From 7ba32f8735649c7c0d0952f6649c3311bb6c3e2b Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sun, 11 Mar 2012 07:40:58 -0500 Subject: [PATCH] Check in compilation files for OSX simulation. Update to work on revolution tree. --- Makefile | 9 + flight/PiOS.osx/inc/FreeRTOSConfig.h | 107 + flight/PiOS.osx/inc/pios_com.h | 65 + flight/PiOS.osx/inc/pios_com_priv.h | 44 + flight/PiOS.osx/inc/pios_crc.h | 31 + flight/PiOS.osx/inc/pios_debug.h | 56 + flight/PiOS.osx/inc/pios_delay.h | 48 + flight/PiOS.osx/inc/pios_initcall.h | 72 + flight/PiOS.osx/inc/pios_irq.h | 38 + flight/PiOS.osx/inc/pios_led.h | 39 + flight/PiOS.osx/inc/pios_posix.h | 44 + flight/PiOS.osx/inc/pios_rcvr.h | 64 + flight/PiOS.osx/inc/pios_rcvr_priv.h | 48 + flight/PiOS.osx/inc/pios_sdcard.h | 113 + flight/PiOS.osx/inc/pios_servo.h | 43 + flight/PiOS.osx/inc/pios_sim.h | 13 + flight/PiOS.osx/inc/pios_sim_priv.h | 19 + flight/PiOS.osx/inc/pios_sys.h | 35 + flight/PiOS.osx/inc/pios_udp.h | 35 + flight/PiOS.osx/inc/pios_udp_priv.h | 71 + flight/PiOS.osx/inc/pios_wdg.h | 45 + flight/PiOS.osx/inc/sim_model.h | 6 + flight/PiOS.osx/osx/.pios_rcvr.c.swp | Bin 0 -> 12288 bytes .../osx/Libraries/FreeRTOS/Source/croutine.c | 371 +++ .../FreeRTOS/Source/include/FreeRTOS.h | 420 +++ .../FreeRTOS/Source/include/StackMacros.h | 173 ++ .../FreeRTOS/Source/include/croutine.h | 749 ++++++ .../Libraries/FreeRTOS/Source/include/list.h | 305 +++ .../FreeRTOS/Source/include/mpu_wrappers.h | 135 + .../FreeRTOS/Source/include/portable.h | 391 +++ .../FreeRTOS/Source/include/projdefs.h | 77 + .../Libraries/FreeRTOS/Source/include/queue.h | 1261 +++++++++ .../FreeRTOS/Source/include/semphr.h | 711 +++++ .../Libraries/FreeRTOS/Source/include/task.h | 1263 +++++++++ .../osx/Libraries/FreeRTOS/Source/list.c | 191 ++ .../FreeRTOS/Source/portable/GCC/Posix/port.c | 1098 ++++++++ .../GCC/Posix/port.c.documentation.txt | 188 ++ .../Source/portable/GCC/Posix/portmacro.h | 170 ++ .../FreeRTOS/Source/portable/MemMang/heap_3.c | 117 + .../FreeRTOS/Source/portable/readme.txt | 19 + .../osx/Libraries/FreeRTOS/Source/queue.c | 1465 +++++++++++ .../osx/Libraries/FreeRTOS/Source/readme.txt | 17 + .../osx/Libraries/FreeRTOS/Source/task.c | 2332 +++++++++++++++++ .../Libraries/FreeRTOS/Source/tasks_linux.c | 2323 ++++++++++++++++ flight/PiOS.osx/osx/pios_com.c | 522 ++++ flight/PiOS.osx/osx/pios_com.c.old | 332 +++ flight/PiOS.osx/osx/pios_crc.c | 74 + flight/PiOS.osx/osx/pios_debug.c | 96 + flight/PiOS.osx/osx/pios_delay.c | 114 + flight/PiOS.osx/osx/pios_irq.c | 69 + flight/PiOS.osx/osx/pios_led.c | 86 + flight/PiOS.osx/osx/pios_rcvr.c | 100 + flight/PiOS.osx/osx/pios_sdcard.c | 300 +++ flight/PiOS.osx/osx/pios_servo.c | 74 + flight/PiOS.osx/osx/pios_sim.c | 101 + flight/PiOS.osx/osx/pios_sys.c | 165 ++ flight/PiOS.osx/osx/pios_udp.c | 244 ++ flight/PiOS.osx/osx/pios_wdg.c | 123 + flight/PiOS.osx/pios.h | 76 + flight/Revolution/Makefile.osx | 646 +++++ .../Revolution/System/inc/pios_board_posix.h | 83 + .../Revolution/System/inc/pios_config_posix.h | 75 + flight/Revolution/System/pios_board_posix.c | 183 ++ 63 files changed, 18284 insertions(+) create mode 100644 flight/PiOS.osx/inc/FreeRTOSConfig.h create mode 100644 flight/PiOS.osx/inc/pios_com.h create mode 100644 flight/PiOS.osx/inc/pios_com_priv.h create mode 100644 flight/PiOS.osx/inc/pios_crc.h create mode 100644 flight/PiOS.osx/inc/pios_debug.h create mode 100644 flight/PiOS.osx/inc/pios_delay.h create mode 100644 flight/PiOS.osx/inc/pios_initcall.h create mode 100644 flight/PiOS.osx/inc/pios_irq.h create mode 100644 flight/PiOS.osx/inc/pios_led.h create mode 100644 flight/PiOS.osx/inc/pios_posix.h create mode 100644 flight/PiOS.osx/inc/pios_rcvr.h create mode 100644 flight/PiOS.osx/inc/pios_rcvr_priv.h create mode 100644 flight/PiOS.osx/inc/pios_sdcard.h create mode 100644 flight/PiOS.osx/inc/pios_servo.h create mode 100644 flight/PiOS.osx/inc/pios_sim.h create mode 100644 flight/PiOS.osx/inc/pios_sim_priv.h create mode 100644 flight/PiOS.osx/inc/pios_sys.h create mode 100644 flight/PiOS.osx/inc/pios_udp.h create mode 100644 flight/PiOS.osx/inc/pios_udp_priv.h create mode 100644 flight/PiOS.osx/inc/pios_wdg.h create mode 100644 flight/PiOS.osx/inc/sim_model.h create mode 100644 flight/PiOS.osx/osx/.pios_rcvr.c.swp create mode 100644 flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/croutine.c create mode 100644 flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/FreeRTOS.h create mode 100644 flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/StackMacros.h create mode 100644 flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/croutine.h create mode 100644 flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/list.h create mode 100644 flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/mpu_wrappers.h create mode 100644 flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/portable.h create mode 100644 flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/projdefs.h create mode 100644 flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/queue.h create mode 100644 flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/semphr.h create mode 100644 flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/task.h create mode 100644 flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/list.c create mode 100644 flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c create mode 100644 flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt create mode 100644 flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h create mode 100644 flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c create mode 100644 flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/readme.txt create mode 100644 flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/queue.c create mode 100644 flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/readme.txt create mode 100644 flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/task.c create mode 100644 flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/tasks_linux.c create mode 100644 flight/PiOS.osx/osx/pios_com.c create mode 100644 flight/PiOS.osx/osx/pios_com.c.old create mode 100644 flight/PiOS.osx/osx/pios_crc.c create mode 100644 flight/PiOS.osx/osx/pios_debug.c create mode 100644 flight/PiOS.osx/osx/pios_delay.c create mode 100644 flight/PiOS.osx/osx/pios_irq.c create mode 100644 flight/PiOS.osx/osx/pios_led.c create mode 100644 flight/PiOS.osx/osx/pios_rcvr.c create mode 100644 flight/PiOS.osx/osx/pios_sdcard.c create mode 100644 flight/PiOS.osx/osx/pios_servo.c create mode 100644 flight/PiOS.osx/osx/pios_sim.c create mode 100644 flight/PiOS.osx/osx/pios_sys.c create mode 100644 flight/PiOS.osx/osx/pios_udp.c create mode 100644 flight/PiOS.osx/osx/pios_wdg.c create mode 100644 flight/PiOS.osx/pios.h create mode 100644 flight/Revolution/Makefile.osx create mode 100644 flight/Revolution/System/inc/pios_board_posix.h create mode 100644 flight/Revolution/System/inc/pios_config_posix.h create mode 100644 flight/Revolution/System/pios_board_posix.c diff --git a/Makefile b/Makefile index c95ff7d13..557b258f6 100644 --- a/Makefile +++ b/Makefile @@ -117,6 +117,8 @@ help: @echo " sim_posix - Build OpenPilot simulation firmware for" @echo " a POSIX compatible system (Linux, Mac OS X, ...)" @echo " sim_posix_clean - Delete all build output for the POSIX simulation" + @echo " sim_osx - Build OpenPilot simulation firmware for OSX" + @echo " sim_osx_clean - Delete all build output for the osx simulation" @echo " sim_win32 - Build OpenPilot simulation firmware for" @echo " Windows using mingw and msys" @echo " sim_win32_clean - Delete all build output for the win32 simulation" @@ -709,6 +711,13 @@ sim_win32_%: uavobjects_flight $(V1) $(MAKE) --no-print-directory \ -C $(ROOT_DIR)/flight/OpenPilot --file=$(ROOT_DIR)/flight/OpenPilot/Makefile.win32 $* +.PHONY: sim_osx +sim_osx: sim_osx_elf + +sim_osx_%: uavobjects_flight + $(V1) mkdir -p $(BUILD_DIR)/sim_osx + $(V1) $(MAKE) --no-print-directory \ + -C $(ROOT_DIR)/flight/Revolution --file=$(ROOT_DIR)/flight/Revolution/Makefile.osx $* ############################## # # Packaging components diff --git a/flight/PiOS.osx/inc/FreeRTOSConfig.h b/flight/PiOS.osx/inc/FreeRTOSConfig.h new file mode 100644 index 000000000..f6602c721 --- /dev/null +++ b/flight/PiOS.osx/inc/FreeRTOSConfig.h @@ -0,0 +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. + *----------------------------------------------------------*/ + +/* 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 */ + diff --git a/flight/PiOS.osx/inc/pios_com.h b/flight/PiOS.osx/inc/pios_com.h new file mode 100644 index 000000000..cbee33735 --- /dev/null +++ b/flight/PiOS.osx/inc/pios_com.h @@ -0,0 +1,65 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_COM COM layer functions + * @brief Hardware communication layer + * @{ + * + * @file pios_com.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * Parts by Thorsten Klose (tk@midibox.org) + * @brief COM layer functions header + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_COM_H +#define PIOS_COM_H + +typedef uint16_t (*pios_com_callback)(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * task_woken); + +struct pios_com_driver { + void (*init)(uint32_t id); + void (*set_baud)(uint32_t id, uint32_t baud); + void (*tx_start)(uint32_t id, uint16_t tx_bytes_avail); + void (*rx_start)(uint32_t id, uint16_t rx_bytes_avail); + void (*bind_rx_cb)(uint32_t id, pios_com_callback rx_in_cb, uint32_t context); + void (*bind_tx_cb)(uint32_t id, pios_com_callback tx_out_cb, uint32_t context); +}; + +/* Public Functions */ +extern int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t * rx_buffer, uint16_t rx_buffer_len, uint8_t * tx_buffer, uint16_t tx_buffer_len); +extern int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud); +extern int32_t PIOS_COM_SendCharNonBlocking(uint32_t com_id, char c); +extern int32_t PIOS_COM_SendChar(uint32_t com_id, char c); +extern int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, uint16_t len); +extern int32_t PIOS_COM_SendBuffer(uint32_t com_id, const uint8_t *buffer, uint16_t len); +extern int32_t PIOS_COM_SendStringNonBlocking(uint32_t com_id, const char *str); +extern int32_t PIOS_COM_SendString(uint32_t com_id, const char *str); +extern int32_t PIOS_COM_SendFormattedStringNonBlocking(uint32_t com_id, const char *format, ...); +extern int32_t PIOS_COM_SendFormattedString(uint32_t com_id, const char *format, ...); +extern uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len, uint32_t timeout_ms); +extern int32_t PIOS_COM_ReceiveBufferUsed(uint32_t com_id); + +#endif /* PIOS_COM_H */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS.osx/inc/pios_com_priv.h b/flight/PiOS.osx/inc/pios_com_priv.h new file mode 100644 index 000000000..54af82bcb --- /dev/null +++ b/flight/PiOS.osx/inc/pios_com_priv.h @@ -0,0 +1,44 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_COM COM layer functions + * @brief Hardware communication layer + * @{ + * + * @file pios_com_priv.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * Parts by Thorsten Klose (tk@midibox.org) + * @brief COM private definitions. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_COM_PRIV_H +#define PIOS_COM_PRIV_H + +#include + +extern int32_t PIOS_COM_ReceiveHandler(uint32_t com_id); + +#endif /* PIOS_COM_PRIV_H */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS.osx/inc/pios_crc.h b/flight/PiOS.osx/inc/pios_crc.h new file mode 100644 index 000000000..3a64f8bab --- /dev/null +++ b/flight/PiOS.osx/inc/pios_crc.h @@ -0,0 +1,31 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_CRC CRC Functions + * @{ + * + * @file pios_crc.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief CRC functions header. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +uint8_t PIOS_CRC_updateByte(uint8_t crc, const uint8_t data); +uint8_t PIOS_CRC_updateCRC(uint8_t crc, const uint8_t* data, int32_t length); diff --git a/flight/PiOS.osx/inc/pios_debug.h b/flight/PiOS.osx/inc/pios_debug.h new file mode 100644 index 000000000..e663d224e --- /dev/null +++ b/flight/PiOS.osx/inc/pios_debug.h @@ -0,0 +1,56 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @defgroup PIOS_DEBUG Debugging Functions + * @brief Debugging functionality + * @{ + * + * @file pios_i2c.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Debug helper functions header. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_DEBUG_H +#define PIOS_DEBUG_H + +extern const char *PIOS_DEBUG_AssertMsg; + +void PIOS_DEBUG_Init(void); +void PIOS_DEBUG_PinHigh(uint8_t pin); +void PIOS_DEBUG_PinLow(uint8_t pin); +void PIOS_DEBUG_PinValue8Bit(uint8_t value); +void PIOS_DEBUG_PinValue4BitL(uint8_t value); +void PIOS_DEBUG_Panic(const char *msg); + +#ifdef DEBUG +#define PIOS_DEBUG_Assert(test) if (!(test)) PIOS_DEBUG_Panic(PIOS_DEBUG_AssertMsg); +#define PIOS_Assert(test) PIOS_DEBUG_Assert(test) +#else +#define PIOS_DEBUG_Assert(test) +#define PIOS_Assert(test) if (!(test)) while (1); +#endif + +#endif /* PIOS_DEBUG_H */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS.osx/inc/pios_delay.h b/flight/PiOS.osx/inc/pios_delay.h new file mode 100644 index 000000000..2039ce880 --- /dev/null +++ b/flight/PiOS.osx/inc/pios_delay.h @@ -0,0 +1,48 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_DELAY Delay Functions + * @brief PiOS Delay functionality + * @{ + * + * @file pios_settings.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. + * @brief Settings functions header + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_DELAY_H +#define PIOS_DELAY_H + +/* Public Functions */ +extern int32_t PIOS_DELAY_Init(void); +extern int32_t PIOS_DELAY_WaituS(uint32_t uS); +extern int32_t PIOS_DELAY_WaitmS(uint32_t mS); +extern uint32_t PIOS_DELAY_GetuS(); +extern uint32_t PIOS_DELAY_GetuSSince(uint32_t t); +extern uint32_t PIOS_DELAY_GetRaw(); +extern uint32_t PIOS_DELAY_DiffuS(uint32_t raw); + +#endif /* PIOS_DELAY_H */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS.osx/inc/pios_initcall.h b/flight/PiOS.osx/inc/pios_initcall.h new file mode 100644 index 000000000..f88081c33 --- /dev/null +++ b/flight/PiOS.osx/inc/pios_initcall.h @@ -0,0 +1,72 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Initcall infrastructure + * @{ + * @addtogroup PIOS_INITCALL Generic Initcall Macros + * @brief Initcall Macros + * @{ + * + * @file pios_initcall.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011. + * @brief Initcall header + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_INITCALL_H +#define PIOS_INITCALL_H + +/** + * Just a stub define to make things compile. + * Automatically link based initialization currently doesn't work + * since posix really runs on a multitude of architectures + * and we cannot define a linker script for each of them atm + */ + + +typedef int32_t (*initcall_t)(void); +typedef struct { + initcall_t fn_minit; + initcall_t fn_tinit; +} initmodule_t; + +/* Init module section */ +extern initmodule_t __module_initcall_start[], __module_initcall_end[]; + +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();} + +#endif /* PIOS_INITCALL_H */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS.osx/inc/pios_irq.h b/flight/PiOS.osx/inc/pios_irq.h new file mode 100644 index 000000000..f9b9dbb97 --- /dev/null +++ b/flight/PiOS.osx/inc/pios_irq.h @@ -0,0 +1,38 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_IRQ IRQ Setup Functions + * @{ + * + * @file pios_irq.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * Parts by Thorsten Klose (tk@midibox.org) + * @brief IRQ functions header. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_IRQ_H +#define PIOS_IRQ_H + +/* Public Functions */ +extern int32_t PIOS_IRQ_Disable(void); +extern int32_t PIOS_IRQ_Enable(void); + +#endif /* PIOS_IRQ_H */ diff --git a/flight/PiOS.osx/inc/pios_led.h b/flight/PiOS.osx/inc/pios_led.h new file mode 100644 index 000000000..ba56b1f4a --- /dev/null +++ b/flight/PiOS.osx/inc/pios_led.h @@ -0,0 +1,39 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_LED LED Functions + * @{ + * + * @file pios_led.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief LED functions header. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_LED_H +#define PIOS_LED_H + +/* Public Functions */ +extern void PIOS_LED_Init(); +extern void PIOS_LED_On(uint32_t led_id); +extern void PIOS_LED_Off(uint32_t led_id); +extern void PIOS_LED_Toggle(uint32_t led_id); + +#endif /* PIOS_LED_H */ diff --git a/flight/PiOS.osx/inc/pios_posix.h b/flight/PiOS.osx/inc/pios_posix.h new file mode 100644 index 000000000..b458f77b6 --- /dev/null +++ b/flight/PiOS.osx/inc/pios_posix.h @@ -0,0 +1,44 @@ +/** + ****************************************************************************** + * + * @file posix.h + * @author Corvus Corax Copyright (C) 2010. + * @brief Definitions to run PiOS on posix + * @see The GNU Public License (GPL) Version 2 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_POSIX_H +#define PIOS_POSIX_H + +#include + +typedef enum {FALSE = 0, TRUE = !FALSE} bool; + +#ifndef false + #define false FALSE + #define true TRUE +#endif + +#define FILEINFO FILE* + +#define PIOS_SERVO_NUM_OUTPUTS 8 +#define PIOS_SERVO_NUM_TIMERS PIOS_SERVO_NUM_OUTPUTS + +#endif + diff --git a/flight/PiOS.osx/inc/pios_rcvr.h b/flight/PiOS.osx/inc/pios_rcvr.h new file mode 100644 index 000000000..472a4b33d --- /dev/null +++ b/flight/PiOS.osx/inc/pios_rcvr.h @@ -0,0 +1,64 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_RCVR RCVR layer functions + * @brief Hardware communication layer + * @{ + * + * @file pios_rcvr.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief RCVR layer functions header + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_RCVR_H +#define PIOS_RCVR_H + +struct pios_rcvr_channel_map { + uint32_t id; + uint8_t channel; +}; + +extern struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[]; + +struct pios_rcvr_driver { + void (*init)(uint32_t id); + int32_t (*read)(uint32_t id, uint8_t channel); +}; + +/* Public Functions */ +extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel); + +/*! Define error codes for PIOS_RCVR_Get */ +enum PIOS_RCVR_errors { + /*! Indicates that a failsafe condition or missing receiver detected for that channel */ + PIOS_RCVR_TIMEOUT = 0, + /*! Channel is invalid for this driver (usually out of range supported) */ + PIOS_RCVR_INVALID = -1, + /*! Indicates that the driver for this channel has not been initialized */ + PIOS_RCVR_NODRIVER = -2 +}; + +#endif /* PIOS_RCVR_H */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS.osx/inc/pios_rcvr_priv.h b/flight/PiOS.osx/inc/pios_rcvr_priv.h new file mode 100644 index 000000000..968dc2116 --- /dev/null +++ b/flight/PiOS.osx/inc/pios_rcvr_priv.h @@ -0,0 +1,48 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_RCVR RCVR Functions + * @brief PIOS interface for RCVR drivers + * @{ + * + * @file pios_rcvr_priv.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * Parts by Thorsten Klose (tk@midibox.org) + * @brief USART private definitions. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_RCVR_PRIV_H +#define PIOS_RCVR_PRIV_H + +#include + +extern uint32_t pios_rcvr_max_channel; + +extern int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, const uint32_t lower_id); + +extern void PIOS_RCVR_IRQ_Handler(uint32_t rcvr_id); + +#endif /* PIOS_RCVR_PRIV_H */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS.osx/inc/pios_sdcard.h b/flight/PiOS.osx/inc/pios_sdcard.h new file mode 100644 index 000000000..225d9de80 --- /dev/null +++ b/flight/PiOS.osx/inc/pios_sdcard.h @@ -0,0 +1,113 @@ +/** + ****************************************************************************** + * + * @file pios_sdcard.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * Parts by Thorsten Klose (tk@midibox.org) + * @brief System and hardware Init functions header. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_SDCARD_H +#define PIOS_SDCARD_H + +#if defined(PIOS_INCLUDE_SDCARD) + +/* Public Functions */ +typedef struct { + uint8_t CSDStruct; /* CSD structure */ + uint8_t SysSpecVersion; /* System specification version */ + uint8_t Reserved1; /* Reserved */ + uint8_t TAAC; /* Data read access-time 1 */ + uint8_t NSAC; /* Data read access-time 2 in CLK cycles */ + uint8_t MaxBusClkFrec; /* Max. bus clock frequency */ + uint16_t CardComdClasses; /* Card command classes */ + uint8_t RdBlockLen; /* Max. read data block length */ + uint8_t PartBlockRead; /* Partial blocks for read allowed */ + uint8_t WrBlockMisalign; /* Write block misalignment */ + uint8_t RdBlockMisalign; /* Read block misalignment */ + uint8_t DSRImpl; /* DSR implemented */ + uint8_t Reserved2; /* Reserved */ + uint16_t DeviceSize; /* Device Size */ + uint8_t MaxRdCurrentVDDMin; /* Max. read current @ VDD min */ + uint8_t MaxRdCurrentVDDMax; /* Max. read current @ VDD max */ + uint8_t MaxWrCurrentVDDMin; /* Max. write current @ VDD min */ + uint8_t MaxWrCurrentVDDMax; /* Max. write current @ VDD max */ + uint8_t DeviceSizeMul; /* Device size multiplier */ + uint8_t EraseGrSize; /* Erase group size */ + uint8_t EraseGrMul; /* Erase group size multiplier */ + uint8_t WrProtectGrSize; /* Write protect group size */ + uint8_t WrProtectGrEnable; /* Write protect group enable */ + uint8_t ManDeflECC; /* Manufacturer default ECC */ + uint8_t WrSpeedFact; /* Write speed factor */ + uint8_t MaxWrBlockLen; /* Max. write data block length */ + uint8_t WriteBlockPaPartial; /* Partial blocks for write allowed */ + uint8_t Reserved3; /* Reserved */ + uint8_t ContentProtectAppli; /* Content protection application */ + uint8_t FileFormatGrouop; /* File format group */ + uint8_t CopyFlag; /* Copy flag (OTP) */ + uint8_t PermWrProtect; /* Permanent write protection */ + uint8_t TempWrProtect; /* Temporary write protection */ + uint8_t FileFormat; /* File Format */ + uint8_t ECC; /* ECC code */ + uint8_t msd_CRC; /* CRC */ + uint8_t Reserved4; /* always 1*/ +} SDCARDCsdTypeDef; + +/* Structure taken from Mass Storage Driver example provided by STM */ +typedef struct { + uint8_t ManufacturerID; /* ManufacturerID */ + uint16_t OEM_AppliID; /* OEM/Application ID */ + char ProdName[6]; /* Product Name */ + uint8_t ProdRev; /* Product Revision */ + 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; + +/* Global Variables */ +//extern VOLINFO PIOS_SDCARD_VolInfo; +//extern uint8_t PIOS_SDCARD_Sector[SECTOR_SIZE]; + +/* Prototypes */ +extern int32_t PIOS_SDCARD_Init(void); +extern int32_t PIOS_SDCARD_PowerOn(void); +extern int32_t PIOS_SDCARD_PowerOff(void); +extern int32_t PIOS_SDCARD_CheckAvailable(uint8_t was_available); +extern int32_t PIOS_SDCARD_SendSDCCmd(uint8_t cmd, uint32_t addr, uint8_t crc); +extern int32_t PIOS_SDCARD_SectorRead(uint32_t sector, uint8_t *buffer); +extern int32_t PIOS_SDCARD_SectorWrite(uint32_t sector, uint8_t *buffer); +extern int32_t PIOS_SDCARD_CIDRead(SDCARDCidTypeDef *cid); +extern int32_t PIOS_SDCARD_CSDRead(SDCARDCsdTypeDef *csd); + +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); + +//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); +extern int32_t PIOS_SDCARD_FileCopy(char *Source, char *Destination); +extern int32_t PIOS_SDCARD_FileDelete(char *Filename); + +#endif + +#endif /* PIOS_SDCARD_H */ diff --git a/flight/PiOS.osx/inc/pios_servo.h b/flight/PiOS.osx/inc/pios_servo.h new file mode 100644 index 000000000..7cbf37a7d --- /dev/null +++ b/flight/PiOS.osx/inc/pios_servo.h @@ -0,0 +1,43 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_SERVO RC Servo Functions + * @{ + * + * @file pios_servo.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief RC Servo functions header. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_SERVO_H +#define PIOS_SERVO_H + +/* Public Functions */ +extern void PIOS_Servo_Init(void); +extern void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t num_banks); +extern void PIOS_Servo_Set(uint8_t Servo, uint16_t Position); + +#endif /* PIOS_SERVO_H */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS.osx/inc/pios_sim.h b/flight/PiOS.osx/inc/pios_sim.h new file mode 100644 index 000000000..79d6d5650 --- /dev/null +++ b/flight/PiOS.osx/inc/pios_sim.h @@ -0,0 +1,13 @@ + +#ifndef PIOS_SIM_H +#define PIOS_SIM_H + +int PIOS_SIM_Init(); +int PIOS_SIM_Step(float dT); +void PIOS_SIM_SetActuator(float * actuator_int, int nchannels); +void PIOS_SIM_GetAccels(float *); +void PIOS_SIM_GetGyros(float *); +void PIOS_SIM_GetAttitude(float *); +void PIOS_SIM_GetPosition(float *); + +#endif /* PIOS_SIM_H */ diff --git a/flight/PiOS.osx/inc/pios_sim_priv.h b/flight/PiOS.osx/inc/pios_sim_priv.h new file mode 100644 index 000000000..2d9aff845 --- /dev/null +++ b/flight/PiOS.osx/inc/pios_sim_priv.h @@ -0,0 +1,19 @@ + +#ifndef PIOS_SIM_PRIV_H +#define PIOS_SIM_PRIV_H + +/** + * State of inputs and outputs to the simulation model + */ +struct pios_sim_state { + float accels[3]; + float gyros[3]; + float mag[3]; + float baro[1]; + float q[4]; + float velocity[3]; + float position[3]; + float actuator[8]; +}; + +#endif /* PIOS_SIM_PRIV */ diff --git a/flight/PiOS.osx/inc/pios_sys.h b/flight/PiOS.osx/inc/pios_sys.h new file mode 100644 index 000000000..4e71b54a0 --- /dev/null +++ b/flight/PiOS.osx/inc/pios_sys.h @@ -0,0 +1,35 @@ +/** + ****************************************************************************** + * + * @file pios_sys.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * Parts by Thorsten Klose (tk@midibox.org) + * @brief System and hardware Init functions header. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_SYS_H +#define PIOS_SYS_H + +/* Public Functions */ +extern void PIOS_SYS_Init(void); +extern int32_t PIOS_SYS_Reset(void); +extern int32_t PIOS_SYS_SerialNumberGet(char *str); + +#endif /* PIOS_SYS_H */ diff --git a/flight/PiOS.osx/inc/pios_udp.h b/flight/PiOS.osx/inc/pios_udp.h new file mode 100644 index 000000000..36964a342 --- /dev/null +++ b/flight/PiOS.osx/inc/pios_udp.h @@ -0,0 +1,35 @@ +/** + ****************************************************************************** + * + * @file pios_usart.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * Parts by Thorsten Klose (tk@midibox.org) + * @brief UDP functions header. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_UDP_H +#define PIOS_UDP_H + + +/* Global Types */ + +/* Public Functions */ + +#endif /* PIOS_UDP_H */ diff --git a/flight/PiOS.osx/inc/pios_udp_priv.h b/flight/PiOS.osx/inc/pios_udp_priv.h new file mode 100644 index 000000000..999e192e9 --- /dev/null +++ b/flight/PiOS.osx/inc/pios_udp_priv.h @@ -0,0 +1,71 @@ +/** + ****************************************************************************** + * + * @file pios_udp_priv.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * Parts by Thorsten Klose (tk@midibox.org) + * @brief UDP private definitions. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_UDP_PRIV_H +#define PIOS_UDP_PRIV_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +struct pios_udp_cfg { + const char * ip; + uint16_t port; +}; + +typedef struct { + const struct pios_udp_cfg * cfg; + pthread_t rxThread; + + int socket; + struct sockaddr_in server; + struct sockaddr_in client; + uint32_t clientLength; + + pthread_cond_t cond; + pthread_mutex_t mutex; + + pios_com_callback tx_out_cb; + uint32_t tx_out_context; + pios_com_callback rx_in_cb; + uint32_t rx_in_context; + + uint8_t rx_buffer[PIOS_UDP_RX_BUFFER_SIZE]; + uint8_t tx_buffer[PIOS_UDP_RX_BUFFER_SIZE]; +} pios_udp_dev; + +extern int32_t PIOS_UDP_Init(uint32_t * udp_id, const struct pios_udp_cfg * cfg); + + + +#endif /* PIOS_UDP_PRIV_H */ diff --git a/flight/PiOS.osx/inc/pios_wdg.h b/flight/PiOS.osx/inc/pios_wdg.h new file mode 100644 index 000000000..3de3317fc --- /dev/null +++ b/flight/PiOS.osx/inc/pios_wdg.h @@ -0,0 +1,45 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_WDG Watchdog Functions + * @{ + * + * @file pios_wdg.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * Parts by Thorsten Klose (tk@midibox.org) + * @brief SPI functions header. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_WDG +#define PIOS_WDG + +void PIOS_WDG_Init(); +bool PIOS_WDG_RegisterFlag(uint16_t flag_requested); +bool PIOS_WDG_UpdateFlag(uint16_t flag); +uint16_t PIOS_WDG_GetBootupFlags(); +uint16_t PIOS_WDG_GetActiveFlags(); +void PIOS_WDG_Clear(void); + +#define PIOS_WDG_ACTUATOR 0x0001 +#define PIOS_WDG_STABILIZATION 0x0002 +#define PIOS_WDG_MANUAL 0x0008 + +#endif diff --git a/flight/PiOS.osx/inc/sim_model.h b/flight/PiOS.osx/inc/sim_model.h new file mode 100644 index 000000000..60c15c487 --- /dev/null +++ b/flight/PiOS.osx/inc/sim_model.h @@ -0,0 +1,6 @@ + +#include "pios_sim_priv.h" + +extern int sim_model_init(); +extern int sim_model_terminate(); +extern int sim_model_step(float dT, struct pios_sim_state * state); diff --git a/flight/PiOS.osx/osx/.pios_rcvr.c.swp b/flight/PiOS.osx/osx/.pios_rcvr.c.swp new file mode 100644 index 0000000000000000000000000000000000000000..1cbdfbe9e9e8cd77f9f991f4f2440f93013f1a97 GIT binary patch literal 12288 zcmeI2&2Jk;7{(`+_-^?WML-YJBt*6w+evdEZCaO*n8+w!a%vY5qGi21PNrJ#nBBE$ znzkSiM{XP_hpH<416*j4KtiC311ByNL@$U^0e=P0>~~@}s*pGojisOM-F@fldER$c zmbWohuPo3P3ljvd#|imRWEX40mjOd)=6i^B%1(X6x0i}RaKq;UU z_a|x4Vf~eE43>H znGWwVCtq@yZf26xmUx>v8aGF&v7y^Gv$9hJ&6g`nE81-N<=UJ!?YhkIQcco51<`WA zer?8ZSzamTXw5cRliSRs)tP#gwuR%-rf{gY!Cl%Ax?|Fe%NT9T2mbuyf|2!CNqLiI z4*C<4O|`CWaZ~qLJfm!uZpk^jp3^bBpoeII&?x?ToR0XtM{~I^grpOlIwl{HD z^MaN8168F`o#=cRJ4)r5Nd!iErS;C_$FXG5@wBGSt)p^Qfe{%g1&(rIH}rUFo_41t zJ#uNDjw4DoifxPhL4)Y4)HDeQ+@KTz!B>AAU$ZDEOV@=bXf&;Kd$h{**Dae;Lbvd& zXC_!d|LAx^{^-5g6HLudhu({!Cb-(qhKkL-#D>sMKVgOKdVO5?6CK6}V%pvLGP1SCa;J&DloB2{pU*`s#OKM`aT-O$+=PENhyxp1bN&ZJU zcjyqZACn78IMgAtSeu{s&60W4+lZFZgD*_KhOMH$a(87YO?EvfYxJ>>b>T*`tRU~Y zf}7c>O;mlolbVV``etYnFDq>|86%oKWEf(W%Tl{%+JJP)?W#Yt+);czqDD^cQhcpo z=`KIZL^BiY8kl(YE^F}LNj!v!hr4vf7pSs0Ghdr6Yp+zxgo`n4U}-Vnk{nH=xueSJ&z?<~fZ=^d1FZ}9fAmyvPF)Bdk$Cy=oW1(Dj4p|uv+ z95(e2WQz5<$83c&OOh&HH!L1IbL5DwHyVa9O71ucx)|cNVRcMKk0rU<#-a)vC3*1< h*2p^*l!+S;%EpC_L2N1%kJ_JRxFc4Aj$OIk{R6{x7B>I@ literal 0 HcmV?d00001 diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/croutine.c b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/croutine.c new file mode 100644 index 000000000..d6f116262 --- /dev/null +++ b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/croutine.c @@ -0,0 +1,371 @@ +/* + FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd. + + *************************************************************************** + * * + * If you are: * + * * + * + New to FreeRTOS, * + * + Wanting to learn FreeRTOS or multitasking in general quickly * + * + Looking for basic training, * + * + Wanting to improve your FreeRTOS skills and productivity * + * * + * then take a look at the FreeRTOS eBook * + * * + * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * + * http://www.FreeRTOS.org/Documentation * + * * + * A pdf reference manual is also available. Both are usually delivered * + * to your inbox within 20 minutes to two hours when purchased between 8am * + * and 8pm GMT (although please allow up to 24 hours in case of * + * exceptional circumstances). Thank you for your support! * + * * + *************************************************************************** + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation AND MODIFIED BY the FreeRTOS exception. + ***NOTE*** The exception to the GPL is included to allow you to distribute + a combined work that includes FreeRTOS without being obliged to provide the + source code for proprietary components outside of the FreeRTOS kernel. + 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 + by writing to Richard Barry, contact details for whom are available on the + FreeRTOS WEB site. + + 1 tab == 4 spaces! + + http://www.FreeRTOS.org - Documentation, latest information, license and + contact details. + + http://www.SafeRTOS.com - A version that is certified for use in safety + critical systems. + + http://www.OpenRTOS.com - Commercial support, development, porting, + licensing and training services. +*/ + +#include "FreeRTOS.h" +#include "task.h" +#include "croutine.h" + +/* + * Some kernel aware debuggers require data to be viewed to be global, rather + * than file scope. + */ +#ifdef portREMOVE_STATIC_QUALIFIER + #define static +#endif + + +/* Lists for ready and blocked co-routines. --------------------*/ +static xList pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ]; /*< Prioritised ready co-routines. */ +static xList xDelayedCoRoutineList1; /*< Delayed co-routines. */ +static xList xDelayedCoRoutineList2; /*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */ +static xList * pxDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used. */ +static xList * pxOverflowDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */ +static xList xPendingReadyCoRoutineList; /*< Holds co-routines that have been readied by an external event. They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */ + +/* Other file private variables. --------------------------------*/ +corCRCB * pxCurrentCoRoutine = NULL; +static unsigned portBASE_TYPE uxTopCoRoutineReadyPriority = 0; +static portTickType xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks = 0; + +/* The initial state of the co-routine when it is created. */ +#define corINITIAL_STATE ( 0 ) + +/* + * Place the co-routine represented by pxCRCB into the appropriate ready queue + * for the priority. It is inserted at the end of the list. + * + * This macro accesses the co-routine ready lists and therefore must not be + * used from within an ISR. + */ +#define prvAddCoRoutineToReadyQueue( pxCRCB ) \ +{ \ + if( pxCRCB->uxPriority > uxTopCoRoutineReadyPriority ) \ + { \ + uxTopCoRoutineReadyPriority = pxCRCB->uxPriority; \ + } \ + vListInsertEnd( ( xList * ) &( pxReadyCoRoutineLists[ pxCRCB->uxPriority ] ), &( pxCRCB->xGenericListItem ) ); \ +} + +/* + * Utility to ready all the lists used by the scheduler. This is called + * automatically upon the creation of the first co-routine. + */ +static void prvInitialiseCoRoutineLists( void ); + +/* + * Co-routines that are readied by an interrupt cannot be placed directly into + * the ready lists (there is no mutual exclusion). Instead they are placed in + * in the pending ready list in order that they can later be moved to the ready + * list by the co-routine scheduler. + */ +static void prvCheckPendingReadyList( void ); + +/* + * Macro that looks at the list of co-routines that are currently delayed to + * see if any require waking. + * + * Co-routines are stored in the queue in the order of their wake time - + * meaning once one co-routine has been found whose timer has not expired + * we need not look any further down the list. + */ +static void prvCheckDelayedList( void ); + +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, unsigned portBASE_TYPE uxPriority, unsigned portBASE_TYPE uxIndex ) +{ +signed portBASE_TYPE xReturn; +corCRCB *pxCoRoutine; + + /* Allocate the memory that will store the co-routine control block. */ + pxCoRoutine = ( corCRCB * ) pvPortMalloc( sizeof( corCRCB ) ); + if( pxCoRoutine ) + { + /* If pxCurrentCoRoutine is NULL then this is the first co-routine to + be created and the co-routine data structures need initialising. */ + if( pxCurrentCoRoutine == NULL ) + { + pxCurrentCoRoutine = pxCoRoutine; + prvInitialiseCoRoutineLists(); + } + + /* Check the priority is within limits. */ + if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES ) + { + uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1; + } + + /* Fill out the co-routine control block from the function parameters. */ + pxCoRoutine->uxState = corINITIAL_STATE; + pxCoRoutine->uxPriority = uxPriority; + pxCoRoutine->uxIndex = uxIndex; + pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode; + + /* Initialise all the other co-routine control block parameters. */ + vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) ); + vListInitialiseItem( &( pxCoRoutine->xEventListItem ) ); + + /* Set the co-routine control block as a link back from the xListItem. + This is so we can get back to the containing CRCB from a generic item + in a list. */ + listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine ); + listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine ); + + /* Event lists are always in priority order. */ + listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority ); + + /* Now the co-routine has been initialised it can be added to the ready + list at the correct priority. */ + prvAddCoRoutineToReadyQueue( pxCoRoutine ); + + xReturn = pdPASS; + } + else + { + xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +void vCoRoutineAddToDelayedList( portTickType xTicksToDelay, xList *pxEventList ) +{ +portTickType xTimeToWake; + + /* Calculate the time to wake - this may overflow but this is + not a problem. */ + xTimeToWake = xCoRoutineTickCount + xTicksToDelay; + + /* We must remove ourselves from the ready list before adding + ourselves to the blocked list as the same list item is used for + both lists. */ + vListRemove( ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) ); + + /* The list item will be inserted in wake time order. */ + listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake ); + + if( xTimeToWake < xCoRoutineTickCount ) + { + /* Wake time has overflowed. Place this item in the + overflow list. */ + vListInsert( ( xList * ) pxOverflowDelayedCoRoutineList, ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) ); + } + else + { + /* The wake time has not overflowed, so we can use the + current block list. */ + vListInsert( ( xList * ) pxDelayedCoRoutineList, ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) ); + } + + if( pxEventList ) + { + /* Also add the co-routine to an event list. If this is done then the + function must be called with interrupts disabled. */ + vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) ); + } +} +/*-----------------------------------------------------------*/ + +static void prvCheckPendingReadyList( void ) +{ + /* Are there any co-routines waiting to get moved to the ready list? These + are co-routines that have been readied by an ISR. The ISR cannot access + the ready lists itself. */ + while( !listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) ) + { + corCRCB *pxUnblockedCRCB; + + /* The pending ready list can be accessed by an ISR. */ + portDISABLE_INTERRUPTS(); + { + pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyCoRoutineList) ); + vListRemove( &( pxUnblockedCRCB->xEventListItem ) ); + } + portENABLE_INTERRUPTS(); + + vListRemove( &( pxUnblockedCRCB->xGenericListItem ) ); + prvAddCoRoutineToReadyQueue( pxUnblockedCRCB ); + } +} +/*-----------------------------------------------------------*/ + +static void prvCheckDelayedList( void ) +{ +corCRCB *pxCRCB; + + xPassedTicks = xTaskGetTickCount() - xLastTickCount; + while( xPassedTicks ) + { + xCoRoutineTickCount++; + xPassedTicks--; + + /* If the tick count has overflowed we need to swap the ready lists. */ + if( xCoRoutineTickCount == 0 ) + { + xList * pxTemp; + + /* Tick count has overflowed so we need to swap the delay lists. If there are + any items in pxDelayedCoRoutineList here then there is an error! */ + pxTemp = pxDelayedCoRoutineList; + pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList; + pxOverflowDelayedCoRoutineList = pxTemp; + } + + /* See if this tick has made a timeout expire. */ + while( ( pxCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList ) ) != NULL ) + { + if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) ) + { + /* Timeout not yet expired. */ + break; + } + + portDISABLE_INTERRUPTS(); + { + /* The event could have occurred just before this critical + section. If this is the case then the generic list item will + have been moved to the pending ready list and the following + line is still valid. Also the pvContainer parameter will have + been set to NULL so the following lines are also valid. */ + vListRemove( &( pxCRCB->xGenericListItem ) ); + + /* Is the co-routine waiting on an event also? */ + if( pxCRCB->xEventListItem.pvContainer ) + { + vListRemove( &( pxCRCB->xEventListItem ) ); + } + } + portENABLE_INTERRUPTS(); + + prvAddCoRoutineToReadyQueue( pxCRCB ); + } + } + + xLastTickCount = xCoRoutineTickCount; +} +/*-----------------------------------------------------------*/ + +void vCoRoutineSchedule( void ) +{ + /* See if any co-routines readied by events need moving to the ready lists. */ + prvCheckPendingReadyList(); + + /* See if any delayed co-routines have timed out. */ + prvCheckDelayedList(); + + /* Find the highest priority queue that contains ready co-routines. */ + while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) ) + { + if( uxTopCoRoutineReadyPriority == 0 ) + { + /* No more co-routines to check. */ + return; + } + --uxTopCoRoutineReadyPriority; + } + + /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines + of the same priority get an equal share of the processor time. */ + listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ); + + /* Call the co-routine. */ + ( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex ); + + return; +} +/*-----------------------------------------------------------*/ + +static void prvInitialiseCoRoutineLists( void ) +{ +unsigned portBASE_TYPE uxPriority; + + for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ ) + { + vListInitialise( ( xList * ) &( pxReadyCoRoutineLists[ uxPriority ] ) ); + } + + vListInitialise( ( xList * ) &xDelayedCoRoutineList1 ); + vListInitialise( ( xList * ) &xDelayedCoRoutineList2 ); + vListInitialise( ( xList * ) &xPendingReadyCoRoutineList ); + + /* Start with pxDelayedCoRoutineList using list1 and the + pxOverflowDelayedCoRoutineList using list2. */ + pxDelayedCoRoutineList = &xDelayedCoRoutineList1; + pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2; +} +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xCoRoutineRemoveFromEventList( const xList *pxEventList ) +{ +corCRCB *pxUnblockedCRCB; +signed portBASE_TYPE xReturn; + + /* This function is called from within an interrupt. It can only access + event lists and the pending ready list. */ + pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); + vListRemove( &( pxUnblockedCRCB->xEventListItem ) ); + vListInsertEnd( ( xList * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) ); + + if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority ) + { + xReturn = pdTRUE; + } + else + { + xReturn = pdFALSE; + } + + return xReturn; +} + diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/FreeRTOS.h b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/FreeRTOS.h new file mode 100644 index 000000000..ee02592ae --- /dev/null +++ b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/FreeRTOS.h @@ -0,0 +1,420 @@ +/* + FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd. + + *************************************************************************** + * * + * If you are: * + * * + * + New to FreeRTOS, * + * + Wanting to learn FreeRTOS or multitasking in general quickly * + * + Looking for basic training, * + * + Wanting to improve your FreeRTOS skills and productivity * + * * + * then take a look at the FreeRTOS eBook * + * * + * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * + * http://www.FreeRTOS.org/Documentation * + * * + * A pdf reference manual is also available. Both are usually delivered * + * to your inbox within 20 minutes to two hours when purchased between 8am * + * and 8pm GMT (although please allow up to 24 hours in case of * + * exceptional circumstances). Thank you for your support! * + * * + *************************************************************************** + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation AND MODIFIED BY the FreeRTOS exception. + ***NOTE*** The exception to the GPL is included to allow you to distribute + a combined work that includes FreeRTOS without being obliged to provide the + source code for proprietary components outside of the FreeRTOS kernel. + 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 + by writing to Richard Barry, contact details for whom are available on the + FreeRTOS WEB site. + + 1 tab == 4 spaces! + + http://www.FreeRTOS.org - Documentation, latest information, license and + contact details. + + http://www.SafeRTOS.com - A version that is certified for use in safety + critical systems. + + http://www.OpenRTOS.com - Commercial support, development, porting, + licensing and training services. +*/ + +#ifndef INC_FREERTOS_H +#define INC_FREERTOS_H + + +/* + * Include the generic headers required for the FreeRTOS port being used. + */ +#include + +/* Basic FreeRTOS definitions. */ +#include "projdefs.h" + +/* Application specific configuration options. */ +#include "FreeRTOSConfig.h" + +/* Definitions specific to the port being used. */ +#include "portable.h" + + +/* Defines the prototype to which the application task hook function must +conform. */ +typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); + + + + + +/* + * Check all the required application specific macros have been defined. + * These macros are application specific and (as downloaded) are defined + * within FreeRTOSConfig.h. + */ + +#ifndef configUSE_PREEMPTION + #error Missing definition: configUSE_PREEMPTION should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef configUSE_IDLE_HOOK + #error Missing definition: configUSE_IDLE_HOOK should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef configUSE_TICK_HOOK + #error Missing definition: configUSE_TICK_HOOK should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef configUSE_CO_ROUTINES + #error Missing definition: configUSE_CO_ROUTINES should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_vTaskPrioritySet + #error Missing definition: INCLUDE_vTaskPrioritySet should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_uxTaskPriorityGet + #error Missing definition: INCLUDE_uxTaskPriorityGet should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_vTaskDelete + #error Missing definition: INCLUDE_vTaskDelete should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_vTaskCleanUpResources + #error Missing definition: INCLUDE_vTaskCleanUpResources should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_vTaskSuspend + #error Missing definition: INCLUDE_vTaskSuspend should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_vTaskDelayUntil + #error Missing definition: INCLUDE_vTaskDelayUntil should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_vTaskDelay + #error Missing definition: INCLUDE_vTaskDelay should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef configUSE_16_BIT_TICKS + #error Missing definition: configUSE_16_BIT_TICKS should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef configUSE_APPLICATION_TASK_TAG + #define configUSE_APPLICATION_TASK_TAG 0 +#endif + +#ifndef INCLUDE_uxTaskGetStackHighWaterMark + #define INCLUDE_uxTaskGetStackHighWaterMark 0 +#endif + +#ifndef configUSE_RECURSIVE_MUTEXES + #define configUSE_RECURSIVE_MUTEXES 0 +#endif + +#ifndef configUSE_MUTEXES + #define configUSE_MUTEXES 0 +#endif + +#ifndef configUSE_COUNTING_SEMAPHORES + #define configUSE_COUNTING_SEMAPHORES 0 +#endif + +#ifndef configUSE_ALTERNATIVE_API + #define configUSE_ALTERNATIVE_API 0 +#endif + +#ifndef portCRITICAL_NESTING_IN_TCB + #define portCRITICAL_NESTING_IN_TCB 0 +#endif + +#ifndef configMAX_TASK_NAME_LEN + #define configMAX_TASK_NAME_LEN 16 +#endif + +#ifndef configIDLE_SHOULD_YIELD + #define configIDLE_SHOULD_YIELD 1 +#endif + +#if configMAX_TASK_NAME_LEN < 1 + #undef configMAX_TASK_NAME_LEN + #define configMAX_TASK_NAME_LEN 1 +#endif + +#ifndef INCLUDE_xTaskResumeFromISR + #define INCLUDE_xTaskResumeFromISR 1 +#endif + +#ifndef INCLUDE_xTaskGetSchedulerState + #define INCLUDE_xTaskGetSchedulerState 0 +#endif + +#if ( configUSE_MUTEXES == 1 ) + /* xTaskGetCurrentTaskHandle is used by the priority inheritance mechanism + within the mutex implementation so must be available if mutexes are used. */ + #undef INCLUDE_xTaskGetCurrentTaskHandle + #define INCLUDE_xTaskGetCurrentTaskHandle 1 +#else + #ifndef INCLUDE_xTaskGetCurrentTaskHandle + #define INCLUDE_xTaskGetCurrentTaskHandle 0 + #endif +#endif + + +#ifndef portSET_INTERRUPT_MASK_FROM_ISR + #define portSET_INTERRUPT_MASK_FROM_ISR() 0 +#endif + +#ifndef portCLEAR_INTERRUPT_MASK_FROM_ISR + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) uxSavedStatusValue +#endif + + +#ifndef configQUEUE_REGISTRY_SIZE + #define configQUEUE_REGISTRY_SIZE 0 +#endif + +#if configQUEUE_REGISTRY_SIZE < 1 + #define configQUEUE_REGISTRY_SIZE 0 + #define vQueueAddToRegistry( xQueue, pcName ) + #define vQueueUnregisterQueue( xQueue ) +#endif + + +/* Remove any unused trace macros. */ +#ifndef traceSTART + /* Used to perform any necessary initialisation - for example, open a file + into which trace is to be written. */ + #define traceSTART() +#endif + +#ifndef traceEND + /* Use to close a trace, for example close a file into which trace has been + written. */ + #define traceEND() +#endif + +#ifndef traceTASK_SWITCHED_IN + /* Called after a task has been selected to run. pxCurrentTCB holds a pointer + to the task control block of the selected task. */ + #define traceTASK_SWITCHED_IN() +#endif + +#ifndef traceTASK_SWITCHED_OUT + /* Called before a task has been selected to run. pxCurrentTCB holds a pointer + to the task control block of the task being switched out. */ + #define traceTASK_SWITCHED_OUT() +#endif + +#ifndef traceBLOCKING_ON_QUEUE_RECEIVE + /* 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 + 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 + 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 + task that attempted the write. */ + #define traceBLOCKING_ON_QUEUE_SEND( pxQueue ) +#endif + +#ifndef configCHECK_FOR_STACK_OVERFLOW + #define configCHECK_FOR_STACK_OVERFLOW 0 +#endif + +/* The following event macros are embedded in the kernel API calls. */ + +#ifndef traceQUEUE_CREATE + #define traceQUEUE_CREATE( pxNewQueue ) +#endif + +#ifndef traceQUEUE_CREATE_FAILED + #define traceQUEUE_CREATE_FAILED() +#endif + +#ifndef traceCREATE_MUTEX + #define traceCREATE_MUTEX( pxNewQueue ) +#endif + +#ifndef traceCREATE_MUTEX_FAILED + #define traceCREATE_MUTEX_FAILED() +#endif + +#ifndef traceGIVE_MUTEX_RECURSIVE + #define traceGIVE_MUTEX_RECURSIVE( pxMutex ) +#endif + +#ifndef traceGIVE_MUTEX_RECURSIVE_FAILED + #define traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex ) +#endif + +#ifndef traceTAKE_MUTEX_RECURSIVE + #define traceTAKE_MUTEX_RECURSIVE( pxMutex ) +#endif + +#ifndef traceCREATE_COUNTING_SEMAPHORE + #define traceCREATE_COUNTING_SEMAPHORE() +#endif + +#ifndef traceCREATE_COUNTING_SEMAPHORE_FAILED + #define traceCREATE_COUNTING_SEMAPHORE_FAILED() +#endif + +#ifndef traceQUEUE_SEND + #define traceQUEUE_SEND( pxQueue ) +#endif + +#ifndef traceQUEUE_SEND_FAILED + #define traceQUEUE_SEND_FAILED( pxQueue ) +#endif + +#ifndef traceQUEUE_RECEIVE + #define traceQUEUE_RECEIVE( pxQueue ) +#endif + +#ifndef traceQUEUE_PEEK + #define traceQUEUE_PEEK( pxQueue ) +#endif + +#ifndef traceQUEUE_RECEIVE_FAILED + #define traceQUEUE_RECEIVE_FAILED( pxQueue ) +#endif + +#ifndef traceQUEUE_SEND_FROM_ISR + #define traceQUEUE_SEND_FROM_ISR( pxQueue ) +#endif + +#ifndef traceQUEUE_SEND_FROM_ISR_FAILED + #define traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue ) +#endif + +#ifndef traceQUEUE_RECEIVE_FROM_ISR + #define traceQUEUE_RECEIVE_FROM_ISR( pxQueue ) +#endif + +#ifndef traceQUEUE_RECEIVE_FROM_ISR_FAILED + #define traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue ) +#endif + +#ifndef traceQUEUE_DELETE + #define traceQUEUE_DELETE( pxQueue ) +#endif + +#ifndef traceTASK_CREATE + #define traceTASK_CREATE( pxNewTCB ) +#endif + +#ifndef traceTASK_CREATE_FAILED + #define traceTASK_CREATE_FAILED( pxNewTCB ) +#endif + +#ifndef traceTASK_DELETE + #define traceTASK_DELETE( pxTaskToDelete ) +#endif + +#ifndef traceTASK_DELAY_UNTIL + #define traceTASK_DELAY_UNTIL() +#endif + +#ifndef traceTASK_DELAY + #define traceTASK_DELAY() +#endif + +#ifndef traceTASK_PRIORITY_SET + #define traceTASK_PRIORITY_SET( pxTask, uxNewPriority ) +#endif + +#ifndef traceTASK_SUSPEND + #define traceTASK_SUSPEND( pxTaskToSuspend ) +#endif + +#ifndef traceTASK_RESUME + #define traceTASK_RESUME( pxTaskToResume ) +#endif + +#ifndef traceTASK_RESUME_FROM_ISR + #define traceTASK_RESUME_FROM_ISR( pxTaskToResume ) +#endif + +#ifndef traceTASK_INCREMENT_TICK + #define traceTASK_INCREMENT_TICK( xTickCount ) +#endif + +#ifndef configGENERATE_RUN_TIME_STATS + #define configGENERATE_RUN_TIME_STATS 0 +#endif + +#if ( configGENERATE_RUN_TIME_STATS == 1 ) + + #ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS + #error If configGENERATE_RUN_TIME_STATS is defined then portCONFIGURE_TIMER_FOR_RUN_TIME_STATS must also be defined. portCONFIGURE_TIMER_FOR_RUN_TIME_STATS should call a port layer function to setup a peripheral timer/counter that can then be used as the run time counter time base. + #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. + #endif /* portGET_RUN_TIME_COUNTER_VALUE */ + +#endif /* configGENERATE_RUN_TIME_STATS */ + +#ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS + #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() +#endif + +#ifndef configUSE_MALLOC_FAILED_HOOK + #define configUSE_MALLOC_FAILED_HOOK 0 +#endif + +#ifndef portPRIVILEGE_BIT + #define portPRIVILEGE_BIT ( ( unsigned portBASE_TYPE ) 0x00 ) +#endif + +#ifndef portYIELD_WITHIN_API + #define portYIELD_WITHIN_API portYIELD +#endif + +#ifndef pvPortMallocAligned + #define pvPortMallocAligned( x, puxStackBuffer ) ( ( puxStackBuffer == NULL ) ? ( pvPortMalloc( x ) ) : ( puxStackBuffer ) ) +#endif + +#ifndef vPortFreeAligned + #define vPortFreeAligned( pvBlockToFree ) vPortFree( pvBlockToFree ) +#endif + +#endif /* INC_FREERTOS_H */ + diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/StackMacros.h b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/StackMacros.h new file mode 100644 index 000000000..a7514d790 --- /dev/null +++ b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/StackMacros.h @@ -0,0 +1,173 @@ +/* + FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd. + + *************************************************************************** + * * + * If you are: * + * * + * + New to FreeRTOS, * + * + Wanting to learn FreeRTOS or multitasking in general quickly * + * + Looking for basic training, * + * + Wanting to improve your FreeRTOS skills and productivity * + * * + * then take a look at the FreeRTOS eBook * + * * + * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * + * http://www.FreeRTOS.org/Documentation * + * * + * A pdf reference manual is also available. Both are usually delivered * + * to your inbox within 20 minutes to two hours when purchased between 8am * + * and 8pm GMT (although please allow up to 24 hours in case of * + * exceptional circumstances). Thank you for your support! * + * * + *************************************************************************** + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation AND MODIFIED BY the FreeRTOS exception. + ***NOTE*** The exception to the GPL is included to allow you to distribute + a combined work that includes FreeRTOS without being obliged to provide the + source code for proprietary components outside of the FreeRTOS kernel. + 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 + by writing to Richard Barry, contact details for whom are available on the + FreeRTOS WEB site. + + 1 tab == 4 spaces! + + http://www.FreeRTOS.org - Documentation, latest information, license and + contact details. + + http://www.SafeRTOS.com - A version that is certified for use in safety + critical systems. + + http://www.OpenRTOS.com - Commercial support, development, porting, + licensing and training services. +*/ + +#ifndef STACK_MACROS_H +#define STACK_MACROS_H + +/* + * Call the stack overflow hook function if the stack of the task being swapped + * out is currently overflowed, or looks like it might have overflowed in the + * past. + * + * Setting configCHECK_FOR_STACK_OVERFLOW to 1 will cause the macro to check + * 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 + * overwritten. Note this second test does not guarantee that an overflowed + * stack will always be recognised. + */ + +/*-----------------------------------------------------------*/ + +#if( configCHECK_FOR_STACK_OVERFLOW == 0 ) + + /* FreeRTOSConfig.h is not set to check for stack overflows. */ + #define taskFIRST_CHECK_FOR_STACK_OVERFLOW() + #define taskSECOND_CHECK_FOR_STACK_OVERFLOW() + +#endif /* configCHECK_FOR_STACK_OVERFLOW == 0 */ +/*-----------------------------------------------------------*/ + +#if( configCHECK_FOR_STACK_OVERFLOW == 1 ) + + /* FreeRTOSConfig.h is only set to use the first method of + overflow checking. */ + #define taskSECOND_CHECK_FOR_STACK_OVERFLOW() + +#endif +/*-----------------------------------------------------------*/ + +#if( ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH < 0 ) ) + + /* Only the current stack state is to be checked. */ + #define taskFIRST_CHECK_FOR_STACK_OVERFLOW() \ + { \ + extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName ); \ + \ + /* Is the currently saved stack pointer within the stack limit? */ \ + if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \ + { \ + vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ + } \ + } + +#endif /* configCHECK_FOR_STACK_OVERFLOW > 0 */ +/*-----------------------------------------------------------*/ + +#if( ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH > 0 ) ) + + /* Only the current stack state is to be checked. */ + #define taskFIRST_CHECK_FOR_STACK_OVERFLOW() \ + { \ + extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName ); \ + \ + /* Is the currently saved stack pointer within the stack limit? */ \ + if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack ) \ + { \ + vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ + } \ + } + +#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */ +/*-----------------------------------------------------------*/ + +#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) ) + + #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, \ + 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 }; \ + \ + \ + /* Has the extremity of the task stack ever been written over? */ \ + if( memcmp( ( void * ) pxCurrentTCB->pxStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \ + { \ + vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ + } \ + } + +#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */ +/*-----------------------------------------------------------*/ + +#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) ) + + #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, \ + 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 }; \ + \ + \ + pcEndOfStack -= sizeof( ucExpectedStackBytes ); \ + \ + /* Has the extremity of the task stack ever been written over? */ \ + if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \ + { \ + vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ + } \ + } + +#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */ +/*-----------------------------------------------------------*/ + +#endif /* STACK_MACROS_H */ + diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/croutine.h b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/croutine.h new file mode 100644 index 000000000..c189a1e87 --- /dev/null +++ b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/croutine.h @@ -0,0 +1,749 @@ +/* + FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd. + + *************************************************************************** + * * + * If you are: * + * * + * + New to FreeRTOS, * + * + Wanting to learn FreeRTOS or multitasking in general quickly * + * + Looking for basic training, * + * + Wanting to improve your FreeRTOS skills and productivity * + * * + * then take a look at the FreeRTOS eBook * + * * + * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * + * http://www.FreeRTOS.org/Documentation * + * * + * A pdf reference manual is also available. Both are usually delivered * + * to your inbox within 20 minutes to two hours when purchased between 8am * + * and 8pm GMT (although please allow up to 24 hours in case of * + * exceptional circumstances). Thank you for your support! * + * * + *************************************************************************** + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation AND MODIFIED BY the FreeRTOS exception. + ***NOTE*** The exception to the GPL is included to allow you to distribute + a combined work that includes FreeRTOS without being obliged to provide the + source code for proprietary components outside of the FreeRTOS kernel. + 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 + by writing to Richard Barry, contact details for whom are available on the + FreeRTOS WEB site. + + 1 tab == 4 spaces! + + http://www.FreeRTOS.org - Documentation, latest information, license and + contact details. + + http://www.SafeRTOS.com - A version that is certified for use in safety + critical systems. + + http://www.OpenRTOS.com - Commercial support, development, porting, + licensing and training services. +*/ + +#ifndef INC_FREERTOS_H + #error "#include FreeRTOS.h" must appear in source files before "#include croutine.h" +#endif + + + + +#ifndef CO_ROUTINE_H +#define CO_ROUTINE_H + +#include "list.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/* Used to hide the implementation of the co-routine control block. The +control block structure however has to be included in the header due to +the macro implementation of the co-routine functionality. */ +typedef void * xCoRoutineHandle; + +/* Defines the prototype to which co-routine functions must conform. */ +typedef void (*crCOROUTINE_CODE)( xCoRoutineHandle, unsigned portBASE_TYPE ); + +typedef struct corCoRoutineControlBlock +{ + crCOROUTINE_CODE pxCoRoutineFunction; + xListItem xGenericListItem; /*< List item used to place the CRCB in ready and blocked queues. */ + xListItem xEventListItem; /*< List item used to place the CRCB in event lists. */ + unsigned portBASE_TYPE uxPriority; /*< The priority of the co-routine in relation to other co-routines. */ + unsigned portBASE_TYPE uxIndex; /*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */ + unsigned short uxState; /*< Used internally by the co-routine implementation. */ +} corCRCB; /* Co-routine control block. Note must be identical in size down to uxPriority with tskTCB. */ + +/** + * croutine. h + *
+ portBASE_TYPE xCoRoutineCreate(
+                                 crCOROUTINE_CODE pxCoRoutineCode,
+                                 unsigned portBASE_TYPE uxPriority,
+                                 unsigned portBASE_TYPE uxIndex
+                               );
+ * + * Create a new co-routine and add it to the list of co-routines that are + * ready to run. + * + * @param pxCoRoutineCode Pointer to the co-routine function. Co-routine + * functions require special syntax - see the co-routine section of the WEB + * documentation for more information. + * + * @param uxPriority The priority with respect to other co-routines at which + * the co-routine will run. + * + * @param uxIndex Used to distinguish between different co-routines that + * execute the same function. See the example below and the co-routine section + * of the WEB documentation for further information. + * + * @return pdPASS if the co-routine was successfully created and added to a ready + * list, otherwise an error code defined with ProjDefs.h. + * + * Example usage: + 
+ // Co-routine to be created.
