Add FreeRTOS-Plus directory.

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diff --git a/FreeRTOS/Demo/PIC24_MPLAB/main.c b/FreeRTOS/Demo/PIC24_MPLAB/main.c
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+/*

+    FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.

+	

+

+    ***************************************************************************

+     *                                                                       *

+     *    FreeRTOS tutorial books are available in pdf and paperback.        *

+     *    Complete, revised, and edited pdf reference manuals are also       *

+     *    available.                                                         *

+     *                                                                       *

+     *    Purchasing FreeRTOS documentation will not only help you, by       *

+     *    ensuring you get running as quickly as possible and with an        *

+     *    in-depth knowledge of how to use FreeRTOS, it will also help       *

+     *    the FreeRTOS project to continue with its mission of providing     *

+     *    professional grade, cross platform, de facto standard solutions    *

+     *    for microcontrollers - completely free of charge!                  *

+     *                                                                       *

+     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *

+     *                                                                       *

+     *    Thank you for using FreeRTOS, and thank you for your support!      *

+     *                                                                       *

+    ***************************************************************************

+

+

+    This file is part of the FreeRTOS distribution.

+

+    FreeRTOS is free software; you can redistribute it and/or modify it under

+    the terms of the GNU General Public License (version 2) as published by the

+    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.

+    >>>NOTE<<< The modification to the GPL is included to allow you to

+    distribute a combined work that includes FreeRTOS without being obliged to

+    provide the source code for proprietary components outside of the FreeRTOS

+    kernel.  FreeRTOS is distributed in the hope that it will be useful, but

+    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY

+    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for

+    more details. You should have received a copy of the GNU General Public

+    License and the FreeRTOS license exception along with FreeRTOS; if not it

+    can be viewed here: http://www.freertos.org/a00114.html and also obtained

+    by writing to Richard Barry, contact details for whom are available on the

+    FreeRTOS WEB site.

+

+    1 tab == 4 spaces!

+    

+    ***************************************************************************

+     *                                                                       *

+     *    Having a problem?  Start by reading the FAQ "My application does   *

+     *    not run, what could be wrong?                                      *

+     *                                                                       *

+     *    http://www.FreeRTOS.org/FAQHelp.html                               *

+     *                                                                       *

+    ***************************************************************************

+

+    

+    http://www.FreeRTOS.org - Documentation, training, latest information, 

+    license and contact details.

+    

+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,

+    including FreeRTOS+Trace - an indispensable productivity tool.

+

+    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 

+    the code with commercial support, indemnification, and middleware, under 

+    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also

+    provide a safety engineered and independently SIL3 certified version under 

+    the SafeRTOS brand: http://www.SafeRTOS.com.

+*/

+

+/*

+ * Creates all the demo application tasks, then starts the scheduler.  The WEB

+ * documentation provides more details of the standard demo application tasks.

+ * In addition to the standard demo tasks, the following tasks and tests are

+ * defined and/or created within this file:

+ *

+ * "Fast Interrupt Test" - A high frequency periodic interrupt is generated

+ * using a free running timer to demonstrate the use of the 

+ * configKERNEL_INTERRUPT_PRIORITY configuration constant.  The interrupt 

+ * service routine measures the number of processor clocks that occur between

+ * each interrupt - and in so doing measures the jitter in the interrupt 

+ * timing.  The maximum measured jitter time is latched in the usMaxJitter 

+ * variable, and displayed on the LCD by the 'Check' as described below.  

+ * The fast interrupt is configured and handled in the timer_test.c source 

+ * file.

+ *

+ * "LCD" task - the LCD task is a 'gatekeeper' task.  It is the only task that

+ * is permitted to access the LCD directly.  Other tasks wishing to write a

+ * message to the LCD send the message on a queue to the LCD task instead of 

+ * accessing the LCD themselves.  The LCD task just blocks on the queue waiting 

+ * for messages - waking and displaying the messages as they arrive.  The LCD

+ * task is defined in lcd.c.  

+ * 

+ * "Check" task -  This only executes every three seconds but has the highest 

+ * priority so is guaranteed to get processor time.  Its main function is to 

+ * check that all the standard demo tasks are still operational.  Should any

+ * unexpected behaviour within a demo task be discovered the 'check' task will

+ * write "FAIL #n" to the LCD (via the LCD task).  If all the demo tasks are 

+ * executing with their expected behaviour then the check task writes the max

+ * jitter time to the LCD (again via the LCD task), as described above.

+ */

+

+/* Standard includes. */

+#include <stdio.h>

+

+/* Scheduler includes. */

+#include "FreeRTOS.h"

+#include "task.h"

+#include "queue.h"

+#include "croutine.h"

+

+/* Demo application includes. */

+#include "BlockQ.h"

+#include "crflash.h"

+#include "blocktim.h"

+#include "integer.h"

+#include "comtest2.h"

+#include "partest.h"

+#include "lcd.h"

+#include "timertest.h"

+

+/* Demo task priorities. */

+#define mainBLOCK_Q_PRIORITY				( tskIDLE_PRIORITY + 2 )

+#define mainCHECK_TASK_PRIORITY				( tskIDLE_PRIORITY + 3 )

+#define mainCOM_TEST_PRIORITY				( 2 )

+

+/* The check task may require a bit more stack as it calls sprintf(). */

+#define mainCHECK_TAKS_STACK_SIZE			( configMINIMAL_STACK_SIZE * 2 )

+

+/* The execution period of the check task. */

+#define mainCHECK_TASK_PERIOD				( ( portTickType ) 3000 / portTICK_RATE_MS )

+

+/* The number of flash co-routines to create. */

+#define mainNUM_FLASH_COROUTINES			( 5 )

+

+/* Baud rate used by the comtest tasks. */

+#define mainCOM_TEST_BAUD_RATE				( 19200 )

+

+/* The LED used by the comtest tasks.  mainCOM_TEST_LED + 1 is also used.

