Demo/ARM7_AT91FR40008_GCC/FreeRTOSConfig.h

@@ -0,0 +1,105 @@
+/*
+    FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.
+
+    ***************************************************************************
+    *                                                                         *
+    * If you are:                                                             *
+    *                                                                         *
+    *    + New to FreeRTOS,                                                   *
+    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
+    *    + Looking for basic training,                                        *
+    *    + Wanting to improve your FreeRTOS skills and productivity           *
+    *                                                                         *
+    * then take a look at the FreeRTOS eBook                                  *
+    *                                                                         *
+    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
+    *                  http://www.FreeRTOS.org/Documentation                  *
+    *                                                                         *
+    * A pdf reference manual is also available.  Both are usually delivered   *
+    * to your inbox within 20 minutes to two hours when purchased between 8am *
+    * and 8pm GMT (although please allow up to 24 hours in case of            *
+    * exceptional circumstances).  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 exception 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.
+*/
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+#include <AT91R40008.h>
+
+#define configFLASH_SPEED_NSEC	100       /* External flash access speed (for ROM builds) */
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+ * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. 
+ *
+ * See http://www.freertos.org/a00110.html.
+ */
+
+/*----------------------------------------------------------*/
+
+
+#define configUSE_PREEMPTION		1
+#define configUSE_IDLE_HOOK			0
+#define configUSE_TICK_HOOK			0
+#define configCPU_CLOCK_HZ			( ( unsigned long ) 66000000 ) /* = 66.000MHz clk gen */
+#define configTICK_RATE_HZ			( ( portTickType ) 1000 )
+#define configMAX_PRIORITIES		( ( unsigned portBASE_TYPE ) 5 )
+#define configMINIMAL_STACK_SIZE	( ( unsigned short ) 128 )
+#define configTOTAL_HEAP_SIZE		( ( size_t ) ( 25 * 1024 ) )
+#define configMAX_TASK_NAME_LEN		( 16 )
+#define configUSE_TRACE_FACILITY	0
+#define configUSE_16_BIT_TICKS		0
+#define configIDLE_SHOULD_YIELD		1
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES 		0
+#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
+
+/* Set the following definitions to 1 to include the API function, or zero
+to exclude the API function. */
+
+#define INCLUDE_vTaskPrioritySet		1
+#define INCLUDE_uxTaskPriorityGet		1
+#define INCLUDE_vTaskDelete				1
+#define INCLUDE_vTaskCleanUpResources	0
+#define INCLUDE_vTaskSuspend			1
+#define INCLUDE_vTaskDelayUntil			1
+#define INCLUDE_vTaskDelay				1
+
+
+#endif /* FREERTOS_CONFIG_H */

Demo/ARM7_AT91FR40008_GCC/Makefile

@@ -0,0 +1,125 @@
+#/*
+#    FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.
+#
+#    ***************************************************************************
+#    *                                                                         *
+#    * If you are:                                                             *
+#    *                                                                         *
+#    *    + New to FreeRTOS,                                                   *
+#    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
+#    *    + Looking for basic training,                                        *
+#    *    + Wanting to improve your FreeRTOS skills and productivity           *
+#    *                                                                         *
+#    * then take a look at the FreeRTOS eBook                                  *
+#    *                                                                         *
+#    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
+#    *                  http://www.FreeRTOS.org/Documentation                  *
+#    *                                                                         *
+#    * A pdf reference manual is also available.  Both are usually delivered   *
+#    * to your inbox within 20 minutes to two hours when purchased between 8am *
+#    * and 8pm GMT (although please allow up to 24 hours in case of            *
+#    * exceptional circumstances).  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 exception 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.
+#*/
+
+CC=arm-elf-gcc
+OBJCOPY=arm-elf-objcopy
+ARCH=arm-elf-ar
+CRT0=boot.s
+
+#
+# CFLAGS common to both the THUMB and ARM mode builds
+#
+CFLAGS=-Wall -Wextra -D $(RUN_MODE) -D GCC_AT91FR40008 -I. -I../../Source/include \
+		-I../Common/include $(DEBUG) -mcpu=arm7tdmi -T$(LDSCRIPT) \
+		-Wcast-align $(OPTIM) -fomit-frame-pointer -fno-strict-aliasing \
+		-fno-dwarf2-cfi-asm
+
+ifeq ($(USE_THUMB_MODE),YES)
+	CFLAGS += -mthumb-interwork -D THUMB_INTERWORK
+	THUMB_FLAGS=-mthumb
+endif
+
+
+LINKER_FLAGS=-Xlinker -ortosdemo.elf -Xlinker -M -Xlinker -Map=rtosdemo.map
+
+#
+# Source files that can be built to THUMB mode.
+#
+THUMB_SRC = \
+main.c \
+serial/serial.c \
+ParTest/ParTest.c \
+../Common/Minimal/integer.c \
+../Common/Minimal/flash.c \
+../Common/Minimal/PollQ.c \
+../Common/Minimal/comtest.c \
+../Common/Minimal/flop.c \
+../Common/Minimal/semtest.c \
+../Common/Minimal/dynamic.c \
+../Common/Minimal/BlockQ.c \
+../../Source/tasks.c \
+../../Source/queue.c \
+../../Source/list.c \
+../../Source/portable/MemMang/heap_2.c \
+../../Source/portable/GCC/ARM7_AT91FR40008/port.c
+
+#
+# Source files that must be built to ARM mode.
+#
+ARM_SRC = \
+../../Source/portable/GCC/ARM7_AT91FR40008/portISR.c \
+serial/serialISR.c
+
+#
+# Define all object files.
+#
+ARM_OBJ = $(ARM_SRC:.c=.o)
+THUMB_OBJ = $(THUMB_SRC:.c=.o)
+
+rtosdemo.hex : rtosdemo.elf
+	$(OBJCOPY) rtosdemo.elf -O ihex rtosdemo.hex
+
+rtosdemo.elf : $(ARM_OBJ) $(THUMB_OBJ) $(CRT0) Makefile
+	$(CC) $(CFLAGS) $(ARM_OBJ) $(THUMB_OBJ) -nostartfiles $(CRT0) $(LINKER_FLAGS)
+
+$(THUMB_OBJ) : %.o : %.c $(LDSCRIPT) Makefile
+	$(CC) -c $(THUMB_FLAGS) $(CFLAGS) $< -o $@
+
+$(ARM_OBJ) : %.o : %.c $(LDSCRIPT) Makefile
+	$(CC) -c $(CFLAGS) $< -o $@
+
+clean :
+	touch Makefile
+	rm $(ARM_OBJ)
+	rm $(THUMB_OBJ)
+

Demo/ARM7_AT91FR40008_GCC/ParTest/ParTest.c

@@ -0,0 +1,141 @@
+/*
+    FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.
+
+    ***************************************************************************
+    *                                                                         *
+    * If you are:                                                             *
+    *                                                                         *
+    *    + New to FreeRTOS,                                                   *
+    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
+    *    + Looking for basic training,                                        *
+    *    + Wanting to improve your FreeRTOS skills and productivity           *
+    *                                                                         *
+    * then take a look at the FreeRTOS eBook                                  *
+    *                                                                         *
+    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
+    *                  http://www.FreeRTOS.org/Documentation                  *
+    *                                                                         *
+    * A pdf reference manual is also available.  Both are usually delivered   *
+    * to your inbox within 20 minutes to two hours when purchased between 8am *
+    * and 8pm GMT (although please allow up to 24 hours in case of            *
+    * exceptional circumstances).  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 exception 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.
+*/
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "portable.h"
+
+/* Demo app includes. */
+#include "partest.h"
+
+/* Hardware specific definitions. */
+#include "AT91R40008.h"
+#include "pio.h"
+#include "aic.h"
+
+#define partstNUM_LEDS			( 8 )
+#define partstALL_OUTPUTS_OFF	( ( unsigned long ) ~(0xFFFFFFFF << partstNUM_LEDS) )
+
+static unsigned long ulLEDReg;
+
+/*-----------------------------------------------------------
+ * Simple parallel port IO routines.
+ *-----------------------------------------------------------*/
+
+static void SetLeds (unsigned int leds)
+{
+unsigned long ulPIOSetReg, ulPIOClearReg;
+
+	/* LEDs are grouped in different port bits: P3-P6 and P16-P19.
+	A port bit set to '0' turns an LED on, '1' turns it off. */
+
+	ulPIOSetReg = ( (leds & 0xF) << 16 ) | ( (leds & 0xF0) >> 1 );
+	ulPIOClearReg = (~ulPIOSetReg) & 0x000F0078;
+
+	AT91C_BASE_PIO->PIO_SODR = ulPIOSetReg;
+	AT91C_BASE_PIO->PIO_CODR = ulPIOClearReg;
+}
+/*-----------------------------------------------------------*/
+
+void vParTestInitialise( void )
+{
+	/* This is performed from main() as the io bits are shared with other setup
+	functions.  Ensure the outputs are off to start. */
+	ulLEDReg = partstALL_OUTPUTS_OFF;  
+
+	/* Enable clock to PIO... */
+	AT91C_BASE_PS->PS_PCER = AT91C_PS_PIO;
+
+	/* Enable all 8 LEDs and the four switches to be controlled by PIO... */
+	AT91C_BASE_PIO->PIO_PER = P3 | P4 | P5 | P6 | P16 | P17 | P18 | P19 | P1 | P2 | P9 | P12;
+
+	/* Configure all LED PIO lines for output... */
+	AT91C_BASE_PIO->PIO_OER = P3 | P4 | P5 | P6 | P16 | P17 | P18 | P19;
+
+	/* Configure all switch PIO lines for input... */
+	AT91C_BASE_PIO->PIO_ODR = P1 | P2 | P9 | P12;
+
+	/* Set initial state of LEDs. */
+	SetLeds( ulLEDReg );
+}
+/*-----------------------------------------------------------*/
+
+void vParTestSetLED( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue )
+{
+	/* Switch an LED on or off as requested. */
+	if (uxLED < partstNUM_LEDS)
+	{
+		if( xValue )
+		{
+			ulLEDReg &= ~(1 << uxLED);
+		}
+		else
+		{
+			ulLEDReg |= (1 << uxLED);
+		}
+
+		SetLeds( ulLEDReg );
+	}
+}
+/*-----------------------------------------------------------*/
+
+void vParTestToggleLED( unsigned portBASE_TYPE uxLED )
+{
+	/* Toggle the state of the requested LED. */
+	if (uxLED < partstNUM_LEDS)
+	{
+		ulLEDReg ^= ( 1 << uxLED );
+		SetLeds( ulLEDReg );
+	}
+}
+