+ void vFlashCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
+ {
+ // 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 };
+
+     // Must start every co-routine with a call to crSTART();
+     crSTART( xHandle );
+
+     for( ;; )
+     {
+         // This co-routine just delays for a fixed period, then toggles
+         // an LED.  Two co-routines are created using this function, so
+         // the uxIndex parameter is used to tell the co-routine which
+         // LED to flash and how long to delay.  This assumes xQueue has
+         // already been created.
+         vParTestToggleLED( cLedToFlash[ uxIndex ] );
+         crDELAY( xHandle, uxFlashRates[ uxIndex ] );
+     }
+
+     // Must end every co-routine with a call to crEND();
+     crEND();
+ }
+
+ // Function that creates two co-routines.
+ void vOtherFunction( void )
+ {
+ unsigned char ucParameterToPass;
+ xTaskHandle xHandle;
+		
+     // Create two co-routines at priority 0.  The first is given index 0
+     // so (from the code above) toggles LED 5 every 200 ticks.  The second
+     // is given index 1 so toggles LED 6 every 400 ticks.
+     for( uxIndex = 0; uxIndex < 2; uxIndex++ )
+     {
+         xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
+     }
+ }
+
+ * \defgroup xCoRoutineCreate xCoRoutineCreate + * \ingroup Tasks + */ +signed portBASE_TYPE xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, unsigned portBASE_TYPE uxPriority, unsigned portBASE_TYPE uxIndex ); + + +/** + * croutine. h + *
+ void vCoRoutineSchedule( void );
+ * + * Run a co-routine. + * + * vCoRoutineSchedule() executes the highest priority co-routine that is able + * to run. The co-routine will execute until it either blocks, yields or is + * preempted by a task. Co-routines execute cooperatively so one + * co-routine cannot be preempted by another, but can be preempted by a task. + * + * If an application comprises of both tasks and co-routines then + * vCoRoutineSchedule should be called from the idle task (in an idle task + * hook). + * + * Example usage: + 
+ // This idle task hook will schedule a co-routine each time it is called.
+ // The rest of the idle task will execute between co-routine calls.
+ void vApplicationIdleHook( void )
+ {
+	vCoRoutineSchedule();
+ }
+
+ // Alternatively, if you do not require any other part of the idle task to
+ // execute, the idle task hook can call vCoRoutineScheduler() within an
+ // infinite loop.
+ void vApplicationIdleHook( void )
+ {
+    for( ;; )
+    {
+        vCoRoutineSchedule();
+    }
+ }
+
+ * \defgroup vCoRoutineSchedule vCoRoutineSchedule + * \ingroup Tasks + */ +void vCoRoutineSchedule( void ); + +/** + * croutine. h + * 
+ crSTART( xCoRoutineHandle xHandle );
+ * + * This macro MUST always be called at the start of a co-routine function. + * + * Example usage: + 
+ // Co-routine to be created.
+ void vACoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
+ {
+ // Variables in co-routines must be declared static if they must maintain value across a blocking call.
+ static long ulAVariable;
+
+     // Must start every co-routine with a call to crSTART();
+     crSTART( xHandle );
+
+     for( ;; )
+     {
+          // Co-routine functionality goes here.
+     }
+
+     // Must end every co-routine with a call to crEND();
+     crEND();
+ }
+ * \defgroup crSTART crSTART + * \ingroup Tasks + */ +#define crSTART( pxCRCB ) switch( ( ( corCRCB * )pxCRCB )->uxState ) { case 0: + +/** + * croutine. h + * 
+ crEND();
+ * + * This macro MUST always be called at the end of a co-routine function. + * + * Example usage: + 
+ // Co-routine to be created.
+ void vACoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
+ {
+ // Variables in co-routines must be declared static if they must maintain value across a blocking call.
+ static long ulAVariable;
+
+     // Must start every co-routine with a call to crSTART();
+     crSTART( xHandle );
+
+     for( ;; )
+     {
+          // Co-routine functionality goes here.
+     }
+
+     // Must end every co-routine with a call to crEND();
+     crEND();
+ }
+ * \defgroup crSTART crSTART + * \ingroup Tasks + */ +#define crEND() } + +/* + * These macros are intended for internal use by the co-routine implementation + * only. The macros should not be used directly by application writers. + */ +#define crSET_STATE0( xHandle ) ( ( corCRCB * )xHandle)->uxState = (__LINE__ * 2); return; case (__LINE__ * 2): +#define crSET_STATE1( xHandle ) ( ( corCRCB * )xHandle)->uxState = ((__LINE__ * 2)+1); return; case ((__LINE__ * 2)+1): + +/** + * croutine. h + *
+ crDELAY( xCoRoutineHandle xHandle, portTickType xTicksToDelay );
+ * + * Delay a co-routine for a fixed period of time. + * + * crDELAY can only be called from the co-routine function itself - not + * from within a function called by the co-routine function. This is because + * co-routines do not maintain their own stack. + * + * @param xHandle The handle of the co-routine to delay. This is the xHandle + * parameter of the co-routine function. + * + * @param xTickToDelay The number of ticks that the co-routine should delay + * for. The actual amount of time this equates to is defined by + * configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant portTICK_RATE_MS + * can be used to convert ticks to milliseconds. + * + * Example usage: + 
+ // Co-routine to be created.
+ void vACoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
+ {
+ // 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.
+ // We are to delay for 200ms.
+ static const xTickType xDelayTime = 200 / portTICK_RATE_MS;
+
+     // Must start every co-routine with a call to crSTART();
+     crSTART( xHandle );
+
+     for( ;; )
+     {
+        // Delay for 200ms.
+        crDELAY( xHandle, xDelayTime );
+
+        // Do something here.
+     }
+
+     // Must end every co-routine with a call to crEND();
+     crEND();
+ }
+ * \defgroup crDELAY crDELAY + * \ingroup Tasks + */ +#define crDELAY( xHandle, xTicksToDelay ) \ + if( xTicksToDelay > 0 ) \ + { \ + vCoRoutineAddToDelayedList( xTicksToDelay, NULL ); \ + } \ + crSET_STATE0( xHandle ); + +/** + * 
+ crQUEUE_SEND(
+                  xCoRoutineHandle xHandle,
+                  xQueueHandle pxQueue,
+                  void *pvItemToQueue,
+                  portTickType xTicksToWait,
+                  portBASE_TYPE *pxResult
+             )
+ * + * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine + * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks. + * + * crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas + * xQueueSend() and xQueueReceive() can only be used from tasks. + * + * crQUEUE_SEND can only be called from the co-routine function itself - not + * from within a function called by the co-routine function. This is because + * co-routines do not maintain their own stack. + * + * See the co-routine section of the WEB documentation for information on + * passing data between tasks and co-routines and between ISR's and + * co-routines. + * + * @param xHandle The handle of the calling co-routine. This is the xHandle + * parameter of the co-routine function. + * + * @param pxQueue The handle of the queue on which the data will be posted. + * The handle is obtained as the return value when the queue is created using + * the xQueueCreate() API function. + * + * @param pvItemToQueue A pointer to the data being posted onto the queue. + * The number of bytes of each queued item is specified when the queue is + * created. This number of bytes is copied from pvItemToQueue into the queue + * itself. + * + * @param xTickToDelay The number of ticks that the co-routine should block + * to wait for space to become available on the queue, should space not be + * available immediately. The actual amount of time this equates to is defined + * by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant + * portTICK_RATE_MS can be used to convert ticks to milliseconds (see example + * below). + * + * @param pxResult The variable pointed to by pxResult will be set to pdPASS if + * data was successfully posted onto the queue, otherwise it will be set to an + * error defined within ProjDefs.h. + * + * Example usage: + 
+ // Co-routine function that blocks for a fixed period then posts a number onto
+ // a queue.
+ static void prvCoRoutineFlashTask( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
+ {
+ // Variables in co-routines must be declared static if they must maintain value across a blocking call.
+ static portBASE_TYPE xNumberToPost = 0;
+ static portBASE_TYPE xResult;
+
+    // Co-routines must begin with a call to crSTART().
+    crSTART( xHandle );
+
+    for( ;; )
+    {
+        // This assumes the queue has already been created.
+        crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult );
+
+        if( xResult != pdPASS )
+        {
+            // The message was not posted!
+        }
+
+        // Increment the number to be posted onto the queue.
+        xNumberToPost++;
+
+        // Delay for 100 ticks.
+        crDELAY( xHandle, 100 );
+    }
+
+    // Co-routines must end with a call to crEND().
+    crEND();
+ }
+ * \defgroup crQUEUE_SEND crQUEUE_SEND + * \ingroup Tasks + */ +#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \ +{ \ + *pxResult = xQueueCRSend( pxQueue, pvItemToQueue, xTicksToWait ); \ + if( *pxResult == errQUEUE_BLOCKED ) \ + { \ + crSET_STATE0( xHandle ); \ + *pxResult = xQueueCRSend( pxQueue, pvItemToQueue, 0 ); \ + } \ + if( *pxResult == errQUEUE_YIELD ) \ + { \ + crSET_STATE1( xHandle ); \ + *pxResult = pdPASS; \ + } \ +} + +/** + * croutine. h + * 
+  crQUEUE_RECEIVE(
+                     xCoRoutineHandle xHandle,
+                     xQueueHandle pxQueue,
+                     void *pvBuffer,
+                     portTickType xTicksToWait,
+                     portBASE_TYPE *pxResult
+                 )
+ * + * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine + * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks. + * + * crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas + * xQueueSend() and xQueueReceive() can only be used from tasks. + * + * crQUEUE_RECEIVE can only be called from the co-routine function itself - not + * from within a function called by the co-routine function. This is because + * co-routines do not maintain their own stack. + * + * See the co-routine section of the WEB documentation for information on + * passing data between tasks and co-routines and between ISR's and + * co-routines. + * + * @param xHandle The handle of the calling co-routine. This is the xHandle + * parameter of the co-routine function. + * + * @param pxQueue The handle of the queue from which the data will be received. + * The handle is obtained as the return value when the queue is created using + * the xQueueCreate() API function. + * + * @param pvBuffer The buffer into which the received item is to be copied. + * The number of bytes of each queued item is specified when the queue is + * created. This number of bytes is copied into pvBuffer. + * + * @param xTickToDelay The number of ticks that the co-routine should block + * to wait for data to become available from the queue, should data not be + * available immediately. The actual amount of time this equates to is defined + * by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant + * portTICK_RATE_MS can be used to convert ticks to milliseconds (see the + * crQUEUE_SEND example). + * + * @param pxResult The variable pointed to by pxResult will be set to pdPASS if + * data was successfully retrieved from the queue, otherwise it will be set to + * an error code as defined within ProjDefs.h. + * + * Example usage: + 
+ // A co-routine receives the number of an LED to flash from a queue.  It
+ // blocks on the queue until the number is received.
+ static void prvCoRoutineFlashWorkTask( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
+ {
+ // Variables in co-routines must be declared static if they must maintain value across a blocking call.
+ static portBASE_TYPE xResult;
+ static unsigned portBASE_TYPE uxLEDToFlash;
+
+    // All co-routines must start with a call to crSTART().
+    crSTART( xHandle );
+
+    for( ;; )
+    {
+        // Wait for data to become available on the queue.
+        crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
+
+        if( xResult == pdPASS )
+        {
+            // We received the LED to flash - flash it!
+            vParTestToggleLED( uxLEDToFlash );
+        }
+    }
+
+    crEND();
+ }
+ * \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE + * \ingroup Tasks + */ +#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \ +{ \ + *pxResult = xQueueCRReceive( pxQueue, pvBuffer, xTicksToWait ); \ + if( *pxResult == errQUEUE_BLOCKED ) \ + { \ + crSET_STATE0( xHandle ); \ + *pxResult = xQueueCRReceive( pxQueue, pvBuffer, 0 ); \ + } \ + if( *pxResult == errQUEUE_YIELD ) \ + { \ + crSET_STATE1( xHandle ); \ + *pxResult = pdPASS; \ + } \ +} + +/** + * croutine. h + * 
+  crQUEUE_SEND_FROM_ISR(
+                            xQueueHandle pxQueue,
+                            void *pvItemToQueue,
+                            portBASE_TYPE xCoRoutinePreviouslyWoken
+                       )
+ * + * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the + * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR() + * functions used by tasks. + * + * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to + * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and + * xQueueReceiveFromISR() can only be used to pass data between a task and and + * ISR. + * + * crQUEUE_SEND_FROM_ISR can only be called from an ISR to send data to a queue + * that is being used from within a co-routine. + * + * See the co-routine section of the WEB documentation for information on + * passing data between tasks and co-routines and between ISR's and + * co-routines. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param xCoRoutinePreviouslyWoken This is included so an ISR can post onto + * the same queue multiple times from a single interrupt. The first call + * should always pass in pdFALSE. Subsequent calls should pass in + * the value returned from the previous call. + * + * @return pdTRUE if a co-routine was woken by posting onto the queue. This is + * used by the ISR to determine if a context switch may be required following + * the ISR. + * + * Example usage: + 
+ // A co-routine that blocks on a queue waiting for characters to be received.
+ static void vReceivingCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
+ {
+ char cRxedChar;
+ portBASE_TYPE xResult;
+
+     // All co-routines must start with a call to crSTART().
+     crSTART( xHandle );
+
+     for( ;; )
+     {
+         // Wait for data to become available on the queue.  This assumes the
+         // queue xCommsRxQueue has already been created!
+         crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
+
+         // Was a character received?
+         if( xResult == pdPASS )
+         {
+             // Process the character here.
+         }
+     }
+
+     // All co-routines must end with a call to crEND().
+     crEND();
+ }
+
+ // An ISR that uses a queue to send characters received on a serial port to
+ // a co-routine.
+ void vUART_ISR( void )
+ {
+ char cRxedChar;
+ portBASE_TYPE xCRWokenByPost = pdFALSE;
+
+     // We loop around reading characters until there are none left in the UART.
+     while( UART_RX_REG_NOT_EMPTY() )
+     {
+         // Obtain the character from the UART.
+         cRxedChar = UART_RX_REG;
+
+         // Post the character onto a queue.  xCRWokenByPost will be pdFALSE
+         // the first time around the loop.  If the post causes a co-routine
+         // to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.
+         // In this manner we can ensure that if more than one co-routine is
+         // blocked on the queue only one is woken by this ISR no matter how
+         // many characters are posted to the queue.
+         xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost );
+     }
+ }
+ * \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR + * \ingroup Tasks + */ +#define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) xQueueCRSendFromISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) + + +/** + * croutine. h + * 
+  crQUEUE_SEND_FROM_ISR(
+                            xQueueHandle pxQueue,
+                            void *pvBuffer,
+                            portBASE_TYPE * pxCoRoutineWoken
+                       )
+ * + * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the + * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR() + * functions used by tasks. + * + * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to + * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and + * xQueueReceiveFromISR() can only be used to pass data between a task and and + * ISR. + * + * crQUEUE_RECEIVE_FROM_ISR can only be called from an ISR to receive data + * from a queue that is being used from within a co-routine (a co-routine + * posted to the queue). + * + * See the co-routine section of the WEB documentation for information on + * passing data between tasks and co-routines and between ISR's and + * co-routines. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvBuffer A pointer to a buffer into which the received item will be + * placed. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from the queue into + * pvBuffer. + * + * @param pxCoRoutineWoken A co-routine may be blocked waiting for space to become + * available on the queue. If crQUEUE_RECEIVE_FROM_ISR causes such a + * co-routine to unblock *pxCoRoutineWoken will get set to pdTRUE, otherwise + * *pxCoRoutineWoken will remain unchanged. + * + * @return pdTRUE an item was successfully received from the queue, otherwise + * pdFALSE. + * + * Example usage: + 
+ // A co-routine that posts a character to a queue then blocks for a fixed
+ // period.  The character is incremented each time.
+ static void vSendingCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
+ {
+ // cChar holds its value while this co-routine is blocked and must therefore
+ // be declared static.
+ static char cCharToTx = 'a';
+ portBASE_TYPE xResult;
+
+     // All co-routines must start with a call to crSTART().
+     crSTART( xHandle );
+
+     for( ;; )
+     {
+         // Send the next character to the queue.
+         crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult );
+
+         if( xResult == pdPASS )
+         {
+             // The character was successfully posted to the queue.
+         }
+		 else
+		 {
+			// Could not post the character to the queue.
+		 }
+
+         // Enable the UART Tx interrupt to cause an interrupt in this
+		 // hypothetical UART.  The interrupt will obtain the character
+		 // from the queue and send it.
+		 ENABLE_RX_INTERRUPT();
+
+		 // Increment to the next character then block for a fixed period.
+		 // cCharToTx will maintain its value across the delay as it is
+		 // declared static.
+		 cCharToTx++;
+		 if( cCharToTx > 'x' )
+		 {
+			cCharToTx = 'a';
+		 }
+		 crDELAY( 100 );
+     }
+
+     // All co-routines must end with a call to crEND().
+     crEND();
+ }
+
+ // An ISR that uses a queue to receive characters to send on a UART.
+ void vUART_ISR( void )
+ {
+ char cCharToTx;
+ portBASE_TYPE xCRWokenByPost = pdFALSE;
+
+     while( UART_TX_REG_EMPTY() )
+     {
+         // Are there any characters in the queue waiting to be sent?
+		 // xCRWokenByPost will automatically be set to pdTRUE if a co-routine
+		 // is woken by the post - ensuring that only a single co-routine is
+		 // woken no matter how many times we go around this loop.
+         if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) )
+		 {
+			 SEND_CHARACTER( cCharToTx );
+		 }
+     }
+ }
+ * \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR + * \ingroup Tasks + */ +#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) xQueueCRReceiveFromISR( pxQueue, pvBuffer, pxCoRoutineWoken ) + +/* + * This function is intended for internal use by the co-routine macros only. + * The macro nature of the co-routine implementation requires that the + * prototype appears here. The function should not be used by application + * writers. + * + * Removes the current co-routine from its ready list and places it in the + * appropriate delayed list. + */ +void vCoRoutineAddToDelayedList( portTickType xTicksToDelay, xList *pxEventList ); + +/* + * This function is intended for internal use by the queue implementation only. + * The function should not be used by application writers. + * + * Removes the highest priority co-routine from the event list and places it in + * the pending ready list. + */ +signed portBASE_TYPE xCoRoutineRemoveFromEventList( const xList *pxEventList ); + +#ifdef __cplusplus +} +#endif + +#endif /* CO_ROUTINE_H */ diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/list.h b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/list.h new file mode 100644 index 000000000..65712836e --- /dev/null +++ b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/list.h @@ -0,0 +1,305 @@ +/* + FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd. + + *************************************************************************** + * * + * If you are: * + * * + * + New to FreeRTOS, * + * + Wanting to learn FreeRTOS or multitasking in general quickly * + * + Looking for basic training, * + * + Wanting to improve your FreeRTOS skills and productivity * + * * + * then take a look at the FreeRTOS eBook * + * * + * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * + * http://www.FreeRTOS.org/Documentation * + * * + * A pdf reference manual is also available. Both are usually delivered * + * to your inbox within 20 minutes to two hours when purchased between 8am * + * and 8pm GMT (although please allow up to 24 hours in case of * + * exceptional circumstances). Thank you for your support! * + * * + *************************************************************************** + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation AND MODIFIED BY the FreeRTOS exception. + ***NOTE*** The exception to the GPL is included to allow you to distribute + a combined work that includes FreeRTOS without being obliged to provide the + source code for proprietary components outside of the FreeRTOS kernel. + 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 + by writing to Richard Barry, contact details for whom are available on the + FreeRTOS WEB site. + + 1 tab == 4 spaces! + + http://www.FreeRTOS.org - Documentation, latest information, license and + contact details. + + http://www.SafeRTOS.com - A version that is certified for use in safety + critical systems. + + http://www.OpenRTOS.com - Commercial support, development, porting, + licensing and training services. +*/ + +/* + * This is the list implementation used by the scheduler. While it is tailored + * heavily for the schedulers needs, it is also available for use by + * application code. + * + * xLists can only store pointers to xListItems. Each xListItem contains a + * numeric value (xItemValue). Most of the time the lists are sorted in + * descending item value order. + * + * Lists are created already containing one list item. The value of this + * item is the maximum possible that can be stored, it is therefore always at + * the end of the list and acts as a marker. The list member pxHead always + * points to this marker - even though it is at the tail of the list. This + * is because the tail contains a wrap back pointer to the true head of + * the list. + * + * In addition to it's value, each list item contains a pointer to the next + * item in the list (pxNext), a pointer to the list it is in (pxContainer) + * and a pointer to back to the object that contains it. These later two + * pointers are included for efficiency of list manipulation. There is + * effectively a two way link between the object containing the list item and + * the list item itself. + * + * + * \page ListIntroduction List Implementation + * \ingroup FreeRTOSIntro + */ + +/* + Changes from V4.3.1 + + + Included local const within listGET_OWNER_OF_NEXT_ENTRY() to assist + compiler with optimisation. Thanks B.R. +*/ + +#ifndef LIST_H +#define LIST_H + +#ifdef __cplusplus +extern "C" { +#endif +/* + * Definition of the only type of object that a list can contain. + */ +struct xLIST_ITEM +{ + portTickType xItemValue; /*< The value being listed. In most cases this is used to sort the list in descending order. */ + volatile struct xLIST_ITEM * pxNext; /*< Pointer to the next xListItem in the list. */ + volatile struct xLIST_ITEM * pxPrevious;/*< Pointer to the previous xListItem in the list. */ + void * pvOwner; /*< Pointer to the object (normally a TCB) that contains the list item. There is therefore a two way link between the object containing the list item and the list item itself. */ + void * pvContainer; /*< Pointer to the list in which this list item is placed (if any). */ +}; +typedef struct xLIST_ITEM xListItem; /* For some reason lint wants this as two separate definitions. */ + +struct xMINI_LIST_ITEM +{ + portTickType xItemValue; + volatile struct xLIST_ITEM *pxNext; + volatile struct xLIST_ITEM *pxPrevious; +}; +typedef struct xMINI_LIST_ITEM xMiniListItem; + +/* + * Definition of the type of queue used by the scheduler. + */ +typedef struct xLIST +{ + volatile unsigned portBASE_TYPE uxNumberOfItems; + volatile xListItem * pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to pvListGetOwnerOfNextEntry (). */ + volatile xMiniListItem xListEnd; /*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */ +} xList; + +/* + * Access macro to set the owner of a list item. The owner of a list item + * is the object (usually a TCB) that contains the list item. + * + * \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER + * \ingroup LinkedList + */ +#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner ) ( pxListItem )->pvOwner = ( void * ) pxOwner + +/* + * Access macro to set the value of the list item. In most cases the value is + * used to sort the list in descending order. + * + * \page listSET_LIST_ITEM_VALUE listSET_LIST_ITEM_VALUE + * \ingroup LinkedList + */ +#define listSET_LIST_ITEM_VALUE( pxListItem, xValue ) ( pxListItem )->xItemValue = xValue + +/* + * Access macro the retrieve the value of the list item. The value can + * represent anything - for example a the priority of a task, or the time at + * which a task should be unblocked. + * + * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE + * \ingroup LinkedList + */ +#define listGET_LIST_ITEM_VALUE( pxListItem ) ( ( pxListItem )->xItemValue ) + +/* + * Access macro to determine if a list contains any items. The macro will + * only have the value true if the list is empty. + * + * \page listLIST_IS_EMPTY listLIST_IS_EMPTY + * \ingroup LinkedList + */ +#define listLIST_IS_EMPTY( pxList ) ( ( pxList )->uxNumberOfItems == ( unsigned portBASE_TYPE ) 0 ) + +/* + * Access macro to return the number of items in the list. + */ +#define listCURRENT_LIST_LENGTH( pxList ) ( ( pxList )->uxNumberOfItems ) + +/* + * Access function to obtain the owner of the next entry in a list. + * + * The list member pxIndex is used to walk through a list. Calling + * listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list + * and returns that entries pxOwner parameter. Using multiple calls to this + * function it is therefore possible to move through every item contained in + * a list. + * + * The pxOwner parameter of a list item is a pointer to the object that owns + * the list item. In the scheduler this is normally a task control block. + * The pxOwner parameter effectively creates a two way link between the list + * item and its owner. + * + * @param pxList The list from which the next item owner is to be returned. + * + * \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY + * \ingroup LinkedList + */ +#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList ) \ +{ \ +xList * const pxConstList = pxList; \ + /* Increment the index to the next item and return the item, ensuring */ \ + /* we don't return the marker used at the end of the list. */ \ + ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \ + if( ( pxConstList )->pxIndex == ( xListItem * ) &( ( pxConstList )->xListEnd ) ) \ + { \ + ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \ + } \ + pxTCB = ( pxConstList )->pxIndex->pvOwner; \ +} + + +/* + * Access function to obtain the owner of the first entry in a list. Lists + * are normally sorted in ascending item value order. + * + * This function returns the pxOwner member of the first item in the list. + * The pxOwner parameter of a list item is a pointer to the object that owns + * the list item. In the scheduler this is normally a task control block. + * The pxOwner parameter effectively creates a two way link between the list + * item and its owner. + * + * @param pxList The list from which the owner of the head item is to be + * returned. + * + * \page listGET_OWNER_OF_HEAD_ENTRY listGET_OWNER_OF_HEAD_ENTRY + * \ingroup LinkedList + */ +#define listGET_OWNER_OF_HEAD_ENTRY( pxList ) ( ( pxList->uxNumberOfItems != ( unsigned portBASE_TYPE ) 0 ) ? ( (&( pxList->xListEnd ))->pxNext->pvOwner ) : ( NULL ) ) + +/* + * Check to see if a list item is within a list. The list item maintains a + * "container" pointer that points to the list it is in. All this macro does + * is check to see if the container and the list match. + * + * @param pxList The list we want to know if the list item is within. + * @param pxListItem The list item we want to know if is in the list. + * @return pdTRUE is the list item is in the list, otherwise pdFALSE. + * pointer against + */ +#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( pxListItem )->pvContainer == ( void * ) pxList ) + +/* + * Must be called before a list is used! This initialises all the members + * of the list structure and inserts the xListEnd item into the list as a + * marker to the back of the list. + * + * @param pxList Pointer to the list being initialised. + * + * \page vListInitialise vListInitialise + * \ingroup LinkedList + */ +void vListInitialise( xList *pxList ); + +/* + * Must be called before a list item is used. This sets the list container to + * null so the item does not think that it is already contained in a list. + * + * @param pxItem Pointer to the list item being initialised. + * + * \page vListInitialiseItem vListInitialiseItem + * \ingroup LinkedList + */ +void vListInitialiseItem( xListItem *pxItem ); + +/* + * Insert a list item into a list. The item will be inserted into the list in + * a position determined by its item value (descending item value order). + * + * @param pxList The list into which the item is to be inserted. + * + * @param pxNewListItem The item to that is to be placed in the list. + * + * \page vListInsert vListInsert + * \ingroup LinkedList + */ +void vListInsert( xList *pxList, xListItem *pxNewListItem ); + +/* + * Insert a list item into a list. The item will be inserted in a position + * such that it will be the last item within the list returned by multiple + * calls to listGET_OWNER_OF_NEXT_ENTRY. + * + * The list member pvIndex is used to walk through a list. Calling + * listGET_OWNER_OF_NEXT_ENTRY increments pvIndex to the next item in the list. + * Placing an item in a list using vListInsertEnd effectively places the item + * in the list position pointed to by pvIndex. This means that every other + * item within the list will be returned by listGET_OWNER_OF_NEXT_ENTRY before + * the pvIndex parameter again points to the item being inserted. + * + * @param pxList The list into which the item is to be inserted. + * + * @param pxNewListItem The list item to be inserted into the list. + * + * \page vListInsertEnd vListInsertEnd + * \ingroup LinkedList + */ +void vListInsertEnd( xList *pxList, xListItem *pxNewListItem ); + +/* + * Remove an item from a list. The list item has a pointer to the list that + * it is in, so only the list item need be passed into the function. + * + * @param vListRemove The item to be removed. The item will remove itself from + * the list pointed to by it's pxContainer parameter. + * + * \page vListRemove vListRemove + * \ingroup LinkedList + */ +void vListRemove( xListItem *pxItemToRemove ); + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/mpu_wrappers.h b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/mpu_wrappers.h new file mode 100644 index 000000000..e197d5085 --- /dev/null +++ b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/mpu_wrappers.h @@ -0,0 +1,135 @@ +/* + FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd. + + *************************************************************************** + * * + * If you are: * + * * + * + New to FreeRTOS, * + * + Wanting to learn FreeRTOS or multitasking in general quickly * + * + Looking for basic training, * + * + Wanting to improve your FreeRTOS skills and productivity * + * * + * then take a look at the FreeRTOS eBook * + * * + * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * + * http://www.FreeRTOS.org/Documentation * + * * + * A pdf reference manual is also available. Both are usually delivered * + * to your inbox within 20 minutes to two hours when purchased between 8am * + * and 8pm GMT (although please allow up to 24 hours in case of * + * exceptional circumstances). Thank you for your support! * + * * + *************************************************************************** + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation AND MODIFIED BY the FreeRTOS exception. + ***NOTE*** The exception to the GPL is included to allow you to distribute + a combined work that includes FreeRTOS without being obliged to provide the + source code for proprietary components outside of the FreeRTOS kernel. + 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 + by writing to Richard Barry, contact details for whom are available on the + FreeRTOS WEB site. + + 1 tab == 4 spaces! + + http://www.FreeRTOS.org - Documentation, latest information, license and + contact details. + + http://www.SafeRTOS.com - A version that is certified for use in safety + critical systems. + + http://www.OpenRTOS.com - Commercial support, development, porting, + licensing and training services. +*/ + +#ifndef MPU_WRAPPERS_H +#define MPU_WRAPPERS_H + +/* This file redefines API functions to be called through a wrapper macro, but +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 effect within + those files. */ + #ifndef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + + #define xTaskGenericCreate MPU_xTaskGenericCreate + #define vTaskAllocateMPURegions MPU_vTaskAllocateMPURegions + #define vTaskDelete MPU_vTaskDelete + #define vTaskDelayUntil MPU_vTaskDelayUntil + #define vTaskDelay MPU_vTaskDelay + #define uxTaskPriorityGet MPU_uxTaskPriorityGet + #define vTaskPrioritySet MPU_vTaskPrioritySet + #define vTaskSuspend MPU_vTaskSuspend + #define xTaskIsTaskSuspended MPU_xTaskIsTaskSuspended + #define vTaskResume MPU_vTaskResume + #define vTaskSuspendAll MPU_vTaskSuspendAll + #define xTaskResumeAll MPU_xTaskResumeAll + #define xTaskGetTickCount MPU_xTaskGetTickCount + #define uxTaskGetNumberOfTasks MPU_uxTaskGetNumberOfTasks + #define vTaskList MPU_vTaskList + #define vTaskGetRunTimeStats MPU_vTaskGetRunTimeStats + #define vTaskStartTrace MPU_vTaskStartTrace + #define ulTaskEndTrace MPU_ulTaskEndTrace + #define vTaskSetApplicationTaskTag MPU_vTaskSetApplicationTaskTag + #define xTaskGetApplicationTaskTag MPU_xTaskGetApplicationTaskTag + #define xTaskCallApplicationTaskHook MPU_xTaskCallApplicationTaskHook + #define uxTaskGetStackHighWaterMark MPU_uxTaskGetStackHighWaterMark + #define xTaskGetCurrentTaskHandle MPU_xTaskGetCurrentTaskHandle + #define xTaskGetSchedulerState MPU_xTaskGetSchedulerState + + #define xQueueCreate MPU_xQueueCreate + #define xQueueCreateMutex MPU_xQueueCreateMutex + #define xQueueGiveMutexRecursive MPU_xQueueGiveMutexRecursive + #define xQueueTakeMutexRecursive MPU_xQueueTakeMutexRecursive + #define xQueueCreateCountingSemaphore MPU_xQueueCreateCountingSemaphore + #define xQueueGenericSend MPU_xQueueGenericSend + #define xQueueAltGenericSend MPU_xQueueAltGenericSend + #define xQueueAltGenericReceive MPU_xQueueAltGenericReceive + #define xQueueGenericReceive MPU_xQueueGenericReceive + #define uxQueueMessagesWaiting MPU_uxQueueMessagesWaiting + #define vQueueDelete MPU_vQueueDelete + + #define pvPortMalloc MPU_pvPortMalloc + #define vPortFree MPU_vPortFree + #define xPortGetFreeHeapSize MPU_xPortGetFreeHeapSize + #define vPortInitialiseBlocks MPU_vPortInitialiseBlocks + + #if configQUEUE_REGISTRY_SIZE > 0 + #define vQueueAddToRegistry MPU_vQueueAddToRegistry + #define vQueueUnregisterQueue MPU_vQueueUnregisterQueue + #endif + + /* Remove the privileged function macro. */ + #define PRIVILEGED_FUNCTION + + #else /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */ + + /* Ensure API functions go in the privileged execution section. */ + #define PRIVILEGED_FUNCTION __attribute__((section("privileged_functions"))) + #define PRIVILEGED_DATA __attribute__((section("privileged_data"))) + //#define PRIVILEGED_DATA + + #endif /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */ + +#else /* portUSING_MPU_WRAPPERS */ + + #define PRIVILEGED_FUNCTION + #define PRIVILEGED_DATA + #define portUSING_MPU_WRAPPERS 0 + +#endif /* portUSING_MPU_WRAPPERS */ + + +#endif /* MPU_WRAPPERS_H */ + diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/portable.h b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/portable.h new file mode 100644 index 000000000..b72a3f038 --- /dev/null +++ b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/portable.h @@ -0,0 +1,391 @@ +/* + FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd. + + *************************************************************************** + * * + * If you are: * + * * + * + New to FreeRTOS, * + * + Wanting to learn FreeRTOS or multitasking in general quickly * + * + Looking for basic training, * + * + Wanting to improve your FreeRTOS skills and productivity * + * * + * then take a look at the FreeRTOS eBook * + * * + * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * + * http://www.FreeRTOS.org/Documentation * + * * + * A pdf reference manual is also available. Both are usually delivered * + * to your inbox within 20 minutes to two hours when purchased between 8am * + * and 8pm GMT (although please allow up to 24 hours in case of * + * exceptional circumstances). Thank you for your support! * + * * + *************************************************************************** + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation AND MODIFIED BY the FreeRTOS exception. + ***NOTE*** The exception to the GPL is included to allow you to distribute + a combined work that includes FreeRTOS without being obliged to provide the + source code for proprietary components outside of the FreeRTOS kernel. + 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 + by writing to Richard Barry, contact details for whom are available on the + FreeRTOS WEB site. + + 1 tab == 4 spaces! + + http://www.FreeRTOS.org - Documentation, latest information, license and + contact details. + + http://www.SafeRTOS.com - A version that is certified for use in safety + critical systems. + + http://www.OpenRTOS.com - Commercial support, development, porting, + licensing and training services. +*/ + +/*----------------------------------------------------------- + * Portable layer API. Each function must be defined for each port. + *----------------------------------------------------------*/ + +#ifndef PORTABLE_H +#define PORTABLE_H + +/* Include the macro file relevant to the port being used. */ + +#ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT + #include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h" + typedef void ( __interrupt __far *pxISR )(); +#endif + +#ifdef OPEN_WATCOM_FLASH_LITE_186_PORT + #include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h" + typedef void ( __interrupt __far *pxISR )(); +#endif + +#ifdef GCC_MEGA_AVR + #include "../portable/GCC/ATMega323/portmacro.h" +#endif + +#ifdef IAR_MEGA_AVR + #include "../portable/IAR/ATMega323/portmacro.h" +#endif + +#ifdef MPLAB_PIC24_PORT + #include "..\..\Source\portable\MPLAB\PIC24_dsPIC\portmacro.h" +#endif + +#ifdef MPLAB_DSPIC_PORT + #include "..\..\Source\portable\MPLAB\PIC24_dsPIC\portmacro.h" +#endif + +#ifdef MPLAB_PIC18F_PORT + #include "..\..\Source\portable\MPLAB\PIC18F\portmacro.h" +#endif + +#ifdef MPLAB_PIC32MX_PORT + #include "..\..\Source\portable\MPLAB\PIC32MX\portmacro.h" +#endif + +#ifdef _FEDPICC + #include "libFreeRTOS/Include/portmacro.h" +#endif + +#ifdef SDCC_CYGNAL + #include "../../Source/portable/SDCC/Cygnal/portmacro.h" +#endif + +#ifdef GCC_ARM7 + #include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h" +#endif + +#ifdef GCC_ARM7_ECLIPSE + #include "portmacro.h" +#endif + +#ifdef ROWLEY_LPC23xx + #include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h" +#endif + +#ifdef IAR_MSP430 + #include "..\..\Source\portable\IAR\MSP430\portmacro.h" +#endif + +#ifdef GCC_MSP430 + #include "../../Source/portable/GCC/MSP430F449/portmacro.h" +#endif + +#ifdef ROWLEY_MSP430 + #include "../../Source/portable/Rowley/MSP430F449/portmacro.h" +#endif + +#ifdef ARM7_LPC21xx_KEIL_RVDS + #include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h" +#endif + +#ifdef SAM7_GCC + #include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h" +#endif + +#ifdef SAM7_IAR + #include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h" +#endif + +#ifdef SAM9XE_IAR + #include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h" +#endif + +#ifdef LPC2000_IAR + #include "..\..\Source\portable\IAR\LPC2000\portmacro.h" +#endif + +#ifdef STR71X_IAR + #include "..\..\Source\portable\IAR\STR71x\portmacro.h" +#endif + +#ifdef STR75X_IAR + #include "..\..\Source\portable\IAR\STR75x\portmacro.h" +#endif + +#ifdef STR75X_GCC + #include "..\..\Source\portable\GCC\STR75x\portmacro.h" +#endif + +#ifdef STR91X_IAR + #include "..\..\Source\portable\IAR\STR91x\portmacro.h" +#endif + +#ifdef GCC_H8S + #include "../../Source/portable/GCC/H8S2329/portmacro.h" +#endif + +#ifdef GCC_AT91FR40008 + #include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h" +#endif + +#ifdef RVDS_ARMCM3_LM3S102 + #include "../../Source/portable/RVDS/ARM_CM3/portmacro.h" +#endif + +#ifdef GCC_ARMCM3_LM3S102 + #include "../../Source/portable/GCC/ARM_CM3/portmacro.h" +#endif + +#ifdef GCC_ARMCM3 + #include "../../Source/portable/GCC/ARM_CM3/portmacro.h" +#endif + +#ifdef IAR_ARM_CM3 + #include "../../Source/portable/IAR/ARM_CM3/portmacro.h" +#endif + +#ifdef IAR_ARMCM3_LM + #include "../../Source/portable/IAR/ARM_CM3/portmacro.h" +#endif + +#ifdef HCS12_CODE_WARRIOR + #include "../../Source/portable/CodeWarrior/HCS12/portmacro.h" +#endif + +#ifdef MICROBLAZE_GCC + #include "../../Source/portable/GCC/MicroBlaze/portmacro.h" +#endif + +#ifdef TERN_EE + #include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h" +#endif + +#ifdef GCC_HCS12 + #include "../../Source/portable/GCC/HCS12/portmacro.h" +#endif + +#ifdef GCC_MCF5235 + #include "../../Source/portable/GCC/MCF5235/portmacro.h" +#endif + +#ifdef COLDFIRE_V2_GCC + #include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h" +#endif + +#ifdef COLDFIRE_V2_CODEWARRIOR + #include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h" +#endif + +#ifdef GCC_PPC405 + #include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h" +#endif + +#ifdef GCC_PPC440 + #include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h" +#endif + +#ifdef _16FX_SOFTUNE + #include "..\..\Source\portable\Softune\MB96340\portmacro.h" +#endif + +#ifdef BCC_INDUSTRIAL_PC_PORT + /* A short file name has to be used in place of the normal + FreeRTOSConfig.h when using the Borland compiler. */ + #include "frconfig.h" + #include "..\portable\BCC\16BitDOS\PC\prtmacro.h" + typedef void ( __interrupt __far *pxISR )(); +#endif + +#ifdef BCC_FLASH_LITE_186_PORT + /* A short file name has to be used in place of the normal + FreeRTOSConfig.h when using the Borland compiler. */ + #include "frconfig.h" + #include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h" + typedef void ( __interrupt __far *pxISR )(); +#endif + +#ifdef __GNUC__ + #ifdef __AVR32_AVR32A__ + #include "portmacro.h" + #endif +#endif + +#ifdef __ICCAVR32__ + #ifdef __CORE__ + #if __CORE__ == __AVR32A__ + #include "portmacro.h" + #endif + #endif +#endif + +#ifdef __91467D + #include "portmacro.h" +#endif + +#ifdef __96340 + #include "portmacro.h" +#endif + + +#ifdef __IAR_V850ES_Fx3__ + #include "../../Source/portable/IAR/V850ES/portmacro.h" +#endif + +#ifdef __IAR_V850ES_Jx3__ + #include "../../Source/portable/IAR/V850ES/portmacro.h" +#endif + +#ifdef __IAR_V850ES_Jx3_L__ + #include "../../Source/portable/IAR/V850ES/portmacro.h" +#endif + +#ifdef __IAR_V850ES_Jx2__ + #include "../../Source/portable/IAR/V850ES/portmacro.h" +#endif + +#ifdef __IAR_V850ES_Hx2__ + #include "../../Source/portable/IAR/V850ES/portmacro.h" +#endif + +#ifdef __IAR_78K0R_Kx3__ + #include "../../Source/portable/IAR/78K0R/portmacro.h" +#endif + +#ifdef __IAR_78K0R_Kx3L__ + #include "../../Source/portable/IAR/78K0R/portmacro.h" +#endif + +/* Catch all to ensure portmacro.h is included in the build. Newer demos +have the path as part of the project options, rather than as relative from +the project location. If portENTER_CRITICAL() has not been defined then +portmacro.h has not yet been included - as every portmacro.h provides a +portENTER_CRITICAL() definition. Check the demo application for your demo +to find the path to the correct portmacro.h file. */ +#ifndef portENTER_CRITICAL + #include "../../Source/portable/GCC/Posix/portmacro.h" + //#include "portmacro.h" +#endif + +#if portBYTE_ALIGNMENT == 8 + #define portBYTE_ALIGNMENT_MASK ( 0x0007 ) +#endif + +#if portBYTE_ALIGNMENT == 4 + #define portBYTE_ALIGNMENT_MASK ( 0x0003 ) +#endif + +#if portBYTE_ALIGNMENT == 2 + #define portBYTE_ALIGNMENT_MASK ( 0x0001 ) +#endif + +#if portBYTE_ALIGNMENT == 1 + #define portBYTE_ALIGNMENT_MASK ( 0x0000 ) +#endif + +#ifndef portBYTE_ALIGNMENT_MASK + #error "Invalid portBYTE_ALIGNMENT definition" +#endif + +#ifndef portNUM_CONFIGURABLE_REGIONS + #define portNUM_CONFIGURABLE_REGIONS 1 +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +#include "mpu_wrappers.h" + +/* + * Setup the stack of a new task so it is ready to be placed under the + * scheduler control. The registers have to be placed on the stack in + * the order that the port expects to find them. + * + */ +#if( portUSING_MPU_WRAPPERS == 1 ) + portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters, portBASE_TYPE xRunPrivileged ) PRIVILEGED_FUNCTION; +#else + portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ); +#endif + +/* + * Map to the memory management routines required for the port. + */ +void *pvPortMalloc( size_t xSize ) PRIVILEGED_FUNCTION; +void vPortFree( void *pv ) PRIVILEGED_FUNCTION; +void vPortInitialiseBlocks( void ) PRIVILEGED_FUNCTION; +size_t xPortGetFreeHeapSize( void ) PRIVILEGED_FUNCTION; + +/* + * Setup the hardware ready for the scheduler to take control. This generally + * sets up a tick interrupt and sets timers for the correct tick frequency. + */ +portBASE_TYPE xPortStartScheduler( void ) PRIVILEGED_FUNCTION; + +/* + * Undo any hardware/ISR setup that was performed by xPortStartScheduler() so + * the hardware is left in its original condition after the scheduler stops + * executing. + */ +void vPortEndScheduler( void ) PRIVILEGED_FUNCTION; + +/* + * The structures and methods of manipulating the MPU are contained within the + * port layer. + * + * Fills the xMPUSettings structure with the memory region information + * contained in xRegions. + */ +#if( portUSING_MPU_WRAPPERS == 1 ) + struct xMEMORY_REGION; + void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, portSTACK_TYPE *pxBottomOfStack, unsigned short usStackDepth ) PRIVILEGED_FUNCTION; +#endif + +#ifdef __cplusplus +} +#endif + +#endif /* PORTABLE_H */ + diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/projdefs.h b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/projdefs.h new file mode 100644 index 000000000..25e9560ea --- /dev/null +++ b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/projdefs.h @@ -0,0 +1,77 @@ +/* + FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd. + + *************************************************************************** + * * + * If you are: * + * * + * + New to FreeRTOS, * + * + Wanting to learn FreeRTOS or multitasking in general quickly * + * + Looking for basic training, * + * + Wanting to improve your FreeRTOS skills and productivity * + * * + * then take a look at the FreeRTOS eBook * + * * + * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * + * http://www.FreeRTOS.org/Documentation * + * * + * A pdf reference manual is also available. Both are usually delivered * + * to your inbox within 20 minutes to two hours when purchased between 8am * + * and 8pm GMT (although please allow up to 24 hours in case of * + * exceptional circumstances). Thank you for your support! * + * * + *************************************************************************** + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation AND MODIFIED BY the FreeRTOS exception. + ***NOTE*** The exception to the GPL is included to allow you to distribute + a combined work that includes FreeRTOS without being obliged to provide the + source code for proprietary components outside of the FreeRTOS kernel. + 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 + by writing to Richard Barry, contact details for whom are available on the + FreeRTOS WEB site. + + 1 tab == 4 spaces! + + http://www.FreeRTOS.org - Documentation, latest information, license and + contact details. + + http://www.SafeRTOS.com - A version that is certified for use in safety + critical systems. + + http://www.OpenRTOS.com - Commercial support, development, porting, + licensing and training services. +*/ + +#ifndef PROJDEFS_H +#define PROJDEFS_H + +/* Defines the prototype to which task functions must conform. */ +typedef void (*pdTASK_CODE)( void * ); + +#define pdTRUE ( 1 ) +#define pdFALSE ( 0 ) + +#define pdPASS ( 1 ) +#define pdFAIL ( 0 ) +#define errQUEUE_EMPTY ( 0 ) +#define errQUEUE_FULL ( 0 ) + +/* Error definitions. */ +#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ( -1 ) +#define errNO_TASK_TO_RUN ( -2 ) +#define errQUEUE_BLOCKED ( -4 ) +#define errQUEUE_YIELD ( -5 ) + +#endif /* PROJDEFS_H */ + + + diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/queue.h b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/queue.h new file mode 100644 index 000000000..c26ccc7fe --- /dev/null +++ b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/queue.h @@ -0,0 +1,1261 @@ +/* + FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd. + + *************************************************************************** + * * + * If you are: * + * * + * + New to FreeRTOS, * + * + Wanting to learn FreeRTOS or multitasking in general quickly * + * + Looking for basic training, * + * + Wanting to improve your FreeRTOS skills and productivity * + * * + * then take a look at the FreeRTOS eBook * + * * + * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * + * http://www.FreeRTOS.org/Documentation * + * * + * A pdf reference manual is also available. Both are usually delivered * + * to your inbox within 20 minutes to two hours when purchased between 8am * + * and 8pm GMT (although please allow up to 24 hours in case of * + * exceptional circumstances). Thank you for your support! * + * * + *************************************************************************** + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation AND MODIFIED BY the FreeRTOS exception. + ***NOTE*** The exception to the GPL is included to allow you to distribute + a combined work that includes FreeRTOS without being obliged to provide the + source code for proprietary components outside of the FreeRTOS kernel. + 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 + by writing to Richard Barry, contact details for whom are available on the + FreeRTOS WEB site. + + 1 tab == 4 spaces! + + http://www.FreeRTOS.org - Documentation, latest information, license and + contact details. + + http://www.SafeRTOS.com - A version that is certified for use in safety + critical systems. + + http://www.OpenRTOS.com - Commercial support, development, porting, + licensing and training services. +*/ + +#ifndef INC_FREERTOS_H + #error "#include FreeRTOS.h" must appear in source files before "#include queue.h" +#endif + + + + +#ifndef QUEUE_H +#define QUEUE_H + +#ifdef __cplusplus +extern "C" { +#endif + + +#include "mpu_wrappers.h" + + +typedef void * xQueueHandle; + + +/* For internal use only. */ +#define queueSEND_TO_BACK ( 0 ) +#define queueSEND_TO_FRONT ( 1 ) + + +/** + * queue. h + * 
+ xQueueHandle xQueueCreate(
+							  unsigned portBASE_TYPE uxQueueLength,
+							  unsigned portBASE_TYPE uxItemSize
+						  );
+ *
+ * + * Creates a new queue instance. This allocates the storage required by the + * new queue and returns a handle for the queue. + * + * @param uxQueueLength The maximum number of items that the queue can contain. + * + * @param uxItemSize The number of bytes each item in the queue will require. + * Items are queued by copy, not by reference, so this is the number of bytes + * that will be copied for each posted item. Each item on the queue must be + * the same size. + * + * @return If the queue is successfully create then a handle to the newly + * created queue is returned. If the queue cannot be created then 0 is + * returned. + * + * Example usage: + 
+ struct AMessage
+ {
+	char ucMessageID;
+	char ucData[ 20 ];
+ };
+
+ void vATask( void *pvParameters )
+ {
+ xQueueHandle xQueue1, xQueue2;
+
+	// Create a queue capable of containing 10 unsigned long values.
+	xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
+	if( xQueue1 == 0 )
+	{
+		// Queue was not created and must not be used.
+	}
+
+	// Create a queue capable of containing 10 pointers to AMessage structures.
+	// These should be passed by pointer as they contain a lot of data.
+	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+	if( xQueue2 == 0 )
+	{
+		// Queue was not created and must not be used.
+	}
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueCreate xQueueCreate + * \ingroup QueueManagement + */ +xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize ); + +/** + * queue. h + * 
+ portBASE_TYPE xQueueSendToToFront(
+								   xQueueHandle	xQueue,
+								   const	void	*	pvItemToQueue,
+								   portTickType	xTicksToWait
+							   );
+ *
+ * + * This is a macro that calls xQueueGenericSend(). + * + * Post an item to the front of a queue. The item is queued by copy, not by + * reference. This function must not be called from an interrupt service + * routine. See xQueueSendFromISR () for an alternative which may be used + * in an ISR. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for space to become available on the queue, should it already + * be full. The call will return immediately if this is set to 0 and the + * queue is full. The time is defined in tick periods so the constant + * portTICK_RATE_MS should be used to convert to real time if this is required. + * + * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. + * + * Example usage: + 
+ struct AMessage
+ {
+	char ucMessageID;
+	char ucData[ 20 ];
+ } xMessage;
+
+ unsigned long ulVar = 10UL;
+
+ void vATask( void *pvParameters )
+ {
+ xQueueHandle xQueue1, xQueue2;
+ struct AMessage *pxMessage;
+
+	// Create a queue capable of containing 10 unsigned long values.
+	xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
+
+	// Create a queue capable of containing 10 pointers to AMessage structures.
+	// These should be passed by pointer as they contain a lot of data.
+	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+
+	// ...
+
+	if( xQueue1 != 0 )
+	{
+		// Send an unsigned long.  Wait for 10 ticks for space to become
+		// available if necessary.
+		if( xQueueSendToFront( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
+		{
+			// Failed to post the message, even after 10 ticks.
+		}
+	}
+
+	if( xQueue2 != 0 )
+	{
+		// Send a pointer to a struct AMessage object.  Don't block if the
+		// queue is already full.
+		pxMessage = & xMessage;
+		xQueueSendToFront( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
+	}
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueSend xQueueSend + * \ingroup QueueManagement + */ +#define xQueueSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_FRONT ) + +/** + * queue. h + * 
+ portBASE_TYPE xQueueSendToBack(
+								   xQueueHandle	xQueue,
+								   const	void	*	pvItemToQueue,
+								   portTickType	xTicksToWait
+							   );
+ *
+ * + * This is a macro that calls xQueueGenericSend(). + * + * Post an item to the back of a queue. The item is queued by copy, not by + * reference. This function must not be called from an interrupt service + * routine. See xQueueSendFromISR () for an alternative which may be used + * in an ISR. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for space to become available on the queue, should it already + * be full. The call will return immediately if this is set to 0 and the queue + * is full. The time is defined in tick periods so the constant + * portTICK_RATE_MS should be used to convert to real time if this is required. + * + * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. + * + * Example usage: + 
+ struct AMessage
+ {
+	char ucMessageID;
+	char ucData[ 20 ];
+ } xMessage;
+
+ unsigned long ulVar = 10UL;
+
+ void vATask( void *pvParameters )
+ {
+ xQueueHandle xQueue1, xQueue2;
+ struct AMessage *pxMessage;
+
+	// Create a queue capable of containing 10 unsigned long values.
+	xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
+
+	// Create a queue capable of containing 10 pointers to AMessage structures.
+	// These should be passed by pointer as they contain a lot of data.
+	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+
+	// ...
+
+	if( xQueue1 != 0 )
+	{
+		// Send an unsigned long.  Wait for 10 ticks for space to become
+		// available if necessary.
+		if( xQueueSendToBack( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
+		{
+			// Failed to post the message, even after 10 ticks.
+		}
+	}
+
+	if( xQueue2 != 0 )
+	{
+		// Send a pointer to a struct AMessage object.  Don't block if the
+		// queue is already full.
+		pxMessage = & xMessage;
+		xQueueSendToBack( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
+	}
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueSend xQueueSend + * \ingroup QueueManagement + */ +#define xQueueSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK ) + +/** + * queue. h + * 
+ portBASE_TYPE xQueueSend(
+							  xQueueHandle xQueue,
+							  const void * pvItemToQueue,
+							  portTickType xTicksToWait
+						 );
+ *
+ * + * This is a macro that calls xQueueGenericSend(). It is included for + * backward compatibility with versions of FreeRTOS.org that did not + * include the xQueueSendToFront() and xQueueSendToBack() macros. It is + * equivalent to xQueueSendToBack(). + * + * Post an item on a queue. The item is queued by copy, not by reference. + * This function must not be called from an interrupt service routine. + * See xQueueSendFromISR () for an alternative which may be used in an ISR. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for space to become available on the queue, should it already + * be full. The call will return immediately if this is set to 0 and the + * queue is full. The time is defined in tick periods so the constant + * portTICK_RATE_MS should be used to convert to real time if this is required. + * + * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. + * + * Example usage: + 
+ struct AMessage
+ {
+	char ucMessageID;
+	char ucData[ 20 ];
+ } xMessage;
+
+ unsigned long ulVar = 10UL;
+
+ void vATask( void *pvParameters )
+ {
+ xQueueHandle xQueue1, xQueue2;
+ struct AMessage *pxMessage;
+
+	// Create a queue capable of containing 10 unsigned long values.
+	xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
+
+	// Create a queue capable of containing 10 pointers to AMessage structures.
+	// These should be passed by pointer as they contain a lot of data.
+	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+
+	// ...
+
+	if( xQueue1 != 0 )
+	{
+		// Send an unsigned long.  Wait for 10 ticks for space to become
+		// available if necessary.
+		if( xQueueSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
+		{
+			// Failed to post the message, even after 10 ticks.
+		}
+	}
+
+	if( xQueue2 != 0 )
+	{
+		// Send a pointer to a struct AMessage object.  Don't block if the
+		// queue is already full.
+		pxMessage = & xMessage;
+		xQueueSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
+	}
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueSend xQueueSend + * \ingroup QueueManagement + */ +#define xQueueSend( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK ) + + +/** + * queue. h + * 
+ portBASE_TYPE xQueueGenericSend(
+									xQueueHandle xQueue,
+									const void * pvItemToQueue,
+									portTickType xTicksToWait
+									portBASE_TYPE xCopyPosition
+								);
+ *
+ * + * It is preferred that the macros xQueueSend(), xQueueSendToFront() and + * xQueueSendToBack() are used in place of calling this function directly. + * + * Post an item on a queue. The item is queued by copy, not by reference. + * This function must not be called from an interrupt service routine. + * See xQueueSendFromISR () for an alternative which may be used in an ISR. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for space to become available on the queue, should it already + * be full. The call will return immediately if this is set to 0 and the + * queue is full. The time is defined in tick periods so the constant + * portTICK_RATE_MS should be used to convert to real time if this is required. + * + * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the + * item at the back of the queue, or queueSEND_TO_FRONT to place the item + * at the front of the queue (for high priority messages). + * + * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. + * + * Example usage: + 
+ struct AMessage
+ {
+	char ucMessageID;
+	char ucData[ 20 ];
+ } xMessage;
+
+ unsigned long ulVar = 10UL;
+
+ void vATask( void *pvParameters )
+ {
+ xQueueHandle xQueue1, xQueue2;
+ struct AMessage *pxMessage;
+
+	// Create a queue capable of containing 10 unsigned long values.
+	xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
+
+	// Create a queue capable of containing 10 pointers to AMessage structures.
+	// These should be passed by pointer as they contain a lot of data.
+	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+
+	// ...
+
+	if( xQueue1 != 0 )
+	{
+		// Send an unsigned long.  Wait for 10 ticks for space to become
+		// available if necessary.
+		if( xQueueGenericSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10, queueSEND_TO_BACK ) != pdPASS )
+		{
+			// Failed to post the message, even after 10 ticks.
+		}
+	}
+
+	if( xQueue2 != 0 )
+	{
+		// Send a pointer to a struct AMessage object.  Don't block if the
+		// queue is already full.
+		pxMessage = & xMessage;
+		xQueueGenericSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0, queueSEND_TO_BACK );
+	}
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueSend xQueueSend + * \ingroup QueueManagement + */ +signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ); + +/** + * queue. h + * 
+ portBASE_TYPE xQueuePeek(
+							 xQueueHandle xQueue,
+							 void *pvBuffer,
+							 portTickType xTicksToWait
+						 );
+ * + * This is a macro that calls the xQueueGenericReceive() function. + * + * Receive an item from a queue without removing the item from the queue. + * The item is received by copy so a buffer of adequate size must be + * provided. The number of bytes copied into the buffer was defined when + * the queue was created. + * + * Successfully received items remain on the queue so will be returned again + * by the next call, or a call to xQueueReceive(). + * + * This macro must not be used in an interrupt service routine. + * + * @param pxQueue The handle to the queue from which the item is to be + * received. + * + * @param pvBuffer Pointer to the buffer into which the received item will + * be copied. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for an item to receive should the queue be empty at the time + * of the call. The time is defined in tick periods so the constant + * portTICK_RATE_MS should be used to convert to real time if this is required. + * xQueuePeek() will return immediately if xTicksToWait is 0 and the queue + * is empty. + * + * @return pdTRUE if an item was successfully received from the queue, + * otherwise pdFALSE. + * + * Example usage: + 
+ struct AMessage
+ {
+	char ucMessageID;
+	char ucData[ 20 ];
+ } xMessage;
+
+ xQueueHandle xQueue;
+
+ // Task to create a queue and post a value.
+ void vATask( void *pvParameters )
+ {
+ struct AMessage *pxMessage;
+
+	// Create a queue capable of containing 10 pointers to AMessage structures.
+	// These should be passed by pointer as they contain a lot of data.
+	xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
+	if( xQueue == 0 )
+	{
+		// Failed to create the queue.
+	}
+
+	// ...
+
+	// Send a pointer to a struct AMessage object.  Don't block if the
+	// queue is already full.
+	pxMessage = & xMessage;
+	xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
+
+	// ... Rest of task code.
+ }
+
+ // Task to peek the data from the queue.
+ void vADifferentTask( void *pvParameters )
+ {
+ struct AMessage *pxRxedMessage;
+
+	if( xQueue != 0 )
+	{
+		// Peek a message on the created queue.  Block for 10 ticks if a
+		// message is not immediately available.
+		if( xQueuePeek( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
+		{
+			// pcRxedMessage now points to the struct AMessage variable posted
+			// by vATask, but the item still remains on the queue.
+		}
+	}
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueReceive xQueueReceive + * \ingroup QueueManagement + */ +#define xQueuePeek( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( xQueue, pvBuffer, xTicksToWait, pdTRUE ) + +/** + * queue. h + * 
+ portBASE_TYPE xQueueReceive(
+								 xQueueHandle xQueue,
+								 void *pvBuffer,
+								 portTickType xTicksToWait
+							);
+ * + * This is a macro that calls the xQueueGenericReceive() function. + * + * Receive an item from a queue. The item is received by copy so a buffer of + * adequate size must be provided. The number of bytes copied into the buffer + * was defined when the queue was created. + * + * Successfully received items are removed from the queue. + * + * This function must not be used in an interrupt service routine. See + * xQueueReceiveFromISR for an alternative that can. + * + * @param pxQueue The handle to the queue from which the item is to be + * received. + * + * @param pvBuffer Pointer to the buffer into which the received item will + * be copied. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for an item to receive should the queue be empty at the time + * of the call. xQueueReceive() will return immediately if xTicksToWait + * is zero and the queue is empty. The time is defined in tick periods so the + * constant portTICK_RATE_MS should be used to convert to real time if this is + * required. + * + * @return pdTRUE if an item was successfully received from the queue, + * otherwise pdFALSE. + * + * Example usage: + 
+ struct AMessage
+ {
+	char ucMessageID;
+	char ucData[ 20 ];
+ } xMessage;
+
+ xQueueHandle xQueue;
+
+ // Task to create a queue and post a value.
+ void vATask( void *pvParameters )
+ {
+ struct AMessage *pxMessage;
+
+	// Create a queue capable of containing 10 pointers to AMessage structures.
+	// These should be passed by pointer as they contain a lot of data.
+	xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
+	if( xQueue == 0 )
+	{
+		// Failed to create the queue.
+	}
+
+	// ...
+
+	// Send a pointer to a struct AMessage object.  Don't block if the
+	// queue is already full.
+	pxMessage = & xMessage;
+	xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
+
+	// ... Rest of task code.
+ }
+
+ // Task to receive from the queue.
+ void vADifferentTask( void *pvParameters )
+ {
+ struct AMessage *pxRxedMessage;
+
+	if( xQueue != 0 )
+	{
+		// Receive a message on the created queue.  Block for 10 ticks if a
+		// message is not immediately available.
+		if( xQueueReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
+		{
+			// pcRxedMessage now points to the struct AMessage variable posted
+			// by vATask.
+		}
+	}
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueReceive xQueueReceive + * \ingroup QueueManagement + */ +#define xQueueReceive( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( xQueue, pvBuffer, xTicksToWait, pdFALSE ) + + +/** + * queue. h + * 
+ portBASE_TYPE xQueueGenericReceive(
+									   xQueueHandle	xQueue,
+									   void	*pvBuffer,
+									   portTickType	xTicksToWait
+									   portBASE_TYPE	xJustPeek
+									);
+ * + * It is preferred that the macro xQueueReceive() be used rather than calling + * this function directly. + * + * Receive an item from a queue. The item is received by copy so a buffer of + * adequate size must be provided. The number of bytes copied into the buffer + * was defined when the queue was created. + * + * This function must not be used in an interrupt service routine. See + * xQueueReceiveFromISR for an alternative that can. + * + * @param pxQueue The handle to the queue from which the item is to be + * received. + * + * @param pvBuffer Pointer to the buffer into which the received item will + * be copied. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for an item to receive should the queue be empty at the time + * of the call. The time is defined in tick periods so the constant + * portTICK_RATE_MS should be used to convert to real time if this is required. + * xQueueGenericReceive() will return immediately if the queue is empty and + * xTicksToWait is 0. + * + * @param xJustPeek When set to true, the item received from the queue is not + * actually removed from the queue - meaning a subsequent call to + * xQueueReceive() will return the same item. When set to false, the item + * being received from the queue is also removed from the queue. + * + * @return pdTRUE if an item was successfully received from the queue, + * otherwise pdFALSE. + * + * Example usage: + 
+ struct AMessage
+ {
+	char ucMessageID;
+	char ucData[ 20 ];
+ } xMessage;
+
+ xQueueHandle xQueue;
+
+ // Task to create a queue and post a value.
+ void vATask( void *pvParameters )
+ {
+ struct AMessage *pxMessage;
+
+	// Create a queue capable of containing 10 pointers to AMessage structures.
+	// These should be passed by pointer as they contain a lot of data.
+	xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
+	if( xQueue == 0 )
+	{
+		// Failed to create the queue.
+	}
+
+	// ...
+
+	// Send a pointer to a struct AMessage object.  Don't block if the
+	// queue is already full.
+	pxMessage = & xMessage;
+	xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
+
+	// ... Rest of task code.
+ }
+
+ // Task to receive from the queue.
+ void vADifferentTask( void *pvParameters )
+ {
+ struct AMessage *pxRxedMessage;
+
+	if( xQueue != 0 )
+	{
+		// Receive a message on the created queue.  Block for 10 ticks if a
+		// message is not immediately available.
+		if( xQueueGenericReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
+		{
+			// pcRxedMessage now points to the struct AMessage variable posted
+			// by vATask.
+		}
+	}
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueReceive xQueueReceive + * \ingroup QueueManagement + */ +signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeek ); + +/** + * queue. h + * 
unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue );
+ * + * Return the number of messages stored in a queue. + * + * @param xQueue A handle to the queue being queried. + * + * @return The number of messages available in the queue. + * + * \page uxQueueMessagesWaiting uxQueueMessagesWaiting + * \ingroup QueueManagement + */ +unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue ); + +/** + * queue. h + * 
void vQueueDelete( xQueueHandle xQueue );
+ * + * Delete a queue - freeing all the memory allocated for storing of items + * placed on the queue. + * + * @param xQueue A handle to the queue to be deleted. + * + * \page vQueueDelete vQueueDelete + * \ingroup QueueManagement + */ +void vQueueDelete( xQueueHandle xQueue ); + +/** + * queue. h + * 
+ portBASE_TYPE xQueueSendToFrontFromISR(
+										 xQueueHandle pxQueue,
+										 const void *pvItemToQueue,
+										 portBASE_TYPE *pxHigherPriorityTaskWoken
+									  );
+
+ * + * This is a macro that calls xQueueGenericSendFromISR(). + * + * Post an item to the front of a queue. It is safe to use this macro from + * within an interrupt service routine. + * + * Items are queued by copy not reference so it is preferable to only + * queue small items, especially when called from an ISR. In most cases + * it would be preferable to store a pointer to the item being queued. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param pxHigherPriorityTaskWoken xQueueSendToFrontFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xQueueSendToFromFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @return pdTRUE if the data was successfully sent to the queue, otherwise + * errQUEUE_FULL. + * + * Example usage for buffered IO (where the ISR can obtain more than one value + * per call): + 
+ void vBufferISR( void )
+ {
+ char cIn;
+ portBASE_TYPE xHigherPrioritTaskWoken;
+
+	// We have not woken a task at the start of the ISR.
+	xHigherPriorityTaskWoken = pdFALSE;
+
+	// Loop until the buffer is empty.
+	do
+	{
+		// Obtain a byte from the buffer.
+		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+
+		// Post the byte.
+		xQueueSendToFrontFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
+
+	} while( portINPUT_BYTE( BUFFER_COUNT ) );
+
+	// Now the buffer is empty we can switch context if necessary.
+	if( xHigherPriorityTaskWoken )
+	{
+		taskYIELD ();
+	}
+ }
+
+ * + * \defgroup xQueueSendFromISR xQueueSendFromISR + * \ingroup QueueManagement + */ +#define xQueueSendToFrontFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken, queueSEND_TO_FRONT ) + + +/** + * queue. h + * 
+ portBASE_TYPE xQueueSendToBackFromISR(
+										 xQueueHandle pxQueue,
+										 const void *pvItemToQueue,
+										 portBASE_TYPE *pxHigherPriorityTaskWoken
+									  );
+
+ * + * This is a macro that calls xQueueGenericSendFromISR(). + * + * Post an item to the back of a queue. It is safe to use this macro from + * within an interrupt service routine. + * + * Items are queued by copy not reference so it is preferable to only + * queue small items, especially when called from an ISR. In most cases + * it would be preferable to store a pointer to the item being queued. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param pxHigherPriorityTaskWoken xQueueSendToBackFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xQueueSendToBackFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @return pdTRUE if the data was successfully sent to the queue, otherwise + * errQUEUE_FULL. + * + * Example usage for buffered IO (where the ISR can obtain more than one value + * per call): + 
+ void vBufferISR( void )
+ {
+ char cIn;
+ portBASE_TYPE xHigherPriorityTaskWoken;
+
+	// We have not woken a task at the start of the ISR.
+	xHigherPriorityTaskWoken = pdFALSE;
+
+	// Loop until the buffer is empty.
+	do
+	{
+		// Obtain a byte from the buffer.
+		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+
+		// Post the byte.
+		xQueueSendToBackFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
+
+	} while( portINPUT_BYTE( BUFFER_COUNT ) );
+
+	// Now the buffer is empty we can switch context if necessary.
+	if( xHigherPriorityTaskWoken )
+	{
+		taskYIELD ();
+	}
+ }
+
+ * + * \defgroup xQueueSendFromISR xQueueSendFromISR + * \ingroup QueueManagement + */ +#define xQueueSendToBackFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken, queueSEND_TO_BACK ) + +/** + * queue. h + * 
+ portBASE_TYPE xQueueSendFromISR(
+									 xQueueHandle pxQueue,
+									 const void *pvItemToQueue,
+									 portBASE_TYPE *pxHigherPriorityTaskWoken
+								);
+
+ * + * This is a macro that calls xQueueGenericSendFromISR(). It is included + * for backward compatibility with versions of FreeRTOS.org that did not + * include the xQueueSendToBackFromISR() and xQueueSendToFrontFromISR() + * macros. + * + * Post an item to the back of a queue. It is safe to use this function from + * within an interrupt service routine. + * + * Items are queued by copy not reference so it is preferable to only + * queue small items, especially when called from an ISR. In most cases + * it would be preferable to store a pointer to the item being queued. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param pxHigherPriorityTaskWoken xQueueSendFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xQueueSendFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @return pdTRUE if the data was successfully sent to the queue, otherwise + * errQUEUE_FULL. + * + * Example usage for buffered IO (where the ISR can obtain more than one value + * per call): + 
+ void vBufferISR( void )
+ {
+ char cIn;
+ portBASE_TYPE xHigherPriorityTaskWoken;
+
+	// We have not woken a task at the start of the ISR.
+	xHigherPriorityTaskWoken = pdFALSE;
+
+	// Loop until the buffer is empty.
+	do
+	{
+		// Obtain a byte from the buffer.
+		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+
+		// Post the byte.
+		xQueueSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
+
+	} while( portINPUT_BYTE( BUFFER_COUNT ) );
+
+	// Now the buffer is empty we can switch context if necessary.
+	if( xHigherPriorityTaskWoken )
+	{
+		// Actual macro used here is port specific.
+		taskYIELD_FROM_ISR ();
+	}
+ }
+
+ * + * \defgroup xQueueSendFromISR xQueueSendFromISR + * \ingroup QueueManagement + */ +#define xQueueSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken, queueSEND_TO_BACK ) + +/** + * queue. h + * 
+ portBASE_TYPE xQueueGenericSendFromISR(
+										   xQueueHandle	pxQueue,
+										   const	void	*pvItemToQueue,
+										   portBASE_TYPE	*pxHigherPriorityTaskWoken,
+										   portBASE_TYPE	xCopyPosition
+									   );
+
+ * + * It is preferred that the macros xQueueSendFromISR(), + * xQueueSendToFrontFromISR() and xQueueSendToBackFromISR() be used in place + * of calling this function directly. + * + * Post an item on a queue. It is safe to use this function from within an + * interrupt service routine. + * + * Items are queued by copy not reference so it is preferable to only + * queue small items, especially when called from an ISR. In most cases + * it would be preferable to store a pointer to the item being queued. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param pxHigherPriorityTaskWoken xQueueGenericSendFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xQueueGenericSendFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the + * item at the back of the queue, or queueSEND_TO_FRONT to place the item + * at the front of the queue (for high priority messages). + * + * @return pdTRUE if the data was successfully sent to the queue, otherwise + * errQUEUE_FULL. + * + * Example usage for buffered IO (where the ISR can obtain more than one value + * per call): + 
+ void vBufferISR( void )
+ {
+ char cIn;
+ portBASE_TYPE xHigherPriorityTaskWokenByPost;
+
+	// We have not woken a task at the start of the ISR.
+	xHigherPriorityTaskWokenByPost = pdFALSE;
+
+	// Loop until the buffer is empty.
+	do
+	{
+		// Obtain a byte from the buffer.
+		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+
+		// Post each byte.
+		xQueueGenericSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWokenByPost, queueSEND_TO_BACK );
+
+	} while( portINPUT_BYTE( BUFFER_COUNT ) );
+
+	// Now the buffer is empty we can switch context if necessary.  Note that the
+	// name of the yield function required is port specific.
+	if( xHigherPriorityTaskWokenByPost )
+	{
+		taskYIELD_YIELD_FROM_ISR();
+	}
+ }
+
+ * + * \defgroup xQueueSendFromISR xQueueSendFromISR + * \ingroup QueueManagement + */ +signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition ); + +/** + * queue. h + * 
+ portBASE_TYPE xQueueReceiveFromISR(
+									   xQueueHandle	pxQueue,
+									   void	*pvBuffer,
+									   portBASE_TYPE	*pxTaskWoken
+								   );
+ *
+ * + * Receive an item from a queue. It is safe to use this function from within an + * interrupt service routine. + * + * @param pxQueue The handle to the queue from which the item is to be + * received. + * + * @param pvBuffer Pointer to the buffer into which the received item will + * be copied. + * + * @param pxTaskWoken A task may be blocked waiting for space to become + * available on the queue. If xQueueReceiveFromISR causes such a task to + * unblock *pxTaskWoken will get set to pdTRUE, otherwise *pxTaskWoken will + * remain unchanged. + * + * @return pdTRUE if an item was successfully received from the queue, + * otherwise pdFALSE. + * + * Example usage: + 
+
+ xQueueHandle xQueue;
+
+ // Function to create a queue and post some values.
+ void vAFunction( void *pvParameters )
+ {
+ char cValueToPost;
+ const portTickType xBlockTime = ( portTickType )0xff;
+
+	// Create a queue capable of containing 10 characters.
+	xQueue = xQueueCreate( 10, sizeof( char ) );
+	if( xQueue == 0 )
+	{
+		// Failed to create the queue.
+	}
+
+	// ...
+
+	// Post some characters that will be used within an ISR.  If the queue
+	// is full then this task will block for xBlockTime ticks.
+	cValueToPost = 'a';
+	xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );
+	cValueToPost = 'b';
+	xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );
+
+	// ... keep posting characters ... this task may block when the queue
+	// becomes full.
+
+	cValueToPost = 'c';
+	xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );
+ }
+
+ // ISR that outputs all the characters received on the queue.
+ void vISR_Routine( void )
+ {
+ portBASE_TYPE xTaskWokenByReceive = pdFALSE;
+ char cRxedChar;
+
+	while( xQueueReceiveFromISR( xQueue, ( void * ) &cRxedChar, &xTaskWokenByReceive) )
+	{
+		// A character was received.  Output the character now.
+		vOutputCharacter( cRxedChar );
+
+		// If removing the character from the queue woke the task that was
+		// posting onto the queue cTaskWokenByReceive will have been set to
+		// pdTRUE.  No matter how many times this loop iterates only one
+		// task will be woken.
+	}
+
+	if( cTaskWokenByPost != ( char ) pdFALSE;
+	{
+		taskYIELD ();
+	}
+ }
+
+ * \defgroup xQueueReceiveFromISR xQueueReceiveFromISR + * \ingroup QueueManagement + */ +signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken ); + +/* + * Utilities to query queue that are safe to use from an ISR. These utilities + * should be used only from witin an ISR, or within a critical section. + */ +signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue ); +signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue ); +unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue ); + + +/* + * xQueueAltGenericSend() is an alternative version of xQueueGenericSend(). + * Likewise xQueueAltGenericReceive() is an alternative version of + * xQueueGenericReceive(). + * + * The source code that implements the alternative (Alt) API is much + * simpler because it executes everything from within a critical section. + * This is the approach taken by many other RTOSes, but FreeRTOS.org has the + * preferred fully featured API too. The fully featured API has more + * complex code that takes longer to execute, but makes much less use of + * critical sections. Therefore the alternative API sacrifices interrupt + * responsiveness to gain execution speed, whereas the fully featured API + * sacrifices execution speed to ensure better interrupt responsiveness. + */ +signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ); +signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ); +#define xQueueAltSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_FRONT ) +#define xQueueAltSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK ) +#define xQueueAltReceive( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( xQueue, pvBuffer, xTicksToWait, pdFALSE ) +#define xQueueAltPeek( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( xQueue, pvBuffer, xTicksToWait, pdTRUE ) + +/* + * The functions defined above are for passing data to and from tasks. The + * functions below are the equivalents for passing data to and from + * co-routines. + * + * These functions are called from the co-routine macro implementation and + * should not be called directly from application code. Instead use the macro + * wrappers defined within croutine.h. + */ +signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ); +signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken ); +signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait ); +signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait ); + +/* + * For internal use only. Use xSemaphoreCreateMutex() or + * xSemaphoreCreateCounting() instead of calling these functions directly. + */ +xQueueHandle xQueueCreateMutex( void ); +xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ); + +/* + * For internal use only. Use xSemaphoreTakeMutexRecursive() or + * xSemaphoreGiveMutexRecursive() instead of calling these functions directly. + */ +portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime ); +portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex ); + +/* + * The registry is provided as a means for kernel aware debuggers to + * locate queues, semaphores and mutexes. Call vQueueAddToRegistry() add + * a queue, semaphore or mutex handle to the registry if you want the handle + * to be available to a kernel aware debugger. If you are not using a kernel + * aware debugger then this function can be ignored. + * + * configQUEUE_REGISTRY_SIZE defines the maximum number of handles the + * registry can hold. configQUEUE_REGISTRY_SIZE must be greater than 0 + * within FreeRTOSConfig.h for the registry to be available. Its value + * does not effect the number of queues, semaphores and mutexes that can be + * created - just the number that the registry can hold. + * + * @param xQueue The handle of the queue being added to the registry. This + * is the handle returned by a call to xQueueCreate(). Semaphore and mutex + * handles can also be passed in here. + * + * @param pcName The name to be associated with the handle. This is the + * name that the kernel aware debugger will display. + */ +#if configQUEUE_REGISTRY_SIZE > 0 + void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcName ); +#endif + + + + +#ifdef __cplusplus +} +#endif + +#endif /* QUEUE_H */ + diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/semphr.h b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/semphr.h new file mode 100644 index 000000000..3984e4bb9 --- /dev/null +++ b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/semphr.h @@ -0,0 +1,711 @@ +/* + FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd. + + *************************************************************************** + * * + * If you are: * + * * + * + New to FreeRTOS, * + * + Wanting to learn FreeRTOS or multitasking in general quickly * + * + Looking for basic training, * + * + Wanting to improve your FreeRTOS skills and productivity * + * * + * then take a look at the FreeRTOS eBook * + * * + * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * + * http://www.FreeRTOS.org/Documentation * + * * + * A pdf reference manual is also available. Both are usually delivered * + * to your inbox within 20 minutes to two hours when purchased between 8am * + * and 8pm GMT (although please allow up to 24 hours in case of * + * exceptional circumstances). Thank you for your support! * + * * + *************************************************************************** + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation AND MODIFIED BY the FreeRTOS exception. + ***NOTE*** The exception to the GPL is included to allow you to distribute + a combined work that includes FreeRTOS without being obliged to provide the + source code for proprietary components outside of the FreeRTOS kernel. + 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 + by writing to Richard Barry, contact details for whom are available on the + FreeRTOS WEB site. + + 1 tab == 4 spaces! + + http://www.FreeRTOS.org - Documentation, latest information, license and + contact details. + + http://www.SafeRTOS.com - A version that is certified for use in safety + critical systems. + + http://www.OpenRTOS.com - Commercial support, development, porting, + licensing and training services. +*/ + +#ifndef INC_FREERTOS_H + #error "#include FreeRTOS.h" must appear in source files before "#include semphr.h" +#endif + +#ifndef SEMAPHORE_H +#define SEMAPHORE_H + +#include "queue.h" + +typedef xQueueHandle xSemaphoreHandle; + +#define semBINARY_SEMAPHORE_QUEUE_LENGTH ( ( unsigned char ) 1 ) +#define semSEMAPHORE_QUEUE_ITEM_LENGTH ( ( unsigned char ) 0 ) +#define semGIVE_BLOCK_TIME ( ( portTickType ) 0 ) + + +/** + * semphr. h + * 
vSemaphoreCreateBinary( xSemaphoreHandle xSemaphore )
+ * + * Macro that implements a semaphore by using the existing queue mechanism. + * The queue length is 1 as this is a binary semaphore. The data size is 0 + * as we don't want to actually store any data - we just want to know if the + * queue is empty or full. + * + * This type of semaphore can be used for pure synchronisation between tasks or + * between an interrupt and a task. The semaphore need not be given back once + * obtained, so one task/interrupt can continuously 'give' the semaphore while + * another continuously 'takes' the semaphore. For this reason this type of + * semaphore does not use a priority inheritance mechanism. For an alternative + * that does use priority inheritance see xSemaphoreCreateMutex(). + * + * @param xSemaphore Handle to the created semaphore. Should be of type xSemaphoreHandle. + * + * Example usage: + 
+ xSemaphoreHandle xSemaphore;
+
+ void vATask( void * pvParameters )
+ {
+    // Semaphore cannot be used before a call to vSemaphoreCreateBinary ().
+    // This is a macro so pass the variable in directly.
+    vSemaphoreCreateBinary( xSemaphore );
+
+    if( xSemaphore != NULL )
+    {
+        // The semaphore was created successfully.
+        // The semaphore can now be used.  
+    }
+ }
+
+ * \defgroup vSemaphoreCreateBinary vSemaphoreCreateBinary + * \ingroup Semaphores + */ +#define vSemaphoreCreateBinary( xSemaphore ) { \ + xSemaphore = xQueueCreate( ( unsigned portBASE_TYPE ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH ); \ + if( xSemaphore != NULL ) \ + { \ + xSemaphoreGive( xSemaphore ); \ + } \ + } + +/** + * semphr. h + * 
xSemaphoreTake( 
+ *                   xSemaphoreHandle xSemaphore, 
+ *                   portTickType xBlockTime 
+ *               )
+ * + * Macro to obtain a semaphore. The semaphore must have previously been + * created with a call to vSemaphoreCreateBinary(), xSemaphoreCreateMutex() or + * xSemaphoreCreateCounting(). + * + * @param xSemaphore A handle to the semaphore being taken - obtained when + * the semaphore was created. + * + * @param xBlockTime The time in ticks to wait for the semaphore to become + * available. The macro portTICK_RATE_MS can be used to convert this to a + * real time. A block time of zero can be used to poll the semaphore. A block + * time of portMAX_DELAY can be used to block indefinitely (provided + * INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h). + * + * @return pdTRUE if the semaphore was obtained. pdFALSE + * if xBlockTime expired without the semaphore becoming available. + * + * Example usage: + 
+ xSemaphoreHandle xSemaphore = NULL;
+
+ // A task that creates a semaphore.
+ void vATask( void * pvParameters )
+ {
+    // Create the semaphore to guard a shared resource.
+    vSemaphoreCreateBinary( xSemaphore );
+ }
+
+ // A task that uses the semaphore.
+ void vAnotherTask( void * pvParameters )
+ {
+    // ... Do other things.
+
+    if( xSemaphore != NULL )
+    {
+        // See if we can obtain the semaphore.  If the semaphore is not available
+        // wait 10 ticks to see if it becomes free.	
+        if( xSemaphoreTake( xSemaphore, ( portTickType ) 10 ) == pdTRUE )
+        {
+            // We were able to obtain the semaphore and can now access the
+            // shared resource.
+
+            // ...
+
+            // We have finished accessing the shared resource.  Release the 
+            // semaphore.
+            xSemaphoreGive( xSemaphore );
+        }
+        else
+        {
+            // We could not obtain the semaphore and can therefore not access
+            // the shared resource safely.
+        }
+    }
+ }
+
+ * \defgroup xSemaphoreTake xSemaphoreTake + * \ingroup Semaphores + */ +#define xSemaphoreTake( xSemaphore, xBlockTime ) xQueueGenericReceive( ( xQueueHandle ) xSemaphore, NULL, xBlockTime, pdFALSE ) + +/** + * semphr. h + * xSemaphoreTakeRecursive( + * xSemaphoreHandle xMutex, + * portTickType xBlockTime + * ) + * + * Macro to recursively obtain, or 'take', a mutex type semaphore. + * The mutex must have previously been created using a call to + * xSemaphoreCreateRecursiveMutex(); + * + * configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this + * macro to be available. + * + * This macro must not be used on mutexes created using xSemaphoreCreateMutex(). + * + * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex + * doesn't become available again until the owner has called + * xSemaphoreGiveRecursive() for each successful 'take' request. For example, + * if a task successfully 'takes' the same mutex 5 times then the mutex will + * not be available to any other task until it has also 'given' the mutex back + * exactly five times. + * + * @param xMutex A handle to the mutex being obtained. This is the + * handle returned by xSemaphoreCreateRecursiveMutex(); + * + * @param xBlockTime The time in ticks to wait for the semaphore to become + * available. The macro portTICK_RATE_MS can be used to convert this to a + * real time. A block time of zero can be used to poll the semaphore. If + * the task already owns the semaphore then xSemaphoreTakeRecursive() will + * return immediately no matter what the value of xBlockTime. + * + * @return pdTRUE if the semaphore was obtained. pdFALSE if xBlockTime + * expired without the semaphore becoming available. + * + * Example usage: + 
+ xSemaphoreHandle xMutex = NULL;
+
+ // A task that creates a mutex.
+ void vATask( void * pvParameters )
+ {
+    // Create the mutex to guard a shared resource.
+    xMutex = xSemaphoreCreateRecursiveMutex();
+ }
+
+ // A task that uses the mutex.
+ void vAnotherTask( void * pvParameters )
+ {
+    // ... Do other things.
+
+    if( xMutex != NULL )
+    {
+        // See if we can obtain the mutex.  If the mutex is not available
+        // wait 10 ticks to see if it becomes free.	
+        if( xSemaphoreTakeRecursive( xSemaphore, ( portTickType ) 10 ) == pdTRUE )
+        {
+            // We were able to obtain the mutex and can now access the
+            // shared resource.
+
+            // ...
+            // For some reason due to the nature of the code further calls to 
+			// xSemaphoreTakeRecursive() are made on the same mutex.  In real
+			// code these would not be just sequential calls as this would make
+			// no sense.  Instead the calls are likely to be buried inside
+			// a more complex call structure.
+            xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
+            xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
+
+            // The mutex has now been 'taken' three times, so will not be 
+			// available to another task until it has also been given back
+			// three times.  Again it is unlikely that real code would have
+			// these calls sequentially, but instead buried in a more complex
+			// call structure.  This is just for illustrative purposes.
+            xSemaphoreGiveRecursive( xMutex );
+			xSemaphoreGiveRecursive( xMutex );
+			xSemaphoreGiveRecursive( xMutex );
+
+			// Now the mutex can be taken by other tasks.
+        }
+        else
+        {
+            // We could not obtain the mutex and can therefore not access
+            // the shared resource safely.
+        }
+    }
+ }
+
+ * \defgroup xSemaphoreTakeRecursive xSemaphoreTakeRecursive + * \ingroup Semaphores + */ +#define xSemaphoreTakeRecursive( xMutex, xBlockTime ) xQueueTakeMutexRecursive( xMutex, xBlockTime ) + + +/* + * xSemaphoreAltTake() is an alternative version of xSemaphoreTake(). + * + * The source code that implements the alternative (Alt) API is much + * simpler because it executes everything from within a critical section. + * This is the approach taken by many other RTOSes, but FreeRTOS.org has the + * preferred fully featured API too. The fully featured API has more + * complex code that takes longer to execute, but makes much less use of + * critical sections. Therefore the alternative API sacrifices interrupt + * responsiveness to gain execution speed, whereas the fully featured API + * sacrifices execution speed to ensure better interrupt responsiveness. + */ +#define xSemaphoreAltTake( xSemaphore, xBlockTime ) xQueueAltGenericReceive( ( xQueueHandle ) xSemaphore, NULL, xBlockTime, pdFALSE ) + +/** + * semphr. h + * 
xSemaphoreGive( xSemaphoreHandle xSemaphore )
+ * + * Macro to release a semaphore. The semaphore must have previously been + * created with a call to vSemaphoreCreateBinary(), xSemaphoreCreateMutex() or + * xSemaphoreCreateCounting(). and obtained using sSemaphoreTake(). + * + * This macro must not be used from an ISR. See xSemaphoreGiveFromISR () for + * an alternative which can be used from an ISR. + * + * This macro must also not be used on semaphores created using + * xSemaphoreCreateRecursiveMutex(). + * + * @param xSemaphore A handle to the semaphore being released. This is the + * handle returned when the semaphore was created. + * + * @return pdTRUE if the semaphore was released. pdFALSE if an error occurred. + * Semaphores are implemented using queues. An error can occur if there is + * no space on the queue to post a message - indicating that the + * semaphore was not first obtained correctly. + * + * Example usage: + 
+ xSemaphoreHandle xSemaphore = NULL;
+
+ void vATask( void * pvParameters )
+ {
+    // Create the semaphore to guard a shared resource.
+    vSemaphoreCreateBinary( xSemaphore );
+
+    if( xSemaphore != NULL )
+    {
+        if( xSemaphoreGive( xSemaphore ) != pdTRUE )
+        {
+            // We would expect this call to fail because we cannot give
+            // a semaphore without first "taking" it!
+        }
+
+        // Obtain the semaphore - don't block if the semaphore is not
+        // immediately available.
+        if( xSemaphoreTake( xSemaphore, ( portTickType ) 0 ) )
+        {
+            // We now have the semaphore and can access the shared resource.
+
+            // ...
+
+            // We have finished accessing the shared resource so can free the
+            // semaphore.
+            if( xSemaphoreGive( xSemaphore ) != pdTRUE )
+            {
+                // We would not expect this call to fail because we must have
+                // obtained the semaphore to get here.
+            }
+        }
+    }
+ }
+
+ * \defgroup xSemaphoreGive xSemaphoreGive + * \ingroup Semaphores + */ +#define xSemaphoreGive( xSemaphore ) xQueueGenericSend( ( xQueueHandle ) xSemaphore, NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK ) + +/** + * semphr. h + * 
xSemaphoreGiveRecursive( xSemaphoreHandle xMutex )
+ * + * Macro to recursively release, or 'give', a mutex type semaphore. + * The mutex must have previously been created using a call to + * xSemaphoreCreateRecursiveMutex(); + * + * configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this + * macro to be available. + * + * This macro must not be used on mutexes created using xSemaphoreCreateMutex(). + * + * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex + * doesn't become available again until the owner has called + * xSemaphoreGiveRecursive() for each successful 'take' request. For example, + * if a task successfully 'takes' the same mutex 5 times then the mutex will + * not be available to any other task until it has also 'given' the mutex back + * exactly five times. + * + * @param xMutex A handle to the mutex being released, or 'given'. This is the + * handle returned by xSemaphoreCreateMutex(); + * + * @return pdTRUE if the semaphore was given. + * + * Example usage: + 
+ xSemaphoreHandle xMutex = NULL;
+
+ // A task that creates a mutex.
+ void vATask( void * pvParameters )
+ {
+    // Create the mutex to guard a shared resource.
+    xMutex = xSemaphoreCreateRecursiveMutex();
+ }
+
+ // A task that uses the mutex.
+ void vAnotherTask( void * pvParameters )
+ {
+    // ... Do other things.
+
+    if( xMutex != NULL )
+    {
+        // See if we can obtain the mutex.  If the mutex is not available
+        // wait 10 ticks to see if it becomes free.	
+        if( xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 ) == pdTRUE )
+        {
+            // We were able to obtain the mutex and can now access the
+            // shared resource.
+
+            // ...
+            // For some reason due to the nature of the code further calls to 
+			// xSemaphoreTakeRecursive() are made on the same mutex.  In real
+			// code these would not be just sequential calls as this would make
+			// no sense.  Instead the calls are likely to be buried inside
+			// a more complex call structure.
+            xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
+            xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
+
+            // The mutex has now been 'taken' three times, so will not be 
+			// available to another task until it has also been given back
+			// three times.  Again it is unlikely that real code would have
+			// these calls sequentially, it would be more likely that the calls
+			// to xSemaphoreGiveRecursive() would be called as a call stack
+			// unwound.  This is just for demonstrative purposes.
+            xSemaphoreGiveRecursive( xMutex );
+			xSemaphoreGiveRecursive( xMutex );
+			xSemaphoreGiveRecursive( xMutex );
+
+			// Now the mutex can be taken by other tasks.
+        }
+        else
+        {
+            // We could not obtain the mutex and can therefore not access
+            // the shared resource safely.
+        }
+    }
+ }
+
+ * \defgroup xSemaphoreGiveRecursive xSemaphoreGiveRecursive + * \ingroup Semaphores + */ +#define xSemaphoreGiveRecursive( xMutex ) xQueueGiveMutexRecursive( xMutex ) + +/* + * xSemaphoreAltGive() is an alternative version of xSemaphoreGive(). + * + * The source code that implements the alternative (Alt) API is much + * simpler because it executes everything from within a critical section. + * This is the approach taken by many other RTOSes, but FreeRTOS.org has the + * preferred fully featured API too. The fully featured API has more + * complex code that takes longer to execute, but makes much less use of + * critical sections. Therefore the alternative API sacrifices interrupt + * responsiveness to gain execution speed, whereas the fully featured API + * sacrifices execution speed to ensure better interrupt responsiveness. + */ +#define xSemaphoreAltGive( xSemaphore ) xQueueAltGenericSend( ( xQueueHandle ) xSemaphore, NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK ) + +/** + * semphr. h + * 
+ xSemaphoreGiveFromISR( 
+                          xSemaphoreHandle xSemaphore, 
+                          signed portBASE_TYPE *pxHigherPriorityTaskWoken
+                      )
+ * + * Macro to release a semaphore. The semaphore must have previously been + * created with a call to vSemaphoreCreateBinary() or xSemaphoreCreateCounting(). + * + * Mutex type semaphores (those created using a call to xSemaphoreCreateMutex()) + * must not be used with this macro. + * + * This macro can be used from an ISR. + * + * @param xSemaphore A handle to the semaphore being released. This is the + * handle returned when the semaphore was created. + * + * @param pxHigherPriorityTaskWoken xSemaphoreGiveFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if giving the semaphore caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xSemaphoreGiveFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @return pdTRUE if the semaphore was successfully given, otherwise errQUEUE_FULL. + * + * Example usage: + 
+ \#define LONG_TIME 0xffff
+ \#define TICKS_TO_WAIT	10
+ xSemaphoreHandle xSemaphore = NULL;
+
+ // Repetitive task.
+ void vATask( void * pvParameters )
+ {
+    for( ;; )
+    {
+        // We want this task to run every 10 ticks of a timer.  The semaphore 
+        // was created before this task was started.
+
+        // Block waiting for the semaphore to become available.
+        if( xSemaphoreTake( xSemaphore, LONG_TIME ) == pdTRUE )
+        {
+            // It is time to execute.
+
+            // ...
+
+            // We have finished our task.  Return to the top of the loop where
+            // we will block on the semaphore until it is time to execute 
+            // again.  Note when using the semaphore for synchronisation with an
+			// ISR in this manner there is no need to 'give' the semaphore back.
+        }
+    }
+ }
+
+ // Timer ISR
+ void vTimerISR( void * pvParameters )
+ {
+ static unsigned char ucLocalTickCount = 0;
+ static signed portBASE_TYPE xHigherPriorityTaskWoken;
+
+    // A timer tick has occurred.
+
+    // ... Do other time functions.
+
+    // Is it time for vATask () to run?
+	xHigherPriorityTaskWoken = pdFALSE;
+    ucLocalTickCount++;
+    if( ucLocalTickCount >= TICKS_TO_WAIT )
+    {
+        // Unblock the task by releasing the semaphore.
+        xSemaphoreGiveFromISR( xSemaphore, &xHigherPriorityTaskWoken );
+
+        // Reset the count so we release the semaphore again in 10 ticks time.
+        ucLocalTickCount = 0;
+    }
+
+    if( xHigherPriorityTaskWoken != pdFALSE )
+    {
+        // We can force a context switch here.  Context switching from an
+        // ISR uses port specific syntax.  Check the demo task for your port
+        // to find the syntax required.
+    }
+ }
+
+ * \defgroup xSemaphoreGiveFromISR xSemaphoreGiveFromISR + * \ingroup Semaphores + */ +#define xSemaphoreGiveFromISR( xSemaphore, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueueHandle ) xSemaphore, NULL, pxHigherPriorityTaskWoken, queueSEND_TO_BACK ) + +/** + * semphr. h + * 
xSemaphoreHandle xSemaphoreCreateMutex( void )
+ * + * Macro that implements a mutex semaphore by using the existing queue + * mechanism. + * + * Mutexes created using this macro can be accessed using the xSemaphoreTake() + * and xSemaphoreGive() macros. The xSemaphoreTakeRecursive() and + * xSemaphoreGiveRecursive() macros should not be used. + * + * This type of semaphore uses a priority inheritance mechanism so a task + * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the + * semaphore it is no longer required. + * + * Mutex type semaphores cannot be used from within interrupt service routines. + * + * See vSemaphoreCreateBinary() for an alternative implementation that can be + * used for pure synchronisation (where one task or interrupt always 'gives' the + * semaphore and another always 'takes' the semaphore) and from within interrupt + * service routines. + * + * @return xSemaphore Handle to the created mutex semaphore. Should be of type + * xSemaphoreHandle. + * + * Example usage: + 
+ xSemaphoreHandle xSemaphore;
+
+ void vATask( void * pvParameters )
+ {
+    // Semaphore cannot be used before a call to xSemaphoreCreateMutex().
+    // This is a macro so pass the variable in directly.
+    xSemaphore = xSemaphoreCreateMutex();
+
+    if( xSemaphore != NULL )
+    {
+        // The semaphore was created successfully.
+        // The semaphore can now be used.  
+    }
+ }
+
+ * \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex + * \ingroup Semaphores + */ +#define xSemaphoreCreateMutex() xQueueCreateMutex() + + +/** + * semphr. h + * 
xSemaphoreHandle xSemaphoreCreateRecursiveMutex( void )
+ * + * Macro that implements a recursive mutex by using the existing queue + * mechanism. + * + * Mutexes created using this macro can be accessed using the + * xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() macros. The + * xSemaphoreTake() and xSemaphoreGive() macros should not be used. + * + * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex + * doesn't become available again until the owner has called + * xSemaphoreGiveRecursive() for each successful 'take' request. For example, + * if a task successfully 'takes' the same mutex 5 times then the mutex will + * not be available to any other task until it has also 'given' the mutex back + * exactly five times. + * + * This type of semaphore uses a priority inheritance mechanism so a task + * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the + * semaphore it is no longer required. + * + * Mutex type semaphores cannot be used from within interrupt service routines. + * + * See vSemaphoreCreateBinary() for an alternative implementation that can be + * used for pure synchronisation (where one task or interrupt always 'gives' the + * semaphore and another always 'takes' the semaphore) and from within interrupt + * service routines. + * + * @return xSemaphore Handle to the created mutex semaphore. Should be of type + * xSemaphoreHandle. + * + * Example usage: + 
+ xSemaphoreHandle xSemaphore;
+
+ void vATask( void * pvParameters )
+ {
+    // Semaphore cannot be used before a call to xSemaphoreCreateMutex().
+    // This is a macro so pass the variable in directly.
+    xSemaphore = xSemaphoreCreateRecursiveMutex();
+
+    if( xSemaphore != NULL )
+    {
+        // The semaphore was created successfully.
+        // The semaphore can now be used.  
+    }
+ }
+
+ * \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex + * \ingroup Semaphores + */ +#define xSemaphoreCreateRecursiveMutex() xQueueCreateMutex() + +/** + * semphr. h + * 
xSemaphoreHandle xSemaphoreCreateCounting( unsigned portBASE_TYPE uxMaxCount, unsigned portBASE_TYPE uxInitialCount )
+ * + * Macro that creates a counting semaphore by using the existing + * queue mechanism. + * + * Counting semaphores are typically used for two things: + * + * 1) Counting events. + * + * In this usage scenario an event handler will 'give' a semaphore each time + * an event occurs (incrementing the semaphore count value), and a handler + * task will 'take' a semaphore each time it processes an event + * (decrementing the semaphore count value). The count value is therefore + * the difference between the number of events that have occurred and the + * number that have been processed. In this case it is desirable for the + * initial count value to be zero. + * + * 2) Resource management. + * + * In this usage scenario the count value indicates the number of resources + * available. To obtain control of a resource a task must first obtain a + * semaphore - decrementing the semaphore count value. When the count value + * reaches zero there are no free resources. When a task finishes with the + * resource it 'gives' the semaphore back - incrementing the semaphore count + * value. In this case it is desirable for the initial count value to be + * equal to the maximum count value, indicating that all resources are free. + * + * @param uxMaxCount The maximum count value that can be reached. When the + * semaphore reaches this value it can no longer be 'given'. + * + * @param uxInitialCount The count value assigned to the semaphore when it is + * created. + * + * @return Handle to the created semaphore. Null if the semaphore could not be + * created. + * + * Example usage: + 
+ xSemaphoreHandle xSemaphore;
+
+ void vATask( void * pvParameters )
+ {
+ xSemaphoreHandle xSemaphore = NULL;
+
+    // Semaphore cannot be used before a call to xSemaphoreCreateCounting().
+    // The max value to which the semaphore can count should be 10, and the
+    // initial value assigned to the count should be 0.
+    xSemaphore = xSemaphoreCreateCounting( 10, 0 );
+
+    if( xSemaphore != NULL )
+    {
+        // The semaphore was created successfully.
+        // The semaphore can now be used.  
+    }
+ }
+
+ * \defgroup xSemaphoreCreateCounting xSemaphoreCreateCounting + * \ingroup Semaphores + */ +#define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount ) xQueueCreateCountingSemaphore( uxMaxCount, uxInitialCount ) + + +#endif /* SEMAPHORE_H */ + + diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/task.h b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/task.h new file mode 100644 index 000000000..df059e001 --- /dev/null +++ b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/task.h @@ -0,0 +1,1263 @@ +/* + FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd. + + *************************************************************************** + * * + * If you are: * + * * + * + New to FreeRTOS, * + * + Wanting to learn FreeRTOS or multitasking in general quickly * + * + Looking for basic training, * + * + Wanting to improve your FreeRTOS skills and productivity * + * * + * then take a look at the FreeRTOS eBook * + * * + * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * + * http://www.FreeRTOS.org/Documentation * + * * + * A pdf reference manual is also available. Both are usually delivered * + * to your inbox within 20 minutes to two hours when purchased between 8am * + * and 8pm GMT (although please allow up to 24 hours in case of * + * exceptional circumstances). Thank you for your support! * + * * + *************************************************************************** + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation AND MODIFIED BY the FreeRTOS exception. + ***NOTE*** The exception to the GPL is included to allow you to distribute + a combined work that includes FreeRTOS without being obliged to provide the + source code for proprietary components outside of the FreeRTOS kernel. + 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 + by writing to Richard Barry, contact details for whom are available on the + FreeRTOS WEB site. + + 1 tab == 4 spaces! + + http://www.FreeRTOS.org - Documentation, latest information, license and + contact details. + + http://www.SafeRTOS.com - A version that is certified for use in safety + critical systems. + + http://www.OpenRTOS.com - Commercial support, development, porting, + licensing and training services. +*/ + + +#ifndef INC_FREERTOS_H + #error "#include FreeRTOS.h" must appear in source files before "#include task.h" +#endif + + + +#ifndef TASK_H +#define TASK_H + +#include "portable.h" +#include "list.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * MACROS AND DEFINITIONS + *----------------------------------------------------------*/ + +#define tskKERNEL_VERSION_NUMBER "V6.0.4" + +/** + * task. h + * + * Type by which tasks are referenced. For example, a call to xTaskCreate + * returns (via a pointer parameter) an xTaskHandle variable that can then + * be used as a parameter to vTaskDelete to delete the task. + * + * \page xTaskHandle xTaskHandle + * \ingroup Tasks + */ +typedef void * xTaskHandle; + +/* + * Used internally only. + */ +typedef struct xTIME_OUT +{ + portBASE_TYPE xOverflowCount; + portTickType xTimeOnEntering; +} xTimeOutType; + +/* + * Defines the memory ranges allocated to the task when an MPU is used. + */ +typedef struct xMEMORY_REGION +{ + void *pvBaseAddress; + unsigned long ulLengthInBytes; + unsigned long ulParameters; +} xMemoryRegion; + +/* + * Parameters required to create an MPU protected task. + */ +typedef struct xTASK_PARAMTERS +{ + pdTASK_CODE pvTaskCode; + const signed char * const pcName; + unsigned short usStackDepth; + void *pvParameters; + unsigned portBASE_TYPE uxPriority; + portSTACK_TYPE *puxStackBuffer; + xMemoryRegion xRegions[ portNUM_CONFIGURABLE_REGIONS ]; +} xTaskParameters; + +/* + * Defines the priority used by the idle task. This must not be modified. + * + * \ingroup TaskUtils + */ +#define tskIDLE_PRIORITY ( ( unsigned portBASE_TYPE ) 0 ) + +/** + * task. h + * + * Macro for forcing a context switch. + * + * \page taskYIELD taskYIELD + * \ingroup SchedulerControl + */ +#define taskYIELD() portYIELD() + +/** + * task. h + * + * Macro to mark the start of a critical code region. Preemptive context + * switches cannot occur when in a critical region. + * + * NOTE: This may alter the stack (depending on the portable implementation) + * so must be used with care! + * + * \page taskENTER_CRITICAL taskENTER_CRITICAL + * \ingroup SchedulerControl + */ +#define taskENTER_CRITICAL() portENTER_CRITICAL() + +/** + * task. h + * + * Macro to mark the end of a critical code region. Preemptive context + * switches cannot occur when in a critical region. + * + * NOTE: This may alter the stack (depending on the portable implementation) + * so must be used with care! + * + * \page taskEXIT_CRITICAL taskEXIT_CRITICAL + * \ingroup SchedulerControl + */ +#define taskEXIT_CRITICAL() portEXIT_CRITICAL() + +/** + * task. h + * + * Macro to disable all maskable interrupts. + * + * \page taskDISABLE_INTERRUPTS taskDISABLE_INTERRUPTS + * \ingroup SchedulerControl + */ +#define taskDISABLE_INTERRUPTS() portDISABLE_INTERRUPTS() + +/** + * task. h + * + * Macro to enable microcontroller interrupts. + * + * \page taskENABLE_INTERRUPTS taskENABLE_INTERRUPTS + * \ingroup SchedulerControl + */ +#define taskENABLE_INTERRUPTS() portENABLE_INTERRUPTS() + +/* Definitions returned by xTaskGetSchedulerState(). */ +#define taskSCHEDULER_NOT_STARTED 0 +#define taskSCHEDULER_RUNNING 1 +#define taskSCHEDULER_SUSPENDED 2 + +/*----------------------------------------------------------- + * TASK CREATION API + *----------------------------------------------------------*/ + +/** + * task. h + *
+ portBASE_TYPE xTaskCreate(
+							  pdTASK_CODE pvTaskCode,
+							  const char * const pcName,
+							  unsigned short usStackDepth,
+							  void *pvParameters,
+							  unsigned portBASE_TYPE uxPriority,
+							  xTaskHandle *pvCreatedTask
+						  );
+ * + * 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 + * xTaskCreateRestricted(). + * + * @param pvTaskCode Pointer to the task entry function. Tasks + * must be implemented to never return (i.e. continuous loop). + * + * @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 usStackDepth The size of the task stack specified as the number of + * variables the stack can hold - not the number of bytes. For example, if + * the stack is 16 bits wide and usStackDepth is defined as 100, 200 bytes + * will be allocated for stack storage. + * + * @param pvParameters Pointer that will be used as the parameter for the task + * being created. + * + * @param uxPriority The priority at which the task should run. Systems that + * include MPU support can optionally create tasks in a privileged (system) + * mode by setting bit portPRIVILEGE_BIT of the priority parameter. For + * example, to create a privileged task at priority 2 the uxPriority parameter + * should be set to ( 2 | portPRIVILEGE_BIT ). + * + * @param pvCreatedTask Used to pass back a handle by which the created task + * can be referenced. + * + * @return pdPASS if the task was successfully created and added to a ready + * list, otherwise an error code defined in the file errors. h + * + * Example usage: + 
+ // Task to be created.
+ void vTaskCode( void * pvParameters )
+ {
+	 for( ;; )
+	 {
+		 // Task code goes here.
+	 }
+ }
+
+ // Function that creates a task.
+ void vOtherFunction( void )
+ {
+ static unsigned char ucParameterToPass;
+ xTaskHandle xHandle;
+
+	 // Create the task, storing the handle.  Note that the passed parameter ucParameterToPass
+	 // must exist for the lifetime of the task, so in this case is declared static.  If it was just an
+	 // an automatic stack variable it might no longer exist, or at least have been corrupted, by the time
+	 // the new task attempts to access it.
+	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );
+
+	 // Use the handle to delete the task.
+	 vTaskDelete( xHandle );
+ }
+
+ * \defgroup xTaskCreate xTaskCreate + * \ingroup Tasks + */ +#define xTaskCreate( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask ) xTaskGenericCreate( ( pvTaskCode ), ( pcName ), ( usStackDepth ), ( pvParameters ), ( uxPriority ), ( pxCreatedTask ), ( NULL ), ( NULL ) ) + +/** + * task. h + *
+ portBASE_TYPE xTaskCreateRestricted( xTaskParameters *pxTaskDefinition, xTaskHandle *pxCreatedTask );
+ * + * xTaskCreateRestricted() should only be used in systems that include an MPU + * implementation. + * + * Create a new task and add it to the list of tasks that are ready to run. + * The function parameters define the memory regions and associated access + * permissions allocated to the task. + * + * @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 + * definitions. + * + * @param pxCreatedTask Used to pass back a handle by which the created task + * can be referenced. + * + * @return pdPASS if the task was successfully created and added to a ready + * list, otherwise an error code defined in the file errors. h + * + * Example usage: + 
+// Create an xTaskParameters structure that defines the task to be created.
+static const xTaskParameters xCheckTaskParameters =
+{
+	vATask,		// pvTaskCode - the function that implements the task.
+	"ATask",	// pcName - just a text name for the task to assist debugging.
+	100,		// usStackDepth	- the stack size DEFINED IN WORDS.
+	NULL,		// pvParameters - passed into the task function as the function parameters.
+	( 1UL | portPRIVILEGE_BIT ),// uxPriority - task priority, set the portPRIVILEGE_BIT if the task should run in a privileged state.
+	cStackBuffer,// puxStackBuffer - the buffer to be used as the task stack.
+
+	// xRegions - Allocate up to three separate memory regions for access by
+	// the task, with appropriate access permissions.  Different processors have
+	// different memory alignment requirements - refer to the FreeRTOS documentation
+	// for full information.
+	{											
+		// Base address					Length	Parameters
+        { cReadWriteArray,				32,		portMPU_REGION_READ_WRITE },
+        { cReadOnlyArray,				32,		portMPU_REGION_READ_ONLY },
+        { cPrivilegedOnlyAccessArray,	128,	portMPU_REGION_PRIVILEGED_READ_WRITE }
+	}
+};
+
+int main( void )
+{
+xTaskHandle xHandle;
+
+	// Create a task from the const structure defined above.  The task handle
+	// is requested (the second parameter is not NULL) but in this case just for
+	// demonstration purposes as its not actually used.
+	xTaskCreateRestricted( &xRegTest1Parameters, &xHandle );
+
+	// Start the scheduler.
+	vTaskStartScheduler();
+
+	// Will only get here if there was insufficient memory to create the idle
+	// task.
+	for( ;; );
+}
+
+ * \defgroup xTaskCreateRestricted xTaskCreateRestricted + * \ingroup Tasks + */ +#define xTaskCreateRestricted( x, pxCreatedTask ) xTaskGenericCreate( ((x)->pvTaskCode), ((x)->pcName), ((x)->usStackDepth), ((x)->pvParameters), ((x)->uxPriority), (pxCreatedTask), ((x)->puxStackBuffer), ((x)->xRegions) ) + +/** + * task. h + *
+ void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxRegions );
+ * + * 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 + * new memory region definitions. + * + * Example usage: + 
+// Define an array of xMemoryRegion structures that configures an MPU region
+// allowing read/write access for 1024 bytes starting at the beginning of the
+// ucOneKByte array.  The other two of the maximum 3 definable regions are
+// unused so set to zero.
+static const xMemoryRegion xAltRegions[ portNUM_CONFIGURABLE_REGIONS ] =
+{											
+	// Base address		Length		Parameters
+	{ ucOneKByte,		1024,		portMPU_REGION_READ_WRITE },
+	{ 0,				0,			0 },
+	{ 0,				0,			0 }
+};
+
+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 
+	// 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
+	// function should modify the MPU regions of the calling task.
+	vTaskAllocateMPURegions( NULL, xAltRegions );
+	
+	// Now the task can continue its function, but from this point on can only
+	// access its stack and the ucOneKByte array (unless any other statically
+	// defined or shared regions have been declared elsewhere).
+}
+
+ * \defgroup xTaskCreateRestricted xTaskCreateRestricted + * \ingroup Tasks + */ +void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxRegions ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
void vTaskDelete( xTaskHandle pxTask );
+ * + * INCLUDE_vTaskDelete must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Remove a task from the RTOS real time kernels management. The task being + * deleted will be removed from all ready, blocked, suspended and event lists. + * + * NOTE: The idle task is responsible for freeing the kernel allocated + * memory from tasks that have been deleted. It is therefore important that + * the idle task is not starved of microcontroller processing time if your + * application makes any calls to vTaskDelete (). Memory allocated by the + * task code is not automatically freed, and should be freed before the task + * is deleted. + * + * See the demo application file death.c for sample code that utilises + * vTaskDelete (). + * + * @param pxTask The handle of the task to be deleted. Passing NULL will + * cause the calling task to be deleted. + * + * Example usage: + 
+ void vOtherFunction( void )
+ {
+ xTaskHandle xHandle;
+
+	 // Create the task, storing the handle.
+	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+
+	 // Use the handle to delete the task.
+	 vTaskDelete( xHandle );
+ }
+
+ * \defgroup vTaskDelete vTaskDelete + * \ingroup Tasks + */ +void vTaskDelete( xTaskHandle pxTask ) PRIVILEGED_FUNCTION; + + +/*----------------------------------------------------------- + * TASK CONTROL API + *----------------------------------------------------------*/ + +/** + * task. h + * 
void vTaskDelay( portTickType xTicksToDelay );
+ * + * Delay a task for a given number of ticks. The actual time that the + * task remains blocked depends on the tick rate. The constant + * portTICK_RATE_MS can be used to calculate real time from the tick + * rate - with the resolution of one tick period. + * + * INCLUDE_vTaskDelay must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * + * vTaskDelay() specifies a time at which the task wishes to unblock relative to + * the time at which vTaskDelay() is called. For example, specifying a block + * period of 100 ticks will cause the task to unblock 100 ticks after + * vTaskDelay() is called. vTaskDelay() does not therefore provide a good method + * of controlling the frequency of a cyclical task as the path taken through the + * code, as well as other task and interrupt activity, will effect the frequency + * at which vTaskDelay() gets called and therefore the time at which the task + * next executes. See vTaskDelayUntil() for an alternative API function designed + * to facilitate fixed frequency execution. It does this by specifying an + * absolute time (rather than a relative time) at which the calling task should + * unblock. + * + * @param xTicksToDelay The amount of time, in tick periods, that + * the calling task should block. + * + * Example usage: + + void vTaskFunction( void * pvParameters ) + { + void vTaskFunction( void * pvParameters ) + { + // Block for 500ms. + const portTickType xDelay = 500 / portTICK_RATE_MS; + + for( ;; ) + { + // Simply toggle the LED every 500ms, blocking between each toggle. + vToggleLED(); + vTaskDelay( xDelay ); + } + } + + * \defgroup vTaskDelay vTaskDelay + * \ingroup TaskCtrl + */ +void vTaskDelay( portTickType xTicksToDelay ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
void vTaskDelayUntil( portTickType *pxPreviousWakeTime, portTickType xTimeIncrement );
+ * + * INCLUDE_vTaskDelayUntil must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Delay a task until a specified time. This function can be used by cyclical + * tasks to ensure a constant execution frequency. + * + * This function differs from vTaskDelay () in one important aspect: vTaskDelay () will + * cause a task to block for the specified number of ticks from the time vTaskDelay () is + * called. It is therefore difficult to use vTaskDelay () by itself to generate a fixed + * execution frequency as the time between a task starting to execute and that task + * calling vTaskDelay () may not be fixed [the task may take a different path though the + * code between calls, or may get interrupted or preempted a different number of times + * each time it executes]. + * + * Whereas vTaskDelay () specifies a wake time relative to the time at which the function + * is called, vTaskDelayUntil () specifies the absolute (exact) time at which it wishes to + * unblock. + * + * The constant portTICK_RATE_MS can be used to calculate real time from the tick + * rate - with the resolution of one tick period. + * + * @param pxPreviousWakeTime Pointer to a variable that holds the time at which the + * task was last unblocked. The variable must be initialised with the current time + * prior to its first use (see the example below). Following this the variable is + * automatically updated within vTaskDelayUntil (). + * + * @param xTimeIncrement The cycle time period. The task will be unblocked at + * time *pxPreviousWakeTime + xTimeIncrement. Calling vTaskDelayUntil with the + * same xTimeIncrement parameter value will cause the task to execute with + * a fixed interface period. + * + * Example usage: + 
+ // Perform an action every 10 ticks.
+ void vTaskFunction( void * pvParameters )
+ {
+ portTickType xLastWakeTime;
+ const portTickType xFrequency = 10;
+
+	 // Initialise the xLastWakeTime variable with the current time.
+	 xLastWakeTime = xTaskGetTickCount ();
+	 for( ;; )
+	 {
+		 // Wait for the next cycle.
+		 vTaskDelayUntil( &xLastWakeTime, xFrequency );
+
+		 // Perform action here.
+	 }
+ }
+
+ * \defgroup vTaskDelayUntil vTaskDelayUntil + * \ingroup TaskCtrl + */ +void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask );
+ * + * INCLUDE_xTaskPriorityGet must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Obtain the priority of any task. + * + * @param pxTask Handle of the task to be queried. Passing a NULL + * handle results in the priority of the calling task being returned. + * + * @return The priority of pxTask. + * + * Example usage: + 
+ void vAFunction( void )
+ {
+ xTaskHandle xHandle;
+
+	 // Create a task, storing the handle.
+	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+
+	 // ...
+
+	 // Use the handle to obtain the priority of the created task.
+	 // It was created with tskIDLE_PRIORITY, but may have changed
+	 // it itself.
+	 if( uxTaskPriorityGet( xHandle ) != tskIDLE_PRIORITY )
+	 {
+		 // The task has changed it's priority.
+	 }
+
+	 // ...
+
+	 // Is our priority higher than the created task?
+	 if( uxTaskPriorityGet( xHandle ) < uxTaskPriorityGet( NULL ) )
+	 {
+		 // Our priority (obtained using NULL handle) is higher.
+	 }
+ }
+
+ * \defgroup uxTaskPriorityGet uxTaskPriorityGet + * \ingroup TaskCtrl + */ +unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority );
+ * + * INCLUDE_vTaskPrioritySet must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Set the priority of any task. + * + * A context switch will occur before the function returns if the priority + * being set is higher than the currently executing task. + * + * @param pxTask Handle to the task for which the priority is being set. + * Passing a NULL handle results in the priority of the calling task being set. + * + * @param uxNewPriority The priority to which the task will be set. + * + * Example usage: + 
+ void vAFunction( void )
+ {
+ xTaskHandle xHandle;
+
+	 // Create a task, storing the handle.
+	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+
+	 // ...
+
+	 // Use the handle to raise the priority of the created task.
+	 vTaskPrioritySet( xHandle, tskIDLE_PRIORITY + 1 );
+
+	 // ...
+
+	 // Use a NULL handle to raise our priority to the same value.
+	 vTaskPrioritySet( NULL, tskIDLE_PRIORITY + 1 );
+ }
+
+ * \defgroup vTaskPrioritySet vTaskPrioritySet + * \ingroup TaskCtrl + */ +void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
void vTaskSuspend( xTaskHandle pxTaskToSuspend );
+ * + * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Suspend any task. When suspended a task will never get any microcontroller + * processing time, no matter what its priority. + * + * Calls to vTaskSuspend are not accumulative - + * i.e. calling vTaskSuspend () twice on the same task still only requires one + * call to vTaskResume () to ready the suspended task. + * + * @param pxTaskToSuspend Handle to the task being suspended. Passing a NULL + * handle will cause the calling task to be suspended. + * + * Example usage: + 
+ void vAFunction( void )
+ {
+ xTaskHandle xHandle;
+
+	 // Create a task, storing the handle.
+	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+
+	 // ...
+
+	 // Use the handle to suspend the created task.
+	 vTaskSuspend( xHandle );
+
+	 // ...
+
+	 // The created task will not run during this period, unless
+	 // another task calls vTaskResume( xHandle ).
+
+	 //...
+
+
+	 // Suspend ourselves.
+	 vTaskSuspend( NULL );
+
+	 // We cannot get here unless another task calls vTaskResume
+	 // with our handle as the parameter.
+ }
+
+ * \defgroup vTaskSuspend vTaskSuspend + * \ingroup TaskCtrl + */ +void vTaskSuspend( xTaskHandle pxTaskToSuspend ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
void vTaskResume( xTaskHandle pxTaskToResume );
+ * + * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Resumes a suspended task. + * + * A task that has been suspended by one of more calls to vTaskSuspend () + * will be made available for running again by a single call to + * vTaskResume (). + * + * @param pxTaskToResume Handle to the task being readied. + * + * Example usage: + 
+ void vAFunction( void )
+ {
+ xTaskHandle xHandle;
+
+	 // Create a task, storing the handle.
+	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+
+	 // ...
+
+	 // Use the handle to suspend the created task.
+	 vTaskSuspend( xHandle );
+
+	 // ...
+
+	 // The created task will not run during this period, unless
+	 // another task calls vTaskResume( xHandle ).
+
+	 //...
+
+
+	 // Resume the suspended task ourselves.
+	 vTaskResume( xHandle );
+
+	 // The created task will once again get microcontroller processing
+	 // time in accordance with it priority within the system.
+ }
+
+ * \defgroup vTaskResume vTaskResume + * \ingroup TaskCtrl + */ +void vTaskResume( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
void xTaskResumeFromISR( xTaskHandle pxTaskToResume );
+ * + * INCLUDE_xTaskResumeFromISR must be defined as 1 for this function to be + * available. See the configuration section for more information. + * + * An implementation of vTaskResume() that can be called from within an ISR. + * + * A task that has been suspended by one of more calls to vTaskSuspend () + * will be made available for running again by a single call to + * xTaskResumeFromISR (). + * + * @param pxTaskToResume Handle to the task being readied. + * + * \defgroup vTaskResumeFromISR vTaskResumeFromISR + * \ingroup TaskCtrl + */ +portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION; + +/*----------------------------------------------------------- + * SCHEDULER CONTROL + *----------------------------------------------------------*/ + +/** + * task. h + * 
void vTaskStartScheduler( void );
+ * + * Starts the real time kernel tick processing. After calling the kernel + * has control over which tasks are executed and when. This function + * does not return until an executing task calls vTaskEndScheduler (). + * + * At least one task should be created via a call to xTaskCreate () + * before calling vTaskStartScheduler (). The idle task is created + * automatically when the first application task is created. + * + * See the demo application file main.c for an example of creating + * tasks and starting the kernel. + * + * Example usage: + 
+ void vAFunction( void )
+ {
+	 // Create at least one task before starting the kernel.
+	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
+
+	 // Start the real time kernel with preemption.
+	 vTaskStartScheduler ();
+
+	 // Will not get here unless a task calls vTaskEndScheduler ()
+ }
+
+ * + * \defgroup vTaskStartScheduler vTaskStartScheduler + * \ingroup SchedulerControl + */ +void vTaskStartScheduler( void ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
void vTaskEndScheduler( void );
+ * + * Stops the real time kernel tick. All created tasks will be automatically + * deleted and multitasking (either preemptive or cooperative) will + * stop. Execution then resumes from the point where vTaskStartScheduler () + * was called, as if vTaskStartScheduler () had just returned. + * + * See the demo application file main. c in the demo/PC directory for an + * example that uses vTaskEndScheduler (). + * + * vTaskEndScheduler () requires an exit function to be defined within the + * portable layer (see vPortEndScheduler () in port. c for the PC port). This + * performs hardware specific operations such as stopping the kernel tick. + * + * vTaskEndScheduler () will cause all of the resources allocated by the + * kernel to be freed - but will not free resources allocated by application + * tasks. + * + * Example usage: + 
+ void vTaskCode( void * pvParameters )
+ {
+	 for( ;; )
+	 {
+		 // Task code goes here.
+
+		 // At some point we want to end the real time kernel processing
+		 // so call ...
+		 vTaskEndScheduler ();
+	 }
+ }
+
+ void vAFunction( void )
+ {
+	 // Create at least one task before starting the kernel.
+	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
+
+	 // Start the real time kernel with preemption.
+	 vTaskStartScheduler ();
+
+	 // Will only get here when the vTaskCode () task has called
+	 // vTaskEndScheduler ().  When we get here we are back to single task
+	 // execution.
+ }
+
+ * + * \defgroup vTaskEndScheduler vTaskEndScheduler + * \ingroup SchedulerControl + */ +void vTaskEndScheduler( void ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
void vTaskSuspendAll( void );
+ * + * Suspends all real time kernel activity while keeping interrupts (including the + * kernel tick) enabled. + * + * After calling vTaskSuspendAll () the calling task will continue to execute + * without risk of being swapped out until a call to xTaskResumeAll () has been + * made. + * + * API functions that have the potential to cause a context switch (for example, + * vTaskDelayUntil(), xQueueSend(), etc.) must not be called while the scheduler + * is suspended. + * + * Example usage: + 
+ void vTask1( void * pvParameters )
+ {
+	 for( ;; )
+	 {
+		 // Task code goes here.
+
+		 // ...
+
+		 // At some point the task wants to perform a long operation during
+		 // which it does not want to get swapped out.  It cannot use
+		 // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
+		 // operation may cause interrupts to be missed - including the
+		 // ticks.
+
+		 // Prevent the real time kernel swapping out the task.
+		 vTaskSuspendAll ();
+
+		 // Perform the operation here.  There is no need to use critical
+		 // sections as we have all the microcontroller processing time.
+		 // During this time interrupts will still operate and the kernel
+		 // tick count will be maintained.
+
+		 // ...
+
+		 // The operation is complete.  Restart the kernel.
+		 xTaskResumeAll ();
+	 }
+ }
+
+ * \defgroup vTaskSuspendAll vTaskSuspendAll + * \ingroup SchedulerControl + */ +void vTaskSuspendAll( void ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
char xTaskResumeAll( void );
+ * + * Resumes real time kernel activity following a call to vTaskSuspendAll (). + * After a call to vTaskSuspendAll () the kernel will take control of which + * task is executing at any time. + * + * @return If resuming the scheduler caused a context switch then pdTRUE is + * returned, otherwise pdFALSE is returned. + * + * Example usage: + 
+ void vTask1( void * pvParameters )
+ {
+	 for( ;; )
+	 {
+		 // Task code goes here.
+
+		 // ...
+
+		 // At some point the task wants to perform a long operation during
+		 // which it does not want to get swapped out.  It cannot use
+		 // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
+		 // operation may cause interrupts to be missed - including the
+		 // ticks.
+
+		 // Prevent the real time kernel swapping out the task.
+		 vTaskSuspendAll ();
+
+		 // Perform the operation here.  There is no need to use critical
+		 // sections as we have all the microcontroller processing time.
+		 // During this time interrupts will still operate and the real
+		 // time kernel tick count will be maintained.
+
+		 // ...
+
+		 // The operation is complete.  Restart the kernel.  We want to force
+		 // a context switch - but there is no point if resuming the scheduler
+		 // caused a context switch already.
+		 if( !xTaskResumeAll () )
+		 {
+			  taskYIELD ();
+		 }
+	 }
+ }
+
+ * \defgroup xTaskResumeAll xTaskResumeAll + * \ingroup SchedulerControl + */ +signed portBASE_TYPE xTaskResumeAll( void ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask );
+ * + * Utility task that simply returns pdTRUE if the task referenced by xTask is + * currently in the Suspended state, or pdFALSE if the task referenced by xTask + * is in any other state. + * + */ +signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask ) PRIVILEGED_FUNCTION; + +/*----------------------------------------------------------- + * TASK UTILITIES + *----------------------------------------------------------*/ + +/** + * task. h + * 
volatile portTickType xTaskGetTickCount( void );
+ * + * @return The count of ticks since vTaskStartScheduler was called. + * + * \page xTaskGetTickCount xTaskGetTickCount + * \ingroup TaskUtils + */ +portTickType xTaskGetTickCount( void ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
unsigned short uxTaskGetNumberOfTasks( void );
+ * + * @return The number of tasks that the real time kernel is currently managing. + * This includes all ready, blocked and suspended tasks. A task that + * has been deleted but not yet freed by the idle task will also be + * included in the count. + * + * \page uxTaskGetNumberOfTasks uxTaskGetNumberOfTasks + * \ingroup TaskUtils + */ +unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
void vTaskList( char *pcWriteBuffer );
+ * + * configUSE_TRACE_FACILITY must be defined as 1 for this function to be + * available. See the configuration section for more information. + * + * NOTE: This function will disable interrupts for its duration. It is + * not intended for normal application runtime use but as a debug aid. + * + * Lists all the current tasks, along with their current state and stack + * usage high water mark. + * + * Tasks are reported as blocked ('B'), ready ('R'), deleted ('D') or + * suspended ('S'). + * + * @param pcWriteBuffer A buffer into which the above mentioned details + * will be written, in ascii form. This buffer is assumed to be large + * enough to contain the generated report. Approximately 40 bytes per + * task should be sufficient. + * + * \page vTaskList vTaskList + * \ingroup TaskUtils + */ +void vTaskList( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
void vTaskGetRunTimeStats( char *pcWriteBuffer );
+ * + * configGENERATE_RUN_TIME_STATS must be defined as 1 for this function + * to be available. The application must also then provide definitions + * for portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and + * portGET_RUN_TIME_COUNTER_VALUE to configure a peripheral timer/counter + * and return the timers current count value respectively. The counter + * should be at least 10 times the frequency of the tick count. + * + * NOTE: This function will disable interrupts for its duration. It is + * not intended for normal application runtime use but as a debug aid. + * + * Setting configGENERATE_RUN_TIME_STATS to 1 will result in a total + * accumulated execution time being stored for each task. The resolution + * of the accumulated time value depends on the frequency of the timer + * configured by the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro. + * Calling vTaskGetRunTimeStats() writes the total execution time of each + * task into a buffer, both as an absolute count value and as a percentage + * of the total system execution time. + * + * @param pcWriteBuffer A buffer into which the execution times will be + * written, in ascii form. This buffer is assumed to be large enough to + * contain the generated report. Approximately 40 bytes per task should + * be sufficient. + * + * \page vTaskGetRunTimeStats vTaskGetRunTimeStats + * \ingroup TaskUtils + */ +void vTaskGetRunTimeStats( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
void vTaskStartTrace( char * pcBuffer, unsigned portBASE_TYPE uxBufferSize );
+ * + * Starts a real time kernel activity trace. The trace logs the identity of + * which task is running when. + * + * The trace file is stored in binary format. A separate DOS utility called + * convtrce.exe is used to convert this into a tab delimited text file which + * can be viewed and plotted in a spread sheet. + * + * @param pcBuffer The buffer into which the trace will be written. + * + * @param ulBufferSize The size of pcBuffer in bytes. The trace will continue + * until either the buffer in full, or ulTaskEndTrace () is called. + * + * \page vTaskStartTrace vTaskStartTrace + * \ingroup TaskUtils + */ +void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
unsigned long ulTaskEndTrace( void );
+ * + * Stops a kernel activity trace. See vTaskStartTrace (). + * + * @return The number of bytes that have been written into the trace buffer. + * + * \page usTaskEndTrace usTaskEndTrace + * \ingroup TaskUtils + */ +unsigned long ulTaskEndTrace( void ) PRIVILEGED_FUNCTION; + +/** + * task.h + * 
unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask );
+ * + * INCLUDE_uxTaskGetStackHighWaterMark must be set to 1 in FreeRTOSConfig.h for + * 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. + * + * @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 smallest amount of free stack space there has been (in bytes) + * since the task referenced by xTask was created. + */ +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; + +/** + * 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 + * 
portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction );
+ * + * Calls the hook function associated with xTask. Passing xTask as NULL has + * the effect of calling the Running tasks (the calling task) hook function. + * + * pvParameter is passed to the hook function for the task to interpret as it + * wants. + */ +portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter ) PRIVILEGED_FUNCTION; + + +/*----------------------------------------------------------- + * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES + *----------------------------------------------------------*/ + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY + * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS + * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * Called from the real time kernel tick (either preemptive or cooperative), + * this increments the tick count and checks if any tasks that are blocked + * for a finite period required removing from a blocked list and placing on + * a ready list. + */ +void vTaskIncrementTick( void ) PRIVILEGED_FUNCTION; + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN + * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED. + * + * Removes the calling task from the ready list and places it both + * on the list of tasks waiting for a particular event, and the + * list of delayed tasks. The task will be removed from both lists + * and replaced on the ready list should either the event occur (and + * there be no higher priority tasks waiting on the same event) or + * the delay period expires. + * + * @param pxEventList The list containing tasks that are blocked waiting + * for the event to occur. + * + * @param xTicksToWait The maximum amount of time that the task should wait + * for the event to occur. This is specified in kernel ticks,the constant + * portTICK_RATE_MS can be used to convert kernel ticks into a real time + * period. + */ +void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait ) PRIVILEGED_FUNCTION; + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN + * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED. + * + * Removes a task from both the specified event list and the list of blocked + * tasks, and places it on a ready queue. + * + * xTaskRemoveFromEventList () will be called if either an event occurs to + * unblock a task, or the block timeout period expires. + * + * @return pdTRUE if the task being removed has a higher priority than the task + * making the call, otherwise pdFALSE. + */ +signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList ) PRIVILEGED_FUNCTION; + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN + * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * INCLUDE_vTaskCleanUpResources and INCLUDE_vTaskSuspend must be defined as 1 + * for this function to be available. + * See the configuration section for more information. + * + * Empties the ready and delayed queues of task control blocks, freeing the + * memory allocated for the task control block and task stacks as it goes. + */ +void vTaskCleanUpResources( void ) PRIVILEGED_FUNCTION; + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY + * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS + * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * Sets the pointer to the current TCB to the TCB of the highest priority task + * that is ready to run. + */ +void vTaskSwitchContext( void ) PRIVILEGED_FUNCTION; + +/* + * Return the handle of the calling task. + */ +xTaskHandle xTaskGetCurrentTaskHandle( void ) PRIVILEGED_FUNCTION; + +/* + * Capture the current time status for future reference. + */ +void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut ) PRIVILEGED_FUNCTION; + +/* + * Compare the time status now with that previously captured to see if the + * timeout has expired. + */ +portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait ) PRIVILEGED_FUNCTION; + +/* + * Shortcut used by the queue implementation to prevent unnecessary call to + * taskYIELD(); + */ +void vTaskMissedYield( void ) PRIVILEGED_FUNCTION; + +/* + * Returns the scheduler state as taskSCHEDULER_RUNNING, + * taskSCHEDULER_NOT_STARTED or taskSCHEDULER_SUSPENDED. + */ +portBASE_TYPE xTaskGetSchedulerState( void ) PRIVILEGED_FUNCTION; + +/* + * Raises the priority of the mutex holder to that of the calling task should + * the mutex holder have a priority less than the calling task. + */ +void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder ) PRIVILEGED_FUNCTION; + +/* + * Set the priority of a task back to its proper priority in the case that it + * inherited a higher priority while it was holding a semaphore. + */ +void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder ) PRIVILEGED_FUNCTION; + +/* + * Generic version of the task creation function which is in turn called by the + * 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; + +#ifdef __cplusplus +} +#endif +#endif /* TASK_H */ + + + diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/list.c b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/list.c new file mode 100644 index 000000000..fe970ee1a --- /dev/null +++ b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/list.c @@ -0,0 +1,191 @@ +/* + FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd. + + *************************************************************************** + * * + * If you are: * + * * + * + New to FreeRTOS, * + * + Wanting to learn FreeRTOS or multitasking in general quickly * + * + Looking for basic training, * + * + Wanting to improve your FreeRTOS skills and productivity * + * * + * then take a look at the FreeRTOS eBook * + * * + * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * + * http://www.FreeRTOS.org/Documentation * + * * + * A pdf reference manual is also available. Both are usually delivered * + * to your inbox within 20 minutes to two hours when purchased between 8am * + * and 8pm GMT (although please allow up to 24 hours in case of * + * exceptional circumstances). Thank you for your support! * + * * + *************************************************************************** + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation AND MODIFIED BY the FreeRTOS exception. + ***NOTE*** The exception to the GPL is included to allow you to distribute + a combined work that includes FreeRTOS without being obliged to provide the + source code for proprietary components outside of the FreeRTOS kernel. + 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 + by writing to Richard Barry, contact details for whom are available on the + FreeRTOS WEB site. + + 1 tab == 4 spaces! + + http://www.FreeRTOS.org - Documentation, latest information, license and + contact details. + + http://www.SafeRTOS.com - A version that is certified for use in safety + critical systems. + + http://www.OpenRTOS.com - Commercial support, development, porting, + licensing and training services. +*/ + + +#include +#include "FreeRTOS.h" +#include "list.h" + +/*----------------------------------------------------------- + * PUBLIC LIST API documented in list.h + *----------------------------------------------------------*/ + +void vListInitialise( xList *pxList ) +{ + /* The list structure contains a list item which is used to mark the + end of the list. To initialise the list the list end is inserted + as the only list entry. */ + pxList->pxIndex = ( xListItem * ) &( pxList->xListEnd ); + + /* The list end value is the highest possible value in the list to + ensure it remains at the end of the list. */ + pxList->xListEnd.xItemValue = portMAX_DELAY; + + /* The list end next and previous pointers point to itself so we know + when the list is empty. */ + pxList->xListEnd.pxNext = ( xListItem * ) &( pxList->xListEnd ); + pxList->xListEnd.pxPrevious = ( xListItem * ) &( pxList->xListEnd ); + + pxList->uxNumberOfItems = 0; +} +/*-----------------------------------------------------------*/ + +void vListInitialiseItem( xListItem *pxItem ) +{ + /* Make sure the list item is not recorded as being on a list. */ + pxItem->pvContainer = NULL; +} +/*-----------------------------------------------------------*/ + +void vListInsertEnd( xList *pxList, xListItem *pxNewListItem ) +{ +volatile xListItem * pxIndex; + + /* Insert a new list item into pxList, but rather than sort the list, + makes the new list item the last item to be removed by a call to + pvListGetOwnerOfNextEntry. This means it has to be the item pointed to by + the pxIndex member. */ + pxIndex = pxList->pxIndex; + + pxNewListItem->pxNext = pxIndex->pxNext; + pxNewListItem->pxPrevious = pxList->pxIndex; + pxIndex->pxNext->pxPrevious = ( volatile xListItem * ) pxNewListItem; + pxIndex->pxNext = ( volatile xListItem * ) pxNewListItem; + pxList->pxIndex = ( volatile xListItem * ) pxNewListItem; + + /* Remember which list the item is in. */ + pxNewListItem->pvContainer = ( void * ) pxList; + + ( pxList->uxNumberOfItems )++; +} +/*-----------------------------------------------------------*/ + +void vListInsert( xList *pxList, xListItem *pxNewListItem ) +{ +volatile xListItem *pxIterator; +portTickType xValueOfInsertion; + + /* Insert the new list item into the list, sorted in ulListItem order. */ + xValueOfInsertion = pxNewListItem->xItemValue; + + /* If the list already contains a list item with the same item value then + the new list item should be placed after it. This ensures that TCB's which + are stored in ready lists (all of which have the same ulListItem value) + get an equal share of the CPU. However, if the xItemValue is the same as + the back marker the iteration loop below will not end. This means we need + to guard against this by checking the value first and modifying the + algorithm slightly if necessary. */ + if( xValueOfInsertion == portMAX_DELAY ) + { + pxIterator = pxList->xListEnd.pxPrevious; + } + else + { + /* *** NOTE *********************************************************** + If you find your application is crashing here then likely causes are: + 1) Stack overflow - + see http://www.freertos.org/Stacks-and-stack-overflow-checking.html + 2) Incorrect interrupt priority assignment, especially on Cortex M3 + parts where numerically high priority values denote low actual + interrupt priories, which can seem counter intuitive. See + configMAX_SYSCALL_INTERRUPT_PRIORITY on http://www.freertos.org/a00110.html + 3) Calling an API function from within a critical section or when + the scheduler is suspended. + 4) Using a queue or semaphore before it has been initialised or + before the scheduler has been started (are interrupts firing + before vTaskStartScheduler() has been called?). + See http://www.freertos.org/FAQHelp.html for more tips. + **********************************************************************/ + + for( pxIterator = ( xListItem * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext ) + { + /* There is nothing to do here, we are just iterating to the + wanted insertion position. */ + } + } + + pxNewListItem->pxNext = pxIterator->pxNext; + pxNewListItem->pxNext->pxPrevious = ( volatile xListItem * ) pxNewListItem; + pxNewListItem->pxPrevious = pxIterator; + pxIterator->pxNext = ( volatile xListItem * ) pxNewListItem; + + /* Remember which list the item is in. This allows fast removal of the + item later. */ + pxNewListItem->pvContainer = ( void * ) pxList; + + ( pxList->uxNumberOfItems )++; +} +/*-----------------------------------------------------------*/ + +void vListRemove( xListItem *pxItemToRemove ) +{ +xList * pxList; + + pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious; + pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext; + + /* The list item knows which list it is in. Obtain the list from the list + item. */ + pxList = ( xList * ) pxItemToRemove->pvContainer; + + /* Make sure the index is left pointing to a valid item. */ + if( pxList->pxIndex == pxItemToRemove ) + { + pxList->pxIndex = pxItemToRemove->pxPrevious; + } + + pxItemToRemove->pvContainer = NULL; + ( pxList->uxNumberOfItems )--; +} +/*-----------------------------------------------------------*/ + diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c new file mode 100644 index 000000000..f7bdcd63c --- /dev/null +++ b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c @@ -0,0 +1,1098 @@ +/* + Copyright (C) 2009 William Davy - william.davy@wittenstein.co.uk + Contributed to FreeRTOS.org V5.3.0. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify it + under the terms of the GNU General Public License (version 2) as published + by the Free Software Foundation and modified by the FreeRTOS exception. + + FreeRTOS.org 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 along + with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59 + Temple Place, Suite 330, Boston, MA 02111-1307 USA. + + A special exception to the GPL is included to allow you to distribute a + combined work that includes FreeRTOS.org without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details. + + + *************************************************************************** + * * + * Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation * + * * + * This is a concise, step by step, 'hands on' guide that describes both * + * general multitasking concepts and FreeRTOS specifics. It presents and * + * explains numerous examples that are written using the FreeRTOS API. * + * Full source code for all the examples is provided in an accompanying * + * .zip file. * + * * + *************************************************************************** + + 1 tab == 4 spaces! + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + http://www.FreeRTOS.org - Documentation, latest information, license and + contact details. + + http://www.SafeRTOS.com - A version that is certified for use in safety + critical systems. + + http://www.OpenRTOS.com - Commercial support, development, porting, + licensing and training services. +*/ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the Posix port. + *----------------------------------------------------------*/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" +/*-----------------------------------------------------------*/ + +#define MAX_NUMBER_OF_TASKS ( _POSIX_THREAD_THREADS_MAX ) +/*-----------------------------------------------------------*/ + +#ifndef __CYGWIN__ +// #define COND_SIGNALING +// #define CHECK_TASK_RESUMES + #define RUNNING_THREAD_MUTEX +#endif + +/* Parameters to pass to the newly created pthread. */ +typedef struct XPARAMS +{ + pdTASK_CODE pxCode; + void *pvParams; +} xParams; + +/* Each task maintains its own interrupt status in the critical nesting variable. */ +typedef struct THREAD_SUSPENSIONS +{ + pthread_t hThread; + pthread_cond_t * hCond; + pthread_mutex_t * hMutex; + xTaskHandle hTask; + portBASE_TYPE xThreadState; + unsigned portBASE_TYPE uxCriticalNesting; +} xThreadState; +/*-----------------------------------------------------------*/ + +static xThreadState *pxThreads; +static pthread_once_t hSigSetupThread = PTHREAD_ONCE_INIT; +static pthread_attr_t xThreadAttributes; +#ifdef RUNNING_THREAD_MUTEX +static pthread_mutex_t xRunningThread = PTHREAD_MUTEX_INITIALIZER; +#endif +static pthread_mutex_t xSuspendResumeThreadMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t xSwappingThreadMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t xIrqMutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_t hMainThread = ( pthread_t )NULL; +/*-----------------------------------------------------------*/ + +static volatile portBASE_TYPE xSentinel = 0; +static volatile portBASE_TYPE xRunning = pdFALSE; +static volatile portBASE_TYPE xSuspended = pdFALSE; +static volatile portBASE_TYPE xStarted = pdFALSE; +static volatile portBASE_TYPE xHandover = 0; +static volatile portBASE_TYPE xSchedulerEnd = pdFALSE; +static volatile portBASE_TYPE xInterruptsEnabled = pdTRUE; +static volatile portBASE_TYPE xServicingTick = pdFALSE; +static volatile portBASE_TYPE xPendYield = pdFALSE; +static volatile portLONG lIndexOfLastAddedTask = 0; +static volatile unsigned portBASE_TYPE uxCriticalNesting; +/*-----------------------------------------------------------*/ + +/* + * Setup the timer to generate the tick interrupts. + */ +static void *prvWaitForStart( void * pvParams ); +static void prvSuspendSignalHandler(int sig); +static void prvSetupSignalsAndSchedulerPolicy( void ); +static void pauseThread( portBASE_TYPE pauseMode ); +static pthread_t prvGetThreadHandle( xTaskHandle hTask ); +#ifdef COND_SIGNALING +static pthread_cond_t * prvGetConditionHandle( xTaskHandle hTask ); +static pthread_mutex_t * prvGetMutexHandle( xTaskHandle hTask ); +#endif +static xTaskHandle prvGetTaskHandle( pthread_t hThread ); +static portLONG prvGetFreeThreadState( void ); +static void prvSetTaskCriticalNesting( pthread_t xThreadId, unsigned portBASE_TYPE uxNesting ); +static unsigned portBASE_TYPE prvGetTaskCriticalNesting( pthread_t xThreadId ); +static void prvDeleteThread( void *xThreadId ); +/*-----------------------------------------------------------*/ + +/* + * Exception handlers. + */ +void vPortYield( void ); +void vPortSystemTickHandler( int sig ); + +#define THREAD_PAUSE_CREATED 0 +#define THREAD_PAUSE_YIELD 1 +#define THREAD_PAUSE_INTERRUPT 2 + +FILE * fid; + +//#define DEBUG_OUTPUT +#define ERROR_OUTPUT +#ifdef DEBUG_OUTPUT + + static pthread_mutex_t xPrintfMutex = PTHREAD_MUTEX_INITIALIZER; + + #define debug_printf(...) ( (real_pthread_mutex_lock( &xPrintfMutex )|1)?( \ + ( \ + (NULL != (debug_task_handle = prvGetTaskHandle(pthread_self())) )? \ + (fprintf( fid, "%20s(%li)\t%20s\t%i: ",debug_task_handle->pcTaskName,(long)pthread_self(),__func__,__LINE__)): \ + (fprintf( fid, "%20s(%li)\t%20s\t%i: ","__unknown__",(long)pthread_self(),__func__,__LINE__)) \ + |1)?( \ + ((fprintf( fid, __VA_ARGS__ )|1)?real_pthread_mutex_unlock( &xPrintfMutex ):0) \ + ):0 ):0 ) + + #define debug_error debug_printf + + int real_pthread_mutex_lock(pthread_mutex_t* mutex) { + return pthread_mutex_lock(mutex); + } + int real_pthread_mutex_unlock(pthread_mutex_t* mutex) { + return pthread_mutex_unlock(mutex); + } + #define pthread_mutex_lock(...) ( (debug_printf(" -!- pthread_mutex_lock(%s)\n",#__VA_ARGS__)|1)?pthread_mutex_lock(__VA_ARGS__):0 ) + #define pthread_mutex_unlock(...) ( (debug_printf(" -=- pthread_mutex_unlock(%s)\n",#__VA_ARGS__)|1)?pthread_mutex_unlock(__VA_ARGS__):0 ) + #define pthread_kill(thread,signal) ( (debug_printf("Sending signal %i to thread %li!\n",(int)signal,(long)thread)|1)?pthread_kill(thread,signal):0 ) + #define pthread_cond_signal( hCond ) (debug_printf( "pthread_cond_signals(%li)\r\n", *((long int *) hCond) ) ? 1 : pthread_cond_signal( hCond ) ) + #define pthread_cond_timedwait( hCond, hMutex, it ) (debug_printf( "pthread_cond_timedwait(%li,%li)\r\n", *((long int *) hCond), *((long int *) hMutex )) ? 1 : pthread_cond_timedwait( hCond, hMutex, it ) ) + #define pthread_sigmask( how, set, out ) (debug_printf( "pthread_sigmask( %i, %li )\r\n", how, *((long int*) set) ) ? 1 : pthread_sigmask( how, set, out ) ) + +#else + #ifdef ERROR_OUTPUT + static pthread_mutex_t xPrintfMutex = PTHREAD_MUTEX_INITIALIZER; + #define debug_error(...) ( (pthread_mutex_lock( &xPrintfMutex )|1)?( \ + ( \ + (NULL != (debug_task_handle = prvGetTaskHandle(pthread_self())) )? \ + (fprintf( fid, "%20s(%li)\t%20s\t%i: ",debug_task_handle->pcTaskName,(long)pthread_self(),__func__,__LINE__)): \ + (fprintf( fid, "%20s(%li)\t%20s\t%i: ","__unknown__",(long)pthread_self(),__func__,__LINE__)) \ + |1)?( \ + ((fprintf( fid, __VA_ARGS__ )|1)?pthread_mutex_unlock( &xPrintfMutex ):0) \ + ):0 ):0 ) + + #define debug_printf(...) + #else + #define debug_printf(...) + #define debug_error(...) + #endif +#endif + + +/* + * Start first task is a separate function so it can be tested in isolation. + */ +void vPortStartFirstTask( void ); +/*-----------------------------------------------------------*/ + + +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; + +/* + * See header file for description. + */ +portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ) +{ +/* Should actually keep this struct on the stack. */ +xParams *pxThisThreadParams = pvPortMalloc( sizeof( xParams ) ); + + debug_printf("pxPortInitialiseStack\r\n"); + + (void)pthread_once( &hSigSetupThread, prvSetupSignalsAndSchedulerPolicy ); + + if ( (pthread_t)NULL == hMainThread ) + { + hMainThread = pthread_self(); + } + + /* No need to join the threads. */ + pthread_attr_init( &xThreadAttributes ); + pthread_attr_setdetachstate( &xThreadAttributes, PTHREAD_CREATE_DETACHED ); + + /* Add the task parameters. */ + pxThisThreadParams->pxCode = pxCode; + pxThisThreadParams->pvParams = pvParameters; + + vPortEnterCritical(); + + lIndexOfLastAddedTask = prvGetFreeThreadState(); + + debug_printf( "Got index for new task %i\r\n", lIndexOfLastAddedTask ); + +#ifdef COND_SIGNALING + /* Create a condition signal for this thread */ + pxThreads[ lIndexOfLastAddedTask ].hCond = ( pthread_cond_t *) malloc( sizeof( pthread_cond_t ) ); + assert( 0 == pthread_cond_init( pxThreads[ lIndexOfLastAddedTask ].hCond , NULL ) ); //&condAttr ) ); + debug_printf("Cond: %li\r\n", *( (long int *) &pxThreads[ lIndexOfLastAddedTask ].hCond) ); + + /* Create a condition mutex for this thread */ + pxThreads[ lIndexOfLastAddedTask ].hMutex = ( pthread_mutex_t *) malloc( sizeof( pthread_mutex_t ) ); + assert( 0 == pthread_mutex_init( pxThreads[ lIndexOfLastAddedTask ].hMutex, NULL ) ); //&mutexAttr ) ); + debug_printf("Mutex: %li\r\n", *( (long int *) &pxThreads[ lIndexOfLastAddedTask ].hMutex) ); +#endif + + /* Create a thread and store it's handle number */ + xSentinel = 0; + assert( 0 == pthread_create( &( pxThreads[ lIndexOfLastAddedTask ].hThread ), &xThreadAttributes, prvWaitForStart, (void *)pxThisThreadParams ) ); + + /* Wait until the task suspends. */ + while ( xSentinel == 0 ); + vPortExitCritical(); + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +void vPortStartFirstTask( void ) +{ + /* Initialise the critical nesting count ready for the first task. */ + uxCriticalNesting = 0; + + debug_printf("vPortStartFirstTask\r\n"); + + /* Start the first task. */ + vPortEnableInterrupts(); + xRunning = 1; + + /* Start the first task. */ +#ifdef COND_SIGNALING + pthread_cond_t * hCond = prvGetConditionHandle( xTaskGetCurrentTaskHandle() ); + assert( pthread_cond_signal( hCond ) == 0 ); +#endif +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +portBASE_TYPE xPortStartScheduler( void ) +{ +portBASE_TYPE xResult; +sigset_t xSignalToBlock; +portLONG lIndex; + + debug_printf( "xPortStartScheduler\r\n" ); + + /* Establish the signals to block before they are needed. */ + sigfillset( &xSignalToBlock ); + sigaddset( &xSignalToBlock, SIG_SUSPEND ); + + /* Block until the end */ + (void)pthread_sigmask( SIG_SETMASK, &xSignalToBlock, NULL ); + + for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS; lIndex++ ) + { + pxThreads[ lIndex ].uxCriticalNesting = 0; + } + + fid = fopen("log.txt", "w"); + + /* Start the first task. Will not return unless all threads are killed. */ + vPortStartFirstTask(); + + int i = 0; + struct timespec x; + usleep(1000000); + while( pdTRUE != xSchedulerEnd ) { + x.tv_sec=0; + x.tv_nsec=portTICK_RATE_MICROSECONDS * 1000; + nanosleep(&x,NULL); + i++; +// if(i % 1000 == 0) { +// printf("."); fflush(stdout); +// } + while(xInterruptsEnabled == pdFALSE){ // Don't call while in interrupt + printf("."); fflush(stdout); + } + vPortSystemTickHandler(SIG_TICK); + } + + debug_printf( "Cleaning Up, Exiting.\n" ); + /* Cleanup the mutexes */ + xResult = pthread_mutex_destroy( &xSuspendResumeThreadMutex ); + xResult = pthread_mutex_destroy( &xSwappingThreadMutex ); + vPortFree( (void *)pxThreads ); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ +portBASE_TYPE xNumberOfThreads; +portBASE_TYPE xResult; + + + for ( xNumberOfThreads = 0; xNumberOfThreads < MAX_NUMBER_OF_TASKS; xNumberOfThreads++ ) + { + if ( ( pthread_t )NULL != pxThreads[ xNumberOfThreads ].hThread ) + { + /* Kill all of the threads, they are in the detached state. */ + xResult = pthread_cancel( pxThreads[ xNumberOfThreads ].hThread ); + } + } + + /* Signal the scheduler to exit its loop. */ + xSchedulerEnd = pdTRUE; + (void)pthread_kill( hMainThread, SIG_RESUME ); +} +/*-----------------------------------------------------------*/ + +void vPortYieldFromISR( void ) +{ + /* Calling Yield from a Interrupt/Signal handler often doesn't work because the + * xSwappingThreadMutex is already owned by an original call to Yield. Therefore, + * simply indicate that a yield is required soon. + */ + + xPendYield = pdTRUE; +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + vPortDisableInterrupts(); + uxCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + /* Check for unmatched exits. */ + if ( uxCriticalNesting > 0 ) + { + uxCriticalNesting--; + } + + /* If we have reached 0 then re-enable the interrupts. */ + if( uxCriticalNesting == 0 ) + { + /* Have we missed ticks? This is the equivalent of pending an interrupt. */ + if ( pdTRUE == xPendYield ) + { + xPendYield = pdFALSE; + vPortYield(); + } + vPortEnableInterrupts(); + } +} +/*-----------------------------------------------------------*/ + +void vPortYield( void ) +{ +pthread_t xTaskToSuspend; +pthread_t xTaskToResume; +sigset_t xSignals; +tskTCB * oldTask, * newTask; + + /* We must mask the suspend signal here, because otherwise there can be an */ + /* interrupt while in pthread_mutex_lock and that will cause the next thread */ + /* to deadlock when it tries to get this mutex */ + + debug_printf( "Entering\r\n" ); + + sigemptyset( &xSignals ); + sigaddset( &xSignals, SIG_SUSPEND ); + pthread_sigmask( SIG_SETMASK, &xSignals, NULL ); + + assert( pthread_mutex_lock( &xSwappingThreadMutex ) == 0); + + oldTask = xTaskGetCurrentTaskHandle(); + xTaskToSuspend = prvGetThreadHandle( xTaskGetCurrentTaskHandle() ); + if(xTaskToSuspend != pthread_self() ) { + /* This means between masking the interrupt and getting the lock, there was an interrupt */ + /* and this task should suspend. Release the lock, then unmask interrupts to go ahead and */ + /* service the signal */ + + assert( 0 == pthread_mutex_unlock( &xSwappingThreadMutex ) ); + debug_printf( "The current task isn't even us, letting interrupt happen. Watch for swap.\r\n" ); + /* Now we are resuming, want to be able to catch this interrupt again */ + sigemptyset( &xSignals ); + pthread_sigmask( SIG_SETMASK, &xSignals, NULL); + return; + } + + xStarted = pdFALSE; + + /* Get new task then release the task switching mutex */ + vTaskSwitchContext(); + newTask = xTaskGetCurrentTaskHandle(); + xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() ); + + if ( pthread_self() != xTaskToResume ) + { + /* Remember and switch the critical nesting. */ + prvSetTaskCriticalNesting( xTaskToSuspend, uxCriticalNesting ); + uxCriticalNesting = prvGetTaskCriticalNesting( xTaskToResume ); + + debug_error( "Swapping From %li(%s) to %li(%s)\r\n", (long int) xTaskToSuspend, oldTask->pcTaskName, (long int) xTaskToResume, newTask->pcTaskName); + +#ifdef COND_SIGNALING + /* Set resume condition for specific thread */ + pthread_cond_t * hCond = prvGetConditionHandle( xTaskGetCurrentTaskHandle() ); + assert( pthread_cond_signal( hCond ) == 0 ); +#endif +#ifdef CHECK_TASK_RESUMES + while( xStarted == pdFALSE ) + debug_printf( "Waiting for task to resume\r\n" ); +#endif + + debug_printf( "Detected task resuming. Pausing this task\r\n" ); + + /* Release swapping thread mutex and pause self */ + assert( pthread_mutex_unlock( &xSwappingThreadMutex ) == 0); + pauseThread( THREAD_PAUSE_YIELD ); + } + else { + assert( pthread_mutex_unlock( &xSwappingThreadMutex ) == 0); + } + + /* Now we are resuming, want to be able to catch this interrupt again */ + sigemptyset( &xSignals ); + pthread_sigmask( SIG_SETMASK, &xSignals, NULL); +} +/*-----------------------------------------------------------*/ + +void vPortDisableInterrupts( void ) +{ + //debug_printf("\r\n"); + assert( pthread_mutex_lock( &xIrqMutex ) == 0); + xInterruptsEnabled = pdFALSE; + assert( pthread_mutex_unlock( &xIrqMutex) == 0); +} +/*-----------------------------------------------------------*/ + +void vPortEnableInterrupts( void ) +{ + //debug_printf("\r\n"); + assert( pthread_mutex_lock( &xIrqMutex ) == 0); + xInterruptsEnabled = pdTRUE; + assert( pthread_mutex_unlock( &xIrqMutex) == 0); +} +/*-----------------------------------------------------------*/ + +portBASE_TYPE xPortSetInterruptMask( void ) +{ +portBASE_TYPE xReturn = xInterruptsEnabled; + debug_printf("\r\n"); + xInterruptsEnabled = pdFALSE; + return xReturn; +} +/*-----------------------------------------------------------*/ + +void vPortClearInterruptMask( portBASE_TYPE xMask ) +{ + debug_printf("\r\n"); + xInterruptsEnabled = xMask; +} +/*-----------------------------------------------------------*/ + + +void vPortSystemTickHandler( int sig ) +{ +pthread_t xTaskToSuspend; +pthread_t xTaskToResume; +tskTCB * oldTask, * newTask; + + debug_printf( "\r\n\r\n" ); + debug_printf( "(xInterruptsEnabled = %i, xServicingTick = %i)\r\n", (int) xInterruptsEnabled != 0, (int) xServicingTick != 0); + if ( ( pdTRUE == xInterruptsEnabled ) && ( pdTRUE != xServicingTick ) ) + { +// debug_printf( "Checking for lock ...\r\n" ); + if ( 0 == pthread_mutex_trylock( &xSwappingThreadMutex ) ) + { + debug_printf( "Handling\r\n"); + xServicingTick = pdTRUE; + + oldTask = xTaskGetCurrentTaskHandle(); + xTaskToSuspend = prvGetThreadHandle( xTaskGetCurrentTaskHandle() ); + + /* Tick Increment. */ + vTaskIncrementTick(); + + /* Select Next Task. */ +#if ( configUSE_PREEMPTION == 1 ) + vTaskSwitchContext(); +#endif + + newTask = xTaskGetCurrentTaskHandle(); + xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() ); + + debug_printf( "Want %s running\r\n", newTask->pcTaskName ); + /* The only thread that can process this tick is the running thread. */ + if ( xTaskToSuspend != xTaskToResume ) + { + xSuspended = pdFALSE; + xStarted = pdFALSE; + + /* Remember and switch the critical nesting. */ + prvSetTaskCriticalNesting( xTaskToSuspend, uxCriticalNesting ); + uxCriticalNesting = prvGetTaskCriticalNesting( xTaskToResume ); + + debug_printf( "Swapping From %li(%s) to %li(%s)\r\n", (long int) xTaskToSuspend, oldTask->pcTaskName, (long int) xTaskToResume, newTask->pcTaskName); + +#ifdef CHECK_TASK_RESUMES + /* It shouldn't be possible for a second task swap to happen while waiting for this because */ + /* they can't get the xSwappingThreadMutex */ + while( xSuspended == pdFALSE ) +#endif + { + assert( pthread_kill( xTaskToSuspend, SIG_SUSPEND ) == 0); + sched_yield(); + } + +#ifdef CHECK_TASK_RESUMES + while( xStarted == pdFALSE) +#endif + { + +#ifdef COND_SIGNALING + // Set resume condition for specific thread + pthread_cond_t * hCond = prvGetConditionHandle( xTaskGetCurrentTaskHandle() ); + assert( pthread_cond_signal( hCond ) == 0 ); +#endif + assert( pthread_kill( xTaskToSuspend, SIG_SUSPEND ) == 0); + + sched_yield(); + } + + debug_printf( "Swapped From %li(%s) to %li(%s)\r\n", (long int) xTaskToSuspend, oldTask->pcTaskName, (long int) xTaskToResume, newTask->pcTaskName); } + else + { + // debug_error ("Want %s running \r\n", newTask->pcTaskName ); + } + xServicingTick = pdFALSE; + (void)pthread_mutex_unlock( &xSwappingThreadMutex ); + } + else + { + debug_error( "Pending yield here (portYield has lock - hopefully)\r\n" ); + xPendYield = pdTRUE; + } + + } + else + { + debug_printf( "Pending yield or here\r\n"); + xPendYield = pdTRUE; + } +} +/*-----------------------------------------------------------*/ + +void vPortForciblyEndThread( void *pxTaskToDelete ) +{ +xTaskHandle hTaskToDelete = ( xTaskHandle )pxTaskToDelete; +pthread_t xTaskToDelete; +pthread_t xTaskToResume; +portBASE_TYPE xResult; + + printf("vPortForciblyEndThread\r\n"); + + if ( 0 == pthread_mutex_lock( &xSwappingThreadMutex ) ) + { + xTaskToDelete = prvGetThreadHandle( hTaskToDelete ); + xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() ); + + if ( xTaskToResume == xTaskToDelete ) + { + /* This is a suicidal thread, need to select a different task to run. */ + vTaskSwitchContext(); + xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() ); + } + + if ( pthread_self() != xTaskToDelete ) + { + /* Cancelling a thread that is not me. */ + if ( xTaskToDelete != ( pthread_t )NULL ) + { + /* Send a signal to wake the task so that it definitely cancels. */ + pthread_testcancel(); + xResult = pthread_cancel( xTaskToDelete ); + /* Pthread Clean-up function will note the cancellation. */ + } + (void)pthread_mutex_unlock( &xSwappingThreadMutex ); + } + else + { + /* Resume the other thread. */ + /* Assert zero - I never fixed this functionality */ + assert( 0 ); + + /* Pthread Clean-up function will note the cancellation. */ + /* Release the execution. */ + uxCriticalNesting = 0; + vPortEnableInterrupts(); + (void)pthread_mutex_unlock( &xSwappingThreadMutex ); + /* Commit suicide */ + pthread_exit( (void *)1 ); + } + } +} +/*-----------------------------------------------------------*/ + +void *prvWaitForStart( void * pvParams ) +{ +xParams * pxParams = ( xParams * )pvParams; +pdTASK_CODE pvCode = pxParams->pxCode; +void * pParams = pxParams->pvParams; + vPortFree( pvParams ); + + pthread_cleanup_push( prvDeleteThread, (void *)pthread_self() ); + + /* want to block suspend when not the active thread */ + sigset_t xSignals; + sigemptyset( &xSignals ); + sigaddset( &xSignals, SIG_SUSPEND ); + assert( pthread_sigmask( SIG_BLOCK, &xSignals, NULL ) == 0); + + /* Because the FreeRTOS creates the TCB stack, which in this implementation */ + /* creates a thread, we need to wait until the task handle is added before */ + /* trying to pause. Must set xSentinel high so the creating task knows we're */ + /* here */ + + debug_printf("Thread started, waiting till handle is added\r\n"); + + xSentinel = 1; + + while( prvGetTaskHandle( pthread_self() ) == NULL ){ + sched_yield(); + } + + debug_printf("Handle added, pausing\r\n"); + + /* Want to delay briefly until we have explicit resume signal as otherwise the */ + /* current task variable might be in the wrong state */ + pauseThread( THREAD_PAUSE_CREATED ); + debug_printf("Starting first run\r\n"); + + sigemptyset( &xSignals ); + assert( pthread_sigmask( SIG_SETMASK, &xSignals, NULL ) == 0); + + pvCode( pParams ); + + pthread_cleanup_pop( 1 ); + return (void *)NULL; +} +/*-----------------------------------------------------------*/ + +void pauseThread( portBASE_TYPE pauseMode ) +{ + debug_printf( "Pausing thread %li. Set xSuspended false\r\n", (long int) pthread_self() ); + + //assert( pthread_self() != prvGetThreadHandle(xTaskGetCurrentTaskHandle() ) ); + +#ifdef RUNNING_THREAD_MUTEX + if( pauseMode != THREAD_PAUSE_CREATED ) + assert( 0 == pthread_mutex_unlock( &xRunningThread ) ); +#endif + +#ifdef COND_SIGNALING + int xResult; + xTaskHandle hTask = prvGetTaskHandle( pthread_self() ); + pthread_cond_t * hCond = prvGetConditionHandle( hTask ); + pthread_mutex_t * hMutex = prvGetMutexHandle( hTask ); + debug_printf("Cond: %li\r\n", *( (long int *) hCond) ); + debug_printf("Mutex: %li\r\n", *( (long int *) hMutex) ); + + struct timeval tv; + struct timespec ts; + gettimeofday( &tv, NULL ); + ts.tv_sec = tv.tv_sec + 0; +#endif + + xSuspended = pdTRUE; + + while (1) { + if( pthread_self() == prvGetThreadHandle(xTaskGetCurrentTaskHandle() ) && xRunning ) + { + + xStarted = pdTRUE; + +#ifdef RUNNING_THREAD_MUTEX + assert( 0 == pthread_mutex_lock( &xRunningThread ) ); +#endif + debug_error("Resuming\r\n"); + return; + } + else { +#ifdef COND_SIGNALING + gettimeofday( &tv, NULL ); + ts.tv_sec = ts.tv_sec + 1; + ts.tv_nsec = 0; + xResult = pthread_cond_timedwait( hCond, hMutex, &ts ); + assert( xResult != EINVAL ); +#else + /* For windows where conditional signaling is buggy */ + /* It would be wonderful to put a nanosleep here, but since its not reentrant safe */ + /* and there may be a sleep in the main code (this can be called from an ISR) we must */ + /* check this */ + if( pauseMode != THREAD_PAUSE_INTERRUPT ) + usleep(100); + sched_yield(); + +#endif +// debug_error( "Checked my status\r\n" ); + } + + } +} + +void prvSuspendSignalHandler(int sig) +{ +sigset_t xBlockSignals; + + /* This signal is set here instead of pauseThread because it is checked by the tick handler */ + /* which means if there were a swap it should result in a suspend interrupt */ + + debug_error( "Caught signal %i\r\n", sig ); + /* Check that we aren't suspending when we should be running. This bug would need tracking down */ + //assert( pthread_self() != prvGetThreadHandle(xTaskGetCurrentTaskHandle() ) ); + if( pthread_self() == prvGetThreadHandle( xTaskGetCurrentTaskHandle() ) ) + { + debug_printf( "Suspend ISR called while this thread still marked active. Reflects buggy behavior in scheduler\r\n" ); + return; + } + + /* Block further suspend signals. They need to go to their thread */ + sigemptyset( &xBlockSignals ); + sigaddset( &xBlockSignals, SIG_SUSPEND ); + assert( pthread_sigmask( SIG_BLOCK, &xBlockSignals, NULL ) == 0); + + pauseThread( THREAD_PAUSE_INTERRUPT ); + +// assert( pthread_self() == prvGetThreadHandle( xTaskGetCurrentTaskHandle() ) ); + while( pthread_self() != prvGetThreadHandle( xTaskGetCurrentTaskHandle() ) ) + { + debug_printf( "Incorrectly woke up. Repausing\r\n" ); + pauseThread( THREAD_PAUSE_INTERRUPT ); + } + + /* Make sure the right thread is resuming */ + assert( pthread_self() == prvGetThreadHandle(xTaskGetCurrentTaskHandle() ) ); + + /* Old synchronization code, may still be required + while( !xHandover ); + assert( 0 == pthread_mutex_lock( &xSingleThreadMutex ) ); */ + + /* Respond to signals again */ + sigemptyset( &xBlockSignals ); + pthread_sigmask( SIG_SETMASK, &xBlockSignals, NULL ); + + debug_printf( "Resuming %li from signal %i\r\n", (long int) pthread_self(), sig ); + + /* Will resume here when the SIG_RESUME signal is received. */ + /* Need to set the interrupts based on the task's critical nesting. */ + if ( uxCriticalNesting == 0 ) + { + vPortEnableInterrupts(); + } + else + { + vPortDisableInterrupts(); + } + debug_printf("Exit\r\n"); +} + +/*-----------------------------------------------------------*/ + +void prvSetupSignalsAndSchedulerPolicy( void ) +{ +/* The following code would allow for configuring the scheduling of this task as a Real-time task. + * The process would then need to be run with higher privileges for it to take affect. +int iPolicy; +int iResult; +int iSchedulerPriority; + iResult = pthread_getschedparam( pthread_self(), &iPolicy, &iSchedulerPriority ); + iResult = pthread_attr_setschedpolicy( &xThreadAttributes, SCHED_FIFO ); + iPolicy = SCHED_FIFO; + iResult = pthread_setschedparam( pthread_self(), iPolicy, &iSchedulerPriority ); */ + +struct sigaction sigsuspendself; +portLONG lIndex; + + debug_printf("prvSetupSignalAndSchedulerPolicy\r\n"); + + pxThreads = ( xThreadState *)pvPortMalloc( sizeof( xThreadState ) * MAX_NUMBER_OF_TASKS ); + for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS; lIndex++ ) + { + pxThreads[ lIndex ].hThread = ( pthread_t )NULL; + pxThreads[ lIndex ].hTask = ( xTaskHandle )NULL; + pxThreads[ lIndex ].uxCriticalNesting = 0; + } + + sigsuspendself.sa_flags = 0; + sigsuspendself.sa_handler = prvSuspendSignalHandler; + sigfillset( &sigsuspendself.sa_mask ); + + assert ( 0 == sigaction( SIG_SUSPEND, &sigsuspendself, NULL ) ); +} + +/*-----------------------------------------------------------*/ +pthread_mutex_t * prvGetMutexHandle( xTaskHandle hTask ) +{ +pthread_mutex_t * hMutex; +portLONG lIndex; + + for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS; lIndex++ ) + { + if ( pxThreads[ lIndex ].hTask == hTask ) + { + hMutex = pxThreads[ lIndex ].hMutex; + break; + } + } + return hMutex; +} + +/*-----------------------------------------------------------*/ +xTaskHandle prvGetTaskHandle( pthread_t hThread ) +{ +xTaskHandle hTask = NULL; +portLONG lIndex; + + /* If not initialized yet */ + if( pxThreads == NULL ) return NULL; + + for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS; lIndex++ ) + { + if ( pxThreads[ lIndex ].hThread == hThread ) + { + hTask = pxThreads[ lIndex ].hTask; + break; + } + } + return hTask; +} + +/*-----------------------------------------------------------*/ +pthread_cond_t * prvGetConditionHandle( xTaskHandle hTask ) +{ +pthread_cond_t * hCond; +portLONG lIndex; + for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS; lIndex++ ) + { + if ( pxThreads[ lIndex ].hTask == hTask ) + { + debug_printf( "Found condition on %i task\r\n", lIndex ); + return pxThreads[ lIndex ].hCond; + break; + } + } + printf( "Failed to get handle, pausing then recursing\r\n" ); + usleep(1000); + return prvGetConditionHandle( hTask ); + assert(0); + return hCond; +} + +/*-----------------------------------------------------------*/ +pthread_t prvGetThreadHandle( xTaskHandle hTask ) +{ + pthread_t hThread = ( pthread_t )NULL; + portLONG lIndex; + + for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS; lIndex++ ) + { + if ( pxThreads[ lIndex ].hTask == hTask ) + { + hThread = pxThreads[ lIndex ].hThread; + break; + } + } + return hThread; +} +/*-----------------------------------------------------------*/ + +portLONG prvGetFreeThreadState( void ) +{ +portLONG lIndex; + + for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS; lIndex++ ) + { + if ( pxThreads[ lIndex ].hThread == ( pthread_t )NULL ) + { + break; + } + } + + if ( MAX_NUMBER_OF_TASKS == lIndex ) + { + printf( "No more free threads, please increase the maximum.\n" ); + lIndex = 0; + vPortEndScheduler(); + } + + return lIndex; +} +/*-----------------------------------------------------------*/ + +void prvSetTaskCriticalNesting( pthread_t xThreadId, unsigned portBASE_TYPE uxNesting ) +{ +portLONG lIndex; + + for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS; lIndex++ ) + { + if ( pxThreads[ lIndex ].hThread == xThreadId ) + { + pxThreads[ lIndex ].uxCriticalNesting = uxNesting; + break; + } + } +} +/*-----------------------------------------------------------*/ + +unsigned portBASE_TYPE prvGetTaskCriticalNesting( pthread_t xThreadId ) +{ +unsigned portBASE_TYPE uxNesting = 0; +portLONG lIndex; + + for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS; lIndex++ ) + { + if ( pxThreads[ lIndex ].hThread == xThreadId ) + { + uxNesting = pxThreads[ lIndex ].uxCriticalNesting; + break; + } + } + return uxNesting; +} +/*-----------------------------------------------------------*/ + +void prvDeleteThread( void *xThreadId ) +{ +portLONG lIndex; + + for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS; lIndex++ ) + { + if ( pxThreads[ lIndex ].hThread == ( pthread_t )xThreadId ) + { + pxThreads[ lIndex ].hThread = (pthread_t)NULL; + pxThreads[ lIndex ].hTask = (xTaskHandle)NULL; + if ( pxThreads[ lIndex ].uxCriticalNesting > 0 ) + { + uxCriticalNesting = 0; + vPortEnableInterrupts(); + } + pxThreads[ lIndex ].uxCriticalNesting = 0; + break; + } + } +} +/*-----------------------------------------------------------*/ + +void vPortAddTaskHandle( void *pxTaskHandle ) +{ +portLONG lIndex; + + debug_printf("vPortAddTaskHandle\r\n"); + + pxThreads[ lIndexOfLastAddedTask ].hTask = ( xTaskHandle )pxTaskHandle; + for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS; lIndex++ ) + { + if ( pxThreads[ lIndex ].hThread == pxThreads[ lIndexOfLastAddedTask ].hThread ) + { + if ( pxThreads[ lIndex ].hTask != pxThreads[ lIndexOfLastAddedTask ].hTask ) + { + pxThreads[ lIndex ].hThread = ( pthread_t )NULL; + pxThreads[ lIndex ].hTask = NULL; + pxThreads[ lIndex ].uxCriticalNesting = 0; + } + } + } + usleep(10000); +} +/*-----------------------------------------------------------*/ + +void vPortFindTicksPerSecond( void ) +{ + + /* Needs to be reasonably high for accuracy. */ + unsigned long ulTicksPerSecond = sysconf(_SC_CLK_TCK); + printf( "Timer Resolution for Run TimeStats is %ld ticks per second.