sim_posix: unified inc files with the rest of PiOS .h, some dir moves/cleanup, fixed some compilation issues.

flight/PiOS.posix/Boards/pios_board.h

@@ -1,10 +0,0 @@
-#ifndef PIOS_BOARD_H_
-#define PIOS_BOARD_H_
-
-#ifdef USE_SIM_POSIX
-#include "sim_posix.h"
-#else
-#error Board definition has not been provided.
-#endif
-
-#endif /* PIOS_BOARD_H_ */

flight/PiOS.posix/inc/FreeRTOSConfig.h

@@ -1,107 +0,0 @@
-
-#ifndef FREERTOS_CONFIG_H
-#define FREERTOS_CONFIG_H
-
-/*-----------------------------------------------------------
- * Application specific definitions.
- *
- * These definitions should be adjusted for your particular hardware and
- * application requirements.
- *
- * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
- * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. 
- *
- * See http://www.freertos.org/a00110.html.
- *----------------------------------------------------------*/
-
-/* Notes: We use 5 task priorities */  
-
-
-#ifdef __APPLE__ 
-	#define COND_SIGNALING  
-	#define CHECK_TASK_RESUMES
-	#define RUNNING_THREAD_MUTEX
-//	#define TICK_SIGNAL 
-//	#define TICK_SIGWAIT
-	#define IDLE_SLEEPS
-
-	#define configUSE_PREEMPTION		1
-	#define configIDLE_SHOULD_YIELD		0
-#endif
-#ifdef __CYGWIN__
-	#define COND_SIGNALING  
-	#define CHECK_TASK_RESUMES
-//	#define RUNNING_THREAD_MUTEX
-//	#define TICK_SIGNAL
-	#define TICK_SIGWAIT
-	#define IDLE_SLEEPS
-
-	#define configUSE_PREEMPTION		0
-	#define configIDLE_SHOULD_YIELD		1
-#endif
-#ifdef __linux__
-	#define COND_SIGNALING
-	#define CHECK_TASK_RESUMES
-	#define RUNNING_THREAD_MUTEX
-//	#define TICK_SIGNAL
-//	#define TICK_SIGWAIT
-	#define IDLE_SLEEPS
-
-	#define configUSE_PREEMPTION		1
-	#define configIDLE_SHOULD_YIELD		0
-#endif
-
-
-#define configUSE_IDLE_HOOK		1
-#define configUSE_TICK_HOOK		0
-#define configCPU_CLOCK_HZ		( ( unsigned long ) 72000000 )	
-#define configTICK_RATE_HZ		( ( portTickType ) 1000 )
-#define configMAX_PRIORITIES		( ( unsigned portBASE_TYPE ) 5 )
-#define configMINIMAL_STACK_SIZE	( ( unsigned short ) 256 )
-#define configTOTAL_HEAP_SIZE		( ( size_t ) ( 45 * 1024 ) )
-#define configMAX_TASK_NAME_LEN		( 16 )
-#define configUSE_TRACE_FACILITY	0
-#define configUSE_16_BIT_TICKS		0
-#define configUSE_MUTEXES		1
-#define configUSE_RECURSIVE_MUTEXES	1
-#define configUSE_COUNTING_SEMAPHORES	0
-#define configUSE_ALTERNATIVE_API	0
-#define configCHECK_FOR_STACK_OVERFLOW	2
-#define configQUEUE_REGISTRY_SIZE	10
-
-
-/* Co-routine definitions. */
-#define configUSE_CO_ROUTINES 		0
-#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
-
-/* Set the following definitions to 1 to include the API function, or zero
-to exclude the API function. */
-
-#define INCLUDE_vTaskPrioritySet		1
-#define INCLUDE_uxTaskPriorityGet		1
-#define INCLUDE_vTaskDelete			1
-#define INCLUDE_vTaskCleanUpResources		0
-#define INCLUDE_vTaskSuspend			1
-#define INCLUDE_vTaskDelayUntil			1
-#define INCLUDE_vTaskDelay			1
-#define INCLUDE_xTaskGetSchedulerState		1
-#define INCLUDE_xTaskGetCurrentTaskHandle	1
-#define INCLUDE_uxTaskGetStackHighWaterMark	0
-
-
-
-
-/* This is the raw value as per the Cortex-M3 NVIC.  Values can be 255
-(lowest) to 1 (highest maskable) to 0 (highest non-maskable). */
-#define configKERNEL_INTERRUPT_PRIORITY 	15 << 4 /* equivalent to NVIC priority 15 */
-#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	 3 << 4 /* equivalent to NVIC priority  3 */
-
-
-/* This is the value being used as per the ST library which permits 16
-priority values, 0 to 15.  This must correspond to the
-configKERNEL_INTERRUPT_PRIORITY setting.  Here 15 corresponds to the lowest
-NVIC value of 255. */
-#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY	15
-
-#endif /* FREERTOS_CONFIG_H */
-