Demo/ARM7_AT91FR40008_GCC/main.c

@@ -0,0 +1,493 @@
+/*
+    FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.
+
+    ***************************************************************************
+    *                                                                         *
+    * If you are:                                                             *
+    *                                                                         *
+    *    + New to FreeRTOS,                                                   *
+    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
+    *    + Looking for basic training,                                        *
+    *    + Wanting to improve your FreeRTOS skills and productivity           *
+    *                                                                         *
+    * then take a look at the FreeRTOS eBook                                  *
+    *                                                                         *
+    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
+    *                  http://www.FreeRTOS.org/Documentation                  *
+    *                                                                         *
+    * A pdf reference manual is also available.  Both are usually delivered   *
+    * to your inbox within 20 minutes to two hours when purchased between 8am *
+    * and 8pm GMT (although please allow up to 24 hours in case of            *
+    * exceptional circumstances).  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 exception 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.
+*/
+
+/* 
+	NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
+	The processor MUST be in supervisor mode when vTaskStartScheduler is 
+	called.  The demo applications included in the FreeRTOS.org download switch
+	to supervisor mode prior to main being called.  If you are not using one of
+	these demo application projects then ensure Supervisor mode is used.
+*/
+
+
+/*
+ * Creates all the demo application tasks, then starts the scheduler.  The WEB
+ * documentation provides more details of the demo application tasks.
+ * 
+ * Main.c also creates a task called "Check".  This only executes every three 
+ * seconds but has the highest priority so is guaranteed to get processor time.  
+ * Its main function is to check that all the other tasks are still operational.
+ * Each task (other than the "flash" tasks) maintains a unique count that is 
+ * incremented each time the task successfully completes its function.  Should 
+ * any error occur within such a task the count is permanently halted.  The 
+ * check task inspects the count of each task to ensure it has changed since
+ * the last time the check task executed.  If all the count variables have 
+ * changed all the tasks are still executing error free, and the check task
+ * toggles the onboard LED.  Should any task contain an error at any time 
+ * the LED toggle rate will change from 3 seconds to 500ms.
+ *
+ * To check the operation of the memory allocator the check task also 
+ * dynamically creates a task before delaying, and deletes it again when it 
+ * wakes.  If memory cannot be allocated for the new task the call to xTaskCreate
+ * will fail and an error is signalled.  The dynamically created task itself
+ * allocates and frees memory just to give the allocator a bit more exercise.
+ *
+ */
+
+/* Standard includes. */
+#include <stdlib.h>
+#include <string.h>
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Demo application includes. */
+#include "partest.h"
+#include "flash.h"
+#include "integer.h"
+#include "PollQ.h"
+#include "comtest2.h"
+#include "semtest.h"
+#include "flop.h"
+#include "dynamic.h"
+#include "BlockQ.h"
+#include "serial.h"
+
+/* Hardware specific definitions. */
+#include "aic.h"
+#include "ebi.h"
+
+/*-----------------------------------------------------------*/
+
+/* Constants for the ComTest tasks. */
+#define mainCOM_TEST_BAUD_RATE	( ( unsigned long ) 115200 )
+#define mainCOM_TEST_LED		( 5 )
+
+/* Priorities for the demo application tasks. */
+#define mainLED_TASK_PRIORITY		( tskIDLE_PRIORITY + 3 )
+#define mainCOM_TEST_PRIORITY		( tskIDLE_PRIORITY + 2 )
+#define mainQUEUE_POLL_PRIORITY		( tskIDLE_PRIORITY + 2 )
+#define mainCHECK_TASK_PRIORITY		( tskIDLE_PRIORITY + 4 )
+#define mainSEM_TEST_PRIORITY		( tskIDLE_PRIORITY + 1 )
+#define mainBLOCK_Q_PRIORITY		( tskIDLE_PRIORITY + 2 )
+
+/* The rate at which the on board LED will toggle when there is/is not an 
+error. */
+#define mainNO_ERROR_FLASH_PERIOD	( ( portTickType ) 3000 / portTICK_RATE_MS  )
+#define mainERROR_FLASH_PERIOD		( ( portTickType ) 500 / portTICK_RATE_MS  )
+#define mainON_BOARD_LED_BIT		( ( unsigned long ) 7 )
+
+/* Constants used by the vMemCheckTask() task. */
+#define mainCOUNT_INITIAL_VALUE		( ( unsigned long ) 0 )
+#define mainNO_TASK					( 0 )
+
+/* The size of the memory blocks allocated by the vMemCheckTask() task. */
+#define mainMEM_CHECK_SIZE_1		( ( size_t ) 51 )
+#define mainMEM_CHECK_SIZE_2		( ( size_t ) 52 )
+#define mainMEM_CHECK_SIZE_3		( ( size_t ) 151 )
+
+#define MAX_WAIT_STATES  8
+static const unsigned long ululCSRWaitValues[ MAX_WAIT_STATES + 1 ] =
+{
+	WaitState1,/* There is no "zero wait state" value, so use one wait state */
+	WaitState1,
+	WaitState2,
+	WaitState3,
+	WaitState4,
+	WaitState5,
+	WaitState6,
+	WaitState7,
+	WaitState8
+};
+/*-----------------------------------------------------------*/
+
+/*
+ * Checks that all the demo application tasks are still executing without error
+ * - as described at the top of the file.
+ */
+static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount );
+
+/*
+ * The task that executes at the highest priority and calls 
+ * prvCheckOtherTasksAreStillRunning().  See the description at the top
+ * of the file.
+ */
+static void vErrorChecks( void *pvParameters );
+
+/*
+ * Dynamically created and deleted during each cycle of the vErrorChecks()
+ * task.  This is done to check the operation of the memory allocator.
+ * See the top of vErrorChecks for more details.
+ */
+static void vMemCheckTask( void *pvParameters );
+
+/*
+ * Configure the processor for use with the Olimex demo board.  This includes
+ * setup for the I/O, system clock, and access timings.
+ */
+static void prvSetupHardware( void );
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Starts all the other tasks, then starts the scheduler. 
+ */
+int main( void )
+{
+	/* Setup the hardware for use with the Olimex demo board. */
+	prvSetupHardware();
+
+	/* Start the demo/test application tasks. */
+	vStartIntegerMathTasks( tskIDLE_PRIORITY );
+	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
+	vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
+	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
+	vStartMathTasks( tskIDLE_PRIORITY );
+	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
+	vStartDynamicPriorityTasks();	
+	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
+
+	/* Start the check task - which is defined in this file. */
+	xTaskCreate( vErrorChecks, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
+
+	/* Now all the tasks have been started - start the scheduler.
+
+	NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
+	The processor MUST be in supervisor mode when vTaskStartScheduler is 
+	called.  The demo applications included in the FreeRTOS.org download switch
+	to supervisor mode prior to main being called.  If you are not using one of
+	these demo application projects then ensure Supervisor mode is used here. */
+	vTaskStartScheduler();
+
+	/* Should never reach here! */
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+static void vErrorChecks( void *pvParameters )
+{
+portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
+unsigned long ulMemCheckTaskRunningCount;
+xTaskHandle xCreatedTask;
+
+	/* Just to stop compiler warnings. */
+	( void ) pvParameters;
+
+	/* Cycle for ever, delaying then checking all the other tasks are still
+	operating without error.  If an error is detected then the delay period
+	is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
+	the on board LED flash rate will increase. 
+	
+	In addition to the standard tests the memory allocator is tested through
+	the dynamic creation and deletion of a task each cycle.  Each time the 
+	task is created memory must be allocated for its stack.  When the task is
+	deleted this memory is returned to the heap.  If the task cannot be created 
+	then it is likely that the memory allocation failed. */
+
+	for( ;; )
+	{
+		/* Reset xCreatedTask.  This is modified by the task about to be 
+		created so we can tell if it is executing correctly or not. */
+		xCreatedTask = mainNO_TASK;
+
+		/* Dynamically create a task - passing ulMemCheckTaskRunningCount as a 
+		parameter. */
+		ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;		
+		if( xTaskCreate( vMemCheckTask, ( signed char * ) "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
+		{
+			/* Could not create the task - we have probably run out of heap. */
+			xDelayPeriod = mainERROR_FLASH_PERIOD;
+		}
+
+		/* Delay until it is time to execute again. */
+		vTaskDelay( xDelayPeriod );
+
+		/* Delete the dynamically created task. */
+		if( xCreatedTask != mainNO_TASK )
+		{
+			vTaskDelete( xCreatedTask );
+		}
+
+		/* Check all the standard demo application tasks are executing without 
+		error.  ulMemCheckTaskRunningCount is checked to ensure it was
+		modified by the task just deleted. */
+		if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
+		{
+			/* An error has been detected in one of the tasks - flash faster. */
+			xDelayPeriod = mainERROR_FLASH_PERIOD;
+		}
+
+		/* The toggle rate of the LED depends on how long this task delays for.
+		An error reduces the delay period and so increases the toggle rate. */
+		vParTestToggleLED( mainON_BOARD_LED_BIT );
+	}
+}
+/*-----------------------------------------------------------*/
+
+static void prvSetupHardware( void )
+{
+long lCount;
+
+	#ifdef RUN_FROM_ROM
+	{
+	portFLOAT nsecsPerClockTick;
+	long lNumWaitStates;
+	unsigned long ulCSRWaitValue;
+
+		/* We are compiling to run from ROM (either on-chip or off-chip flash).
+		Leave the RAM/flash mapped the way they are on reset
+		(flash @ 0x00000000, RAM @ 0x00300000), and set up the
+		proper flash wait states (starts out at the maximum number
+		of wait states on reset, so we should be able to reduce it).
+		Most of this code will probably get removed by the compiler
+		if optimization is enabled, since these calculations are
+		based on constants.  But the compiler should still produce
+		a correct wait state register value. */
+		nsecsPerClockTick = ( portFLOAT ) 1000000000 / configCPU_CLOCK_HZ;
+		lNumWaitStates = ( long )( ( configFLASH_SPEED_NSEC / nsecsPerClockTick ) + 0.5 ) - 1;
+
+		if( lNumWaitStates < 0 )
+		{
+			lNumWaitStates = 0;
+		}
+
+		if( lNumWaitStates > MAX_WAIT_STATES )
+		{
+			lNumWaitStates = MAX_WAIT_STATES;
+		}
+
+		ulCSRWaitValue = ululCSRWaitValues[ lNumWaitStates ];
+		ulCSRWaitValue = WaitState5;
+
+		AT91C_BASE_EBI->EBI_CSR[ 0 ] = ulCSRWaitValue | DataBus16 | WaitStateEnable
+									   | PageSize1M | tDF_0cycle 
+									   | ByteWriteAccessType | CSEnable
+									   | 0x00000000 /* Base Address */;
+	}
+	#else  /* else we are compiling to run from on-chip RAM */
+	{
+		/* If compiling to run from RAM, we expect the on-chip RAM to already
+		be mapped at 0x00000000.  This is typically done with an initialization
+		script for the JTAG emulator you are using to download and run the
+		demo application. So there is nothing to do here in this case. */
+	}
+	#endif
+
+	/* Disable all interrupts at the AIC level initially... */
+	AT91C_BASE_AIC->AIC_IDCR = 0xFFFFFFFF;
+
+	/* Set all SVR and SMR entries to default values (start with a clean slate)... */
+	for( lCount = 0; lCount < 32; lCount++ )
+	{
+		AT91C_BASE_AIC->AIC_SVR[ lCount ] = (unsigned long) 0;
+		AT91C_BASE_AIC->AIC_SMR[ lCount ] = AIC_SRCTYPE_INT_EDGE_TRIGGERED;
+	}
+
+	/* Disable clocks to all peripherals initially... */
+	AT91C_BASE_PS->PS_PCDR = 0xFFFFFFFF;
+
+	/* Clear all interrupts at the AIC level initially... */
+	AT91C_BASE_AIC->AIC_ICCR = 0xFFFFFFFF;
+
+	/* Perform 8 "End Of Interrupt" cmds to make sure AIC will not Lock out 
+	nIRQ */
+	for( lCount = 0; lCount < 8; lCount++ )
+	{
+		AT91C_BASE_AIC->AIC_EOICR = 0;
+	}
+
+	/* Initialise LED outputs. */
+	vParTestInitialise();
+}
+/*-----------------------------------------------------------*/
+
+static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount )
+{
+long lReturn = ( long ) pdPASS;
+
+	/* Check all the demo tasks (other than the flash tasks) to ensure
+	that they are all still running, and that none of them have detected
+	an error. */
+
+	if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
+	{
+		lReturn = ( long ) pdFAIL;
+	}
+
+	if( xAreComTestTasksStillRunning() != pdTRUE )
+	{
+		lReturn = ( long ) pdFAIL;
+	}
+
+	if( xArePollingQueuesStillRunning() != pdTRUE )
+	{
+		lReturn = ( long ) pdFAIL;
+	}
+
+	if( xAreMathsTaskStillRunning() != pdTRUE )
+	{
+		lReturn = ( long ) pdFAIL;
+	}
+
+	if( xAreSemaphoreTasksStillRunning() != pdTRUE )
+	{
+		lReturn = ( long ) pdFAIL;
+	}
+
+	if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
+	{
+		lReturn = ( long ) pdFAIL;
+	}
+
+	if( xAreBlockingQueuesStillRunning() != pdTRUE )
+	{
+		lReturn = ( long ) pdFAIL;
+	}
+
+	if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
+	{
+		/* The vMemCheckTask did not increment the counter - it must
+		have failed. */
+		lReturn = ( long ) pdFAIL;
+	}
+
+	return lReturn;
+}
+/*-----------------------------------------------------------*/
+
+static void vMemCheckTask( void *pvParameters )
+{
+unsigned long *pulMemCheckTaskRunningCounter;
+void *pvMem1, *pvMem2, *pvMem3;
+static long lErrorOccurred = pdFALSE;
+
+	/* This task is dynamically created then deleted during each cycle of the
+	vErrorChecks task to check the operation of the memory allocator.  Each time
+	the task is created memory is allocated for the stack and TCB.  Each time
+	the task is deleted this memory is returned to the heap.  This task itself
+	exercises the allocator by allocating and freeing blocks. 
+	
+	The task executes at the idle priority so does not require a delay. 
+	
+	pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
+	vErrorChecks() task that this task is still executing without error. */
+
+	pulMemCheckTaskRunningCounter = ( unsigned long * ) pvParameters;
+
+	for( ;; )
+	{
+		if( lErrorOccurred == pdFALSE )
+		{
+			/* We have never seen an error so increment the counter. */
+			( *pulMemCheckTaskRunningCounter )++;
+		}
+		else
+		{
+			/* There has been an error so reset the counter so the check task 
+			can tell that an error occurred. */
+			*pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;
+		}
+
+		/* Allocate some memory - just to give the allocator some extra 
+		exercise.  This has to be in a critical section to ensure the
+		task does not get deleted while it has memory allocated. */
+		vTaskSuspendAll();
+		{
+			pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
+			if( pvMem1 == NULL )
+			{
+				lErrorOccurred = pdTRUE;
+			}
+			else
+			{
+				memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
+				vPortFree( pvMem1 );
+			}
+		}
+		xTaskResumeAll();
+
+		/* Again - with a different size block. */
+		vTaskSuspendAll();
+		{
+			pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
+			if( pvMem2 == NULL )
+			{
+				lErrorOccurred = pdTRUE;
+			}
+			else
+			{
+				memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
+				vPortFree( pvMem2 );
+			}
+		}
+		xTaskResumeAll();
+
+		/* Again - with a different size block. */
+		vTaskSuspendAll();
+		{
+			pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
+			if( pvMem3 == NULL )
+			{
+				lErrorOccurred = pdTRUE;
+			}
+			else
+			{
+				memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
+				vPortFree( pvMem3 );
+			}
+		}
+		xTaskResumeAll();
+	}
+}
+