\n", ulTicksPerSecond ); +} +/*-----------------------------------------------------------*/ + +unsigned long ulPortGetTimerValue( void ) +{ +struct tms xTimes; + + unsigned long ulTotalTime = times( &xTimes ); + /* Return the application code times. + * The timer only increases when the application code is actually running + * which means that the total execution times should add up to 100%. + */ + return ( unsigned long ) xTimes.tms_utime; + + /* Should check ulTotalTime for being clock_t max minus 1. */ + (void)ulTotalTime; +} +/*-----------------------------------------------------------*/ diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt new file mode 100644 index 000000000..022ab59df --- /dev/null +++ b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt @@ -0,0 +1,188 @@ +File: port.c.documentation.txt +Author: Corvus Corax +Desc: Description of port.c Functions and Directions about porting. +See FreeRTOS documentation ebook for details. + + +FreeRTOS is an architecture independent real time operating system. +Most architecture dependant code sits in a single file: port.c +Architecture dependant definitions sit in: portmacro.h + +Other important files: + +Source/portable/MemMang/head_3.c - memory management - very simple. Provides +functions like malloc and free - very easy to make a wrapper for on any system +that provides memory management. + +FreeRTOS has internal scheduling. The real time scheduler sits in Source/task.c and calls low level functions of port.c for thread management. + +For that port.c needs to provide functions to switch between threads on +request, as well as a tick handler that preempts threads on a periodic basis. + +Only one FreeRTOS thread is active at any time! + + +port.c provides the API defined in portmacro.h. + +Only a subset of the functions is explained here (with the naming from the +posix port. Their macros are sometimes named a bit different) + + +void vPortEnterCritical(void); + +This function is called if a thread enters a "critical section". +In a critical sections the thread must not be preempted. + +(To preempt a thread means to halt its execution when a timer interrupt comes +in, and give execution to another thread) +This function should increase a counter for that thread, since several +"Critical Sections" could be cascaded. Only if the outermost critical section +is exited, is preemtion allowed again. + +void vPortExitCritical(void); +This function is called if a thread leaves a "critical section". +If a thread leaves the outermost critical section, the scheduler is allowed to +preempt it on timer interrupt (or other interrupts) + + +void vPortEnableInterrupts(void); +void vPortDisableInterrupts(void); + +functions to enable and disable interrupts. On "real systems" this means all +interrupts including IO. When "simulating" this means the tick handler/ timer +/ timer interrupt. The tick handler is supposed to not do anything if interrupts are disabled. + + +portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, +pdTASK_CODE pxCode, void *pvParameters ); + +Used to initialize a new thread. The stack memory area, command line +parameters for this task and the entry function (pxCode) are given + +This function needs to initialize the new task/thread, but suspend it +immediately. It is only to be executed later if the scheduler says so. + +returns pxTopOfStack if success and 0 on failure. + +THIS WILL BE THE FIRST FUNCTION FreeRTOS CALLS. +The first thread to be created is likely the idle thread. At this time the +scheduler has not been started yet. Therefore it's important to start all +threads in suspended state! + +void vPortEndScheduler(void); + +Needs to end the scheduler (and as such all Tasks/threads) This means FreeRTOS +terminates - as in (simulated) system shutdown. + + +portBASE_TYPE xPortStartScheduler(void); + +This function doesn't return until someone (another thread) calls +vPortEndScheduler(). You can set up your timer and tick handler here and start +the first thread. Then do what a scheduler does (manage threads) + + +vPortYield() + +Sometimes threads go sleeping on purpose (for example during one of FreeRTOS +system calls - including sleep() ) +This function should send the thread that calls it into suspended state and +not return until the scheduler gives back execution to this thread. + + +=========== +The scheduler. + +What your scheduler needs to do: + +Basically what your self written scheduler is allowed to do is the "dirty +work" for the high level scheduler logic provided by FreeRTOS task.c + +The scheduler is supposed to run a timer interrupt/tick handler that gets +called every portTICK_RATE_MICROSECONDS microseconds. +That value is defined somewhere in OpenPilot and has to be exact as well as +the same on all architectures. + +If you cannot set up a timer with that accuracy you are screwed! + +Anyway. Every time the timer tick happens, you have to + +- check whether you are allowed to execute the tick handler. + If interrupts are disabled and/or the thread is in a critical section, the + tick handler should do nothing + +- Tell FreeRTOS that the tick has happened + Increment the Tick Count using the FreeRTOS function + vTaskIncrementTick(); + +- If preemption is enabled (and in OpenPilot it is!) + Tell the high level Scheduler of FreeRTOS to do its magic, using the + function + vTaskSwitchContext(); + +- You can find out which thread is SUPPOSED to be running with the function + xTaskGetCurrentTaskHandle(); + +- If this is for some reason not the currently running thread, SUSPEND that + thread with whatever method possible (signals, events, operating system + thread.suspend() - I don't know how to do that in Qt. + +- Make the thread returned by xTaskGetCurrentTaskHandle() resume operation as + normal. + +- Make sure that when you return from the tick handler, exactly one thread is + running and that is the one by xTaskGetCurrentTaskHandle() and all others + are suspended! + + + +On top of that, threads can suspend themselves just like that. That happens +every time they call any blocking FreeRTOS function. + +They do that with above mentioned function + +vPortYield() + +When vPortYield is called your scheduler must: + +- Tell the high level Scheduler of FreeRTOS to do its magic, using the + function + vTaskSwitchContext(); + +- You can then find out which thread is SUPPOSED to be running with the function + xTaskGetCurrentTaskHandle(); + +- Make sure that the thread calling this function SUSPENDS and the thread + returned by xTaskGetCurrentTaskHandle() gets executed. Be aware that they + could be the same in which case vPortYield does exactly NOTHING! + +- This function does not return (since the current thread is sent to sleep) + until the scheduler makes it wake up - either by the tick handler, or by + another thread calling vPortYield(). + +- So it must not ever return until xTaskGetCurrentTaskHandle() says the + calling thread is the current task handle. + +- Then it returns to the caller. + + + +===== + +What emthod you use to send threads/tasks to sleep and wake them up again is +up to you. + +The posix implementation uses signals and a signal handler in each thread that +sleeps until a resume signal is received + +The native STM32 implementation manually switches contexts by and uses actual +system interrupts +(so does the native x86 implementation) + +The native Win32 implementation uses win32 API calls to manipulate windows +threads (windows actually provides a call to remote-suspend and resume a +thread - posix doesn't) + +I have no clue what measures for thread control and suspension/interruption Qt +offers. (I hope there are some) + diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h new file mode 100644 index 000000000..4da6b124b --- /dev/null +++ b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h @@ -0,0 +1,170 @@ +/* + FreeRTOS.org V5.2.0 - Copyright (C) 2003-2009 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify it + under the terms of the GNU General Public License (version 2) as published + by the Free Software Foundation and modified by the FreeRTOS exception. + + FreeRTOS.org 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 along + with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59 + Temple Place, Suite 330, Boston, MA 02111-1307 USA. + + A special exception to the GPL is included to allow you to distribute a + combined work that includes FreeRTOS.org without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details. + + + *************************************************************************** + * * + * Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation * + * * + * This is a concise, step by step, 'hands on' guide that describes both * + * general multitasking concepts and FreeRTOS specifics. It presents and * + * explains numerous examples that are written using the FreeRTOS API. * + * Full source code for all the examples is provided in an accompanying * + * .zip file. * + * * + *************************************************************************** + + 1 tab == 4 spaces! + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + http://www.FreeRTOS.org - Documentation, latest information, license and + contact details. + + http://www.SafeRTOS.com - A version that is certified for use in safety + critical systems. + + http://www.OpenRTOS.com - Commercial support, development, porting, + licensing and training services. +*/ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG int +#define portSHORT short +#define portSTACK_TYPE unsigned long +#define portBASE_TYPE long + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef unsigned portSHORT portTickType; + #define portMAX_DELAY ( portTickType ) 0xffff +#else + typedef unsigned portLONG portTickType; + #define portMAX_DELAY ( portTickType ) 0xffffffff +#endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ ) +#define portTICK_RATE_MICROSECONDS ( ( portTickType ) 1000000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 4 +#define portREMOVE_STATIC_QUALIFIER +/*-----------------------------------------------------------*/ + + +/* Scheduler utilities. */ +extern void vPortYieldFromISR( void ); +extern void vPortYield( void ); + +#define portYIELD() vPortYield() + +#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYieldFromISR() +/*-----------------------------------------------------------*/ + + +/* Critical section management. */ +extern void vPortDisableInterrupts( void ); +extern void vPortEnableInterrupts( void ); +#define portSET_INTERRUPT_MASK() ( vPortDisableInterrupts() ) +#define portCLEAR_INTERRUPT_MASK() ( vPortEnableInterrupts() ) + +extern portBASE_TYPE xPortSetInterruptMask( void ); +extern void vPortClearInterruptMask( portBASE_TYPE xMask ); + +#define portSET_INTERRUPT_MASK_FROM_ISR() xPortSetInterruptMask() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask(x) + + +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); + +#define portDISABLE_INTERRUPTS() portSET_INTERRUPT_MASK() +#define portENABLE_INTERRUPTS() portCLEAR_INTERRUPT_MASK() +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#define portNOP() + +#define portOUTPUT_BYTE( a, b ) + +extern void vPortForciblyEndThread( void *pxTaskToDelete ); +#define traceTASK_DELETE( pxTaskToDelete ) vPortForciblyEndThread( pxTaskToDelete ) + +extern void vPortAddTaskHandle( void *pxTaskHandle ); +#define traceTASK_CREATE( pxNewTCB ) vPortAddTaskHandle( pxNewTCB ) + +/* Posix Signal definitions that can be changed or read as appropriate. */ +#define SIG_SUSPEND SIGUSR1 +#define SIG_RESUME SIGUSR2 + +/* Enable the following hash defines to make use of the real-time tick where time progresses at real-time. */ +#define SIG_TICK SIGALRM +#define TIMER_TYPE ITIMER_REAL +/* Enable the following hash defines to make use of the process tick where time progresses only when the process is executing. +#define SIG_TICK SIGVTALRM +#define TIMER_TYPE ITIMER_VIRTUAL */ +/* Enable the following hash defines to make use of the profile tick where time progresses when the process or system calls are executing. +#define SIG_TICK SIGPROF +#define TIMER_TYPE ITIMER_PROF */ + +/* Make use of times(man 2) to gather run-time statistics on the tasks. */ +extern void vPortFindTicksPerSecond( void ); +#undef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS +#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() vPortFindTicksPerSecond() /* Nothing to do because the timer is already present. */ +extern unsigned long ulPortGetTimerValue( void ); +#undef portGET_RUN_TIME_COUNTER_VALUE +#define portGET_RUN_TIME_COUNTER_VALUE() ulPortGetTimerValue() /* Query the System time stats for this process. */ + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c new file mode 100644 index 000000000..e4fd22f8a --- /dev/null +++ b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c @@ -0,0 +1,117 @@ +/* + FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd. + + *************************************************************************** + * * + * If you are: * + * * + * + New to FreeRTOS, * + * + Wanting to learn FreeRTOS or multitasking in general quickly * + * + Looking for basic training, * + * + Wanting to improve your FreeRTOS skills and productivity * + * * + * then take a look at the FreeRTOS eBook * + * * + * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * + * http://www.FreeRTOS.org/Documentation * + * * + * A pdf reference manual is also available. Both are usually delivered * + * to your inbox within 20 minutes to two hours when purchased between 8am * + * and 8pm GMT (although please allow up to 24 hours in case of * + * exceptional circumstances). Thank you for your support! * + * * + *************************************************************************** + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation AND MODIFIED BY the FreeRTOS exception. + ***NOTE*** The exception to the GPL is included to allow you to distribute + a combined work that includes FreeRTOS without being obliged to provide the + source code for proprietary components outside of the FreeRTOS kernel. + 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 + by writing to Richard Barry, contact details for whom are available on the + FreeRTOS WEB site. + + 1 tab == 4 spaces! + + http://www.FreeRTOS.org - Documentation, latest information, license and + contact details. + + http://www.SafeRTOS.com - A version that is certified for use in safety + critical systems. + + http://www.OpenRTOS.com - Commercial support, development, porting, + licensing and training services. +*/ + + +/* + * Implementation of pvPortMalloc() and vPortFree() that relies on the + * compilers own malloc() and free() implementations. + * + * This file can only be used if the linker is configured to to generate + * a heap memory area. + * + * See heap_2.c and heap_1.c for alternative implementations, and the memory + * management pages of http://www.FreeRTOS.org for more information. + */ + +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining +all the API functions to use the MPU wrappers. That should only be done when +task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#include "FreeRTOS.h" +#include "task.h" + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/*-----------------------------------------------------------*/ + +void *pvPortMalloc( size_t xWantedSize ) +{ +void *pvReturn; + + vTaskSuspendAll(); + { + pvReturn = malloc( xWantedSize ); + } + xTaskResumeAll(); + + #if( configUSE_MALLOC_FAILED_HOOK == 1 ) + { + if( pvReturn == NULL ) + { + extern void vApplicationMallocFailedHook( void ); + vApplicationMallocFailedHook(); + } + } + #endif + + return pvReturn; +} +/*-----------------------------------------------------------*/ + +void vPortFree( void *pv ) +{ + if( pv ) + { + vTaskSuspendAll(); + { + free( pv ); + } + xTaskResumeAll(); + } +} + + + diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/readme.txt b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/readme.txt new file mode 100644 index 000000000..a20d687e0 --- /dev/null +++ b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/readme.txt @@ -0,0 +1,19 @@ +Each real time kernel port consists of three files that contain the core kernel +components and are common to every port, and one or more files that are +specific to a particular microcontroller and/or compiler. + + ++ The FreeRTOS/Source/Portable/MemMang directory contains the three sample +memory allocators as described on the http://www.FreeRTOS.org WEB site. + ++ The other directories each contain files specific to a particular +microcontroller or compiler. + + + +For example, if you are interested in the GCC port for the ATMega323 +microcontroller then the port specific files are contained in +FreeRTOS/Source/Portable/GCC/ATMega323 directory. If this is the only +port you are interested in then all the other directories can be +ignored. + diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/queue.c b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/queue.c new file mode 100644 index 000000000..7258f7a3e --- /dev/null +++ b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/queue.c @@ -0,0 +1,1465 @@ +/* + FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd. + + *************************************************************************** + * * + * If you are: * + * * + * + New to FreeRTOS, * + * + Wanting to learn FreeRTOS or multitasking in general quickly * + * + Looking for basic training, * + * + Wanting to improve your FreeRTOS skills and productivity * + * * + * then take a look at the FreeRTOS eBook * + * * + * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * + * http://www.FreeRTOS.org/Documentation * + * * + * A pdf reference manual is also available. Both are usually delivered * + * to your inbox within 20 minutes to two hours when purchased between 8am * + * and 8pm GMT (although please allow up to 24 hours in case of * + * exceptional circumstances). Thank you for your support! * + * * + *************************************************************************** + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation AND MODIFIED BY the FreeRTOS exception. + ***NOTE*** The exception to the GPL is included to allow you to distribute + a combined work that includes FreeRTOS without being obliged to provide the + source code for proprietary components outside of the FreeRTOS kernel. + 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 + by writing to Richard Barry, contact details for whom are available on the + FreeRTOS WEB site. + + 1 tab == 4 spaces! + + http://www.FreeRTOS.org - Documentation, latest information, license and + contact details. + + http://www.SafeRTOS.com - A version that is certified for use in safety + critical systems. + + http://www.OpenRTOS.com - Commercial support, development, porting, + licensing and training services. +*/ + +#include +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining +all the API functions to use the MPU wrappers. That should only be done when +task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#include "FreeRTOS.h" +#include "task.h" +#include "croutine.h" + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/*----------------------------------------------------------- + * PUBLIC LIST API documented in list.h + *----------------------------------------------------------*/ + +/* Constants used with the cRxLock and cTxLock structure members. */ +#define queueUNLOCKED ( ( signed portBASE_TYPE ) -1 ) +#define queueLOCKED_UNMODIFIED ( ( signed portBASE_TYPE ) 0 ) + +#define queueERRONEOUS_UNBLOCK ( -1 ) + +/* For internal use only. */ +#define queueSEND_TO_BACK ( 0 ) +#define queueSEND_TO_FRONT ( 1 ) + +/* Effectively make a union out of the xQUEUE structure. */ +#define pxMutexHolder pcTail +#define uxQueueType pcHead +#define uxRecursiveCallCount pcReadFrom +#define queueQUEUE_IS_MUTEX NULL + +/* Semaphores do not actually store or copy data, so have an items size of +zero. */ +#define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( 0 ) +#define queueDONT_BLOCK ( ( portTickType ) 0 ) +#define queueMUTEX_GIVE_BLOCK_TIME ( ( portTickType ) 0 ) + +/* + * Definition of the queue used by the scheduler. + * Items are queued by copy, not reference. + */ +typedef struct QueueDefinition +{ + signed char *pcHead; /*< Points to the beginning of the queue storage area. */ + signed char *pcTail; /*< Points to the byte at the end of the queue storage area. Once more byte is allocated than necessary to store the queue items, this is used as a marker. */ + + signed char *pcWriteTo; /*< Points to the free next place in the storage area. */ + signed char *pcReadFrom; /*< Points to the last place that a queued item was read from. */ + + xList xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */ + xList xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */ + + volatile unsigned portBASE_TYPE uxMessagesWaiting;/*< The number of items currently in the queue. */ + unsigned portBASE_TYPE uxLength; /*< The length of the queue defined as the number of items it will hold, not the number of bytes. */ + unsigned portBASE_TYPE uxItemSize; /*< The size of each items that the queue will hold. */ + + signed portBASE_TYPE xRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */ + signed portBASE_TYPE xTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */ + +} xQUEUE; +/*-----------------------------------------------------------*/ + +/* + * Inside this file xQueueHandle is a pointer to a xQUEUE structure. + * To keep the definition private the API header file defines it as a + * pointer to void. + */ +typedef xQUEUE * xQueueHandle; + +/* + * Prototypes for public functions are included here so we don't have to + * include the API header file (as it defines xQueueHandle differently). These + * functions are documented in the API header file. + */ +xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize ) PRIVILEGED_FUNCTION; +signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION; +unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; +void vQueueDelete( xQueueHandle xQueue ) PRIVILEGED_FUNCTION; +signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION; +signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) PRIVILEGED_FUNCTION; +signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken ) PRIVILEGED_FUNCTION; +xQueueHandle xQueueCreateMutex( void ) PRIVILEGED_FUNCTION; +xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ) PRIVILEGED_FUNCTION; +portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime ) PRIVILEGED_FUNCTION; +portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex ) PRIVILEGED_FUNCTION; +signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION; +signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) PRIVILEGED_FUNCTION; +signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; +signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; +unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; + +/* + * Co-routine queue functions differ from task queue functions. Co-routines are + * an optional component. + */ +#if configUSE_CO_ROUTINES == 1 + signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ) PRIVILEGED_FUNCTION; + signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken ) PRIVILEGED_FUNCTION; + signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait ) PRIVILEGED_FUNCTION; + signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait ) PRIVILEGED_FUNCTION; +#endif + +/* + * The queue registry is just a means for kernel aware debuggers to locate + * queue structures. It has no other purpose so is an optional component. + */ +#if configQUEUE_REGISTRY_SIZE > 0 + + /* The type stored within the queue registry array. This allows a name + to be assigned to each queue making kernel aware debugging a little + more user friendly. */ + typedef struct QUEUE_REGISTRY_ITEM + { + signed char *pcQueueName; + xQueueHandle xHandle; + } xQueueRegistryItem; + + /* The queue registry is simply an array of xQueueRegistryItem structures. + The pcQueueName member of a structure being NULL is indicative of the + array position being vacant. */ + xQueueRegistryItem xQueueRegistry[ configQUEUE_REGISTRY_SIZE ]; + + /* Removes a queue from the registry by simply setting the pcQueueName + member to NULL. */ + static void vQueueUnregisterQueue( xQueueHandle xQueue ) PRIVILEGED_FUNCTION; + void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName ) PRIVILEGED_FUNCTION; +#endif + +/* + * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not + * prevent an ISR from adding or removing items to the queue, but does prevent + * an ISR from removing tasks from the queue event lists. If an ISR finds a + * queue is locked it will instead increment the appropriate queue lock count + * to indicate that a task may require unblocking. When the queue in unlocked + * these lock counts are inspected, and the appropriate action taken. + */ +static void prvUnlockQueue( xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; + +/* + * Uses a critical section to determine if there is any data in a queue. + * + * @return pdTRUE if the queue contains no items, otherwise pdFALSE. + */ +static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; + +/* + * Uses a critical section to determine if there is any space in a queue. + * + * @return pdTRUE if there is no space, otherwise pdFALSE; + */ +static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; + +/* + * Copies an item into the queue, either at the front of the queue or the + * back of the queue. + */ +static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition ) PRIVILEGED_FUNCTION; + +/* + * Copies an item out of a queue. + */ +static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer ) PRIVILEGED_FUNCTION; +/*-----------------------------------------------------------*/ + +/* + * Macro to mark a queue as locked. Locking a queue prevents an ISR from + * accessing the queue event lists. + */ +#define prvLockQueue( pxQueue ) \ +{ \ + taskENTER_CRITICAL(); \ + { \ + if( pxQueue->xRxLock == queueUNLOCKED ) \ + { \ + pxQueue->xRxLock = queueLOCKED_UNMODIFIED; \ + } \ + if( pxQueue->xTxLock == queueUNLOCKED ) \ + { \ + pxQueue->xTxLock = queueLOCKED_UNMODIFIED; \ + } \ + } \ + taskEXIT_CRITICAL(); \ +} +/*-----------------------------------------------------------*/ + + +/*----------------------------------------------------------- + * PUBLIC QUEUE MANAGEMENT API documented in queue.h + *----------------------------------------------------------*/ + +xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize ) +{ +xQUEUE *pxNewQueue; +size_t xQueueSizeInBytes; + + /* Allocate the new queue structure. */ + if( uxQueueLength > ( unsigned portBASE_TYPE ) 0 ) + { + pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) ); + if( pxNewQueue != NULL ) + { + /* Create the list of pointers to queue items. The queue is one byte + longer than asked for to make wrap checking easier/faster. */ + xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1; + + pxNewQueue->pcHead = ( signed char * ) pvPortMalloc( xQueueSizeInBytes ); + if( pxNewQueue->pcHead != NULL ) + { + /* Initialise the queue members as described above where the + queue type is defined. */ + pxNewQueue->pcTail = pxNewQueue->pcHead + ( uxQueueLength * uxItemSize ); + pxNewQueue->uxMessagesWaiting = 0; + pxNewQueue->pcWriteTo = pxNewQueue->pcHead; + pxNewQueue->pcReadFrom = pxNewQueue->pcHead + ( ( uxQueueLength - 1 ) * uxItemSize ); + pxNewQueue->uxLength = uxQueueLength; + pxNewQueue->uxItemSize = uxItemSize; + pxNewQueue->xRxLock = queueUNLOCKED; + pxNewQueue->xTxLock = queueUNLOCKED; + + /* Likewise ensure the event queues start with the correct state. */ + vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) ); + vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) ); + + traceQUEUE_CREATE( pxNewQueue ); + return pxNewQueue; + } + else + { + traceQUEUE_CREATE_FAILED(); + vPortFree( pxNewQueue ); + } + } + } + + /* Will only reach here if we could not allocate enough memory or no memory + was required. */ + return NULL; +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_MUTEXES == 1 ) + + xQueueHandle xQueueCreateMutex( void ) + { + xQUEUE *pxNewQueue; + + /* Allocate the new queue structure. */ + pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) ); + if( pxNewQueue != NULL ) + { + /* Information required for priority inheritance. */ + pxNewQueue->pxMutexHolder = NULL; + pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX; + + /* Queues used as a mutex no data is actually copied into or out + of the queue. */ + pxNewQueue->pcWriteTo = NULL; + pxNewQueue->pcReadFrom = NULL; + + /* Each mutex has a length of 1 (like a binary semaphore) and + an item size of 0 as nothing is actually copied into or out + of the mutex. */ + pxNewQueue->uxMessagesWaiting = 0; + pxNewQueue->uxLength = 1; + pxNewQueue->uxItemSize = 0; + pxNewQueue->xRxLock = queueUNLOCKED; + pxNewQueue->xTxLock = queueUNLOCKED; + + /* Ensure the event queues start with the correct state. */ + vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) ); + vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) ); + + /* Start with the semaphore in the expected state. */ + xQueueGenericSend( pxNewQueue, NULL, 0, queueSEND_TO_BACK ); + + traceCREATE_MUTEX( pxNewQueue ); + } + else + { + traceCREATE_MUTEX_FAILED(); + } + + return pxNewQueue; + } + +#endif /* configUSE_MUTEXES */ +/*-----------------------------------------------------------*/ + +#if configUSE_RECURSIVE_MUTEXES == 1 + + portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex ) + { + portBASE_TYPE xReturn; + + /* If this is the task that holds the mutex then pxMutexHolder will not + change outside of this task. If this task does not hold the mutex then + pxMutexHolder can never coincidentally equal the tasks handle, and as + this is the only condition we are interested in it does not matter if + pxMutexHolder is accessed simultaneously by another task. Therefore no + mutual exclusion is required to test the pxMutexHolder variable. */ + if( pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle() ) + { + traceGIVE_MUTEX_RECURSIVE( pxMutex ); + + /* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to + the task handle, therefore no underflow check is required. Also, + uxRecursiveCallCount is only modified by the mutex holder, and as + there can only be one, no mutual exclusion is required to modify the + uxRecursiveCallCount member. */ + ( pxMutex->uxRecursiveCallCount )--; + + /* Have we unwound the call count? */ + if( pxMutex->uxRecursiveCallCount == 0 ) + { + /* Return the mutex. This will automatically unblock any other + task that might be waiting to access the mutex. */ + xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK ); + } + + xReturn = pdPASS; + } + else + { + /* We cannot give the mutex because we are not the holder. */ + xReturn = pdFAIL; + + traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex ); + } + + return xReturn; + } + +#endif /* configUSE_RECURSIVE_MUTEXES */ +/*-----------------------------------------------------------*/ + +#if configUSE_RECURSIVE_MUTEXES == 1 + + portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle pxMutex, portTickType xBlockTime ) + { + portBASE_TYPE xReturn; + + /* Comments regarding mutual exclusion as per those within + xQueueGiveMutexRecursive(). */ + + traceTAKE_MUTEX_RECURSIVE( pxMutex ); + + if( pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle() ) + { + ( pxMutex->uxRecursiveCallCount )++; + xReturn = pdPASS; + } + else + { + xReturn = xQueueGenericReceive( pxMutex, NULL, xBlockTime, pdFALSE ); + + /* pdPASS will only be returned if we successfully obtained the mutex, + we may have blocked to reach here. */ + if( xReturn == pdPASS ) + { + ( pxMutex->uxRecursiveCallCount )++; + } + } + + return xReturn; + } + +#endif /* configUSE_RECURSIVE_MUTEXES */ +/*-----------------------------------------------------------*/ + +#if configUSE_COUNTING_SEMAPHORES == 1 + + xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ) + { + xQueueHandle pxHandle; + + pxHandle = xQueueCreate( ( unsigned portBASE_TYPE ) uxCountValue, queueSEMAPHORE_QUEUE_ITEM_LENGTH ); + + if( pxHandle != NULL ) + { + pxHandle->uxMessagesWaiting = uxInitialCount; + + traceCREATE_COUNTING_SEMAPHORE(); + } + else + { + traceCREATE_COUNTING_SEMAPHORE_FAILED(); + } + + return pxHandle; + } + +#endif /* configUSE_COUNTING_SEMAPHORES */ +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) +{ +signed portBASE_TYPE xEntryTimeSet = pdFALSE; +xTimeOutType xTimeOut; + + /* This function relaxes the coding standard somewhat to allow return + statements within the function itself. This is done in the interest + of execution time efficiency. */ + for( ;; ) + { + taskENTER_CRITICAL(); + { + /* Is there room on the queue now? To be running we must be + the highest priority task wanting to access the queue. */ + if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) + { + traceQUEUE_SEND( pxQueue ); + prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); + + /* If there was a task waiting for data to arrive on the + queue then unblock it now. */ + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE ) + { + /* The unblocked task has a priority higher than + our own so yield immediately. Yes it is ok to do + this from within the critical section - the kernel + takes care of that. */ + portYIELD_WITHIN_API(); + } + } + + taskEXIT_CRITICAL(); + + /* Return to the original privilege level before exiting the + function. */ + return pdPASS; + } + else + { + if( xTicksToWait == ( portTickType ) 0 ) + { + /* The queue was full and no block time is specified (or + the block time has expired) so leave now. */ + taskEXIT_CRITICAL(); + + /* Return to the original privilege level before exiting + the function. */ + traceQUEUE_SEND_FAILED( pxQueue ); + return errQUEUE_FULL; + } + else if( xEntryTimeSet == pdFALSE ) + { + /* The queue was full and a block time was specified so + configure the timeout structure. */ + vTaskSetTimeOutState( &xTimeOut ); + xEntryTimeSet = pdTRUE; + } + } + } + taskEXIT_CRITICAL(); + + /* Interrupts and other tasks can send to and receive from the queue + now the critical section has been exited. */ + + vTaskSuspendAll(); + prvLockQueue( pxQueue ); + + /* Update the timeout state to see if it has expired yet. */ + if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) + { + if( prvIsQueueFull( pxQueue ) ) + { + traceBLOCKING_ON_QUEUE_SEND( pxQueue ); + vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait ); + + /* Unlocking the queue means queue events can effect the + event list. It is possible that interrupts occurring now + remove this task from the event list again - but as the + scheduler is suspended the task will go onto the pending + ready last instead of the actual ready list. */ + prvUnlockQueue( pxQueue ); + + /* Resuming the scheduler will move tasks from the pending + ready list into the ready list - so it is feasible that this + task is already in a ready list before it yields - in which + case the yield will not cause a context switch unless there + is also a higher priority task in the pending ready list. */ + if( !xTaskResumeAll() ) + { + portYIELD_WITHIN_API(); + } + } + else + { + /* Try again. */ + prvUnlockQueue( pxQueue ); + ( void ) xTaskResumeAll(); + } + } + else + { + /* The timeout has expired. */ + prvUnlockQueue( pxQueue ); + ( void ) xTaskResumeAll(); + + /* Return to the original privilege level before exiting the + function. */ + traceQUEUE_SEND_FAILED( pxQueue ); + return errQUEUE_FULL; + } + } +} +/*-----------------------------------------------------------*/ + +#if configUSE_ALTERNATIVE_API == 1 + + signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) + { + signed portBASE_TYPE xEntryTimeSet = pdFALSE; + xTimeOutType xTimeOut; + + for( ;; ) + { + taskENTER_CRITICAL(); + { + /* Is there room on the queue now? To be running we must be + the highest priority task wanting to access the queue. */ + if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) + { + traceQUEUE_SEND( pxQueue ); + prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); + + /* If there was a task waiting for data to arrive on the + queue then unblock it now. */ + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE ) + { + /* The unblocked task has a priority higher than + our own so yield immediately. */ + portYIELD_WITHIN_API(); + } + } + + taskEXIT_CRITICAL(); + return pdPASS; + } + else + { + if( xTicksToWait == ( portTickType ) 0 ) + { + taskEXIT_CRITICAL(); + return errQUEUE_FULL; + } + else if( xEntryTimeSet == pdFALSE ) + { + vTaskSetTimeOutState( &xTimeOut ); + xEntryTimeSet = pdTRUE; + } + } + } + taskEXIT_CRITICAL(); + + taskENTER_CRITICAL(); + { + if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) + { + if( prvIsQueueFull( pxQueue ) ) + { + traceBLOCKING_ON_QUEUE_SEND( pxQueue ); + vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait ); + portYIELD_WITHIN_API(); + } + } + else + { + taskEXIT_CRITICAL(); + traceQUEUE_SEND_FAILED( pxQueue ); + return errQUEUE_FULL; + } + } + taskEXIT_CRITICAL(); + } + } + +#endif /* configUSE_ALTERNATIVE_API */ +/*-----------------------------------------------------------*/ + +#if configUSE_ALTERNATIVE_API == 1 + + signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) + { + signed portBASE_TYPE xEntryTimeSet = pdFALSE; + xTimeOutType xTimeOut; + signed char *pcOriginalReadPosition; + + for( ;; ) + { + taskENTER_CRITICAL(); + { + if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) + { + /* Remember our read position in case we are just peeking. */ + pcOriginalReadPosition = pxQueue->pcReadFrom; + + prvCopyDataFromQueue( pxQueue, pvBuffer ); + + if( xJustPeeking == pdFALSE ) + { + traceQUEUE_RECEIVE( pxQueue ); + + /* We are actually removing data. */ + --( pxQueue->uxMessagesWaiting ); + + #if ( configUSE_MUTEXES == 1 ) + { + if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) + { + /* Record the information required to implement + priority inheritance should it become necessary. */ + pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle(); + } + } + #endif + + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE ) + { + portYIELD_WITHIN_API(); + } + } + } + else + { + traceQUEUE_PEEK( pxQueue ); + + /* We are not removing the data, so reset our read + pointer. */ + pxQueue->pcReadFrom = pcOriginalReadPosition; + + /* The data is being left in the queue, so see if there are + any other tasks waiting for the data. */ + if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) ) + { + /* Tasks that are removed from the event list will get added to + the pending ready list as the scheduler is still suspended. */ + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The task waiting has a higher priority than this task. */ + portYIELD_WITHIN_API(); + } + } + + } + + taskEXIT_CRITICAL(); + return pdPASS; + } + else + { + if( xTicksToWait == ( portTickType ) 0 ) + { + taskEXIT_CRITICAL(); + traceQUEUE_RECEIVE_FAILED( pxQueue ); + return errQUEUE_EMPTY; + } + else if( xEntryTimeSet == pdFALSE ) + { + vTaskSetTimeOutState( &xTimeOut ); + xEntryTimeSet = pdTRUE; + } + } + } + taskEXIT_CRITICAL(); + + taskENTER_CRITICAL(); + { + if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) + { + if( prvIsQueueEmpty( pxQueue ) ) + { + traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue ); + + #if ( configUSE_MUTEXES == 1 ) + { + if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) + { + portENTER_CRITICAL(); + vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder ); + portEXIT_CRITICAL(); + } + } + #endif + + vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait ); + portYIELD_WITHIN_API(); + } + } + else + { + taskEXIT_CRITICAL(); + traceQUEUE_RECEIVE_FAILED( pxQueue ); + return errQUEUE_EMPTY; + } + } + taskEXIT_CRITICAL(); + } + } + + +#endif /* configUSE_ALTERNATIVE_API */ +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition ) +{ +signed portBASE_TYPE xReturn; +unsigned portBASE_TYPE uxSavedInterruptStatus; + + /* Similar to xQueueGenericSend, except we don't block if there is no room + in the queue. Also we don't directly wake a task that was blocked on a + queue read, instead we return a flag to say whether a context switch is + required or not (i.e. has a task with a higher priority than us been woken + by this post). */ + uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + { + if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) + { + traceQUEUE_SEND_FROM_ISR( pxQueue ); + + prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); + + /* If the queue is locked we do not alter the event list. This will + be done when the queue is unlocked later. */ + if( pxQueue->xTxLock == queueUNLOCKED ) + { + if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The task waiting has a higher priority so record that a + context switch is required. */ + *pxHigherPriorityTaskWoken = pdTRUE; + } + } + } + else + { + /* Increment the lock count so the task that unlocks the queue + knows that data was posted while it was locked. */ + ++( pxQueue->xTxLock ); + } + + xReturn = pdPASS; + } + else + { + traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue ); + xReturn = errQUEUE_FULL; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) +{ +signed portBASE_TYPE xEntryTimeSet = pdFALSE; +xTimeOutType xTimeOut; +signed char *pcOriginalReadPosition; + + /* This function relaxes the coding standard somewhat to allow return + statements within the function itself. This is done in the interest + of execution time efficiency. */ + + for( ;; ) + { + taskENTER_CRITICAL(); + { + /* Is there data in the queue now? To be running we must be + the highest priority task wanting to access the queue. */ + if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) + { + /* Remember our read position in case we are just peeking. */ + pcOriginalReadPosition = pxQueue->pcReadFrom; + + prvCopyDataFromQueue( pxQueue, pvBuffer ); + + if( xJustPeeking == pdFALSE ) + { + traceQUEUE_RECEIVE( pxQueue ); + + /* We are actually removing data. */ + --( pxQueue->uxMessagesWaiting ); + + #if ( configUSE_MUTEXES == 1 ) + { + if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) + { + /* Record the information required to implement + priority inheritance should it become necessary. */ + pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle(); + } + } + #endif + + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE ) + { + portYIELD_WITHIN_API(); + } + } + } + else + { + traceQUEUE_PEEK( pxQueue ); + + /* We are not removing the data, so reset our read + pointer. */ + pxQueue->pcReadFrom = pcOriginalReadPosition; + + /* The data is being left in the queue, so see if there are + any other tasks waiting for the data. */ + if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) ) + { + /* Tasks that are removed from the event list will get added to + the pending ready list as the scheduler is still suspended. */ + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The task waiting has a higher priority than this task. */ + portYIELD_WITHIN_API(); + } + } + + } + + taskEXIT_CRITICAL(); + return pdPASS; + } + else + { + if( xTicksToWait == ( portTickType ) 0 ) + { + /* The queue was empty and no block time is specified (or + the block time has expired) so leave now. */ + taskEXIT_CRITICAL(); + traceQUEUE_RECEIVE_FAILED( pxQueue ); + return errQUEUE_EMPTY; + } + else if( xEntryTimeSet == pdFALSE ) + { + /* The queue was empty and a block time was specified so + configure the timeout structure. */ + vTaskSetTimeOutState( &xTimeOut ); + xEntryTimeSet = pdTRUE; + } + } + } + taskEXIT_CRITICAL(); + + /* Interrupts and other tasks can send to and receive from the queue + now the critical section has been exited. */ + + vTaskSuspendAll(); + prvLockQueue( pxQueue ); + + /* Update the timeout state to see if it has expired yet. */ + if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) + { + if( prvIsQueueEmpty( pxQueue ) ) + { + traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue ); + + #if ( configUSE_MUTEXES == 1 ) + { + if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) + { + portENTER_CRITICAL(); + { + vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder ); + } + portEXIT_CRITICAL(); + } + } + #endif + + vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait ); + prvUnlockQueue( pxQueue ); + if( !xTaskResumeAll() ) + { + portYIELD_WITHIN_API(); + } + } + else + { + /* Try again. */ + prvUnlockQueue( pxQueue ); + ( void ) xTaskResumeAll(); + } + } + else + { + prvUnlockQueue( pxQueue ); + ( void ) xTaskResumeAll(); + traceQUEUE_RECEIVE_FAILED( pxQueue ); + return errQUEUE_EMPTY; + } + } +} +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken ) +{ +signed portBASE_TYPE xReturn; +unsigned portBASE_TYPE uxSavedInterruptStatus; + + uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* We cannot block from an ISR, so check there is data available. */ + if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) + { + traceQUEUE_RECEIVE_FROM_ISR( pxQueue ); + + prvCopyDataFromQueue( pxQueue, pvBuffer ); + --( pxQueue->uxMessagesWaiting ); + + /* If the queue is locked we will not modify the event list. Instead + we update the lock count so the task that unlocks the queue will know + that an ISR has removed data while the queue was locked. */ + if( pxQueue->xRxLock == queueUNLOCKED ) + { + if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) + { + /* The task waiting has a higher priority than us so + force a context switch. */ + *pxTaskWoken = pdTRUE; + } + } + } + else + { + /* Increment the lock count so the task that unlocks the queue + knows that data was removed while it was locked. */ + ++( pxQueue->xRxLock ); + } + + xReturn = pdPASS; + } + else + { + xReturn = pdFAIL; + traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue ); + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue ) +{ +unsigned portBASE_TYPE uxReturn; + + taskENTER_CRITICAL(); + uxReturn = pxQueue->uxMessagesWaiting; + taskEXIT_CRITICAL(); + + return uxReturn; +} +/*-----------------------------------------------------------*/ + +unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue ) +{ +unsigned portBASE_TYPE uxReturn; + + uxReturn = pxQueue->uxMessagesWaiting; + + return uxReturn; +} +/*-----------------------------------------------------------*/ + +void vQueueDelete( xQueueHandle pxQueue ) +{ + traceQUEUE_DELETE( pxQueue ); + vQueueUnregisterQueue( pxQueue ); + vPortFree( pxQueue->pcHead ); + vPortFree( pxQueue ); +} +/*-----------------------------------------------------------*/ + +static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition ) +{ + if( pxQueue->uxItemSize == ( unsigned portBASE_TYPE ) 0 ) + { + #if ( configUSE_MUTEXES == 1 ) + { + if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) + { + /* The mutex is no longer being held. */ + vTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder ); + pxQueue->pxMutexHolder = NULL; + } + } + #endif + } + else if( xPosition == queueSEND_TO_BACK ) + { + memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize ); + pxQueue->pcWriteTo += pxQueue->uxItemSize; + if( pxQueue->pcWriteTo >= pxQueue->pcTail ) + { + pxQueue->pcWriteTo = pxQueue->pcHead; + } + } + else + { + memcpy( ( void * ) pxQueue->pcReadFrom, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize ); + pxQueue->pcReadFrom -= pxQueue->uxItemSize; + if( pxQueue->pcReadFrom < pxQueue->pcHead ) + { + pxQueue->pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize ); + } + } + + ++( pxQueue->uxMessagesWaiting ); +} +/*-----------------------------------------------------------*/ + +static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer ) +{ + if( pxQueue->uxQueueType != queueQUEUE_IS_MUTEX ) + { + pxQueue->pcReadFrom += pxQueue->uxItemSize; + if( pxQueue->pcReadFrom >= pxQueue->pcTail ) + { + pxQueue->pcReadFrom = pxQueue->pcHead; + } + memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize ); + } +} +/*-----------------------------------------------------------*/ + +static void prvUnlockQueue( xQueueHandle pxQueue ) +{ + /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */ + + /* The lock counts contains the number of extra data items placed or + removed from the queue while the queue was locked. When a queue is + locked items can be added or removed, but the event lists cannot be + updated. */ + taskENTER_CRITICAL(); + { + /* See if data was added to the queue while it was locked. */ + while( pxQueue->xTxLock > queueLOCKED_UNMODIFIED ) + { + /* Data was posted while the queue was locked. Are any tasks + blocked waiting for data to become available? */ + if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) ) + { + /* Tasks that are removed from the event list will get added to + the pending ready list as the scheduler is still suspended. */ + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The task waiting has a higher priority so record that a + context switch is required. */ + vTaskMissedYield(); + } + + --( pxQueue->xTxLock ); + } + else + { + break; + } + } + + pxQueue->xTxLock = queueUNLOCKED; + } + taskEXIT_CRITICAL(); + + /* Do the same for the Rx lock. */ + taskENTER_CRITICAL(); + { + while( pxQueue->xRxLock > queueLOCKED_UNMODIFIED ) + { + if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) + { + vTaskMissedYield(); + } + + --( pxQueue->xRxLock ); + } + else + { + break; + } + } + + pxQueue->xRxLock = queueUNLOCKED; + } + taskEXIT_CRITICAL(); +} +/*-----------------------------------------------------------*/ + +static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue ) +{ +signed portBASE_TYPE xReturn; + + taskENTER_CRITICAL(); + xReturn = ( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 ); + taskEXIT_CRITICAL(); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue ) +{ +signed portBASE_TYPE xReturn; + + xReturn = ( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue ) +{ +signed portBASE_TYPE xReturn; + + taskENTER_CRITICAL(); + xReturn = ( pxQueue->uxMessagesWaiting == pxQueue->uxLength ); + taskEXIT_CRITICAL(); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue ) +{ +signed portBASE_TYPE xReturn; + + xReturn = ( pxQueue->uxMessagesWaiting == pxQueue->uxLength ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +#if configUSE_CO_ROUTINES == 1 +signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait ) +{ +signed portBASE_TYPE xReturn; + + /* If the queue is already full we may have to block. A critical section + is required to prevent an interrupt removing something from the queue + between the check to see if the queue is full and blocking on the queue. */ + portDISABLE_INTERRUPTS(); + { + if( prvIsQueueFull( pxQueue ) ) + { + /* The queue is full - do we want to block or just leave without + posting? */ + if( xTicksToWait > ( portTickType ) 0 ) + { + /* As this is called from a coroutine we cannot block directly, but + return indicating that we need to block. */ + vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) ); + portENABLE_INTERRUPTS(); + return errQUEUE_BLOCKED; + } + else + { + portENABLE_INTERRUPTS(); + return errQUEUE_FULL; + } + } + } + portENABLE_INTERRUPTS(); + + portNOP(); + + portDISABLE_INTERRUPTS(); + { + if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) + { + /* There is room in the queue, copy the data into the queue. */ + prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK ); + xReturn = pdPASS; + + /* Were any co-routines waiting for data to become available? */ + if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) ) + { + /* In this instance the co-routine could be placed directly + into the ready list as we are within a critical section. + Instead the same pending ready list mechanism is used as if + the event were caused from within an interrupt. */ + if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The co-routine waiting has a higher priority so record + that a yield might be appropriate. */ + xReturn = errQUEUE_YIELD; + } + } + } + else + { + xReturn = errQUEUE_FULL; + } + } + portENABLE_INTERRUPTS(); + + return xReturn; +} +#endif +/*-----------------------------------------------------------*/ + +#if configUSE_CO_ROUTINES == 1 +signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait ) +{ +signed portBASE_TYPE xReturn; + + /* If the queue is already empty we may have to block. A critical section + is required to prevent an interrupt adding something to the queue + between the check to see if the queue is empty and blocking on the queue. */ + portDISABLE_INTERRUPTS(); + { + if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 ) + { + /* There are no messages in the queue, do we want to block or just + leave with nothing? */ + if( xTicksToWait > ( portTickType ) 0 ) + { + /* As this is a co-routine we cannot block directly, but return + indicating that we need to block. */ + vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) ); + portENABLE_INTERRUPTS(); + return errQUEUE_BLOCKED; + } + else + { + portENABLE_INTERRUPTS(); + return errQUEUE_FULL; + } + } + } + portENABLE_INTERRUPTS(); + + portNOP(); + + portDISABLE_INTERRUPTS(); + { + if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) + { + /* Data is available from the queue. */ + pxQueue->pcReadFrom += pxQueue->uxItemSize; + if( pxQueue->pcReadFrom >= pxQueue->pcTail ) + { + pxQueue->pcReadFrom = pxQueue->pcHead; + } + --( pxQueue->uxMessagesWaiting ); + memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize ); + + xReturn = pdPASS; + + /* Were any co-routines waiting for space to become available? */ + if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) ) + { + /* In this instance the co-routine could be placed directly + into the ready list as we are within a critical section. + Instead the same pending ready list mechanism is used as if + the event were caused from within an interrupt. */ + if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) + { + xReturn = errQUEUE_YIELD; + } + } + } + else + { + xReturn = pdFAIL; + } + } + portENABLE_INTERRUPTS(); + + return xReturn; +} +#endif +/*-----------------------------------------------------------*/ + + + +#if configUSE_CO_ROUTINES == 1 +signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ) +{ + /* Cannot block within an ISR so if there is no space on the queue then + exit without doing anything. */ + if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) + { + prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK ); + + /* We only want to wake one co-routine per ISR, so check that a + co-routine has not already been woken. */ + if( !xCoRoutinePreviouslyWoken ) + { + if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) ) + { + if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + return pdTRUE; + } + } + } + } + + return xCoRoutinePreviouslyWoken; +} +#endif +/*-----------------------------------------------------------*/ + +#if configUSE_CO_ROUTINES == 1 +signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxCoRoutineWoken ) +{ +signed portBASE_TYPE xReturn; + + /* We cannot block from an ISR, so check there is data available. If + not then just leave without doing anything. */ + if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) + { + /* Copy the data from the queue. */ + pxQueue->pcReadFrom += pxQueue->uxItemSize; + if( pxQueue->pcReadFrom >= pxQueue->pcTail ) + { + pxQueue->pcReadFrom = pxQueue->pcHead; + } + --( pxQueue->uxMessagesWaiting ); + memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize ); + + if( !( *pxCoRoutineWoken ) ) + { + if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) ) + { + if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) + { + *pxCoRoutineWoken = pdTRUE; + } + } + } + + xReturn = pdPASS; + } + else + { + xReturn = pdFAIL; + } + + return xReturn; +} +#endif +/*-----------------------------------------------------------*/ + +#if configQUEUE_REGISTRY_SIZE > 0 + + void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName ) + { + unsigned portBASE_TYPE ux; + + /* See if there is an empty space in the registry. A NULL name denotes + a free slot. */ + for( ux = 0; ux < configQUEUE_REGISTRY_SIZE; ux++ ) + { + if( xQueueRegistry[ ux ].pcQueueName == NULL ) + { + /* Store the information on this queue. */ + xQueueRegistry[ ux ].pcQueueName = pcQueueName; + xQueueRegistry[ ux ].xHandle = xQueue; + break; + } + } + } + +#endif + /*-----------------------------------------------------------*/ + +#if configQUEUE_REGISTRY_SIZE > 0 + + static void vQueueUnregisterQueue( xQueueHandle xQueue ) + { + unsigned portBASE_TYPE ux; + + /* See if the handle of the queue being unregistered in actually in the + registry. */ + for( ux = 0; ux < configQUEUE_REGISTRY_SIZE; ux++ ) + { + if( xQueueRegistry[ ux ].xHandle == xQueue ) + { + /* Set the name to NULL to show that this slot if free again. */ + xQueueRegistry[ ux ].pcQueueName = NULL; + break; + } + } + + } + +#endif + diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/readme.txt b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/readme.txt new file mode 100644 index 000000000..81518ecb4 --- /dev/null +++ b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/readme.txt @@ -0,0 +1,17 @@ +Each real time kernel port consists of three files that contain the core kernel +components and are common to every port, and one or more files that are +specific to a particular microcontroller and or compiler. + ++ The FreeRTOS/Source directory contains the three files that are common to +every port - list.c, queue.c and tasks.c. The kernel is contained within these +three files. croutine.c implements the optional co-routine functionality - which +is normally only used on very memory limited systems. + ++ The FreeRTOS/Source/Portable directory contains the files that are specific to +a particular microcontroller and or compiler. + ++ The FreeRTOS/Source/include directory contains the real time kernel header +files. + +See the readme file in the FreeRTOS/Source/Portable directory for more +information. \ No newline at end of file diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/task.c b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/task.c new file mode 100644 index 000000000..20f9ab309 --- /dev/null +++ b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/task.c @@ -0,0 +1,2332 @@ +/* + FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd. + + *************************************************************************** + * * + * If you are: * + * * + * + New to FreeRTOS, * + * + Wanting to learn FreeRTOS or multitasking in general quickly * + * + Looking for basic training, * + * + Wanting to improve your FreeRTOS skills and productivity * + * * + * then take a look at the FreeRTOS eBook * + * * + * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * + * http://www.FreeRTOS.org/Documentation * + * * + * A pdf reference manual is also available. Both are usually delivered * + * to your inbox within 20 minutes to two hours when purchased between 8am * + * and 8pm GMT (although please allow up to 24 hours in case of * + * exceptional circumstances). Thank you for your support! * + * * + *************************************************************************** + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation AND MODIFIED BY the FreeRTOS exception. + ***NOTE*** The exception to the GPL is included to allow you to distribute + a combined work that includes FreeRTOS without being obliged to provide the + source code for proprietary components outside of the FreeRTOS kernel. + 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 + by writing to Richard Barry, contact details for whom are available on the + FreeRTOS WEB site. + + 1 tab == 4 spaces! + + http://www.FreeRTOS.org - Documentation, latest information, license and + contact details. + + http://www.SafeRTOS.com - A version that is certified for use in safety + critical systems. + + http://www.OpenRTOS.com - Commercial support, development, porting, + licensing and training services. +*/ + + +#include +#include +#include +#include +#include +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining +all the API functions to use the MPU wrappers. That should only be done when +task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#include "FreeRTOS.h" +#include "task.h" +#include "StackMacros.h" + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* + * Macro to define the amount of stack available to the idle task. + */ +#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE + +/* + * 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; + + +/* + * Some kernel aware debuggers require data to be viewed to be global, rather + * than file scope. + */ +#ifdef portREMOVE_STATIC_QUALIFIER + #define static +#endif + +/*lint -e956 */ +PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL; + +/* Lists for ready and blocked tasks. --------------------*/ + +PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */ +PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */ +PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */ +PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */ +PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */ +PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */ + +#if ( INCLUDE_vTaskDelete == 1 ) + + PRIVILEGED_DATA static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */ + PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0; + +#endif + +#if ( INCLUDE_vTaskSuspend == 1 ) + + PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */ + +#endif + +/* File private variables. --------------------------------*/ +PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0; +PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0; +PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY; +PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY; +PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE; +PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE; +PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0; +PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE; +PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0; +PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0; + +#if ( configGENERATE_RUN_TIME_STATS == 1 ) + + PRIVILEGED_DATA static char pcStatsString[ 50 ] ; + PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */ + static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION; + +#endif + +/* Debugging and trace facilities private variables and macros. ------------*/ + +/* + * The value used to fill the stack of a task when the task is created. This + * is used purely for checking the high water mark for tasks. + */ +#define tskSTACK_FILL_BYTE ( 0xa5 ) + +/* + * Macros used by vListTask to indicate which state a task is in. + */ +#define tskBLOCKED_CHAR ( ( signed char ) 'B' ) +#define tskREADY_CHAR ( ( signed char ) 'R' ) +#define tskDELETED_CHAR ( ( signed char ) 'D' ) +#define tskSUSPENDED_CHAR ( ( signed char ) 'S' ) + +/* + * Macros and private variables used by the trace facility. + */ +#if ( configUSE_TRACE_FACILITY == 1 ) + + #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned long ) ( sizeof( unsigned long ) + sizeof( unsigned long ) ) ) + PRIVILEGED_DATA static volatile signed char * volatile pcTraceBuffer; + PRIVILEGED_DATA static signed char *pcTraceBufferStart; + PRIVILEGED_DATA static signed char *pcTraceBufferEnd; + PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE; + static unsigned portBASE_TYPE uxPreviousTask = 255; + PRIVILEGED_DATA static char pcStatusString[ 50 ]; + +#endif + +/*-----------------------------------------------------------*/ + +/* + * Macro that writes a trace of scheduler activity to a buffer. This trace + * shows which task is running when and is very useful as a debugging tool. + * As this macro is called each context switch it is a good idea to undefine + * it if not using the facility. + */ +#if ( configUSE_TRACE_FACILITY == 1 ) + + #define vWriteTraceToBuffer() \ + { \ + if( xTracing ) \ + { \ + if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \ + { \ + if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \ + { \ + uxPreviousTask = pxCurrentTCB->uxTCBNumber; \ + *( unsigned long * ) pcTraceBuffer = ( unsigned long ) xTickCount; \ + pcTraceBuffer += sizeof( unsigned long ); \ + *( unsigned long * ) pcTraceBuffer = ( unsigned long ) uxPreviousTask; \ + pcTraceBuffer += sizeof( unsigned long ); \ + } \ + else \ + { \ + xTracing = pdFALSE; \ + } \ + } \ + } \ + } + +#else + + #define vWriteTraceToBuffer() + +#endif +/*-----------------------------------------------------------*/ + +/* + * Place the task represented by pxTCB into the appropriate ready queue for + * the task. It is inserted at the end of the list. One quirk of this is + * that if the task being inserted is at the same priority as the currently + * executing task, then it will only be rescheduled after the currently + * executing task has been rescheduled. + */ +#define prvAddTaskToReadyQueue( pxTCB ) \ +{ \ + if( pxTCB->uxPriority > uxTopReadyPriority ) \ + { \ + uxTopReadyPriority = pxTCB->uxPriority; \ + } \ + vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \ +} +/*-----------------------------------------------------------*/ + +/* + * Macro that looks at the list of tasks that are currently delayed to see if + * any require waking. + * + * Tasks are stored in the queue in the order of their wake time - meaning + * once one tasks has been found whose timer has not expired we need not look + * any further down the list. + */ +#define prvCheckDelayedTasks() \ +{ \ +register tskTCB *pxTCB; \ + \ + while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \ + { \ + if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \ + { \ + break; \ + } \ + vListRemove( &( pxTCB->xGenericListItem ) ); \ + /* Is the task waiting on an event also? */ \ + if( pxTCB->xEventListItem.pvContainer ) \ + { \ + vListRemove( &( pxTCB->xEventListItem ) ); \ + } \ + prvAddTaskToReadyQueue( pxTCB ); \ + } \ +} +/*-----------------------------------------------------------*/ + +/* + * Several functions take an xTaskHandle parameter that can optionally be NULL, + * where NULL is used to indicate that the handle of the currently executing + * task should be used in place of the parameter. This macro simply checks to + * see if the parameter is NULL and returns a pointer to the appropriate TCB. + */ +#define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle ) + + +/* File private functions. --------------------------------*/ + +/* + * Utility to ready a TCB for a given task. Mainly just copies the parameters + * into the TCB structure. + */ +static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION; + +/* + * Utility to ready all the lists used by the scheduler. This is called + * automatically upon the creation of the first task. + */ +static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION; + +/* + * The idle task, which as all tasks is implemented as a never ending loop. + * The idle task is automatically created and added to the ready lists upon + * creation of the first user task. + * + * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific + * language extensions. The equivalent prototype for this function is: + * + * void prvIdleTask( void *pvParameters ); + * + */ +static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ); + +/* + * Utility to free all memory allocated by the scheduler to hold a TCB, + * including the stack pointed to by the TCB. + * + * This does not free memory allocated by the task itself (i.e. memory + * allocated by calls to pvPortMalloc from within the tasks application code). + */ +#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) ) + + static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION; + +#endif + +/* + * Used only by the idle task. This checks to see if anything has been placed + * in the list of tasks waiting to be deleted. If so the task is cleaned up + * and its TCB deleted. + */ +static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION; + +/* + * Allocates memory from the heap for a TCB and associated stack. Checks the + * allocation was successful. + */ +static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION; + +/* + * Called from vTaskList. vListTasks details all the tasks currently under + * control of the scheduler. The tasks may be in one of a number of lists. + * prvListTaskWithinSingleList accepts a list and details the tasks from + * within just that list. + * + * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM + * NORMAL APPLICATION CODE. + */ +#if ( configUSE_TRACE_FACILITY == 1 ) + + static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION; + +#endif + +/* + * When a task is created, the stack of the task is filled with a known value. + * This function determines the 'high water mark' of the task stack by + * determining how much of the stack remains at the original preset value. + */ +#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) + + static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION; + +#endif + + +/*lint +e956 */ + + + +/*----------------------------------------------------------- + * TASK CREATION API documented in task.h + *----------------------------------------------------------*/ + +signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions ) +{ +signed portBASE_TYPE xReturn; +tskTCB * pxNewTCB; + + /* Allocate the memory required by the TCB and stack for the new task, + checking that the allocation was successful. */ + pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer ); + + if( pxNewTCB != NULL ) + { + portSTACK_TYPE *pxTopOfStack; + + #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. + portSTACK_GROWTH is used to make the result positive or negative as + required by the port. */ + #if( portSTACK_GROWTH < 0 ) + { + pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 ); + pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( unsigned long ) pxTopOfStack ) & ( ( unsigned long ) ~portBYTE_ALIGNMENT_MASK ) ); + } + #else + { + pxTopOfStack = pxNewTCB->pxStack; + + /* If we want to use stack checking on architectures that use + a positive stack growth direction then we also need to store the + other extreme of the stack space. */ + pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 ); + } + #endif + + /* Setup the newly allocated TCB with the initial state of the task. */ + prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth ); + + /* Initialize the TCB stack to look as if the task was already running, + but had been interrupted by the scheduler. The return address is set + to the start of the task function. Once the stack has been initialised + the top of stack variable is updated. */ + #if( portUSING_MPU_WRAPPERS == 1 ) + { + pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged ); + } + #else + { + pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters ); + } + #endif + + /* 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 ) + { + /* As this is the first task it must also be 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(); + } + else + { + /* If the scheduler is not already running, make this task the + current task if it is the highest priority task to be created + so far. */ + if( xSchedulerRunning == pdFALSE ) + { + if( pxCurrentTCB->uxPriority <= uxPriority ) + { + pxCurrentTCB = pxNewTCB; + } + } + } + + /* Remember the top priority to make context switching faster. Use + the priority in pxNewTCB as this has been capped to a valid value. */ + if( pxNewTCB->uxPriority > uxTopUsedPriority ) + { + uxTopUsedPriority = pxNewTCB->uxPriority; + } + + #if ( configUSE_TRACE_FACILITY == 1 ) + { + /* Add a counter into the TCB for tracing only. */ + pxNewTCB->uxTCBNumber = uxTaskNumber; + } + #endif + uxTaskNumber++; + + prvAddTaskToReadyQueue( pxNewTCB ); + + xReturn = pdPASS; + traceTASK_CREATE( pxNewTCB ); + } + portEXIT_CRITICAL(); + } + else + { + xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; + traceTASK_CREATE_FAILED( pxNewTCB ); + } + + 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 + then it should run now. */ + if( pxCurrentTCB->uxPriority < uxPriority ) + { + portYIELD_WITHIN_API(); + } + } + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskDelete == 1 ) + + void vTaskDelete( xTaskHandle pxTaskToDelete ) + { + tskTCB *pxTCB; + + portENTER_CRITICAL(); + { + /* Ensure a yield is performed if the current task is being + deleted. */ + if( pxTaskToDelete == pxCurrentTCB ) + { + pxTaskToDelete = NULL; + } + + /* If null is passed in here then we are deleting ourselves. */ + pxTCB = prvGetTCBFromHandle( pxTaskToDelete ); + + /* Remove task from the ready list and place in the termination list. + This will stop the task from be scheduled. The idle task will check + the termination list and free up any memory allocated by the + scheduler for the TCB and stack. */ + vListRemove( &( pxTCB->xGenericListItem ) ); + + /* Is the task waiting on an event also? */ + if( pxTCB->xEventListItem.pvContainer ) + { + vListRemove( &( pxTCB->xEventListItem ) ); + } + + vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) ); + + /* Increment the ucTasksDeleted variable so the idle task knows + there is a task that has been deleted and that it should therefore + check the xTasksWaitingTermination list. */ + ++uxTasksDeleted; + + /* Increment