rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-27 16:54:15 +01:00
Code Issues Releases Activity

OP-900 update FreeRTOS to 7.4.0

Browse Source 
also added an howto_update.txt file that list the necessary modifications to FreeRTOS files
+review OPReview
This commit is contained in:
Alessio Morale 2013-04-05 23:59:28 +02:00
parent 9b11ef2111
commit c801ca681c
34 changed files with 3957 additions and 2201 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

395
flight/PiOS/Common/Libraries/FreeRTOS/Source/croutine.c Normal file
View File

@ -0,0 +1,395 @@
/*
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
* FreeRTOS tutorial books are available in pdf and paperback. *
* Complete, revised, and edited pdf reference manuals are also *
* available. *
* *
* Purchasing FreeRTOS documentation will not only help you, by *
* ensuring you get running as quickly as possible and with an *
* in-depth knowledge of how to use FreeRTOS, it will also help *
* the FreeRTOS project to continue with its mission of providing *
* professional grade, cross platform, de facto standard solutions *
* for microcontrollers - completely free of charge! *
* *
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
* *
* Thank you for using FreeRTOS, and 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 modification 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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
#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. */
uxListRemove( ( 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 ) == pdFALSE )
{
corCRCB *pxUnblockedCRCB;
/* The pending ready list can be accessed by an ISR. */
portDISABLE_INTERRUPTS();
{
pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyCoRoutineList) );
uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
}
portENABLE_INTERRUPTS();
uxListRemove( &( 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( listLIST_IS_EMPTY( pxDelayedCoRoutineList ) == pdFALSE )
{
pxCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList );
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. */
uxListRemove( &( pxCRCB->xGenericListItem ) );
/* Is the co-routine waiting on an event also? */
if( pxCRCB->xEventListItem.pvContainer )
{
uxListRemove( &( 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. This function assumes that a
check has already been made to ensure pxEventList is not empty. */
pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
vListInsertEnd( ( xList * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) );
if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority )
{
xReturn = pdTRUE;
}
else
{
xReturn = pdFALSE;
}
return xReturn;
}

109
flight/PiOS/Common/Libraries/FreeRTOS/Source/include/FreeRTOS.h Executable file → Normal file
View File

@ -1,6 +1,8 @@
/*
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
@ -27,41 +29,47 @@
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 modification to the GPL is included to allow you to
>>>>>>NOTE<<<<<< The modification 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.
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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
#ifndef INC_FREERTOS_H
@ -79,6 +87,12 @@
/* Application specific configuration options. */
#include "FreeRTOSConfig.h"
/* configUSE_PORT_OPTIMISED_TASK_SELECTION must be defined before portable.h
is included as it is used by the port layer. */
#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
#endif
/* Definitions specific to the port being used. */
#include "portable.h"
@ -121,11 +135,11 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
#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
#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_vTaskSuspend
#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
@ -153,6 +167,10 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
#define INCLUDE_xQueueGetMutexHolder 0
#endif
#ifndef INCLUDE_xSemaphoreGetMutexHolder
#define INCLUDE_xSemaphoreGetMutexHolder INCLUDE_xQueueGetMutexHolder
#endif
#ifndef INCLUDE_pcTaskGetTaskName
#define INCLUDE_pcTaskGetTaskName 0
#endif
@ -165,6 +183,10 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
#define INCLUDE_uxTaskGetStackHighWaterMark 0
#endif
#ifndef INCLUDE_eTaskGetState
#define INCLUDE_eTaskGetState 0
#endif
#ifndef configUSE_RECURSIVE_MUTEXES
#define configUSE_RECURSIVE_MUTEXES 0
#endif
@ -304,7 +326,7 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
#ifndef traceTASK_PRIORITY_DISINHERIT
/* Called when a task releases a mutex, the holding of which had resulted in
the task inheriting the priority of a higher priority task.
the task inheriting the priority of a higher priority task.
pxTCBOfMutexHolder is a pointer to the TCB of the task that is releasing the
mutex. uxOriginalPriority is the task's configured (base) priority. */
#define traceTASK_PRIORITY_DISINHERIT( pxTCBOfMutexHolder, uxOriginalPriority )
@ -336,7 +358,7 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
#define traceMOVED_TASK_TO_READY_STATE( pxTCB )
#endif
#ifndef traceQUEUE_CREATE
#ifndef traceQUEUE_CREATE
#define traceQUEUE_CREATE( pxNewQueue )
#endif
@ -518,5 +540,36 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
#define vPortFreeAligned( pvBlockToFree ) vPortFree( pvBlockToFree )
#endif
#ifndef portSUPPRESS_TICKS_AND_SLEEP
#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime )
#endif
#ifndef configEXPECTED_IDLE_TIME_BEFORE_SLEEP
#define configEXPECTED_IDLE_TIME_BEFORE_SLEEP 2
#endif
#if configEXPECTED_IDLE_TIME_BEFORE_SLEEP < 2
#error configEXPECTED_IDLE_TIME_BEFORE_SLEEP must not be less than 2
#endif
#ifndef configUSE_TICKLESS_IDLE
#define configUSE_TICKLESS_IDLE 0
#endif
#ifndef configPRE_SLEEP_PROCESSING
#define configPRE_SLEEP_PROCESSING( x )
#endif
#ifndef configPOST_SLEEP_PROCESSING
#define configPOST_SLEEP_PROCESSING( x )
#endif
#ifndef configUSE_QUEUE_SETS
#define configUSE_QUEUE_SETS 0
#endif
/* For backward compatability. */
#define eTaskStateGet eTaskGetState
#endif /* INC_FREERTOS_H */

54
flight/PiOS/Common/Libraries/FreeRTOS/Source/include/StackMacros.h Executable file → Normal file
View File

@ -1,6 +1,8 @@
/*
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
@ -27,41 +29,47 @@
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 modification to the GPL is included to allow you to
>>>>>>NOTE<<<<<< The modification 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.
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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
#ifndef STACK_MACROS_H

54
flight/PiOS/Common/Libraries/FreeRTOS/Source/include/croutine.h Executable file → Normal file
View File

@ -1,6 +1,8 @@
/*
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
@ -27,41 +29,47 @@
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 modification to the GPL is included to allow you to
>>>>>>NOTE<<<<<< The modification 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.
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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
#ifndef CO_ROUTINE_H

71
flight/PiOS/Common/Libraries/FreeRTOS/Source/include/list.h Executable file → Normal file
View File

@ -1,6 +1,8 @@
/*
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
@ -27,41 +29,47 @@
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 modification to the GPL is included to allow you to
>>>>>>NOTE<<<<<< The modification 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.
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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
/*
@ -253,6 +261,14 @@ xList * const pxConstList = ( pxList ); \
*/
#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( pxListItem )->pvContainer == ( void * ) ( pxList ) )
/*
* Return the list a list item is contained within (referenced from).
*
* @param pxListItem The list item being queried.
* @return A pointer to the xList object that references the pxListItem
*/
#define listLIST_ITEM_CONTAINER( pxListItem ) ( ( pxListItem )->pvContainer )
/*
* This provides a crude means of knowing if a list has been initialised, as
* pxList->xListEnd.xItemValue is set to portMAX_DELAY by the vListInitialise()
@ -321,13 +337,16 @@ 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
* @param uxListRemove The item to be removed. The item will remove itself from
* the list pointed to by it's pxContainer parameter.
*
* @return The number of items that remain in the list after the list item has
* been removed.
*
* \page vListRemove vListRemove
* \page uxListRemove uxListRemove
* \ingroup LinkedList
*/
void vListRemove( xListItem *pxItemToRemove );
unsigned portBASE_TYPE uxListRemove( xListItem *pxItemToRemove );
#ifdef __cplusplus
}

61
flight/PiOS/Common/Libraries/FreeRTOS/Source/include/mpu_wrappers.h Executable file → Normal file
View File

@ -1,6 +1,8 @@
/*
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
@ -27,41 +29,47 @@
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 modification to the GPL is included to allow you to
>>>>>>NOTE<<<<<< The modification 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.
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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
#ifndef MPU_WRAPPERS_H
@ -83,6 +91,7 @@ only for ports that are using the MPU. */
#define vTaskDelay MPU_vTaskDelay
#define uxTaskPriorityGet MPU_uxTaskPriorityGet
#define vTaskPrioritySet MPU_vTaskPrioritySet
#define eTaskGetState MPU_eTaskGetState
#define vTaskSuspend MPU_vTaskSuspend
#define xTaskIsTaskSuspended MPU_xTaskIsTaskSuspended
#define vTaskResume MPU_vTaskResume
@ -98,6 +107,7 @@ only for ports that are using the MPU. */
#define uxTaskGetStackHighWaterMark MPU_uxTaskGetStackHighWaterMark
#define xTaskGetCurrentTaskHandle MPU_xTaskGetCurrentTaskHandle
#define xTaskGetSchedulerState MPU_xTaskGetSchedulerState
#define xTaskGetIdleTaskHandle MPU_xTaskGetIdleTaskHandle
#define xQueueGenericCreate MPU_xQueueGenericCreate
#define xQueueCreateMutex MPU_xQueueCreateMutex
@ -110,6 +120,11 @@ only for ports that are using the MPU. */
#define xQueueGenericReceive MPU_xQueueGenericReceive
#define uxQueueMessagesWaiting MPU_uxQueueMessagesWaiting
#define vQueueDelete MPU_vQueueDelete
#define xQueueGenericReset MPU_xQueueGenericReset
#define xQueueCreateSet MPU_xQueueCreateSet
#define xQueueSelectFromSet MPU_xQueueSelectFromSet
#define xQueueAddToSet MPU_xQueueAddToSet
#define xQueueRemoveFromSet MPU_xQueueRemoveFromSet
#define pvPortMalloc MPU_pvPortMalloc
#define vPortFree MPU_vPortFree

54
flight/PiOS/Common/Libraries/FreeRTOS/Source/include/portable.h Executable file → Normal file
View File

@ -1,6 +1,8 @@
/*
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
@ -27,41 +29,47 @@
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 modification to the GPL is included to allow you to
>>>>>>NOTE<<<<<< The modification 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.
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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
/*-----------------------------------------------------------

54
flight/PiOS/Common/Libraries/FreeRTOS/Source/include/projdefs.h Executable file → Normal file
View File

@ -1,6 +1,8 @@
/*
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
@ -27,41 +29,47 @@
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 modification to the GPL is included to allow you to
>>>>>>NOTE<<<<<< The modification 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.
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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
#ifndef PROJDEFS_H

276
flight/PiOS/Common/Libraries/FreeRTOS/Source/include/queue.h Executable file → Normal file
View File

@ -1,6 +1,8 @@
/*
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
@ -27,41 +29,47 @@
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 modification to the GPL is included to allow you to
>>>>>>NOTE<<<<<< The modification 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.
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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
@ -80,12 +88,25 @@ extern "C" {
#include "mpu_wrappers.h"
/**
* Type by which queues are referenced. For example, a call to xQueueCreate
* returns (via a pointer parameter) an xQueueHandle variable that can then
* be used as a parameter to xQueueSend(), xQueueReceive(), etc.
* Type by which queues are referenced. For example, a call to xQueueCreate()
* returns an xQueueHandle variable that can then be used as a parameter to
* xQueueSend(), xQueueReceive(), etc.
*/
typedef void * xQueueHandle;
/**
* Type by which queue sets are referenced. For example, a call to
* xQueueCreateSet() returns an xQueueSet variable that can then be used as a
* parameter to xQueueSelectFromSet(), xQueueAddToSet(), etc.
*/
typedef void * xQueueSetHandle;
/**
* Queue sets can contain both queues and semaphores, so the
* xQueueSetMemberHandle is defined as a type to be used where a parameter or
* return value can be either an xQueueHandle or an xSemaphoreHandle.
*/
typedef void * xQueueSetMemberHandle;
/* For internal use only. */
#define queueSEND_TO_BACK ( 0 )
@ -93,6 +114,7 @@ typedef void * xQueueHandle;
/* For internal use only. These definitions *must* match those in queue.c. */
#define queueQUEUE_TYPE_BASE ( 0U )
#define queueQUEUE_TYPE_SET ( 0U )
#define queueQUEUE_TYPE_MUTEX ( 1U )
#define queueQUEUE_TYPE_COUNTING_SEMAPHORE ( 2U )
#define queueQUEUE_TYPE_BINARY_SEMAPHORE ( 3U )
@ -490,7 +512,7 @@ typedef void * xQueueHandle;
* \defgroup xQueueSend xQueueSend
* \ingroup QueueManagement
*/
signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );
signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );
/**
* queue. h
@ -513,7 +535,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const
*
* 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
* @param xQueue 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
@ -606,7 +628,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const
* 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
* @param xQueue 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
@ -700,7 +722,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const
* 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
* @param xQueue 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
@ -805,13 +827,13 @@ unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue );
* \page vQueueDelete vQueueDelete
* \ingroup QueueManagement
*/
void vQueueDelete( xQueueHandle pxQueue );
void vQueueDelete( xQueueHandle xQueue );
/**
* queue. h
* <pre>
portBASE_TYPE xQueueSendToFrontFromISR(
xQueueHandle pxQueue,
xQueueHandle xQueue,
const void *pvItemToQueue,
portBASE_TYPE *pxHigherPriorityTaskWoken
);
@ -875,14 +897,14 @@ void vQueueDelete( xQueueHandle pxQueue );
* \defgroup xQueueSendFromISR xQueueSendFromISR
* \ingroup QueueManagement
*/
#define xQueueSendToFrontFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_FRONT )
#define xQueueSendToFrontFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_FRONT )
/**
* queue. h
* <pre>
portBASE_TYPE xQueueSendToBackFromISR(
xQueueHandle pxQueue,
xQueueHandle xQueue,
const void *pvItemToQueue,
portBASE_TYPE *pxHigherPriorityTaskWoken
);
@ -946,13 +968,13 @@ void vQueueDelete( xQueueHandle pxQueue );
* \defgroup xQueueSendFromISR xQueueSendFromISR
* \ingroup QueueManagement
*/
#define xQueueSendToBackFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
#define xQueueSendToBackFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
/**
* queue. h
* <pre>
portBASE_TYPE xQueueSendFromISR(
xQueueHandle pxQueue,
xQueueHandle xQueue,
const void *pvItemToQueue,
portBASE_TYPE *pxHigherPriorityTaskWoken
);
@ -1020,13 +1042,13 @@ void vQueueDelete( xQueueHandle pxQueue );
* \defgroup xQueueSendFromISR xQueueSendFromISR
* \ingroup QueueManagement
*/
#define xQueueSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
#define xQueueSendFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
/**
* queue. h
* <pre>
portBASE_TYPE xQueueGenericSendFromISR(
xQueueHandle pxQueue,
xQueueHandle xQueue,
const void *pvItemToQueue,
portBASE_TYPE *pxHigherPriorityTaskWoken,
portBASE_TYPE xCopyPosition
@ -1098,22 +1120,22 @@ void vQueueDelete( xQueueHandle pxQueue );
* \defgroup xQueueSendFromISR xQueueSendFromISR
* \ingroup QueueManagement
*/
signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition );
signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle xQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition );
/**
* queue. h
* <pre>
portBASE_TYPE xQueueReceiveFromISR(
xQueueHandle pxQueue,
xQueueHandle xQueue,
void *pvBuffer,
portBASE_TYPE *pxTaskWoken
portBASE_TYPE *pxTaskWoken
);
* </pre>
*
* 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
* @param xQueue 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
@ -1187,15 +1209,15 @@ signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void
* \defgroup xQueueReceiveFromISR xQueueReceiveFromISR
* \ingroup QueueManagement
*/
signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken );
signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle xQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken );
/*
* Utilities to query queues 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 );
signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle xQueue );
signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle xQueue );
unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle xQueue );
/*
@ -1212,8 +1234,8 @@ unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue
* 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 );
signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );
signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle xQueue, 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 )
@ -1228,14 +1250,14 @@ signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const
* 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 );
signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle xQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken );
signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle xQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken );
signed portBASE_TYPE xQueueCRSend( xQueueHandle xQueue, const void *pvItemToQueue, portTickType xTicksToWait );
signed portBASE_TYPE xQueueCRReceive( xQueueHandle xQueue, void *pvBuffer, portTickType xTicksToWait );
/*
* For internal use only. Use xSemaphoreCreateMutex(),
* xSemaphoreCreateCounting() or xSemaphoreGetMutexHolder() instead of calling
* For internal use only. Use xSemaphoreCreateMutex(),
* xSemaphoreCreateCounting() or xSemaphoreGetMutexHolder() instead of calling
* these functions directly.
*/
xQueueHandle xQueueCreateMutex( unsigned char ucQueueType );
@ -1246,7 +1268,7 @@ void* xQueueGetMutexHolder( xQueueHandle xSemaphore );
* For internal use only. Use xSemaphoreTakeMutexRecursive() or
* xSemaphoreGiveMutexRecursive() instead of calling these functions directly.
*/
portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle pxMutex, portTickType xBlockTime );
portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime );
portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex );
/*
@ -1255,7 +1277,7 @@ portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex );
* reset because there are tasks blocked on the queue waiting to either
* receive from the queue or send to the queue.
*/
#define xQueueReset( pxQueue ) xQueueGenericReset( pxQueue, pdFALSE )
#define xQueueReset( xQueue ) xQueueGenericReset( xQueue, pdFALSE )
/*
* The registry is provided as a means for kernel aware debuggers to
@ -1282,14 +1304,150 @@ portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex );
#endif
/*
* Generic version of the queue creation function, which is in turn called by
* Generic version of the queue creation function, which is in turn called by
* any queue, semaphore or mutex creation function or macro.
*/
xQueueHandle xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType );
/*
* Queue sets provide a mechanism to allow a task to block (pend) on a read
* operation from multiple queues or semaphores simultaneously.
*
* See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
* function.
*
* A queue set must be explicitly created using a call to xQueueCreateSet()
* before it can be used. Once created, standard FreeRTOS queues and semaphores
* can be added to the set using calls to xQueueAddToSet().
* xQueueSelectFromSet() is then used to determine which, if any, of the queues
* or semaphores contained in the set is in a state where a queue read or
* semaphore take operation would be successful.
*
* Note 1: See the documentation on http://wwwFreeRTOS.org/RTOS-queue-sets.html
* for reasons why queue sets are very rarely needed in practice as there are
* simpler methods of blocking on multiple objects.
*
* Note 2: Blocking on a queue set that contains a mutex will not cause the
* mutex holder to inherit the priority of the blocked task.
*
* Note 3: An additional 4 bytes of RAM is required for each space in a every
* queue added to a queue set. Therefore counting semaphores that have a high
* maximum count value should not be added to a queue set.
*
* Note 4: A receive (in the case of a queue) or take (in the case of a
* semaphore) operation must not be performed on a member of a queue set unless
* a call to xQueueSelectFromSet() has first returned a handle to that set member.
*
* @param uxEventQueueLength Queue sets store events that occur on
* the queues and semaphores contained in the set. uxEventQueueLength specifies
* the maximum number of events that can be queued at once. To be absolutely
* certain that events are not lost uxEventQueueLength should be set to the
* total sum of the length of the queues added to the set, where binary
* semaphores and mutexes have a length of 1, and counting semaphores have a
* length set by their maximum count value. Examples:
* + If a queue set is to hold a queue of length 5, another queue of length 12,
* and a binary semaphore, then uxEventQueueLength should be set to
* (5 + 12 + 1), or 18.
* + If a queue set is to hold three binary semaphores then uxEventQueueLength
* should be set to (1 + 1 + 1 ), or 3.
* + If a queue set is to hold a counting semaphore that has a maximum count of
* 5, and a counting semaphore that has a maximum count of 3, then
* uxEventQueueLength should be set to (5 + 3), or 8.
*
* @return If the queue set is created successfully then a handle to the created
* queue set is returned. Otherwise NULL is returned.
*/
xQueueSetHandle xQueueCreateSet( unsigned portBASE_TYPE uxEventQueueLength );
/*
* Adds a queue or semaphore to a queue set that was previously created by a
* call to xQueueCreateSet().
*
* See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
* function.
*
* Note 1: A receive (in the case of a queue) or take (in the case of a
* semaphore) operation must not be performed on a member of a queue set unless
* a call to xQueueSelectFromSet() has first returned a handle to that set member.
*
* @param xQueueOrSemaphore The handle of the queue or semaphore being added to
* the queue set (cast to an xQueueSetMemberHandle type).
*
* @param xQueueSet The handle of the queue set to which the queue or semaphore
* is being added.
*
* @return If the queue or semaphore was successfully added to the queue set
* then pdPASS is returned. If the queue could not be successfully added to the
* queue set because it is already a member of a different queue set then pdFAIL
* is returned.
*/
portBASE_TYPE xQueueAddToSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet );
/*
* Removes a queue or semaphore from a queue set. A queue or semaphore can only
* be removed from a set if the queue or semaphore is empty.
*
* See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
* function.
*
* @param xQueueOrSemaphore The handle of the queue or semaphore being removed
* from the queue set (cast to an xQueueSetMemberHandle type).
*
* @param xQueueSet The handle of the queue set in which the queue or semaphore
* is included.
*
* @return If the queue or semaphore was successfully removed from the queue set
* then pdPASS is returned. If the queue was not in the queue set, or the
* queue (or semaphore) was not empty, then pdFAIL is returned.
*/
portBASE_TYPE xQueueRemoveFromSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet );
/*
* xQueueSelectFromSet() selects from the members of a queue set a queue or
* semaphore that either contains data (in the case of a queue) or is available
* to take (in the case of a semaphore). xQueueSelectFromSet() effectively
* allows a task to block (pend) on a read operation on all the queues and
* semaphores in a queue set simultaneously.
*
* See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
* function.
*
* Note 1: See the documentation on http://wwwFreeRTOS.org/RTOS-queue-sets.html
* for reasons why queue sets are very rarely needed in practice as there are
* simpler methods of blocking on multiple objects.
*
* Note 2: Blocking on a queue set that contains a mutex will not cause the
* mutex holder to inherit the priority of the blocked task.
*
* Note 3: A receive (in the case of a queue) or take (in the case of a
* semaphore) operation must not be performed on a member of a queue set unless
* a call to xQueueSelectFromSet() has first returned a handle to that set member.
*
* @param xQueueSet The queue set on which the task will (potentially) block.
*
* @param xBlockTimeTicks The maximum time, in ticks, that the calling task will
* remain in the Blocked state (with other tasks executing) to wait for a member
* of the queue set to be ready for a successful queue read or semaphore take
* operation.
*
* @return xQueueSelectFromSet() will return the handle of a queue (cast to
* a xQueueSetMemberHandle type) contained in the queue set that contains data,
* or the handle of a semaphore (cast to a xQueueSetMemberHandle type) contained
* in the queue set that is available, or NULL if no such queue or semaphore
* exists before before the specified block time expires.
*/
xQueueSetMemberHandle xQueueSelectFromSet( xQueueSetHandle xQueueSet, portTickType xBlockTimeTicks );
/*
* A version of xQueueSelectFromSet() that can be used from an ISR.
*/
xQueueSetMemberHandle xQueueSelectFromSetFromISR( xQueueSetHandle xQueueSet );
/* Not public API functions. */
void vQueueWaitForMessageRestricted( xQueueHandle pxQueue, portTickType xTicksToWait );
portBASE_TYPE xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue );
void vQueueWaitForMessageRestricted( xQueueHandle xQueue, portTickType xTicksToWait );
portBASE_TYPE xQueueGenericReset( xQueueHandle xQueue, portBASE_TYPE xNewQueue );
void vQueueSetQueueNumber( xQueueHandle xQueue, unsigned char ucQueueNumber ) PRIVILEGED_FUNCTION;
unsigned char ucQueueGetQueueType( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
#ifdef __cplusplus

54
flight/PiOS/Common/Libraries/FreeRTOS/Source/include/semphr.h Executable file → Normal file
View File

@ -1,6 +1,8 @@
/*
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
@ -27,41 +29,47 @@
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 modification to the GPL is included to allow you to
>>>>>>NOTE<<<<<< The modification 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.
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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
#ifndef SEMAPHORE_H

195
flight/PiOS/Common/Libraries/FreeRTOS/Source/include/task.h Executable file → Normal file
View File

@ -1,6 +1,8 @@
/*
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
@ -27,42 +29,47 @@
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 modification to the GPL is included to allow you to
>>>>>>NOTE<<<<<< The modification 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.
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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - Selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
@ -84,7 +91,7 @@ extern "C" {
* MACROS AND DEFINITIONS
*----------------------------------------------------------*/
#define tskKERNEL_VERSION_NUMBER "V7.2.0"
#define tskKERNEL_VERSION_NUMBER "V7.4.0"
/**
* task. h
@ -131,6 +138,25 @@ typedef struct xTASK_PARAMTERS
xMemoryRegion xRegions[ portNUM_CONFIGURABLE_REGIONS ];
} xTaskParameters;
/* Task states returned by eTaskGetState. */
typedef enum
{
eRunning = 0, /* A task is querying the state of itself, so must be running. */
eReady, /* The task being queried is in a read or pending ready list. */
eBlocked, /* The task being queried is in the Blocked state. */
eSuspended, /* The task being queried is in the Suspended state, or is in the Blocked state with an infinite time out. */
eDeleted /* The task being queried has been deleted, but its TCB has not yet been freed. */
} eTaskState;
/* Possible return values for eTaskConfirmSleepModeStatus(). */
typedef enum
{
eAbortSleep = 0, /* A task has been made ready or a context switch pended since portSUPPORESS_TICKS_AND_SLEEP() was called - abort entering a sleep mode. */
eStandardSleep, /* Enter a sleep mode that will not last any longer than the expected idle time. */
eNoTasksWaitingTimeout /* No tasks are waiting for a timeout so it is safe to enter a sleep mode that can only be exited by an external interrupt. */
} eSleepModeStatus;
/*
* Defines the priority used by the idle task. This must not be modified.
*
@ -322,7 +348,7 @@ static const xTaskParameters xCheckTaskParameters =
// 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 },
@ -373,7 +399,7 @@ xTaskHandle xHandle;
// 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 },
@ -389,7 +415,7 @@ void vATask( void *pvParameters )
// 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).
@ -402,7 +428,7 @@ void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxR
/**
* task. h
* <pre>void vTaskDelete( xTaskHandle pxTask );</pre>
* <pre>void vTaskDelete( xTaskHandle xTask );</pre>
*
* INCLUDE_vTaskDelete must be defined as 1 for this function to be available.
* See the configuration section for more information.
@ -420,7 +446,7 @@ void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxR
* 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
* @param xTask The handle of the task to be deleted. Passing NULL will
* cause the calling task to be deleted.
*
* Example usage:
@ -439,7 +465,7 @@ void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxR
* \defgroup vTaskDelete vTaskDelete
* \ingroup Tasks
*/
void vTaskDelete( xTaskHandle pxTaskToDelete ) PRIVILEGED_FUNCTION;
void vTaskDelete( xTaskHandle xTaskToDelete ) PRIVILEGED_FUNCTION;
/*-----------------------------------------------------------
* TASK CONTROL API
@ -556,17 +582,17 @@ void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTim
/**
* task. h
* <pre>unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask );</pre>
* <pre>unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask );</pre>
*
* 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
* @param xTask 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.
* @return The priority of xTask.
*
* Example usage:
<pre>
@ -599,11 +625,29 @@ void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTim
* \defgroup uxTaskPriorityGet uxTaskPriorityGet
* \ingroup TaskCtrl
*/
unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTION;
unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
/**
* task. h
* <pre>void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority );</pre>
* <pre>eTaskState eTaskGetState( xTaskHandle xTask );</pre>
*
* INCLUDE_eTaskGetState must be defined as 1 for this function to be available.
* See the configuration section for more information.
*
* Obtain the state of any task. States are encoded by the eTaskState
* enumerated type.
*
* @param xTask Handle of the task to be queried.
*
* @return The state of xTask at the time the function was called. Note the
* state of the task might change between the function being called, and the
* functions return value being tested by the calling task.
*/
eTaskState eTaskGetState( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
/**
* task. h
* <pre>void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority );</pre>
*
* INCLUDE_vTaskPrioritySet must be defined as 1 for this function to be available.
* See the configuration section for more information.
@ -613,7 +657,7 @@ unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTI
* 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.
* @param xTask 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.
@ -641,11 +685,11 @@ unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTI
* \defgroup vTaskPrioritySet vTaskPrioritySet
* \ingroup TaskCtrl
*/
void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority ) PRIVILEGED_FUNCTION;
void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority ) PRIVILEGED_FUNCTION;
/**
* task. h
* <pre>void vTaskSuspend( xTaskHandle pxTaskToSuspend );</pre>
* <pre>void vTaskSuspend( xTaskHandle xTaskToSuspend );</pre>
*
* INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.
* See the configuration section for more information.
@ -657,7 +701,7 @@ void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority
* 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
* @param xTaskToSuspend Handle to the task being suspended. Passing a NULL
* handle will cause the calling task to be suspended.
*
* Example usage:
@ -692,11 +736,11 @@ void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority
* \defgroup vTaskSuspend vTaskSuspend
* \ingroup TaskCtrl
*/
void vTaskSuspend( xTaskHandle pxTaskToSuspend ) PRIVILEGED_FUNCTION;
void vTaskSuspend( xTaskHandle xTaskToSuspend ) PRIVILEGED_FUNCTION;
/**
* task. h
* <pre>void vTaskResume( xTaskHandle pxTaskToResume );</pre>
* <pre>void vTaskResume( xTaskHandle xTaskToResume );</pre>
*
* INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.
* See the configuration section for more information.
@ -707,7 +751,7 @@ void vTaskSuspend( xTaskHandle pxTaskToSuspend ) PRIVILEGED_FUNCTION;
* will be made available for running again by a single call to
* vTaskResume ().
*
* @param pxTaskToResume Handle to the task being readied.
* @param xTaskToResume Handle to the task being readied.
*
* Example usage:
<pre>
@ -741,11 +785,11 @@ void vTaskSuspend( xTaskHandle pxTaskToSuspend ) PRIVILEGED_FUNCTION;
* \defgroup vTaskResume vTaskResume
* \ingroup TaskCtrl
*/
void vTaskResume( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION;
void vTaskResume( xTaskHandle xTaskToResume ) PRIVILEGED_FUNCTION;
/**
* task. h
* <pre>void xTaskResumeFromISR( xTaskHandle pxTaskToResume );</pre>
* <pre>void xTaskResumeFromISR( xTaskHandle xTaskToResume );</pre>
*
* INCLUDE_xTaskResumeFromISR must be defined as 1 for this function to be
* available. See the configuration section for more information.
@ -756,12 +800,12 @@ void vTaskResume( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION;
* will be made available for running again by a single call to
* xTaskResumeFromISR ().
*
* @param pxTaskToResume Handle to the task being readied.
* @param xTaskToResume Handle to the task being readied.
*
* \defgroup vTaskResumeFromISR vTaskResumeFromISR
* \ingroup TaskCtrl
*/
portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION;
portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume ) PRIVILEGED_FUNCTION;
/*-----------------------------------------------------------
* SCHEDULER CONTROL
@ -1085,6 +1129,19 @@ void vTaskList( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION;
*/
void vTaskGetRunTimeStats( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION;
/**
* task.h
* <PRE>unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask );</PRE>
*
* Returns the run time of selected task
*
* @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 run time of selected task
*/
unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask );
/**
* task.h
* <PRE>unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask );</PRE>
@ -1105,19 +1162,6 @@ void vTaskGetRunTimeStats( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION;
*/
unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
/**
* task.h
* <PRE>unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask );</PRE>
*
* Returns the run time of selected task
*
* @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 run time of selected task
*/
unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask );
/* When using trace macros it is sometimes necessary to include tasks.h before
FreeRTOS.h. When this is done pdTASK_HOOK_CODE will not yet have been defined,
so the following two prototypes will cause a compilation error. This can be
@ -1159,7 +1203,7 @@ constant. */
portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter ) PRIVILEGED_FUNCTION;
/**
* xTaskGetIdleTaskHandle() is only available if
* xTaskGetIdleTaskHandle() is only available if
* INCLUDE_xTaskGetIdleTaskHandle is set to 1 in FreeRTOSConfig.h.
*
* Simply returns the handle of the idle task. It is not valid to call
@ -1299,12 +1343,35 @@ signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed ch
*/
unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask );
/*
/*
* Set the uxTCBNumber of the task referenced by the xTask parameter to
* ucHandle.
*/
void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle );
/*
* If tickless mode is being used, or a low power mode is implemented, then
* the tick interrupt will not execute during idle periods. When this is the
* case, the tick count value maintained by the scheduler needs to be kept up
* to date with the actual execution time by being skipped forward by the by
* a time equal to the idle period.
*/
void vTaskStepTick( portTickType xTicksToJump );
/*
* Provided for use within portSUPPRESS_TICKS_AND_SLEEP() to allow the port
* specific sleep function to determine if it is ok to proceed with the sleep,
* and if it is ok to proceed, if it is ok to sleep indefinitely.
*
* This function is necessary because portSUPPRESS_TICKS_AND_SLEEP() is only
* called with the scheduler suspended, not from within a critical section. It
* is therefore possible for an interrupt to request a context switch between
* portSUPPRESS_TICKS_AND_SLEEP() and the low power mode actually being
* entered. eTaskConfirmSleepModeStatus() should be called from a short
* critical section between the timer being stopped and the sleep mode being
* entered to ensure it is ok to proceed into the sleep mode.
*/
eSleepModeStatus eTaskConfirmSleepModeStatus( void );
#ifdef __cplusplus
}