Demo/ARM7_AT91FR40008_GCC/serial/serial.c

@@ -0,0 +1,253 @@
+/*
+    FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.
+
+    ***************************************************************************
+    *                                                                         *
+    * If you are:                                                             *
+    *                                                                         *
+    *    + New to FreeRTOS,                                                   *
+    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
+    *    + Looking for basic training,                                        *
+    *    + Wanting to improve your FreeRTOS skills and productivity           *
+    *                                                                         *
+    * then take a look at the FreeRTOS eBook                                  *
+    *                                                                         *
+    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
+    *                  http://www.FreeRTOS.org/Documentation                  *
+    *                                                                         *
+    * A pdf reference manual is also available.  Both are usually delivered   *
+    * to your inbox within 20 minutes to two hours when purchased between 8am *
+    * and 8pm GMT (although please allow up to 24 hours in case of            *
+    * exceptional circumstances).  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 exception 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.
+*/
+
+/* 
+	BASIC INTERRUPT DRIVEN SERIAL PORT DRIVER FOR USART0. 
+
+	This file contains all the serial port components that can be compiled to
+	either ARM or THUMB mode.  Components that must be compiled to ARM mode are
+	contained in serialISR.c.
+*/
+
+/* Standard includes. */
+#include <stdlib.h>
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "queue.h"
+#include "task.h"
+
+/* Demo application includes. */
+#include "serial.h"
+#include "AT91R40008.h"
+#include "usart.h"
+#include "pio.h"
+#include "aic.h"
+
+/*-----------------------------------------------------------*/
+
+/* Constants to setup and access the UART. */
+#define portUSART0_AIC_CHANNEL	( ( unsigned long ) 2 )
+
+#define serINVALID_QUEUE		( ( xQueueHandle ) 0 )
+#define serHANDLE				( ( xComPortHandle ) 1 )
+#define serNO_BLOCK				( ( portTickType ) 0 )
+
+/*-----------------------------------------------------------*/
+
+/* Queues used to hold received characters, and characters waiting to be
+transmitted. */
+static xQueueHandle xRxedChars; 
+static xQueueHandle xCharsForTx; 
+
+/*-----------------------------------------------------------*/
+
+/* 
+ * The queues are created in serialISR.c as they are used from the ISR.
+ * Obtain references to the queues and THRE Empty flag. 
+ */
+extern void vSerialISRCreateQueues(  unsigned portBASE_TYPE uxQueueLength, xQueueHandle *pxRxedChars, xQueueHandle *pxCharsForTx );
+
+/*-----------------------------------------------------------*/
+
+xComPortHandle xSerialPortInitMinimal( unsigned long ulWantedBaud, unsigned portBASE_TYPE uxQueueLength )
+{
+unsigned long ulSpeed;
+unsigned long ulCD;
+xComPortHandle xReturn = serHANDLE;
+extern void ( vUART_ISR_Wrapper )( void );
+
+	/* The queues are used in the serial ISR routine, so are created from
+	serialISR.c (which is always compiled to ARM mode. */
+	vSerialISRCreateQueues( uxQueueLength, &xRxedChars, &xCharsForTx );
+
+	if( 
+		( xRxedChars != serINVALID_QUEUE ) && 
+		( xCharsForTx != serINVALID_QUEUE ) && 
+		( ulWantedBaud != ( unsigned long ) 0 ) 
+	  )
+	{
+		portENTER_CRITICAL();
+		{
+			/* Enable clock to USART0... */
+			AT91C_BASE_PS->PS_PCER = AT91C_PS_US0;
+
+			/* Disable all USART0 interrupt sources to begin... */
+			AT91C_BASE_US0->US_IDR = 0xFFFFFFFF;
+
+			/* Reset various status bits (just in case)... */
+			AT91C_BASE_US0->US_CR = US_RSTSTA;
+
+			AT91C_BASE_PIO->PIO_PDR = TXD0 | RXD0;  /* Enable RXD and TXD pins */
+			AT91C_BASE_US0->US_CR = US_RSTRX | US_RSTTX | US_RXDIS | US_TXDIS;
+
+			/* Clear Transmit and Receive Counters */
+			AT91C_BASE_US0->US_RCR = 0;
+			AT91C_BASE_US0->US_TCR = 0;
+
+			/* Input clock to baud rate generator is MCK */
+			ulSpeed = configCPU_CLOCK_HZ * 10;  
+			ulSpeed = ulSpeed / 16;
+			ulSpeed = ulSpeed / ulWantedBaud;
+			
+			/* compute the error */
+			ulCD  = ulSpeed / 10;
+			if ((ulSpeed - (ulCD * 10)) >= 5)
+			ulCD++;
+
+			/* Define the baud rate divisor register */
+			AT91C_BASE_US0->US_BRGR = ulCD;
+
+			/* Define the USART mode */
+			AT91C_BASE_US0->US_MR = US_CLKS_MCK | US_CHRL_8 | US_PAR_NO | US_NBSTOP_1 | US_CHMODE_NORMAL;
+
+			/* Write the Timeguard Register */
+			AT91C_BASE_US0->US_TTGR = 0;
+
+			/* Setup the interrupt for USART0.
+
+			Store interrupt handler function address in USART0 vector register... */
+			AT91C_BASE_AIC->AIC_SVR[ portUSART0_AIC_CHANNEL ] = (unsigned long)vUART_ISR_Wrapper;
+			
+			/* USART0 interrupt level-sensitive, priority 1... */
+			AT91C_BASE_AIC->AIC_SMR[ portUSART0_AIC_CHANNEL ] = AIC_SRCTYPE_INT_LEVEL_SENSITIVE | 1;
+			
+			/* Clear some pending USART0 interrupts (just in case)... */
+			AT91C_BASE_US0->US_CR = US_RSTSTA;
+
+			/* Enable USART0 interrupt sources (but not Tx for now)... */
+			AT91C_BASE_US0->US_IER = US_RXRDY;
+
+			/* Enable USART0 interrupts in the AIC... */
+			AT91C_BASE_AIC->AIC_IECR = ( 1 << portUSART0_AIC_CHANNEL );
+
+			/* Enable receiver and transmitter... */
+			AT91C_BASE_US0->US_CR = US_RXEN | US_TXEN;
+		}
+		portEXIT_CRITICAL();
+	}
+	else
+	{
+		xReturn = ( xComPortHandle ) 0;
+	}
+
+	return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+signed portBASE_TYPE xSerialGetChar( xComPortHandle pxPort, signed char *pcRxedChar, portTickType xBlockTime )
+{
+	/* The port handle is not required as this driver only supports UART0. */
+	( void ) pxPort;
+
+	/* Get the next character from the buffer.  Return false if no characters
+	are available, or arrive before xBlockTime expires. */
+	if( xQueueReceive( xRxedChars, pcRxedChar, xBlockTime ) )
+	{
+		return pdTRUE;
+	}
+	else
+	{
+		return pdFALSE;
+	}
+}
+/*-----------------------------------------------------------*/
+
+void vSerialPutString( xComPortHandle pxPort, const signed char * const pcString, unsigned short usStringLength )
+{
+signed char *pxNext;
+
+	/* NOTE: This implementation does not handle the queue being full as no
+	block time is used! */
+
+	/* The port handle is not required as this driver only supports UART0. */
+	( void ) pxPort;
+	( void ) usStringLength;
+
+	/* Send each character in the string, one at a time. */
+	pxNext = ( signed char * ) pcString;
+	while( *pxNext )
+	{
+		xSerialPutChar( pxPort, *pxNext, serNO_BLOCK );
+		pxNext++;
+	}
+}
+/*-----------------------------------------------------------*/
+
+signed portBASE_TYPE xSerialPutChar( xComPortHandle pxPort, signed char cOutChar, portTickType xBlockTime )
+{
+	( void ) pxPort;
+
+	/* Place the character in the queue of characters to be transmitted. */
+	if( xQueueSend( xCharsForTx, &cOutChar, xBlockTime ) != pdPASS )
+	{
+		return pdFAIL;
+	}
+
+	/* Turn on the Tx interrupt so the ISR will remove the character from the
+	queue and send it.   This does not need to be in a critical section as
+	if the interrupt has already removed the character the next interrupt
+	will simply turn off the Tx interrupt again. */
+	AT91C_BASE_US0->US_IER = US_TXRDY;
+
+	return pdPASS;
+}
+/*-----------------------------------------------------------*/
+
+void vSerialClose( xComPortHandle xPort )
+{
+	/* Not supported as not required by the demo application. */
+	( void ) xPort;
+}
+/*-----------------------------------------------------------*/
+

