diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/croutine.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/croutine.c
old mode 100644
new mode 100755
index 2521ff97f..f180a8774
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/croutine.c
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/croutine.c
@@ -1,5 +1,5 @@
/*
- FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
+ FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
@@ -10,7 +10,7 @@
* + Looking for basic training, *
* + Wanting to improve your FreeRTOS skills and productivity *
* *
- * then take a look at the FreeRTOS eBook *
+ * then take a look at the FreeRTOS books - available as PDF or paperback *
* *
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
* http://www.FreeRTOS.org/Documentation *
@@ -55,15 +55,6 @@
#include "task.h"
#include "croutine.h"
-/**
- * @file croutine.c
- * @author FreeRTOS
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup FreeRTOS FreeRTOS Operating system
- * @{
- */
-
/*
* Some kernel aware debuggers require data to be viewed to be global, rather
* than file scope.
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/FreeRTOS.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/FreeRTOS.h
old mode 100644
new mode 100755
index 1ad821d92..f440a16d1
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/FreeRTOS.h
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/FreeRTOS.h
@@ -1,5 +1,5 @@
/*
- FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
+ FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
@@ -10,7 +10,7 @@
* + Looking for basic training, *
* + Wanting to improve your FreeRTOS skills and productivity *
* *
- * then take a look at the FreeRTOS eBook *
+ * then take a look at the FreeRTOS books - available as PDF or paperback *
* *
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
* http://www.FreeRTOS.org/Documentation *
@@ -33,9 +33,9 @@
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
+ 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.
@@ -54,14 +54,6 @@
#ifndef INC_FREERTOS_H
#define INC_FREERTOS_H
-/**
- * @file FreeRTOS.h
- * @author FreeRTOS
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup FreeRTOS FreeRTOS Operating system
- * @{
- */
/*
* Include the generic headers required for the FreeRTOS port being used.
@@ -247,17 +239,17 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
#endif
#ifndef traceBLOCKING_ON_QUEUE_RECEIVE
- /* Task is about to block because it cannot read from a
+ /* 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
+ 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
+ /* 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
+ 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
@@ -296,6 +288,10 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
#define traceTAKE_MUTEX_RECURSIVE( pxMutex )
#endif
+#ifndef traceTAKE_MUTEX_RECURSIVE_FAILED
+ #define traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex )
+#endif
+
#ifndef traceCREATE_COUNTING_SEMAPHORE
#define traceCREATE_COUNTING_SEMAPHORE()
#endif
@@ -349,7 +345,7 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
#endif
#ifndef traceTASK_CREATE_FAILED
- #define traceTASK_CREATE_FAILED( pxNewTCB )
+ #define traceTASK_CREATE_FAILED()
#endif
#ifndef traceTASK_DELETE
@@ -395,7 +391,9 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
#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.
+ #ifndef portALT_GET_RUN_TIME_COUNTER_VALUE
+ #error If configGENERATE_RUN_TIME_STATS is defined then either portGET_RUN_TIME_COUNTER_VALUE or portALT_GET_RUN_TIME_COUNTER_VALUE must also be defined. See the examples provided and the FreeRTOS web site for more information.
+ #endif /* portALT_GET_RUN_TIME_COUNTER_VALUE */
#endif /* portGET_RUN_TIME_COUNTER_VALUE */
#endif /* configGENERATE_RUN_TIME_STATS */
@@ -417,7 +415,7 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
#endif
#ifndef pvPortMallocAligned
- #define pvPortMallocAligned( xSize, pvBuffer ) pvPortMalloc( xSize ); ( void ) pvBuffer
+ #define pvPortMallocAligned( x, puxStackBuffer ) ( ( puxStackBuffer == NULL ) ? ( pvPortMalloc( x ) ) : ( puxStackBuffer ) )
#endif
#ifndef vPortFreeAligned
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/StackMacros.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/StackMacros.h
old mode 100644
new mode 100755
index 255e57870..00645e895
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/StackMacros.h
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/StackMacros.h
@@ -1,14 +1,5 @@
-/**
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup FreeRTOS FreeRTOS Operating system
- * @{
- * @file StackMacros.h
- * @author FreeRTOS
- */
-
/*
- FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
+ FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
@@ -19,7 +10,7 @@
* + Looking for basic training, *
* + Wanting to improve your FreeRTOS skills and productivity *
* *
- * then take a look at the FreeRTOS eBook *
+ * then take a look at the FreeRTOS books - available as PDF or paperback *
* *
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
* http://www.FreeRTOS.org/Documentation *
@@ -42,9 +33,9 @@
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
+ 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.