flight/PiOS/Boards/pios_board.h

@@ -17,6 +17,8 @@
 #include "STM32F4xx_OSD.h"
 #elif USE_STM32F4xx_RM
 #include "STM32F4xx_RevoMini.h"
+#elif USE_SIM_POSIX
+#include "sim_posix.h"
 #else
 #error Board definition has not been provided.
 #endif

flight/PiOS/inc/pios_debug.h

@@ -33,9 +33,13 @@
 
 extern const char *PIOS_DEBUG_AssertMsg;
 
+#ifdef USE_SIM_POSIX
+void PIOS_DEBUG_Init(void);
+#else
 #include <pios_tim_priv.h>
 
 void PIOS_DEBUG_Init(const struct pios_tim_channel * channels, uint8_t num_channels);
+#endif
 void PIOS_DEBUG_PinHigh(uint8_t pin);
 void PIOS_DEBUG_PinLow(uint8_t pin);
 void PIOS_DEBUG_PinValue8Bit(uint8_t value);

flight/PiOS/inc/pios_initcall.h

@@ -51,6 +51,26 @@ typedef struct {
 /* Init module section */
 extern initmodule_t __module_initcall_start[], __module_initcall_end[];
 
+#ifdef USE_SIM_POSIX
+
+extern void InitModules();
+extern void StartModules();
+
+#define MODULE_INITCALL(ifn, sfn)
+
+#define MODULE_TASKCREATE_ALL { \
+	/* Start all module threads */ \
+	StartModules(); \
+	}
+
+#define MODULE_INITIALISE_ALL { \
+	/* Initialize modules */ \
+	InitModules(); \
+	/* Initialize the system thread */ \
+	SystemModInitialize();}
+
+#else
+
 /* initcalls are now grouped by functionality into separate 
  * subsections. Ordering inside the subsections is determined
  * by link order.
@@ -77,6 +97,7 @@ extern initmodule_t __module_initcall_start[], __module_initcall_end[];
 									if (fn->fn_tinit) \
 									   (fn->fn_tinit)(); }
 