56
flight/PiOS/Common/Libraries/FreeRTOS/Source/include/timers.h Executable file → Normal file
View File

@ -1,6 +1,8 @@
/*
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
@ -27,41 +29,47 @@
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 modification to the GPL is included to allow you to
>>>>>>NOTE<<<<<< The modification 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.
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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
@ -230,7 +238,7 @@ typedef void (*tmrTIMER_CALLBACK)( xTimerHandle xTimer );
* for( ;; );
* }
*/
xTimerHandle xTimerCreate( const signed char *pcTimerName, portTickType xTimerPeriodInTicks, unsigned portBASE_TYPE uxAutoReload, void * pvTimerID, tmrTIMER_CALLBACK pxCallbackFunction ) PRIVILEGED_FUNCTION;
xTimerHandle xTimerCreate( const signed char * const pcTimerName, portTickType xTimerPeriodInTicks, unsigned portBASE_TYPE uxAutoReload, void * pvTimerID, tmrTIMER_CALLBACK pxCallbackFunction ) PRIVILEGED_FUNCTION;
/**
* void *pvTimerGetTimerID( xTimerHandle xTimer );

62
flight/PiOS/Common/Libraries/FreeRTOS/Source/list.c Executable file → Normal file
View File

@ -1,6 +1,8 @@
/*
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
@ -27,41 +29,47 @@
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 modification to the GPL is included to allow you to
>>>>>>NOTE<<<<<< The modification 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.
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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
@ -159,7 +167,7 @@ portTickType xValueOfInsertion;
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
@ -180,13 +188,13 @@ portTickType xValueOfInsertion;
}
/*-----------------------------------------------------------*/
void vListRemove( xListItem *pxItemToRemove )
unsigned portBASE_TYPE uxListRemove( 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;
@ -199,6 +207,8 @@ xList * pxList;
pxItemToRemove->pvContainer = NULL;
( pxList->uxNumberOfItems )--;
return pxList->uxNumberOfItems;
}
/*-----------------------------------------------------------*/

346
flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c → flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
View File

@ -1,160 +1,186 @@
/*
FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
* FreeRTOS tutorial books are available in pdf and paperback. *
* Complete, revised, and edited pdf reference manuals are also *
* available. *
* *
* Purchasing FreeRTOS documentation will not only help you, by *
* ensuring you get running as quickly as possible and with an *
* in-depth knowledge of how to use FreeRTOS, it will also help *
* the FreeRTOS project to continue with its mission of providing *
* professional grade, cross platform, de facto standard solutions *
* for microcontrollers - completely free of charge! *
* *
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
* *
* Thank you for using FreeRTOS, and 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 modification 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.
*/
/*
* The simplest possible implementation of pvPortMalloc(). Note that this
* implementation does NOT allow allocated memory to be freed again.
*
* See heap_2.c and heap_3.c for alternative implementations, and the memory
* management pages of http://www.FreeRTOS.org for more information.
*/
#include <stdlib.h>
/* 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
/* Allocate the memory for the heap. The struct is used to force byte
alignment without using any non-portable code. */
static union xRTOS_HEAP
{
#if portBYTE_ALIGNMENT == 8
volatile portDOUBLE dDummy;
#else
volatile unsigned long ulDummy;
#endif
unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
} xHeap __attribute__ ((section (".heap")));
static size_t xNextFreeByte = ( size_t ) 0;
static size_t currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE;
/*-----------------------------------------------------------*/
void *pvPortMalloc( size_t xWantedSize )
{
void *pvReturn = NULL;
/* Ensure that blocks are always aligned to the required number of bytes. */
#if portBYTE_ALIGNMENT != 1
if( xWantedSize & portBYTE_ALIGNMENT_MASK )
{
/* Byte alignment required. */
xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
}
#endif
vTaskSuspendAll();
{
/* Check there is enough room left for the allocation. */
if( ( ( xNextFreeByte + xWantedSize ) < currentTOTAL_HEAP_SIZE ) &&
( ( xNextFreeByte + xWantedSize ) > xNextFreeByte ) )/* Check for overflow. */
{
/* Return the next free byte then increment the index past this
block. */
pvReturn = &( xHeap.ucHeap[ xNextFreeByte ] );
xNextFreeByte += xWantedSize;
}
}
xTaskResumeAll();
#if( configUSE_MALLOC_FAILED_HOOK == 1 )
{
if( pvReturn == NULL )
{
extern void vApplicationMallocFailedHook( void );
vApplicationMallocFailedHook();
}
}
#endif
return pvReturn;
}
/*-----------------------------------------------------------*/
void vPortFree( void *pv )
{
/* Memory cannot be freed using this scheme. See heap_2.c and heap_3.c
for alternative implementations, and the memory management pages of
http://www.FreeRTOS.org for more information. */
( void ) pv;
}
/*-----------------------------------------------------------*/
void vPortInitialiseBlocks( void )
{
/* Only required when static memory is not cleared. */
xNextFreeByte = ( size_t ) 0;
}
/*-----------------------------------------------------------*/
size_t xPortGetFreeHeapSize( void )
{
return ( currentTOTAL_HEAP_SIZE - xNextFreeByte );
}
/*-----------------------------------------------------------*/
void xPortIncreaseHeapSize( size_t bytes )
{
vTaskSuspendAll();
currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE + bytes;
xTaskResumeAll();
}
/*-----------------------------------------------------------*/
/*
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
* FreeRTOS tutorial books are available in pdf and paperback. *
* Complete, revised, and edited pdf reference manuals are also *
* available. *
* *
* Purchasing FreeRTOS documentation will not only help you, by *
* ensuring you get running as quickly as possible and with an *
* in-depth knowledge of how to use FreeRTOS, it will also help *
* the FreeRTOS project to continue with its mission of providing *
* professional grade, cross platform, de facto standard solutions *
* for microcontrollers - completely free of charge! *
* *
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
* *
* Thank you for using FreeRTOS, and 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 modification 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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
/*
* The simplest possible implementation of pvPortMalloc(). Note that this
* implementation does NOT allow allocated memory to be freed again.
*
* See heap_2.c, heap_3.c and heap_4.c for alternative implementations, and the
* memory management pages of http://www.FreeRTOS.org for more information.
*/
#include <stdlib.h>
/* 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
/* Allocate the memory for the heap. */
static unsigned char ucHeap[ configTOTAL_HEAP_SIZE ] __attribute__ ((section (".heap")));
static size_t xNextFreeByte = ( size_t ) 0;
static size_t currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE;
/* A few bytes might be lost to byte aligning the heap start address. */
#define configADJUSTED_HEAP_SIZE (currentTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT)
/*-----------------------------------------------------------*/
void *pvPortMalloc( size_t xWantedSize )
{
void *pvReturn = NULL;
static unsigned char *pucAlignedHeap = NULL;
/* Ensure that blocks are always aligned to the required number of bytes. */
#if portBYTE_ALIGNMENT != 1
if( xWantedSize & portBYTE_ALIGNMENT_MASK )
{
/* Byte alignment required. */
xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
}
#endif
vTaskSuspendAll();
{
if( pucAlignedHeap == NULL )
{
/* Ensure the heap starts on a correctly aligned boundary. */
pucAlignedHeap = ( unsigned char * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
}
/* Check there is enough room left for the allocation. */
if( ( ( xNextFreeByte + xWantedSize ) < configADJUSTED_HEAP_SIZE ) &&
( ( xNextFreeByte + xWantedSize ) > xNextFreeByte ) )/* Check for overflow. */
{
/* Return the next free byte then increment the index past this
block. */
pvReturn = pucAlignedHeap + xNextFreeByte;
xNextFreeByte += xWantedSize;
}
}
xTaskResumeAll();
#if( configUSE_MALLOC_FAILED_HOOK == 1 )
{
if( pvReturn == NULL )
{
extern void vApplicationMallocFailedHook( void );
vApplicationMallocFailedHook();
}
}
#endif
return pvReturn;
}
/*-----------------------------------------------------------*/
void vPortFree( void *pv )
{
/* Memory cannot be freed using this scheme. See heap_2.c, heap_3.c and
heap_4.c for alternative implementations, and the memory management pages of
http://www.FreeRTOS.org for more information. */
( void ) pv;
/* Force an assert as it is invalid to call this function. */
configASSERT( pv == NULL );
}
/*-----------------------------------------------------------*/
void vPortInitialiseBlocks( void )
{
/* Only required when static memory is not cleared. */
xNextFreeByte = ( size_t ) 0;
}
/*-----------------------------------------------------------*/
size_t xPortGetFreeHeapSize( void )
{
return ( configADJUSTED_HEAP_SIZE - xNextFreeByte );
}
/*-----------------------------------------------------------*/
void xPortIncreaseHeapSize( size_t bytes )
{
vTaskSuspendAll();
currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE + bytes;
xTaskResumeAll();
}
/*-----------------------------------------------------------*/

165
flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c → flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
View File

@ -1,6 +1,8 @@
/*
FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
@ -27,37 +29,57 @@
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 modification to the GPL is included to allow you to
>>>>>>NOTE<<<<<< The modification 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.
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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., 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.
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
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.
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
/*
* A sample implementation of pvPortMalloc() and vPortFree() that permits
* allocated blocks to be freed, but does not combine adjacent free blocks
* into a single larger block.
* into a single larger block (and so will fragment memory). See heap_4.c for
* an aquivalent that does combine adjacent blocks into single larger blocks.
*
* See heap_1.c and heap_3.c for alternative implementations, and the memory
* management pages of http://www.FreeRTOS.org for more information.
* See heap_1.c, heap_3.c and heap_4.c for alternative implementations, and the
* memory management pages of http://www.FreeRTOS.org for more information.
*/
#include <stdlib.h>
@ -71,17 +93,16 @@ task.h is included from an application file. */
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
/* Allocate the memory for the heap. The struct is used to force byte
alignment without using any non-portable code. */
static union xRTOS_HEAP
{
#if portBYTE_ALIGNMENT == 8
volatile portDOUBLE dDummy;
#else
volatile unsigned long ulDummy;
#endif
unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
} xHeap __attribute__ ((section (".heap")));
/* A few bytes might be lost to byte aligning the heap start address. */
#define configADJUSTED_HEAP_SIZE ( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT )
/*
* Initialises the heap structures before their first use.
*/
static void prvHeapInit( void );
/* Allocate the memory for the heap. */
static unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
/* Define the linked list structure. This is used to link free blocks in order
of their size. */
@ -98,15 +119,9 @@ static const unsigned short heapSTRUCT_SIZE = ( sizeof( xBlockLink ) + portBYTE
/* Create a couple of list links to mark the start and end of the list. */
static xBlockLink xStart, xEnd;
/* Markers in the heap segment */
extern char _sheap, _eheap;
extern char _init_stack_top, _init_stack_end;
static size_t currentTOTAL_HEAP_SIZE;
/* Keeps track of the number of free bytes remaining, but says nothing about
fragmentation. */
static size_t xFreeBytesRemaining;
static size_t xFreeBytesRemaining = configADJUSTED_HEAP_SIZE;
/* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */
@ -136,30 +151,6 @@ size_t xBlockSize; \
}
/*-----------------------------------------------------------*/
#define prvHeapInit() \
{ \
xBlockLink *pxFirstFreeBlock; \
\
currentTOTAL_HEAP_SIZE = &_eheap - &_sheap; \
xFreeBytesRemaining = currentTOTAL_HEAP_SIZE; \
\
/* xStart is used to hold a pointer to the first item in the list of free */ \
/* blocks. The void cast is used to prevent compiler warnings. */ \
xStart.pxNextFreeBlock = ( void * ) xHeap.ucHeap; \
xStart.xBlockSize = ( size_t ) 0; \
\
/* xEnd is used to mark the end of the list of free blocks. */ \
xEnd.xBlockSize = currentTOTAL_HEAP_SIZE; \
xEnd.pxNextFreeBlock = NULL; \
\
/* To start with there is a single free block that is sized to take up the \
entire heap space. */ \
pxFirstFreeBlock = ( void * ) xHeap.ucHeap; \
pxFirstFreeBlock->xBlockSize = currentTOTAL_HEAP_SIZE; \
pxFirstFreeBlock->pxNextFreeBlock = &xEnd; \
}
/*-----------------------------------------------------------*/
void *pvPortMalloc( size_t xWantedSize )
{
xBlockLink *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
@ -190,13 +181,13 @@ void *pvReturn = NULL;
}
}
if( ( xWantedSize > 0 ) && ( xWantedSize < currentTOTAL_HEAP_SIZE ) )
if( ( xWantedSize > 0 ) && ( xWantedSize < configADJUSTED_HEAP_SIZE ) )
{
/* Blocks are stored in byte order - traverse the list from the start
(smallest) block until one of adequate size is found. */
pxPreviousBlock = &xStart;
pxBlock = xStart.pxNextFreeBlock;
while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock ) )
while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
{
pxPreviousBlock = pxBlock;
pxBlock = pxBlock->pxNextFreeBlock;
@ -209,7 +200,7 @@ void *pvReturn = NULL;
at its start. */
pvReturn = ( void * ) ( ( ( unsigned char * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE );
/* This block is being returned for use so must be taken our of the
/* This block is being returned for use so must be taken out of the
list of free blocks. */
pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
@ -249,28 +240,20 @@ void *pvReturn = NULL;
return pvReturn;
}
/*-----------------------------------------------------------*/
void xPortIncreaseHeapSize( size_t bytes );
void vPortFree( void *pv )
{
unsigned char *puc = ( unsigned char * ) pv;
xBlockLink *pxLink;
/* if this is the init stack being cleaned up on termination of the init task, sacrifice it to the heap */
if( ( pv == (void *)&_init_stack_end ) && ( pv == &xHeap.ucHeap[currentTOTAL_HEAP_SIZE]) )
{
xPortIncreaseHeapSize(&_init_stack_top - &_init_stack_end);
return;
}
if( pv )
if( pv != NULL )
{
/* The memory being freed will have an xBlockLink structure immediately
before it. */
puc -= heapSTRUCT_SIZE;
/* This casting is to keep the compiler from issuing warnings. */
/* This unexpected casting is to keep some compilers from issuing
byte alignment warnings. */
pxLink = ( void * ) puc;
vTaskSuspendAll();
@ -294,25 +277,29 @@ void vPortInitialiseBlocks( void )
{
/* This just exists to keep the linker quiet. */
}
/*-----------------------------------------------------------*/
void xPortIncreaseHeapSize( size_t bytes )
static void prvHeapInit( void )
{
xBlockLink *pxNewBlockLink;
xBlockLink *pxFirstFreeBlock;
unsigned char *pucAlignedHeap;
vTaskSuspendAll();
/* Ensure the heap starts on a correctly aligned boundary. */
pucAlignedHeap = ( unsigned char * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
/* increase the size of the end block so that this block will always be before it */
xEnd.xBlockSize += bytes;
/* xStart is used to hold a pointer to the first item in the list of free
blocks. The void cast is used to prevent compiler warnings. */
xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap;
xStart.xBlockSize = ( size_t ) 0;
/* Insert the new block into the list of free blocks. */
pxNewBlockLink = ( void * ) &xHeap.ucHeap[ currentTOTAL_HEAP_SIZE ];
pxNewBlockLink->xBlockSize = bytes;
prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
/* xEnd is used to mark the end of the list of free blocks. */
xEnd.xBlockSize = configADJUSTED_HEAP_SIZE;
xEnd.pxNextFreeBlock = NULL;
/* update heap statistics */
currentTOTAL_HEAP_SIZE += bytes;
xFreeBytesRemaining += bytes;
xTaskResumeAll();
/* To start with there is a single free block that is sized to take up the
entire heap space. */
pxFirstFreeBlock = ( void * ) pucAlignedHeap;
pxFirstFreeBlock->xBlockSize = configADJUSTED_HEAP_SIZE;
pxFirstFreeBlock->pxNextFreeBlock = &xEnd;
}
/*-----------------------------------------------------------*/