@@ -72,7 +63,7 @@
* the current stack state only - comparing the current top of stack value to
* the stack limit. Setting configCHECK_FOR_STACK_OVERFLOW to greater than 1
* will also cause the last few stack bytes to be checked to ensure the value
- * to which the bytes were set when the task was created have not been
+ * to which the bytes were set when the task was created have not been
* overwritten. Note this second test does not guarantee that an overflowed
* stack will always be recognised.
*/
@@ -102,7 +93,7 @@
/* Only the current stack state is to be checked. */
#define taskFIRST_CHECK_FOR_STACK_OVERFLOW() \
{ \
- extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName ); \
+ extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName ); \
\
/* Is the currently saved stack pointer within the stack limit? */ \
if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \
@@ -111,7 +102,7 @@
} \
}
-#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
+#endif /* configCHECK_FOR_STACK_OVERFLOW > 0 */
/*-----------------------------------------------------------*/
#if( ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH > 0 ) )
@@ -119,7 +110,7 @@
/* Only the current stack state is to be checked. */
#define taskFIRST_CHECK_FOR_STACK_OVERFLOW() \
{ \
- extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName ); \
+ extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName ); \
\
/* Is the currently saved stack pointer within the stack limit? */ \
if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack ) \
@@ -135,8 +126,8 @@
#define taskSECOND_CHECK_FOR_STACK_OVERFLOW() \
{ \
- extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName ); \
- static const unsigned char ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
+ extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName ); \
+ static const unsigned char ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
@@ -157,9 +148,9 @@
#define taskSECOND_CHECK_FOR_STACK_OVERFLOW() \
{ \
- extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName ); \
- char *pcEndOfStack = ( char * ) pxCurrentTCB->pxEndOfStack; \
- static const unsigned char ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
+ extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName ); \
+ char *pcEndOfStack = ( char * ) pxCurrentTCB->pxEndOfStack; \
+ static const unsigned char ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/croutine.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/croutine.h
old mode 100644
new mode 100755
index a6d3f0ddd..64c64a754
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/croutine.h
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/croutine.h
@@ -1,5 +1,5 @@
/*
- FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
+ FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
@@ -10,7 +10,7 @@
* + Looking for basic training, *
* + Wanting to improve your FreeRTOS skills and productivity *
* *
- * then take a look at the FreeRTOS eBook *
+ * then take a look at the FreeRTOS books - available as PDF or paperback *
* *
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
* http://www.FreeRTOS.org/Documentation *
@@ -52,17 +52,10 @@
*/
#ifndef INC_FREERTOS_H
- #error "#include FreeRTOS.h" must appear in source files before "#include croutine.h"
+ #error "include FreeRTOS.h must appear in source files before include croutine.h"
#endif
-/**
- * @file croutine.h
- * @author FreeRTOS
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup FreeRTOS FreeRTOS Operating system
- * @{
- */
+
#ifndef CO_ROUTINE_H
@@ -126,7 +119,7 @@ typedef struct corCoRoutineControlBlock
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
// This may not be necessary for const variables.
static const char cLedToFlash[ 2 ] = { 5, 6 };
- static const portTickType xTimeToDelay[ 2 ] = { 200, 400 };
+ static const portTickType uxFlashRates[ 2 ] = { 200, 400 };
// Must start every co-routine with a call to crSTART();
crSTART( xHandle );
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/list.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/list.h
old mode 100644
new mode 100755
index b337ec22d..5a09fd1d6
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/list.h
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/list.h
@@ -1,5 +1,5 @@
/*
- FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
+ FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
@@ -10,7 +10,7 @@
* + Looking for basic training, *
* + Wanting to improve your FreeRTOS skills and productivity *
* *
- * then take a look at the FreeRTOS eBook *
+ * then take a look at the FreeRTOS books - available as PDF or paperback *
* *
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
* http://www.FreeRTOS.org/Documentation *
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/mpu_wrappers.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/mpu_wrappers.h
old mode 100644
new mode 100755
index 6f13f5af3..6f5287fd2
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/mpu_wrappers.h
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/mpu_wrappers.h
@@ -1,5 +1,5 @@
/*
- FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
+ FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
@@ -10,7 +10,7 @@
* + Looking for basic training, *
* + Wanting to improve your FreeRTOS skills and productivity *
* *
- * then take a look at the FreeRTOS eBook *
+ * then take a look at the FreeRTOS books - available as PDF or paperback *
* *
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
* http://www.FreeRTOS.org/Documentation *
@@ -59,7 +59,7 @@ only for ports that are using the MPU. */
#ifdef portUSING_MPU_WRAPPERS
/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE will be defined when this file is
- included from queue.c or task.c to prevent it from having an effict within
+ included from queue.c or task.c to prevent it from having an effect within
those files. */
#ifndef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/portable.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/portable.h
old mode 100644
new mode 100755
index 5ec907c4a..b4f37f336
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/portable.h
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/portable.h
@@ -1,14 +1,5 @@
-/**
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup FreeRTOS FreeRTOS Operating system
- * @{
- * @file portable.h
- * @author FreeRTOS
- */
-
/*
- FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
+ FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
@@ -19,7 +10,7 @@
* + Looking for basic training, *
* + Wanting to improve your FreeRTOS skills and productivity *
* *
- * then take a look at the FreeRTOS eBook *
+ * then take a look at the FreeRTOS books - available as PDF or paperback *
* *
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
* http://www.FreeRTOS.org/Documentation *
@@ -67,7 +58,6 @@
#ifndef PORTABLE_H
#define PORTABLE_H
-
/* Include the macro file relevant to the port being used. */
#ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/projdefs.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/projdefs.h
old mode 100644
new mode 100755
index 05a1fd41e..d00d6195d
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/projdefs.h
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/projdefs.h
@@ -1,5 +1,5 @@
/*
- FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
+ FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
@@ -10,7 +10,7 @@
* + Looking for basic training, *
* + Wanting to improve your FreeRTOS skills and productivity *
* *
- * then take a look at the FreeRTOS eBook *
+ * then take a look at the FreeRTOS books - available as PDF or paperback *
* *
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
* http://www.FreeRTOS.org/Documentation *
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/queue.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/queue.h
old mode 100644
new mode 100755
index b8c6e43ef..53790f676
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/queue.h
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/queue.h
@@ -1,14 +1,5 @@
-/**
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup FreeRTOS FreeRTOS Operating system
- * @{
- * @file queue.h
- * @author FreeRTOS
- */
-
/*
- FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
+ FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
@@ -19,7 +10,7 @@
* + Looking for basic training, *
* + Wanting to improve your FreeRTOS skills and productivity *
* *
- * then take a look at the FreeRTOS eBook *
+ * then take a look at the FreeRTOS books - available as PDF or paperback *
* *
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
* http://www.FreeRTOS.org/Documentation *
@@ -65,6 +56,8 @@
#endif
+
+
#ifndef QUEUE_H
#define QUEUE_H
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/semphr.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/semphr.h
old mode 100644
new mode 100755
index 87b71b4b8..8674096ad
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/semphr.h
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/semphr.h
@@ -1,14 +1,5 @@
-/**
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup FreeRTOS FreeRTOS Operating system
- * @{
- * @file tasks.c
- * @author FreeRTOS
- */
-
/*
- FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
+ FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
@@ -19,7 +10,7 @@
* + Looking for basic training, *
* + Wanting to improve your FreeRTOS skills and productivity *
* *
- * then take a look at the FreeRTOS eBook *
+ * then take a look at the FreeRTOS books - available as PDF or paperback *
* *
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
* http://www.FreeRTOS.org/Documentation *
@@ -67,8 +58,6 @@
#ifndef SEMAPHORE_H
#define SEMAPHORE_H
-
-
#include "queue.h"
typedef xQueueHandle xSemaphoreHandle;
@@ -126,7 +115,7 @@ typedef xQueueHandle xSemaphoreHandle;
/**
* semphr. h
- * xSemaphoreTake(
+ * xSemaphoreTake(
* xSemaphoreHandle xSemaphore,
* portTickType xBlockTime
* )
@@ -465,7 +454,7 @@ typedef xQueueHandle xSemaphoreHandle;
*
xSemaphoreGiveFromISR(
xSemaphoreHandle xSemaphore,
- portBASE_TYPE *pxHigherPriorityTaskWoken
+ signed portBASE_TYPE *pxHigherPriorityTaskWoken
)
*
* Macro to release a semaphore. The semaphore must have previously been
@@ -489,8 +478,8 @@ typedef xQueueHandle xSemaphoreHandle;
*
* Example usage:
- #define LONG_TIME 0xffff
- #define TICKS_TO_WAIT 10
+ \#define LONG_TIME 0xffff
+ \#define TICKS_TO_WAIT 10
xSemaphoreHandle xSemaphore = NULL;
// Repetitive task.
@@ -520,7 +509,7 @@ typedef xQueueHandle xSemaphoreHandle;
void vTimerISR( void * pvParameters )
{
static unsigned char ucLocalTickCount = 0;
- static portBASE_TYPE xHigherPriorityTaskWoken;
+ static signed portBASE_TYPE xHigherPriorityTaskWoken;
// A timer tick has occurred.
@@ -720,7 +709,3 @@ typedef xQueueHandle xSemaphoreHandle;
#endif /* SEMAPHORE_H */
-/**
- * @}
- * @}
- */
\ No newline at end of file
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/task.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/task.h
old mode 100644
new mode 100755
index 753ac3f76..1f29ef46f
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/task.h
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/task.h
@@ -1,5 +1,5 @@
/*
- FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
+ FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
@@ -10,7 +10,7 @@
* + Looking for basic training, *
* + Wanting to improve your FreeRTOS skills and productivity *
* *
- * then take a look at the FreeRTOS eBook *
+ * then take a look at the FreeRTOS books - available as PDF or paperback *
* *
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
* http://www.FreeRTOS.org/Documentation *
@@ -33,9 +33,9 @@
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
+ 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.
@@ -53,16 +53,9 @@
#ifndef INC_FREERTOS_H
- #error "#include FreeRTOS.h" must appear in source files before "#include task.h"
+ #error "include FreeRTOS.h must appear in source files before include task.h"
#endif
-/**
- * @author FreeRTOS
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup FreeRTOS FreeRTOS Operating system
- * @{
- */
#ifndef TASK_H
@@ -79,7 +72,7 @@ extern "C" {
* MACROS AND DEFINITIONS
*----------------------------------------------------------*/
-#define tskKERNEL_VERSION_NUMBER "V6.0.0"
+#define tskKERNEL_VERSION_NUMBER "V6.1.1"
/**
* task. h
@@ -213,10 +206,10 @@ typedef struct xTASK_PARAMTERS
);
*
* Create a new task and add it to the list of tasks that are ready to run.
- *
+ *
* xTaskCreate() can only be used to create a task that has unrestricted
* access to the entire microcontroller memory map. Systems that include MPU
- * support can alternatively create an MPU constrained task using
+ * support can alternatively create an MPU constrained task using
* xTaskCreateRestricted().
*
* @param pvTaskCode Pointer to the task entry function. Tasks
@@ -281,7 +274,7 @@ typedef struct xTASK_PARAMTERS
/**
* task. h
*
- portBASE_TYPE xTaskCreateRestricted( xTaskParameters *pxTaskDefinition, xTaskHandle pxCreatedTask );
+ portBASE_TYPE xTaskCreateRestricted( xTaskParameters *pxTaskDefinition, xTaskHandle *pxCreatedTask );
*
* xTaskCreateRestricted() should only be used in systems that include an MPU
* implementation.
@@ -292,13 +285,9 @@ typedef struct xTASK_PARAMTERS
*
* @param pxTaskDefinition Pointer to a structure that contains a member
* for each of the normal xTaskCreate() parameters (see the xTaskCreate() API
- * documentation) plus an optional stack buffer and the memory region
+ * documentation) plus an optional stack buffer and the memory region
* definitions.
*
- * @param pcName A descriptive name for the task. This is mainly used to
- * facilitate debugging. Max length defined by tskMAX_TASK_NAME_LEN - default
- * is 16.
- *
* @param pxCreatedTask Used to pass back a handle by which the created task
* can be referenced.
*
@@ -359,7 +348,7 @@ xTaskHandle xHandle;
* Memory regions are assigned to a restricted task when the task is created by
* a call to xTaskCreateRestricted(). These regions can be redefined using
* vTaskAllocateMPURegions().
- *
+ *
* @param xTask The handle of the task being updated.
*
* @param xRegions A pointer to an xMemoryRegion structure that contains the
@@ -382,7 +371,7 @@ static const xMemoryRegion xAltRegions[ portNUM_CONFIGURABLE_REGIONS ] =
void vATask( void *pvParameters )
{
// This task was created such that it has access to certain regions of
- // memory as defined by the MPU configuration. At some point it is
+ // memory as defined by the MPU configuration. At some point it is
// desired that these MPU regions are replaced with that defined in the
// xAltRegions const struct above. Use a call to vTaskAllocateMPURegions()
// for this purpose. NULL is used as the task handle to indicate that this
@@ -974,7 +963,7 @@ signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask ) PRIVILEGED_FUNCTI
/**
* task. h
- * volatile portTickType xTaskGetTickCount( void );
+ * portTickType xTaskGetTickCount( void );
*
* @return The count of ticks since vTaskStartScheduler was called.
*
@@ -983,6 +972,22 @@ signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask ) PRIVILEGED_FUNCTI
*/
portTickType xTaskGetTickCount( void ) PRIVILEGED_FUNCTION;
+/**
+ * task. h
+ * portTickType xTaskGetTickCountFromISR( void );
+ *
+ * @return The count of ticks since vTaskStartScheduler was called.
+ *
+ * This is a version of xTaskGetTickCount() that is safe to be called from an
+ * ISR - provided that portTickType is the natural word size of the
+ * microcontroller being used or interrupt nesting is either not supported or
+ * not being used.
+ *
+ * \page xTaskGetTickCount xTaskGetTickCount
+ * \ingroup TaskUtils
+ */
+portTickType xTaskGetTickCountFromISR( void ) PRIVILEGED_FUNCTION;
+
/**
* task. h
* unsigned short uxTaskGetNumberOfTasks( void );
@@ -1097,9 +1102,9 @@ unsigned long ulTaskEndTrace( void ) PRIVILEGED_FUNCTION;
* this function to be available.
*
* Returns the high water mark of the stack associated with xTask. That is,
- * the minimum free stack space there has been (in bytes) since the task
- * started. The smaller the returned number the closer the task has come
- * to overflowing its stack.
+ * the minimum free stack space there has been (in words, so on a 32 bit machine
+ * a value of 1 means 4 bytes) since the task started. The smaller the returned
+ * number the closer the task has come to overflowing its stack.
*
* @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.
@@ -1109,23 +1114,33 @@ unsigned long ulTaskEndTrace( void ) PRIVILEGED_FUNCTION;
*/
unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
-/**
- * task.h
- * void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction );
- *
- * Sets pxHookFunction to be the task hook function used by the task xTask.
- * Passing xTask as NULL has the effect of setting the calling tasks hook
- * function.
- */
-void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction ) PRIVILEGED_FUNCTION;
+/* 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
+fixed by simply guarding against the inclusion of these two prototypes unless
+they are explicitly required by the configUSE_APPLICATION_TASK_TAG configuration
+constant. */
+#ifdef configUSE_APPLICATION_TASK_TAG
+ #if configUSE_APPLICATION_TASK_TAG == 1
+ /**
+ * task.h
+ * void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction );
+ *
+ * Sets pxHookFunction to be the task hook function used by the task xTask.
+ * Passing xTask as NULL has the effect of setting the calling tasks hook
+ * function.
+ */
+ void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction ) PRIVILEGED_FUNCTION;
-/**
- * task.h
- * void xTaskGetApplicationTaskTag( xTaskHandle xTask );
- *
- * Returns the pxHookFunction value assigned to the task xTask.
- */
-pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
+ /**
+ * task.h
+ * void xTaskGetApplicationTaskTag( xTaskHandle xTask );
+ *
+ * Returns the pxHookFunction value assigned to the task xTask.
+ */
+ pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
+ #endif /* configUSE_APPLICATION_TASK_TAG ==1 */
+#endif /* ifdef configUSE_APPLICATION_TASK_TAG */
/**
* task.h
@@ -1261,7 +1276,7 @@ void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder ) PRIVILEGED_FUN
/*
* Generic version of the task creation function which is in turn called by the
- * xTaskCreate() and xTaskCreateProtected() macros.
+ * xTaskCreate() and xTaskCreateRestricted() macros.
*/
signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pvTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions ) PRIVILEGED_FUNCTION;
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/list.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/list.c
old mode 100644
new mode 100755
index 76598be1d..a800c030a
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/list.c
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/list.c
@@ -1,5 +1,5 @@
/*
- FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
+ FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
@@ -10,7 +10,7 @@
* + Looking for basic training, *
* + Wanting to improve your FreeRTOS skills and productivity *
* *
- * then take a look at the FreeRTOS eBook *
+ * then take a look at the FreeRTOS books - available as PDF or paperback *
* *
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
* http://www.FreeRTOS.org/Documentation *
@@ -51,14 +51,6 @@
licensing and training services.
*/
-/**
- * @file list.c
- * @author FreeRTOS
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup FreeRTOS FreeRTOS Operating system
- * @{
- */
#include
#include "FreeRTOS.h"
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
old mode 100644
new mode 100755
index f23506d2e..fa24c7ff5
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
@@ -1,15 +1,5 @@
-/**
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup FreeRTOS FreeRTOS Operating system
- * @{
- *
- * @file port.c
- * @author FreeRTOS
- */
-
/*
- FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
+ FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
@@ -20,7 +10,7 @@
* + Looking for basic training, *
* + Wanting to improve your FreeRTOS skills and productivity *
* *
- * then take a look at the FreeRTOS eBook *
+ * then take a look at the FreeRTOS books - available as PDF or paperback *
* *
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
* http://www.FreeRTOS.org/Documentation *
@@ -125,6 +115,7 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
{
/* Simulate the stack frame as it would be created by a context switch
interrupt. */
+ pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* PC */
@@ -164,7 +155,9 @@ void vPortStartFirstTask( void )
" ldr r0, [r0] \n"
" ldr r0, [r0] \n"
" msr msp, r0 \n" /* Set the msp back to the start of the stack. */
+ " cpsie i \n" /* Globally enable interrupts. */
" svc 0 \n" /* System call to start first task. */
+ " nop \n"
);
}
/*-----------------------------------------------------------*/
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
old mode 100644
new mode 100755
index 87baedbfb..3a106d568
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
@@ -1,15 +1,5 @@
-/**
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup FreeRTOS FreeRTOS Operating system
- * @{
- * @file portmacro.h
- * @author FreeRTOS
- */
-
-
/*
- FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
+ FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
@@ -20,7 +10,7 @@
* + Looking for basic training, *
* + Wanting to improve your FreeRTOS skills and productivity *
* *
- * then take a look at the FreeRTOS eBook *
+ * then take a look at the FreeRTOS books - available as PDF or paperback *
* *
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
* http://www.FreeRTOS.org/Documentation *
@@ -65,7 +55,6 @@
#ifndef PORTMACRO_H
#define PORTMACRO_H
-
#ifdef __cplusplus
extern "C" {
#endif
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
old mode 100644
new mode 100755
index f4d26fe03..70a6bb172
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
@@ -1,5 +1,5 @@
/*
- FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
+ FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
@@ -10,7 +10,7 @@
* + Looking for basic training, *
* + Wanting to improve your FreeRTOS skills and productivity *
* *
- * then take a look at the FreeRTOS eBook *
+ * then take a look at the FreeRTOS books - available as PDF or paperback *
* *
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
* http://www.FreeRTOS.org/Documentation *
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
old mode 100644
new mode 100755
index a41d40f00..9f8de5cd2
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
@@ -1,5 +1,5 @@
/*
- FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
+ FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
@@ -10,7 +10,7 @@
* + Looking for basic training, *
* + Wanting to improve your FreeRTOS skills and productivity *
* *
- * then take a look at the FreeRTOS eBook *
+ * then take a look at the FreeRTOS books - available as PDF or paperback *
* *
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
* http://www.FreeRTOS.org/Documentation *
@@ -100,7 +100,7 @@ static xBlockLink xStart, xEnd;
/* Keeps track of the number of free bytes remaining, but says nothing about
fragmentation. */
-static size_t xFreeBytesRemaining;
+static size_t xFreeBytesRemaining = configTOTAL_HEAP_SIZE;
/* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */
@@ -148,8 +148,6 @@ xBlockLink *pxFirstFreeBlock; \
pxFirstFreeBlock = ( void * ) xHeap.ucHeap; \
pxFirstFreeBlock->xBlockSize = configTOTAL_HEAP_SIZE; \
pxFirstFreeBlock->pxNextFreeBlock = &xEnd; \
- \
- xFreeBytesRemaining = configTOTAL_HEAP_SIZE; \
}
/*-----------------------------------------------------------*/
@@ -223,7 +221,7 @@ void *pvReturn = NULL;
prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
}
- xFreeBytesRemaining -= xWantedSize;
+ xFreeBytesRemaining -= pxBlock->xBlockSize;
}
}
}
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
old mode 100644
new mode 100755
index f55f6dd26..7ff9bb515
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
@@ -1,5 +1,5 @@
/*
- FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
+ FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
@@ -10,7 +10,7 @@
* + Looking for basic training, *
* + Wanting to improve your FreeRTOS skills and productivity *
* *
- * then take a look at the FreeRTOS eBook *
+ * then take a look at the FreeRTOS books - available as PDF or paperback *
* *
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
* http://www.FreeRTOS.org/Documentation *
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/queue.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/queue.c
old mode 100644
new mode 100755
index 5521bb011..a62d179e9
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/queue.c
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/queue.c
@@ -1,14 +1,5 @@
-/**
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup FreeRTOS FreeRTOS Operating system
- * @{
- * @file queue.c
- * @author FreeRTOS
- */
-
/*
- FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
+ FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
@@ -19,7 +10,7 @@
* + Looking for basic training, *
* + Wanting to improve your FreeRTOS skills and productivity *
* *
- * then take a look at the FreeRTOS eBook *
+ * then take a look at the FreeRTOS books - available as PDF or paperback *
* *
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
* http://www.FreeRTOS.org/Documentation *
@@ -424,6 +415,10 @@ size_t xQueueSizeInBytes;
{
( pxMutex->uxRecursiveCallCount )++;
}
+ else
+ {
+ traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );
+ }
}
return xReturn;
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/tasks.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/tasks.c
old mode 100644
new mode 100755
index 8af5cd309..120f8f7e3
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/tasks.c
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/tasks.c
@@ -1,5 +1,5 @@
/*
- FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
+ FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
@@ -10,7 +10,7 @@
* + Looking for basic training, *
* + Wanting to improve your FreeRTOS skills and productivity *
* *
- * then take a look at the FreeRTOS eBook *
+ * then take a look at the FreeRTOS books - available as PDF or paperback *
* *
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
* http://www.FreeRTOS.org/Documentation *
@@ -33,9 +33,9 @@
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
+ 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.
