From 267efe0b88ee98eca65d3171d44b49e80c10516c Mon Sep 17 00:00:00 2001
From: peabody124 <peabody124>
Date: Thu, 3 Mar 2011 04:28:22 +0000
Subject: [PATCH] OP-315: Patch to FreeRTOS port to allow querying the run time
 for tasks.  This will need to be forward ported (and ideally pushed up
 stream) for FreeRTOS updates

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2939 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 .../Libraries/FreeRTOS/Source/include/task.h        | 13 +++++++++++++
 .../STM32F10x/Libraries/FreeRTOS/Source/tasks.c     | 12 ++++++++++++
 2 files changed, 25 insertions(+)

diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/task.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/task.h
index 1f29ef46f..cfc1b3d2f 100755
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/task.h
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/task.h
@@ -1114,6 +1114,19 @@ unsigned long ulTaskEndTrace( void ) 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 120f8f7e3..85089740a 100755
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/tasks.c
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/tasks.c
@@ -2175,6 +2175,18 @@ tskTCB *pxNewTCB;
 #endif
 /*-----------------------------------------------------------*/
 
+#if ( INCLUDE_uxTaskGetRunTime == 1 )
+unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask )
+{
+	tskTCB *pxTCB;
+	pxTCB = prvGetTCBFromHandle( xTask );
+	return pxTCB->ulRunTimeCounter;
+}
+
+#endif
+
+/*-----------------------------------------------------------*/
+
 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
 
 	static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )