From 99b81c7159ca7c70dc57dd9f683ce2217fcfebf8 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sun, 11 Mar 2012 14:04:26 -0500 Subject: [PATCH] Simulated LED now flashing. --- .../FreeRTOS/Source/portable/GCC/Posix/port.c | 15 +- .../osx/Libraries/FreeRTOS/Source/task.c | 14 +- .../Libraries/FreeRTOS/Source/tasks_linux.c | 2323 ----------------- flight/Revolution/Makefile.osx | 2 +- 4 files changed, 9 insertions(+), 2345 deletions(-) delete mode 100644 flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/tasks_linux.c 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 index f7bdcd63c..9a9a70735 100644 --- 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 @@ -79,7 +79,7 @@ #ifndef __CYGWIN__ // #define COND_SIGNALING // #define CHECK_TASK_RESUMES - #define RUNNING_THREAD_MUTEX +// #define RUNNING_THREAD_MUTEX #endif /* Parameters to pass to the newly created pthread. */ @@ -359,16 +359,13 @@ portLONG lIndex; 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); + usleep(portTICK_RATE_MICROSECONDS); i++; -// if(i % 1000 == 0) { -// printf("."); fflush(stdout); -// } + if(i % 1000 == 0) { + printf("."); fflush(stdout); + } while(xInterruptsEnabled == pdFALSE){ // Don't call while in interrupt printf("."); fflush(stdout); } @@ -685,7 +682,7 @@ portBASE_TYPE xResult; { /* Resume the other thread. */ /* Assert zero - I never fixed this functionality */ - assert( 0 ); + //assert( 0 ); /* Pthread Clean-up function will note the cancellation. */ /* Release the execution. */ diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/task.c b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/task.c index 20f9ab309..40e5f4a9d 100644 --- a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/task.c +++ b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/task.c @@ -58,6 +58,7 @@ #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 @@ -1829,19 +1830,8 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters ) 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 ); + usleep(10); #endif } } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */ diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/tasks_linux.c b/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/tasks_linux.c deleted file mode 100644 index 9b06c3f89..000000000 --- a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/tasks_linux.c +++ /dev/null @@ -1,2323 +0,0 @@ -/* - 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/Revolution/Makefile.osx b/flight/Revolution/Makefile.osx index e7db208e1..dd8836092 100644 --- a/flight/Revolution/Makefile.osx +++ b/flight/Revolution/Makefile.osx @@ -53,7 +53,7 @@ FLASH_TOOL = OPENOCD USE_THUMB_MODE = YES # List of modules to include -MODULES = Telemetry Actuator Stabilization ManualControl FlightPlan +MODULES = Telemetry Actuator #Stabilization ManualControl FlightPlan #MODULES += SimulatedAttitude # MCU name, submodel and board