59
flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c → flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
View File

@ -1,6 +1,8 @@
/*
FreeRTOS V7.0.0 - Copyright (C) 2011 Real Time Engineers Ltd.
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
@ -27,28 +29,47 @@
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 modification to the GPL is included to allow you to
>>>>>>NOTE<<<<<< The modification 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.
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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., 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.
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
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.
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
@ -59,8 +80,8 @@
* 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.
* See heap_1.c, heap_2.c and heap_4.c for alternative implementations, and the
* memory management pages of http://www.FreeRTOS.org for more information.
*/
#include <stdlib.h>

359
flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_4.c Normal file
View File

@ -0,0 +1,359 @@
/*
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
* FreeRTOS tutorial books are available in pdf and paperback. *
* Complete, revised, and edited pdf reference manuals are also *
* available. *
* *
* Purchasing FreeRTOS documentation will not only help you, by *
* ensuring you get running as quickly as possible and with an *
* in-depth knowledge of how to use FreeRTOS, it will also help *
* the FreeRTOS project to continue with its mission of providing *
* professional grade, cross platform, de facto standard solutions *
* for microcontrollers - completely free of charge! *
* *
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
* *
* Thank you for using FreeRTOS, and 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 modification 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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
/*
* A sample implementation of pvPortMalloc() and vPortFree() that combines
* (coalescences) adjacent memory blocks as they are freed, and in so doing
* limits memory fragmentation.
*
* See heap_1.c, heap_2.c and heap_3.c for alternative implementations, and the
* memory management pages of http://www.FreeRTOS.org for more information.
*/
#include <stdlib.h>
/* 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
/* Block sizes must not get too small. */
#define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( heapSTRUCT_SIZE * 2 ) )
/* A few bytes might be lost to byte aligning the heap start address. */
#define configADJUSTED_HEAP_SIZE ( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT )
/* Allocate the memory for the heap. */
static unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
/* Define the linked list structure. This is used to link free blocks in order
of their memory address. */
typedef struct A_BLOCK_LINK
{
struct A_BLOCK_LINK *pxNextFreeBlock; /*<< The next free block in the list. */
size_t xBlockSize; /*<< The size of the free block. */
} xBlockLink;
/*-----------------------------------------------------------*/
/*
* Inserts a block of memory that is being freed into the correct position in
* the list of free memory blocks. The block being freed will be merged with
* the block in front it and/or the block behind it if the memory blocks are
* adjacent to each other.
*/
static void prvInsertBlockIntoFreeList( xBlockLink *pxBlockToInsert );
/*
* Called automatically to setup the required heap structures the first time
* pvPortMalloc() is called.
*/
static void prvHeapInit( void );
/*-----------------------------------------------------------*/
/* The size of the structure placed at the beginning of each allocated memory
block must by correctly byte aligned. */
static const unsigned short heapSTRUCT_SIZE = ( sizeof( xBlockLink ) + portBYTE_ALIGNMENT - ( sizeof( xBlockLink ) % portBYTE_ALIGNMENT ) );
/* Ensure the pxEnd pointer will end up on the correct byte alignment. */
static const size_t xTotalHeapSize = ( ( size_t ) configADJUSTED_HEAP_SIZE ) & ( ( size_t ) ~portBYTE_ALIGNMENT_MASK );
/* Create a couple of list links to mark the start and end of the list. */
static xBlockLink xStart, *pxEnd = NULL;
/* Keeps track of the number of free bytes remaining, but says nothing about
fragmentation. */
static size_t xFreeBytesRemaining = ( ( size_t ) configADJUSTED_HEAP_SIZE ) & ( ( size_t ) ~portBYTE_ALIGNMENT_MASK );
/* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */
/*-----------------------------------------------------------*/
void *pvPortMalloc( size_t xWantedSize )
{
xBlockLink *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
void *pvReturn = NULL;
vTaskSuspendAll();
{
/* If this is the first call to malloc then the heap will require
initialisation to setup the list of free blocks. */
if( pxEnd == NULL )
{
prvHeapInit();
}
/* The wanted size is increased so it can contain a xBlockLink
structure in addition to the requested amount of bytes. */
if( xWantedSize > 0 )
{
xWantedSize += heapSTRUCT_SIZE;
/* Ensure that blocks are always aligned to the required number of
bytes. */
if( xWantedSize & portBYTE_ALIGNMENT_MASK )
{
/* Byte alignment required. */
xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
}
}
if( ( xWantedSize > 0 ) && ( xWantedSize < xTotalHeapSize ) )
{
/* Traverse the list from the start (lowest address) block until one
of adequate size is found. */
pxPreviousBlock = &xStart;
pxBlock = xStart.pxNextFreeBlock;
while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
{
pxPreviousBlock = pxBlock;
pxBlock = pxBlock->pxNextFreeBlock;
}
/* If the end marker was reached then a block of adequate size was
not found. */
if( pxBlock != pxEnd )
{
/* Return the memory space - jumping over the xBlockLink structure
at its start. */
pvReturn = ( void * ) ( ( ( unsigned char * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE );
/* This block is being returned for use so must be taken out of
the list of free blocks. */
pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
/* If the block is larger than required it can be split into two. */
if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
{
/* This block is to be split into two. Create a new block
following the number of bytes requested. The void cast is
used to prevent byte alignment warnings from the compiler. */
pxNewBlockLink = ( void * ) ( ( ( unsigned char * ) pxBlock ) + xWantedSize );
/* Calculate the sizes of two blocks split from the single
block. */
pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
pxBlock->xBlockSize = xWantedSize;
/* Insert the new block into the list of free blocks. */
prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
}
xFreeBytesRemaining -= pxBlock->xBlockSize;
}
}
}
xTaskResumeAll();
#if( configUSE_MALLOC_FAILED_HOOK == 1 )
{
if( pvReturn == NULL )
{
extern void vApplicationMallocFailedHook( void );
vApplicationMallocFailedHook();
}
}
#endif
return pvReturn;
}
/*-----------------------------------------------------------*/
void vPortFree( void *pv )
{
unsigned char *puc = ( unsigned char * ) pv;
xBlockLink *pxLink;
if( pv != NULL )
{
/* The memory being freed will have an xBlockLink structure immediately
before it. */
puc -= heapSTRUCT_SIZE;
/* This casting is to keep the compiler from issuing warnings. */
pxLink = ( void * ) puc;
vTaskSuspendAll();
{
/* Add this block to the list of free blocks. */
xFreeBytesRemaining += pxLink->xBlockSize;
prvInsertBlockIntoFreeList( ( ( xBlockLink * ) pxLink ) );
}
xTaskResumeAll();
}
}
/*-----------------------------------------------------------*/
size_t xPortGetFreeHeapSize( void )
{
return xFreeBytesRemaining;
}
/*-----------------------------------------------------------*/
void vPortInitialiseBlocks( void )
{
/* This just exists to keep the linker quiet. */
}
/*-----------------------------------------------------------*/
static void prvHeapInit( void )
{
xBlockLink *pxFirstFreeBlock;
unsigned char *pucHeapEnd, *pucAlignedHeap;
/* Ensure the heap starts on a correctly aligned boundary. */
pucAlignedHeap = ( unsigned char * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
/* xStart is used to hold a pointer to the first item in the list of free
blocks. The void cast is used to prevent compiler warnings. */
xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap;
xStart.xBlockSize = ( size_t ) 0;
/* pxEnd is used to mark the end of the list of free blocks and is inserted
at the end of the heap space. */
pucHeapEnd = pucAlignedHeap + xTotalHeapSize;
pucHeapEnd -= heapSTRUCT_SIZE;
pxEnd = ( void * ) pucHeapEnd;
configASSERT( ( ( ( unsigned long ) pxEnd ) & ( ( unsigned long ) portBYTE_ALIGNMENT_MASK ) ) == 0UL );
pxEnd->xBlockSize = 0;
pxEnd->pxNextFreeBlock = NULL;
/* To start with there is a single free block that is sized to take up the
entire heap space, minus the space taken by pxEnd. */
pxFirstFreeBlock = ( void * ) pucAlignedHeap;
pxFirstFreeBlock->xBlockSize = xTotalHeapSize - heapSTRUCT_SIZE;
pxFirstFreeBlock->pxNextFreeBlock = pxEnd;
/* The heap now contains pxEnd. */
xFreeBytesRemaining -= heapSTRUCT_SIZE;
}
/*-----------------------------------------------------------*/
static void prvInsertBlockIntoFreeList( xBlockLink *pxBlockToInsert )
{
xBlockLink *pxIterator;
unsigned char *puc;
/* Iterate through the list until a block is found that has a higher address
than the block being inserted. */
for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock )
{
/* Nothing to do here, just iterate to the right position. */
}
/* Do the block being inserted, and the block it is being inserted after
make a contiguous block of memory? */
puc = ( unsigned char * ) pxIterator;
if( ( puc + pxIterator->xBlockSize ) == ( unsigned char * ) pxBlockToInsert )
{
pxIterator->xBlockSize += pxBlockToInsert->xBlockSize;
pxBlockToInsert = pxIterator;
}
/* Do the block being inserted, and the block it is being inserted before
make a contiguous block of memory? */
puc = ( unsigned char * ) pxBlockToInsert;
if( ( puc + pxBlockToInsert->xBlockSize ) == ( unsigned char * ) pxIterator->pxNextFreeBlock )
{
if( pxIterator->pxNextFreeBlock != pxEnd )
{
/* Form one big block from the two blocks. */
pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize;
pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock->pxNextFreeBlock;
}
else
{
pxBlockToInsert->pxNextFreeBlock = pxEnd;
}
}
else
{
pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock;
}
/* If the block being inserted plugged a gab, so was merged with the block
before and the block after, then it's pxNextFreeBlock pointer will have
already been set, and should not be set here as that would make it point
to itself. */
if( pxIterator != pxBlockToInsert )
{
pxIterator->pxNextFreeBlock = pxBlockToInsert;
}
}

19
flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/readme.txt Normal file
View File

@ -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.

1061
flight/PiOS/Common/Libraries/FreeRTOS/Source/queue.c Executable file → Normal file
View File