+See the comtest.c file for more information. */

+#define mainCOM_TEST_LED					( 6 )

+

+/* The frequency at which the "fast interrupt test" interrupt will occur. */

+#define mainTEST_INTERRUPT_FREQUENCY		( 20000 )

+

+/* The number of processor clocks we expect to occur between each "fast

+interrupt test" interrupt. */

+#define mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ( configCPU_CLOCK_HZ / mainTEST_INTERRUPT_FREQUENCY )

+

+/* The number of nano seconds between each processor clock. */

+#define mainNS_PER_CLOCK ( ( unsigned short ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )

+

+/* Dimension the buffer used to hold the value of the maximum jitter time when

+it is converted to a string. */

+#define mainMAX_STRING_LENGTH				( 20 )

+

+/*-----------------------------------------------------------*/

+

+/*

+ * The check task as described at the top of this file.

+ */

+static void vCheckTask( void *pvParameters );

+

+/*

+ * Setup the processor ready for the demo.

+ */

+static void prvSetupHardware( void );

+

+/*-----------------------------------------------------------*/

+

+/* The queue used to send messages to the LCD task. */

+static xQueueHandle xLCDQueue;

+

+/*-----------------------------------------------------------*/

+

+/*

+ * Create the demo tasks then start the scheduler.

+ */

+int main( void )

+{

+	/* Configure any hardware required for this demo. */

+	prvSetupHardware();

+

+	/* Create the standard demo tasks. */

+	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );	

+	vStartIntegerMathTasks( tskIDLE_PRIORITY );

+	vStartFlashCoRoutines( mainNUM_FLASH_COROUTINES );

+	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );

+	vCreateBlockTimeTasks();

+

+	/* Create the test tasks defined within this file. */

+	xTaskCreate( vCheckTask, ( signed char * ) "Check", mainCHECK_TAKS_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

+

+	/* Start the task that will control the LCD.  This returns the handle

+	to the queue used to write text out to the task. */

+	xLCDQueue = xStartLCDTask();

+

+	/* Start the high frequency interrupt test. */

+	vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY );

+

+	/* Finally start the scheduler. */

+	vTaskStartScheduler();

+

+	/* Will only reach here if there is insufficient heap available to start

+	the scheduler. */

+	return 0;

+}

+/*-----------------------------------------------------------*/

+

+static void prvSetupHardware( void )

+{

+	vParTestInitialise();

+}

+/*-----------------------------------------------------------*/

+

+static void vCheckTask( void *pvParameters )

+{

+/* Used to wake the task at the correct frequency. */

+portTickType xLastExecutionTime; 

+

+/* The maximum jitter time measured by the fast interrupt test. */

+extern unsigned short usMaxJitter ;

+

+/* Buffer into which the maximum jitter time is written as a string. */

+static char cStringBuffer[ mainMAX_STRING_LENGTH ];

+

+/* The message that is sent on the queue to the LCD task.  The first

+parameter is the minimum time (in ticks) that the message should be

+left on the LCD without being overwritten.  The second parameter is a pointer

+to the message to display itself. */

+xLCDMessage xMessage = { 0, cStringBuffer };

+

+/* Set to pdTRUE should an error be detected in any of the standard demo tasks. */

+unsigned short usErrorDetected = pdFALSE;

+

+	/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()

+	works correctly. */

+	xLastExecutionTime = xTaskGetTickCount();

+

+	for( ;; )

+	{

+		/* Wait until it is time for the next cycle. */

+		vTaskDelayUntil( &xLastExecutionTime, mainCHECK_TASK_PERIOD );

+

+		/* Has an error been found in any of the standard demo tasks? */

+

+		if( xAreIntegerMathsTaskStillRunning() != pdTRUE )

+		{

+			usErrorDetected = pdTRUE;

+			sprintf( cStringBuffer, "FAIL #1" );

+		}

+	

+		if( xAreComTestTasksStillRunning() != pdTRUE )

+		{

+			usErrorDetected = pdTRUE;

+			sprintf( cStringBuffer, "FAIL #2" );

+		}

+

+		if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )

+		{

+			usErrorDetected = pdTRUE;

+			sprintf( cStringBuffer, "FAIL #3" );

+		}

+

+		if( xAreBlockingQueuesStillRunning() != pdTRUE )

+		{

+			usErrorDetected = pdTRUE;

+			sprintf( cStringBuffer, "FAIL #4" );

+		}

+

+		if( usErrorDetected == pdFALSE )

+		{

+			/* No errors have been discovered, so display the maximum jitter

+			timer discovered by the "fast interrupt test". */

+			sprintf( cStringBuffer, "%dns max jitter", ( short ) ( usMaxJitter - mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ) * mainNS_PER_CLOCK );

+		}

+

+		/* Send the message to the LCD gatekeeper for display. */

+		xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );

+	}

+}

+/*-----------------------------------------------------------*/

+

+void vApplicationIdleHook( void )

+{

+	/* Schedule the co-routines from within the idle task hook. */

+	vCoRoutineSchedule();

+}

+/*-----------------------------------------------------------*/

+