[修改] 增加freeRTOS

1. 版本FreeRTOSv202212.01，命名为kernel；

kernel/FreeRTOS/Demo/dsPIC_MPLAB/serial/serial.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
+ *
+ */
+
+
+/* BASIC INTERRUPT DRIVEN SERIAL PORT DRIVER.
+
+NOTE:  This driver is primarily to test the scheduler functionality.  It does
+not effectively use the buffers or DMA and is therefore not intended to be
+an example of an efficient driver. */
+
+/* Standard include file. */
+#include <stdlib.h>
+
+/* Scheduler include files. */
+#include "FreeRTOS.h"
+#include "queue.h"
+#include "task.h"
+
+/* Demo app include files. */
+#include "serial.h"
+
+/* Hardware setup. */
+#define serOUTPUT						0
+#define serINPUT						1
+#define serLOW_SPEED					0
+#define serONE_STOP_BIT					0
+#define serEIGHT_DATA_BITS_NO_PARITY	0
+#define serNORMAL_IDLE_STATE			0
+#define serAUTO_BAUD_OFF				0
+#define serLOOPBACK_OFF					0
+#define serWAKE_UP_DISABLE				0
+#define serNO_HARDWARE_FLOW_CONTROL		0
+#define serSTANDARD_IO					0
+#define serNO_IRDA						0
+#define serCONTINUE_IN_IDLE_MODE		0
+#define serUART_ENABLED					1
+#define serINTERRUPT_ON_SINGLE_CHAR		0
+#define serTX_ENABLE					1
+#define serINTERRUPT_ENABLE				1
+#define serINTERRUPT_DISABLE			0
+#define serCLEAR_FLAG					0
+#define serSET_FLAG						1
+
+
+/* The queues used to communicate between tasks and ISR's. */
+static QueueHandle_t xRxedChars;
+static QueueHandle_t xCharsForTx;
+
+static portBASE_TYPE xTxHasEnded;
+/*-----------------------------------------------------------*/
+
+xComPortHandle xSerialPortInitMinimal( unsigned long ulWantedBaud, unsigned portBASE_TYPE uxQueueLength )
+{
+char cChar;
+
+	/* Create the queues used by the com test task. */
+	xRxedChars = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( signed char ) );
+	xCharsForTx = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( signed char ) );
+
+	/* Setup the UART. */
+	U2MODEbits.BRGH		= serLOW_SPEED;
+	U2MODEbits.STSEL	= serONE_STOP_BIT;
+	U2MODEbits.PDSEL	= serEIGHT_DATA_BITS_NO_PARITY;
+	U2MODEbits.ABAUD	= serAUTO_BAUD_OFF;
+	U2MODEbits.LPBACK	= serLOOPBACK_OFF;
+	U2MODEbits.WAKE		= serWAKE_UP_DISABLE;
+	U2MODEbits.UEN		= serNO_HARDWARE_FLOW_CONTROL;
+	U2MODEbits.IREN		= serNO_IRDA;
+	U2MODEbits.USIDL	= serCONTINUE_IN_IDLE_MODE;
+	U2MODEbits.UARTEN	= serUART_ENABLED;
+
+	U2BRG = (unsigned short)(( (float)configCPU_CLOCK_HZ / ( (float)16 * (float)ulWantedBaud ) ) - (float)0.5);
+
+	U2STAbits.URXISEL	= serINTERRUPT_ON_SINGLE_CHAR;
+	U2STAbits.UTXEN		= serTX_ENABLE;
+	U2STAbits.UTXINV	= serNORMAL_IDLE_STATE;
+	U2STAbits.UTXISEL0	= serINTERRUPT_ON_SINGLE_CHAR;
+	U2STAbits.UTXISEL1	= serINTERRUPT_ON_SINGLE_CHAR;
+
+	/* It is assumed that this function is called prior to the scheduler being
+	started.  Therefore interrupts must not be allowed to occur yet as they
+	may attempt to perform a context switch. */
+	portDISABLE_INTERRUPTS();
+
+	IFS1bits.U2RXIF = serCLEAR_FLAG;
+	IFS1bits.U2TXIF = serCLEAR_FLAG;
+	IPC7bits.U2RXIP = configKERNEL_INTERRUPT_PRIORITY;
+	IPC7bits.U2TXIP = configKERNEL_INTERRUPT_PRIORITY;
+	IEC1bits.U2TXIE = serINTERRUPT_ENABLE;
+	IEC1bits.U2RXIE = serINTERRUPT_ENABLE;
+
+	/* Clear the Rx buffer. */
+	while( U2STAbits.URXDA == serSET_FLAG )
+	{
+		cChar = U2RXREG;
+	}
+
+	xTxHasEnded = pdTRUE;
+
+	return NULL;
+}
+/*-----------------------------------------------------------*/
+
+signed portBASE_TYPE xSerialGetChar( xComPortHandle pxPort, signed char *pcRxedChar, TickType_t xBlockTime )
+{
+	/* Only one port is supported. */
+	( 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;
+	}
+}
+/*-----------------------------------------------------------*/
+
+signed portBASE_TYPE xSerialPutChar( xComPortHandle pxPort, signed char cOutChar, TickType_t xBlockTime )
+{
+	/* Only one port is supported. */
+	( void ) pxPort;
+
+	/* Return false if after the block time there is no room on the Tx queue. */
+	if( xQueueSend( xCharsForTx, &cOutChar, xBlockTime ) != pdPASS )
+	{
+		return pdFAIL;
+	}
+
+	/* A critical section should not be required as xTxHasEnded will not be
+	written to by the ISR if it is already 0 (is this correct?). */
+	if( xTxHasEnded )
+	{
+		xTxHasEnded = pdFALSE;
+		IFS1bits.U2TXIF = serSET_FLAG;
+	}
+
+	return pdPASS;
+}
+/*-----------------------------------------------------------*/
+
+void vSerialClose( xComPortHandle xPort )
+{
+}
+/*-----------------------------------------------------------*/
+
+void __attribute__((__interrupt__, auto_psv)) _U2RXInterrupt( void )
+{
+char cChar;
+portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+
+	/* Get the character and post it on the queue of Rxed characters.
+	If the post causes a task to wake force a context switch as the woken task
+	may have a higher priority than the task we have interrupted. */
+	IFS1bits.U2RXIF = serCLEAR_FLAG;
+	while( U2STAbits.URXDA )
+	{
+		cChar = U2RXREG;
+		xQueueSendFromISR( xRxedChars, &cChar, &xHigherPriorityTaskWoken );
+	}
+
+	if( xHigherPriorityTaskWoken != pdFALSE )
+	{
+		taskYIELD();
+	}
+}
+/*-----------------------------------------------------------*/
+
+void __attribute__((__interrupt__, auto_psv)) _U2TXInterrupt( void )
+{
+signed char cChar;
+portBASE_TYPE xTaskWoken = pdFALSE;
+
+	/* If the transmit buffer is full we cannot get the next character.
+	Another interrupt will occur the next time there is space so this does
+	not matter. */
+	IFS1bits.U2TXIF = serCLEAR_FLAG;
+	while( !( U2STAbits.UTXBF ) )
+	{
+		if( xQueueReceiveFromISR( xCharsForTx, &cChar, &xTaskWoken ) == pdTRUE )
+		{
+			/* Send the next character queued for Tx. */
+			U2TXREG = cChar;
+		}
+		else
+		{
+			/* Queue empty, nothing to send. */
+			xTxHasEnded = pdTRUE;
+			break;
+		}
+	}
+
+	if( xTaskWoken != pdFALSE )
+	{
+		taskYIELD();
+	}
+}
+
+