Demo/ARM7_AT91FR40008_GCC/serial/serialISR.c

@@ -0,0 +1,180 @@
+/*
+    FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.
+
+    ***************************************************************************
+    *                                                                         *
+    * If you are:                                                             *
+    *                                                                         *
+    *    + New to FreeRTOS,                                                   *
+    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
+    *    + Looking for basic training,                                        *
+    *    + Wanting to improve your FreeRTOS skills and productivity           *
+    *                                                                         *
+    * then take a look at the FreeRTOS eBook                                  *
+    *                                                                         *
+    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
+    *                  http://www.FreeRTOS.org/Documentation                  *
+    *                                                                         *
+    * A pdf reference manual is also available.  Both are usually delivered   *
+    * to your inbox within 20 minutes to two hours when purchased between 8am *
+    * and 8pm GMT (although please allow up to 24 hours in case of            *
+    * exceptional circumstances).  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 exception 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.
+*/
+
+
+/* 
+  BASIC INTERRUPT DRIVEN SERIAL PORT DRIVER FOR USART0. 
+
+  This file contains all the serial port components that must be compiled
+  to ARM mode.  The components that can be compiled to either ARM or THUMB
+  mode are contained in serial.c.
+
+*/
+
+/* Standard includes. */
+#include <stdlib.h>
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "queue.h"
+#include "task.h"
+
+/* Demo application includes. */
+#include "serial.h"
+#include "AT91R40008.h"
+#include "usart.h"
+
+/*-----------------------------------------------------------*/
+
+/* Constant to access the AIC. */
+#define serCLEAR_AIC_INTERRUPT      ( ( unsigned long ) 0 )
+
+/* Constants to determine the ISR source. */
+#define serSOURCE_THRE				( ( unsigned char ) 0x02 )
+#define serSOURCE_RX_TIMEOUT		( ( unsigned char ) 0x0c )
+#define serSOURCE_ERROR				( ( unsigned char ) 0x06 )
+#define serSOURCE_RX				( ( unsigned char ) 0x04 )
+#define serINTERRUPT_SOURCE_MASK    ( ( unsigned long ) (US_RXRDY | US_TXRDY | US_RXBRK | US_OVRE | US_FRAME | US_PARE) )
+
+/* Queues used to hold received characters, and characters waiting to be
+transmitted. */
+static xQueueHandle xRxedChars; 
+static xQueueHandle xCharsForTx; 
+
+/*-----------------------------------------------------------*/
+
+/* UART0 interrupt service routine.  This can cause a context switch so MUST
+be declared "naked". */
+void vUART_ISR_Wrapper( void ) __attribute__ ((naked));
+
+/* The ISR function that actually performs the work.  This must be separate 
+from the wrapper to ensure the correct stack frame is set up. */
+void vUART_ISR_Handler( void ) __attribute__ ((noinline));
+
+/*-----------------------------------------------------------*/
+void vSerialISRCreateQueues( unsigned portBASE_TYPE uxQueueLength, xQueueHandle *pxRxedChars, xQueueHandle *pxCharsForTx )
+{
+	/* Create the queues used to hold Rx and Tx characters. */
+	xRxedChars = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( signed char ) );
+	xCharsForTx = xQueueCreate( uxQueueLength + 1, ( unsigned portBASE_TYPE ) sizeof( signed char ) );
+
+	/* Pass back a reference to the queues so the serial API file can 
+	post/receive characters. */
+	*pxRxedChars = xRxedChars;
+	*pxCharsForTx = xCharsForTx;
+}
+/*-----------------------------------------------------------*/
+
+void vUART_ISR_Wrapper( void )
+{
+	/* Save the context of the interrupted task. */
+	portSAVE_CONTEXT();
+
+	/* Call the handler.  This must be a separate function to ensure the 
+	stack frame is correctly set up. */
+	__asm volatile( "bl vUART_ISR_Handler" );
+
+	/* Restore the context of whichever task will run next. */
+	portRESTORE_CONTEXT();
+}
+/*-----------------------------------------------------------*/
+
+void vUART_ISR_Handler( void )
+{
+/* Now we can declare the local variables.   These must be static. */
+signed char cChar;
+portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+unsigned long ulStatus;
+
+	/* What caused the interrupt? */
+	ulStatus = AT91C_BASE_US0->US_CSR & AT91C_BASE_US0->US_IMR;
+
+	if (ulStatus & US_TXRDY)
+	{
+		/* The interrupt was caused by the THR becoming empty.  Are there any
+		more characters to transmit? */
+		if( xQueueReceiveFromISR( xCharsForTx, &cChar, &xHigherPriorityTaskWoken ) == pdTRUE )
+		{
+			/* A character was retrieved from the queue so can be sent to the
+			THR now. */
+			AT91C_BASE_US0->US_THR = cChar;
+		}
+		else
+		{
+			/* Queue empty, nothing to send so turn off the Tx interrupt. */
+			AT91C_BASE_US0->US_IDR = US_TXRDY;
+		}    
+	}
+
+	if (ulStatus & US_RXRDY)
+	{
+		/* The interrupt was caused by the receiver getting data. */
+		cChar = AT91C_BASE_US0->US_RHR;
+
+		xQueueSendFromISR(xRxedChars, &cChar, &xHigherPriorityTaskWoken);
+	}
+
+	/* Acknowledge the interrupt at AIC level... */
+	AT91C_BASE_AIC->AIC_EOICR = serCLEAR_AIC_INTERRUPT;
+
+	/* If an event caused a task to unblock then we call "Yield from ISR" to
+	ensure that the unblocked task is the task that executes when the interrupt
+	completes if the unblocked task has a priority higher than the interrupted
+	task. */
+	if( xHigherPriorityTaskWoken )
+	{
+		portYIELD_FROM_ISR();
+	}
+}
+/*-----------------------------------------------------------*/
+

Demo/ARM7_AT91SAM7S64_IAR/FreeRTOSConfig.h

@@ -0,0 +1,101 @@
+/*
+    FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.
+
+    ***************************************************************************
+    *                                                                         *
+    * If you are:                                                             *
+    *                                                                         *
+    *    + New to FreeRTOS,                                                   *
+    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
+    *    + Looking for basic training,                                        *
+    *    + Wanting to improve your FreeRTOS skills and productivity           *
+    *                                                                         *
+    * then take a look at the FreeRTOS eBook                                  *
+    *                                                                         *
+    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
+    *                  http://www.FreeRTOS.org/Documentation                  *
+    *                                                                         *
+    * A pdf reference manual is also available.  Both are usually delivered   *
+    * to your inbox within 20 minutes to two hours when purchased between 8am *
+    * and 8pm GMT (although please allow up to 24 hours in case of            *
+    * exceptional circumstances).  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 exception 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.
+*/
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+#include <intrinsics.h>
+#include "Board.h"
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+ * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. 
+ *
+ * See http://www.freertos.org/a00110.html.
+ -----------------------------------------------------------*/
+
+#define configUSE_PREEMPTION		1
+#define configUSE_IDLE_HOOK			0
+#define configUSE_TICK_HOOK			0
+#define configCPU_CLOCK_HZ			( ( unsigned long ) 47923200 )
+#define configTICK_RATE_HZ			( ( portTickType ) 1000 )
+#define configMAX_PRIORITIES		( ( unsigned portBASE_TYPE ) 5 )
+#define configMINIMAL_STACK_SIZE	( ( unsigned short ) 100 )
+#define configTOTAL_HEAP_SIZE		( ( size_t ) 14200 )
+#define configMAX_TASK_NAME_LEN		( 16 )
+#define configUSE_TRACE_FACILITY	0
+#define configUSE_16_BIT_TICKS		0
+#define configIDLE_SHOULD_YIELD		1
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES 		0
+#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
+
+/* Set the following definitions to 1 to include the API function, or zero
+to exclude the API function. */
+
+#define INCLUDE_vTaskPrioritySet		1
+#define INCLUDE_uxTaskPriorityGet		1
+#define INCLUDE_vTaskDelete				0
+#define INCLUDE_vTaskCleanUpResources	0
+#define INCLUDE_vTaskSuspend			1
+#define INCLUDE_vTaskDelayUntil			1
+#define INCLUDE_vTaskDelay				1
+
+
+#endif /* FREERTOS_CONFIG_H */