+#endif /* USE_SIM_POSIX */
 #endif	/* PIOS_INITCALL_H */
 
 /**

flight/PiOS/inc/pios_sdcard.h

@@ -80,17 +80,17 @@ typedef struct {
 	uint16_t OEM_AppliID;	/* OEM/Application ID */
 	char ProdName[6];	/* Product Name */
 	uint8_t ProdRev;	/* Product Revision */
-	u32 ProdSN;		/* Product Serial Number */
+	uint32_t ProdSN;		/* Product Serial Number */
 	uint8_t Reserved1;	/* Reserved1 */
 	uint16_t ManufactDate;	/* Manufacturing Date */
 	uint8_t msd_CRC;	/* CRC */
 	uint8_t Reserved2;	/* always 1 */
 } SDCARDCidTypeDef;
-
+#ifndef USE_SIM_POSIX
 /* Global Variables */
 extern VOLINFO PIOS_SDCARD_VolInfo;
 extern uint8_t PIOS_SDCARD_Sector[SECTOR_SIZE];
-
+#endif
 /* Prototypes */
 extern int32_t PIOS_SDCARD_Init(uint32_t spi_id);
 extern int32_t PIOS_SDCARD_PowerOn(void);
@@ -106,9 +106,10 @@ extern int32_t PIOS_SDCARD_StartupLog(void);
 extern int32_t PIOS_SDCARD_IsMounted();
 extern int32_t PIOS_SDCARD_MountFS(uint32_t StartupLog);
 extern int32_t PIOS_SDCARD_GetFree(void);
-
+#ifndef USE_SIM_POSIX
 extern int32_t PIOS_SDCARD_ReadBuffer(PFILEINFO fileinfo, uint8_t * buffer, uint32_t len);
 extern int32_t PIOS_SDCARD_ReadLine(PFILEINFO fileinfo, uint8_t * buffer, uint32_t max_len);
+#endif
 extern int32_t PIOS_SDCARD_FileCopy(char *Source, char *Destination);
 extern int32_t PIOS_SDCARD_FileDelete(char *Filename);
 

flight/PiOS/pios.h

@@ -27,7 +27,9 @@
 
 #ifndef PIOS_H
 #define PIOS_H
-
+#ifdef USE_SIM_POSIX
+#include <pios_sim_posix.h>
+#else
 /* PIOS Feature Selection */
 #include "pios_config.h"
 
@@ -169,5 +171,5 @@
 #include <pios_crc.h>
 
 #define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
-
+#endif /* USE_SIMPOSIX */
 #endif /* PIOS_H */

flight/PiOS/pios_sim_posix.h

@@ -25,11 +25,11 @@
  */
 
 
-#ifndef PIOS_H
-#define PIOS_H
+#ifndef PIOS_SIM_POSIX_H
+#define PIOS_SIM_POSIX_H
 
 /* PIOS Feature Selection */
-#include "pios_config.h"
+#include "pios_config.h"
 #include <pios_posix.h>
 
 #if defined(PIOS_INCLUDE_FREERTOS)
@@ -49,10 +49,10 @@
 #include <unistd.h>
 
 /* Generic initcall infrastructure */
-#include "pios_initcall.h"
+#include <pios_initcall.h>
 
 /* PIOS Board Specific Device Configuration */
-#include "pios_board.h"
+#include "pios_board.h"
 
 /* PIOS Hardware Includes (posix) */
 #include <pios_sys.h>
@@ -77,4 +77,4 @@
 
 #define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
 
-#endif /* PIOS_H */
+#endif /* PIOS_POSIX_H */

flight/PiOS/posix/pios_sdcard.c

@@ -38,7 +38,7 @@
 * \param[in] mode currently only mode 0 supported
 * \return < 0 if initialisation failed
 */
-int32_t PIOS_SDCARD_Init(void)
+int32_t PIOS_SDCARD_Init(uint32_t spi_id)
 {
 	/* No error */
 	return 0;

flight/PiOS/posix/pios_wdg.c

@@ -51,8 +51,9 @@
  * @param[in] delayMs The delay period in ms
  * @returns Maximum recommended delay between updates
  */
-void PIOS_WDG_Init()
+uint16_t PIOS_WDG_Init()
 {
+	return 0;
 }
 