@@ -51,16 +51,6 @@
licensing and training services.
*/
-/**
- * @file tasks.c
- * @author FreeRTOS
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup FreeRTOS FreeRTOS Operating system
- * @{
- */
-
-
#include
#include
@@ -82,8 +72,6 @@ task.h is included from an application file. */
*/
#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
-#define tskIDLE_PRIORITY ( ( unsigned portBASE_TYPE ) 0 )
-
/*
* Task control block. A task control block (TCB) is allocated to each task,
* and stores the context of the task.
@@ -399,7 +387,6 @@ signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed ch
{
signed portBASE_TYPE xReturn;
tskTCB * pxNewTCB;
-portBASE_TYPE xRunPrivileged;
/* Allocate the memory required by the TCB and stack for the new task,
checking that the allocation was successful. */
@@ -409,16 +396,19 @@ portBASE_TYPE xRunPrivileged;
{
portSTACK_TYPE *pxTopOfStack;
- /* Should the task be created in privileged mode? */
- if( ( uxPriority & portPRIVILEGE_BIT ) != 0x00 )
- {
- xRunPrivileged = pdTRUE;
- }
- else
- {
- xRunPrivileged = pdFALSE;
- }
- uxPriority &= ~portPRIVILEGE_BIT;
+ #if( portUSING_MPU_WRAPPERS == 1 )
+ /* Should the task be created in privileged mode? */
+ portBASE_TYPE xRunPrivileged;
+ if( ( uxPriority & portPRIVILEGE_BIT ) != 0x00 )
+ {
+ xRunPrivileged = pdTRUE;
+ }
+ else
+ {
+ xRunPrivileged = pdFALSE;
+ }
+ uxPriority &= ~portPRIVILEGE_BIT;
+ #endif /* portUSING_MPU_WRAPPERS == 1 */
/* Calculate the top of stack address. This depends on whether the
stack grows from high memory to low (as per the 80x86) or visa versa.
@@ -454,24 +444,35 @@ portBASE_TYPE xRunPrivileged;
#else
{
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
- ( void ) xRunPrivileged;
}
#endif
+ if( ( void * ) pxCreatedTask != NULL )
+ {
+ /* Pass the TCB out - in an anonymous way. The calling function/
+ task can use this as a handle to delete the task later if
+ required.*/
+ *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
+ }
+
/* We are going to manipulate the task queues to add this task to a
ready list, so must make sure no interrupts occur. */
portENTER_CRITICAL();
{
uxCurrentNumberOfTasks++;
- if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
+ if( pxCurrentTCB == NULL )
{
- /* As this is the first task it must also be the current task. */
+ /* There are no other tasks, or all the other tasks are in
+ the suspended state - make this the current task. */
pxCurrentTCB = pxNewTCB;
- /* This is the first task to be created so do the preliminary
- initialisation required. We will not recover if this call
- fails, but we will report the failure. */
- prvInitialiseTaskLists();
+ if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
+ {
+ /* This is the first task to be created so do the preliminary
+ initialisation required. We will not recover if this call
+ fails, but we will report the failure. */
+ prvInitialiseTaskLists();
+ }
}
else
{
@@ -512,19 +513,11 @@ portBASE_TYPE xRunPrivileged;
else
{
xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
- traceTASK_CREATE_FAILED( pxNewTCB );
+ traceTASK_CREATE_FAILED();
}
if( xReturn == pdPASS )
{
- if( ( void * ) pxCreatedTask != NULL )
- {
- /* Pass the TCB out - in an anonymous way. The calling function/
- task can use this as a handle to delete the task later if
- required.*/
- *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
- }
-
if( xSchedulerRunning != pdFALSE )
{
/* If the created task is of a higher priority than the current task
@@ -904,10 +897,31 @@ portBASE_TYPE xRunPrivileged;
}
portEXIT_CRITICAL();
- /* We may have just suspended the current task. */
if( ( void * ) pxTaskToSuspend == NULL )
{
- portYIELD_WITHIN_API();
+ if( xSchedulerRunning != pdFALSE )
+ {
+ /* We have just suspended the current task. */
+ portYIELD_WITHIN_API();
+ }
+ else
+ {
+ /* The scheduler is not running, but the task that was pointed
+ to by pxCurrentTCB has just been suspended and pxCurrentTCB
+ must be adjusted to point to a different task. */
+ if( uxCurrentNumberOfTasks == 1 )
+ {
+ /* No other tasks are defined, so set pxCurrentTCB back to
+ NULL so when the next task is created pxCurrentTCB will
+ be set to point to it no matter what its relative priority
+ is. */
+ pxCurrentTCB = NULL;
+ }
+ else
+ {
+ vTaskSwitchContext();
+ }
+ }
}
}
@@ -1054,7 +1068,7 @@ portBASE_TYPE xReturn;
macro must be defined to configure the timer/counter used to generate
the run time counter time base. */
portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
-
+
/* Setting up the timer tick is hardware specific and thus in the
portable interface. */
if( xPortStartScheduler() )
@@ -1186,6 +1200,12 @@ portTickType xTicks;
}
/*-----------------------------------------------------------*/
+portTickType xTaskGetTickCountFromISR( void )
+{
+ return xTickCount;
+}
+/*-----------------------------------------------------------*/
+
unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
{
/* A critical section is not required because the variables are of type
@@ -1262,13 +1282,23 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
{
unsigned portBASE_TYPE uxQueue;
- unsigned long ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
+ unsigned long ulTotalRunTime;
/* This is a VERY costly function that should be used for debug only.
It leaves interrupts disabled for a LONG time. */
vTaskSuspendAll();
{
+ #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
+ portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
+ #else
+ ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
+ #endif
+
+ /* Divide ulTotalRunTime by 100 to make the percentage caluclations
+ simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
+ ulTotalRunTime /= 100UL;
+
/* Run through all the lists that could potentially contain a TCB,
generating a table of run timer percentages in the provided
buffer. */
@@ -1574,7 +1604,13 @@ void vTaskSwitchContext( void )
#if ( configGENERATE_RUN_TIME_STATS == 1 )
{
- unsigned long ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
+ unsigned long ulTempCounter;
+
+ #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
+ portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );
+ #else
+ ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
+ #endif
/* Add the amount of time the task has been running to the accumulated
time so far. The time the task started running was stored in
@@ -1753,7 +1789,7 @@ portBASE_TYPE xReturn;
passed since vTaskSetTimeout() was called. */
xReturn = pdTRUE;
}
- else if( ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) < ( portTickType ) *pxTicksToWait )
+ else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
{
/* Not a genuine timeout. Adjust parameters for time remaining. */
*pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
@@ -2049,7 +2085,16 @@ tskTCB *pxNewTCB;
do
{
listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
- usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
+ #if ( portSTACK_GROWTH > 0 )
+ {
+ usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
+ }
+ #else
+ {
+ usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
+ }
+ #endif
+
sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
@@ -2084,19 +2129,40 @@ tskTCB *pxNewTCB;
}
else
{
- /* What percentage of the total run time as the task used?
- This will always be rounded down to the nearest integer. */
- ulStatsAsPercentage = ( 100UL * pxNextTCB->ulRunTimeCounter ) / ulTotalRunTime;
+ /* What percentage of the total run time has the task used?
+ This will always be rounded down to the nearest integer.
+ ulTotalRunTime has already been divided by 100. */
+ ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;
if( ulStatsAsPercentage > 0UL )
{
- sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
+ #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
+ {
+ sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
+ }
+ #else
+ {
+ /* sizeof( int ) == sizeof( long ) so a smaller
+ printf() library can be used. */
+ sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
+ }
+ #endif
}
else
{
/* If the percentage is zero here then the task has
consumed less than 1% of the total run time. */
- sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
+ #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
+ {
+ sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
+ }
+ #else
+ {
+ /* sizeof( int ) == sizeof( long ) so a smaller
+ printf() library can be used. */
+ sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
+ }
+ #endif
}
}
@@ -2284,7 +2350,7 @@ tskTCB *pxNewTCB;
if( xSchedulerRunning != pdFALSE )
{
- pxCurrentTCB->uxCriticalNesting++;
+ ( pxCurrentTCB->uxCriticalNesting )++;
}
}
@@ -2299,7 +2365,7 @@ void vTaskExitCritical( void )
{
if( pxCurrentTCB->uxCriticalNesting > 0 )
{
- pxCurrentTCB->uxCriticalNesting--;
+ ( pxCurrentTCB->uxCriticalNesting )--;
if( pxCurrentTCB->uxCriticalNesting == 0 )
{