Demo/ARM7_AT91SAM7S64_IAR/ParTest/ParTest.c

@@ -0,0 +1,102 @@
+/*
+    FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.
+
+    ***************************************************************************
+    *                                                                         *
+    * If you are:                                                             *
+    *                                                                         *
+    *    + New to FreeRTOS,                                                   *
+    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
+    *    + Looking for basic training,                                        *
+    *    + Wanting to improve your FreeRTOS skills and productivity           *
+    *                                                                         *
+    * then take a look at the FreeRTOS eBook                                  *
+    *                                                                         *
+    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
+    *                  http://www.FreeRTOS.org/Documentation                  *
+    *                                                                         *
+    * A pdf reference manual is also available.  Both are usually delivered   *
+    * to your inbox within 20 minutes to two hours when purchased between 8am *
+    * and 8pm GMT (although please allow up to 24 hours in case of            *
+    * exceptional circumstances).  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 exception 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.
+*/
+
+#include "FreeRTOS.h"
+#include "partest.h"
+#include "board.h"
+
+/*-----------------------------------------------------------
+ * Simple parallel port IO routines for the LED's.
+ *-----------------------------------------------------------*/
+
+const unsigned long led_mask[ NB_LED ]= { LED1, LED2, LED3, LED4 };
+
+void vParTestInitialise( void )
+{	
+	/* Start with all LED's off. */
+	AT91F_PIO_SetOutput( AT91C_BASE_PIOA, LED_MASK );	
+}
+/*-----------------------------------------------------------*/
+
+void vParTestSetLED( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue )
+{
+	if( uxLED < ( portBASE_TYPE ) NB_LED )
+	{
+		if( xValue )
+		{
+			AT91F_PIO_SetOutput( AT91C_BASE_PIOA, led_mask[ uxLED ] );
+		}
+		else
+		{
+			AT91F_PIO_ClearOutput( AT91C_BASE_PIOA, led_mask[ uxLED ]);
+		}
+	}
+}
+/*-----------------------------------------------------------*/
+
+void vParTestToggleLED( unsigned portBASE_TYPE uxLED )
+{
+	if( uxLED < ( portBASE_TYPE ) NB_LED )
+	{
+		if( AT91F_PIO_GetInput( AT91C_BASE_PIOA ) & led_mask[ uxLED ] )
+		{
+			AT91F_PIO_ClearOutput( AT91C_BASE_PIOA, led_mask[ uxLED ]);
+		}
+		else
+		{
+			AT91F_PIO_SetOutput( AT91C_BASE_PIOA, led_mask[ uxLED ] );					
+		}
+	}
+}
+
+

Demo/ARM7_AT91SAM7S64_IAR/SrcIAR/Board.h

@@ -0,0 +1,89 @@
+/*----------------------------------------------------------------------------
+*         ATMEL Microcontroller Software Support  -  ROUSSET  -
+*----------------------------------------------------------------------------
+* The software is delivered "AS IS" without warranty or condition of any
+* kind, either express, implied or statutory. This includes without
+* limitation any warranty or condition with respect to merchantability or
+* fitness for any particular purpose, or against the infringements of
+* intellectual property rights of others.
+*----------------------------------------------------------------------------
+* File Name           : Board.h
+* Object              : AT91SAM7S Evaluation Board Features Definition File.
+*
+* Creation            : JPP   16/Jun/2004
+*----------------------------------------------------------------------------
+*/
+#ifndef Board_h
+#define Board_h
+
+#include "AT91SAM7S64.h"
+#define __inline inline
+#include "lib_AT91SAM7S64.h"
+
+#define true	-1
+#define false	0
+
+/*-------------------------------*/
+/* SAM7Board Memories Definition */
+/*-------------------------------*/
+// The AT91SAM7S64 embeds a 16-Kbyte SRAM bank, and 64 K-Byte Flash
+
+#define  INT_SARM           0x00200000
+#define  INT_SARM_REMAP	    0x00000000
+
+#define  INT_FLASH          0x00000000
+#define  INT_FLASH_REMAP    0x01000000
+
+#define  FLASH_PAGE_NB		512
+#define  FLASH_PAGE_SIZE	128
+
+/*-----------------*/
+/* Leds Definition */
+/*-----------------*/
+/*                                 PIO   Flash    PA    PB   PIN */
+#define LED1            (1<<0)	/* PA0 / PGMEN0 & PWM0 TIOA0  48 */
+#define LED2            (1<<1)	/* PA1 / PGMEN1 & PWM1 TIOB0  47 */
+#define LED3            (1<<2)	/* PA2          & PWM2 SCK0   44 */
+#define LED4            (1<<3)	/* PA3          & TWD  NPCS3  43 */
+#define NB_LED			4
+
+#define LED_MASK        (LED1|LED2|LED3|LED4)
+
+/*-------------------------*/
+/* Push Buttons Definition */
+/*-------------------------*/
+/*                                 PIO    Flash    PA    PB   PIN */
+#define SW1_MASK        (1<<19)	/* PA19 / PGMD7  & RK   FIQ     13 */
+#define SW2_MASK        (1<<20)	/* PA20 / PGMD8  & RF   IRQ0    16 */
+#define SW3_MASK        (1<<15)	/* PA15 / PGM3   & TF   TIOA1   20 */
+#define SW4_MASK        (1<<14)	/* PA14 / PGMD2  & SPCK PWM3    21 */
+#define SW_MASK         (SW1_MASK|SW2_MASK|SW3_MASK|SW4_MASK)
+
+
+#define SW1 	(1<<19)	// PA19
+#define SW2 	(1<<20)	// PA20
+#define SW3 	(1<<15)	// PA15
+#define SW4 	(1<<14)	// PA14
+
+/*------------------*/
+/* USART Definition */
+/*------------------*/
+/* SUB-D 9 points J3 DBGU*/
+#define DBGU_RXD		AT91C_PA9_DRXD	  /* JP11 must be close */
+#define DBGU_TXD		AT91C_PA10_DTXD	  /* JP12 must be close */
+#define AT91C_DBGU_BAUD	   115200   // Baud rate
+
+#define US_RXD_PIN		AT91C_PA5_RXD0    /* JP9 must be close */
+#define US_TXD_PIN		AT91C_PA6_TXD0    /* JP7 must be close */
+#define US_RTS_PIN		AT91C_PA7_RTS0    /* JP8 must be close */
+#define US_CTS_PIN		AT91C_PA8_CTS0    /* JP6 must be close */
+
+/*--------------*/
+/* Master Clock */
+/*--------------*/
+
+#define EXT_OC          18432000   // Exetrnal ocilator MAINCK
+#define MCK             47923200   // MCK (PLLRC div by 2)
+#define MCKKHz          (MCK/1000) //
+
+#endif /* Board_h */

