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Code Issues Releases Activity

debug_printf() for PiOS.win32. There are still many issues :(.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1226 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
cwabbott 2010-08-07 02:30:35 +00:00 committed by cwabbott
parent 895271a518
commit 6f553efe45
3 changed files with 119 additions and 8 deletions
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124
flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/port.c
View File

@ -44,6 +44,52 @@ extern DWORD * pxCurrentTCB;
******************************************************************************/
#define NMI (1<<CPU_INTR_SWI)
/*
* Task control block. A task control block (TCB) is allocated to each task,
* and stores the context of the task.
*/
typedef struct tskTaskControlBlock
{
volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE STRUCT. */
#if ( portUSING_MPU_WRAPPERS == 1 )
xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE STRUCT. */
#endif
xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
#if ( portSTACK_GROWTH > 0 )
portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
#endif
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
unsigned portBASE_TYPE uxCriticalNesting;
#endif
#if ( configUSE_TRACE_FACILITY == 1 )
unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
#endif
#if ( configUSE_MUTEXES == 1 )
unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
#endif
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
pdTASK_HOOK_CODE pxTaskTag;
#endif
#if ( configGENERATE_RUN_TIME_STATS == 1 )
unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
#endif
} tskTCB;
tskTCB *debug_task_handle;
/*
Win32 simulator doesn't really use a stack. Instead It just
keep some task specific info in the pseudostack
@ -56,11 +102,45 @@ typedef struct
HANDLE hThread; /* handle of thread associated with task */
HANDLE hSemaphore; /* Semaphore thread (task) waits on at start and after yielding */
portSTACK_TYPE dwGlobalIsr; /* mask used to enable/disable interrupts */
xTaskHandle hTask; /* Task handle so we know the name of this task */
BOOL yielded; /* Need to know how task went out of focus */
}SSIM_T;
#define portNO_CRITICAL_NESTING ( ( unsigned portLONG ) 0 )
#define DEBUG_OUTPUT
//#define ERROR_OUTPUT
#ifdef DEBUG_OUTPUT
#define debug_printf(...) ( (WaitForSingleObject(hPrintfMutex, INFINITE)|1)?( \
( \
(NULL != (debug_task_handle = (tskTCB *) pxCurrentTCB ))? \
(fprintf( stderr, "%20s\t%20s\t%i: ",debug_task_handle->pcTaskName,__func__,__LINE__)): \
(fprintf( stderr, "%20s\t%20s\t%i: ","__unknown__",__func__,__LINE__)) \
|1)?( \
((fprintf( stderr, __VA_ARGS__ )|1)?ReleaseMutex( hPrintfMutex ):0) \
):0 ):0 )
#define debug_error debug_printf
#else
#ifdef ERROR_OUTPUT
#define debug_error(...) ( (WaitForSingleObject(hPrintfMutex, INFINITE)|1)?( \
( \
(NULL != (debug_task_handle = (tskTCB *) pxCurrentTCB ))? \
(fprintf( stderr, "%20s\t%20s\t%i: ",debug_task_handle->pcTaskName,__func__,__LINE__)): \
(fprintf( stderr, "%20s\t%20s\t%i: ","__unknown__",__func__,__LINE__)) \
|1)?( \
((fprintf( stderr, __VA_ARGS__ )|1)?ReleaseMutex( hPrintfMutex ):0) \
):0 ):0 )
#define debug_printf(...)
#else
#define debug_printf(...)
#define debug_error(...)
#endif
#endif
/******************************************************************************
National prototypes
******************************************************************************/
@ -70,6 +150,10 @@ typedef struct
volatile DWORD dwPendingIsr; // pending interrupts
HANDLE hIsrInvoke; // event to signal an interrupt
HANDLE hIsrMutex; // mutex to protect above 2
#if defined(DEBUG_OUTPUT) || defined(ERROR_OUTPUT)
HANDLE hPrintfMutex;// mutex for debug_printf() and debug_error()
#endif
SSIM_T *pxLastAddedTCB;
/******************************************************************************
National variables
@ -175,6 +259,9 @@ static void create_system_objects(void)
hIsrInvoke = CreateEvent(NULL, FALSE, FALSE, NULL);
hTickAck = CreateEvent(NULL, FALSE, FALSE, NULL);
hTermAck = CreateEvent(NULL, FALSE, FALSE, NULL);
#if defined(DEBUG_OUTPUT) || defined(ERROR_OUTPUT)
hPrintfMutex = CreateMutex(NULL, FALSE, NULL);
#endif
dwEnabledIsr |= (1<<CPU_INTR_TICK);
@ -182,6 +269,10 @@ static void create_system_objects(void)
SetThreadPriority(CreateThread(NULL, 0, tick_generator, NULL, 0, NULL),
THREAD_PRIORITY_ABOVE_NORMAL);
#endif
//printf("got here!\n");
//printf("%i\n", (int) pxCurrentTCB);
//debug_printf("created system objects\n");
//printf("got here again!\n");
}
/******************************************************************************
@ -203,13 +294,14 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
psSim->yielded = FALSE;
psSim->hThread = CreateThread(NULL, 0, TaskSimThread, psSim, CREATE_SUSPENDED, NULL);
ok=SetThreadPriority(psSim->hThread, THREAD_PRIORITY_IDLE);
pxLastAddedTCB = psSim;
return (portSTACK_TYPE *) psSim;
}
portBASE_TYPE xPortStartScheduler( void )
{
BOOL bSwitch;
SSIM_T *psSim;
SSIM_T *psSim, *psSimOld;
DWORD dwIntr;
int i, iIsrCount;
HANDLE hObjList[2];
@ -286,15 +378,26 @@ portBASE_TYPE xPortStartScheduler( void )
if(bSwitch)
{
psSimOld = psSim;
vTaskSwitchContext();
psSim=(SSIM_T *)*pxCurrentTCB;
ulCriticalNesting = psSim->ulCriticalNesting;
dwGlobalIsr = psSim->dwGlobalIsr;
if(psSimOld != psSim)
{
ulCriticalNesting = psSim->ulCriticalNesting;
dwGlobalIsr = psSim->dwGlobalIsr;
if(psSim->yielded) {
psSim->yielded = FALSE;
ReleaseSemaphore(psSim->hSemaphore, 1, NULL); // awake next task
} else {
if(psSim->yielded) {
psSim->yielded = FALSE;
ReleaseSemaphore(psSim->hSemaphore, 1, NULL); // awake next task
} else {
ResumeThread(psSim->hThread);
}
//debug_printf("switched context\n");
}
else
{
//Oops, we just suspended the task that we want to resume!
//TODO: resolve this before it happens
ResumeThread(psSim->hThread);
}
}
@ -477,3 +580,10 @@ void vPortExitCritical( void )
}
}
}
void vPortAddTaskHandle( void *pxTaskHandle )
{
//printf("got here!\n");
//printf("%i\n", (int)pxLastAddedTCB);
pxLastAddedTCB->hTask = (xTaskHandle)pxTaskHandle;
}

1
flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/portmacro.h
View File

@ -55,6 +55,7 @@
#include <windows.h>
#include <tchar.h>
#include <stdio.h>
#include "cpuemu.h"
#ifdef __cplusplus

2
flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/tasks.c
View File

@ -496,7 +496,7 @@ tskTCB * pxNewTCB;
prvAddTaskToReadyQueue( pxNewTCB );
xReturn = pdPASS;
//traceTASK_CREATE( pxNewTCB );
traceTASK_CREATE( pxNewTCB );
}
portEXIT_CRITICAL();
}