@ -1,6 +1,8 @@
/*
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
@ -27,41 +29,47 @@
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 modification to the GPL is included to allow you to
>>>>>>NOTE<<<<<< The modification 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.
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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
#include <stdlib.h>
@ -74,6 +82,7 @@ task.h is included from an application file. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#if ( configUSE_CO_ROUTINES == 1 )
#include "croutine.h"
@ -81,20 +90,12 @@ task.h is included from an application file. */
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
/*-----------------------------------------------------------
* PUBLIC LIST API documented in list.h
*----------------------------------------------------------*/
/* Constants used with the cRxLock and xTxLock 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
@ -107,12 +108,6 @@ zero. */
#define queueDONT_BLOCK ( ( portTickType ) 0U )
#define queueMUTEX_GIVE_BLOCK_TIME ( ( portTickType ) 0U )
/* These definitions *must* match those in queue.h. */
#define queueQUEUE_TYPE_BASE ( 0U )
#define queueQUEUE_TYPE_MUTEX ( 1U )
#define queueQUEUE_TYPE_COUNTING_SEMAPHORE ( 2U )
#define queueQUEUE_TYPE_BINARY_SEMAPHORE ( 3U )
#define queueQUEUE_TYPE_RECURSIVE_MUTEX ( 4U )
/*
* Definition of the queue used by the scheduler.
@ -120,11 +115,11 @@ zero. */
*/
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 *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. */
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. */
@ -135,66 +130,24 @@ typedef struct QueueDefinition
volatile 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. */
volatile 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. */
#if ( configUSE_TRACE_FACILITY == 1 )
unsigned char ucQueueNumber;
unsigned char ucQueueType;
#endif
#if ( configUSE_QUEUE_SETS == 1 )
struct QueueDefinition *pxQueueSetContainer;
#endif
} 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 xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType ) PRIVILEGED_FUNCTION;
signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, 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 *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
xQueueHandle xQueueCreateMutex( unsigned char ucQueueType ) 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;
void vQueueWaitForMessageRestricted( xQueueHandle pxQueue, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
unsigned char ucQueueGetQueueNumber( xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
void vQueueSetQueueNumber( xQueueHandle pxQueue, unsigned char ucQueueNumber ) PRIVILEGED_FUNCTION;
unsigned char ucQueueGetQueueType( xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
portBASE_TYPE xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue ) PRIVILEGED_FUNCTION;
xTaskHandle xQueueGetMutexHolder( xQueueHandle xSemaphore ) 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
#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
@ -212,9 +165,9 @@ xTaskHandle xQueueGetMutexHolder( xQueueHandle xSemaphore ) PRIVILEGED_FUNCTION;
/* 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
static void prvQueueUnregisterQueue( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
#endif /* configQUEUE_REGISTRY_SIZE */
/*
* Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not
@ -224,21 +177,21 @@ xTaskHandle xQueueGetMutexHolder( xQueueHandle xSemaphore ) PRIVILEGED_FUNCTION;
* 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;
static void prvUnlockQueue( xQUEUE *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;
static signed portBASE_TYPE prvIsQueueEmpty( const xQUEUE *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;
static signed portBASE_TYPE prvIsQueueFull( const xQUEUE *pxQueue ) PRIVILEGED_FUNCTION;
/*
* Copies an item into the queue, either at the front of the queue or the
@ -250,6 +203,15 @@ static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, port
* Copies an item out of a queue.
*/
static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer ) PRIVILEGED_FUNCTION;
#if ( configUSE_QUEUE_SETS == 1 )
/*
* Checks to see if a queue is a member of a queue set, and if so, notifies
* the queue set that the queue contains data.
*/
static portBASE_TYPE prvNotifyQueueSetContainer( xQUEUE *pxQueue, portBASE_TYPE xCopyPosition );
#endif
/*-----------------------------------------------------------*/
/*
@ -271,13 +233,11 @@ static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer )
taskEXIT_CRITICAL()
/*-----------------------------------------------------------*/
/*-----------------------------------------------------------
* PUBLIC QUEUE MANAGEMENT API documented in queue.h
*----------------------------------------------------------*/
portBASE_TYPE xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue )
portBASE_TYPE xQueueGenericReset( xQueueHandle xQueue, portBASE_TYPE xNewQueue )
{
xQUEUE *pxQueue;
pxQueue = ( xQUEUE * ) xQueue;
configASSERT( pxQueue );
taskENTER_CRITICAL();
@ -291,10 +251,10 @@ portBASE_TYPE xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue
if( xNewQueue == pdFALSE )
{
/* If there are tasks blocked waiting to read from the queue, then
the tasks will remain blocked as after this function exits the queue
will still be empty. If there are tasks blocked waiting to write to
the queue, then one should be unblocked as after this function exits
/* If there are tasks blocked waiting to read from the queue, then
the tasks will remain blocked as after this function exits the queue
will still be empty. If there are tasks blocked waiting to write to
the queue, then one should be unblocked as after this function exits
it will be possible to write to it. */
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
{
@ -308,7 +268,7 @@ portBASE_TYPE xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue
{
/* Ensure the event queues start in the correct state. */
vListInitialise( &( pxQueue->xTasksWaitingToSend ) );
vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );
vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );
}
}
taskEXIT_CRITICAL();
@ -347,12 +307,19 @@ xQueueHandle xReturn = NULL;
pxNewQueue->uxLength = uxQueueLength;
pxNewQueue->uxItemSize = uxItemSize;
xQueueGenericReset( pxNewQueue, pdTRUE );
#if ( configUSE_TRACE_FACILITY == 1 )
{
pxNewQueue->ucQueueType = ucQueueType;
}
#endif /* configUSE_TRACE_FACILITY */
#if( configUSE_QUEUE_SETS == 1 )
{
pxNewQueue->pxQueueSetContainer = NULL;
}
#endif /* configUSE_QUEUE_SETS */
traceQUEUE_CREATE( pxNewQueue );
xReturn = pxNewQueue;
}
@ -408,6 +375,12 @@ xQueueHandle xReturn = NULL;
}
#endif
#if ( configUSE_QUEUE_SETS == 1 )
{
pxNewQueue->pxQueueSetContainer = NULL;
}
#endif
/* Ensure the event queues start with the correct state. */
vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) );
vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) );
@ -429,7 +402,7 @@ xQueueHandle xReturn = NULL;
#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/
#if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xQueueGetMutexHolder == 1 ) )
#if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
void* xQueueGetMutexHolder( xQueueHandle xSemaphore )
{
@ -438,13 +411,13 @@ xQueueHandle xReturn = NULL;
/* This function is called by xSemaphoreGetMutexHolder(), and should not
be called directly. Note: This is is a good way of determining if the
calling task is the mutex holder, but not a good way of determining the
identity of the mutex holder, as the holder may change between the
identity of the mutex holder, as the holder may change between the
following critical section exiting and the function returning. */
taskENTER_CRITICAL();
{
if( xSemaphore->uxQueueType == queueQUEUE_IS_MUTEX )
if( ( ( xQUEUE * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
{
pxReturn = ( void * ) xSemaphore->pxMutexHolder;
pxReturn = ( void * ) ( ( xQUEUE * ) xSemaphore )->pxMutexHolder;
}
else
{
@ -452,7 +425,7 @@ xQueueHandle xReturn = NULL;
}
}
taskEXIT_CRITICAL();
return pxReturn;
}
@ -461,10 +434,12 @@ xQueueHandle xReturn = NULL;
#if ( configUSE_RECURSIVE_MUTEXES == 1 )
portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex )
portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex )
{
portBASE_TYPE xReturn;
xQUEUE *pxMutex;
pxMutex = ( xQUEUE * ) xMutex;
configASSERT( pxMutex );
/* If this is the task that holds the mutex then pxMutexHolder will not
@ -508,12 +483,14 @@ xQueueHandle xReturn = NULL;
#endif /* configUSE_RECURSIVE_MUTEXES */
/*-----------------------------------------------------------*/
#if configUSE_RECURSIVE_MUTEXES == 1
#if ( configUSE_RECURSIVE_MUTEXES == 1 )
portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle pxMutex, portTickType xBlockTime )
portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime )
{
portBASE_TYPE xReturn;
xQUEUE *pxMutex;
pxMutex = ( xQUEUE * ) xMutex;
configASSERT( pxMutex );
/* Comments regarding mutual exclusion as per those within
@ -548,17 +525,17 @@ xQueueHandle xReturn = NULL;
#endif /* configUSE_RECURSIVE_MUTEXES */
/*-----------------------------------------------------------*/
#if configUSE_COUNTING_SEMAPHORES == 1
#if ( configUSE_COUNTING_SEMAPHORES == 1 )
xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount )
{
xQueueHandle pxHandle;
xQueueHandle xHandle;
pxHandle = xQueueGenericCreate( ( unsigned portBASE_TYPE ) uxCountValue, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
xHandle = xQueueGenericCreate( ( unsigned portBASE_TYPE ) uxCountValue, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
if( pxHandle != NULL )
if( xHandle != NULL )
{
pxHandle->uxMessagesWaiting = uxInitialCount;
( ( xQUEUE * ) xHandle )->uxMessagesWaiting = uxInitialCount;
traceCREATE_COUNTING_SEMAPHORE();
}
@ -567,18 +544,20 @@ xQueueHandle xReturn = NULL;
traceCREATE_COUNTING_SEMAPHORE_FAILED();
}
configASSERT( pxHandle );
return pxHandle;
configASSERT( xHandle );
return xHandle;
}
#endif /* configUSE_COUNTING_SEMAPHORES */
/*-----------------------------------------------------------*/
signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
{
signed portBASE_TYPE xEntryTimeSet = pdFALSE;
xTimeOutType xTimeOut;
xQUEUE *pxQueue;
pxQueue = ( xQUEUE * ) xQueue;
configASSERT( pxQueue );
configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
@ -596,19 +575,52 @@ xTimeOutType xTimeOut;
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 ( configUSE_QUEUE_SETS == 1 )
{
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
if( pxQueue->pxQueueSetContainer != NULL )
{
/* 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();
if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE )
{
/* The queue is a member of a queue set, and posting
to the queue set caused a higher priority task to
unblock. A context switch is required. */
portYIELD_WITHIN_API();
}
}
else
{
/* 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();
}
}
}
}
#else /* configUSE_QUEUE_SETS */
{
/* 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();
}
}
}
#endif /* configUSE_QUEUE_SETS */
taskEXIT_CRITICAL();
@ -693,13 +705,15 @@ xTimeOutType xTimeOut;
}
/*-----------------------------------------------------------*/
#if configUSE_ALTERNATIVE_API == 1
#if ( configUSE_ALTERNATIVE_API == 1 )
signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
{
signed portBASE_TYPE xEntryTimeSet = pdFALSE;
xTimeOutType xTimeOut;
xQUEUE *pxQueue;
pxQueue = ( xQUEUE * ) xQueue;
configASSERT( pxQueue );
configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
@ -770,14 +784,16 @@ xTimeOutType xTimeOut;
#endif /* configUSE_ALTERNATIVE_API */
/*-----------------------------------------------------------*/
#if configUSE_ALTERNATIVE_API == 1
#if ( configUSE_ALTERNATIVE_API == 1 )
signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
{
signed portBASE_TYPE xEntryTimeSet = pdFALSE;
xTimeOutType xTimeOut;
signed char *pcOriginalReadPosition;
xQUEUE *pxQueue;
pxQueue = ( xQUEUE * ) xQueue;
configASSERT( pxQueue );
configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
@ -874,7 +890,9 @@ xTimeOutType xTimeOut;
if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
{
portENTER_CRITICAL();
{
vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
}
portEXIT_CRITICAL();
}
}
@ -899,11 +917,13 @@ xTimeOutType xTimeOut;
#endif /* configUSE_ALTERNATIVE_API */
/*-----------------------------------------------------------*/
signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition )
signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle xQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition )
{
signed portBASE_TYPE xReturn;
unsigned portBASE_TYPE uxSavedInterruptStatus;
xQUEUE *pxQueue;
pxQueue = ( xQUEUE * ) xQueue;
configASSERT( pxQueue );
configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
@ -924,18 +944,53 @@ unsigned portBASE_TYPE uxSavedInterruptStatus;
be done when the queue is unlocked later. */
if( pxQueue->xTxLock == queueUNLOCKED )
{
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
#if ( configUSE_QUEUE_SETS == 1 )
{
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
if( pxQueue->pxQueueSetContainer != NULL )
{
/* The task waiting has a higher priority so record that a
context switch is required. */
if( pxHigherPriorityTaskWoken != NULL )
if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE )
{
*pxHigherPriorityTaskWoken = pdTRUE;
/* The queue is a member of a queue set, and posting
to the queue set caused a higher priority task to
unblock. A context switch is required. */
if( pxHigherPriorityTaskWoken != NULL )
{
*pxHigherPriorityTaskWoken = pdTRUE;
}
}
}
else
{
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
{
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
{
/* The task waiting has a higher priority so record that a
context switch is required. */
if( pxHigherPriorityTaskWoken != NULL )
{
*pxHigherPriorityTaskWoken = pdTRUE;
}
}
}
}
}
#else /* configUSE_QUEUE_SETS */
{
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
{
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
{
/* The task waiting has a higher priority so record that a
context switch is required. */
if( pxHigherPriorityTaskWoken != NULL )
{
*pxHigherPriorityTaskWoken = pdTRUE;
}
}
}
}
#endif /* configUSE_QUEUE_SETS */
}
else
{
@ -958,12 +1013,14 @@ unsigned portBASE_TYPE uxSavedInterruptStatus;
}
/*-----------------------------------------------------------*/
signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
{
signed portBASE_TYPE xEntryTimeSet = pdFALSE;
xTimeOutType xTimeOut;
signed char *pcOriginalReadPosition;
xQUEUE *pxQueue;
pxQueue = ( xQUEUE * ) xQueue;
configASSERT( pxQueue );
configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
@ -1014,7 +1071,7 @@ signed char *pcOriginalReadPosition;
{
traceQUEUE_PEEK( pxQueue );
/* We are not removing the data, so reset our read
/* The data is not being removed, so reset the read
pointer. */
pxQueue->pcReadFrom = pcOriginalReadPosition;
@ -1107,11 +1164,13 @@ signed char *pcOriginalReadPosition;
}
/*-----------------------------------------------------------*/
signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken )
signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle xQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken )
{
signed portBASE_TYPE xReturn;
unsigned portBASE_TYPE uxSavedInterruptStatus;
xQUEUE *pxQueue;
pxQueue = ( xQUEUE * ) xQueue;
configASSERT( pxQueue );
configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
@ -1164,38 +1223,45 @@ unsigned portBASE_TYPE uxSavedInterruptStatus;
}
/*-----------------------------------------------------------*/
unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue )
unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue )
{
unsigned portBASE_TYPE uxReturn;
configASSERT( pxQueue );
configASSERT( xQueue );
taskENTER_CRITICAL();
uxReturn = pxQueue->uxMessagesWaiting;
uxReturn = ( ( xQUEUE * ) xQueue )->uxMessagesWaiting;
taskEXIT_CRITICAL();
return uxReturn;
}
/*-----------------------------------------------------------*/
unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue )
unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle xQueue )
{
unsigned portBASE_TYPE uxReturn;
configASSERT( pxQueue );
configASSERT( xQueue );
uxReturn = pxQueue->uxMessagesWaiting;
uxReturn = ( ( xQUEUE * ) xQueue )->uxMessagesWaiting;
return uxReturn;
}
/*-----------------------------------------------------------*/
void vQueueDelete( xQueueHandle pxQueue )
void vQueueDelete( xQueueHandle xQueue )
{
xQUEUE *pxQueue;
pxQueue = ( xQUEUE * ) xQueue;
configASSERT( pxQueue );
traceQUEUE_DELETE( pxQueue );
vQueueUnregisterQueue( pxQueue );
#if ( configQUEUE_REGISTRY_SIZE > 0 )
{
prvQueueUnregisterQueue( pxQueue );
}
#endif
vPortFree( pxQueue->pcHead );
vPortFree( pxQueue );
}
@ -1203,32 +1269,32 @@ void vQueueDelete( xQueueHandle pxQueue )
#if ( configUSE_TRACE_FACILITY == 1 )
unsigned char ucQueueGetQueueNumber( xQueueHandle pxQueue )
unsigned char ucQueueGetQueueNumber( xQueueHandle xQueue )
{
return pxQueue->ucQueueNumber;
return ( ( xQUEUE * ) xQueue )->ucQueueNumber;
}
#endif
#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
void vQueueSetQueueNumber( xQueueHandle pxQueue, unsigned char ucQueueNumber )
void vQueueSetQueueNumber( xQueueHandle xQueue, unsigned char ucQueueNumber )
{
pxQueue->ucQueueNumber = ucQueueNumber;
( ( xQUEUE * ) xQueue )->ucQueueNumber = ucQueueNumber;
}
#endif
#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
unsigned char ucQueueGetQueueType( xQueueHandle pxQueue )
unsigned char ucQueueGetQueueType( xQueueHandle xQueue )
{
return pxQueue->ucQueueType;
return ( ( xQUEUE * ) xQueue )->ucQueueType;
}
#endif
#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/
static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition )
@ -1283,7 +1349,7 @@ static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer )
}
/*-----------------------------------------------------------*/
static void prvUnlockQueue( xQueueHandle pxQueue )
static void prvUnlockQueue( xQUEUE *pxQueue )
{
/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
@ -1298,23 +1364,58 @@ static void prvUnlockQueue( xQueueHandle pxQueue )
{
/* Data was posted while the queue was locked. Are any tasks
blocked waiting for data to become available? */
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
#if ( configUSE_QUEUE_SETS == 1 )
{
if( pxQueue->pxQueueSetContainer != NULL )
{
if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) == pdTRUE )
{
/* The queue is a member of a queue set, and posting to
the queue set caused a higher priority task to unblock.
A context switch is required. */
vTaskMissedYield();
}
}
else
{
/* Tasks that are removed from the event list will get added to
the pending ready list as the scheduler is still suspended. */
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
{
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
{
/* The task waiting has a higher priority so record that a
context switch is required. */
vTaskMissedYield();
}
}
else
{
break;
}
}
}
#else /* configUSE_QUEUE_SETS */
{
/* 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 )
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
{
/* The task waiting has a higher priority so record that a
context switch is required. */
vTaskMissedYield();
if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
{
/* The task waiting has a higher priority so record that a
context switch is required. */
vTaskMissedYield();
}
}
else
{
break;
}
}
#endif /* configUSE_QUEUE_SETS */
--( pxQueue->xTxLock );
}
else
{
break;
}
--( pxQueue->xTxLock );
}
pxQueue->xTxLock = queueUNLOCKED;
@ -1347,158 +1448,279 @@ static void prvUnlockQueue( xQueueHandle pxQueue )
}
/*-----------------------------------------------------------*/
static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue )
static signed portBASE_TYPE prvIsQueueEmpty( const xQUEUE *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;
configASSERT( pxQueue );
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;
configASSERT( pxQueue );
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 ) != pdFALSE )
if( pxQueue->uxMessagesWaiting == 0 )
{
/* 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 ) ) == pdFALSE )
{
/* 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;
}
}
xReturn = pdTRUE;
}
else
{
xReturn = errQUEUE_FULL;
xReturn = pdFALSE;
}
}
portENABLE_INTERRUPTS();
taskEXIT_CRITICAL();
return xReturn;
}
#endif
/*-----------------------------------------------------------*/
#if configUSE_CO_ROUTINES == 1
signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait )
signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle xQueue )
{
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();
configASSERT( xQueue );
if( ( ( xQUEUE * ) xQueue )->uxMessagesWaiting == 0 )
{
if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 )
xReturn = pdTRUE;
}
else
{
xReturn = pdFALSE;
}
return xReturn;
}
/*-----------------------------------------------------------*/
static signed portBASE_TYPE prvIsQueueFull( const xQUEUE *pxQueue )
{
signed portBASE_TYPE xReturn;
taskENTER_CRITICAL();
{
if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
{
/* There are no messages in the queue, do we want to block or just
leave with nothing? */
if( xTicksToWait > ( portTickType ) 0 )
xReturn = pdTRUE;
}
else
{
xReturn = pdFALSE;
}
}
taskEXIT_CRITICAL();
return xReturn;
}
/*-----------------------------------------------------------*/
signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle xQueue )
{
signed portBASE_TYPE xReturn;
configASSERT( xQueue );
if( ( ( xQUEUE * ) xQueue )->uxMessagesWaiting == ( ( xQUEUE * ) xQueue )->uxLength )
{
xReturn = pdTRUE;
}
else
{
xReturn = pdFALSE;
}
return xReturn;
}
/*-----------------------------------------------------------*/
#if ( configUSE_CO_ROUTINES == 1 )
signed portBASE_TYPE xQueueCRSend( xQueueHandle xQueue, const void *pvItemToQueue, portTickType xTicksToWait )
{
signed portBASE_TYPE xReturn;
xQUEUE *pxQueue;
pxQueue = ( xQUEUE * ) xQueue;
/* 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 ) != pdFALSE )
{
/* 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;
/* 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();
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 ) ) == pdFALSE )
{
/* 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
{
portENABLE_INTERRUPTS();
return errQUEUE_FULL;
xReturn = errQUEUE_FULL;
}
}
portENABLE_INTERRUPTS();
return xReturn;
}
portENABLE_INTERRUPTS();
portNOP();
#endif /* configUSE_CO_ROUTINES */
/*-----------------------------------------------------------*/
portDISABLE_INTERRUPTS();
#if ( configUSE_CO_ROUTINES == 1 )
signed portBASE_TYPE xQueueCRReceive( xQueueHandle xQueue, void *pvBuffer, portTickType xTicksToWait )
{
signed portBASE_TYPE xReturn;
xQUEUE *pxQueue;
pxQueue = ( xQUEUE * ) xQueue;
/* 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();
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 ) ) == pdFALSE )
{
/* 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 /* configUSE_CO_ROUTINES */
/*-----------------------------------------------------------*/
#if ( configUSE_CO_ROUTINES == 1 )
signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle xQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken )
{
xQUEUE *pxQueue;
pxQueue = ( xQUEUE * ) xQueue;
/* 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 == pdFALSE )
{
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
{
if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
{
return pdTRUE;
}
}
}
}
return xCoRoutinePreviouslyWoken;
}
#endif /* configUSE_CO_ROUTINES */
/*-----------------------------------------------------------*/
#if ( configUSE_CO_ROUTINES == 1 )
signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle xQueue, void *pvBuffer, signed portBASE_TYPE *pxCoRoutineWoken )
{
signed portBASE_TYPE xReturn;
xQUEUE * pxQueue;
pxQueue = ( xQUEUE * ) xQueue;
/* 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 )
{
/* Data is available from the queue. */
/* Copy the data from the queue. */
pxQueue->pcReadFrom += pxQueue->uxItemSize;
if( pxQueue->pcReadFrom >= pxQueue->pcTail )
{
@ -1507,105 +1729,31 @@ signed portBASE_TYPE xReturn;
--( 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 ) ) == pdFALSE )
if( ( *pxCoRoutineWoken ) == pdFALSE )
{
/* 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 )
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
{
xReturn = errQUEUE_YIELD;
if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
{
*pxCoRoutineWoken = pdTRUE;
}
}
}
xReturn = pdPASS;
}
else
{
xReturn = pdFAIL;
}
}
portENABLE_INTERRUPTS();
return xReturn;
}
#endif
return xReturn;
}
#endif /* configUSE_CO_ROUTINES */
/*-----------------------------------------------------------*/
#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 == pdFALSE )
{
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
{
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 ) == pdFALSE )
{
if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
{
if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
{
*pxCoRoutineWoken = pdTRUE;
}
}
}
xReturn = pdPASS;
}
else
{
xReturn = pdFAIL;
}
return xReturn;
}
#endif
/*-----------------------------------------------------------*/
#if configQUEUE_REGISTRY_SIZE > 0
#if ( configQUEUE_REGISTRY_SIZE > 0 )
void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName )
{
@ -1625,12 +1773,12 @@ signed portBASE_TYPE xReturn;
}
}
#endif
#endif /* configQUEUE_REGISTRY_SIZE */
/*-----------------------------------------------------------*/
#if configQUEUE_REGISTRY_SIZE > 0
#if ( configQUEUE_REGISTRY_SIZE > 0 )
static void vQueueUnregisterQueue( xQueueHandle xQueue )
static void prvQueueUnregisterQueue( xQueueHandle xQueue )
{
unsigned portBASE_TYPE ux;
@ -1648,13 +1796,17 @@ signed portBASE_TYPE xReturn;
}
#endif
#endif /* configQUEUE_REGISTRY_SIZE */
/*-----------------------------------------------------------*/
#if configUSE_TIMERS == 1
#if ( configUSE_TIMERS == 1 )
void vQueueWaitForMessageRestricted( xQueueHandle pxQueue, portTickType xTicksToWait )
void vQueueWaitForMessageRestricted( xQueueHandle xQueue, portTickType xTicksToWait )
{
xQUEUE *pxQueue;
pxQueue = ( xQUEUE * ) xQueue;
/* This function should not be called by application code hence the
'Restricted' in its name. It is not part of the public API. It is
designed for use by kernel code, and has special calling requirements.
@ -1678,5 +1830,140 @@ signed portBASE_TYPE xReturn;
prvUnlockQueue( pxQueue );
}
#endif
#endif /* configUSE_TIMERS */
/*-----------------------------------------------------------*/
#if ( configUSE_QUEUE_SETS == 1 )
xQueueSetHandle xQueueCreateSet( unsigned portBASE_TYPE uxEventQueueLength )
{
xQueueSetHandle pxQueue;
pxQueue = xQueueGenericCreate( uxEventQueueLength, sizeof( xQUEUE * ), queueQUEUE_TYPE_SET );
return pxQueue;
}
#endif /* configUSE_QUEUE_SETS */
/*-----------------------------------------------------------*/
#if ( configUSE_QUEUE_SETS == 1 )
portBASE_TYPE xQueueAddToSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet )
{
portBASE_TYPE xReturn;
if( ( ( xQUEUE * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
{
xReturn = pdFAIL;
}
else
{
taskENTER_CRITICAL();
{
( ( xQUEUE * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
}
taskEXIT_CRITICAL();
xReturn = pdPASS;
}
return xReturn;
}
#endif /* configUSE_QUEUE_SETS */
/*-----------------------------------------------------------*/
#if ( configUSE_QUEUE_SETS == 1 )
portBASE_TYPE xQueueRemoveFromSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet )
{
portBASE_TYPE xReturn;
xQUEUE *pxQueueOrSemaphore;
pxQueueOrSemaphore = ( xQUEUE * ) xQueueOrSemaphore;
if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
{
/* The queue was not a member of the set. */
xReturn = pdFAIL;
}
else if( pxQueueOrSemaphore->uxMessagesWaiting != 0 )
{
/* It is dangerous to remove a queue from a set when the queue is
not empty because the queue set will still hold pending events for
the queue. */
xReturn = pdFAIL;
}
else
{
taskENTER_CRITICAL();
{
/* The queue is no longer contained in the set. */
pxQueueOrSemaphore->pxQueueSetContainer = NULL;
}
taskEXIT_CRITICAL();
xReturn = pdPASS;
}
return xReturn;
}
#endif /* configUSE_QUEUE_SETS */
/*-----------------------------------------------------------*/
#if ( configUSE_QUEUE_SETS == 1 )
xQueueSetMemberHandle xQueueSelectFromSet( xQueueSetHandle xQueueSet, portTickType xBlockTimeTicks )
{
xQueueSetMemberHandle xReturn = NULL;
xQueueGenericReceive( ( xQueueHandle ) xQueueSet, &xReturn, xBlockTimeTicks, pdFALSE );
return xReturn;
}
#endif /* configUSE_QUEUE_SETS */
/*-----------------------------------------------------------*/
#if ( configUSE_QUEUE_SETS == 1 )
xQueueSetMemberHandle xQueueSelectFromSetFromISR( xQueueSetHandle xQueueSet )
{
xQueueSetMemberHandle xReturn = NULL;
xQueueReceiveFromISR( ( xQueueHandle ) xQueueSet, &xReturn, NULL );
return xReturn;
}
#endif /* configUSE_QUEUE_SETS */
/*-----------------------------------------------------------*/
#if ( configUSE_QUEUE_SETS == 1 )
static portBASE_TYPE prvNotifyQueueSetContainer( xQUEUE *pxQueue, portBASE_TYPE xCopyPosition )
{
xQUEUE *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
portBASE_TYPE xReturn = pdFALSE;
configASSERT( pxQueueSetContainer );
configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
{
traceQUEUE_SEND( pxQueueSetContainer );
/* The data copies is the handle of the queue that contains data. */
prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition );
if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
{
if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
{
/* The task waiting has a higher priority */
xReturn = pdTRUE;
}
}
}
return xReturn;
}
#endif /* configUSE_QUEUE_SETS */

17
flight/PiOS/Common/Libraries/FreeRTOS/Source/readme.txt Normal file
View File

@ -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.

898
flight/PiOS/Common/Libraries/FreeRTOS/Source/tasks.c Executable file → Normal file
View File

@ -1,6 +1,8 @@
/*
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
@ -27,44 +29,50 @@
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 modification to the GPL is included to allow you to
>>>>>>NOTE<<<<<< The modification 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.
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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
/* Standard includes. */
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
@ -74,6 +82,7 @@ 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
/* FreeRTOS includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
@ -81,40 +90,48 @@ task.h is included from an application file. */
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
/* Sanity check the configuration. */
#if configUSE_TICKLESS_IDLE != 0
#if INCLUDE_vTaskSuspend != 1
#error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
#endif /* INCLUDE_vTaskSuspend */
#endif /* configUSE_TICKLESS_IDLE */
/*
* Macro to define the amount of stack available to the idle task.
* Defines the size, in words, of the stack allocated 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.
* Task control block. A task control block (TCB) is allocated for each task,
* and stores task state information, including a pointer to the task's context
* (the task's run time environment, including register values)
*/
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. */
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 TCB 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. */
xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
#endif
xListItem xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
xListItem xEventListItem; /*< Used to reference a task from an event list. */
unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 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. */
portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
#endif
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
unsigned portBASE_TYPE uxCriticalNesting;
unsigned portBASE_TYPE uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
#endif
#if ( configUSE_TRACE_FACILITY == 1 )
unsigned portBASE_TYPE uxTCBNumber; /*< This stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
unsigned portBASE_TYPE uxTaskNumber; /*< This stores a number specifically for use by third party trace code. */
unsigned portBASE_TYPE uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
#endif
#if ( configUSE_MUTEXES == 1 )
@ -126,15 +143,15 @@ typedef struct tskTaskControlBlock
#endif
#if ( configGENERATE_RUN_TIME_STATS == 1 )
unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
#endif
} tskTCB;
/*
* Some kernel aware debuggers require data to be viewed to be global, rather
* than file scope.
* Some kernel aware debuggers require the data the debugger needs access to to
* be global, rather than file scope.
*/
#ifdef portREMOVE_STATIC_QUALIFIER
#define static
@ -144,7 +161,6 @@ typedef struct tskTaskControlBlock
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. */
@ -166,9 +182,9 @@ PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been r
#endif
#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL;
PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
#endif
/* File private variables. --------------------------------*/
@ -182,13 +198,14 @@ PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsi
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 ) 0U;
PRIVILEGED_DATA static portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
#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;
PRIVILEGED_DATA static unsigned long ulTotalRunTime; /*< Holds the total amount of execution time as defined by the run time counter clock. */
static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTimeDiv100 ) PRIVILEGED_FUNCTION;
#endif
@ -210,6 +227,82 @@ PRIVILEGED_DATA static portTickType xNextTaskUnblockTime = ( portTickType )
/*-----------------------------------------------------------*/
#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
performed in a generic way that is not optimised to any particular
microcontroller architecture. */
/* uxTopReadyPriority holds the priority of the highest priority ready
state task. */
#define taskRECORD_READY_PRIORITY( uxPriority ) \
{ \
if( ( uxPriority ) > uxTopReadyPriority ) \
{ \
uxTopReadyPriority = ( uxPriority ); \
} \
} /* taskRECORD_READY_PRIORITY */
/*-----------------------------------------------------------*/
#define taskSELECT_HIGHEST_PRIORITY_TASK() \
{ \
/* Find the highest priority queue that contains ready tasks. */ \
while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
{ \
configASSERT( uxTopReadyPriority ); \
--uxTopReadyPriority; \
} \
\
/* listGET_OWNER_OF_NEXT_ENTRY indexes 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 ] ) ); \
} /* taskSELECT_HIGHEST_PRIORITY_TASK */
/*-----------------------------------------------------------*/
/* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
they are only required when a port optimised method of task selection is
being used. */
#define taskRESET_READY_PRIORITY( uxPriority )
#define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
#else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
performed in a way that is tailored to the particular microcontroller
architecture being used. */
/* A port optimised version is provided. Call the port defined macros. */
#define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
/*-----------------------------------------------------------*/
#define taskSELECT_HIGHEST_PRIORITY_TASK() \
{ \
unsigned portBASE_TYPE uxTopPriority; \
\
/* Find the highest priority queue that contains ready tasks. */ \
portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
} /* taskSELECT_HIGHEST_PRIORITY_TASK() */
/*-----------------------------------------------------------*/
/* A port optimised version is provided, call it only if the TCB being reset
is being referenced from a ready list. If it is referenced from a delayed
or suspended list then it won't be in a ready list. */
#define taskRESET_READY_PRIORITY( uxPriority ) \
{ \
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
{ \
portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
} \
}
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
/*
* 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
@ -217,12 +310,9 @@ PRIVILEGED_DATA static portTickType xNextTaskUnblockTime = ( portTickType )
* executing task, then it will only be rescheduled after the currently
* executing task has been rescheduled.
*/
#define prvAddTaskToReadyQueue( pxTCB ) \
traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
if( ( pxTCB )->uxPriority > uxTopReadyPriority ) \
{ \
uxTopReadyPriority = ( pxTCB )->uxPriority; \
} \
#define prvAddTaskToReadyQueue( pxTCB ) \
traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
/*-----------------------------------------------------------*/
@ -273,12 +363,12 @@ portTickType xItemValue; \
} \
\
/* It is time to remove the item from the Blocked state. */ \
vListRemove( &( pxTCB->xGenericListItem ) ); \
uxListRemove( &( pxTCB->xGenericListItem ) ); \
\
/* Is the task waiting on an event also? */ \
if( pxTCB->xEventListItem.pvContainer != NULL ) \
{ \
vListRemove( &( pxTCB->xEventListItem ) ); \
uxListRemove( &( pxTCB->xEventListItem ) ); \
} \
prvAddTaskToReadyQueue( pxTCB ); \
} \
@ -296,9 +386,9 @@ portTickType xItemValue; \
#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
/* Callback function prototypes. --------------------------*/
extern void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName );
extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
extern void vApplicationTickHook( void );
/* File private functions. --------------------------------*/
/*
@ -384,15 +474,23 @@ static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TY
#endif
/*
* Return the amount of time, in ticks, that will pass before the kernel will
* next move a task from the Blocked state to the Running state.
*
* This conditional compilation should use inequality to 0, not equality to 1.
* This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
* defined low power mode implementations require configUSE_TICKLESS_IDLE to be
* set to a value other than 1.
*/
#if ( configUSE_TICKLESS_IDLE != 0 )
static portTickType prvGetExpectedIdleTime( void ) 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;
@ -435,10 +533,10 @@ tskTCB * pxNewTCB;
/* Check the alignment of the calculated top of stack is correct. */
configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
}
#else
#else /* portSTACK_GROWTH */
{
pxTopOfStack = pxNewTCB->pxStack;
/* Check the alignment of the stack buffer is correct. */
configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
@ -447,7 +545,7 @@ tskTCB * pxNewTCB;
other extreme of the stack space. */
pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
}
#endif
#endif /* portSTACK_GROWTH */
/* Setup the newly allocated TCB with the initial state of the task. */
prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
@ -460,11 +558,11 @@ tskTCB * pxNewTCB;
{
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
}
#else
#else /* portUSING_MPU_WRAPPERS */
{
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
}
#endif
#endif /* portUSING_MPU_WRAPPERS */
/* Check the alignment of the initialised stack. */
portALIGNMENT_ASSERT_pxCurrentTCB( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
@ -476,7 +574,7 @@ tskTCB * pxNewTCB;
required.*/
*pxCreatedTask = ( xTaskHandle ) pxNewTCB;
}
/* We are going to manipulate the task queues to add this task to a
ready list, so must make sure no interrupts occur. */
taskENTER_CRITICAL();
@ -517,19 +615,20 @@ tskTCB * pxNewTCB;
uxTopUsedPriority = pxNewTCB->uxPriority;
}
uxTaskNumber++;
#if ( configUSE_TRACE_FACILITY == 1 )
{
/* Add a counter into the TCB for tracing only. */
pxNewTCB->uxTCBNumber = uxTaskNumber;
}
#endif
uxTaskNumber++;
#endif /* configUSE_TRACE_FACILITY */
traceTASK_CREATE( pxNewTCB );
prvAddTaskToReadyQueue( pxNewTCB );
xReturn = pdPASS;
portSETUP_TCB( pxNewTCB );
traceTASK_CREATE( pxNewTCB );
}
taskEXIT_CRITICAL();
}
@ -558,7 +657,7 @@ tskTCB * pxNewTCB;
#if ( INCLUDE_vTaskDelete == 1 )
void vTaskDelete( xTaskHandle pxTaskToDelete )
void vTaskDelete( xTaskHandle xTaskToDelete )
{
tskTCB *pxTCB;
@ -566,24 +665,27 @@ tskTCB * pxNewTCB;
{
/* Ensure a yield is performed if the current task is being
deleted. */
if( pxTaskToDelete == pxCurrentTCB )
if( xTaskToDelete == pxCurrentTCB )
{
pxTaskToDelete = NULL;
xTaskToDelete = NULL;
}
/* If null is passed in here then we are deleting ourselves. */
pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
pxTCB = prvGetTCBFromHandle( xTaskToDelete );
/* 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 ) );
if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
{
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
}
/* Is the task waiting on an event also? */
if( pxTCB->xEventListItem.pvContainer != NULL )
{
vListRemove( &( pxTCB->xEventListItem ) );
uxListRemove( &( pxTCB->xEventListItem ) );
}
vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
@ -604,23 +706,15 @@ tskTCB * pxNewTCB;
/* Force a reschedule if we have just deleted the current task. */
if( xSchedulerRunning != pdFALSE )
{
if( ( void * ) pxTaskToDelete == NULL )
if( ( void * ) xTaskToDelete == NULL )
{
portYIELD_WITHIN_API();
}
}
}
#endif
/*-----------------------------------------------------------
* TASK CONTROL API documented in task.h
*----------------------------------------------------------*/
#endif /* INCLUDE_vTaskDelete */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelayUntil == 1 )
@ -670,7 +764,14 @@ tskTCB * pxNewTCB;
/* 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 ) );
if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
{
/* The current task must be in a ready list, so there is
no need to check, and the port reset macro can be called
directly. */
portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
}
prvAddCurrentTaskToDelayedList( xTimeToWake );
}
}
@ -684,7 +785,7 @@ tskTCB * pxNewTCB;
}
}
#endif
#endif /* INCLUDE_vTaskDelayUntil */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelay == 1 )
@ -716,7 +817,13 @@ tskTCB * pxNewTCB;
/* 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 ) );
if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
{
/* The current task must be in a ready list, so there is
no need to check, and the port reset macro can be called
directly. */
portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
}
prvAddCurrentTaskToDelayedList( xTimeToWake );
}
xAlreadyYielded = xTaskResumeAll();
@ -730,12 +837,74 @@ tskTCB * pxNewTCB;
}
}
#endif
#endif /* INCLUDE_vTaskDelay */
/*-----------------------------------------------------------*/
#if ( INCLUDE_eTaskGetState == 1 )
eTaskState eTaskGetState( xTaskHandle xTask )
{
eTaskState eReturn;
xList *pxStateList;
tskTCB *pxTCB;
pxTCB = ( tskTCB * ) xTask;
if( pxTCB == pxCurrentTCB )
{
/* The task calling this function is querying its own state. */
eReturn = eRunning;
}
else
{
taskENTER_CRITICAL();
{
pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
}
taskEXIT_CRITICAL();
if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
{
/* The task being queried is referenced from one of the Blocked
lists. */
eReturn = eBlocked;
}
#if ( INCLUDE_vTaskSuspend == 1 )
else if( pxStateList == &xSuspendedTaskList )
{
/* The task being queried is referenced from the suspended
list. */
eReturn = eSuspended;
}
#endif
#if ( INCLUDE_vTaskDelete == 1 )
else if( pxStateList == &xTasksWaitingTermination )
{
/* The task being queried is referenced from the deleted
tasks list. */
eReturn = eDeleted;
}
#endif
else
{
/* If the task is not in any other state, it must be in the
Ready (including pending ready) state. */
eReturn = eReady;
}
}
return eReturn;
}
#endif /* INCLUDE_eTaskGetState */
/*-----------------------------------------------------------*/
#if ( INCLUDE_uxTaskPriorityGet == 1 )
unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
{
tskTCB *pxTCB;
unsigned portBASE_TYPE uxReturn;
@ -744,7 +913,7 @@ tskTCB * pxNewTCB;
{
/* If null is passed in here then we are changing the
priority of the calling function. */
pxTCB = prvGetTCBFromHandle( pxTask );
pxTCB = prvGetTCBFromHandle( xTask );
uxReturn = pxTCB->uxPriority;
}
taskEXIT_CRITICAL();
@ -752,15 +921,15 @@ tskTCB * pxNewTCB;
return uxReturn;
}
#endif
#endif /* INCLUDE_uxTaskPriorityGet */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskPrioritySet == 1 )
void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
{
tskTCB *pxTCB;
unsigned portBASE_TYPE uxCurrentPriority;
unsigned portBASE_TYPE uxCurrentPriority, uxPriorityUsedOnEntry;
portBASE_TYPE xYieldRequired = pdFALSE;
configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
@ -773,14 +942,14 @@ tskTCB * pxNewTCB;
taskENTER_CRITICAL();
{
if( pxTask == pxCurrentTCB )
if( xTask == ( xTaskHandle ) pxCurrentTCB )
{
pxTask = NULL;
xTask = NULL;
}
/* If null is passed in here then we are changing the
priority of the calling function. */
pxTCB = prvGetTCBFromHandle( pxTask );
pxTCB = prvGetTCBFromHandle( xTask );
traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
@ -800,7 +969,7 @@ tskTCB * pxNewTCB;
priority than the calling task. */
if( uxNewPriority > uxCurrentPriority )
{
if( pxTask != NULL )
if( xTask != NULL )
{
/* The priority of another task is being raised. If we
were raising the priority of the currently running task
@ -809,14 +978,17 @@ tskTCB * pxNewTCB;
xYieldRequired = pdTRUE;
}
}
else if( pxTask == NULL )
else if( xTask == NULL )
{
/* Setting our own priority down means there may now be another
task of higher priority that is ready to execute. */
xYieldRequired = pdTRUE;
}
/* Remember the ready list the task might be referenced from
before its uxPriority member is changed so the
taskRESET_READY_PRIORITY() macro can function correctly. */
uxPriorityUsedOnEntry = pxTCB->uxPriority;
#if ( configUSE_MUTEXES == 1 )
{
@ -847,7 +1019,10 @@ tskTCB * pxNewTCB;
/* 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 ) );
if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
{
taskRESET_READY_PRIORITY( uxPriorityUsedOnEntry );
}
prvAddTaskToReadyQueue( pxTCB );
}
@ -858,14 +1033,18 @@ tskTCB * pxNewTCB;
}
}
taskEXIT_CRITICAL();
/* Remove compiler warning about unused parameter when the port
optimised task selection is not being used. */
( void ) uxPriorityUsedOnEntry;
}
#endif
#endif /* INCLUDE_vTaskPrioritySet */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskSuspend == 1 )
void vTaskSuspend( xTaskHandle pxTaskToSuspend )
void vTaskSuspend( xTaskHandle xTaskToSuspend )
{
tskTCB *pxTCB;
@ -873,30 +1052,33 @@ tskTCB * pxNewTCB;
{
/* Ensure a yield is performed if the current task is being
suspended. */
if( pxTaskToSuspend == pxCurrentTCB )
if( xTaskToSuspend == ( xTaskHandle ) pxCurrentTCB )
{
pxTaskToSuspend = NULL;
xTaskToSuspend = NULL;
}
/* If null is passed in here then we are suspending ourselves. */
pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
traceTASK_SUSPEND( pxTCB );
/* Remove task from the ready/delayed list and place in the suspended list. */
vListRemove( &( pxTCB->xGenericListItem ) );
if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
{
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
}
/* Is the task waiting on an event also? */
if( pxTCB->xEventListItem.pvContainer != NULL )
{
vListRemove( &( pxTCB->xEventListItem ) );
uxListRemove( &( pxTCB->xEventListItem ) );
}
vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
}
taskEXIT_CRITICAL();
if( ( void * ) pxTaskToSuspend == NULL )
if( ( void * ) xTaskToSuspend == NULL )
{
if( xSchedulerRunning != pdFALSE )
{
@ -924,7 +1106,7 @@ tskTCB * pxNewTCB;
}
}
#endif
#endif /* INCLUDE_vTaskSuspend */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskSuspend == 1 )
@ -958,21 +1140,21 @@ tskTCB * pxNewTCB;
return xReturn;
}
#endif
#endif /* INCLUDE_vTaskSuspend */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskSuspend == 1 )
void vTaskResume( xTaskHandle pxTaskToResume )
void vTaskResume( xTaskHandle xTaskToResume )
{
tskTCB *pxTCB;
/* It does not make sense to resume the calling task. */
configASSERT( pxTaskToResume );
configASSERT( xTaskToResume );
/* Remove the task from whichever list it is currently in, and place
it in the ready list. */
pxTCB = ( tskTCB * ) pxTaskToResume;
pxTCB = ( tskTCB * ) xTaskToResume;
/* The parameter cannot be NULL as it is impossible to resume the
currently executing task. */
@ -986,7 +1168,7 @@ tskTCB * pxNewTCB;
/* As we are in a critical section we can access the ready
lists even if the scheduler is suspended. */
vListRemove( &( pxTCB->xGenericListItem ) );
uxListRemove( &( pxTCB->xGenericListItem ) );
prvAddTaskToReadyQueue( pxTCB );
/* We may have just resumed a higher priority task. */
@ -1002,21 +1184,21 @@ tskTCB * pxNewTCB;
}
}
#endif
#endif /* INCLUDE_vTaskSuspend */
/*-----------------------------------------------------------*/
#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
{
portBASE_TYPE xYieldRequired = pdFALSE;
tskTCB *pxTCB;
unsigned portBASE_TYPE uxSavedInterruptStatus;
configASSERT( pxTaskToResume );
configASSERT( xTaskToResume );
pxTCB = ( tskTCB * ) pxTaskToResume;
pxTCB = ( tskTCB * ) xTaskToResume;
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
{
@ -1027,7 +1209,7 @@ tskTCB * pxNewTCB;
if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
{
xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