the uxTaskNumberVariable also so kernel aware debuggers + can detect that the task lists need re-generating. */ + uxTaskNumber++; + + traceTASK_DELETE( pxTCB ); + } + portEXIT_CRITICAL(); + + /* Force a reschedule if we have just deleted the current task. */ + if( xSchedulerRunning != pdFALSE ) + { + if( ( void * ) pxTaskToDelete == NULL ) + { + portYIELD_WITHIN_API(); + } + } + } + +#endif + + + + + + +/*----------------------------------------------------------- + * TASK CONTROL API documented in task.h + *----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskDelayUntil == 1 ) + + void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement ) + { + portTickType xTimeToWake; + portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE; + + vTaskSuspendAll(); + { + /* Generate the tick time at which the task wants to wake. */ + xTimeToWake = *pxPreviousWakeTime + xTimeIncrement; + + if( xTickCount < *pxPreviousWakeTime ) + { + /* The tick count has overflowed since this function was + lasted called. In this case the only time we should ever + actually delay is if the wake time has also overflowed, + and the wake time is greater than the tick time. When this + is the case it is as if neither time had overflowed. */ + if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) ) + { + xShouldDelay = pdTRUE; + } + } + else + { + /* The tick time has not overflowed. In this case we will + delay if either the wake time has overflowed, and/or the + tick time is less than the wake time. */ + if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) ) + { + xShouldDelay = pdTRUE; + } + } + + /* Update the wake time ready for the next call. */ + *pxPreviousWakeTime = xTimeToWake; + + if( xShouldDelay ) + { + traceTASK_DELAY_UNTIL(); + + /* We must remove ourselves from the ready list before adding + ourselves to the blocked list as the same list item is used for + both lists. */ + vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + + /* The list item will be inserted in wake time order. */ + listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake ); + + if( xTimeToWake < xTickCount ) + { + /* Wake time has overflowed. Place this item in the + overflow list. */ + vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + else + { + /* The wake time has not overflowed, so we can use the + current block list. */ + vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + } + } + xAlreadyYielded = xTaskResumeAll(); + + /* Force a reschedule if xTaskResumeAll has not already done so, we may + have put ourselves to sleep. */ + if( !xAlreadyYielded ) + { + portYIELD_WITHIN_API(); + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskDelay == 1 ) + + void vTaskDelay( portTickType xTicksToDelay ) + { + portTickType xTimeToWake; + signed portBASE_TYPE xAlreadyYielded = pdFALSE; + + /* A delay time of zero just forces a reschedule. */ + if( xTicksToDelay > ( portTickType ) 0 ) + { + vTaskSuspendAll(); + { + traceTASK_DELAY(); + + /* A task that is removed from the event list while the + scheduler is suspended will not get placed in the ready + list or removed from the blocked list until the scheduler + is resumed. + + This task cannot be in an event list as it is the currently + executing task. */ + + /* Calculate the time to wake - this may overflow but this is + not a problem. */ + xTimeToWake = xTickCount + xTicksToDelay; + + /* We must remove ourselves from the ready list before adding + ourselves to the blocked list as the same list item is used for + both lists. */ + vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + + /* The list item will be inserted in wake time order. */ + listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake ); + + if( xTimeToWake < xTickCount ) + { + /* Wake time has overflowed. Place this item in the + overflow list. */ + vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + else + { + /* The wake time has not overflowed, so we can use the + current block list. */ + vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + } + xAlreadyYielded = xTaskResumeAll(); + } + + /* Force a reschedule if xTaskResumeAll has not already done so, we may + have put ourselves to sleep. */ + if( !xAlreadyYielded ) + { + portYIELD_WITHIN_API(); + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_uxTaskPriorityGet == 1 ) + + unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) + { + tskTCB *pxTCB; + unsigned portBASE_TYPE uxReturn; + + portENTER_CRITICAL(); + { + /* If null is passed in here then we are changing the + priority of the calling function. */ + pxTCB = prvGetTCBFromHandle( pxTask ); + uxReturn = pxTCB->uxPriority; + } + portEXIT_CRITICAL(); + + return uxReturn; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskPrioritySet == 1 ) + + void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority ) + { + tskTCB *pxTCB; + unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE; + + /* Ensure the new priority is valid. */ + if( uxNewPriority >= configMAX_PRIORITIES ) + { + uxNewPriority = configMAX_PRIORITIES - 1; + } + + portENTER_CRITICAL(); + { + if( pxTask == pxCurrentTCB ) + { + pxTask = NULL; + } + + /* If null is passed in here then we are changing the + priority of the calling function. */ + pxTCB = prvGetTCBFromHandle( pxTask ); + + traceTASK_PRIORITY_SET( pxTask, uxNewPriority ); + + #if ( configUSE_MUTEXES == 1 ) + { + uxCurrentPriority = pxTCB->uxBasePriority; + } + #else + { + uxCurrentPriority = pxTCB->uxPriority; + } + #endif + + if( uxCurrentPriority != uxNewPriority ) + { + /* The priority change may have readied a task of higher + priority than the calling task. */ + if( uxNewPriority > uxCurrentPriority ) + { + if( pxTask != NULL ) + { + /* The priority of another task is being raised. If we + were raising the priority of the currently running task + there would be no need to switch as it must have already + been the highest priority task. */ + xYieldRequired = pdTRUE; + } + } + else if( pxTask == NULL ) + { + /* Setting our own priority down means there may now be another + task of higher priority that is ready to execute. */ + xYieldRequired = pdTRUE; + } + + + + #if ( configUSE_MUTEXES == 1 ) + { + /* Only change the priority being used if the task is not + currently using an inherited priority. */ + if( pxTCB->uxBasePriority == pxTCB->uxPriority ) + { + pxTCB->uxPriority = uxNewPriority; + } + + /* The base priority gets set whatever. */ + pxTCB->uxBasePriority = uxNewPriority; + } + #else + { + pxTCB->uxPriority = uxNewPriority; + } + #endif + + listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) ); + + /* If the task is in the blocked or suspended list we need do + nothing more than change it's priority variable. However, if + the task is in a ready list it needs to be removed and placed + in the queue appropriate to its new priority. */ + if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) ) + { + /* The task is currently in its ready list - remove before adding + it to it's new ready list. As we are in a critical section we + can do this even if the scheduler is suspended. */ + vListRemove( &( pxTCB->xGenericListItem ) ); + prvAddTaskToReadyQueue( pxTCB ); + } + + if( xYieldRequired == pdTRUE ) + { + portYIELD_WITHIN_API(); + } + } + } + portEXIT_CRITICAL(); + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskSuspend == 1 ) + + void vTaskSuspend( xTaskHandle pxTaskToSuspend ) + { + tskTCB *pxTCB; + + portENTER_CRITICAL(); + { + /* Ensure a yield is performed if the current task is being + suspended. */ + if( pxTaskToSuspend == pxCurrentTCB ) + { + pxTaskToSuspend = NULL; + } + + /* If null is passed in here then we are suspending ourselves. */ + pxTCB = prvGetTCBFromHandle( pxTaskToSuspend ); + + traceTASK_SUSPEND( pxTCB ); + + /* Remove task from the ready/delayed list and place in the suspended list. */ + vListRemove( &( pxTCB->xGenericListItem ) ); + + /* Is the task waiting on an event also? */ + if( pxTCB->xEventListItem.pvContainer ) + { + vListRemove( &( pxTCB->xEventListItem ) ); + } + + vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ); + } + portEXIT_CRITICAL(); + + /* We may have just suspended the current task. */ + if( ( void * ) pxTaskToSuspend == NULL ) + { + portYIELD_WITHIN_API(); + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskSuspend == 1 ) + + signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask ) + { + portBASE_TYPE xReturn = pdFALSE; + const tskTCB * const pxTCB = ( tskTCB * ) xTask; + + /* Is the task we are attempting to resume actually in the + suspended list? */ + if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE ) + { + /* Has the task already been resumed from within an ISR? */ + if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE ) + { + /* Is it in the suspended list because it is in the + Suspended state? It is possible to be in the suspended + list because it is blocked on a task with no timeout + specified. */ + if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE ) + { + xReturn = pdTRUE; + } + } + } + + return xReturn; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskSuspend == 1 ) + + void vTaskResume( xTaskHandle pxTaskToResume ) + { + tskTCB *pxTCB; + + /* Remove the task from whichever list it is currently in, and place + it in the ready list. */ + pxTCB = ( tskTCB * ) pxTaskToResume; + + /* The parameter cannot be NULL as it is impossible to resume the + currently executing task. */ + if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) ) + { + portENTER_CRITICAL(); + { + if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE ) + { + traceTASK_RESUME( pxTCB ); + + /* As we are in a critical section we can access the ready + lists even if the scheduler is suspended. */ + vListRemove( &( pxTCB->xGenericListItem ) ); + prvAddTaskToReadyQueue( pxTCB ); + + /* We may have just resumed a higher priority task. */ + if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) + { + /* This yield may not cause the task just resumed to run, but + will leave the lists in the correct state for the next yield. */ + portYIELD_WITHIN_API(); + } + } + } + portEXIT_CRITICAL(); + } + } + +#endif + +/*-----------------------------------------------------------*/ + +#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) + + portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume ) + { + portBASE_TYPE xYieldRequired = pdFALSE; + tskTCB *pxTCB; + + pxTCB = ( tskTCB * ) pxTaskToResume; + + if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE ) + { + traceTASK_RESUME_FROM_ISR( pxTCB ); + + if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) + { + xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ); + vListRemove( &( pxTCB->xGenericListItem ) ); + prvAddTaskToReadyQueue( pxTCB ); + } + else + { + /* We cannot access the delayed or ready lists, so will hold this + task pending until the scheduler is resumed, at which point a + yield will be performed if necessary. */ + vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); + } + } + + return xYieldRequired; + } + +#endif + + + + +/*----------------------------------------------------------- + * PUBLIC SCHEDULER CONTROL documented in task.h + *----------------------------------------------------------*/ + + +void vTaskStartScheduler( void ) +{ +portBASE_TYPE xReturn; + + /* Add the idle task at the lowest priority. */ + xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), ( xTaskHandle * ) NULL ); + + if( xReturn == pdPASS ) + { + /* Interrupts are turned off here, to ensure a tick does not occur + before or during the call to xPortStartScheduler(). The stacks of + the created tasks contain a status word with interrupts switched on + so interrupts will automatically get re-enabled when the first task + starts to run. + + STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE + DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */ + portDISABLE_INTERRUPTS(); + + xSchedulerRunning = pdTRUE; + xTickCount = ( portTickType ) 0; + + /* If configGENERATE_RUN_TIME_STATS is defined then the following + 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() ) + { + /* Should not reach here as if the scheduler is running the + function will not return. */ + } + else + { + /* Should only reach here if a task calls xTaskEndScheduler(). */ + } + } +} +/*-----------------------------------------------------------*/ + +void vTaskEndScheduler( void ) +{ + /* Stop the scheduler interrupts and call the portable scheduler end + routine so the original ISRs can be restored if necessary. The port + layer must ensure interrupts enable bit is left in the correct state. */ + portDISABLE_INTERRUPTS(); + xSchedulerRunning = pdFALSE; + vPortEndScheduler(); +} +/*----------------------------------------------------------*/ + +void vTaskSuspendAll( void ) +{ + /* A critical section is not required as the variable is of type + portBASE_TYPE. */ + ++uxSchedulerSuspended; +} +/*----------------------------------------------------------*/ + +signed portBASE_TYPE xTaskResumeAll( void ) +{ +register tskTCB *pxTCB; +signed portBASE_TYPE xAlreadyYielded = pdFALSE; + + /* It is possible that an ISR caused a task to be removed from an event + list while the scheduler was suspended. If this was the case then the + removed task will have been added to the xPendingReadyList. Once the + scheduler has been resumed it is safe to move all the pending ready + tasks from this list into their appropriate ready list. */ + portENTER_CRITICAL(); + { + --uxSchedulerSuspended; + + if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) + { + if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 ) + { + portBASE_TYPE xYieldRequired = pdFALSE; + + /* Move any readied tasks from the pending list into the + appropriate ready list. */ + while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL ) + { + vListRemove( &( pxTCB->xEventListItem ) ); + vListRemove( &( pxTCB->xGenericListItem ) ); + prvAddTaskToReadyQueue( pxTCB ); + + /* If we have moved a task that has a priority higher than + the current task then we should yield. */ + if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) + { + xYieldRequired = pdTRUE; + } + } + + /* If any ticks occurred while the scheduler was suspended then + they should be processed now. This ensures the tick count does not + slip, and that any delayed tasks are resumed at the correct time. */ + if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 ) + { + while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 ) + { + vTaskIncrementTick(); + --uxMissedTicks; + } + + /* As we have processed some ticks it is appropriate to yield + to ensure the highest priority task that is ready to run is + the task actually running. */ + #if configUSE_PREEMPTION == 1 + { + xYieldRequired = pdTRUE; + } + #endif + } + + if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) ) + { + xAlreadyYielded = pdTRUE; + xMissedYield = pdFALSE; + portYIELD_WITHIN_API(); + } + } + } + } + portEXIT_CRITICAL(); + + return xAlreadyYielded; +} + + + + + + +/*----------------------------------------------------------- + * PUBLIC TASK UTILITIES documented in task.h + *----------------------------------------------------------*/ + + + +portTickType xTaskGetTickCount( void ) +{ +portTickType xTicks; + + /* Critical section required if running on a 16 bit processor. */ + portENTER_CRITICAL(); + { + xTicks = xTickCount; + } + portEXIT_CRITICAL(); + + return xTicks; +} +/*-----------------------------------------------------------*/ + +unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void ) +{ + /* A critical section is not required because the variables are of type + portBASE_TYPE. */ + return uxCurrentNumberOfTasks; +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + void vTaskList( signed char *pcWriteBuffer ) + { + unsigned portBASE_TYPE uxQueue; + + /* This is a VERY costly function that should be used for debug only. + It leaves interrupts disabled for a LONG time. */ + + vTaskSuspendAll(); + { + /* Run through all the lists that could potentially contain a TCB and + report the task name, state and stack high water mark. */ + + pcWriteBuffer[ 0 ] = ( signed char ) 0x00; + strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" ); + + uxQueue = uxTopUsedPriority + 1; + + do + { + uxQueue--; + + if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) ) + { + prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR ); + } + }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY ); + + if( !listLIST_IS_EMPTY( pxDelayedTaskList ) ) + { + prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR ); + } + + if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) ) + { + prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR ); + } + + #if( INCLUDE_vTaskDelete == 1 ) + { + if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) ) + { + prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR ); + } + } + #endif + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) ) + { + prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR ); + } + } + #endif + } + xTaskResumeAll(); + } + +#endif +/*----------------------------------------------------------*/ + +#if ( configGENERATE_RUN_TIME_STATS == 1 ) + + void vTaskGetRunTimeStats( signed char *pcWriteBuffer ) + { + unsigned portBASE_TYPE uxQueue; + unsigned long ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE(); + + /* This is a VERY costly function that should be used for debug only. + It leaves interrupts disabled for a LONG time. */ + + vTaskSuspendAll(); + { + /* Run through all the lists that could potentially contain a TCB, + generating a table of run timer percentages in the provided + buffer. */ + + pcWriteBuffer[ 0 ] = ( signed char ) 0x00; + strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" ); + + uxQueue = uxTopUsedPriority + 1; + + do + { + uxQueue--; + + if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) ) + { + prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime ); + } + }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY ); + + if( !listLIST_IS_EMPTY( pxDelayedTaskList ) ) + { + prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime ); + } + + if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) ) + { + prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime ); + } + + #if ( INCLUDE_vTaskDelete == 1 ) + { + if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) ) + { + prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime ); + } + } + #endif + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) ) + { + prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime ); + } + } + #endif + } + xTaskResumeAll(); + } + +#endif +/*----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize ) + { + portENTER_CRITICAL(); + { + pcTraceBuffer = ( signed char * )pcBuffer; + pcTraceBufferStart = pcBuffer; + pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE ); + xTracing = pdTRUE; + } + portEXIT_CRITICAL(); + } + +#endif +/*----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + unsigned long ulTaskEndTrace( void ) + { + unsigned long ulBufferLength; + + portENTER_CRITICAL(); + xTracing = pdFALSE; + portEXIT_CRITICAL(); + + ulBufferLength = ( unsigned long ) ( pcTraceBuffer - pcTraceBufferStart ); + + return ulBufferLength; + } + +#endif + + + +/*----------------------------------------------------------- + * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES + * documented in task.h + *----------------------------------------------------------*/ + + +void vTaskIncrementTick( void ) +{ + /* Called by the portable layer each time a tick interrupt occurs. + Increments the tick then checks to see if the new tick value will cause any + tasks to be unblocked. */ + if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) + { + ++xTickCount; + if( xTickCount == ( portTickType ) 0 ) + { + xList *pxTemp; + + /* Tick count has overflowed so we need to swap the delay lists. + If there are any items in pxDelayedTaskList here then there is + an error! */ + pxTemp = pxDelayedTaskList; + pxDelayedTaskList = pxOverflowDelayedTaskList; + pxOverflowDelayedTaskList = pxTemp; + xNumOfOverflows++; + } + + /* See if this tick has made a timeout expire. */ + prvCheckDelayedTasks(); + } + else + { + ++uxMissedTicks; + + /* The tick hook gets called at regular intervals, even if the + scheduler is locked. */ + #if ( configUSE_TICK_HOOK == 1 ) + { + extern void vApplicationTickHook( void ); + + vApplicationTickHook(); + } + #endif + } + + #if ( configUSE_TICK_HOOK == 1 ) + { + extern void vApplicationTickHook( void ); + + /* Guard against the tick hook being called when the missed tick + count is being unwound (when the scheduler is being unlocked. */ + if( uxMissedTicks == 0 ) + { + vApplicationTickHook(); + } + } + #endif + + traceTASK_INCREMENT_TICK( xTickCount ); +} +/*-----------------------------------------------------------*/ + +#if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) + + void vTaskCleanUpResources( void ) + { + unsigned short usQueue; + volatile tskTCB *pxTCB; + + usQueue = ( unsigned short ) uxTopUsedPriority + ( unsigned short ) 1; + + /* Remove any TCB's from the ready queues. */ + do + { + usQueue--; + + while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) ) + { + listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) ); + vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ); + + prvDeleteTCB( ( tskTCB * ) pxTCB ); + } + }while( usQueue > ( unsigned short ) tskIDLE_PRIORITY ); + + /* Remove any TCB's from the delayed queue. */ + while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) ) + { + listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 ); + vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ); + + prvDeleteTCB( ( tskTCB * ) pxTCB ); + } + + /* Remove any TCB's from the overflow delayed queue. */ + while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) ) + { + listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 ); + vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ); + + prvDeleteTCB( ( tskTCB * ) pxTCB ); + } + + while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) ) + { + listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList ); + vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ); + + prvDeleteTCB( ( tskTCB * ) pxTCB ); + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_APPLICATION_TASK_TAG == 1 ) + + void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue ) + { + tskTCB *xTCB; + + /* If xTask is NULL then we are setting our own task hook. */ + if( xTask == NULL ) + { + xTCB = ( tskTCB * ) pxCurrentTCB; + } + else + { + xTCB = ( tskTCB * ) xTask; + } + + /* Save the hook function in the TCB. A critical section is required as + the value can be accessed from an interrupt. */ + portENTER_CRITICAL(); + xTCB->pxTaskTag = pxTagValue; + portEXIT_CRITICAL(); + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_APPLICATION_TASK_TAG == 1 ) + + pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask ) + { + tskTCB *xTCB; + pdTASK_HOOK_CODE xReturn; + + /* If xTask is NULL then we are setting our own task hook. */ + if( xTask == NULL ) + { + xTCB = ( tskTCB * ) pxCurrentTCB; + } + else + { + xTCB = ( tskTCB * ) xTask; + } + + /* Save the hook function in the TCB. A critical section is required as + the value can be accessed from an interrupt. */ + portENTER_CRITICAL(); + xReturn = xTCB->pxTaskTag; + portEXIT_CRITICAL(); + + return xReturn; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_APPLICATION_TASK_TAG == 1 ) + + portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter ) + { + tskTCB *xTCB; + portBASE_TYPE xReturn; + + /* If xTask is NULL then we are calling our own task hook. */ + if( xTask == NULL ) + { + xTCB = ( tskTCB * ) pxCurrentTCB; + } + else + { + xTCB = ( tskTCB * ) xTask; + } + + if( xTCB->pxTaskTag != NULL ) + { + xReturn = xTCB->pxTaskTag( pvParameter ); + } + else + { + xReturn = pdFAIL; + } + + return xReturn; + } + +#endif +/*-----------------------------------------------------------*/ + +void vTaskSwitchContext( void ) +{ + if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE ) + { + /* The scheduler is currently suspended - do not allow a context + switch. */ + xMissedYield = pdTRUE; + return; + } + + traceTASK_SWITCHED_OUT(); + + #if ( configGENERATE_RUN_TIME_STATS == 1 ) + { + unsigned long ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE(); + + /* 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 + ulTaskSwitchedInTime. Note that there is no overflow protection here + so count values are only valid until the timer overflows. Generally + this will be about 1 hour assuming a 1uS timer increment. */ + pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime ); + ulTaskSwitchedInTime = ulTempCounter; + } + #endif + + taskFIRST_CHECK_FOR_STACK_OVERFLOW(); + taskSECOND_CHECK_FOR_STACK_OVERFLOW(); + + /* Find the highest priority queue that contains ready tasks. */ + while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) + { + --uxTopReadyPriority; + } + + /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the + same priority get an equal share of the processor time. */ + listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); + + traceTASK_SWITCHED_IN(); + vWriteTraceToBuffer(); +} +/*-----------------------------------------------------------*/ + +void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait ) +{ +portTickType xTimeToWake; + + /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE + SCHEDULER SUSPENDED. */ + + /* Place the event list item of the TCB in the appropriate event list. + This is placed in the list in priority order so the highest priority task + is the first to be woken by the event. */ + vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) ); + + /* We must remove ourselves from the ready list before adding ourselves + to the blocked list as the same list item is used for both lists. We have + exclusive access to the ready lists as the scheduler is locked. */ + vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + if( xTicksToWait == portMAX_DELAY ) + { + /* Add ourselves to the suspended task list instead of a delayed task + list to ensure we are not woken by a timing event. We will block + indefinitely. */ + vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + else + { + /* Calculate the time at which the task should be woken if the event does + not occur. This may overflow but this doesn't matter. */ + xTimeToWake = xTickCount + xTicksToWait; + + listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake ); + + if( xTimeToWake < xTickCount ) + { + /* Wake time has overflowed. Place this item in the overflow list. */ + vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + else + { + /* The wake time has not overflowed, so we can use the current block list. */ + vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + } + } + #else + { + /* Calculate the time at which the task should be woken if the event does + not occur. This may overflow but this doesn't matter. */ + xTimeToWake = xTickCount + xTicksToWait; + + listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake ); + + if( xTimeToWake < xTickCount ) + { + /* Wake time has overflowed. Place this item in the overflow list. */ + vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + else + { + /* The wake time has not overflowed, so we can use the current block list. */ + vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + } + #endif +} +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList ) +{ +tskTCB *pxUnblockedTCB; +portBASE_TYPE xReturn; + + /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE + SCHEDULER SUSPENDED. It can also be called from within an ISR. */ + + /* The event list is sorted in priority order, so we can remove the + first in the list, remove the TCB from the delayed list, and add + it to the ready list. + + If an event is for a queue that is locked then this function will never + get called - the lock count on the queue will get modified instead. This + means we can always expect exclusive access to the event list here. */ + pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); + vListRemove( &( pxUnblockedTCB->xEventListItem ) ); + + if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) + { + vListRemove( &( pxUnblockedTCB->xGenericListItem ) ); + prvAddTaskToReadyQueue( pxUnblockedTCB ); + } + else + { + /* We cannot access the delayed or ready lists, so will hold this + task pending until the scheduler is resumed. */ + vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) ); + } + + if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority ) + { + /* Return true if the task removed from the event list has + a higher priority than the calling task. This allows + the calling task to know if it should force a context + switch now. */ + xReturn = pdTRUE; + } + else + { + xReturn = pdFALSE; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut ) +{ + pxTimeOut->xOverflowCount = xNumOfOverflows; + pxTimeOut->xTimeOnEntering = xTickCount; +} +/*-----------------------------------------------------------*/ + +portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait ) +{ +portBASE_TYPE xReturn; + + portENTER_CRITICAL(); + { + #if ( INCLUDE_vTaskSuspend == 1 ) + /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is + the maximum block time then the task should block indefinitely, and + therefore never time out. */ + if( *pxTicksToWait == portMAX_DELAY ) + { + xReturn = pdFALSE; + } + else /* We are not blocking indefinitely, perform the checks below. */ + #endif + + if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) ) + { + /* The tick count is greater than the time at which vTaskSetTimeout() + was called, but has also overflowed since vTaskSetTimeOut() was called. + It must have wrapped all the way around and gone past us again. This + passed since vTaskSetTimeout() was called. */ + xReturn = pdTRUE; + } + 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 ); + vTaskSetTimeOutState( pxTimeOut ); + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + } + portEXIT_CRITICAL(); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +void vTaskMissedYield( void ) +{ + xMissedYield = pdTRUE; +} + +/* + * ----------------------------------------------------------- + * The Idle task. + * ---------------------------------------------------------- + * + * The portTASK_FUNCTION() macro is used to allow port/compiler specific + * language extensions. The equivalent prototype for this function is: + * + * void prvIdleTask( void *pvParameters ); + * + */ +static portTASK_FUNCTION( prvIdleTask, pvParameters ) +{ + /* Stop warnings. */ + ( void ) pvParameters; + + for( ;; ) + { + /* See if any tasks have been deleted. */ + prvCheckTasksWaitingTermination(); + + #if ( configUSE_PREEMPTION == 0 ) + { + /* If we are not using preemption we keep forcing a task switch to + see if any other task has become available. If we are using + preemption we don't need to do this as any task becoming available + will automatically get the processor anyway. */ + taskYIELD(); + } + #endif + + #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) + { + /* When using preemption tasks of equal priority will be + timesliced. If a task that is sharing the idle priority is ready + to run then the idle task should yield before the end of the + timeslice. + + A critical region is not required here as we are just reading from + the list, and an occasional incorrect value will not matter. If + the ready list at the idle priority contains more than one task + then a task other than the idle task is ready to execute. */ + if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 ) + { + taskYIELD(); + } + } + #endif + + #if ( configUSE_IDLE_HOOK == 1 ) + { + extern void vApplicationIdleHook( void ); + + /* Call the user defined function from within the idle task. This + allows the application designer to add background functionality + without the overhead of a separate task. + NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES, + CALL A FUNCTION THAT MIGHT BLOCK. */ + vApplicationIdleHook(); + } + #endif + // call nanosleep for smalles sleep time possible + // (depending on kernel settings - around 100 microseconds) + // decreases idle thread CPU load from 100 to practically 0 +#ifndef __CYGWIN__ + sigset_t xSignals; + sigfillset( &xSignals ); + pthread_sigmask( SIG_SETMASK, &xSignals, NULL ); + struct timespec x; + x.tv_sec=0; + x.tv_nsec=10000; + nanosleep(&x,NULL); + sigemptyset( &xSignals ); + pthread_sigmask( SIG_SETMASK, &xSignals, NULL ); +#endif + } +} /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */ + + + + + + + +/*----------------------------------------------------------- + * File private functions documented at the top of the file. + *----------------------------------------------------------*/ + + + +static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) +{ + /* Store the function name in the TCB. */ + #if configMAX_TASK_NAME_LEN > 1 + { + /* Don't bring strncpy into the build unnecessarily. */ + strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN ); + } + #endif + pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = '\0'; + + /* This is used as an array index so must ensure it's not too large. First + remove the privilege bit if one is present. */ + if( uxPriority >= configMAX_PRIORITIES ) + { + uxPriority = configMAX_PRIORITIES - 1; + } + + pxTCB->uxPriority = uxPriority; + #if ( configUSE_MUTEXES == 1 ) + { + pxTCB->uxBasePriority = uxPriority; + } + #endif + + vListInitialiseItem( &( pxTCB->xGenericListItem ) ); + vListInitialiseItem( &( pxTCB->xEventListItem ) ); + + /* Set the pxTCB as a link back from the xListItem. This is so we can get + back to the containing TCB from a generic item in a list. */ + listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB ); + + /* Event lists are always in priority order. */ + listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority ); + listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB ); + + #if ( portCRITICAL_NESTING_IN_TCB == 1 ) + { + pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0; + } + #endif + + #if ( configUSE_APPLICATION_TASK_TAG == 1 ) + { + pxTCB->pxTaskTag = NULL; + } + #endif + + #if ( configGENERATE_RUN_TIME_STATS == 1 ) + { + pxTCB->ulRunTimeCounter = 0UL; + } + #endif + + #if ( portUSING_MPU_WRAPPERS == 1 ) + { + vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth ); + } + #else + { + ( void ) xRegions; + ( void ) usStackDepth; + } + #endif +} +/*-----------------------------------------------------------*/ + +#if ( portUSING_MPU_WRAPPERS == 1 ) + + void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions ) + { + tskTCB *pxTCB; + + if( xTaskToModify == pxCurrentTCB ) + { + xTaskToModify = NULL; + } + + /* If null is passed in here then we are deleting ourselves. */ + pxTCB = prvGetTCBFromHandle( xTaskToModify ); + + vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 ); + } + /*-----------------------------------------------------------*/ +#endif + +static void prvInitialiseTaskLists( void ) +{ +unsigned portBASE_TYPE uxPriority; + + for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ ) + { + vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) ); + } + + vListInitialise( ( xList * ) &xDelayedTaskList1 ); + vListInitialise( ( xList * ) &xDelayedTaskList2 ); + vListInitialise( ( xList * ) &xPendingReadyList ); + + #if ( INCLUDE_vTaskDelete == 1 ) + { + vListInitialise( ( xList * ) &xTasksWaitingTermination ); + } + #endif + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + vListInitialise( ( xList * ) &xSuspendedTaskList ); + } + #endif + + /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList + using list2. */ + pxDelayedTaskList = &xDelayedTaskList1; + pxOverflowDelayedTaskList = &xDelayedTaskList2; +} +/*-----------------------------------------------------------*/ + +static void prvCheckTasksWaitingTermination( void ) +{ + #if ( INCLUDE_vTaskDelete == 1 ) + { + portBASE_TYPE xListIsEmpty; + + /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called + too often in the idle task. */ + if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 ) + { + vTaskSuspendAll(); + xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination ); + xTaskResumeAll(); + + if( !xListIsEmpty ) + { + tskTCB *pxTCB; + + portENTER_CRITICAL(); + { + pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) ); + vListRemove( &( pxTCB->xGenericListItem ) ); + --uxCurrentNumberOfTasks; + --uxTasksDeleted; + } + portEXIT_CRITICAL(); + + prvDeleteTCB( pxTCB ); + } + } + } + #endif +} +/*-----------------------------------------------------------*/ + +static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) +{ +tskTCB *pxNewTCB; + + /* Allocate space for the TCB. Where the memory comes from depends on + the implementation of the port malloc function. */ + pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) ); + + if( pxNewTCB != NULL ) + { + /* Allocate space for the stack used by the task being created. + The base of the stack memory stored in the TCB so the task can + be deleted later if required. */ + pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer ); + + if( pxNewTCB->pxStack == NULL ) + { + /* Could not allocate the stack. Delete the allocated TCB. */ + vPortFree( pxNewTCB ); + pxNewTCB = NULL; + } + else + { + /* Just to help debugging. */ + memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) ); + } + } + + return pxNewTCB; +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) + { + volatile tskTCB *pxNextTCB, *pxFirstTCB; + unsigned short usStackRemaining; + + /* Write the details of all the TCB's in pxList into the buffer. */ + listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); + do + { + listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); + #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 ); + + } while( pxNextTCB != pxFirstTCB ); + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( configGENERATE_RUN_TIME_STATS == 1 ) + + static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) + { + volatile tskTCB *pxNextTCB, *pxFirstTCB; + unsigned long ulStatsAsPercentage; + + /* Write the run time stats of all the TCB's in pxList into the buffer. */ + listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); + do + { + /* Get next TCB in from the list. */ + listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); + + /* Divide by zero check. */ + if( ulTotalRunTime > 0UL ) + { + /* Has the task run at all? */ + if( pxNextTCB->ulRunTimeCounter == 0 ) + { + /* The task has used no CPU time at all. */ + sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName ); + } + 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; + + if( ulStatsAsPercentage > 0UL ) + { + sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); + } + 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 ); + } + } + + strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString ); + } + + } while( pxNextTCB != pxFirstTCB ); + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) + + static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) + { + register unsigned short usCount = 0; + + while( *pucStackByte == tskSTACK_FILL_BYTE ) + { + pucStackByte -= portSTACK_GROWTH; + usCount++; + } + + usCount /= sizeof( portSTACK_TYPE ); + + return usCount; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) + + unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask ) + { + tskTCB *pxTCB; + unsigned char *pcEndOfStack; + unsigned portBASE_TYPE uxReturn; + + pxTCB = prvGetTCBFromHandle( xTask ); + + #if portSTACK_GROWTH < 0 + { + pcEndOfStack = ( unsigned char * ) pxTCB->pxStack; + } + #else + { + pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack; + } + #endif + + uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack ); + + return uxReturn; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) ) + + static void prvDeleteTCB( tskTCB *pxTCB ) + { + /* Free up the memory allocated by the scheduler for the task. It is up to + the task to free any memory allocated at the application level. */ + vPortFreeAligned( pxTCB->pxStack ); + vPortFree( pxTCB ); + } + +#endif + + +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) + + xTaskHandle xTaskGetCurrentTaskHandle( void ) + { + xTaskHandle xReturn; + + /* A critical section is not required as this is not called from + an interrupt and the current TCB will always be the same for any + individual execution thread. */ + xReturn = pxCurrentTCB; + + return xReturn; + } + +#endif + +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_xTaskGetSchedulerState == 1 ) + + portBASE_TYPE xTaskGetSchedulerState( void ) + { + portBASE_TYPE xReturn; + + if( xSchedulerRunning == pdFALSE ) + { + xReturn = taskSCHEDULER_NOT_STARTED; + } + else + { + if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) + { + xReturn = taskSCHEDULER_RUNNING; + } + else + { + xReturn = taskSCHEDULER_SUSPENDED; + } + } + + return xReturn; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_MUTEXES == 1 ) + + void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder ) + { + tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder; + + if( pxTCB->uxPriority < pxCurrentTCB->uxPriority ) + { + /* Adjust the mutex holder state to account for its new priority. */ + listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ); + + /* If the task being modified is in the ready state it will need to + be moved in to a new list. */ + if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) ) + { + vListRemove( &( pxTCB->xGenericListItem ) ); + + /* Inherit the priority before being moved into the new list. */ + pxTCB->uxPriority = pxCurrentTCB->uxPriority; + prvAddTaskToReadyQueue( pxTCB ); + } + else + { + /* Just inherit the priority. */ + pxTCB->uxPriority = pxCurrentTCB->uxPriority; + } + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_MUTEXES == 1 ) + + void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder ) + { + tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder; + + if( pxMutexHolder != NULL ) + { + if( pxTCB->uxPriority != pxTCB->uxBasePriority ) + { + /* We must be the running task to be able to give the mutex back. + Remove ourselves from the ready list we currently appear in. */ + vListRemove( &( pxTCB->xGenericListItem ) ); + + /* Disinherit the priority before adding ourselves into the new + ready list. */ + pxTCB->uxPriority = pxTCB->uxBasePriority; + listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority ); + prvAddTaskToReadyQueue( pxTCB ); + } + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( portCRITICAL_NESTING_IN_TCB == 1 ) + + void vTaskEnterCritical( void ) + { + portDISABLE_INTERRUPTS(); + + if( xSchedulerRunning != pdFALSE ) + { + pxCurrentTCB->uxCriticalNesting++; + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( portCRITICAL_NESTING_IN_TCB == 1 ) + +void vTaskExitCritical( void ) +{ + if( xSchedulerRunning != pdFALSE ) + { + if( pxCurrentTCB->uxCriticalNesting > 0 ) + { + pxCurrentTCB->uxCriticalNesting--; + + if( pxCurrentTCB->uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } + } + } +} + +#endif +/*-----------------------------------------------------------*/ + + + + diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/tasks_linux.c b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/tasks_linux.c new file mode 100644 index 000000000..9b06c3f89 --- /dev/null +++ b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/tasks_linux.c @@ -0,0 +1,2323 @@ +/* + FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd. + + *************************************************************************** + * * + * If you are: * + * * + * + New to FreeRTOS, * + * + Wanting to learn FreeRTOS or multitasking in general quickly * + * + Looking for basic training, * + * + Wanting to improve your FreeRTOS skills and productivity * + * * + * then take a look at the FreeRTOS eBook * + * * + * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * + * http://www.FreeRTOS.org/Documentation * + * * + * A pdf reference manual is also available. Both are usually delivered * + * to your inbox within 20 minutes to two hours when purchased between 8am * + * and 8pm GMT (although please allow up to 24 hours in case of * + * exceptional circumstances). Thank you for your support! * + * * + *************************************************************************** + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation AND MODIFIED BY the FreeRTOS exception. + ***NOTE*** The exception to the GPL is included to allow you to distribute + a combined work that includes FreeRTOS without being obliged to provide the + source code for proprietary components outside of the FreeRTOS kernel. + 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 + by writing to Richard Barry, contact details for whom are available on the + FreeRTOS WEB site. + + 1 tab == 4 spaces! + + http://www.FreeRTOS.org - Documentation, latest information, license and + contact details. + + http://www.SafeRTOS.com - A version that is certified for use in safety + critical systems. + + http://www.OpenRTOS.com - Commercial support, development, porting, + licensing and training services. +*/ + + +#include +#include +#include +#include + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining +all the API functions to use the MPU wrappers. That should only be done when +task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +#include "FreeRTOS.h" +#include "task.h" +#include "StackMacros.h" + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* + * Macro to define the amount of stack available to the idle task. + */ +#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE + +/* + * 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; + + +/* + * Some kernel aware debuggers require data to be viewed to be global, rather + * than file scope. + */ +#ifdef portREMOVE_STATIC_QUALIFIER + #define static +#endif + +/*lint -e956 */ +PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL; + +/* Lists for ready and blocked tasks. --------------------*/ + +PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */ +PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */ +PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */ +PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */ +PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */ +PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */ + +#if ( INCLUDE_vTaskDelete == 1 ) + + PRIVILEGED_DATA static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */ + PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0; + +#endif + +#if ( INCLUDE_vTaskSuspend == 1 ) + + PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */ + +#endif + +/* File private variables. --------------------------------*/ +PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0; +PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0; +PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY; +PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY; +PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE; +PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE; +PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0; +PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE; +PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0; +PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0; + +#if ( configGENERATE_RUN_TIME_STATS == 1 ) + + PRIVILEGED_DATA static char pcStatsString[ 50 ] ; + PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */ + static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION; + +#endif + +/* Debugging and trace facilities private variables and macros. ------------*/ + +/* + * The value used to fill the stack of a task when the task is created. This + * is used purely for checking the high water mark for tasks. + */ +#define tskSTACK_FILL_BYTE ( 0xa5 ) + +/* + * Macros used by vListTask to indicate which state a task is in. + */ +#define tskBLOCKED_CHAR ( ( signed char ) 'B' ) +#define tskREADY_CHAR ( ( signed char ) 'R' ) +#define tskDELETED_CHAR ( ( signed char ) 'D' ) +#define tskSUSPENDED_CHAR ( ( signed char ) 'S' ) + +/* + * Macros and private variables used by the trace facility. + */ +#if ( configUSE_TRACE_FACILITY == 1 ) + + #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned long ) ( sizeof( unsigned long ) + sizeof( unsigned long ) ) ) + PRIVILEGED_DATA static volatile signed char * volatile pcTraceBuffer; + PRIVILEGED_DATA static signed char *pcTraceBufferStart; + PRIVILEGED_DATA static signed char *pcTraceBufferEnd; + PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE; + static unsigned portBASE_TYPE uxPreviousTask = 255; + PRIVILEGED_DATA static char pcStatusString[ 50 ]; + +#endif + +/*-----------------------------------------------------------*/ + +/* + * Macro that writes a trace of scheduler activity to a buffer. This trace + * shows which task is running when and is very useful as a debugging tool. + * As this macro is called each context switch it is a good idea to undefine + * it if not using the facility. + */ +#if ( configUSE_TRACE_FACILITY == 1 ) + + #define vWriteTraceToBuffer() \ + { \ + if( xTracing ) \ + { \ + if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \ + { \ + if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \ + { \ + uxPreviousTask = pxCurrentTCB->uxTCBNumber; \ + *( unsigned long * ) pcTraceBuffer = ( unsigned long ) xTickCount; \ + pcTraceBuffer += sizeof( unsigned long ); \ + *( unsigned long * ) pcTraceBuffer = ( unsigned long ) uxPreviousTask; \ + pcTraceBuffer += sizeof( unsigned long ); \ + } \ + else \ + { \ + xTracing = pdFALSE; \ + } \ + } \ + } \ + } + +#else + + #define vWriteTraceToBuffer() + +#endif +/*-----------------------------------------------------------*/ + +/* + * Place the task represented by pxTCB into the appropriate ready queue for + * the task. It is inserted at the end of the list. One quirk of this is + * that if the task being inserted is at the same priority as the currently + * executing task, then it will only be rescheduled after the currently + * executing task has been rescheduled. + */ +#define prvAddTaskToReadyQueue( pxTCB ) \ +{ \ + if( pxTCB->uxPriority > uxTopReadyPriority ) \ + { \ + uxTopReadyPriority = pxTCB->uxPriority; \ + } \ + vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \ +} +/*-----------------------------------------------------------*/ + +/* + * Macro that looks at the list of tasks that are currently delayed to see if + * any require waking. + * + * Tasks are stored in the queue in the order of their wake time - meaning + * once one tasks has been found whose timer has not expired we need not look + * any further down the list. + */ +#define prvCheckDelayedTasks() \ +{ \ +register tskTCB *pxTCB; \ + \ + while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \ + { \ + if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \ + { \ + break; \ + } \ + vListRemove( &( pxTCB->xGenericListItem ) ); \ + /* Is the task waiting on an event also? */ \ + if( pxTCB->xEventListItem.pvContainer ) \ + { \ + vListRemove( &( pxTCB->xEventListItem ) ); \ + } \ + prvAddTaskToReadyQueue( pxTCB ); \ + } \ +} +/*-----------------------------------------------------------*/ + +/* + * Several functions take an xTaskHandle parameter that can optionally be NULL, + * where NULL is used to indicate that the handle of the currently executing + * task should be used in place of the parameter. This macro simply checks to + * see if the parameter is NULL and returns a pointer to the appropriate TCB. + */ +#define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle ) + + +/* File private functions. --------------------------------*/ + +/* + * Utility to ready a TCB for a given task. Mainly just copies the parameters + * into the TCB structure. + */ +static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION; + +/* + * Utility to ready all the lists used by the scheduler. This is called + * automatically upon the creation of the first task. + */ +static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION; + +/* + * The idle task, which as all tasks is implemented as a never ending loop. + * The idle task is automatically created and added to the ready lists upon + * creation of the first user task. + * + * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific + * language extensions. The equivalent prototype for this function is: + * + * void prvIdleTask( void *pvParameters ); + * + */ +static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ); + +/* + * Utility to free all memory allocated by the scheduler to hold a TCB, + * including the stack pointed to by the TCB. + * + * This does not free memory allocated by the task itself (i.e. memory + * allocated by calls to pvPortMalloc from within the tasks application code). + */ +#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) ) + + static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION; + +#endif + +/* + * Used only by the idle task. This checks to see if anything has been placed + * in the list of tasks waiting to be deleted. If so the task is cleaned up + * and its TCB deleted. + */ +static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION; + +/* + * Allocates memory from the heap for a TCB and associated stack. Checks the + * allocation was successful. + */ +static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION; + +/* + * Called from vTaskList. vListTasks details all the tasks currently under + * control of the scheduler. The tasks may be in one of a number of lists. + * prvListTaskWithinSingleList accepts a list and details the tasks from + * within just that list. + * + * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM + * NORMAL APPLICATION CODE. + */ +#if ( configUSE_TRACE_FACILITY == 1 ) + + static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION; + +#endif + +/* + * When a task is created, the stack of the task is filled with a known value. + * This function determines the 'high water mark' of the task stack by + * determining how much of the stack remains at the original preset value. + */ +#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) + + static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION; + +#endif + + +/*lint +e956 */ + + + +/*----------------------------------------------------------- + * TASK CREATION API documented in task.h + *----------------------------------------------------------*/ + +signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions ) +{ +signed portBASE_TYPE xReturn; +tskTCB * pxNewTCB; + + /* Allocate the memory required by the TCB and stack for the new task, + checking that the allocation was successful. */ + pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer ); + + if( pxNewTCB != NULL ) + { + portSTACK_TYPE *pxTopOfStack; + + #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. + portSTACK_GROWTH is used to make the result positive or negative as + required by the port. */ + #if( portSTACK_GROWTH < 0 ) + { + pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 ); + pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( unsigned long ) pxTopOfStack ) & ( ( unsigned long ) ~portBYTE_ALIGNMENT_MASK ) ); + } + #else + { + pxTopOfStack = pxNewTCB->pxStack; + + /* If we want to use stack checking on architectures that use + a positive stack growth direction then we also need to store the + other extreme of the stack space. */ + pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 ); + } + #endif + + /* Setup the newly allocated TCB with the initial state of the task. */ + prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth ); + + /* Initialize the TCB stack to look as if the task was already running, + but had been interrupted by the scheduler. The return address is set + to the start of the task function. Once the stack has been initialised + the top of stack variable is updated. */ + #if( portUSING_MPU_WRAPPERS == 1 ) + { + pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged ); + } + #else + { + pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters ); + } + #endif + + /* 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 ) + { + /* As this is the first task it must also be 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(); + } + else + { + /* If the scheduler is not already running, make this task the + current task if it is the highest priority task to be created + so far. */ + if( xSchedulerRunning == pdFALSE ) + { + if( pxCurrentTCB->uxPriority <= uxPriority ) + { + pxCurrentTCB = pxNewTCB; + } + } + } + + /* Remember the top priority to make context switching faster. Use + the priority in pxNewTCB as this has been capped to a valid value. */ + if( pxNewTCB->uxPriority > uxTopUsedPriority ) + { + uxTopUsedPriority = pxNewTCB->uxPriority; + } + + #if ( configUSE_TRACE_FACILITY == 1 ) + { + /* Add a counter into the TCB for tracing only. */ + pxNewTCB->uxTCBNumber = uxTaskNumber; + } + #endif + uxTaskNumber++; + + prvAddTaskToReadyQueue( pxNewTCB ); + + xReturn = pdPASS; + traceTASK_CREATE( pxNewTCB ); + } + portEXIT_CRITICAL(); + } + else + { + xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; + traceTASK_CREATE_FAILED( pxNewTCB ); + } + + 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 + then it should run now. */ + if( pxCurrentTCB->uxPriority < uxPriority ) + { + portYIELD_WITHIN_API(); + } + } + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskDelete == 1 ) + + void vTaskDelete( xTaskHandle pxTaskToDelete ) + { + tskTCB *pxTCB; + + portENTER_CRITICAL(); + { + /* Ensure a yield is performed if the current task is being + deleted. */ + if( pxTaskToDelete == pxCurrentTCB ) + { + pxTaskToDelete = NULL; + } + + /* If null is passed in here then we are deleting ourselves. */ + pxTCB = prvGetTCBFromHandle( pxTaskToDelete ); + + /* Remove task from the ready list and place in the termination list. + This will stop the task from be scheduled. The idle task will check + the termination list and free up any memory allocated by the + scheduler for the TCB and stack. */ + vListRemove( &( pxTCB->xGenericListItem ) ); + + /* Is the task waiting on an event also? */ + if( pxTCB->xEventListItem.pvContainer ) + { + vListRemove( &( pxTCB->xEventListItem ) ); + } + + vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) ); + + /* Increment the ucTasksDeleted variable so the idle task knows + there is a task that has been deleted and that it should therefore + check the xTasksWaitingTermination list. */ + ++uxTasksDeleted; + + /* Increment the uxTaskNumberVariable also so kernel aware debuggers + can detect that the task lists need re-generating. */ + uxTaskNumber++; + + traceTASK_DELETE( pxTCB ); + } + portEXIT_CRITICAL(); + + /* Force a reschedule if we have just deleted the current task. */ + if( xSchedulerRunning != pdFALSE ) + { + if( ( void * ) pxTaskToDelete == NULL ) + { + portYIELD_WITHIN_API(); + } + } + } + +#endif + + + + + + +/*----------------------------------------------------------- + * TASK CONTROL API documented in task.h + *----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskDelayUntil == 1 ) + + void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement ) + { + portTickType xTimeToWake; + portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE; + + vTaskSuspendAll(); + { + /* Generate the tick time at which the task wants to wake. */ + xTimeToWake = *pxPreviousWakeTime + xTimeIncrement; + + if( xTickCount < *pxPreviousWakeTime ) + { + /* The tick count has overflowed since this function was + lasted called. In this case the only time we should ever + actually delay is if the wake time has also overflowed, + and the wake time is greater than the tick time. When this + is the case it is as if neither time had overflowed. */ + if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) ) + { + xShouldDelay = pdTRUE; + } + } + else + { + /* The tick time has not overflowed. In this case we will + delay if either the wake time has overflowed, and/or the + tick time is less than the wake time. */ + if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) ) + { + xShouldDelay = pdTRUE; + } + } + + /* Update the wake time ready for the next call. */ + *pxPreviousWakeTime = xTimeToWake; + + if( xShouldDelay ) + { + traceTASK_DELAY_UNTIL(); + + /* We must remove ourselves from the ready list before adding + ourselves to the blocked list as the same list item is used for + both lists. */ + vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + + /* The list item will be inserted in wake time order. */ + listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake ); + + if( xTimeToWake < xTickCount ) + { + /* Wake time has overflowed. Place this item in the + overflow list. */ + vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + else + { + /* The wake time has not overflowed, so we can use the + current block list. */ + vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + } + } + xAlreadyYielded = xTaskResumeAll(); + + /* Force a reschedule if xTaskResumeAll has not already done so, we may + have put ourselves to sleep. */ + if( !xAlreadyYielded ) + { + portYIELD_WITHIN_API(); + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskDelay == 1 ) + + void vTaskDelay( portTickType xTicksToDelay ) + { + portTickType xTimeToWake; + signed portBASE_TYPE xAlreadyYielded = pdFALSE; + + /* A delay time of zero just forces a reschedule. */ + if( xTicksToDelay > ( portTickType ) 0 ) + { + vTaskSuspendAll(); + { + traceTASK_DELAY(); + + /* A task that is removed from the event list while the + scheduler is suspended will not get placed in the ready + list or removed from the blocked list until the scheduler + is resumed. + + This task cannot be in an event list as it is the currently + executing task. */ + + /* Calculate the time to wake - this may overflow but this is + not a problem. */ + xTimeToWake = xTickCount + xTicksToDelay; + + /* We must remove ourselves from the ready list before adding + ourselves to the blocked list as the same list item is used for + both lists. */ + vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + + /* The list item will be inserted in wake time order. */ + listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake ); + + if( xTimeToWake < xTickCount ) + { + /* Wake time has overflowed. Place this item in the + overflow list. */ + vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + else + { + /* The wake time has not overflowed, so we can use the + current block list. */ + vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + } + xAlreadyYielded = xTaskResumeAll(); + } + + /* Force a reschedule if xTaskResumeAll has not already done so, we may + have put ourselves to sleep. */ + if( !xAlreadyYielded ) + { + portYIELD_WITHIN_API(); + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_uxTaskPriorityGet == 1 ) + + unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) + { + tskTCB *pxTCB; + unsigned portBASE_TYPE uxReturn; + + portENTER_CRITICAL(); + { + /* If null is passed in here then we are changing the + priority of the calling function. */ + pxTCB = prvGetTCBFromHandle( pxTask ); + uxReturn = pxTCB->uxPriority; + } + portEXIT_CRITICAL(); + + return uxReturn; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskPrioritySet == 1 ) + + void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority ) + { + tskTCB *pxTCB; + unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE; + + /* Ensure the new priority is valid. */ + if( uxNewPriority >= configMAX_PRIORITIES ) + { + uxNewPriority = configMAX_PRIORITIES - 1; + } + + portENTER_CRITICAL(); + { + if( pxTask == pxCurrentTCB ) + { + pxTask = NULL; + } + + /* If null is passed in here then we are changing the + priority of the calling function. */ + pxTCB = prvGetTCBFromHandle( pxTask ); + + traceTASK_PRIORITY_SET( pxTask, uxNewPriority ); + + #if ( configUSE_MUTEXES == 1 ) + { + uxCurrentPriority = pxTCB->uxBasePriority; + } + #else + { + uxCurrentPriority = pxTCB->uxPriority; + } + #endif + + if( uxCurrentPriority != uxNewPriority ) + { + /* The priority change may have readied a task of higher + priority than the calling task. */ + if( uxNewPriority > uxCurrentPriority ) + { + if( pxTask != NULL ) + { + /* The priority of another task is being raised. If we + were raising the priority of the currently running task + there would be no need to switch as it must have already + been the highest priority task. */ + xYieldRequired = pdTRUE; + } + } + else if( pxTask == NULL ) + { + /* Setting our own priority down means there may now be another + task of higher priority that is ready to execute. */ + xYieldRequired = pdTRUE; + } + + + + #if ( configUSE_MUTEXES == 1 ) + { + /* Only change the priority being used if the task is not + currently using an inherited priority. */ + if( pxTCB->uxBasePriority == pxTCB->uxPriority ) + { + pxTCB->uxPriority = uxNewPriority; + } + + /* The base priority gets set whatever. */ + pxTCB->uxBasePriority = uxNewPriority; + } + #else + { + pxTCB->uxPriority = uxNewPriority; + } + #endif + + listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) ); + + /* If the task is in the blocked or suspended list we need do + nothing more than change it's priority variable. However, if + the task is in a ready list it needs to be removed and placed + in the queue appropriate to its new priority. */ + if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) ) + { + /* The task is currently in its ready list - remove before adding + it to it's new ready list. As we are in a critical section we + can do this even if the scheduler is suspended. */ + vListRemove( &( pxTCB->xGenericListItem ) ); + prvAddTaskToReadyQueue( pxTCB ); + } + + if( xYieldRequired == pdTRUE ) + { + portYIELD_WITHIN_API(); + } + } + } + portEXIT_CRITICAL(); + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskSuspend == 1 ) + + void vTaskSuspend( xTaskHandle pxTaskToSuspend ) + { + tskTCB *pxTCB; + + portENTER_CRITICAL(); + { + /* Ensure a yield is performed if the current task is being + suspended. */ + if( pxTaskToSuspend == pxCurrentTCB ) + { + pxTaskToSuspend = NULL; + } + + /* If null is passed in here then we are suspending ourselves. */ + pxTCB = prvGetTCBFromHandle( pxTaskToSuspend ); + + traceTASK_SUSPEND( pxTCB ); + + /* Remove task from the ready/delayed list and place in the suspended list. */ + vListRemove( &( pxTCB->xGenericListItem ) ); + + /* Is the task waiting on an event also? */ + if( pxTCB->xEventListItem.pvContainer ) + { + vListRemove( &( pxTCB->xEventListItem ) ); + } + + vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ); + } + portEXIT_CRITICAL(); + + /* We may have just suspended the current task. */ + if( ( void * ) pxTaskToSuspend == NULL ) + { + portYIELD_WITHIN_API(); + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskSuspend == 1 ) + + signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask ) + { + portBASE_TYPE xReturn = pdFALSE; + const tskTCB * const pxTCB = ( tskTCB * ) xTask; + + /* Is the task we are attempting to resume actually in the + suspended list? */ + if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE ) + { + /* Has