[修改] 增加freeRTOS

1. 版本FreeRTOSv202212.01，命名为kernel；

kernel/FreeRTOS/Demo/ARM9_AT91SAM9XE_IAR/main.c

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+/*
+ * FreeRTOS V202212.01
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
+
+/*
+ * Creates all the demo application tasks, then starts the scheduler.  The WEB
+ * documentation provides more details of the standard demo application tasks.
+ *
+ * A "Check" task is created in addition to the standard demo tasks.    This
+ * only executes every three seconds but has a high priority to ensure it gets
+ * processor time.  Its main function is to check that all the standard demo
+ * tasks are still operational.  If everything is running as expected then the
+ * check task will toggle an LED every 3 seconds.  An error being discovered in
+ * any task will cause the toggle rate to increase to 500ms.
+ *
+ */
+
+/* FreeRTOS includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Standard demo includes. */
+#include "BlockQ.h"
+#include "blocktim.h"
+#include "countsem.h"
+#include "death.h"
+#include "dynamic.h"
+#include "GenQTest.h"
+#include "integer.h"
+#include "PollQ.h"
+#include "QPeek.h"
+#include "recmutex.h"
+#include "semtest.h"
+#include "ParTest.h"
+#include "comtest2.h"
+
+/* Standard includes. */
+#include <stdio.h>
+
+/* Atmel library includes. */
+#include <pio/pio.h>
+
+/* Priorities for the demo application tasks. */
+#define mainCOM_TEST_PRIORITY		( tskIDLE_PRIORITY + 2 )
+#define mainQUEUE_POLL_PRIORITY		( tskIDLE_PRIORITY + 0 )
+#define mainCHECK_TASK_PRIORITY		( tskIDLE_PRIORITY + 4 )
+#define mainSEM_TEST_PRIORITY		( tskIDLE_PRIORITY + 0 )
+#define mainBLOCK_Q_PRIORITY		( tskIDLE_PRIORITY + 2 )
+#define mainCREATOR_TASK_PRIORITY 	( tskIDLE_PRIORITY + 3 )
+#define mainGENERIC_QUEUE_PRIORITY	( tskIDLE_PRIORITY )
+
+/* The period of the check task both in and out of the presense of an error. */
+#define mainNO_ERROR_PERIOD			( 5000 / portTICK_PERIOD_MS )
+#define mainERROR_PERIOD			( 500 / portTICK_PERIOD_MS );
+
+/* Constants used by the ComTest task. */
+#define mainCOM_TEST_BAUD_RATE		( 38400 )
+#define mainCOM_TEST_LED			( LED_DS1 )
+
+/*-----------------------------------------------------------*/
+
+/* Simple hardware setup required by the demo. */
+static void prvSetupHardware( void );
+
+/* The check task as described at the top of this file. */
+static void prvCheckTask( void *pvParameters );
+
+/*-----------------------------------------------------------*/
+int main()
+{
+	/* Perform any hardware setup necessary to run the demo. */
+	prvSetupHardware();
+	
+	/* First create the 'standard demo' tasks.  These exist just to to
+	demonstrate API functions being used and test the kernel port.  More
+	information is provided on the FreeRTOS.org WEB site. */
+	vStartIntegerMathTasks( tskIDLE_PRIORITY );
+	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
+	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
+	vStartDynamicPriorityTasks();
+	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
+	vCreateBlockTimeTasks();
+	vStartCountingSemaphoreTasks();
+	vStartGenericQueueTasks( tskIDLE_PRIORITY );
+	vStartQueuePeekTasks();
+	vStartRecursiveMutexTasks();
+	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
+	
+	/* Create the check task - this is the task that checks all the other tasks
+	are executing as expected and without reporting any errors. */
+	xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
+	
+	/* The death demo tasks must be started last as the sanity checks performed
+	require knowledge of the number of other tasks in the system. */
+	vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
+	
+	/* Start the scheduler.  From this point on the execution will be under
+	the control of the kernel. */
+	vTaskStartScheduler();
+	
+	/* Will only get here if there was insufficient heap available for the
+	idle task to be created. */
+	for( ;; );
+}
+/*-----------------------------------------------------------*/
+
+static void prvCheckTask( void * pvParameters )
+{
+TickType_t xNextWakeTime, xPeriod = mainNO_ERROR_PERIOD;
+static volatile unsigned long ulErrorCode = 0UL;
+
+	/* Just to remove the compiler warning. */
+	( void ) pvParameters;
+
+	/* Initialise xNextWakeTime prior to its first use.  From this point on
+	the value of the variable is handled automatically by the kernel. */
+	xNextWakeTime = xTaskGetTickCount();
+	
+	for( ;; )
+	{
+		/* Delay until it is time for this task to execute again. */
+		vTaskDelayUntil( &xNextWakeTime, xPeriod );
+		
+		/* Check all the other tasks in the system - latch any reported errors
+		into the ulErrorCode variable. */
+		if( xAreBlockingQueuesStillRunning() != pdTRUE )
+		{
+			ulErrorCode |= 0x01UL;
+		}
+
+		if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
+		{
+			ulErrorCode |= 0x02UL;
+		}
+
+		if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
+		{
+			ulErrorCode |= 0x04UL;
+		}
+
+		if( xIsCreateTaskStillRunning() != pdTRUE )
+		{
+			ulErrorCode |= 0x08UL;
+		}
+
+		if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
+		{
+			ulErrorCode |= 0x10UL;
+		}
+
+		if( xAreGenericQueueTasksStillRunning() != pdTRUE )
+		{
+			ulErrorCode |= 0x20UL;
+		}
+
+		if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
+		{
+			ulErrorCode |= 0x40UL;
+		}
+
+		if( xArePollingQueuesStillRunning() != pdTRUE )
+		{
+			ulErrorCode |= 0x80UL;
+		}
+
+		if( xAreQueuePeekTasksStillRunning() != pdTRUE )
+		{
+			ulErrorCode |= 0x100UL;
+		}
+
+		if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
+		{
+			ulErrorCode |= 0x200UL;
+		}
+
+		if( xAreSemaphoreTasksStillRunning() != pdTRUE )
+		{
+			ulErrorCode |= 0x400UL;
+		}
+		
+		if( xAreComTestTasksStillRunning() != pdTRUE )
+		{
+			ulErrorCode |= 0x800UL;
+		}
+		
+		/* Reduce the block period and in so doing increase the frequency at
+		which this task executes if any errors have been latched.  The increased
+		frequency causes the LED toggle rate to increase and so gives some
+		visual feedback that an error has occurred. */
+		if( ulErrorCode != 0x00 )
+		{
+			xPeriod = mainERROR_PERIOD;
+		}
+		
+		/* Finally toggle the LED. */
+		vParTestToggleLED( LED_POWER );
+	}
+}
+/*-----------------------------------------------------------*/
+
+static void prvSetupHardware( void )
+{
+const Pin xPins[] = { PIN_USART0_RXD, PIN_USART0_TXD };
+
+	/* Setup the LED outputs. */
+	vParTestInitialise();
+	
+	/* Setup the pins for the UART. */
+	PIO_Configure( xPins, PIO_LISTSIZE( xPins ) );	
+}