Demo/ARM7_AT91SAM7S64_IAR/main.c

@@ -0,0 +1,273 @@
+/*
+    FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.
+
+    ***************************************************************************
+    *                                                                         *
+    * If you are:                                                             *
+    *                                                                         *
+    *    + New to FreeRTOS,                                                   *
+    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
+    *    + Looking for basic training,                                        *
+    *    + Wanting to improve your FreeRTOS skills and productivity           *
+    *                                                                         *
+    * then take a look at the FreeRTOS eBook                                  *
+    *                                                                         *
+    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
+    *                  http://www.FreeRTOS.org/Documentation                  *
+    *                                                                         *
+    * A pdf reference manual is also available.  Both are usually delivered   *
+    * to your inbox within 20 minutes to two hours when purchased between 8am *
+    * and 8pm GMT (although please allow up to 24 hours in case of            *
+    * exceptional circumstances).  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 exception 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.
+*/
+
+/* 
+	NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
+	The processor MUST be in supervisor mode when vTaskStartScheduler is 
+	called.  The demo applications included in the FreeRTOS.org download switch
+	to supervisor mode prior to main being called.  If you are not using one of
+	these demo application projects then ensure Supervisor mode is used.
+*/
+
+/*
+ * Creates all the demo application tasks, then starts the scheduler.  The WEB
+ * documentation provides more details of the demo application tasks.  The SAM7
+ * includes a sample USB that emulates a Joystick input to a USB host.
+ * 
+ * Main.c also creates a task called "Check".  This only executes every three 
+ * seconds but has the highest priority so is guaranteed to get processor time.  
+ * Its main function is to check that all the other tasks are still operational.
+ * Each task (other than the "flash" tasks) maintains a unique count that is 
+ * incremented each time the task successfully completes its function.  Should 
+ * any error occur within such a task the count is permanently halted.  The 
+ * check task inspects the count of each task to ensure it has changed since
+ * the last time the check task executed.  If all the count variables have 
+ * changed all the tasks are still executing error free, and the check task
+ * toggles the onboard LED.  Should any task contain an error at any time 
+ * the LED toggle rate will change from 3 seconds to 500ms.
+ *
+ */
+
+/* Standard includes. */
+#include <stdlib.h>
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Demo application includes. */
+#include "flash.h"
+#include "integer.h"
+#include "PollQ.h"
+#include "BlockQ.h"
+#include "semtest.h"
+#include "dynamic.h"
+#include "partest.h"
+#include "comtest2.h"
+#include "USB/USBSample.h"
+
+/* Priorities for the demo application tasks. */
+#define mainLED_TASK_PRIORITY		( tskIDLE_PRIORITY + 3 )
+#define mainQUEUE_POLL_PRIORITY		( tskIDLE_PRIORITY + 2 )
+#define mainCHECK_TASK_PRIORITY		( tskIDLE_PRIORITY + 4 )
+#define mainSEM_TEST_PRIORITY		( tskIDLE_PRIORITY + 1 )
+#define mainBLOCK_Q_PRIORITY		( tskIDLE_PRIORITY + 2 )
+#define mainCOM_TEST_PRIORITY		( tskIDLE_PRIORITY + 2 )
+#define mainUSB_PRIORITY			( tskIDLE_PRIORITY + 2 )
+
+/* Constants required by the 'Check' task. */
+#define mainNO_ERROR_FLASH_PERIOD	( ( portTickType ) 3000 / portTICK_RATE_MS  )
+#define mainERROR_FLASH_PERIOD		( ( portTickType ) 500 / portTICK_RATE_MS  )
+#define mainCHECK_TASK_LED			( 3 )
+
+/* Constants for the ComTest tasks. */
+#define mainCOM_TEST_BAUD_RATE		( ( unsigned long ) 115200 )
+#define mainCOM_TEST_LED			( 4 ) /* Off the board. */
+
+/*
+ * The task that executes at the highest priority and calls 
+ * prvCheckOtherTasksAreStillRunning().  See the description at the top
+ * of the file.
+ */
+static void vErrorChecks( void *pvParameters );
+
+/*
+ * Configure the processor for use with the Atmel demo board.  Setup is minimal
+ * as the low level init function (called from the startup asm file) takes care
+ * of most things.
+ */
+static void prvSetupHardware( void );
+
+/*
+ * Checks that all the demo application tasks are still executing without error
+ * - as described at the top of the file.
+ */
+static long prvCheckOtherTasksAreStillRunning( void );
+
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Starts all the other tasks, then starts the scheduler. 
+ */
+void main( void )
+{
+	/* Setup any hardware that has not already been configured by the low
+	level init routines. */
+	prvSetupHardware();
+
+	/* Initialise the LED outputs for use by the demo application tasks. */
+	vParTestInitialise();
+
+	/* Start all the standard demo application tasks. */
+	vStartIntegerMathTasks( tskIDLE_PRIORITY );
+	vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
+	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
+	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
+	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
+	vStartDynamicPriorityTasks();
+	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
+	
+	/* Also start the USB demo which is just for the SAM7. */
+	xTaskCreate( vUSBDemoTask, "USB", configMINIMAL_STACK_SIZE, NULL, mainUSB_PRIORITY, NULL );
+	
+	/* Start the check task - which is defined in this file. */
+	xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
+
+	/* Start the scheduler.
+
+	NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
+	The processor MUST be in supervisor mode when vTaskStartScheduler is 
+	called.  The demo applications included in the FreeRTOS.org download switch
+	to supervisor mode prior to main being called.  If you are not using one of
+	these demo application projects then ensure Supervisor mode is used here. */
+
+	vTaskStartScheduler();
+
+	/* We should never get here as control is now taken by the scheduler. */
+  	return;
+}
+/*-----------------------------------------------------------*/
+
+static void prvSetupHardware( void )
+{
+	/* When using the JTAG debugger the hardware is not always initialised to
+	the correct default state.  This line just ensures that this does not
+	cause all interrupts to be masked at the start. */
+	AT91C_BASE_AIC->AIC_EOICR = 0;
+	
+	/* Most setup is performed by the low level init function called from the 
+	startup asm file. */
+
+	/* Configure the PIO Lines corresponding to LED1 to LED4 to be outputs as 
+	well as the UART Tx line. */
+	AT91F_PIO_CfgOutput( AT91C_BASE_PIOA, LED_MASK );
+	
+	/* Enable the peripheral clock. */
+	AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, 1 << AT91C_ID_PIOA );
+}
+/*-----------------------------------------------------------*/
+
+static void vErrorChecks( void *pvParameters )
+{
+portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
+
+	/* The parameters are not used in this task. */
+	( void ) pvParameters;
+
+	/* Cycle for ever, delaying then checking all the other tasks are still
+	operating without error.  If an error is detected then the delay period
+	is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
+	the on board LED flash rate will increase. */
+
+	for( ;; )
+	{
+		/* Delay until it is time to execute again. */
+		vTaskDelay( xDelayPeriod );
+	
+		/* Check all the standard demo application tasks are executing without 
+		error. */
+		if( prvCheckOtherTasksAreStillRunning() != pdPASS )
+		{
+			/* An error has been detected in one of the tasks - flash faster. */
+			xDelayPeriod = mainERROR_FLASH_PERIOD;
+		}
+		
+		vParTestToggleLED( mainCHECK_TASK_LED );
+	}
+}
+/*-----------------------------------------------------------*/
+
+static long prvCheckOtherTasksAreStillRunning( void )
+{
+long lReturn = ( long ) pdPASS;
+
+	/* Check all the demo tasks (other than the flash tasks) to ensure
+	that they are all still running, and that none of them have detected
+	an error. */
+
+	if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
+	{
+		lReturn = ( long ) pdFAIL;
+	}
+
+	if( xArePollingQueuesStillRunning() != pdTRUE )
+	{
+		lReturn = ( long ) pdFAIL;
+	}
+
+	if( xAreSemaphoreTasksStillRunning() != pdTRUE )
+	{
+		lReturn = ( long ) pdFAIL;
+	}
+
+	if( xAreBlockingQueuesStillRunning() != pdTRUE )
+	{
+		lReturn = ( long ) pdFAIL;
+	}
+
+	if( xAreComTestTasksStillRunning() != pdTRUE )
+	{
+		lReturn = ( long ) pdFAIL;
+	}
+
+	if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
+	{
+		lReturn = ( long ) pdFAIL;
+	}
+
+	return lReturn;
+}
+/*-----------------------------------------------------------*/
+
+