the task already been resumed from within an ISR? */ + if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE ) + { + /* Is it in the suspended list because it is in the + Suspended state? It is possible to be in the suspended + list because it is blocked on a task with no timeout + specified. */ + if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE ) + { + xReturn = pdTRUE; + } + } + } + + return xReturn; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskSuspend == 1 ) + + void vTaskResume( xTaskHandle pxTaskToResume ) + { + tskTCB *pxTCB; + + /* Remove the task from whichever list it is currently in, and place + it in the ready list. */ + pxTCB = ( tskTCB * ) pxTaskToResume; + + /* The parameter cannot be NULL as it is impossible to resume the + currently executing task. */ + if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) ) + { + portENTER_CRITICAL(); + { + if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE ) + { + traceTASK_RESUME( pxTCB ); + + /* As we are in a critical section we can access the ready + lists even if the scheduler is suspended. */ + vListRemove( &( pxTCB->xGenericListItem ) ); + prvAddTaskToReadyQueue( pxTCB ); + + /* We may have just resumed a higher priority task. */ + if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) + { + /* This yield may not cause the task just resumed to run, but + will leave the lists in the correct state for the next yield. */ + portYIELD_WITHIN_API(); + } + } + } + portEXIT_CRITICAL(); + } + } + +#endif + +/*-----------------------------------------------------------*/ + +#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) + + portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume ) + { + portBASE_TYPE xYieldRequired = pdFALSE; + tskTCB *pxTCB; + + pxTCB = ( tskTCB * ) pxTaskToResume; + + if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE ) + { + traceTASK_RESUME_FROM_ISR( pxTCB ); + + if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) + { + xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ); + vListRemove( &( pxTCB->xGenericListItem ) ); + prvAddTaskToReadyQueue( pxTCB ); + } + else + { + /* We cannot access the delayed or ready lists, so will hold this + task pending until the scheduler is resumed, at which point a + yield will be performed if necessary. */ + vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); + } + } + + return xYieldRequired; + } + +#endif + + + + +/*----------------------------------------------------------- + * PUBLIC SCHEDULER CONTROL documented in task.h + *----------------------------------------------------------*/ + + +void vTaskStartScheduler( void ) +{ +portBASE_TYPE xReturn; + + /* Add the idle task at the lowest priority. */ + xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), ( xTaskHandle * ) NULL ); + + if( xReturn == pdPASS ) + { + /* Interrupts are turned off here, to ensure a tick does not occur + before or during the call to xPortStartScheduler(). The stacks of + the created tasks contain a status word with interrupts switched on + so interrupts will automatically get re-enabled when the first task + starts to run. + + STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE + DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */ + portDISABLE_INTERRUPTS(); + + xSchedulerRunning = pdTRUE; + xTickCount = ( portTickType ) 0; + + /* If configGENERATE_RUN_TIME_STATS is defined then the following + 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() ) + { + /* Should not reach here as if the scheduler is running the + function will not return. */ + } + else + { + /* Should only reach here if a task calls xTaskEndScheduler(). */ + } + } +} +/*-----------------------------------------------------------*/ + +void vTaskEndScheduler( void ) +{ + /* Stop the scheduler interrupts and call the portable scheduler end + routine so the original ISRs can be restored if necessary. The port + layer must ensure interrupts enable bit is left in the correct state. */ + portDISABLE_INTERRUPTS(); + xSchedulerRunning = pdFALSE; + vPortEndScheduler(); +} +/*----------------------------------------------------------*/ + +void vTaskSuspendAll( void ) +{ + /* A critical section is not required as the variable is of type + portBASE_TYPE. */ + ++uxSchedulerSuspended; +} +/*----------------------------------------------------------*/ + +signed portBASE_TYPE xTaskResumeAll( void ) +{ +register tskTCB *pxTCB; +signed portBASE_TYPE xAlreadyYielded = pdFALSE; + + /* It is possible that an ISR caused a task to be removed from an event + list while the scheduler was suspended. If this was the case then the + removed task will have been added to the xPendingReadyList. Once the + scheduler has been resumed it is safe to move all the pending ready + tasks from this list into their appropriate ready list. */ + portENTER_CRITICAL(); + { + --uxSchedulerSuspended; + + if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) + { + if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 ) + { + portBASE_TYPE xYieldRequired = pdFALSE; + + /* Move any readied tasks from the pending list into the + appropriate ready list. */ + while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL ) + { + vListRemove( &( pxTCB->xEventListItem ) ); + vListRemove( &( pxTCB->xGenericListItem ) ); + prvAddTaskToReadyQueue( pxTCB ); + + /* If we have moved a task that has a priority higher than + the current task then we should yield. */ + if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) + { + xYieldRequired = pdTRUE; + } + } + + /* If any ticks occurred while the scheduler was suspended then + they should be processed now. This ensures the tick count does not + slip, and that any delayed tasks are resumed at the correct time. */ + if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 ) + { + while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 ) + { + vTaskIncrementTick(); + --uxMissedTicks; + } + + /* As we have processed some ticks it is appropriate to yield + to ensure the highest priority task that is ready to run is + the task actually running. */ + #if configUSE_PREEMPTION == 1 + { + xYieldRequired = pdTRUE; + } + #endif + } + + if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) ) + { + xAlreadyYielded = pdTRUE; + xMissedYield = pdFALSE; + portYIELD_WITHIN_API(); + } + } + } + } + portEXIT_CRITICAL(); + + return xAlreadyYielded; +} + + + + + + +/*----------------------------------------------------------- + * PUBLIC TASK UTILITIES documented in task.h + *----------------------------------------------------------*/ + + + +portTickType xTaskGetTickCount( void ) +{ +portTickType xTicks; + + /* Critical section required if running on a 16 bit processor. */ + portENTER_CRITICAL(); + { + xTicks = xTickCount; + } + portEXIT_CRITICAL(); + + return xTicks; +} +/*-----------------------------------------------------------*/ + +unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void ) +{ + /* A critical section is not required because the variables are of type + portBASE_TYPE. */ + return uxCurrentNumberOfTasks; +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + void vTaskList( signed char *pcWriteBuffer ) + { + unsigned portBASE_TYPE uxQueue; + + /* This is a VERY costly function that should be used for debug only. + It leaves interrupts disabled for a LONG time. */ + + vTaskSuspendAll(); + { + /* Run through all the lists that could potentially contain a TCB and + report the task name, state and stack high water mark. */ + + pcWriteBuffer[ 0 ] = ( signed char ) 0x00; + strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" ); + + uxQueue = uxTopUsedPriority + 1; + + do + { + uxQueue--; + + if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) ) + { + prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR ); + } + }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY ); + + if( !listLIST_IS_EMPTY( pxDelayedTaskList ) ) + { + prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR ); + } + + if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) ) + { + prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR ); + } + + #if( INCLUDE_vTaskDelete == 1 ) + { + if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) ) + { + prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR ); + } + } + #endif + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) ) + { + prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR ); + } + } + #endif + } + xTaskResumeAll(); + } + +#endif +/*----------------------------------------------------------*/ + +#if ( configGENERATE_RUN_TIME_STATS == 1 ) + + void vTaskGetRunTimeStats( signed char *pcWriteBuffer ) + { + unsigned portBASE_TYPE uxQueue; + unsigned long ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE(); + + /* This is a VERY costly function that should be used for debug only. + It leaves interrupts disabled for a LONG time. */ + + vTaskSuspendAll(); + { + /* Run through all the lists that could potentially contain a TCB, + generating a table of run timer percentages in the provided + buffer. */ + + pcWriteBuffer[ 0 ] = ( signed char ) 0x00; + strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" ); + + uxQueue = uxTopUsedPriority + 1; + + do + { + uxQueue--; + + if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) ) + { + prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime ); + } + }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY ); + + if( !listLIST_IS_EMPTY( pxDelayedTaskList ) ) + { + prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime ); + } + + if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) ) + { + prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime ); + } + + #if ( INCLUDE_vTaskDelete == 1 ) + { + if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) ) + { + prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime ); + } + } + #endif + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) ) + { + prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime ); + } + } + #endif + } + xTaskResumeAll(); + } + +#endif +/*----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize ) + { + portENTER_CRITICAL(); + { + pcTraceBuffer = ( signed char * )pcBuffer; + pcTraceBufferStart = pcBuffer; + pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE ); + xTracing = pdTRUE; + } + portEXIT_CRITICAL(); + } + +#endif +/*----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + unsigned long ulTaskEndTrace( void ) + { + unsigned long ulBufferLength; + + portENTER_CRITICAL(); + xTracing = pdFALSE; + portEXIT_CRITICAL(); + + ulBufferLength = ( unsigned long ) ( pcTraceBuffer - pcTraceBufferStart ); + + return ulBufferLength; + } + +#endif + + + +/*----------------------------------------------------------- + * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES + * documented in task.h + *----------------------------------------------------------*/ + + +void vTaskIncrementTick( void ) +{ + /* Called by the portable layer each time a tick interrupt occurs. + Increments the tick then checks to see if the new tick value will cause any + tasks to be unblocked. */ + if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) + { + ++xTickCount; + if( xTickCount == ( portTickType ) 0 ) + { + xList *pxTemp; + + /* Tick count has overflowed so we need to swap the delay lists. + If there are any items in pxDelayedTaskList here then there is + an error! */ + pxTemp = pxDelayedTaskList; + pxDelayedTaskList = pxOverflowDelayedTaskList; + pxOverflowDelayedTaskList = pxTemp; + xNumOfOverflows++; + } + + /* See if this tick has made a timeout expire. */ + prvCheckDelayedTasks(); + } + else + { + ++uxMissedTicks; + + /* The tick hook gets called at regular intervals, even if the + scheduler is locked. */ + #if ( configUSE_TICK_HOOK == 1 ) + { + extern void vApplicationTickHook( void ); + + vApplicationTickHook(); + } + #endif + } + + #if ( configUSE_TICK_HOOK == 1 ) + { + extern void vApplicationTickHook( void ); + + /* Guard against the tick hook being called when the missed tick + count is being unwound (when the scheduler is being unlocked. */ + if( uxMissedTicks == 0 ) + { + vApplicationTickHook(); + } + } + #endif + + traceTASK_INCREMENT_TICK( xTickCount ); +} +/*-----------------------------------------------------------*/ + +#if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) + + void vTaskCleanUpResources( void ) + { + unsigned short usQueue; + volatile tskTCB *pxTCB; + + usQueue = ( unsigned short ) uxTopUsedPriority + ( unsigned short ) 1; + + /* Remove any TCB's from the ready queues. */ + do + { + usQueue--; + + while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) ) + { + listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) ); + vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ); + + prvDeleteTCB( ( tskTCB * ) pxTCB ); + } + }while( usQueue > ( unsigned short ) tskIDLE_PRIORITY ); + + /* Remove any TCB's from the delayed queue. */ + while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) ) + { + listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 ); + vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ); + + prvDeleteTCB( ( tskTCB * ) pxTCB ); + } + + /* Remove any TCB's from the overflow delayed queue. */ + while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) ) + { + listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 ); + vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ); + + prvDeleteTCB( ( tskTCB * ) pxTCB ); + } + + while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) ) + { + listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList ); + vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ); + + prvDeleteTCB( ( tskTCB * ) pxTCB ); + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_APPLICATION_TASK_TAG == 1 ) + + void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue ) + { + tskTCB *xTCB; + + /* If xTask is NULL then we are setting our own task hook. */ + if( xTask == NULL ) + { + xTCB = ( tskTCB * ) pxCurrentTCB; + } + else + { + xTCB = ( tskTCB * ) xTask; + } + + /* Save the hook function in the TCB. A critical section is required as + the value can be accessed from an interrupt. */ + portENTER_CRITICAL(); + xTCB->pxTaskTag = pxTagValue; + portEXIT_CRITICAL(); + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_APPLICATION_TASK_TAG == 1 ) + + pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask ) + { + tskTCB *xTCB; + pdTASK_HOOK_CODE xReturn; + + /* If xTask is NULL then we are setting our own task hook. */ + if( xTask == NULL ) + { + xTCB = ( tskTCB * ) pxCurrentTCB; + } + else + { + xTCB = ( tskTCB * ) xTask; + } + + /* Save the hook function in the TCB. A critical section is required as + the value can be accessed from an interrupt. */ + portENTER_CRITICAL(); + xReturn = xTCB->pxTaskTag; + portEXIT_CRITICAL(); + + return xReturn; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_APPLICATION_TASK_TAG == 1 ) + + portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter ) + { + tskTCB *xTCB; + portBASE_TYPE xReturn; + + /* If xTask is NULL then we are calling our own task hook. */ + if( xTask == NULL ) + { + xTCB = ( tskTCB * ) pxCurrentTCB; + } + else + { + xTCB = ( tskTCB * ) xTask; + } + + if( xTCB->pxTaskTag != NULL ) + { + xReturn = xTCB->pxTaskTag( pvParameter ); + } + else + { + xReturn = pdFAIL; + } + + return xReturn; + } + +#endif +/*-----------------------------------------------------------*/ + +void vTaskSwitchContext( void ) +{ + if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE ) + { + /* The scheduler is currently suspended - do not allow a context + switch. */ + xMissedYield = pdTRUE; + return; + } + + traceTASK_SWITCHED_OUT(); + + #if ( configGENERATE_RUN_TIME_STATS == 1 ) + { + unsigned long ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE(); + + /* 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 + ulTaskSwitchedInTime. Note that there is no overflow protection here + so count values are only valid until the timer overflows. Generally + this will be about 1 hour assuming a 1uS timer increment. */ + pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime ); + ulTaskSwitchedInTime = ulTempCounter; + } + #endif + + taskFIRST_CHECK_FOR_STACK_OVERFLOW(); + taskSECOND_CHECK_FOR_STACK_OVERFLOW(); + + /* Find the highest priority queue that contains ready tasks. */ + while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) + { + --uxTopReadyPriority; + } + + /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the + same priority get an equal share of the processor time. */ + listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); + + traceTASK_SWITCHED_IN(); + vWriteTraceToBuffer(); +} +/*-----------------------------------------------------------*/ + +void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait ) +{ +portTickType xTimeToWake; + + /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE + SCHEDULER SUSPENDED. */ + + /* Place the event list item of the TCB in the appropriate event list. + This is placed in the list in priority order so the highest priority task + is the first to be woken by the event. */ + vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) ); + + /* We must remove ourselves from the ready list before adding ourselves + to the blocked list as the same list item is used for both lists. We have + exclusive access to the ready lists as the scheduler is locked. */ + vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + if( xTicksToWait == portMAX_DELAY ) + { + /* Add ourselves to the suspended task list instead of a delayed task + list to ensure we are not woken by a timing event. We will block + indefinitely. */ + vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + else + { + /* Calculate the time at which the task should be woken if the event does + not occur. This may overflow but this doesn't matter. */ + xTimeToWake = xTickCount + xTicksToWait; + + listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake ); + + if( xTimeToWake < xTickCount ) + { + /* Wake time has overflowed. Place this item in the overflow list. */ + vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + else + { + /* The wake time has not overflowed, so we can use the current block list. */ + vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + } + } + #else + { + /* Calculate the time at which the task should be woken if the event does + not occur. This may overflow but this doesn't matter. */ + xTimeToWake = xTickCount + xTicksToWait; + + listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake ); + + if( xTimeToWake < xTickCount ) + { + /* Wake time has overflowed. Place this item in the overflow list. */ + vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + else + { + /* The wake time has not overflowed, so we can use the current block list. */ + vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + } + #endif +} +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList ) +{ +tskTCB *pxUnblockedTCB; +portBASE_TYPE xReturn; + + /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE + SCHEDULER SUSPENDED. It can also be called from within an ISR. */ + + /* The event list is sorted in priority order, so we can remove the + first in the list, remove the TCB from the delayed list, and add + it to the ready list. + + If an event is for a queue that is locked then this function will never + get called - the lock count on the queue will get modified instead. This + means we can always expect exclusive access to the event list here. */ + pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); + vListRemove( &( pxUnblockedTCB->xEventListItem ) ); + + if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) + { + vListRemove( &( pxUnblockedTCB->xGenericListItem ) ); + prvAddTaskToReadyQueue( pxUnblockedTCB ); + } + else + { + /* We cannot access the delayed or ready lists, so will hold this + task pending until the scheduler is resumed. */ + vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) ); + } + + if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority ) + { + /* Return true if the task removed from the event list has + a higher priority than the calling task. This allows + the calling task to know if it should force a context + switch now. */ + xReturn = pdTRUE; + } + else + { + xReturn = pdFALSE; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut ) +{ + pxTimeOut->xOverflowCount = xNumOfOverflows; + pxTimeOut->xTimeOnEntering = xTickCount; +} +/*-----------------------------------------------------------*/ + +portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait ) +{ +portBASE_TYPE xReturn; + + portENTER_CRITICAL(); + { + #if ( INCLUDE_vTaskSuspend == 1 ) + /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is + the maximum block time then the task should block indefinitely, and + therefore never time out. */ + if( *pxTicksToWait == portMAX_DELAY ) + { + xReturn = pdFALSE; + } + else /* We are not blocking indefinitely, perform the checks below. */ + #endif + + if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) ) + { + /* The tick count is greater than the time at which vTaskSetTimeout() + was called, but has also overflowed since vTaskSetTimeOut() was called. + It must have wrapped all the way around and gone past us again. This + passed since vTaskSetTimeout() was called. */ + xReturn = pdTRUE; + } + 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 ); + vTaskSetTimeOutState( pxTimeOut ); + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + } + portEXIT_CRITICAL(); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +void vTaskMissedYield( void ) +{ + xMissedYield = pdTRUE; +} + +/* + * ----------------------------------------------------------- + * The Idle task. + * ---------------------------------------------------------- + * + * The portTASK_FUNCTION() macro is used to allow port/compiler specific + * language extensions. The equivalent prototype for this function is: + * + * void prvIdleTask( void *pvParameters ); + * + */ +static portTASK_FUNCTION( prvIdleTask, pvParameters ) +{ + /* Stop warnings. */ + ( void ) pvParameters; + + for( ;; ) + { + /* See if any tasks have been deleted. */ + prvCheckTasksWaitingTermination(); + + #if ( configUSE_PREEMPTION == 0 ) + { + /* If we are not using preemption we keep forcing a task switch to + see if any other task has become available. If we are using + preemption we don't need to do this as any task becoming available + will automatically get the processor anyway. */ + taskYIELD(); + } + #endif + + #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) + { + /* When using preemption tasks of equal priority will be + timesliced. If a task that is sharing the idle priority is ready + to run then the idle task should yield before the end of the + timeslice. + + A critical region is not required here as we are just reading from + the list, and an occasional incorrect value will not matter. If + the ready list at the idle priority contains more than one task + then a task other than the idle task is ready to execute. */ + if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 ) + { + taskYIELD(); + } + } + #endif + + #if ( configUSE_IDLE_HOOK == 1 ) + { + extern void vApplicationIdleHook( void ); + + /* Call the user defined function from within the idle task. This + allows the application designer to add background functionality + without the overhead of a separate task. + NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES, + CALL A FUNCTION THAT MIGHT BLOCK. */ + vApplicationIdleHook(); + } + #endif + // call nanosleep for smalles sleep time possible + // (depending on kernel settings - around 100 microseconds) + // decreases idle thread CPU load from 100 to practically 0 + struct timespec x; + x.tv_sec=1; + x.tv_nsec=0; + nanosleep(&x,NULL); + } +} /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */ + + + + + + + +/*----------------------------------------------------------- + * File private functions documented at the top of the file. + *----------------------------------------------------------*/ + + + +static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) +{ + /* Store the function name in the TCB. */ + #if configMAX_TASK_NAME_LEN > 1 + { + /* Don't bring strncpy into the build unnecessarily. */ + strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN ); + } + #endif + pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = '\0'; + + /* This is used as an array index so must ensure it's not too large. First + remove the privilege bit if one is present. */ + if( uxPriority >= configMAX_PRIORITIES ) + { + uxPriority = configMAX_PRIORITIES - 1; + } + + pxTCB->uxPriority = uxPriority; + #if ( configUSE_MUTEXES == 1 ) + { + pxTCB->uxBasePriority = uxPriority; + } + #endif + + vListInitialiseItem( &( pxTCB->xGenericListItem ) ); + vListInitialiseItem( &( pxTCB->xEventListItem ) ); + + /* Set the pxTCB as a link back from the xListItem. This is so we can get + back to the containing TCB from a generic item in a list. */ + listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB ); + + /* Event lists are always in priority order. */ + listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority ); + listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB ); + + #if ( portCRITICAL_NESTING_IN_TCB == 1 ) + { + pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0; + } + #endif + + #if ( configUSE_APPLICATION_TASK_TAG == 1 ) + { + pxTCB->pxTaskTag = NULL; + } + #endif + + #if ( configGENERATE_RUN_TIME_STATS == 1 ) + { + pxTCB->ulRunTimeCounter = 0UL; + } + #endif + + #if ( portUSING_MPU_WRAPPERS == 1 ) + { + vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth ); + } + #else + { + ( void ) xRegions; + ( void ) usStackDepth; + } + #endif +} +/*-----------------------------------------------------------*/ + +#if ( portUSING_MPU_WRAPPERS == 1 ) + + void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions ) + { + tskTCB *pxTCB; + + if( xTaskToModify == pxCurrentTCB ) + { + xTaskToModify = NULL; + } + + /* If null is passed in here then we are deleting ourselves. */ + pxTCB = prvGetTCBFromHandle( xTaskToModify ); + + vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 ); + } + /*-----------------------------------------------------------*/ +#endif + +static void prvInitialiseTaskLists( void ) +{ +unsigned portBASE_TYPE uxPriority; + + for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ ) + { + vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) ); + } + + vListInitialise( ( xList * ) &xDelayedTaskList1 ); + vListInitialise( ( xList * ) &xDelayedTaskList2 ); + vListInitialise( ( xList * ) &xPendingReadyList ); + + #if ( INCLUDE_vTaskDelete == 1 ) + { + vListInitialise( ( xList * ) &xTasksWaitingTermination ); + } + #endif + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + vListInitialise( ( xList * ) &xSuspendedTaskList ); + } + #endif + + /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList + using list2. */ + pxDelayedTaskList = &xDelayedTaskList1; + pxOverflowDelayedTaskList = &xDelayedTaskList2; +} +/*-----------------------------------------------------------*/ + +static void prvCheckTasksWaitingTermination( void ) +{ + #if ( INCLUDE_vTaskDelete == 1 ) + { + portBASE_TYPE xListIsEmpty; + + /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called + too often in the idle task. */ + if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 ) + { + vTaskSuspendAll(); + xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination ); + xTaskResumeAll(); + + if( !xListIsEmpty ) + { + tskTCB *pxTCB; + + portENTER_CRITICAL(); + { + pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) ); + vListRemove( &( pxTCB->xGenericListItem ) ); + --uxCurrentNumberOfTasks; + --uxTasksDeleted; + } + portEXIT_CRITICAL(); + + prvDeleteTCB( pxTCB ); + } + } + } + #endif +} +/*-----------------------------------------------------------*/ + +static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) +{ +tskTCB *pxNewTCB; + + /* Allocate space for the TCB. Where the memory comes from depends on + the implementation of the port malloc function. */ + pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) ); + + if( pxNewTCB != NULL ) + { + /* Allocate space for the stack used by the task being created. + The base of the stack memory stored in the TCB so the task can + be deleted later if required. */ + pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer ); + + if( pxNewTCB->pxStack == NULL ) + { + /* Could not allocate the stack. Delete the allocated TCB. */ + vPortFree( pxNewTCB ); + pxNewTCB = NULL; + } + else + { + /* Just to help debugging. */ + memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) ); + } + } + + return pxNewTCB; +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) + { + volatile tskTCB *pxNextTCB, *pxFirstTCB; + unsigned short usStackRemaining; + + /* Write the details of all the TCB's in pxList into the buffer. */ + listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); + do + { + listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); + #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 ); + + } while( pxNextTCB != pxFirstTCB ); + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( configGENERATE_RUN_TIME_STATS == 1 ) + + static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) + { + volatile tskTCB *pxNextTCB, *pxFirstTCB; + unsigned long ulStatsAsPercentage; + + /* Write the run time stats of all the TCB's in pxList into the buffer. */ + listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); + do + { + /* Get next TCB in from the list. */ + listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); + + /* Divide by zero check. */ + if( ulTotalRunTime > 0UL ) + { + /* Has the task run at all? */ + if( pxNextTCB->ulRunTimeCounter == 0 ) + { + /* The task has used no CPU time at all. */ + sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName ); + } + 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; + + if( ulStatsAsPercentage > 0UL ) + { + sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); + } + 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 ); + } + } + + strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString ); + } + + } while( pxNextTCB != pxFirstTCB ); + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) + + static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) + { + register unsigned short usCount = 0; + + while( *pucStackByte == tskSTACK_FILL_BYTE ) + { + pucStackByte -= portSTACK_GROWTH; + usCount++; + } + + usCount /= sizeof( portSTACK_TYPE ); + + return usCount; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) + + unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask ) + { + tskTCB *pxTCB; + unsigned char *pcEndOfStack; + unsigned portBASE_TYPE uxReturn; + + pxTCB = prvGetTCBFromHandle( xTask ); + + #if portSTACK_GROWTH < 0 + { + pcEndOfStack = ( unsigned char * ) pxTCB->pxStack; + } + #else + { + pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack; + } + #endif + + uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack ); + + return uxReturn; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) ) + + static void prvDeleteTCB( tskTCB *pxTCB ) + { + /* Free up the memory allocated by the scheduler for the task. It is up to + the task to free any memory allocated at the application level. */ + vPortFreeAligned( pxTCB->pxStack ); + vPortFree( pxTCB ); + } + +#endif + + +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) + + xTaskHandle xTaskGetCurrentTaskHandle( void ) + { + xTaskHandle xReturn; + + /* A critical section is not required as this is not called from + an interrupt and the current TCB will always be the same for any + individual execution thread. */ + xReturn = pxCurrentTCB; + + return xReturn; + } + +#endif + +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_xTaskGetSchedulerState == 1 ) + + portBASE_TYPE xTaskGetSchedulerState( void ) + { + portBASE_TYPE xReturn; + + if( xSchedulerRunning == pdFALSE ) + { + xReturn = taskSCHEDULER_NOT_STARTED; + } + else + { + if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) + { + xReturn = taskSCHEDULER_RUNNING; + } + else + { + xReturn = taskSCHEDULER_SUSPENDED; + } + } + + return xReturn; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_MUTEXES == 1 ) + + void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder ) + { + tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder; + + if( pxTCB->uxPriority < pxCurrentTCB->uxPriority ) + { + /* Adjust the mutex holder state to account for its new priority. */ + listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ); + + /* If the task being modified is in the ready state it will need to + be moved in to a new list. */ + if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) ) + { + vListRemove( &( pxTCB->xGenericListItem ) ); + + /* Inherit the priority before being moved into the new list. */ + pxTCB->uxPriority = pxCurrentTCB->uxPriority; + prvAddTaskToReadyQueue( pxTCB ); + } + else + { + /* Just inherit the priority. */ + pxTCB->uxPriority = pxCurrentTCB->uxPriority; + } + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_MUTEXES == 1 ) + + void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder ) + { + tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder; + + if( pxMutexHolder != NULL ) + { + if( pxTCB->uxPriority != pxTCB->uxBasePriority ) + { + /* We must be the running task to be able to give the mutex back. + Remove ourselves from the ready list we currently appear in. */ + vListRemove( &( pxTCB->xGenericListItem ) ); + + /* Disinherit the priority before adding ourselves into the new + ready list. */ + pxTCB->uxPriority = pxTCB->uxBasePriority; + listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority ); + prvAddTaskToReadyQueue( pxTCB ); + } + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( portCRITICAL_NESTING_IN_TCB == 1 ) + + void vTaskEnterCritical( void ) + { + portDISABLE_INTERRUPTS(); + + if( xSchedulerRunning != pdFALSE ) + { + pxCurrentTCB->uxCriticalNesting++; + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( portCRITICAL_NESTING_IN_TCB == 1 ) + +void vTaskExitCritical( void ) +{ + if( xSchedulerRunning != pdFALSE ) + { + if( pxCurrentTCB->uxCriticalNesting > 0 ) + { + pxCurrentTCB->uxCriticalNesting--; + + if( pxCurrentTCB->uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } + } + } +} + +#endif +/*-----------------------------------------------------------*/ + + + + diff --git a/flight/PiOS.osx/osx/pios_com.c b/flight/PiOS.osx/osx/pios_com.c new file mode 100644 index 000000000..77c2e2595 --- /dev/null +++ b/flight/PiOS.osx/osx/pios_com.c @@ -0,0 +1,522 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_COM COM layer functions + * @brief Hardware communication layer + * @{ + * + * @file pios_com.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * Parts by Thorsten Klose (tk@midibox.org) + * @brief COM layer functions + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +/* Project Includes */ +#include "pios.h" + +#if defined(PIOS_INCLUDE_COM) + +#include "fifo_buffer.h" +#include + +#if !defined(PIOS_INCLUDE_FREERTOS) +#include "pios_delay.h" /* PIOS_DELAY_WaitmS */ +#endif + +enum pios_com_dev_magic { + PIOS_COM_DEV_MAGIC = 0xaa55aa55, +}; + +struct pios_com_dev { + enum pios_com_dev_magic magic; + uint32_t lower_id; + const struct pios_com_driver * driver; + +#if defined(PIOS_INCLUDE_FREERTOS) + xSemaphoreHandle tx_sem; + xSemaphoreHandle rx_sem; +#endif + + bool has_rx; + bool has_tx; + + t_fifo_buffer rx; + t_fifo_buffer tx; +}; + +static bool PIOS_COM_validate(struct pios_com_dev * com_dev) +{ + return (com_dev && (com_dev->magic == PIOS_COM_DEV_MAGIC)); +} + +#if defined(PIOS_INCLUDE_FREERTOS) && 0 +// static struct pios_com_dev * PIOS_COM_alloc(void) +//{ +// struct pios_com_dev * com_dev; +// +// com_dev = (struct pios_com_dev *)malloc(sizeof(*com_dev)); +// if (!com_dev) return (NULL); +// +// com_dev->magic = PIOS_COM_DEV_MAGIC; +// return(com_dev); +//} +#else +static struct pios_com_dev pios_com_devs[PIOS_COM_MAX_DEVS]; +static uint8_t pios_com_num_devs; +static uint32_t PIOS_COM_create(void) +{ + struct pios_com_dev * com_dev; + + if (pios_com_num_devs >= PIOS_COM_MAX_DEVS) { + return (PIOS_COM_MAX_DEVS+1); + } + + com_dev = &pios_com_devs[pios_com_num_devs++]; + com_dev->magic = PIOS_COM_DEV_MAGIC; + + return (pios_com_num_devs); +} +static struct pios_com_dev * PIOS_COM_find_dev(uint32_t com_dev_id) +{ + if (!com_dev_id) return NULL; + if (com_dev_id>pios_com_num_devs+1) return NULL; + return &pios_com_devs[com_dev_id-1]; +} +#endif + +static uint16_t PIOS_COM_TxOutCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield); +static uint16_t PIOS_COM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield); +static void PIOS_COM_UnblockRx(struct pios_com_dev * com_dev, bool * need_yield); +static void PIOS_COM_UnblockTx(struct pios_com_dev * com_dev, bool * need_yield); + +/** + * Initialises COM layer + * \param[out] handle + * \param[in] driver + * \param[in] id + * \return < 0 if initialisation failed + */ +int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t * rx_buffer, uint16_t rx_buffer_len, uint8_t * tx_buffer, uint16_t tx_buffer_len) +{ + PIOS_Assert(com_id); + PIOS_Assert(driver); + + bool has_rx = (rx_buffer && rx_buffer_len > 0); + bool has_tx = (tx_buffer && tx_buffer_len > 0); + PIOS_Assert(has_rx || has_tx); + PIOS_Assert(driver->bind_tx_cb || !has_tx); + PIOS_Assert(driver->bind_rx_cb || !has_rx); + + uint32_t com_dev_id; + struct pios_com_dev * com_dev; + + com_dev_id = PIOS_COM_create(); + com_dev = PIOS_COM_find_dev(com_dev_id); + if (!com_dev) goto out_fail; + + com_dev->driver = driver; + com_dev->lower_id = lower_id; + + com_dev->has_rx = has_rx; + com_dev->has_tx = has_tx; + + if (has_rx) { + fifoBuf_init(&com_dev->rx, rx_buffer, rx_buffer_len); +#if defined(PIOS_INCLUDE_FREERTOS) + vSemaphoreCreateBinary(com_dev->rx_sem); +#endif /* PIOS_INCLUDE_FREERTOS */ + (com_dev->driver->bind_rx_cb)(lower_id, PIOS_COM_RxInCallback, com_dev_id); + if (com_dev->driver->rx_start) { + /* Start the receiver */ + (com_dev->driver->rx_start)(com_dev->lower_id, + fifoBuf_getFree(&com_dev->rx)); + } + } + + if (has_tx) { + fifoBuf_init(&com_dev->tx, tx_buffer, tx_buffer_len); +#if defined(PIOS_INCLUDE_FREERTOS) + vSemaphoreCreateBinary(com_dev->tx_sem); +#endif /* PIOS_INCLUDE_FREERTOS */ + (com_dev->driver->bind_tx_cb)(lower_id, PIOS_COM_TxOutCallback, com_dev_id); + } + + *com_id = com_dev_id; + return(0); + +out_fail: + return(-1); +} + +static void PIOS_COM_UnblockRx(struct pios_com_dev * com_dev, bool * need_yield) +{ +#if defined(PIOS_INCLUDE_FREERTOS) + static signed portBASE_TYPE xHigherPriorityTaskWoken; + xSemaphoreGiveFromISR(com_dev->rx_sem, &xHigherPriorityTaskWoken); + + if (xHigherPriorityTaskWoken != pdFALSE) { + *need_yield = true; + } else { + *need_yield = false; + } +#else + *need_yield = false; +#endif +} + +static void PIOS_COM_UnblockTx(struct pios_com_dev * com_dev, bool * need_yield) +{ +#if defined(PIOS_INCLUDE_FREERTOS) + static signed portBASE_TYPE xHigherPriorityTaskWoken; + xSemaphoreGiveFromISR(com_dev->tx_sem, &xHigherPriorityTaskWoken); + + if (xHigherPriorityTaskWoken != pdFALSE) { + *need_yield = true; + } else { + *need_yield = false; + } +#else + *need_yield = false; +#endif +} + +static uint16_t PIOS_COM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield) +{ + struct pios_com_dev * com_dev = PIOS_COM_find_dev(context); + + bool valid = PIOS_COM_validate(com_dev); + PIOS_Assert(valid); + PIOS_Assert(com_dev->has_rx); + + PIOS_IRQ_Disable(); + uint16_t bytes_into_fifo = fifoBuf_putData(&com_dev->rx, buf, buf_len); + PIOS_IRQ_Enable(); + + if (bytes_into_fifo > 0) { + /* Data has been added to the buffer */ + PIOS_COM_UnblockRx(com_dev, need_yield); + } + + if (headroom) { + *headroom = fifoBuf_getFree(&com_dev->rx); + } + + return (bytes_into_fifo); +} + +static uint16_t PIOS_COM_TxOutCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield) +{ + struct pios_com_dev * com_dev = PIOS_COM_find_dev(context); + + bool valid = PIOS_COM_validate(com_dev); + PIOS_Assert(valid); + PIOS_Assert(buf); + PIOS_Assert(buf_len); + PIOS_Assert(com_dev->has_tx); + + PIOS_IRQ_Disable(); + uint16_t bytes_from_fifo = fifoBuf_getData(&com_dev->tx, buf, buf_len); + PIOS_IRQ_Enable(); + + if (bytes_from_fifo > 0) { + /* More space has been made in the buffer */ + PIOS_COM_UnblockTx(com_dev, need_yield); + } + + if (headroom) { + *headroom = fifoBuf_getUsed(&com_dev->tx); + } + + return (bytes_from_fifo); +} + +/** +* Change the port speed without re-initializing +* \param[in] port COM port +* \param[in] baud Requested baud rate +* \return -1 if port not available +* \return 0 on success +*/ +int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud) +{ + struct pios_com_dev * com_dev = PIOS_COM_find_dev(com_id); + + if (!PIOS_COM_validate(com_dev)) { + /* Undefined COM port for this board (see pios_board.c) */ + return -1; + } + + /* Invoke the driver function if it exists */ + if (com_dev->driver->set_baud) { + com_dev->driver->set_baud(com_dev->lower_id, baud); + } + + return 0; +} + +/** +* Sends a package over given port +* \param[in] port COM port +* \param[in] buffer character buffer +* \param[in] len buffer length +* \return -1 if port not available +* \return -2 if non-blocking mode activated: buffer is full +* caller should retry until buffer is free again +* \return 0 on success +*/ +int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, uint16_t len) +{ + struct pios_com_dev * com_dev = PIOS_COM_find_dev(com_id); + + if (!PIOS_COM_validate(com_dev)) { + /* Undefined COM port for this board (see pios_board.c) */ + return -1; + } + + PIOS_Assert(com_dev->has_tx); + + if (len >= fifoBuf_getFree(&com_dev->tx)) { + /* Buffer cannot accept all requested bytes (retry) */ + return -2; + } + + PIOS_IRQ_Disable(); + uint16_t bytes_into_fifo = fifoBuf_putData(&com_dev->tx, buffer, len); + PIOS_IRQ_Enable(); + + if (bytes_into_fifo > 0) { + /* More data has been put in the tx buffer, make sure the tx is started */ + if (com_dev->driver->tx_start) { + com_dev->driver->tx_start(com_dev->lower_id, + fifoBuf_getUsed(&com_dev->tx)); + } + } + + return (0); +} + +/** +* Sends a package over given port +* (blocking function) +* \param[in] port COM port +* \param[in] buffer character buffer +* \param[in] len buffer length +* \return -1 if port not available +* \return 0 on success +*/ +int32_t PIOS_COM_SendBuffer(uint32_t com_id, const uint8_t *buffer, uint16_t len) +{ + struct pios_com_dev * com_dev = PIOS_COM_find_dev(com_id); + + if (!PIOS_COM_validate(com_dev)) { + /* Undefined COM port for this board (see pios_board.c) */ + return -1; + } + + PIOS_Assert(com_dev->has_tx); + + int32_t rc; + do { + rc = PIOS_COM_SendBufferNonBlocking(com_id, buffer, len); + +#if defined(PIOS_INCLUDE_FREERTOS) + if (rc == -2) { + /* Make sure the transmitter is running while we wait */ + if (com_dev->driver->tx_start) { + (com_dev->driver->tx_start)(com_dev->lower_id, + fifoBuf_getUsed(&com_dev->tx)); + } + if (xSemaphoreTake(com_dev->tx_sem, portMAX_DELAY) != pdTRUE) { + return -3; + } + } +#endif + } while (rc == -2); + + return rc; +} + +/** +* Sends a single character over given port +* \param[in] port COM port +* \param[in] c character +* \return -1 if port not available +* \return -2 buffer is full +* caller should retry until buffer is free again +* \return 0 on success +*/ +int32_t PIOS_COM_SendCharNonBlocking(uint32_t com_id, char c) +{ + return PIOS_COM_SendBufferNonBlocking(com_id, (uint8_t *)&c, 1); +} + +/** +* Sends a single character over given port +* (blocking function) +* \param[in] port COM port +* \param[in] c character +* \return -1 if port not available +* \return 0 on success +*/ +int32_t PIOS_COM_SendChar(uint32_t com_id, char c) +{ + return PIOS_COM_SendBuffer(com_id, (uint8_t *)&c, 1); +} + +/** +* Sends a string over given port +* \param[in] port COM port +* \param[in] str zero-terminated string +* \return -1 if port not available +* \return -2 buffer is full +* caller should retry until buffer is free again +* \return 0 on success +*/ +int32_t PIOS_COM_SendStringNonBlocking(uint32_t com_id, const char *str) +{ + return PIOS_COM_SendBufferNonBlocking(com_id, (uint8_t *)str, (uint16_t)strlen(str)); +} + +/** +* Sends a string over given port +* (blocking function) +* \param[in] port COM port +* \param[in] str zero-terminated string +* \return -1 if port not available +* \return 0 on success +*/ +int32_t PIOS_COM_SendString(uint32_t com_id, const char *str) +{ + return PIOS_COM_SendBuffer(com_id, (uint8_t *)str, strlen(str)); +} + +/** +* Sends a formatted string (-> printf) over given port +* \param[in] port COM port +* \param[in] *format zero-terminated format string - 128 characters supported maximum! +* \param[in] ... optional arguments, +* 128 characters supported maximum! +* \return -2 if non-blocking mode activated: buffer is full +* caller should retry until buffer is free again +* \return 0 on success +*/ +int32_t PIOS_COM_SendFormattedStringNonBlocking(uint32_t com_id, const char *format, ...) +{ + uint8_t buffer[128]; // TODO: tmp!!! Provide a streamed COM method later! + + va_list args; + + va_start(args, format); + vsprintf((char *)buffer, format, args); + return PIOS_COM_SendBufferNonBlocking(com_id, buffer, (uint16_t)strlen((char *)buffer)); +} + +/** +* Sends a formatted string (-> printf) over given port +* (blocking function) +* \param[in] port COM port +* \param[in] *format zero-terminated format string - 128 characters supported maximum! +* \param[in] ... optional arguments, +* \return -1 if port not available +* \return 0 on success +*/ +int32_t PIOS_COM_SendFormattedString(uint32_t com_id, const char *format, ...) +{ + uint8_t buffer[128]; // TODO: tmp!!! Provide a streamed COM method later! + va_list args; + + va_start(args, format); + vsprintf((char *)buffer, format, args); + return PIOS_COM_SendBuffer(com_id, buffer, (uint16_t)strlen((char *)buffer)); +} + +/** +* Transfer bytes from port buffers into another buffer +* \param[in] port COM port +* \returns Byte from buffer +*/ +uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len, uint32_t timeout_ms) +{ + PIOS_Assert(buf); + PIOS_Assert(buf_len); + + struct pios_com_dev * com_dev = PIOS_COM_find_dev(com_id); + + if (!PIOS_COM_validate(com_dev)) { + /* Undefined COM port for this board (see pios_board.c) */ + PIOS_Assert(0); + } + PIOS_Assert(com_dev->has_rx); + + check_again: + PIOS_IRQ_Disable(); + uint16_t bytes_from_fifo = fifoBuf_getData(&com_dev->rx, buf, buf_len); + PIOS_IRQ_Enable(); + + if (bytes_from_fifo == 0 && timeout_ms > 0) { + /* No more bytes in receive buffer */ + /* Make sure the receiver is running while we wait */ + if (com_dev->driver->rx_start) { + /* Notify the lower layer that there is now room in the rx buffer */ + (com_dev->driver->rx_start)(com_dev->lower_id, + fifoBuf_getFree(&com_dev->rx)); + } +#if defined(PIOS_INCLUDE_FREERTOS) + if (xSemaphoreTake(com_dev->rx_sem, timeout_ms / portTICK_RATE_MS) == pdTRUE) { + /* Make sure we don't come back here again */ + timeout_ms = 0; + goto check_again; + } +#else + PIOS_DELAY_WaitmS(1); + timeout_ms--; + goto check_again; +#endif + } + + /* Return received byte */ + return (bytes_from_fifo); +} + +/** +* Get the number of bytes waiting in the buffer +* \param[in] port COM port +* \return Number of bytes used in buffer +*/ +int32_t PIOS_COM_ReceiveBufferUsed(uint32_t com_id) +{ + struct pios_com_dev * com_dev = PIOS_COM_find_dev(com_id); + + if (!PIOS_COM_validate(com_dev)) { + /* Undefined COM port for this board (see pios_board.c) */ + PIOS_Assert(0); + } + + PIOS_Assert(com_dev->has_rx); + return (fifoBuf_getUsed(&com_dev->rx)); +} + +#endif + +/** + * @} + * @} + */ diff --git a/flight/PiOS.osx/osx/pios_com.c.old b/flight/PiOS.osx/osx/pios_com.c.old new file mode 100644 index 000000000..a00de373f --- /dev/null +++ b/flight/PiOS.osx/osx/pios_com.c.old @@ -0,0 +1,332 @@ +/** + ****************************************************************************** + * + * @file pios_com.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * Parts by Thorsten Klose (tk@midibox.org) + * @brief COM layer functions + * @see The GNU Public License (GPL) Version 3 + * @defgroup PIOS_COM COM layer functions + * @{ + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + + +/* Project Includes */ +#include "pios.h" + +#if defined(PIOS_INCLUDE_COM) + +#include +#include +#include +#include +#include + + + +//#include +#define NUM_FIFOS 16 +#define BUFFER_SIZE 1024 + +int fifos_in[NUM_FIFOS]; +int fifos_out[NUM_FIFOS]; + +int buffer_fill[NUM_FIFOS]; +char buffer[NUM_FIFOS][BUFFER_SIZE]; + + +static int find_com_dev_by_id (uint8_t port) +{ + if (port >= NUM_FIFOS) { + /* Undefined COM port for this board (see pios_board.c) */ + return -1; + } + + /* Get a handle for the device configuration */ + return port; +} + +/** +* Initialises COM layer +* \param[in] mode currently only mode 0 supported +* \return < 0 if initialisation failed +*/ +int32_t PIOS_COM_Init(void) +{ + int32_t ret = 0; + + char filename[]="/tmp/OpenPlotCOMPort66666666.out"; + int32_t t; + for (t=0;tdriver->set_baud) { +// com_dev->driver->set_baud(com_dev->id, baud); +// } + + return 0; +} + +/** +* Sends a package over given port +* \param[in] port COM port +* \param[in] buffer character buffer +* \param[in] len buffer length +* \return -1 if port not available +* \return -2 if non-blocking mode activated: buffer is full +* caller should retry until buffer is free again +* \return 0 on success +*/ +int32_t PIOS_COM_SendBufferNonBlocking(uint8_t port, uint8_t *buffer, uint16_t len) +{ + int com_dev; + int opts; + + com_dev = find_com_dev_by_id (port); + + if (com_dev==-1) { + /* Undefined COM port for this board (see pios_board.c) */ + return -1; + } + + /* Invoke the driver function if it exists */ + //if (com_dev->driver->tx_nb) { +// return com_dev->driver->tx_nb(com_dev->id, buffer, len); +// } + opts = fcntl(fifos_out[com_dev],F_GETFL); + opts = opts | O_NONBLOCK; + fcntl(fifos_out[com_dev],F_SETFL, opts); + write(fifos_out[com_dev],buffer,len); + + return 0; +} + +/** +* Sends a package over given port +* (blocking function) +* \param[in] port COM port +* \param[in] buffer character buffer +* \param[in] len buffer length +* \return -1 if port not available +* \return 0 on success +*/ +int32_t PIOS_COM_SendBuffer(uint8_t port, uint8_t *buffer, uint16_t len) +{ + int com_dev; + int opts; + + com_dev = find_com_dev_by_id (port); + + if (com_dev==-1) { + /* Undefined COM port for this board (see pios_board.c) */ + return -1; + } + + /* Invoke the driver function if it exists */ + //if (com_dev->driver->tx_nb) { +// return com_dev->driver->tx_nb(com_dev->id, buffer, len); +// } + opts = fcntl(fifos_out[com_dev],F_GETFL); + opts = opts & ~O_NONBLOCK; + fcntl(fifos_out[com_dev],F_SETFL, opts); + write(fifos_out[com_dev],buffer,len); + + return 0; +} + +/** +* Sends a single character over given port +* \param[in] port COM port +* \param[in] c character +* \return -1 if port not available +* \return -2 buffer is full +* caller should retry until buffer is free again +* \return 0 on success +*/ +int32_t PIOS_COM_SendCharNonBlocking(uint8_t port, char c) +{ + return PIOS_COM_SendBufferNonBlocking(port, (uint8_t *)&c, 1); +} + +/** +* Sends a single character over given port +* (blocking function) +* \param[in] port COM port +* \param[in] c character +* \return -1 if port not available +* \return 0 on success +*/ +int32_t PIOS_COM_SendChar(uint8_t port, char c) +{ + return PIOS_COM_SendBuffer(port, (uint8_t *)&c, 1); +} + +/** +* Sends a string over given port +* \param[in] port COM port +* \param[in] str zero-terminated string +* \return -1 if port not available +* \return -2 buffer is full +* caller should retry until buffer is free again +* \return 0 on success +*/ +int32_t PIOS_COM_SendStringNonBlocking(uint8_t port, char *str) +{ + return PIOS_COM_SendBufferNonBlocking(port, (uint8_t *)str, (uint16_t)strlen(str)); +} + +/** +* Sends a string over given port +* (blocking function) +* \param[in] port COM port +* \param[in] str zero-terminated string +* \return -1 if port not available +* \return 0 on success +*/ +int32_t PIOS_COM_SendString(uint8_t port, char *str) +{ + return PIOS_COM_SendBuffer(port, (uint8_t *)str, strlen(str)); +} + +/** +* Sends a formatted string (-> printf) over given port +* \param[in] port COM port +* \param[in] *format zero-terminated format string - 128 characters supported maximum! +* \param[in] ... optional arguments, +* 128 characters supported maximum! +* \return -2 if non-blocking mode activated: buffer is full +* caller should retry until buffer is free again +* \return 0 on success +*/ +int32_t PIOS_COM_SendFormattedStringNonBlocking(uint8_t port, char *format, ...) +{ + uint8_t buffer[128]; // TODO: tmp!!! Provide a streamed COM method later! + + va_list args; + + va_start(args, format); + vsprintf((char *)buffer, format, args); + return PIOS_COM_SendBufferNonBlocking(port, buffer, (uint16_t)strlen((char *)buffer)); +} + +/** +* Sends a formatted string (-> printf) over given port +* (blocking function) +* \param[in] port COM port +* \param[in] *format zero-terminated format string - 128 characters supported maximum! +* \param[in] ... optional arguments, +* \return -1 if port not available +* \return 0 on success +*/ +int32_t PIOS_COM_SendFormattedString(uint8_t port, char *format, ...) +{ + uint8_t buffer[128]; // TODO: tmp!!! Provide a streamed COM method later! + va_list args; + + va_start(args, format); + vsprintf((char *)buffer, format, args); + return PIOS_COM_SendBuffer(port, buffer, (uint16_t)strlen((char *)buffer)); +} + +/** +* Transfer bytes from port buffers into another buffer +* \param[in] port COM port +* \returns Byte from buffer +*/ +uint8_t PIOS_COM_ReceiveBuffer(uint8_t port) +{ + int com_dev; + uint8_t b; + + com_dev = find_com_dev_by_id (port); + + if (com_dev==-1) { + /* Undefined COM port for this board (see pios_board.c) */ + return -1; + } + + /* read one byte from buffer */ + b=buffer[com_dev][0]; + memmove(&buffer[com_dev][0],&buffer[com_dev][1],BUFFER_SIZE-1); + + return b; +} + +/** +* Get the number of bytes waiting in the buffer +* \param[in] port COM port +* \return Number of bytes used in buffer +*/ +int32_t PIOS_COM_ReceiveBufferUsed(uint8_t port) +{ + int com_dev,opts; + ssize_t read_bytes; + + com_dev = find_com_dev_by_id (port); + + if (com_dev==-1) { + /* Undefined COM port for this board (see pios_board.c) */ + return -1; + } + + /* fill buffer */ + opts = fcntl(fifos_out[com_dev],F_GETFL); + opts = opts | O_NONBLOCK; + fcntl(fifos_out[com_dev],F_SETFL, opts); + read_bytes=read(fifos_in[com_dev],buffer[com_dev]+buffer_fill[com_dev],BUFFER_SIZE-buffer_fill[com_dev]); + if (read_bytes<0) { + read_bytes=0; + } + buffer_fill[com_dev]+=read_bytes; + return buffer_fill[com_dev]; + +} + +#endif diff --git a/flight/PiOS.osx/osx/pios_crc.c b/flight/PiOS.osx/osx/pios_crc.c new file mode 100644 index 000000000..548ba2648 --- /dev/null +++ b/flight/PiOS.osx/osx/pios_crc.c @@ -0,0 +1,74 @@ +/* + * pios_crc.c + * OpenPilotOSX + * + * Created by James Cotton on 6/4/11. + * Copyright 2011 OpenPilot. All rights reserved. + * + */ + +#include "pios.h" + +// CRC lookup table +static const uint8_t crc_table[256] = { + 0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d, + 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d, + 0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd, + 0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd, + 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, + 0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a, + 0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a, + 0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, + 0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4, + 0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4, + 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, + 0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34, + 0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63, + 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, + 0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83, + 0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3 +}; + +/** + * Update the crc value with new data. + * + * Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/ + * using the configuration: + * Width = 8 + * Poly = 0x07 + * XorIn = 0x00 + * ReflectIn = False + * XorOut = 0x00 + * ReflectOut = False + * Algorithm = table-driven + * + * \param crc The current crc value. + * \param data Pointer to a buffer of \a data_len bytes. + * \param length Number of bytes in the \a data buffer. + * \return The updated crc value. + */ +uint8_t PIOS_CRC_updateByte(uint8_t crc, const uint8_t data) +{ + return crc_table[crc ^ data]; +} + +/* + * @brief Update a CRC with a data buffer + * @param[in] crc Starting CRC value + * @param[in] data Data buffer + * @param[in] length Number of bytes to process + * @returns Updated CRC + */ +uint8_t PIOS_CRC_updateCRC(uint8_t crc, const uint8_t* data, int32_t length) +{ + // use registers for speed + register int32_t len = length; + register uint8_t crc8 = crc; + register const uint8_t *p = data; + + while (len--) + crc8 = crc_table[crc8 ^ *p++]; + + return crc8; +} + diff --git a/flight/PiOS.osx/osx/pios_debug.c b/flight/PiOS.osx/osx/pios_debug.c new file mode 100644 index 000000000..5956a9d04 --- /dev/null +++ b/flight/PiOS.osx/osx/pios_debug.c @@ -0,0 +1,96 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @defgroup PIOS_DEBUG Debugging Functions + * @brief Debugging functionality + * @{ + * + * @file pios_debug.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Debugging Functions + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +/* Project Includes */ +#include "pios.h" + +// Global variables +const char *PIOS_DEBUG_AssertMsg = "ASSERT FAILED"; + +/* Private Function Prototypes */ + +/** +* Initialise Debug-features +*/ +void PIOS_DEBUG_Init(void) +{ +} + +/** +* Set debug-pin high +* \param pin 0 for S1 output +*/ +void PIOS_DEBUG_PinHigh(uint8_t Pin) +{ +} + +/** +* Set debug-pin low +* \param pin 0 for S1 output +*/ +void PIOS_DEBUG_PinLow(uint8_t Pin) +{ +} + + +void PIOS_DEBUG_PinValue8Bit(uint8_t value) +{ +} + +void PIOS_DEBUG_PinValue4BitL(uint8_t value) +{ +} + + +/** + * Report a serious error and halt + */ +void PIOS_DEBUG_Panic(const char *msg) +{ +#ifdef PIOS_COM_DEBUG + register int *lr asm("lr"); // Link-register holds the PC of the caller + PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_DEBUG, "\r%s @0x%x\r", msg, lr); +#endif + + // tell the user whats going on on commandline too + fprintf(stderr,"CRITICAL ERROR: %s\n",msg); + + // this helps debugging: causing a div by zero allows a backtrace + // and/or ends execution + int b = 0; + int a = (2/b); + b=a; + +} + +/** + * @} + * @} + */ diff --git a/flight/PiOS.osx/osx/pios_delay.c b/flight/PiOS.osx/osx/pios_delay.c new file mode 100644 index 000000000..c02bd4366 --- /dev/null +++ b/flight/PiOS.osx/osx/pios_delay.c @@ -0,0 +1,114 @@ +/** + ****************************************************************************** + * + * @file pios_delay.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org) + * @brief Delay Functions + * - Provides a micro-second granular delay using a TIM + * @see The GNU Public License (GPL) Version 3 + * @defgroup PIOS_DELAY Delay Functions + * @{ + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + + +/* Project Includes */ +#include "pios.h" +#include "time.h" + +#if defined(PIOS_INCLUDE_DELAY) + +/** +* Initialises the Timer used by PIOS_DELAY functions
+* This is called from pios.c as part of the main() function +* at system start up. +* \return < 0 if initialisation failed +*/ +#include + +int32_t PIOS_DELAY_Init(void) +{ + // stub + + /* No error */ + return 0; +} + +/** +* Waits for a specific number of uS
+* Example:
+* \code +* // Wait for 500 uS +* PIOS_DELAY_Wait_uS(500); +* \endcode +* \param[in] uS delay (1..65535 microseconds) +* \return < 0 on errors +*/ +int32_t PIOS_DELAY_WaituS(uint32_t uS) +{ + struct timespec wait,rest; + wait.tv_sec=0; + wait.tv_nsec=1000*uS; + while (!nanosleep(&wait,&rest)) { + wait=rest; + } + + /* No error */ + return 0; +} + + +/** +* Waits for a specific number of mS
+* Example:
+* \code +* // Wait for 500 mS +* PIOS_DELAY_Wait_mS(500); +* \endcode +* \param[in] mS delay (1..65535 milliseconds) +* \return < 0 on errors +*/ +int32_t PIOS_DELAY_WaitmS(uint32_t mS) +{ + struct timespec wait,rest; + wait.tv_sec=mS/1000; + wait.tv_nsec=(mS%1000)*1000000; + while (!nanosleep(&wait,&rest)) { + wait=rest; + } + + /* No error */ + return 0; +} + +uint32_t PIOS_DELAY_GetRaw() +{ +// struct timespec time; +// uint32_t raw_us; + + + + return 0; +} + +uint32_t PIOS_DELAY_DiffuS(uint32_t rapec) +{ + return 0; +} +#endif diff --git a/flight/PiOS.osx/osx/pios_irq.c b/flight/PiOS.osx/osx/pios_irq.c new file mode 100644 index 000000000..b30d09fee --- /dev/null +++ b/flight/PiOS.osx/osx/pios_irq.c @@ -0,0 +1,69 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_IRQ IRQ Setup Functions + * @brief STM32 Hardware code to enable and disable interrupts + * @{ + * + * @file pios_irq.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org) + * @brief IRQ Enable/Disable routines + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +/* Project Includes */ +#include "pios.h" + +#if defined(PIOS_INCLUDE_IRQ) + +/* Private Function Prototypes */ + +/** +* Disables all interrupts (nested) +* \return < 0 On errors +*/ +int32_t PIOS_IRQ_Disable(void) +{ +#if defined(PIOS_INCLUDE_FREERTOS) + taskENTER_CRITICAL(); +#endif + return 0; +} + +/** +* Enables all interrupts (nested) +* \return < 0 on errors +* \return -1 on nesting errors (PIOS_IRQ_Disable() hasn't been called before) +*/ +int32_t PIOS_IRQ_Enable(void) +{ +#if defined(PIOS_INCLUDE_FREERTOS) + taskEXIT_CRITICAL(); +#endif + return 0; +} + +#endif + +/** + * @} + * @} + */ diff --git a/flight/PiOS.osx/osx/pios_led.c b/flight/PiOS.osx/osx/pios_led.c new file mode 100644 index 000000000..36d9ba737 --- /dev/null +++ b/flight/PiOS.osx/osx/pios_led.c @@ -0,0 +1,86 @@ +/** + ****************************************************************************** + * + * @file pios_led.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief LED functions, init, toggle, on & off. + * @see The GNU Public License (GPL) Version 3 + * @defgroup PIOS_LED LED Functions + * @{ + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + + +/* Project Includes */ +#include "pios.h" + +#if defined(PIOS_INCLUDE_LED) + +/* Private Function Prototypes */ + + +/* Local Variables */ +static uint8_t LED_GPIO[PIOS_LED_NUM]; + + +static inline void PIOS_SetLED(uint32_t LED,uint8_t stat) { + printf("PIOS: LED %i status %i\n",LED,stat); + LED_GPIO[LED]=stat; +} + +/** +* Initialises all the LED's +*/ +void PIOS_LED_Init(void) +{ + for(int LEDNum = 0; LEDNum < PIOS_LED_NUM; LEDNum++) { + LED_GPIO[LEDNum]=0; + } +} + + +/** +* Turn on LED +* \param[in] LED LED Name (LED1, LED2) +*/ +void PIOS_LED_On(uint32_t led) +{ + PIOS_SetLED(led,1); +} + + +/** +* Turn off LED +* \param[in] LED LED Name (LED1, LED2) +*/ +void PIOS_LED_Off(uint32_t led) +{ + PIOS_SetLED(led,0); +} + + +/** +* Toggle LED on/off +* \param[in] LED LED Name (LED1, LED2) +*/ +void PIOS_LED_Toggle(uint32_t led) +{ + PIOS_SetLED(led,LED_GPIO[led]?0:1); +} + +#endif diff --git a/flight/PiOS.osx/osx/pios_rcvr.c b/flight/PiOS.osx/osx/pios_rcvr.c new file mode 100644 index 000000000..652730547 --- /dev/null +++ b/flight/PiOS.osx/osx/pios_rcvr.c @@ -0,0 +1,100 @@ +/* Project Includes */ +#include "pios.h" + +#if defined(PIOS_INCLUDE_RCVR) + +#include + +enum pios_rcvr_dev_magic { + PIOS_RCVR_DEV_MAGIC = 0x99aabbcc, +}; + +struct pios_rcvr_dev { + enum pios_rcvr_dev_magic magic; + uint32_t lower_id; + const struct pios_rcvr_driver * driver; +}; + +static bool PIOS_RCVR_validate(struct pios_rcvr_dev * rcvr_dev) +{ + return (rcvr_dev->magic == PIOS_RCVR_DEV_MAGIC); +} + +#if defined(PIOS_INCLUDE_FREERTOS) && 0 +static struct pios_rcvr_dev * PIOS_RCVR_alloc(void) +{ + struct pios_rcvr_dev * rcvr_dev; + + rcvr_dev = (struct pios_rcvr_dev *)malloc(sizeof(*rcvr_dev)); + if (!rcvr_dev) return (NULL); + + rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC; + return(rcvr_dev); +} +#else +static struct pios_rcvr_dev pios_rcvr_devs[PIOS_RCVR_MAX_DEVS]; +static uint8_t pios_rcvr_num_devs; +static struct pios_rcvr_dev * PIOS_RCVR_alloc(void) +{ + struct pios_rcvr_dev * rcvr_dev; + + if (pios_rcvr_num_devs >= PIOS_RCVR_MAX_DEVS) { + return (NULL); + } + + rcvr_dev = &pios_rcvr_devs[pios_rcvr_num_devs++]; + rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC; + + return (rcvr_dev); +} +#endif + +/** + * Initialises RCVR layer + * \param[out] handle + * \param[in] driver + * \param[in] id + * \return < 0 if initialisation failed + */ +int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, const uint32_t lower_id) +{ + PIOS_DEBUG_Assert(rcvr_id); + PIOS_DEBUG_Assert(driver); + + struct pios_rcvr_dev * rcvr_dev; + + rcvr_dev = (struct pios_rcvr_dev *) PIOS_RCVR_alloc(); + if (!rcvr_dev) goto out_fail; + + rcvr_dev->driver = driver; + rcvr_dev->lower_id = lower_id; + + + *rcvr_id = pios_rcvr_num_devs - 1; + + return(0); + +out_fail: + return(-1); +} + +int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel) +{ + struct pios_rcvr_dev * rcvr_dev = &pios_rcvr_devs[rcvr_id]; + + if (!PIOS_RCVR_validate(rcvr_dev)) { + /* Undefined RCVR port for this board (see pios_board.c) */ + PIOS_DEBUG_Assert(0); + } + + PIOS_DEBUG_Assert(rcvr_dev->driver->read); + + return rcvr_dev->driver->read(rcvr_dev->lower_id, channel); +} + +#endif + +/** + * @} + * @} + */ diff --git a/flight/PiOS.osx/osx/pios_sdcard.c b/flight/PiOS.osx/osx/pios_sdcard.c new file mode 100644 index 000000000..1e43c8086 --- /dev/null +++ b/flight/PiOS.osx/osx/pios_sdcard.c @@ -0,0 +1,300 @@ +/** + ****************************************************************************** + * + * @file pios_sdcard.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * Parts by Thorsten Klose (tk@midibox.org) + * @brief Sets up basic system hardware, functions are called from Main. + * @see The GNU Public License (GPL) Version 3 + * @defgroup PIOS_SDCARD SDCard Functions + * @{ + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + + +/* Project Includes */ +#include "pios.h" + +#if defined(PIOS_INCLUDE_SDCARD) + + +/** +* Initialises SPI pins and peripheral to access MMC/SD Card +* \param[in] mode currently only mode 0 supported +* \return < 0 if initialisation failed +*/ +int32_t PIOS_SDCARD_Init(void) +{ + /* No error */ + return 0; +} + + +/** +* Connects to SD Card +* \return < 0 if initialisation sequence failed +*/ +int32_t PIOS_SDCARD_PowerOn(void) +{ + return 0; /* Status should be 0 if nothing went wrong! */ +} + + +/** +* Disconnects from SD Card +* \return < 0 on errors +*/ +int32_t PIOS_SDCARD_PowerOff(void) +{ + return 0; // no error +} + + +/** +* If SD card was previously available: Checks if the SD Card is still +* available by sending the STATUS command.
+* This takes ca. 10 uS +* +* If SD card was previously not available: Checks if the SD Card is +* available by sending the IDLE command at low speed.
+* This takes ca. 500 uS!
+* Once we got a positive response, SDCARD_PowerOn() will be +* called by this function to initialize the card completely. +* +* Example for Connection/Disconnection detection: +* \code +* // this function is called each second from a low-priority task +* // If multiple tasks are accessing the SD card, add a semaphore/mutex +* // to avoid IO access collisions with other tasks! +* u8 sdcard_available; +* int32_t CheckSDCard(void) +* { +* // check if SD card is available +* // High speed access if the card was previously available +* u8 prev_sdcard_available = sdcard_available; +* sdcard_available = PIOS_SDCARD_CheckAvailable(prev_sdcard_available); +* +* if(sdcard_available && !prev_sdcard_available) { +* // SD Card has been connected +* +* // now it's possible to read/write sectors +* +* } else if( !sdcard_available && prev_sdcard_available ) { +* // SD Card has been disconnected +* +* // here you can notify your application about this state +* } +* +* return 0; // no error +* } +* \endcode +* \param[in] was_available should only be set if the SD card was previously available +* \return 0 if no response from SD Card +* \return 1 if SD card is accessible +*/ +int32_t PIOS_SDCARD_CheckAvailable(uint8_t was_available) +{ + return 1; /* 1 = available, 0 = not available. */ +} + + +/** +* Sends command to SD card +* \param[in] cmd SD card command +* \param[in] addr 32bit address +* \param[in] crc precalculated CRC +* \return >= 0x00 if command has been sent successfully (contains received byte) +* \return -1 if no response from SD Card (timeout) +*/ +int32_t PIOS_SDCARD_SendSDCCmd(uint8_t cmd, uint32_t addr, uint8_t crc) +{ + return -1; +} + + +/** +* Reads 512 bytes from selected sector +* \param[in] sector 32bit sector +* \param[in] *buffer pointer to 512 byte buffer +* \return 0 if whole sector has been successfully read +* \return -error if error occured during read operation:
+*
    +*
  • Bit 0 - In idle state if 1 +*
  • Bit 1 - Erase Reset if 1 +*
  • Bit 2 - Illgal Command if 1 +*
  • Bit 3 - Com CRC Error if 1 +*
  • Bit 4 - Erase Sequence Error if 1 +*
  • Bit 5 - Address Error if 1 +*
  • Bit 6 - Parameter Error if 1 +*
  • Bit 7 - Not used, always '0' +*
+* \return -256 if timeout during command has been sent +* \return -257 if timeout while waiting for start token +*/ +int32_t PIOS_SDCARD_SectorRead(uint32_t sector, uint8_t *buffer) +{ + return -256; +} + + +/** +* Writes 512 bytes into selected sector +* \param[in] sector 32bit sector +* \param[in] *buffer pointer to 512 byte buffer +* \return 0 if whole sector has been successfully read +* \return -error if error occured during read operation:
+*
    +*
  • Bit 0 - In idle state if 1 +*
  • Bit 1 - Erase Reset if 1 +*
  • Bit 2 - Illgal Command if 1 +*
  • Bit 3 - Com CRC Error if 1 +*
  • Bit 4 - Erase Sequence Error if 1 +*
  • Bit 5 - Address Error if 1 +*
  • Bit 6 - Parameter Error if 1 +*
  • Bit 7 - Not used, always '0' +*
+* \return -256 if timeout during command has been sent +* \return -257 if write operation not accepted +* \return -258 if timeout during write operation +*/ +int32_t PIOS_SDCARD_SectorWrite(uint32_t sector, uint8_t *buffer) +{ + return -256; +} + + +/** +* Reads the CID informations from SD Card +* \param[in] *cid pointer to buffer which holds the CID informations +* \return 0 if the informations haven been successfully read +* \return -error if error occured during read operation +* \return -256 if timeout during command has been sent +* \return -257 if timeout while waiting for start token +*/ +int32_t PIOS_SDCARD_CIDRead(SDCARDCidTypeDef *cid) +{ + return -256; +} + +/** +* Reads the CSD informations from SD Card +* \param[in] *csd pointer to buffer which holds the CSD informations +* \return 0 if the informations haven been successfully read +* \return -error if error occured during read operation +* \return -256 if timeout during command has been sent +* \return -257 if timeout while waiting for start token +*/ +int32_t PIOS_SDCARD_CSDRead(SDCARDCsdTypeDef *csd) +{ + return -256; +} + +/** +* Attempts to write a startup log to the SDCard +* return 0 No errors +* return -1 Error deleting file +* return -2 Error opening file +* return -3 Error writing file +*/ +int32_t PIOS_SDCARD_StartupLog(void) +{ + return -3; +} + +/** + * Check if the SD card has been mounted + * @return 0 if no + * @return 1 if yes + */ +int32_t PIOS_SDCARD_IsMounted() +{ + return 1; +} + +/** +* Mounts the file system +* param[in] CreateStartupLog 1 = True, 0 = False +* return 0 No errors +* return -1 SDCard not available +* return -2 Cannot find first partition +* return -3 No volume information +* return -4 Error writing startup log file +*/ +int32_t PIOS_SDCARD_MountFS(uint32_t CreateStartupLog) +{ + return 0; +} + +/** +* Mounts the file system +* return Amount of free bytes +*/ +int32_t PIOS_SDCARD_GetFree(void) +{ + return 10240; +} + +/** +* Read from file +* return 0 No error +* return -1 DFS_ReadFile failed +* return -2 Less bytes read than expected +*/ +//int32_t PIOS_SDCARD_ReadBuffer(PFILEINFO fileinfo, uint8_t *buffer, uint32_t len) +//{ + /* No error */ +// return -1; +//} + +/** +* Read a line from file +* returns Number of bytes read +*/ +//int32_t PIOS_SDCARD_ReadLine(PFILEINFO fileinfo, uint8_t *buffer, uint32_t max_len) +//{ +// return -1; +//} + +/** +* Copy a file +* WARNING: This will overwrite the destination file even if it exists +* param[in] *Source Path to file to copy +* param[in] *Destination Path to destination file +* return 0 No errors +* return -1 Source file doesn't exist +* return -2 Failed to create destination file +* return -3 DFS_ReadFile failed +* return -4 DFS_WriteFile failed +*/ +int32_t PIOS_SDCARD_FileCopy(char *Source, char *Destination) +{ + return -2; +} + +/** +* Delete a file +* param[in] *Filename File to delete +* return 0 No errors +* return -1 Error deleting file +*/ +int32_t PIOS_SDCARD_FileDelete(char *Filename) +{ + return -1; +} + +#endif diff --git a/flight/PiOS.osx/osx/pios_servo.c b/flight/PiOS.osx/osx/pios_servo.c new file mode 100644 index 000000000..93b86a1ed --- /dev/null +++ b/flight/PiOS.osx/osx/pios_servo.c @@ -0,0 +1,74 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_SERVO RC Servo Functions + * @brief Code to do set RC servo output + * @{ + * + * @file pios_servo.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief RC Servo routines (STM32 dependent) + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +/* Project Includes */ +#include "pios.h" + +#if defined(PIOS_INCLUDE_SERVO) + +/* Private Function Prototypes */ + +/* Local Variables */ +static volatile uint16_t ServoPosition[PIOS_SERVO_NUM_TIMERS]; + +/** +* Initialise Servos +*/ +void PIOS_Servo_Init(void) +{ +} + +/** +* Set the servo update rate (Max 500Hz) +* \param[in] onetofour Rate for outputs 1 to 4 (Hz) +* \param[in] fivetoeight Rate for outputs 5 to 8 (Hz) +*/ +void PIOS_Servo_SetHz(uint16_t * banks, uint8_t num_banks) +{ +} + +/** +* Set servo position +* \param[in] Servo Servo number (0-7) +* \param[in] Position Servo position in milliseconds +*/ +void PIOS_Servo_Set(uint8_t Servo, uint16_t Position) +{ +#ifndef PIOS_ENABLE_DEBUG_PINS + /* Make sure servo exists */ + if (Servo < PIOS_SERVO_NUM_OUTPUTS) { + /* Update the position */ + ServoPosition[Servo] = Position; + + } +#endif // PIOS_ENABLE_DEBUG_PINS +} + +#endif diff --git a/flight/PiOS.osx/osx/pios_sim.c b/flight/PiOS.osx/osx/pios_sim.c new file mode 100644 index 000000000..0a866a4f7 --- /dev/null +++ b/flight/PiOS.osx/osx/pios_sim.c @@ -0,0 +1,101 @@ + +#include "pios.h" +#include "pios_sim_priv.h" +#include "sim_model.h" + +struct pios_sim_state pios_sim_state = { + .accels = {0, 0, 0}, + .gyros = {0, 0, 0}, + .mag = {0, 0, 0}, + .baro = {0}, + .q = {1, 0, 0, 0}, + .velocity = {0, 0, 0}, + .position = {0, 0, 0}, + .actuator = {0, 0, 0, 0, 0, 0, 0, 0} +}; + +/** + * Initialize the model in the external library + * @returns 0 for success, -1 if fails to initialize external library + */ +int PIOS_SIM_Init() +{ + if (sim_model_init() != 0) + return -1; + return 0; +} + +/** + * Step the model simulation in the external library + * @returns 0 for success, -1 for failure to step external library + */ +int PIOS_SIM_Step(float dT) +{ + if (sim_model_step(dT, &pios_sim_state) != 0) + return -1; + + return 0; +} + +/** + * Set the actuator inputs to the model + * @param[in] actuator pointer to an array of actuators to set + * @param[in] nchannels number of channels that are valid coming in + */ +void PIOS_SIM_SetActuator(float * actuator, int nchannels) +{ + for (int i = 0; i < NELEMENTS(pios_sim_state.actuator) && i < nchannels; i++) + pios_sim_state.actuator[i] = actuator[i]; +} + +/** + * Get the accelerometer data from the simulation model + * @param[out] pointer to store the accelerometer data in + */ +void PIOS_SIM_GetAccels(float * accels) +{ + for (int i = 0; i < NELEMENTS(pios_sim_state.accels); i++) + accels[i] = pios_sim_state.accels[i]; +} + +/** + * Get the gyro data from the simulation model + * @param[out] pointer to store the gyro data in + */ +void PIOS_SIM_GetGyros(float * gyros) +{ + for (int i = 0; i < NELEMENTS(pios_sim_state.accels); i++) + gyros[i] = pios_sim_state.gyros[i]; +} + +/** + * Get the current attitude from the simulation model + * @param[out] quat pointer to store the quaternion attitude in + */ +void PIOS_SIM_GetAttitude(float * q) +{ + for (int i = 0; i < NELEMENTS(pios_sim_state.q); i++) + q[i] = pios_sim_state.q[i]; +} + +/** + * Get the current positiom from the simulation model + * @param[out] position pointer to store the current position in (cm in NED + * frame) + */ +void PIOS_SIM_GetVelocity(float * velocity) +{ + for (int i = 0; i < NELEMENTS(pios_sim_state.velocity); i++) + velocity[i] = pios_sim_state.velocity[i]; +} + +/** + * Get the current positiom from the simulation model + * @param[out] position pointer to store the current position in (cm in NED + * frame) + */ +void PIOS_SIM_GetPosition(float * position) +{ + for (int i = 0; i < NELEMENTS(pios_sim_state.position); i++) + position[i] = pios_sim_state.position[i]; +} diff --git a/flight/PiOS.osx/osx/pios_sys.c b/flight/PiOS.osx/osx/pios_sys.c new file mode 100644 index 000000000..063a2ed6b --- /dev/null +++ b/flight/PiOS.osx/osx/pios_sys.c @@ -0,0 +1,165 @@ +/** + ****************************************************************************** + * + * @file pios_sys.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org) + * @brief Sets up basic system hardware, functions are called from Main. + * @see The GNU Public License (GPL) Version 3 + * @defgroup PIOS_SYS System Functions + * @{ + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + + +/* Project Includes */ +#include "pios.h" + +#if defined(PIOS_INCLUDE_SYS) + + +/* Private Function Prototypes */ +void NVIC_Configuration(void); +void SysTick_Handler(void); + +/* Local Macros */ +#define MEM8(addr) (*((volatile uint8_t *)(addr))) + +/** +* Initialises all system peripherals +*/ +void PIOS_SYS_Init(void) +{ + + /** + * stub + */ + printf("PIOS_SYS_Init\n"); + + /* Initialise Basic NVIC */ + NVIC_Configuration(); + +#if defined(PIOS_INCLUDE_LED) + /* Initialise LEDs */ + PIOS_LED_Init(); +#endif +} + +/** +* Shutdown PIOS and reset the microcontroller:
+*
    +*
  • Disable all RTOS tasks +*
  • Disable all interrupts +*
  • Turn off all board LEDs +*
  • Reset STM32 +*
+* \return < 0 if reset failed +*/ +int32_t PIOS_SYS_Reset(void) +{ + /** + * stub + */ + printf("PIOS_SYS_Reset\n"); + /* Disable all RTOS tasks */ +#if defined(PIOS_INCLUDE_FREERTOS) + /* port specific FreeRTOS function to disable tasks (nested) */ + portENTER_CRITICAL(); +#endif + + + while(1); + + /* We will never reach this point */ + return -1; +} + +/** +* Returns the serial number as a string +* param[out] str pointer to a string which can store at least 32 digits + zero terminator! +* (24 digits returned for STM32) +* return < 0 if feature not supported +*/ +int32_t PIOS_SYS_SerialNumberGet(char *str) +{ + int i; + + /* Stored in the so called "electronic signature" */ + for(i=0; i<24; ++i) { + //uint8_t b = MEM8(0x1ffff7e8 + (i/2)); + //if( !(i & 1) ) + //b >>= 4; + //b &= 0x0f; + + //str[i] = ((b > 9) ? ('A'-10) : '0') + b; + str[i]='6'; + } + str[i] = 0; + + /* No error */ + return 0; +} + +/** +* Configures Vector Table base location and SysTick +*/ +void NVIC_Configuration(void) +{ + /** + * stub + */ + printf("NVIC_Configuration\n"); + /* Set the Vector Table base address as specified in .ld file */ + //NVIC_SetVectorTable(PIOS_NVIC_VECTTAB_FLASH, 0x0); + + /* 4 bits for Interrupt priorities so no sub priorities */ + //NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4); + + /* Configure HCLK clock as SysTick clock source. */ + //SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK); +} + +#ifdef USE_FULL_ASSERT +/** +* Reports the name of the source file and the source line number +* where the assert_param error has occurred. +* \param[in] file pointer to the source file name +* \param[in] line assert_param error line source number +* \retval None +*/ +void assert_failed(uint8_t* file, uint32_t line) +{ + /* When serial debugging is implemented, use something like this. */ + /* printf("Wrong parameters value: file %s on line %d\r\n", file, line); */ + printf("Wrong parameters value: file %s on line %d\r\n", file, line); + + /* Setup the LEDs to Alternate */ + PIOS_LED_On(LED1); + PIOS_LED_Off(LED2); + + /* Infinite loop */ + while (1) + { + PIOS_LED_Toggle(LED1); + PIOS_LED_Toggle(LED2); + for(int i = 0; i < 1000000; i++); + } +} +#endif + +#endif diff --git a/flight/PiOS.osx/osx/pios_udp.c b/flight/PiOS.osx/osx/pios_udp.c new file mode 100644 index 000000000..f7f91f620 --- /dev/null +++ b/flight/PiOS.osx/osx/pios_udp.c @@ -0,0 +1,244 @@ +/** + ****************************************************************************** + * + * @file pios_udp.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org) + * @brief UDP commands. Inits UDPs, controls UDPs & Interupt handlers. + * @see The GNU Public License (GPL) Version 3 + * @defgroup PIOS_UDP UDP Functions + * @{ + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + + +/* Project Includes */ +#include "pios.h" + +#if defined(PIOS_INCLUDE_UDP) + +#include +#include + +/* We need a list of UDP devices */ + +#define PIOS_UDP_MAX_DEV 256 +static int8_t pios_udp_num_devices = 0; + +static pios_udp_dev pios_udp_devices[PIOS_UDP_MAX_DEV]; + + + +/* Provide a COM driver */ +static void PIOS_UDP_ChangeBaud(uint32_t udp_id, uint32_t baud); +static void PIOS_UDP_RegisterRxCallback(uint32_t udp_id, pios_com_callback rx_in_cb, uint32_t context); +static void PIOS_UDP_RegisterTxCallback(uint32_t udp_id, pios_com_callback tx_out_cb, uint32_t context); +static void PIOS_UDP_TxStart(uint32_t udp_id, uint16_t tx_bytes_avail); +static void PIOS_UDP_RxStart(uint32_t udp_id, uint16_t rx_bytes_avail); + +const struct pios_com_driver pios_udp_com_driver = { + .set_baud = PIOS_UDP_ChangeBaud, + .tx_start = PIOS_UDP_TxStart, + .rx_start = PIOS_UDP_RxStart, + .bind_tx_cb = PIOS_UDP_RegisterTxCallback, + .bind_rx_cb = PIOS_UDP_RegisterRxCallback, +}; + + +static pios_udp_dev * find_udp_dev_by_id (uint8_t udp) +{ + if (udp >= pios_udp_num_devices) { + /* Undefined UDP port for this board (see pios_board.c) */ + PIOS_Assert(0); + return NULL; + } + + /* Get a handle for the device configuration */ + return &(pios_udp_devices[udp]); +} + +/** + * RxThread + */ +void * PIOS_UDP_RxThread(void * udp_dev_n) +{ + + /* needed because of FreeRTOS.posix scheduling */ + sigset_t set; + sigfillset(&set); + sigprocmask(SIG_BLOCK, &set, NULL); + + pios_udp_dev * udp_dev = (pios_udp_dev*) udp_dev_n; + + /** + * com devices never get closed except by application "reboot" + * we also never give up our mutex except for waiting + */ + while(1) { + + /** + * receive + */ + int received; + udp_dev->clientLength=sizeof(udp_dev->client); + if ((received = recvfrom(udp_dev->socket, + &udp_dev->rx_buffer, + PIOS_UDP_RX_BUFFER_SIZE, + 0, + (struct sockaddr *) &udp_dev->client, + (socklen_t*)&udp_dev->clientLength)) >= 0) + { + + /* copy received data to buffer if possible */ + /* we do NOT buffer data locally. If the com buffer can't receive, data is discarded! */ + /* (thats what the USART driver does too!) */ + bool rx_need_yield = false; + if (udp_dev->rx_in_cb) { + (void) (udp_dev->rx_in_cb)(udp_dev->rx_in_context, udp_dev->rx_buffer, received, NULL, &rx_need_yield); + } + +#if defined(PIOS_INCLUDE_FREERTOS) + if (rx_need_yield) { + vPortYieldFromISR(); + } +#endif /* PIOS_INCLUDE_FREERTOS */ + + } + + + } +} + + +/** +* Open UDP socket +*/ +int32_t PIOS_UDP_Init(uint32_t * udp_id, const struct pios_udp_cfg * cfg) +{ + + pios_udp_dev * udp_dev = &pios_udp_devices[pios_udp_num_devices]; + + pios_udp_num_devices++; + + + /* initialize */ + udp_dev->rx_in_cb = NULL; + udp_dev->tx_out_cb = NULL; + udp_dev->cfg=cfg; + + /* assign socket */ + udp_dev->socket = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP); + memset(&udp_dev->server,0,sizeof(udp_dev->server)); + memset(&udp_dev->client,0,sizeof(udp_dev->client)); + udp_dev->server.sin_family = AF_INET; + udp_dev->server.sin_addr.s_addr = inet_addr(udp_dev->cfg->ip); + udp_dev->server.sin_port = htons(udp_dev->cfg->port); + int res= bind(udp_dev->socket, (struct sockaddr *)&udp_dev->server,sizeof(udp_dev->server)); + + /* Create transmit thread for this connection */ + pthread_create(&udp_dev->rxThread, NULL, PIOS_UDP_RxThread, (void*)udp_dev); + + printf("udp dev %i - socket %i opened - result %i\n",pios_udp_num_devices-1,udp_dev->socket,res); + + *udp_id = pios_udp_num_devices-1; + + return res; +} + + +void PIOS_UDP_ChangeBaud(uint32_t udp_id, uint32_t baud) +{ + /** + * doesn't apply! + */ +} + + +static void PIOS_UDP_RxStart(uint32_t udp_id, uint16_t rx_bytes_avail) +{ + /** + * lazy! + */ +} + + +static void PIOS_UDP_TxStart(uint32_t udp_id, uint16_t tx_bytes_avail) +{ + pios_udp_dev * udp_dev = find_udp_dev_by_id(udp_id); + + PIOS_Assert(udp_dev); + + int32_t length,len,rem; + + /** + * we send everything directly whenever notified of data to send (lazy!) + */ + if (udp_dev->tx_out_cb) { + while (tx_bytes_avail>0) { + bool tx_need_yield = false; + length = (udp_dev->tx_out_cb)(udp_dev->tx_out_context, udp_dev->tx_buffer, PIOS_UDP_RX_BUFFER_SIZE, NULL, &tx_need_yield); + rem = length; + while (rem>0) { + len = sendto(udp_dev->socket, udp_dev->tx_buffer, length, 0, + (struct sockaddr *) &udp_dev->client, + sizeof(udp_dev->client)); + if (len<=0) { + rem=0; + } else { + rem -= len; + } + } + tx_bytes_avail -= length; + } + } + +} + +static void PIOS_UDP_RegisterRxCallback(uint32_t udp_id, pios_com_callback rx_in_cb, uint32_t context) +{ + pios_udp_dev * udp_dev = find_udp_dev_by_id(udp_id); + + PIOS_Assert(udp_dev); + + /* + * Order is important in these assignments since ISR uses _cb + * field to determine if it's ok to dereference _cb and _context + */ + udp_dev->rx_in_context = context; + udp_dev->rx_in_cb = rx_in_cb; +} + +static void PIOS_UDP_RegisterTxCallback(uint32_t udp_id, pios_com_callback tx_out_cb, uint32_t context) +{ + pios_udp_dev * udp_dev = find_udp_dev_by_id(udp_id); + + PIOS_Assert(udp_dev); + + /* + * Order is important in these assignments since ISR uses _cb + * field to determine if it's ok to dereference _cb and _context + */ + udp_dev->tx_out_context = context; + udp_dev->tx_out_cb = tx_out_cb; +} + + + + + +#endif diff --git a/flight/PiOS.osx/osx/pios_wdg.c b/flight/PiOS.osx/osx/pios_wdg.c new file mode 100644 index 000000000..3a9fcc3fb --- /dev/null +++ b/flight/PiOS.osx/osx/pios_wdg.c @@ -0,0 +1,123 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_WDG Watchdog Functions + * @brief PIOS Comamnds to initialize and clear watchdog timer + * @{ + * + * @file pios_spi.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org) + * @brief Hardware Abstraction Layer for SPI ports of STM32 + * @see The GNU Public License (GPL) Version 3 + * @notes + * + * The PIOS Watchdog provides a HAL to initialize a watchdog + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#include "pios.h" + +/** + * @brief Initialize the watchdog timer for a specified timeout + * + * It is important to note that this function returns the achieved timeout + * for this hardware. For hardware indendence this should be checked when + * scheduling updates. Other hardware dependent details may need to be + * considered such as a window time which sets a minimum update time, + * and this function should return a recommended delay for clearing. + * + * For the STM32 nominal clock rate is 32 khz, but for the maximum clock rate of + * 60 khz and a prescalar of 4 yields a clock rate of 15 khz. The delay that is + * set in the watchdog assumes the nominal clock rate, but the delay for FreeRTOS + * to use is 75% of the minimal delay. + * + * @param[in] delayMs The delay period in ms + * @returns Maximum recommended delay between updates + */ +void PIOS_WDG_Init() +{ +} + +/** + * @brief Register a module against the watchdog + * + * There are two ways to use PIOS WDG: this is for when + * multiple modules must be monitored. In this case they + * must first register against the watchdog system and + * only when all of the modules have been updated with the + * watchdog be cleared. Each module must have its own + * bit in the 16 bit + * + * @param[in] flag the bit this module wants to use + * @returns True if that bit is unregistered + */ +bool PIOS_WDG_RegisterFlag(uint16_t flag_requested) +{ + return true; +} + +/** + * @brief Function called by modules to indicate they are still running + * + * This function will set this flag in the active flags register (which is + * a backup regsiter) and if all the registered flags are set will clear + * the watchdog and set only this flag in the backup register + * + * @param[in] flag the flag to set + * @return true if the watchdog cleared, false if flags are pending + */ +bool PIOS_WDG_UpdateFlag(uint16_t flag) +{ + return true; +} + +/** + * @brief Returns the flags that were set at bootup + * + * This is used for diagnostics, if only one flag not set this + * was likely the module that wasn't running before reset + * + * @return The active flags register from bootup + */ +uint16_t PIOS_WDG_GetBootupFlags() +{ + return (uint16_t) 0xffff; +} + +/** + * @brief Returns the currently active flags + * + * For external monitoring + * + * @return The active flags register + */ +uint16_t PIOS_WDG_GetActiveFlags() +{ + return (uint16_t) 0xffff; +} + +/** + * @brief Clear the watchdog timer + * + * This function must be called at the appropriate delay to prevent a reset event occuring + */ +void PIOS_WDG_Clear(void) +{ +} diff --git a/flight/PiOS.osx/pios.h b/flight/PiOS.osx/pios.h new file mode 100644 index 000000000..d036b83ff --- /dev/null +++ b/flight/PiOS.osx/pios.h @@ -0,0 +1,76 @@ +/** + ****************************************************************************** + * + * @file pios.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Main PiOS header. + * - Central header for the project. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + + +#ifndef PIOS_H +#define PIOS_H + +/* PIOS Feature Selection */ +#include "pios_config_posix.h" +#include + +#if defined(PIOS_INCLUDE_FREERTOS) +/* FreeRTOS Includes */ +#include "FreeRTOS.h" +#include "task.h" +#include "queue.h" +#include "semphr.h" + +#define vPortInitialiseBlocks(); +#endif + +/* C Lib Includes */ +#include +#include +#include +#include +#include +#include + +/* Generic initcall infrastructure */ +#include "pios_initcall.h" + +/* PIOS Board Specific Device Configuration */ +#include "pios_board_posix.h" + +/* PIOS Hardware Includes (posix) */ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define NELEMENTS(x) (sizeof(x) / sizeof(*(x))) + +#endif /* PIOS_H */ diff --git a/flight/Revolution/Makefile.osx b/flight/Revolution/Makefile.osx new file mode 100644 index 000000000..6bb0eed5e --- /dev/null +++ b/flight/Revolution/Makefile.osx @@ -0,0 +1,646 @@ + ##### + # Project: Revolution + # + # + # Makefile for OpenPilot project build PiOS and the AP. + # + # The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2012. + # + # + # This program is free software; you can redistribute it and/or modify + # it under the terms of the GNU General Public License as published by + # the Free Software Foundation; either version 3 of the License, or + # (at your option) any later version. + # + # This program 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 along + # with this program; if not, write to the Free Software Foundation, Inc., + # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + ##### + + +# Set developer code and compile options +# Set to YES to compile for debugging +DEBUG ?= YES + +# Set to YES to use the Servo output pins for debugging via scope or logic analyser +ENABLE_DEBUG_PINS ?= NO + +# Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs +ENABLE_AUX_UART ?= NO + +# +USE_BOOTLOADER ?= NO + + +# Set to YES when using Code Sourcery toolchain +CODE_SOURCERY ?= NO + +# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe) +TCHAIN_PREFIX ?= "" + +# Remove command is different for Code Sourcery on Windows +REMOVE_CMD ?= rm + +FLASH_TOOL = OPENOCD + +# YES enables -mthumb option to flags for source-files listed +# in SRC and CPPSRC +USE_THUMB_MODE = YES + +# List of modules to include +MODULES = Telemetry Actuator Stabilization ManualControl FlightPlan SimulatedAttitude + +# MCU name, submodel and board +# - MCU used for compiler-option (-mtune) +# - MODEL used for linker-script name (-T) and passed as define +# - BOARD just passed as define (optional) +MCU = i686 +#CHIP = STM32F103RET +#BOARD = STM3210E_OP +MODEL = HD +ifeq ($(USE_BOOTLOADER), YES) +BOOT_MODEL = $(MODEL)_BL + +else +BOOT_MODEL = $(MODEL)_NB +endif + +# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.) +OUTDIR = ../../build/sim_osx + +# Target file name (without extension). +TARGET = Revolution + +# Paths +OPSYSTEM = ./System +OPSYSTEMINC = $(OPSYSTEM)/inc +OPUAVTALK = ../UAVTalk +OPUAVTALKINC = $(OPUAVTALK)/inc +OPUAVOBJ = ../UAVObjects +OPUAVOBJINC = $(OPUAVOBJ)/inc +OPTESTS = ./Tests +OPMODULEDIR = ../Modules +FLIGHTLIB = ../Libraries +FLIGHTLIBINC = $(FLIGHTLIB)/inc +PIOS = ../PiOS.osx +PIOSINC = $(PIOS)/inc +PIOSPOSIX = $(PIOS)/osx +APPLIBDIR = $(PIOSPOSIX)/Libraries +RTOSDIR = $(APPLIBDIR)/FreeRTOS +RTOSSRCDIR = $(RTOSDIR)/Source +RTOSINCDIR = $(RTOSSRCDIR)/include +DOXYGENDIR = ../Doc/Doxygen +PYMITE = $(FLIGHTLIB)/PyMite +PYMITELIB = $(PYMITE)/lib +PYMITEPLAT = $(PYMITE)/platform/openpilot_sitl +PYMITETOOLS = $(PYMITE)/tools +PYMITEVM = $(PYMITE)/vm +PYMITEINC = $(PYMITEVM) +PYMITEINC += $(PYMITEPLAT) +PYMITEINC += $(OUTDIR) +FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib +FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans + +UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight +UAVOBJPYTHONSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/python + +# List C source files here. (C dependencies are automatically generated.) +# use file-extension c for "c-only"-files + +MODNAMES = $(notdir ${MODULES}) + +ifndef TESTAPP + +## PyMite files +SRC += $(OUTDIR)/pmlib_img.c +SRC += $(OUTDIR)/pmlib_nat.c +SRC += $(OUTDIR)/pmlibusr_img.c +SRC += $(OUTDIR)/pmlibusr_nat.c +SRC += $(wildcard ${PYMITEVM}/*.c) +SRC += $(wildcard ${PYMITEPLAT}/*.c) + +## MODULES +SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}} +SRC += ${OUTDIR}/InitMods.c +## OPENPILOT CORE: +SRC += ${OPMODULEDIR}/System/systemmod.c +SRC += $(OPSYSTEM)/revolution.c +SRC += $(OPSYSTEM)/pios_board_posix.c +SRC += $(OPSYSTEM)/alarms.c +SRC += $(OPUAVTALK)/uavtalk.c +SRC += $(OPUAVOBJ)/uavobjectmanager.c +SRC += $(OPUAVOBJ)/eventdispatcher.c +SRC += $(UAVOBJSYNTHDIR)/uavobjectsinit.c +else +## TESTCODE +SRC += $(OPTESTS)/test_common.c +SRC += $(OPTESTS)/$(TESTAPP).c +endif + + + +## UAVOBJECTS +ifndef TESTAPP +#include $(UAVOBJSYNTHDIR)/Makefile.inc +include ./UAVObjects.inc +SRC += $(UAVOBJSRC) +CFLAGS_UAVOBJECTS = $(UAVOBJDEFINE) +endif + +## PIOS Hardware (posix) +SRC += $(PIOSPOSIX)/pios_crc.c +SRC += $(PIOSPOSIX)/pios_sys.c +SRC += $(PIOSPOSIX)/pios_led.c +SRC += $(PIOSPOSIX)/pios_irq.c +SRC += $(PIOSPOSIX)/pios_delay.c +SRC += $(PIOSPOSIX)/pios_sdcard.c +SRC += $(PIOSPOSIX)/pios_udp.c +SRC += $(PIOSPOSIX)/pios_com.c +SRC += $(PIOSPOSIX)/pios_servo.c +SRC += $(PIOSPOSIX)/pios_wdg.c +SRC += $(PIOSPOSIX)/pios_debug.c + +SRC += $(PIOSPOSIX)/pios_rcvr.c +SRC += $(PIOSPOSIX)/pios_sim.c + +## Libraries for flight calculations +SRC += $(FLIGHTLIB)/fifo_buffer.c +SRC += $(FLIGHTLIB)/WorldMagModel.c +SRC += $(FLIGHTLIB)/CoordinateConversions.c +SRC += $(FLIGHTLIB)/taskmonitor.c + +## RTOS and RTOS Portable +SRC += $(RTOSSRCDIR)/list.c +SRC += $(RTOSSRCDIR)/queue.c +UNAME := $(shell uname) +SRC += $(RTOSSRCDIR)/task.c +SRC += $(RTOSSRCDIR)/portable/GCC/Posix/port.c +SRC += $(RTOSSRCDIR)/portable/MemMang/heap_3.c + + + +# List C source files here which must be compiled in ARM-Mode (no -mthumb). +# use file-extension c for "c-only"-files +## just for testing, timer.c could be compiled in thumb-mode too +SRCARM = + +# List C++ source files here. +# use file-extension .cpp for C++-files (not .C) +CPPSRC = + +# List C++ source files here which must be compiled in ARM-Mode. +# use file-extension .cpp for C++-files (not .C) +#CPPSRCARM = $(TARGET).cpp +CPPSRCARM = + + +# List any extra directories to look for include files here. +# Each directory must be seperated by a space. +EXTRAINCDIRS = $(OPSYSTEM) +EXTRAINCDIRS += $(OPSYSTEMINC) +EXTRAINCDIRS += $(OPUAVTALK) +EXTRAINCDIRS += $(OPUAVTALKINC) +EXTRAINCDIRS += $(OPUAVOBJ) +EXTRAINCDIRS += $(OPUAVOBJINC) +EXTRAINCDIRS += $(UAVOBJSYNTHDIR) +EXTRAINCDIRS += $(PIOS) +EXTRAINCDIRS += $(PIOSINC) +EXTRAINCDIRS += $(FLIGHTLIBINC) +EXTRAINCDIRS += $(PIOSPOSIX) +EXTRAINCDIRS += $(RTOSINCDIR) +EXTRAINCDIRS += $(APPLIBDIR) +EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/Posix +EXTRAINCDIRS += $(PYMITEINC) + +EXTRAINCDIRS += ${foreach MOD, ${MODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc + + +# List any extra directories to look for library files here. +# Also add directories where the linker should search for +# includes from linker-script to the list +# Each directory must be seperated by a space. +EXTRA_LIBDIRS = + +# Extra Libraries +# Each library-name must be seperated by a space. +# i.e. to link with libxyz.a, libabc.a and libefsl.a: +# EXTRA_LIBS = xyz abc efsl +# for newlib-lpc (file: libnewlibc-lpc.a): +# EXTRA_LIBS = newlib-lpc +EXTRA_LIBS = + +# Path to Linker-Scripts +LINKERSCRIPTPATH = $(PIOSSTM32F10X) + +# Optimization level, can be [0, 1, 2, 3, s]. +# 0 = turn off optimization. s = optimize for size. +# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) + +ifeq ($(DEBUG),YES) +OPT = 0 +else +OPT = s +endif + +# Output format. (can be ihex or binary or both) +# binary to create a load-image in raw-binary format i.e. for SAM-BA, +# ihex to create a load-image in Intel hex format +#LOADFORMAT = ihex +#LOADFORMAT = binary +LOADFORMAT = both + +# Debugging format. +#DEBUGF = dwarf-2 + +# Place project-specific -D (define) and/or +# -U options for C here. +ifeq ($(ENABLE_DEBUG_PINS), YES) +CDEFS += -DPIOS_ENABLE_DEBUG_PINS +endif +ifeq ($(ENABLE_AUX_UART), YES) +CDEFS += -DPIOS_ENABLE_AUX_UART +endif +ifeq ($(USE_BOOTLOADER), YES) +CDEFS += -DUSE_BOOTLOADER +endif + + + +# Compiler flag to set the C Standard level. +# c89 - "ANSI" C +# gnu89 - c89 plus GCC extensions +# c99 - ISO C99 standard (not yet fully implemented) +# gnu99 - c99 plus GCC extensions +CSTANDARD = -std=gnu99 + +#----- + +# Compiler flags. + +# -g*: generate debugging information +# -O*: optimization level +# -f...: tuning, see GCC manual and avr-libc documentation +# -Wall...: warning level +# -Wa,...: tell GCC to pass this to the assembler. +# -adhlns...: create assembler listing +# +# Flags for C and C++ (arm-elf-gcc/arm-elf-g++) + +ifeq ($(DEBUG),YES) +CFLAGS = -g$(DEBUGF) -DDEBUG +endif + +CFLAGS += $(CFLAGS_UAVOBJECTS) +CFLAGS += -DARCH_POSIX +CFLAGS += -O$(OPT) +CFLAGS += -mtune=$(MCU) +CFLAGS += $(CDEFS) +CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I. + +CFLAGS += -fomit-frame-pointer +ifeq ($(CODE_SOURCERY), YES) +CFLAGS += -fpromote-loop-indices +endif + +CFLAGS += -Wall +CFLAGS += -Werror +# Compiler flags to generate dependency files: +CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d + +# flags only for C +#CONLYFLAGS += -Wnested-externs +CONLYFLAGS += $(CSTANDARD) + +# Assembler flags. +# -Wa,...: tell GCC to pass this to the assembler. +# -ahlns: create listing +ASFLAGS = -mtune=$(MCU) -I. -x assembler-with-cpp +ASFLAGS += $(ADEFS) +ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<)))) +ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) + +MATH_LIB = -lm + +# Linker flags. +# -Wl,...: tell GCC to pass this to linker. +# -Map: create map file +# --cref: add cross reference to map file +LDFLAGS += -lpthread +LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS)) +LDFLAGS += -lc +LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS)) +LDFLAGS += $(MATH_LIB) +LDFLAGS += -lc -lgcc + +# To include simulation model +LDFLAGS += -L$(OUTDIR) +LDFLAGS += -lsimmodel + + +# Define programs and commands. +CC = $(TCHAIN_PREFIX)gcc +CPP = $(TCHAIN_PREFIX)g++ +AR = $(TCHAIN_PREFIX)ar +OBJCOPY = $(TCHAIN_PREFIX)objcopy +OBJDUMP = $(TCHAIN_PREFIX)objdump +SIZE = $(TCHAIN_PREFIX)size +NM = $(TCHAIN_PREFIX)nm +REMOVE = $(REMOVE_CMD) -f +PYTHON = python +###SHELL = sh +###COPY = cp + + + +# Define Messages +# English +MSG_ERRORS_NONE = Errors: none +MSG_BEGIN = ${quote}-------- begin (mode: $(RUN_MODE)) --------${quote} +MSG_END = ${quote}-------- end --------${quote} +MSG_MODINIT = ${quote}**** Generating ModInit.c${quote} +MSG_SIZE_BEFORE = ${quote}Size before:${quote} +MSG_SIZE_AFTER = ${quote}Size after build:${quote} +MSG_LOAD_FILE = ${quote}Creating load file:${quote} +MSG_EXTENDED_LISTING = ${quote}Creating Extended Listing/Disassembly:${quote} +MSG_SYMBOL_TABLE = ${quote}Creating Symbol Table:${quote} +MSG_LINKING = ${quote}**** Linking :${quote} +MSG_COMPILING = ${quote}**** Compiling C :${quote} +MSG_COMPILING_ARM = ${quote}**** Compiling C (ARM-only):${quote} +MSG_COMPILINGCPP = ${quote}Compiling C++ :${quote} +MSG_COMPILINGCPP_ARM = ${quote}Compiling C++ (ARM-only):${quote} +MSG_ASSEMBLING = ${quote}**** Assembling:${quote} +MSG_ASSEMBLING_ARM = ${quote}****Assembling (ARM-only):${quote} +MSG_CLEANING = ${quote}Cleaning project:${quote} +MSG_FORMATERROR = ${quote}Can not handle output-format${quote} +MSG_ASMFROMC = ${quote}Creating asm-File from C-Source:${quote} +MSG_ASMFROMC_ARM = ${quote}Creating asm-File from C-Source (ARM-only):${quote} +MSG_PYMITEINIT = ${quote}**** Generating PyMite intermediate code${quote} + +# List of all source files. +ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC) +# List of all source files without directory and file-extension. +ALLSRCBASE = $(notdir $(basename $(ALLSRC))) + +# Define all object files. +ALLOBJ = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE))) + +# Define all listing files (used for make clean). +LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE))) +# Define all depedency-files (used for make clean). +DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE))) + +elf: $(OUTDIR)/$(TARGET).elf +lss: $(OUTDIR)/$(TARGET).lss +sym: $(OUTDIR)/$(TARGET).sym +hex: $(OUTDIR)/$(TARGET).hex +bin: $(OUTDIR)/$(TARGET).bin + +# Default target. +#all: begin gccversion sizebefore build sizeafter finished end +#all: begin gencode gccversion build sizeafter finished end +all: elf + +ifeq ($(LOADFORMAT),ihex) +build: elf hex lss sym +else +ifeq ($(LOADFORMAT),binary) +build: elf bin lss sym +else +ifeq ($(LOADFORMAT),both) +build: elf hex bin lss sym +else +$(error "$(MSG_FORMATERROR) $(FORMAT)") +endif +endif +endif + +# Test if quotes are needed for the echo-command +result = ${shell echo "test"} +ifeq (${result}, test) + quote = ' +else + quote = +endif + +# Generate intermediate code +gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h + +# Generate code for module initialization +${OUTDIR}/InitMods.c: Makefile.osx + @echo ${MSG_MODINIT} + @echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c + @echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c + @echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Start(void);}${quote} >> ${OUTDIR}/InitMods.c + @echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c + @echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c + @echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c + @echo ${quote}void StartModules() {${quote} >> ${OUTDIR}/InitMods.c + @echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Start();}${quote} >> ${OUTDIR}/InitMods.c + @echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c + +# Generate code for PyMite +${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py) + @echo ${MSG_PYMITEINIT} + @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py) + @$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h + @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py + +# Eye candy. +begin: +## @echo + @echo $(MSG_BEGIN) + +finished: +## @echo $(MSG_ERRORS_NONE) + +end: + @echo $(MSG_END) +## @echo + +# Display sizes of sections. +ELFSIZE = $(SIZE) -A $(OUTDIR)/$(TARGET).elf +##ELFSIZE = $(SIZE) --format=Berkeley --common $(OUTDIR)/$(TARGET).elf +sizebefore: +# @if [ -f $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi + +sizeafter: +# @if [ -f $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi + @echo $(MSG_SIZE_AFTER) + $(ELFSIZE) + +# Display compiler version information. +gccversion : + @$(CC) --version +# @echo $(ALLOBJ) + +# Program the device. +ifeq ($(USE_BOOTLOADER), YES) +# Program the device with OP Upload Tool". +program: $(OUTDIR)/$(TARGET).bin + @echo ${quote}Programming with OP Upload Tool${quote} + ../../ground/src/experimental/upload-build-desktop/debug/OPUploadTool -d 0 -p $(OUTDIR)/$(TARGET).bin +else +ifeq ($(FLASH_TOOL),OPENOCD) +# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script". +program: $(OUTDIR)/$(TARGET).elf + @echo ${quote}Programming with OPENOCD${quote} + $(OOCD_EXE) $(OOCD_CL) +endif +endif + +# Create final output file (.hex) from ELF output file. +%.hex: %.elf +## @echo + @echo $(MSG_LOAD_FILE) $@ + $(OBJCOPY) -O ihex $< $@ + +# Create final output file (.bin) from ELF output file. +%.bin: %.elf +## @echo + @echo $(MSG_LOAD_FILE) $@ + $(OBJCOPY) -O binary $< $@ + +# Create extended listing file/disassambly from ELF output file. +# using objdump testing: option -C +%.lss: %.elf +## @echo + @echo $(MSG_EXTENDED_LISTING) $@ + $(OBJDUMP) -h -S -C -r $< > $@ +# $(OBJDUMP) -x -S $< > $@ + +# Create a symbol table from ELF output file. +%.sym: %.elf +## @echo + @echo $(MSG_SYMBOL_TABLE) $@ + $(NM) -n $< > $@ + +# Link: create ELF output file from object files. +.SECONDARY : $(TARGET).elf +.PRECIOUS : $(ALLOBJ) +%.elf: $(ALLOBJ) + @echo $(MSG_LINKING) $@ +# use $(CC) for C-only projects or $(CPP) for C++-projects: + $(CC) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS) +# $(CPP) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS) + + +# Assemble: create object files from assembler source files. +define ASSEMBLE_TEMPLATE +$(OUTDIR)/$(notdir $(basename $(1))).o : $(1) +## @echo + @echo $(MSG_ASSEMBLING) $$< to $$@ + $(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@ +endef +$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src)))) + +# Assemble: create object files from assembler source files. ARM-only +define ASSEMBLE_ARM_TEMPLATE +$(OUTDIR)/$(notdir $(basename $(1))).o : $(1) +## @echo + @echo $(MSG_ASSEMBLING_ARM) $$< to $$@ + $(CC) -c $$(ASFLAGS) $$< -o $$@ +endef +$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src)))) + + +# Compile: create object files from C source files. +define COMPILE_C_TEMPLATE +$(OUTDIR)/$(notdir $(basename $(1))).o : $(1) +## @echo + @echo $(MSG_COMPILING) $$< to $$@ + $(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@ +endef +$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src)))) + +# Compile: create object files from C source files. ARM-only +define COMPILE_C_ARM_TEMPLATE +$(OUTDIR)/$(notdir $(basename $(1))).o : $(1) +## @echo + @echo $(MSG_COMPILING_ARM) $$< to $$@ + $(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@ +endef +$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src)))) + + +# Compile: create object files from C++ source files. +define COMPILE_CPP_TEMPLATE +$(OUTDIR)/$(notdir $(basename $(1))).o : $(1) +## @echo + @echo $(MSG_COMPILINGCPP) $$< to $$@ + $(CC) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@ +endef +$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src)))) + +# Compile: create object files from C++ source files. ARM-only +define COMPILE_CPP_ARM_TEMPLATE +$(OUTDIR)/$(notdir $(basename $(1))).o : $(1) +## @echo + @echo $(MSG_COMPILINGCPP_ARM) $$< to $$@ + $(CC) -c $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@ +endef +$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src)))) + + +# Compile: create assembler files from C source files. ARM/Thumb +$(SRC:.c=.s) : %.s : %.c + @echo $(MSG_ASMFROMC) $< to $@ + $(CC) $(THUMB) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@ + +# Compile: create assembler files from C source files. ARM only +$(SRCARM:.c=.s) : %.s : %.c + @echo $(MSG_ASMFROMC_ARM) $< to $@ + $(CC) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@ + +# Generate Doxygen documents +docs: + doxygen $(DOXYGENDIR)/doxygen.cfg + +# Target: clean project. +clean: begin clean_list finished end + +clean_list : +## @echo + @echo $(MSG_CLEANING) + $(REMOVE) $(OUTDIR)/$(TARGET).map + $(REMOVE) $(OUTDIR)/$(TARGET).elf + $(REMOVE) $(OUTDIR)/$(TARGET).hex + $(REMOVE) $(OUTDIR)/$(TARGET).bin + $(REMOVE) $(OUTDIR)/$(TARGET).sym + $(REMOVE) $(OUTDIR)/$(TARGET).lss + $(REMOVE) $(wildcard $(OUTDIR)/*.c) + $(REMOVE) $(wildcard $(OUTDIR)/*.h) + $(REMOVE) $(ALLOBJ) + $(REMOVE) $(LSTFILES) + $(REMOVE) $(DEPFILES) + $(REMOVE) $(SRC:.c=.s) + $(REMOVE) $(SRCARM:.c=.s) + $(REMOVE) $(CPPSRC:.cpp=.s) + $(REMOVE) $(CPPSRCARM:.cpp=.s) + + +# Create output files directory +# all known MS Windows OS define the ComSpec environment variable +ifdef ComSpec +$(shell md $(OUTDIR) 2>NUL) +else +$(shell mkdir $(OUTDIR) 2>/dev/null) +endif + +# Include the dependency files. +ifdef ComSpec +-include $(shell md $(OUTDIR)\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*) +else +-include $(shell mkdir $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*) +endif + + + +# Listing of phony targets. +.PHONY : all begin finish end sizebefore sizeafter gccversion \ +build elf hex bin lss sym clean clean_list program gencode + diff --git a/flight/Revolution/System/inc/pios_board_posix.h b/flight/Revolution/System/inc/pios_board_posix.h new file mode 100644 index 000000000..3b21687a0 --- /dev/null +++ b/flight/Revolution/System/inc/pios_board_posix.h @@ -0,0 +1,83 @@ +/** + ****************************************************************************** + * + * @file pios_board.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Defines board hardware for the OpenPilot Version 1.1 hardware. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + + +#ifndef PIOS_BOARD_H +#define PIOS_BOARD_H + + + + +//------------------------ +// PIOS_LED +//------------------------ +#define PIOS_LED_ALARM 0 +#define PIOS_LED_HEARTBEAT 1 +#define PIOS_LED_NUM 2 + +//------------------------- +// COM +// +// See also pios_board_posix.c +//------------------------- +//#define PIOS_USART_TX_BUFFER_SIZE 256 +#define PIOS_COM_BUFFER_SIZE 1024 +#define PIOS_COM_MAX_DEVS 255 +#define PIOS_UDP_RX_BUFFER_SIZE PIOS_COM_BUFFER_SIZE + +extern uint32_t pios_com_telem_rf_id; +extern uint32_t pios_com_telem_usb_id; +extern uint32_t pios_com_gps_id; +extern uint32_t pios_com_aux_id; +extern uint32_t pios_com_spectrum_id; + +#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id) +#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id) +#define PIOS_COM_GPS (pios_com_gps_id) + +#ifdef PIOS_ENABLE_AUX_UART +#define PIOS_COM_AUX (pios_com_aux_id) +#define PIOS_COM_DEBUG (PIOS_COM_AUX +#endif + +/** + * glue macros for file IO + * STM32 uses DOSFS for file IO + */ +#define PIOS_FOPEN_READ(filename,file) (file=fopen((char*)filename,"r"))==NULL + +#define PIOS_FOPEN_WRITE(filename,file) (file=fopen((char*)filename,"w"))==NULL + +#define PIOS_FREAD(file,bufferadr,length,resultadr) (*resultadr=fread((uint8_t*)bufferadr,1,length,*file)) != length + +#define PIOS_FWRITE(file,bufferadr,length,resultadr) *resultadr=fwrite((uint8_t*)bufferadr,1,length,*file) + + + +#define PIOS_FCLOSE(file) fclose(file) + +#define PIOS_FUNLINK(file) unlink((char*)filename) + +#endif /* PIOS_BOARD_H */ diff --git a/flight/Revolution/System/inc/pios_config_posix.h b/flight/Revolution/System/inc/pios_config_posix.h new file mode 100644 index 000000000..56c629ef6 --- /dev/null +++ b/flight/Revolution/System/inc/pios_config_posix.h @@ -0,0 +1,75 @@ +/** + ****************************************************************************** + * + * @file pios_config.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief PiOS configuration header. + * Central compile time config for the project. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + + +#ifndef PIOS_CONFIG_POSIX_H +#define PIOS_CONFIG_POSIX_H + + +/* Enable/Disable PiOS Modules */ +#define PIOS_INCLUDE_SYS +#define PIOS_INCLUDE_DELAY +#define PIOS_INCLUDE_LED +#define PIOS_INCLUDE_SDCARD +#define PIOS_INCLUDE_FREERTOS +#define PIOS_INCLUDE_COM +#define PIOS_INCLUDE_GPS +#define PIOS_INCLUDE_IRQ +#define PIOS_INCLUDE_TELEMETRY_RF +#define PIOS_INCLUDE_UDP +#define PIOS_INCLUDE_SERVO +#define PIOS_INCLUDE_RCVR + +#define PIOS_RCVR_MAX_CHANNELS 12 +#define PIOS_RCVR_MAX_DEVS 3 + +/* Defaults for Logging */ +#define LOG_FILENAME "PIOS.LOG" +#define STARTUP_LOG_ENABLED 1 + +/* COM Module */ +#define GPS_BAUDRATE 19200 +#define TELEM_BAUDRATE 19200 +#define AUXUART_ENABLED 0 +#define AUXUART_BAUDRATE 19200 + +#define TELEM_QUEUE_SIZE 20 +#define PIOS_TELEM_STACK_SIZE 2048 + +/* Stabilization options */ +#define PIOS_QUATERNION_STABILIZATION + +/* GPS options */ +#define PIOS_GPS_SETS_HOMELOCATION + +#define HEAP_LIMIT_WARNING 4000 +#define HEAP_LIMIT_CRITICAL 1000 +#define IRQSTACK_LIMIT_WARNING 150 +#define IRQSTACK_LIMIT_CRITICAL 80 +#define CPULOAD_LIMIT_WARNING 80 +#define CPULOAD_LIMIT_CRITICAL 95 + +#endif /* PIOS_CONFIG_POSIX_H */ diff --git a/flight/Revolution/System/pios_board_posix.c b/flight/Revolution/System/pios_board_posix.c new file mode 100644 index 000000000..732bcda1e --- /dev/null +++ b/flight/Revolution/System/pios_board_posix.c @@ -0,0 +1,183 @@ +/** + ****************************************************************************** + * + * @file pios_board.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Defines board specific static initializers for hardware for the OpenPilot board. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program 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 along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#include +#include +#include +#include +#include + +#include "attituderaw.h" +#include "attitudeactual.h" +#include "positionactual.h" +#include "velocityactual.h" +#include "manualcontrolsettings.h" + +#include "pios_rcvr_priv.h" + +struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS]; +uint32_t pios_rcvr_max_channel; + +void Stack_Change() { +} + +void Stack_Change_Weak() { +} + + +const struct pios_udp_cfg pios_udp_telem_cfg = { + .ip = "0.0.0.0", + .port = 9000, +}; +const struct pios_udp_cfg pios_udp_gps_cfg = { + .ip = "0.0.0.0", + .port = 9001, +}; +const struct pios_udp_cfg pios_udp_debug_cfg = { + .ip = "0.0.0.0", + .port = 9002, +}; + +#ifdef PIOS_COM_AUX +/* + * AUX USART + */ +const struct pios_udp_cfg pios_udp_aux_cfg = { + .ip = "0.0.0.0", + .port = 9003, +}; +#endif + +#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192 +#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192 +#define PIOS_COM_GPS_RX_BUF_LEN 96 + +/* + * Board specific number of devices. + */ +/* +struct pios_udp_dev pios_udp_devs[] = { +#define PIOS_UDP_TELEM 0 + { + .cfg = &pios_udp0_cfg, + }, +#define PIOS_UDP_GPS 1 + { + .cfg = &pios_udp1_cfg, + }, +#define PIOS_UDP_LOCAL 2 + { + .cfg = &pios_udp2_cfg, + }, +#ifdef PIOS_COM_AUX +#define PIOS_UDP_AUX 3 + { + .cfg = &pios_udp3_cfg, + }, +#endif +}; + +uint8_t pios_udp_num_devices = NELEMENTS(pios_udp_devs); +*/ +/* + * COM devices + */ + +/* + * Board specific number of devices. + */ +extern const struct pios_com_driver pios_serial_com_driver; +extern const struct pios_com_driver pios_udp_com_driver; + +uint32_t pios_com_telem_rf_id; +uint32_t pios_com_telem_usb_id; +uint32_t pios_com_gps_id; +uint32_t pios_com_aux_id; +uint32_t pios_com_spectrum_id; +uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE]; + +/** + * PIOS_Board_Init() + * initializes all the core systems on this specific hardware + * called from System/openpilot.c + */ +void PIOS_Board_Init(void) { + + /* Delay system */ + PIOS_DELAY_Init(); + + /* Initialize UAVObject libraries */ + EventDispatcherInitialize(); + UAVObjInitialize(); + UAVObjectsInitializeAll(); + + /* Initialize the alarms library */ + AlarmsInitialize(); + + /* Initialize the task monitor library */ + TaskMonitorInitialize(); + +#if defined(PIOS_INCLUDE_COM) +#if defined(PIOS_INCLUDE_TELEMETRY_RF) + { + uint32_t pios_udp_telem_rf_id; + if (PIOS_UDP_Init(&pios_udp_telem_rf_id, &pios_udp_telem_cfg)) { + PIOS_Assert(0); + } + + uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN); + uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN); + PIOS_Assert(rx_buffer); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_udp_com_driver, pios_udp_telem_rf_id, + rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN, + tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_TELEMETRY_RF */ + +#if defined(PIOS_INCLUDE_GPS) + { + uint32_t pios_udp_gps_id; + if (PIOS_UDP_Init(&pios_udp_gps_id, &pios_udp_gps_cfg)) { + PIOS_Assert(0); + } + uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN); + PIOS_Assert(rx_buffer); + if (PIOS_COM_Init(&pios_com_gps_id, &pios_udp_com_driver, pios_udp_gps_id, + rx_buffer, PIOS_COM_GPS_RX_BUF_LEN, + NULL, 0)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_GPS */ +#endif + +} + +/** + * @} + */