mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-01 09:24:10 +01:00
421 lines
14 KiB
C
421 lines
14 KiB
C
|
/*
|
||
|
|
FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd.
|
||
|
|
|
||
|
|
***************************************************************************
|
||
|
|
* *
|
||
|
|
* If you are: *
|
||
|
|
* *
|
||
|
|
* + New to FreeRTOS, *
|
||
|
|
* + Wanting to learn FreeRTOS or multitasking in general quickly *
|
||
|
|
* + Looking for basic training, *
|
||
|
|
* + Wanting to improve your FreeRTOS skills and productivity *
|
||
|
|
* *
|
||
|
|
* then take a look at the FreeRTOS eBook *
|
||
|
|
* *
|
||
|
|
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
|
||
|
|
* http://www.FreeRTOS.org/Documentation *
|
||
|
|
* *
|
||
|
|
* A pdf reference manual is also available. Both are usually delivered *
|
||
|
|
* to your inbox within 20 minutes to two hours when purchased between 8am *
|
||
|
|
* and 8pm GMT (although please allow up to 24 hours in case of *
|
||
|
|
* exceptional circumstances). 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 exception 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!
|
||
|
|
|
||
|
|
http://www.FreeRTOS.org - Documentation, latest information, license and
|
||
|
|
contact details.
|
||
|
|
|
||
|
|
http://www.SafeRTOS.com - A version that is certified for use in safety
|
||
|
|
critical systems.
|
||
|
|
|
||
|
|
http://www.OpenRTOS.com - Commercial support, development, porting,
|
||
|
|
licensing and training services.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef INC_FREERTOS_H
|
||
|
|
#define INC_FREERTOS_H
|
||
|
|
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Include the generic headers required for the FreeRTOS port being used.
|
||
|
|
*/
|
||
|
|
#include <stddef.h>
|
||
|
|
|
||
|
|
/* Basic FreeRTOS definitions. */
|
||
|
|
#include "projdefs.h"
|
||
|
|
|
||
|
|
/* Application specific configuration options. */
|
||
|
|
#include "FreeRTOSConfig.h"
|
||
|
|
|
||
|
|
/* Definitions specific to the port being used. */
|
||
|
|
#include "portable.h"
|
||
|
|
|
||
|
|
|
||
|
|
/* Defines the prototype to which the application task hook function must
|
||
|
|
conform. */
|
||
|
|
typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Check all the required application specific macros have been defined.
|
||
|
|
* These macros are application specific and (as downloaded) are defined
|
||
|
|
* within FreeRTOSConfig.h.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef configUSE_PREEMPTION
|
||
|
|
#error Missing definition: configUSE_PREEMPTION should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef configUSE_IDLE_HOOK
|
||
|
|
#error Missing definition: configUSE_IDLE_HOOK should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef configUSE_TICK_HOOK
|
||
|
|
#error Missing definition: configUSE_TICK_HOOK should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef configUSE_CO_ROUTINES
|
||
|
|
#error Missing definition: configUSE_CO_ROUTINES should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef INCLUDE_vTaskPrioritySet
|
||
|
|
#error Missing definition: INCLUDE_vTaskPrioritySet should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef INCLUDE_uxTaskPriorityGet
|
||
|
|
#error Missing definition: INCLUDE_uxTaskPriorityGet should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef INCLUDE_vTaskDelete
|
||
|
|
#error Missing definition: INCLUDE_vTaskDelete should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef INCLUDE_vTaskCleanUpResources
|
||
|
|
#error Missing definition: INCLUDE_vTaskCleanUpResources should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef INCLUDE_vTaskSuspend
|
||
|
|
#error Missing definition: INCLUDE_vTaskSuspend should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef INCLUDE_vTaskDelayUntil
|
||
|
|
#error Missing definition: INCLUDE_vTaskDelayUntil should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef INCLUDE_vTaskDelay
|
||
|
|
#error Missing definition: INCLUDE_vTaskDelay should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef configUSE_16_BIT_TICKS
|
||
|
|
#error Missing definition: configUSE_16_BIT_TICKS should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef configUSE_APPLICATION_TASK_TAG
|
||
|
|
#define configUSE_APPLICATION_TASK_TAG 0
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef INCLUDE_uxTaskGetStackHighWaterMark
|
||
|
|
#define INCLUDE_uxTaskGetStackHighWaterMark 0
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef configUSE_RECURSIVE_MUTEXES
|
||
|
|
#define configUSE_RECURSIVE_MUTEXES 0
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef configUSE_MUTEXES
|
||
|
|
#define configUSE_MUTEXES 0
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef configUSE_COUNTING_SEMAPHORES
|
||
|
|
#define configUSE_COUNTING_SEMAPHORES 0
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef configUSE_ALTERNATIVE_API
|
||
|
|
#define configUSE_ALTERNATIVE_API 0
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef portCRITICAL_NESTING_IN_TCB
|
||
|
|
#define portCRITICAL_NESTING_IN_TCB 0
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef configMAX_TASK_NAME_LEN
|
||
|
|
#define configMAX_TASK_NAME_LEN 16
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef configIDLE_SHOULD_YIELD
|
||
|
|
#define configIDLE_SHOULD_YIELD 1
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if configMAX_TASK_NAME_LEN < 1
|
||
|
|
#undef configMAX_TASK_NAME_LEN
|
||
|
|
#define configMAX_TASK_NAME_LEN 1
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef INCLUDE_xTaskResumeFromISR
|
||
|
|
#define INCLUDE_xTaskResumeFromISR 1
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef INCLUDE_xTaskGetSchedulerState
|
||
|
|
#define INCLUDE_xTaskGetSchedulerState 0
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if ( configUSE_MUTEXES == 1 )
|
||
|
|
/* xTaskGetCurrentTaskHandle is used by the priority inheritance mechanism
|
||
|
|
within the mutex implementation so must be available if mutexes are used. */
|
||
|
|
#undef INCLUDE_xTaskGetCurrentTaskHandle
|
||
|
|
#define INCLUDE_xTaskGetCurrentTaskHandle 1
|
||
|
|
#else
|
||
|
|
#ifndef INCLUDE_xTaskGetCurrentTaskHandle
|
||
|
|
#define INCLUDE_xTaskGetCurrentTaskHandle 0
|
||
|
|
#endif
|
||
|
|
#endif
|
||
|
|
|
||
|
|
|
||
|
|
#ifndef portSET_INTERRUPT_MASK_FROM_ISR
|
||
|
|
#define portSET_INTERRUPT_MASK_FROM_ISR() 0
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef portCLEAR_INTERRUPT_MASK_FROM_ISR
|
||
|
|
#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) uxSavedStatusValue
|
||
|
|
#endif
|
||
|
|
|
||
|
|
|
||
|
|
#ifndef configQUEUE_REGISTRY_SIZE
|
||
|
|
#define configQUEUE_REGISTRY_SIZE 0
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if configQUEUE_REGISTRY_SIZE < 1
|
||
|
|
#define configQUEUE_REGISTRY_SIZE 0
|
||
|
|
#define vQueueAddToRegistry( xQueue, pcName )
|
||
|
|
#define vQueueUnregisterQueue( xQueue )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
|
||
|
|
/* Remove any unused trace macros. */
|
||
|
|
#ifndef traceSTART
|
||
|
|
/* Used to perform any necessary initialisation - for example, open a file
|
||
|
|
into which trace is to be written. */
|
||
|
|
#define traceSTART()
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceEND
|
||
|
|
/* Use to close a trace, for example close a file into which trace has been
|
||
|
|
written. */
|
||
|
|
#define traceEND()
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceTASK_SWITCHED_IN
|
||
|
|
/* Called after a task has been selected to run. pxCurrentTCB holds a pointer
|
||
|
|
to the task control block of the selected task. */
|
||
|
|
#define traceTASK_SWITCHED_IN()
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceTASK_SWITCHED_OUT
|
||
|
|
/* Called before a task has been selected to run. pxCurrentTCB holds a pointer
|
||
|
|
to the task control block of the task being switched out. */
|
||
|
|
#define traceTASK_SWITCHED_OUT()
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceBLOCKING_ON_QUEUE_RECEIVE
|
||
|
|
/* Task is about to block because it cannot read from a
|
||
|
|
queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore
|
||
|
|
upon which the read was attempted. pxCurrentTCB points to the TCB of the
|
||
|
|
task that attempted the read. */
|
||
|
|
#define traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceBLOCKING_ON_QUEUE_SEND
|
||
|
|
/* Task is about to block because it cannot write to a
|
||
|
|
queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore
|
||
|
|
upon which the write was attempted. pxCurrentTCB points to the TCB of the
|
||
|
|
task that attempted the write. */
|
||
|
|
#define traceBLOCKING_ON_QUEUE_SEND( pxQueue )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef configCHECK_FOR_STACK_OVERFLOW
|
||
|
|
#define configCHECK_FOR_STACK_OVERFLOW 0
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/* The following event macros are embedded in the kernel API calls. */
|
||
|
|
|
||
|
|
#ifndef traceQUEUE_CREATE
|
||
|
|
#define traceQUEUE_CREATE( pxNewQueue )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceQUEUE_CREATE_FAILED
|
||
|
|
#define traceQUEUE_CREATE_FAILED()
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceCREATE_MUTEX
|
||
|
|
#define traceCREATE_MUTEX( pxNewQueue )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceCREATE_MUTEX_FAILED
|
||
|
|
#define traceCREATE_MUTEX_FAILED()
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceGIVE_MUTEX_RECURSIVE
|
||
|
|
#define traceGIVE_MUTEX_RECURSIVE( pxMutex )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceGIVE_MUTEX_RECURSIVE_FAILED
|
||
|
|
