[修改] 增加freeRTOS

1. 版本FreeRTOSv202212.01，命名为kernel；

kernel/FreeRTOS/Demo/PIC32MX_MPLAB/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
+ *
+ */
+
+/******************************************************************************
+ * This project provides two demo applications.  A simple blinky style project,
+ * and a more comprehensive test and demo application.  The
+ * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting (defined in this file) is used to
+ * select between the two.  The simply blinky demo is implemented and described
+ * in main_blinky.c.  The more comprehensive test and demo application is
+ * implemented and described in main_full.c.
+ *
+ * This file implements the code that is not demo specific, including the
+ * hardware setup and FreeRTOS hook functions.
+ */
+
+/* Kernel includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Standard demo includes. */
+#include "partest.h"
+
+/* Hardware specific includes. */
+#include "ConfigPerformance.h"
+
+/* Core configuratin fuse settings */
+#pragma config FPLLMUL = MUL_20, FPLLIDIV = DIV_2, FPLLODIV = DIV_1, FWDTEN = OFF
+#pragma config POSCMOD = HS, FNOSC = PRIPLL, FPBDIV = DIV_2
+#pragma config CP = OFF, BWP = OFF, PWP = OFF
+
+/* Additional config fuse settings for other supported processors */
+#if defined(__32MX460F512L__)
+	#pragma config UPLLEN = OFF
+#elif defined(__32MX795F512L__)
+	#pragma config UPLLEN = OFF
+	#pragma config FSRSSEL = PRIORITY_7
+#endif
+
+/*-----------------------------------------------------------*/
+
+/* Set mainCREATE_SIMPLE_BLINKY_DEMO_ONLY to one to run the simple blinky demo,
+or 0 to run the more comprehensive test and demo application. */
+#define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY	0
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Set up the hardware ready to run this demo.
+ */
+static void prvSetupHardware( void );
+
+/*
+ * main_blinky() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1.
+ * main_full() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
+ */
+extern void main_blinky( void );
+extern void main_full( void );
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Create the demo tasks then start the scheduler.
+ */
+int main( void )
+{
+	/* Prepare the hardware to run this demo. */
+	prvSetupHardware();
+
+	/* The mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is described at the top
+	of this file. */
+	#if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1
+	{
+		main_blinky();
+	}
+	#else
+	{
+		main_full();
+	}
+	#endif
+
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+static void prvSetupHardware( void )
+{
+	/* Configure the hardware for maximum performance. */
+	vHardwareConfigurePerformance();
+
+	/* Setup to use the external interrupt controller. */
+	vHardwareUseMultiVectoredInterrupts();
+
+	portDISABLE_INTERRUPTS();
+
+	/* Setup the digital IO for the LED's. */
+	vParTestInitialise();
+}
+/*-----------------------------------------------------------*/
+
+void vApplicationMallocFailedHook( void )
+{
+	/* vApplicationMallocFailedHook() will only be called if
+	configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h.  It is a hook
+	function that will get called if a call to pvPortMalloc() fails.
+	pvPortMalloc() is called internally by the kernel whenever a task, queue,
+	timer or semaphore is created.  It is also called by various parts of the
+	demo application.  If heap_1.c or heap_2.c are used, then the size of the
+	heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
+	FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
+	to query the size of free heap space that remains (although it does not
+	provide information on how the remaining heap might be fragmented). */
+	taskDISABLE_INTERRUPTS();
+	for( ;; );
+}
+/*-----------------------------------------------------------*/
+
+void vApplicationIdleHook( void )
+{
+	/* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
+	to 1 in FreeRTOSConfig.h.  It will be called on each iteration of the idle
+	task.  It is essential that code added to this hook function never attempts
+	to block in any way (for example, call xQueueReceive() with a block time
+	specified, or call vTaskDelay()).  If the application makes use of the
+	vTaskDelete() API function (as this demo application does) then it is also
+	important that vApplicationIdleHook() is permitted to return to its calling
+	function, because it is the responsibility of the idle task to clean up
+	memory allocated by the kernel to any task that has since been deleted. */
+}
+/*-----------------------------------------------------------*/
+
+void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
+{
+	( void ) pcTaskName;
+	( void ) pxTask;
+
+	/* Run time task stack overflow checking is performed if
+	configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2.  This hook	function is
+	called if a task stack overflow is detected.  Note the system/interrupt
+	stack is not checked. */
+	taskDISABLE_INTERRUPTS();
+	for( ;; );
+}
+/*-----------------------------------------------------------*/
+
+void vApplicationTickHook( void )
+{
+	/* This function will be called by each tick interrupt if
+	configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h.  User code can be
+	added here, but the tick hook is called from an interrupt context, so
+	code must not attempt to block, and only the interrupt safe FreeRTOS API
+	functions can be used (those that end in FromISR()). */
+}
+/*-----------------------------------------------------------*/
+
+void _general_exception_handler( unsigned long ulCause, unsigned long ulStatus )
+{
+	/* This overrides the definition provided by the kernel.  Other exceptions
+	should be handled here. */
+	for( ;; );
+}
+/*-----------------------------------------------------------*/
+
+void vAssertCalled( const char * pcFile, unsigned long ulLine )
+{
+volatile unsigned long ul = 0;
+
+	( void ) pcFile;
+	( void ) ulLine;
+
+	__asm volatile( "di" );
+	{
+		/* Set ul to a non-zero value using the debugger to step out of this
+		function. */
+		while( ul == 0 )
+		{
+			portNOP();
+		}
+	}
+	__asm volatile( "ei" );
+}