[修改] 增加freeRTOS

1. 版本FreeRTOSv202212.01，命名为kernel；

kernel/FreeRTOS/Demo/RX200_RX210-RSK_Renesas/RTOSDemo/HighFrequencyTimerTest.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
+ *
+ */
+
+/*
+ * High frequency timer test as described in main.c.
+ */
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+
+/* Hardware specifics. */
+#include "iodefine.h"
+
+/* The set frequency of the interrupt.  Deviations from this are measured as
+the jitter. */
+#define timerINTERRUPT_FREQUENCY		( 20000UL )
+
+/* The expected time between each of the timer interrupts - if the jitter was
+zero. */
+#define timerEXPECTED_DIFFERENCE_VALUE	( ( unsigned short ) ( ( configPERIPHERAL_CLOCK_HZ / 8UL ) / timerINTERRUPT_FREQUENCY ) )
+
+/* The highest available interrupt priority. */
+#define timerHIGHEST_PRIORITY			( 15 )
+
+/* Misc defines. */
+#define timerTIMER_3_COUNT_VALUE		( *( ( unsigned short * ) 0x8801a ) ) /*( CMT3.CMCNT )*/
+
+/*-----------------------------------------------------------*/
+
+/* Interrupt handler in which the jitter is measured. */
+static void prvTimer2IntHandler( void );
+
+/* Stores the value of the maximum recorded jitter between interrupts.  This is
+displayed on one of the served web pages. */
+volatile unsigned short usMaxJitter = 0;
+
+/* Counts the number of high frequency interrupts - used to generate the run
+time stats. */
+volatile unsigned long ulHighFrequencyTickCount = 0UL;
+
+/*-----------------------------------------------------------*/
+
+void vSetupHighFrequencyTimer( void )
+{
+	/* Timer CMT2 is used to generate the interrupts, and CMT3 is used
+	to measure the jitter. */
+
+	/* Enable compare match timer 2 and 3. */
+	MSTP( CMT2 ) = 0;
+	MSTP( CMT3 ) = 0;
+
+	/* Interrupt on compare match. */
+	CMT2.CMCR.BIT.CMIE = 1;
+
+	/* Set the compare match value. */
+	CMT2.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / timerINTERRUPT_FREQUENCY ) -1 ) / 8 );
+
+	/* Divide the PCLK by 8. */
+	CMT2.CMCR.BIT.CKS = 0;
+	CMT3.CMCR.BIT.CKS = 0;
+
+	/* Enable the interrupt... */
+	_IEN( _CMT2_CMI2 ) = 1;
+
+	/* ...and set its priority to the maximum possible, this is above the priority
+	set by configMAX_SYSCALL_INTERRUPT_PRIORITY so will nest. */
+	_IPR( _CMT2_CMI2 ) = timerHIGHEST_PRIORITY;
+
+	/* Start the timers. */
+	CMT.CMSTR1.BIT.STR2 = 1;
+	CMT.CMSTR1.BIT.STR3 = 1;
+}
+/*-----------------------------------------------------------*/
+
+#pragma interrupt ( prvTimer2IntHandler( vect = _VECT( _CMT2_CMI2 ), enable ) )
+static void prvTimer2IntHandler( void )
+{
+volatile unsigned short usCurrentCount;
+static unsigned short usMaxCount = 0;
+static unsigned long ulErrorCount = 0UL;
+
+	/* We use the timer 1 counter value to measure the clock cycles between
+	the timer 0 interrupts.  First stop the clock. */
+	CMT.CMSTR1.BIT.STR3 = 0;
+	nop();
+	nop();
+	usCurrentCount = timerTIMER_3_COUNT_VALUE;
+
+	/* Is this the largest count we have measured yet? */
+	if( usCurrentCount > usMaxCount )
+	{
+		if( usCurrentCount > timerEXPECTED_DIFFERENCE_VALUE )
+		{
+			usMaxJitter = usCurrentCount - timerEXPECTED_DIFFERENCE_VALUE;
+		}
+		else
+		{
+			/* This should not happen! */
+			ulErrorCount++;
+		}
+
+		usMaxCount = usCurrentCount;
+	}
+
+	/* Used to generate the run time stats. */
+	ulHighFrequencyTickCount++;
+
+	/* Clear the timer. */
+	timerTIMER_3_COUNT_VALUE = 0;
+
+	/* Then start the clock again. */
+	CMT.CMSTR1.BIT.STR3 = 1;
+}
+
+
+
+
+
+
+