Demo/ARM7_AT91SAM7S64_IAR/serial/serial.c

@@ -0,0 +1,267 @@
+/*
+    FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.
+
+    ***************************************************************************
+    *                                                                         *
+    * If you are:                                                             *
+    *                                                                         *
+    *    + New to FreeRTOS,                                                   *
+    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
+    *    + Looking for basic training,                                        *
+    *    + Wanting to improve your FreeRTOS skills and productivity           *
+    *                                                                         *
+    * then take a look at the FreeRTOS eBook                                  *
+    *                                                                         *
+    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
+    *                  http://www.FreeRTOS.org/Documentation                  *
+    *                                                                         *
+    * A pdf reference manual is also available.  Both are usually delivered   *
+    * to your inbox within 20 minutes to two hours when purchased between 8am *
+    * and 8pm GMT (although please allow up to 24 hours in case of            *
+    * exceptional circumstances).  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 exception 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.
+*/
+
+/* 
+	BASIC INTERRUPT DRIVEN SERIAL PORT DRIVER FOR UART0. 
+*/
+
+/* Standard includes. */ 
+#include <stdlib.h>
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "queue.h"
+
+/* Demo application includes. */
+#include "serial.h"
+
+/*-----------------------------------------------------------*/
+
+/* Location of the COM0 registers. */
+#define serCOM0							( ( AT91PS_USART ) AT91C_BASE_US0 )
+
+/* Interrupt control macros. */
+#define serINTERRUPT_LEVEL				( 5 )
+#define vInterruptOn()					AT91F_US_EnableIt( serCOM0, AT91C_US_TXRDY | AT91C_US_RXRDY )
+#define vInterruptOff()					AT91F_US_DisableIt( serCOM0, AT91C_US_TXRDY )
+
+/* Misc constants. */
+#define serINVALID_QUEUE				( ( xQueueHandle ) 0 )
+#define serHANDLE						( ( xComPortHandle ) 1 )
+#define serNO_BLOCK						( ( portTickType ) 0 )
+#define serNO_TIMEGUARD					( ( unsigned long ) 0 )
+#define serNO_PERIPHERAL_B_SETUP		( ( unsigned long ) 0 )
+
+
+/* Queues used to hold received characters, and characters waiting to be
+transmitted. */
+static xQueueHandle xRxedChars; 
+static xQueueHandle xCharsForTx; 
+
+/*-----------------------------------------------------------*/
+
+/* Interrupt entry point written in the assembler file serialISR.s79. */
+extern void vSerialISREntry( void );
+
+/* The interrupt service routine - called from the assembly entry point. */
+__arm void vSerialISR( void );
+
+/*-----------------------------------------------------------*/
+
+/*
+ * See the serial2.h header file.
+ */
+xComPortHandle xSerialPortInitMinimal( unsigned long ulWantedBaud, unsigned portBASE_TYPE uxQueueLength )
+{
+xComPortHandle xReturn = serHANDLE;
+extern void ( vUART_ISR )( void );
+
+	/* Create the queues used to hold Rx and Tx characters. */
+	xRxedChars = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( signed char ) );
+	xCharsForTx = xQueueCreate( uxQueueLength + 1, ( unsigned portBASE_TYPE ) sizeof( signed char ) );
+
+	/* If the queues were created correctly then setup the serial port 
+	hardware. */
+	if( ( xRxedChars != serINVALID_QUEUE ) && ( xCharsForTx != serINVALID_QUEUE ) )
+	{
+		portENTER_CRITICAL();
+		{
+			/* Enable the USART clock. */
+   			AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, 1 << AT91C_ID_US0 );
+
+			AT91F_PIO_CfgPeriph( AT91C_BASE_PIOA, ( ( unsigned long ) AT91C_PA5_RXD0 ) | ( ( unsigned long ) AT91C_PA6_TXD0 ), serNO_PERIPHERAL_B_SETUP );
+
+			/* Set the required protocol. */
+			AT91F_US_Configure( serCOM0, configCPU_CLOCK_HZ, AT91C_US_ASYNC_MODE, ulWantedBaud, serNO_TIMEGUARD );
+
+			/* Enable Rx and Tx. */
+			serCOM0->US_CR = AT91C_US_RXEN | AT91C_US_TXEN;
+
+			/* Enable the Rx interrupts.  The Tx interrupts are not enabled
+			until there are characters to be transmitted. */
+    		AT91F_US_EnableIt( serCOM0, AT91C_US_RXRDY );
+
+			/* Enable the interrupts in the AIC. */
+			AT91F_AIC_ConfigureIt( AT91C_BASE_AIC, AT91C_ID_US0, serINTERRUPT_LEVEL, AT91C_AIC_SRCTYPE_INT_LEVEL_SENSITIVE, ( void (*)( void ) ) vSerialISREntry );
+			AT91F_AIC_EnableIt( AT91C_BASE_AIC, AT91C_ID_US0 );
+		}
+		portEXIT_CRITICAL();
+	}
+	else
+	{
+		xReturn = ( xComPortHandle ) 0;
+	}
+
+	/* This demo file only supports a single port but we have to return 
+	something to comply with the standard demo header file. */
+	return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+signed portBASE_TYPE xSerialGetChar( xComPortHandle pxPort, signed char *pcRxedChar, portTickType xBlockTime )
+{
+	/* The port handle is not required as this driver only supports one port. */
+	( void ) pxPort;
+
+	/* Get the next character from the buffer.  Return false if no characters
+	are available, or arrive before xBlockTime expires. */
+	if( xQueueReceive( xRxedChars, pcRxedChar, xBlockTime ) )
+	{
+		return pdTRUE;
+	}
+	else
+	{
+		return pdFALSE;
+	}
+}
+/*-----------------------------------------------------------*/
+
+void vSerialPutString( xComPortHandle pxPort, const signed char * const pcString, unsigned short usStringLength )
+{
+signed char *pxNext;
+
+	/* A couple of parameters that this port does not use. */
+	( void ) usStringLength;
+	( void ) pxPort;
+
+	/* NOTE: This implementation does not handle the queue being full as no
+	block time is used! */
+
+	/* The port handle is not required as this driver only supports UART0. */
+	( void ) pxPort;
+
+	/* Send each character in the string, one at a time. */
+	pxNext = ( signed char * ) pcString;
+	while( *pxNext )
+	{
+		xSerialPutChar( pxPort, *pxNext, serNO_BLOCK );
+		pxNext++;
+	}
+}
+/*-----------------------------------------------------------*/
+
+signed portBASE_TYPE xSerialPutChar( xComPortHandle pxPort, signed char cOutChar, portTickType xBlockTime )
+{
+	/* Place the character in the queue of characters to be transmitted. */
+	if( xQueueSend( xCharsForTx, &cOutChar, xBlockTime ) != pdPASS )
+	{
+		return pdFAIL;
+	}
+
+	/* Turn on the Tx interrupt so the ISR will remove the character from the
+	queue and send it.   This does not need to be in a critical section as
+	if the interrupt has already removed the character the next interrupt
+	will simply turn off the Tx interrupt again. */
+	vInterruptOn();
+
+	return pdPASS;
+}
+/*-----------------------------------------------------------*/
+
+void vSerialClose( xComPortHandle xPort )
+{
+	/* Not supported as not required by the demo application. */
+}
+/*-----------------------------------------------------------*/
+
+/* Serial port ISR.  This can cause a context switch so is not defined as a
+standard ISR using the __irq keyword.  Instead a wrapper function is defined
+within serialISR.s79 which in turn calls this function.  See the port
+documentation on the FreeRTOS.org website for more information. */
+__arm void vSerialISR( void )
+{
+unsigned long ulStatus;
+signed char cChar;
+portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+
+	/* What caused the interrupt? */
+	ulStatus = serCOM0->US_CSR &= serCOM0->US_IMR;
+
+	if( ulStatus & AT91C_US_TXRDY )
+	{
+		/* The interrupt was caused by the THR becoming empty.  Are there any
+		more characters to transmit? */
+		if( xQueueReceiveFromISR( xCharsForTx, &cChar, &xHigherPriorityTaskWoken ) == pdTRUE )
+		{
+			/* A character was retrieved from the queue so can be sent to the
+			THR now. */
+			serCOM0->US_THR = cChar;
+		}
+		else
+		{
+			/* Queue empty, nothing to send so turn off the Tx interrupt. */
+			vInterruptOff();
+		}		
+	}
+
+	if( ulStatus & AT91C_US_RXRDY )
+	{
+		/* The interrupt was caused by a character being received.  Grab the
+		character from the RHR and place it in the queue or received 
+		characters. */
+		cChar = serCOM0->US_RHR;
+		xQueueSendFromISR( xRxedChars, &cChar, &xHigherPriorityTaskWoken );
+	}
+
+	/* If a task was woken by either a character being received or a character 
+	being transmitted then we may need to switch to another task. */
+	portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
+
+	/* End the interrupt in the AIC. */
+	AT91C_BASE_AIC->AIC_EOICR = 0;
+}
+
+
+
+
+