTZ/non_secure/port.c b/portable/IAR/ARM_CM85_NTZ/non_secure/port.c index c9b596d12..75e9ea9dd 100644 --- a/portable/IAR/ARM_CM85_NTZ/non_secure/port.c +++ b/portable/IAR/ARM_CM85_NTZ/non_secure/port.c @@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/MikroC/ARM_CM4F/port.c b/portable/MikroC/ARM_CM4F/port.c index dd5f35361..a167f8588 100644 --- a/portable/MikroC/ARM_CM4F/port.c +++ b/portable/MikroC/ARM_CM4F/port.c @@ -892,7 +892,7 @@ BaseType_t xPortIsInsideInterrupt( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/RVDS/ARM_CA9/port.c b/portable/RVDS/ARM_CA9/port.c index 88979f42a..c89232644 100644 --- a/portable/RVDS/ARM_CA9/port.c +++ b/portable/RVDS/ARM_CA9/port.c @@ -465,7 +465,7 @@ uint32_t ulPortSetInterruptMask( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER >= ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) ); /* Priority grouping: The interrupt controller (GIC) allows the bits diff --git a/portable/RVDS/ARM_CM3/port.c b/portable/RVDS/ARM_CM3/port.c index b75f00f29..725127193 100644 --- a/portable/RVDS/ARM_CM3/port.c +++ b/portable/RVDS/ARM_CM3/port.c @@ -770,7 +770,7 @@ __asm uint32_t vPortGetIPSR( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/RVDS/ARM_CM4F/port.c b/portable/RVDS/ARM_CM4F/port.c index dfbbf4e4d..8d21daffb 100644 --- a/portable/RVDS/ARM_CM4F/port.c +++ b/portable/RVDS/ARM_CM4F/port.c @@ -866,7 +866,7 @@ __asm uint32_t vPortGetIPSR( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/RVDS/ARM_CM4_MPU/port.c b/portable/RVDS/ARM_CM4_MPU/port.c index 87af70e3d..307ae6d02 100644 --- a/portable/RVDS/ARM_CM4_MPU/port.c +++ b/portable/RVDS/ARM_CM4_MPU/port.c @@ -852,7 +852,7 @@ BaseType_t xPortStartScheduler( void ) * * Assertion failures here indicate incorrect installation of the * FreeRTOS handlers. For help installing the FreeRTOS handlers, see - * https://www.FreeRTOS.org/FAQHelp.html. + * https://www.freertos.org/Why-FreeRTOS/FAQs. * * Systems with a configurable address for the interrupt vector table * can also encounter assertion failures or even system faults here if @@ -1602,7 +1602,7 @@ __asm uint32_t prvPortGetIPSR( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/RVDS/ARM_CM7/r0p1/port.c b/portable/RVDS/ARM_CM7/r0p1/port.c index 464ac2e81..33fa80266 100644 --- a/portable/RVDS/ARM_CM7/r0p1/port.c +++ b/portable/RVDS/ARM_CM7/r0p1/port.c @@ -852,7 +852,7 @@ __asm uint32_t vPortGetIPSR( void ) * * The following links provide detailed information: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html - * https://www.FreeRTOS.org/FAQHelp.html */ + * https://www.freertos.org/Why-FreeRTOS/FAQs */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } diff --git a/portable/ThirdParty/GCC/Posix/port.c b/portable/ThirdParty/GCC/Posix/port.c index 0b18da4df..94e80cc4d 100644 --- a/portable/ThirdParty/GCC/Posix/port.c +++ b/portable/ThirdParty/GCC/Posix/port.c @@ -264,7 +264,7 @@ BaseType_t xPortStartScheduler( void ) #else /* Linux PTHREAD library*/ hSigSetupThread = PTHREAD_ONCE_INIT; #endif /* __APPLE__*/ - + /* Restore original signal mask. */ ( void ) pthread_sigmask( SIG_SETMASK, &xSchedulerOriginalSignalMask, NULL ); @@ -382,7 +382,7 @@ static uint64_t prvGetTimeNs( void ) static void * prvTimerTickHandler( void * arg ) { ( void ) arg; - + prvPortSetCurrentThreadName("Scheduler timer"); while( xTimerTickThreadShouldRun ) @@ -420,36 +420,19 @@ static void vPortSystemTickHandler( int sig ) ( void ) sig; -/* uint64_t xExpectedTicks; */ - uxCriticalNesting++; /* Signals are blocked in this signal handler. */ - #if ( configUSE_PREEMPTION == 1 ) - pxThreadToSuspend = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() ); - #endif + pxThreadToSuspend = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() ); - /* Tick Increment, accounting for any lost signals or drift in - * the timer. */ - -/* - * Comment code to adjust timing according to full demo requirements - * xExpectedTicks = (prvGetTimeNs() - prvStartTimeNs) - * / (portTICK_RATE_MICROSECONDS * 1000); - * do { */ - xTaskIncrementTick(); - -/* prvTickCount++; - * } while (prvTickCount < xExpectedTicks); - */ - - #if ( configUSE_PREEMPTION == 1 ) + if( xTaskIncrementTick() != pdFALSE ) + { /* Select Next Task. */ vTaskSwitchContext(); pxThreadToResume = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() ); prvSwitchThread( pxThreadToResume, pxThreadToSuspend ); - #endif + } uxCriticalNesting--; } diff --git a/stream_buffer.c b/stream_buffer.c index aeca81a4a..b1f9c0d57 100644 --- a/stream_buffer.c +++ b/stream_buffer.c @@ -39,14 +39,6 @@ #include "task.h" #include "stream_buffer.h" -#if ( configUSE_TASK_NOTIFICATIONS != 1 ) - #error configUSE_TASK_NOTIFICATIONS must be set to 1 to build stream_buffer.c -#endif - -#if ( INCLUDE_xTaskGetCurrentTaskHandle != 1 ) - #error INCLUDE_xTaskGetCurrentTaskHandle must be set to 1 to build stream_buffer.c -#endif - /* The MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined * for the header files above, but not in this file, in order to generate the * correct privileged Vs unprivileged linkage and placement. */ @@ -58,6 +50,14 @@ * configUSE_STREAM_BUFFERS is set to 1 in FreeRTOSConfig.h. */ #if ( configUSE_STREAM_BUFFERS == 1 ) + #if ( configUSE_TASK_NOTIFICATIONS != 1 ) + #error configUSE_TASK_NOTIFICATIONS must be set to 1 to build stream_buffer.c + #endif + + #if ( INCLUDE_xTaskGetCurrentTaskHandle != 1 ) + #error INCLUDE_xTaskGetCurrentTaskHandle must be set to 1 to build stream_buffer.c + #endif + /* If the user has not provided application specific Rx notification macros, * or #defined the notification macros away, then provide default implementations * that uses task notifications. */ diff --git a/tasks.c b/tasks.c index c02cf7514..b2210a6e3 100644 --- a/tasks.c +++ b/tasks.c @@ -3868,9 +3868,30 @@ void vTaskSuspendAll( void ) #if ( configNUMBER_OF_CORES == 1 ) { /* A critical section is not required as the variable is of type - * BaseType_t. Please read Richard Barry's reply in the following link to a - * post in the FreeRTOS support forum before reporting this as a bug! - - * https://goo.gl/wu4acr */ + * BaseType_t. Each task maintains its own context, and a context switch + * cannot occur if the variable is non zero. So, as long as the writing + * from the register back into the memory is atomic, it is not a + * problem. + * + * Consider the following scenario, which starts with + * uxSchedulerSuspended at zero. + * + * 1. load uxSchedulerSuspended into register. + * 2. Now a context switch causes another task to run, and the other + * task uses the same variable. The other task will see the variable + * as zero because the variable has not yet been updated by the + * original task. Eventually the original task runs again. **That can + * only happen when uxSchedulerSuspended is once again zero**. When + * the original task runs again, the contents of the CPU registers + * are restored to exactly how they were when it was switched out - + * therefore the value it read into the register still matches the + * value of the uxSchedulerSuspended variable. + * + * 3. increment register. + * 4. store register into uxSchedulerSuspended. The value restored to + * uxSchedulerSuspended will be the correct value of 1, even though + * the variable was used by other tasks in the mean time. + */ /* portSOFTWARE_BARRIER() is only implemented for emulated/simulated ports that * do not otherwise exhibit real time behaviour. */ @@ -8096,6 +8117,22 @@ TickType_t uxTaskResetEventItemValue( void ) { listREMOVE_ITEM( &( pxTCB->xStateListItem ) ); prvAddTaskToReadyList( pxTCB ); + + #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 } else { @@ -8214,6 +8251,22 @@ TickType_t uxTaskResetEventItemValue( void ) { listREMOVE_ITEM( &( pxTCB->xStateListItem ) ); prvAddTaskToReadyList( pxTCB ); + + #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 } else { @@ -8657,7 +8710,7 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, #endif /* #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configKERNEL_PROVIDED_STATIC_MEMORY == 1 ) && ( portUSING_MPU_WRAPPERS == 0 ) ) */ /*-----------------------------------------------------------*/ -#if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configKERNEL_PROVIDED_STATIC_MEMORY == 1 ) && ( portUSING_MPU_WRAPPERS == 0 ) ) +#if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configKERNEL_PROVIDED_STATIC_MEMORY == 1 ) && ( portUSING_MPU_WRAPPERS == 0 ) && ( configUSE_TIMERS == 1 ) ) /* * This is the kernel provided implementation of vApplicationGetTimerTaskMemory() @@ -8678,7 +8731,7 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, *puxTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH; } -#endif /* #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configKERNEL_PROVIDED_STATIC_MEMORY == 1 ) && ( portUSING_MPU_WRAPPERS == 0 ) ) */ +#endif /* #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configKERNEL_PROVIDED_STATIC_MEMORY == 1 ) && ( portUSING_MPU_WRAPPERS == 0 ) && ( configUSE_TIMERS == 1 ) ) */ /*-----------------------------------------------------------*/ /*