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OP-265 OP-266: FreeRTOS configuration per project because of available heap
size (may eventually need to be per revision if we get bigger ram). Typo in a the ifdefs to get allow disabling SDCARD git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2423 ebee16cc-31ac-478f-84a7-5cbb03baadba
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peabody124
peabody124
parent
ea851803af
commit
c59a1ff018
78
flight/CopterControl/System/inc/FreeRTOSConfig.h
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78
flight/CopterControl/System/inc/FreeRTOSConfig.h
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@ -0,0 +1,78 @@
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#ifndef FREERTOS_CONFIG_H
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#define FREERTOS_CONFIG_H
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/*-----------------------------------------------------------
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* Application specific definitions.
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*
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* These definitions should be adjusted for your particular hardware and
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* application requirements.
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*
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* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
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* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
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*
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* See http://www.freertos.org/a00110.html.
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*----------------------------------------------------------*/
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/**
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* @addtogroup PIOS PIOS
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* @{
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* @addtogroup FreeRTOS FreeRTOS
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* @{
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*/
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/* Notes: We use 5 task priorities */
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#define configUSE_PREEMPTION 1
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#define configUSE_IDLE_HOOK 1
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#define configUSE_TICK_HOOK 0
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#define configCPU_CLOCK_HZ ( ( unsigned long ) 72000000 )
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#define configTICK_RATE_HZ ( ( portTickType ) 1000 )
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#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 )
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#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 256 )
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#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 5 * 1024 ) )
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#define configMAX_TASK_NAME_LEN ( 16 )
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#define configUSE_TRACE_FACILITY 0
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#define configUSE_16_BIT_TICKS 0
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#define configIDLE_SHOULD_YIELD 0
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#define configUSE_MUTEXES 1
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#define configUSE_RECURSIVE_MUTEXES 1
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#define configUSE_COUNTING_SEMAPHORES 0
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#define configUSE_ALTERNATIVE_API 0
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#define configCHECK_FOR_STACK_OVERFLOW 2
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#define configQUEUE_REGISTRY_SIZE 10
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/* Co-routine definitions. */
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#define configUSE_CO_ROUTINES 0
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#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
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/* Set the following definitions to 1 to include the API function, or zero
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to exclude the API function. */
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#define INCLUDE_vTaskPrioritySet 1
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#define INCLUDE_uxTaskPriorityGet 1
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#define INCLUDE_vTaskDelete 1
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#define INCLUDE_vTaskCleanUpResources 0
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#define INCLUDE_vTaskSuspend 1
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#define INCLUDE_vTaskDelayUntil 1
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#define INCLUDE_vTaskDelay 1
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#define INCLUDE_xTaskGetSchedulerState 1
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#define INCLUDE_xTaskGetCurrentTaskHandle 1
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#define INCLUDE_uxTaskGetStackHighWaterMark 1
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/* This is the raw value as per the Cortex-M3 NVIC. Values can be 255
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(lowest) to 1 (highest maskable) to 0 (highest non-maskable). */
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#define configKERNEL_INTERRUPT_PRIORITY 15 << 4 /* equivalent to NVIC priority 15 */
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#define configMAX_SYSCALL_INTERRUPT_PRIORITY 3 << 4 /* equivalent to NVIC priority 3 */
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/* This is the value being used as per the ST library which permits 16
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priority values, 0 to 15. This must correspond to the
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configKERNEL_INTERRUPT_PRIORITY setting. Here 15 corresponds to the lowest
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NVIC value of 255. */
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#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY 15
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/**
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* @}
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*/
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#endif /* FREERTOS_CONFIG_H */
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@ -84,7 +84,7 @@ static ObjectInstList* getInstance(ObjectList* obj, uint16_t instId);
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static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb, int32_t eventMask);
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static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb);
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#if defined(PIOS_USE_SDCARD)
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#if defined(PIOS_INCLUDE_SDCARD)
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static void objectFilename(ObjectList* obj, uint8_t* filename);
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static void customSPrintf(uint8_t* buffer, uint8_t* format, ...);
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#endif
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@ -514,7 +514,7 @@ int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t* dataOut)
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*/
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int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file)
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{
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#if defined(PIOS_USE_SDCARD)
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#if defined(PIOS_INCLUDE_SDCARD)
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uint32_t bytesWritten;
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ObjectList* objEntry;
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ObjectInstList* instEntry;
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@ -558,7 +558,7 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file)
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// Done
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xSemaphoreGiveRecursive(mutex);
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#endif /* PIOS_USE_SDCARD */
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#endif /* PIOS_INCLUDE_SDCARD */
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return 0;
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}
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@ -574,7 +574,7 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file)
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*/
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int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
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{
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#if defined(PIOS_USE_SDCARD)
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#if defined(PIOS_INCLUDE_SDCARD)
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FILEINFO file;
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ObjectList* objEntry;
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uint8_t filename[14];
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@ -612,7 +612,7 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
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// Done, close file and unlock
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PIOS_FCLOSE(file);
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xSemaphoreGiveRecursive(mutex);
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#endif /* PIOS_USD_SDCARD */
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#endif /* PIOS_INCLUDE_SDCARD */
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return 0;
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}
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@ -695,7 +695,7 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO* file)
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// Unlock
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xSemaphoreGiveRecursive(mutex);
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return obj;
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#else
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#else /* PIOS_INCLUDE_SDCARD */
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return NULL;
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#endif
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}
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@ -760,7 +760,7 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
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// Done, close file and unlock
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PIOS_FCLOSE(file);
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xSemaphoreGiveRecursive(mutex);
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#endif /* PIOS_USE_SDCARD */
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#endif /* PIOS_INCLUDE_SDCARD */
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return 0;
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}
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@ -772,7 +772,7 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
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*/
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int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
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{
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#if defined(PIOS_USE_SDCARD)
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#if defined(PIOS_INCLUDE_SDCARD)
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ObjectList* objEntry;
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uint8_t filename[14];
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@ -796,7 +796,7 @@ int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
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// Done
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xSemaphoreGiveRecursive(mutex);
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#endif /* PIOS_USD_SDCARD */
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#endif /* PIOS_INCLUDE_SDCARD */
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return 0;
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}
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@ -1487,7 +1487,7 @@ static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCa
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return -1;
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}
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#if defined(PIOS_USE_SDCARD)
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#if defined(PIOS_INCLUDE_SDCARD)
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/**
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* Wrapper for the sprintf function
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*/
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@ -1505,7 +1505,7 @@ static void objectFilename(ObjectList* obj, uint8_t* filename)
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{
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customSPrintf(filename, (uint8_t*)"%X.obj", obj->id);
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}
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#endif /* PIOS_USD_SDCARD */
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#endif /* PIOS_INCLUDE_SDCARD */
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