 /**

flight/targets/SimPosix/System/inc/FreeRTOSConfig.h

@@ -1,103 +1,107 @@
-
-#ifndef FREERTOS_CONFIG_H
-#define FREERTOS_CONFIG_H
-
-/*-----------------------------------------------------------
- * Application specific definitions.
- *
- * These definitions should be adjusted for your particular hardware and
- * application requirements.
- *
- * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
- * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. 
- *
- * See http://www.freertos.org/a00110.html.
- *----------------------------------------------------------*/
-
-/**
-  * @addtogroup PIOS PIOS
-  * @{
-  * @addtogroup FreeRTOS FreeRTOS
-  * @{
-  */
-
-/* Notes: We use 5 task priorities */
-
-#define configCPU_CLOCK_HZ						(SYSCLK_FREQ)	// really the NVIC clock ...
-#define configTICK_RATE_HZ						((portTickType )1000)
-#define configMAX_PRIORITIES					((unsigned portBASE_TYPE)5)
-#define configMINIMAL_STACK_SIZE				((unsigned short)512)
-#define configTOTAL_HEAP_SIZE					((size_t)(180 * 1024))	// this is minimum, not total
-#define configMAX_TASK_NAME_LEN					(16)
-
-#define configUSE_PREEMPTION					1
-#define configUSE_IDLE_HOOK						1
-#define configUSE_TICK_HOOK						0
-#define configUSE_TRACE_FACILITY				0
-#define configUSE_16_BIT_TICKS					0
-#define configIDLE_SHOULD_YIELD					0
-#define configUSE_MUTEXES						1
-#define configUSE_RECURSIVE_MUTEXES				1
-#define configUSE_COUNTING_SEMAPHORES			0
-#define configUSE_ALTERNATIVE_API				0
-#define configCHECK_FOR_STACK_OVERFLOW			2
-#define configQUEUE_REGISTRY_SIZE				10
-
-#define configUSE_TIMERS						1
-#define configTIMER_TASK_PRIORITY				(configMAX_PRIORITIES - 1)	/* run timers at max priority */
-#define configTIMER_QUEUE_LENGTH				10
-#define configTIMER_TASK_STACK_DEPTH			configMINIMAL_STACK_SIZE
-
-/* Co-routine definitions. */
-#define configUSE_CO_ROUTINES 					0
-//#define configMAX_CO_ROUTINE_PRIORITIES 		( 2 )
-
-/* Set the following definitions to 1 to include the API function, or zero
-to exclude the API function. */
-
-#define INCLUDE_vTaskPrioritySet				1
-#define INCLUDE_uxTaskPriorityGet				1
-#define INCLUDE_vTaskDelete						1
-#define INCLUDE_vTaskCleanUpResources			1
-#define INCLUDE_vTaskSuspend					1
-#define INCLUDE_vTaskDelayUntil					1
-#define INCLUDE_vTaskDelay						1
-#define INCLUDE_xTaskGetSchedulerState			1
-#define INCLUDE_xTaskGetCurrentTaskHandle		1
-#define INCLUDE_uxTaskGetStackHighWaterMark		1
-
-/* This is the raw value as per the Cortex-M3 NVIC.  Values can be 255
-(lowest) to 1 (highest maskable) to 0 (highest non-maskable). */
-#define configKERNEL_INTERRUPT_PRIORITY 		15 << 4	/* equivalent to NVIC priority 15 */
-#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	 3 << 4	/* equivalent to NVIC priority  3 */
-
-/* This is the value being used as per the ST library which permits 16
-priority values, 0 to 15.  This must correspond to the
-configKERNEL_INTERRUPT_PRIORITY setting.  Here 15 corresponds to the lowest
-NVIC value of 255. */
-#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY	15
-
-/* Enable run time stats collection */
-#define configGENERATE_RUN_TIME_STATS 			1
-#define INCLUDE_uxTaskGetRunTime 				1
-
-/*
- * Once we move to CMSIS2 we can at least use:
- *
- * CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
- *
- * (still nothing for the DWT registers, surprisingly)
- */
-#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()									\
-	do {																			\
-		(*(unsigned long *)0xe000edfc) |= (1<<24);	/* DEMCR |= DEMCR_TRCENA */		\
-		(*(unsigned long *)0xe0001000) |= 1; 	/* DWT_CTRL |= DWT_CYCCNT_ENA */	\
-	} while(0)
-#define portGET_RUN_TIME_COUNTER_VALUE() 			(*(unsigned long *)0xe0001004)	/* DWT_CYCCNT */
-
-
-/**
-  * @}
-  */
-
-#endif /* FREERTOS_CONFIG_H */
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+ * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. 
+ *
+ * See http://www.freertos.org/a00110.html.
+ *----------------------------------------------------------*/
+
+/* Notes: We use 5 task priorities */  
+
+
+#ifdef __APPLE__ 
+	#define COND_SIGNALING  
+	#define CHECK_TASK_RESUMES
+	#define RUNNING_THREAD_MUTEX
+//	#define TICK_SIGNAL 
+//	#define TICK_SIGWAIT
+	#define IDLE_SLEEPS
+
+	#define configUSE_PREEMPTION		1
+	#define configIDLE_SHOULD_YIELD		0
+#endif
+#ifdef __CYGWIN__
+	#define COND_SIGNALING  
+	#define CHECK_TASK_RESUMES
+//	#define RUNNING_THREAD_MUTEX
+//	#define TICK_SIGNAL
+	#define TICK_SIGWAIT
+	#define IDLE_SLEEPS
+
+	#define configUSE_PREEMPTION		0
+	#define configIDLE_SHOULD_YIELD		1
+#endif
+#ifdef __linux__
+	#define COND_SIGNALING
+	#define CHECK_TASK_RESUMES
+	#define RUNNING_THREAD_MUTEX
+//	#define TICK_SIGNAL
+//	#define TICK_SIGWAIT
+	#define IDLE_SLEEPS
+
+	#define configUSE_PREEMPTION		1
+	#define configIDLE_SHOULD_YIELD		0
+#endif
+
+
+#define configUSE_IDLE_HOOK		1
+#define configUSE_TICK_HOOK		0
+#define configCPU_CLOCK_HZ		( ( unsigned long ) 72000000 )	
+#define configTICK_RATE_HZ		( ( portTickType ) 1000 )
+#define configMAX_PRIORITIES		( ( unsigned portBASE_TYPE ) 5 )
+#define configMINIMAL_STACK_SIZE	( ( unsigned short ) 256 )
+#define configTOTAL_HEAP_SIZE		( ( size_t ) ( 45 * 1024 ) )
+#define configMAX_TASK_NAME_LEN		( 16 )
+#define configUSE_TRACE_FACILITY	0
+#define configUSE_16_BIT_TICKS		0
+#define configUSE_MUTEXES		1
+#define configUSE_RECURSIVE_MUTEXES	1
+#define configUSE_COUNTING_SEMAPHORES	0
+#define configUSE_ALTERNATIVE_API	0
+#define configCHECK_FOR_STACK_OVERFLOW	2
+#define configQUEUE_REGISTRY_SIZE	10
+
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES 		0
+#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
+
+/* Set the following definitions to 1 to include the API function, or zero
+to exclude the API function. */
+
+#define INCLUDE_vTaskPrioritySet		1
+#define INCLUDE_uxTaskPriorityGet		1
+#define INCLUDE_vTaskDelete			1
+#define INCLUDE_vTaskCleanUpResources		0
+#define INCLUDE_vTaskSuspend			1
+#define INCLUDE_vTaskDelayUntil			1
+#define INCLUDE_vTaskDelay			1
+#define INCLUDE_xTaskGetSchedulerState		1
+#define INCLUDE_xTaskGetCurrentTaskHandle	1
+#define INCLUDE_uxTaskGetStackHighWaterMark	0
+
+
+
+
+/* This is the raw value as per the Cortex-M3 NVIC.  Values can be 255
+(lowest) to 1 (highest maskable) to 0 (highest non-maskable). */
+#define configKERNEL_INTERRUPT_PRIORITY 	15 << 4 /* equivalent to NVIC priority 15 */
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	 3 << 4 /* equivalent to NVIC priority  3 */
+
+
+/* This is the value being used as per the ST library which permits 16
+priority values, 0 to 15.  This must correspond to the
+configKERNEL_INTERRUPT_PRIORITY setting.  Here 15 corresponds to the lowest
+NVIC value of 255. */
+#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY	15
+
+#endif /* FREERTOS_CONFIG_H */
+

