From 17f3c4d4e003032451bf102d500433820dd13441 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 9 Oct 2012 09:57:57 -0500
Subject: [PATCH] Re-add our code for accessing the run time information in
 freertos.

---
 .../Libraries/FreeRTOS/Source/include/task.h     | 13 +++++++++++++
 .../Common/Libraries/FreeRTOS/Source/tasks.c     | 16 ++++++++++++++++
 .../Libraries/FreeRTOS/Source/include/task.h     | 13 +++++++++++++
 .../STM32F10x/Libraries/FreeRTOS/Source/tasks.c  | 16 ++++++++++++++++
 4 files changed, 58 insertions(+)

diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/task.h b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/task.h
index e7a989d40..aa1733b86 100755
--- a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/task.h
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/task.h
@@ -1105,6 +1105,19 @@ void vTaskGetRunTimeStats( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION;
  */
 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
 
+/**
+ * task.h
+ * <PRE>unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask );</PRE>
+ *
+ * Returns the run time of selected task
+ *
+ * @param xTask Handle of the task associated with the stack to be checked.
+ * Set xTask to NULL to check the stack of the calling task.
+ *
+ * @return The run time of selected task
+ */
+unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask );
+
 /* When using trace macros it is sometimes necessary to include tasks.h before
 FreeRTOS.h.  When this is done pdTASK_HOOK_CODE will not yet have been defined,
 so the following two prototypes will cause a compilation error.  This can be
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/tasks.c b/flight/PiOS/Common/Libraries/FreeRTOS/Source/tasks.c
index 0c43e63d6..8bc546e0d 100755
--- a/flight/PiOS/Common/Libraries/FreeRTOS/Source/tasks.c
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/tasks.c
@@ -2282,6 +2282,22 @@ tskTCB *pxNewTCB;
 #endif
 /*-----------------------------------------------------------*/
 
+#if ( INCLUDE_uxTaskGetRunTime == 1 )
+
+	unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask )
+	{
+		unsigned long runTime;
+
+		tskTCB *pxTCB;
+		pxTCB = prvGetTCBFromHandle( xTask );
+		runTime = pxTCB->ulRunTimeCounter;
+		pxTCB->ulRunTimeCounter = 0;
+		return runTime;
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
 
 	unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/task.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/task.h
index e7a989d40..aa1733b86 100755
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/task.h
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/task.h
@@ -1105,6 +1105,19 @@ void vTaskGetRunTimeStats( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION;
  */
 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
 
+/**
+ * task.h
+ * <PRE>unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask );</PRE>
+ *
+ * Returns the run time of selected task
+ *
+ * @param xTask Handle of the task associated with the stack to be checked.
+ * Set xTask to NULL to check the stack of the calling task.
+ *
+ * @return The run time of selected task
+ */
+unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask );
+
 /* When using trace macros it is sometimes necessary to include tasks.h before
 FreeRTOS.h.  When this is done pdTASK_HOOK_CODE will not yet have been defined,
 so the following two prototypes will cause a compilation error.  This can be
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/tasks.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/tasks.c
index 0c43e63d6..344208155 100755
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/tasks.c
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/tasks.c
@@ -2262,6 +2262,22 @@ tskTCB *pxNewTCB;
 #endif
 /*-----------------------------------------------------------*/
 
+#if ( INCLUDE_uxTaskGetRunTime == 1 )
+
+	unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask )
+	{
+		unsigned long runTime;
+
+		tskTCB *pxTCB;
+		pxTCB = prvGetTCBFromHandle( xTask );
+		runTime = pxTCB->ulRunTimeCounter;
+		pxTCB->ulRunTimeCounter = 0;
+		return runTime;
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
 
 	static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )