Update the PIC32 port to use xTaskIncrementTick() and change the macro used to detect if XC is being used.

FreeRTOS/Source/portable/MPLAB/PIC32MX/port.c

@@ -56,19 +56,19 @@
     ***************************************************************************
 
 
-    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
     license and Real Time Engineers Ltd. contact details.
 
     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
     including FreeRTOS+Trace - an indispensable productivity tool, and our new
     fully thread aware and reentrant UDP/IP stack.
 
-    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
-    Integrity Systems, who sell the code with commercial support, 
+    Integrity Systems, who sell the code with commercial support,
     indemnification and middleware, under the OpenRTOS brand.
-    
+
-    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
-    engineered and independently SIL3 certified version for use in safety and 
+    engineered and independently SIL3 certified version for use in safety and
     mission critical applications that require provable dependability.
 */
 
@@ -76,7 +76,7 @@
  * Implementation of functions defined in portable.h for the PIC32MX port.
   *----------------------------------------------------------*/
 
-#ifndef __XC__
+#ifndef __XC
     #error This port is designed to work with XC32.  Please update your C compiler version.
 #endif
 
@@ -245,15 +245,15 @@ void vPortIncrementTick( void )
 unsigned portBASE_TYPE uxSavedStatus;
 
 	uxSavedStatus = uxPortSetInterruptMaskFromISR();
-	vTaskIncrementTick();
+	{
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* Pend a context switch. */
+			_CP0_BIS_CAUSE( portCORE_SW_0 );
+		}
+	}
 	vPortClearInterruptMaskFromISR( uxSavedStatus );
 
-	/* If we are using the preemptive scheduler then we might want to select
-	a different task to execute. */
-	#if configUSE_PREEMPTION == 1
-		_CP0_BIS_CAUSE( portCORE_SW_0 );
-	#endif /* configUSE_PREEMPTION */
-
 	/* Clear timer 1 interrupt. */
 	IFS0CLR = _IFS0_T1IF_MASK;
 }

FreeRTOS/Source/portable/MPLAB/PIC32MX/port_asm.S

@@ -131,9 +131,9 @@ vPortStartFirstTask:
 
 vPortYieldISR:
 
-	/* Make room for the context. First save the current status so we can
+	/* Make room for the context. First save the current status so it can be
-	manipulate it, and the cause and EPC registers so we capture their
+	manipulated, and the cause and EPC registers so thier original values are
-	original values in case of interrupt nesting. */
+	captured. */
 	mfc0		k0, _CP0_CAUSE
 	addiu		sp,	sp, -portCONTEXT_SIZE
 	mfc0		k1, _CP0_STATUS
@@ -145,7 +145,7 @@ vPortYieldISR:
 	sw			s5, 40(sp)
 	sw			k1, portSTATUS_STACK_LOCATION(sp)
 
-	/* Enable interrupts above the current priority. */
+	/* Interrupts above the kernel priority are going to be re-enabled. */
 	srl			k0, k0, 0xa
 	ins 		k1, k0, 10, 6
 	ins			k1, zero, 1, 4