flight/targets/SimPosix/System/inc/FreeRTOSConfig_bk.h

@@ -0,0 +1,103 @@
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+ * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. 
+ *
+ * See http://www.freertos.org/a00110.html.
+ *----------------------------------------------------------*/
+
+/**
+  * @addtogroup PIOS PIOS
+  * @{
+  * @addtogroup FreeRTOS FreeRTOS
+  * @{
+  */
+
+/* Notes: We use 5 task priorities */
+
+#define configCPU_CLOCK_HZ						(SYSCLK_FREQ)	// really the NVIC clock ...
+#define configTICK_RATE_HZ						((portTickType )1000)
+#define configMAX_PRIORITIES					((unsigned portBASE_TYPE)5)
+#define configMINIMAL_STACK_SIZE				((unsigned short)512)
+#define configTOTAL_HEAP_SIZE					((size_t)(180 * 1024))	// this is minimum, not total
+#define configMAX_TASK_NAME_LEN					(16)
+
+#define configUSE_PREEMPTION					1
+#define configUSE_IDLE_HOOK						1
+#define configUSE_TICK_HOOK						0
+#define configUSE_TRACE_FACILITY				0
+#define configUSE_16_BIT_TICKS					0
+#define configIDLE_SHOULD_YIELD					0
+#define configUSE_MUTEXES						1
+#define configUSE_RECURSIVE_MUTEXES				1
+#define configUSE_COUNTING_SEMAPHORES			0
+#define configUSE_ALTERNATIVE_API				0
+#define configCHECK_FOR_STACK_OVERFLOW			2
+#define configQUEUE_REGISTRY_SIZE				10
+
+#define configUSE_TIMERS						1
+#define configTIMER_TASK_PRIORITY				(configMAX_PRIORITIES - 1)	/* run timers at max priority */
+#define configTIMER_QUEUE_LENGTH				10
+#define configTIMER_TASK_STACK_DEPTH			configMINIMAL_STACK_SIZE
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES 					0
+//#define configMAX_CO_ROUTINE_PRIORITIES 		( 2 )
+
+/* Set the following definitions to 1 to include the API function, or zero
+to exclude the API function. */
+
+#define INCLUDE_vTaskPrioritySet				1
+#define INCLUDE_uxTaskPriorityGet				1
+#define INCLUDE_vTaskDelete						1
+#define INCLUDE_vTaskCleanUpResources			1
+#define INCLUDE_vTaskSuspend					1
+#define INCLUDE_vTaskDelayUntil					1
+#define INCLUDE_vTaskDelay						1
+#define INCLUDE_xTaskGetSchedulerState			1
+#define INCLUDE_xTaskGetCurrentTaskHandle		1
+#define INCLUDE_uxTaskGetStackHighWaterMark		1
+
+/* This is the raw value as per the Cortex-M3 NVIC.  Values can be 255
+(lowest) to 1 (highest maskable) to 0 (highest non-maskable). */
+#define configKERNEL_INTERRUPT_PRIORITY 		15 << 4	/* equivalent to NVIC priority 15 */
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	 3 << 4	/* equivalent to NVIC priority  3 */
+
+/* This is the value being used as per the ST library which permits 16
+priority values, 0 to 15.  This must correspond to the
+configKERNEL_INTERRUPT_PRIORITY setting.  Here 15 corresponds to the lowest
+NVIC value of 255. */
+#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY	15
+
+/* Enable run time stats collection */
+#define configGENERATE_RUN_TIME_STATS 			1
+#define INCLUDE_uxTaskGetRunTime 				1
+
+/*
+ * Once we move to CMSIS2 we can at least use:
+ *
+ * CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
+ *
+ * (still nothing for the DWT registers, surprisingly)
+ */
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()									\
+	do {																			\
+		(*(unsigned long *)0xe000edfc) |= (1<<24);	/* DEMCR |= DEMCR_TRCENA */		\
+		(*(unsigned long *)0xe0001000) |= 1; 	/* DWT_CTRL |= DWT_CYCCNT_ENA */	\
+	} while(0)
+#define portGET_RUN_TIME_COUNTER_VALUE() 			(*(unsigned long *)0xe0001004)	/* DWT_CYCCNT */
+
+
+/**
+  * @}
+  */
+
+#endif /* FREERTOS_CONFIG_H */