#define traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceTAKE_MUTEX_RECURSIVE
|
||
|
|
#define traceTAKE_MUTEX_RECURSIVE( pxMutex )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceCREATE_COUNTING_SEMAPHORE
|
||
|
|
#define traceCREATE_COUNTING_SEMAPHORE()
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceCREATE_COUNTING_SEMAPHORE_FAILED
|
||
|
|
#define traceCREATE_COUNTING_SEMAPHORE_FAILED()
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceQUEUE_SEND
|
||
|
|
#define traceQUEUE_SEND( pxQueue )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceQUEUE_SEND_FAILED
|
||
|
|
#define traceQUEUE_SEND_FAILED( pxQueue )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceQUEUE_RECEIVE
|
||
|
|
#define traceQUEUE_RECEIVE( pxQueue )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceQUEUE_PEEK
|
||
|
|
#define traceQUEUE_PEEK( pxQueue )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceQUEUE_RECEIVE_FAILED
|
||
|
|
#define traceQUEUE_RECEIVE_FAILED( pxQueue )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceQUEUE_SEND_FROM_ISR
|
||
|
|
#define traceQUEUE_SEND_FROM_ISR( pxQueue )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceQUEUE_SEND_FROM_ISR_FAILED
|
||
|
|
#define traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceQUEUE_RECEIVE_FROM_ISR
|
||
|
|
#define traceQUEUE_RECEIVE_FROM_ISR( pxQueue )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceQUEUE_RECEIVE_FROM_ISR_FAILED
|
||
|
|
#define traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceQUEUE_DELETE
|
||
|
|
#define traceQUEUE_DELETE( pxQueue )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceTASK_CREATE
|
||
|
|
#define traceTASK_CREATE( pxNewTCB )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceTASK_CREATE_FAILED
|
||
|
|
#define traceTASK_CREATE_FAILED( pxNewTCB )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceTASK_DELETE
|
||
|
|
#define traceTASK_DELETE( pxTaskToDelete )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceTASK_DELAY_UNTIL
|
||
|
|
#define traceTASK_DELAY_UNTIL()
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceTASK_DELAY
|
||
|
|
#define traceTASK_DELAY()
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceTASK_PRIORITY_SET
|
||
|
|
#define traceTASK_PRIORITY_SET( pxTask, uxNewPriority )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceTASK_SUSPEND
|
||
|
|
#define traceTASK_SUSPEND( pxTaskToSuspend )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceTASK_RESUME
|
||
|
|
#define traceTASK_RESUME( pxTaskToResume )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceTASK_RESUME_FROM_ISR
|
||
|
|
#define traceTASK_RESUME_FROM_ISR( pxTaskToResume )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef traceTASK_INCREMENT_TICK
|
||
|
|
#define traceTASK_INCREMENT_TICK( xTickCount )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef configGENERATE_RUN_TIME_STATS
|
||
|
|
#define configGENERATE_RUN_TIME_STATS 0
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if ( configGENERATE_RUN_TIME_STATS == 1 )
|
||
|
|
|
||
|
|
#ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS
|
||
|
|
#error If configGENERATE_RUN_TIME_STATS is defined then portCONFIGURE_TIMER_FOR_RUN_TIME_STATS must also be defined. portCONFIGURE_TIMER_FOR_RUN_TIME_STATS should call a port layer function to setup a peripheral timer/counter that can then be used as the run time counter time base.
|
||
|
|
#endif /* portCONFIGURE_TIMER_FOR_RUN_TIME_STATS */
|
||
|
|
|
||
|
|
#ifndef portGET_RUN_TIME_COUNTER_VALUE
|
||
|
|
#error If configGENERATE_RUN_TIME_STATS is defined then portGET_RUN_TIME_COUNTER_VALUE must also be defined. portGET_RUN_TIME_COUNTER_VALUE should evaluate to the counter value of the timer/counter peripheral used as the run time counter time base.
|
||
|
|
#endif /* portGET_RUN_TIME_COUNTER_VALUE */
|
||
|
|
|
||
|
|
#endif /* configGENERATE_RUN_TIME_STATS */
|
||
|
|
|
||
|
|
#ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS
|
||
|
|
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef configUSE_MALLOC_FAILED_HOOK
|
||
|
|
#define configUSE_MALLOC_FAILED_HOOK 0
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef portPRIVILEGE_BIT
|
||
|
|
#define portPRIVILEGE_BIT ( ( unsigned portBASE_TYPE ) 0x00 )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef portYIELD_WITHIN_API
|
||
|
|
#define portYIELD_WITHIN_API portYIELD
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef pvPortMallocAligned
|
||
|
|
#define pvPortMallocAligned( x, puxStackBuffer ) ( ( puxStackBuffer == NULL ) ? ( pvPortMalloc( x ) ) : ( puxStackBuffer ) )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef vPortFreeAligned
|
||
|
|
#define vPortFreeAligned( pvBlockToFree ) vPortFree( pvBlockToFree )
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif /* INC_FREERTOS_H */
|
||
|
|
|