vListRemove( &( pxTCB->xGenericListItem ) );
uxListRemove( &( pxTCB->xGenericListItem ) );
prvAddTaskToReadyQueue( pxTCB );
}
else
@ -1044,15 +1226,8 @@ tskTCB * pxNewTCB;
return xYieldRequired;
}
#endif
/*-----------------------------------------------------------
* PUBLIC SCHEDULER CONTROL documented in task.h
*----------------------------------------------------------*/
#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
/*-----------------------------------------------------------*/
void vTaskStartScheduler( void )
{
@ -1070,7 +1245,7 @@ portBASE_TYPE xReturn;
/* Create the idle task without storing its handle. */
xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
}
#endif
#endif /* INCLUDE_xTaskGetIdleTaskHandle */
#if ( configUSE_TIMERS == 1 )
{
@ -1079,7 +1254,7 @@ portBASE_TYPE xReturn;
xReturn = xTimerCreateTimerTask();
}
}
#endif
#endif /* configUSE_TIMERS */
if( xReturn == pdPASS )
{
@ -1100,7 +1275,7 @@ portBASE_TYPE xReturn;
macro must be defined to configure the timer/counter used to generate
the run time counter time base. */
portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
/* Setting up the timer tick is hardware specific and thus in the
portable interface. */
if( xPortStartScheduler() != pdFALSE )
@ -1113,9 +1288,13 @@ portBASE_TYPE xReturn;
/* Should only reach here if a task calls xTaskEndScheduler(). */
}
}
/* This line will only be reached if the kernel could not be started. */
configASSERT( xReturn );
else
{
/* This line will only be reached if the kernel could not be started,
because there was not enough FreeRTOS heap to create the idle task
or the timer task. */
configASSERT( xReturn );
}
}
/*-----------------------------------------------------------*/
@ -1138,6 +1317,34 @@ void vTaskSuspendAll( void )
}
/*----------------------------------------------------------*/
#if ( configUSE_TICKLESS_IDLE != 0 )
static portTickType prvGetExpectedIdleTime( void )
{
portTickType xReturn;
if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
{
xReturn = 0;
}
else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
{
/* There are other idle priority tasks in the ready state. If
time slicing is used then the very next tick interrupt must be
processed. */
xReturn = 0;
}
else
{
xReturn = xNextTaskUnblockTime - xTickCount;
}
return xReturn;
}
#endif /* configUSE_TICKLESS_IDLE */
/*----------------------------------------------------------*/
signed portBASE_TYPE xTaskResumeAll( void )
{
register tskTCB *pxTCB;
@ -1167,8 +1374,8 @@ signed portBASE_TYPE xAlreadyYielded = pdFALSE;
while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
{
pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
vListRemove( &( pxTCB->xEventListItem ) );
vListRemove( &( pxTCB->xGenericListItem ) );
uxListRemove( &( pxTCB->xEventListItem ) );
uxListRemove( &( pxTCB->xGenericListItem ) );
prvAddTaskToReadyQueue( pxTCB );
/* If we have moved a task that has a priority higher than
@ -1213,17 +1420,7 @@ signed portBASE_TYPE xAlreadyYielded = pdFALSE;
return xAlreadyYielded;
}
/*-----------------------------------------------------------
* PUBLIC TASK UTILITIES documented in task.h
*----------------------------------------------------------*/
/*-----------------------------------------------------------*/
portTickType xTaskGetTickCount( void )
{
@ -1273,7 +1470,7 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
return &( pxTCB->pcTaskName[ 0 ] );
}
#endif
#endif /* INCLUDE_pcTaskGetTaskName */
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
@ -1336,7 +1533,7 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
xTaskResumeAll();
}
#endif
#endif /* configUSE_TRACE_FACILITY */
/*----------------------------------------------------------*/
#if ( configGENERATE_RUN_TIME_STATS == 1 )
@ -1344,7 +1541,7 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
{
unsigned portBASE_TYPE uxQueue;
unsigned long ulTotalRunTime;
unsigned long ulTotalRunTimeDiv100;
/* This is a VERY costly function that should be used for debug only.
It leaves interrupts disabled for a LONG time. */
@ -1359,8 +1556,8 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
/* Divide ulTotalRunTime by 100 to make the percentage caluclations
simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
ulTotalRunTime /= 100UL;
ulTotalRunTimeDiv100 = ulTotalRunTime / 100UL;
/* Run through all the lists that could potentially contain a TCB,
generating a table of run timer percentages in the provided
buffer. */
@ -1376,25 +1573,25 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
{
prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTimeDiv100 );
}
}while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
{
prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTimeDiv100 );
}
if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
{
prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTimeDiv100 );
}
#if ( INCLUDE_vTaskDelete == 1 )
{
if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
{
prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTime );
prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTimeDiv100 );
}
}
#endif
@ -1403,7 +1600,7 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
{
if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
{
prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTime );
prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTimeDiv100 );
}
}
#endif
@ -1411,9 +1608,26 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
xTaskResumeAll();
}
#endif /* configGENERATE_RUN_TIME_STATS */
/*-----------------------------------------------------------*/
#if ( INCLUDE_uxTaskGetRunTime == 1 )
unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask )
{
unsigned long runTime;
tskTCB *pxTCB;
pxTCB = prvGetTCBFromHandle( xTask );
runTime = pxTCB->ulRunTimeCounter;
pxTCB->ulRunTimeCounter = 0;
return runTime;
}
#endif
/*----------------------------------------------------------*/
#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
xTaskHandle xTaskGetIdleTaskHandle( void )
@ -1423,13 +1637,24 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
configASSERT( ( xIdleTaskHandle != NULL ) );
return xIdleTaskHandle;
}
#endif
/*-----------------------------------------------------------
* SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
* documented in task.h
*----------------------------------------------------------*/
#endif /* INCLUDE_xTaskGetIdleTaskHandle */
/*----------------------------------------------------------*/
/* This conditional compilation should use inequality to 0, not equality to 1.
This is to ensure vTaskStepTick() is available when user defined low power mode
implementations require configUSE_TICKLESS_IDLE to be set to a value other than
1. */
#if ( configUSE_TICKLESS_IDLE != 0 )
void vTaskStepTick( portTickType xTicksToJump )
{
configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
xTickCount += xTicksToJump;
}
#endif /* configUSE_TICKLESS_IDLE */
/*----------------------------------------------------------*/
void vTaskIncrementTick( void )
{
@ -1438,6 +1663,7 @@ tskTCB * pxTCB;
/* 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. */
traceTASK_INCREMENT_TICK( xTickCount );
if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
{
++xTickCount;
@ -1449,17 +1675,17 @@ tskTCB * pxTCB;
If there are any items in pxDelayedTaskList here then there is
an error! */
configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );
pxTemp = pxDelayedTaskList;
pxDelayedTaskList = pxOverflowDelayedTaskList;
pxOverflowDelayedTaskList = pxTemp;
xNumOfOverflows++;
if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
{
/* The new current delayed list is empty. Set
xNextTaskUnblockTime to the maximum possible value so it is
extremely unlikely that the
extremely unlikely that the
if( xTickCount >= xNextTaskUnblockTime ) test will pass until
there is an item in the delayed list. */
xNextTaskUnblockTime = portMAX_DELAY;
@ -1500,9 +1726,7 @@ tskTCB * pxTCB;
vApplicationTickHook();
}
}
#endif
traceTASK_INCREMENT_TICK( xTickCount );
#endif /* configUSE_TICK_HOOK */
}
/*-----------------------------------------------------------*/
@ -1529,7 +1753,7 @@ tskTCB * pxTCB;
taskEXIT_CRITICAL();
}
#endif
#endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
@ -1558,7 +1782,7 @@ tskTCB * pxTCB;
return xReturn;
}
#endif
#endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
@ -1590,7 +1814,7 @@ tskTCB * pxTCB;
return xReturn;
}
#endif
#endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/
void vTaskSwitchContext( void )
@ -1604,41 +1828,30 @@ void vTaskSwitchContext( void )
else
{
traceTASK_SWITCHED_OUT();
#if ( configGENERATE_RUN_TIME_STATS == 1 )
{
unsigned long ulTempCounter;
#ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );
portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
#else
ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
#endif
/* Add the amount of time the task has been running to the accumulated
time so far. The time the task started running was stored in
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;
pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
ulTaskSwitchedInTime = ulTotalRunTime;
}
#endif
#endif /* configGENERATE_RUN_TIME_STATS */
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 ] ) ) )
{
configASSERT( 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 ] ) );
taskSELECT_HIGHEST_PRIORITY_TASK();
traceTASK_SWITCHED_IN();
}
}
@ -1661,8 +1874,12 @@ portTickType xTimeToWake;
/* 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( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
{
/* The current task must be in a ready list, so there is no need to
check, and the port reset macro can be called directly. */
portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
}
#if ( INCLUDE_vTaskSuspend == 1 )
{
@ -1681,14 +1898,14 @@ portTickType xTimeToWake;
prvAddCurrentTaskToDelayedList( xTimeToWake );
}
}
#else
#else /* INCLUDE_vTaskSuspend */
{
/* 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;
prvAddCurrentTaskToDelayedList( xTimeToWake );
}
#endif
#endif /* INCLUDE_vTaskSuspend */
}
/*-----------------------------------------------------------*/
@ -1705,7 +1922,7 @@ portTickType xTimeToWake;
designed for use by kernel code, and has special calling requirements -
it should be called from a critical section. */
/* Place the event list item of the TCB in the appropriate event list.
In this case it is assume that this is the only task that is going to
be waiting on this event list, so the faster vListInsertEnd() function
@ -1715,14 +1932,21 @@ portTickType xTimeToWake;
/* We must remove this task from the ready list before adding it to the
blocked list as the same list item is used for both lists. This
function is called form a critical section. */
vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
{
/* The current task must be in a ready list, so there is no need to
check, and the port reset macro can be called directly. */
portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
}
/* 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;
traceTASK_DELAY_UNTIL();
prvAddCurrentTaskToDelayedList( xTimeToWake );
}
#endif /* configUSE_TIMERS */
/*-----------------------------------------------------------*/
@ -1741,16 +1965,16 @@ portBASE_TYPE xReturn;
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.
This function assumes that a check has already been made to ensure that
pxEventList is not empty. */
pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
configASSERT( pxUnblockedTCB );
vListRemove( &( pxUnblockedTCB->xEventListItem ) );
uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
{
vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
prvAddTaskToReadyQueue( pxUnblockedTCB );
}
else
@ -1838,11 +2062,12 @@ void vTaskMissedYield( void )
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
{
unsigned portBASE_TYPE uxReturn;
tskTCB *pxTCB;
if( xTask != NULL )
{
pxTCB = ( tskTCB * ) xTask;
@ -1852,25 +2077,27 @@ void vTaskMissedYield( void )
{
uxReturn = 0U;
}
return uxReturn;
}
#endif
#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
{
tskTCB *pxTCB;
if( xTask != NULL )
{
pxTCB = ( tskTCB * ) xTask;
pxTCB->uxTaskNumber = uxHandle;
}
}
#endif
#endif /* configUSE_TRACE_FACILITY */
/*
* -----------------------------------------------------------
@ -1901,7 +2128,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
will automatically get the processor anyway. */
taskYIELD();
}
#endif
#endif /* configUSE_PREEMPTION */
#if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
{
@ -1919,7 +2146,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
taskYIELD();
}
}
#endif
#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
#if ( configUSE_IDLE_HOOK == 1 )
{
@ -1932,21 +2159,84 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
CALL A FUNCTION THAT MIGHT BLOCK. */
vApplicationIdleHook();
}
#endif
#endif /* configUSE_IDLE_HOOK */
/* This conditional compilation should use inequality to 0, not equality
to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
user defined low power mode implementations require
configUSE_TICKLESS_IDLE to be set to a value other than 1. */
#if ( configUSE_TICKLESS_IDLE != 0 )
{
portTickType xExpectedIdleTime;
/* It is not desirable to suspend then resume the scheduler on
each iteration of the idle task. Therefore, a preliminary
test of the expected idle time is performed without the
scheduler suspended. The result here is not necessarily
valid. */
xExpectedIdleTime = prvGetExpectedIdleTime();
if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
{
vTaskSuspendAll();
{
/* Now the scheduler is suspended, the expected idle
time can be sampled again, and this time its value can
be used. */
configASSERT( xNextTaskUnblockTime >= xTickCount );
xExpectedIdleTime = prvGetExpectedIdleTime();
if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
{
portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
}
}
xTaskResumeAll();
}
}
#endif /* configUSE_TICKLESS_IDLE */
}
} /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
/*-----------------------------------------------------------*/
#if configUSE_TICKLESS_IDLE != 0
eSleepModeStatus eTaskConfirmSleepModeStatus( void )
{
eSleepModeStatus eReturn = eStandardSleep;
if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
{
/* A task was made ready while the scheduler was suspended. */
eReturn = eAbortSleep;
}
else if( xMissedYield != pdFALSE )
{
/* A yield was pended while the scheduler was suspended. */
eReturn = eAbortSleep;
}
else
{
#if configUSE_TIMERS == 0
{
/* The idle task exists in addition to the application tasks. */
const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
/* If timers are not being used and all the tasks are in the
suspended list (which might mean they have an infinite block
time rather than actually being suspended) then it is safe to
turn all clocks off and just wait for external interrupts. */
if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
{
eReturn = eNoTasksWaitingTimeout;
}
}
#endif /* configUSE_TIMERS */
}
/*-----------------------------------------------------------
* File private functions documented at the top of the file.
*----------------------------------------------------------*/
return eReturn;
}
#endif /* configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/
static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
{
@ -1956,7 +2246,7 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const
/* Don't bring strncpy into the build unnecessarily. */
strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
}
#endif
#endif /* configMAX_TASK_NAME_LEN */
pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
/* This is used as an array index so must ensure it's not too large. First
@ -1971,7 +2261,7 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const
{
pxTCB->uxBasePriority = uxPriority;
}
#endif
#endif /* configUSE_MUTEXES */
vListInitialiseItem( &( pxTCB->xGenericListItem ) );
vListInitialiseItem( &( pxTCB->xEventListItem ) );
@ -1988,30 +2278,30 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const
{
pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
}
#endif
#endif /* portCRITICAL_NESTING_IN_TCB */
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
{
pxTCB->pxTaskTag = NULL;
}
#endif
#endif /* configUSE_APPLICATION_TASK_TAG */
#if ( configGENERATE_RUN_TIME_STATS == 1 )
{
pxTCB->ulRunTimeCounter = 0UL;
}
#endif
#endif /* configGENERATE_RUN_TIME_STATS */
#if ( portUSING_MPU_WRAPPERS == 1 )
{
vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
}
#else
#else /* portUSING_MPU_WRAPPERS */
{
( void ) xRegions;
( void ) usStackDepth;
}
#endif
#endif /* portUSING_MPU_WRAPPERS */
}
/*-----------------------------------------------------------*/
@ -2020,7 +2310,7 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const
void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
{
tskTCB *pxTCB;
if( xTaskToModify == pxCurrentTCB )
{
xTaskToModify = NULL;
@ -2031,8 +2321,9 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const
vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
}
/*-----------------------------------------------------------*/
#endif
#endif /* portUSING_MPU_WRAPPERS */
/*-----------------------------------------------------------*/
static void prvInitialiseTaskLists( void )
{
@ -2051,13 +2342,13 @@ unsigned portBASE_TYPE uxPriority;
{
vListInitialise( ( xList * ) &xTasksWaitingTermination );
}
#endif
#endif /* INCLUDE_vTaskDelete */
#if ( INCLUDE_vTaskSuspend == 1 )
{
vListInitialise( ( xList * ) &xSuspendedTaskList );
}
#endif
#endif /* INCLUDE_vTaskSuspend */
/* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
using list2. */
@ -2074,7 +2365,7 @@ static void prvCheckTasksWaitingTermination( void )
/* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
too often in the idle task. */
if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
{
vTaskSuspendAll();
xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
@ -2087,7 +2378,7 @@ static void prvCheckTasksWaitingTermination( void )
taskENTER_CRITICAL();
{
pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
vListRemove( &( pxTCB->xGenericListItem ) );
uxListRemove( &( pxTCB->xGenericListItem ) );
--uxCurrentNumberOfTasks;
--uxTasksDeleted;
}
@ -2097,7 +2388,7 @@ static void prvCheckTasksWaitingTermination( void )
}
}
}
#endif
#endif /* vTaskDelete */
}
/*-----------------------------------------------------------*/
@ -2180,20 +2471,20 @@ tskTCB *pxNewTCB;
{
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 );
#endif
sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, ( unsigned int ) usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
} while( pxNextTCB != pxFirstTCB );
}
#endif
#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/
#if ( configGENERATE_RUN_TIME_STATS == 1 )
static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTimeDiv100 )
{
volatile tskTCB *pxNextTCB, *pxFirstTCB;
unsigned long ulStatsAsPercentage;
@ -2206,7 +2497,7 @@ tskTCB *pxNewTCB;
listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
/* Divide by zero check. */
if( ulTotalRunTime > 0UL )
if( ulTotalRunTimeDiv100 > 0UL )
{
/* Has the task run at all? */
if( pxNextTCB->ulRunTimeCounter == 0UL )
@ -2218,14 +2509,14 @@ tskTCB *pxNewTCB;
{
/* What percentage of the total run time has the task used?
This will always be rounded down to the nearest integer.
ulTotalRunTime has already been divided by 100. */
ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;
ulTotalRunTimeDiv100 has already been divided by 100. */
ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTimeDiv100;
if( ulStatsAsPercentage > 0UL )
{
#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
{
sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
}
#else
{
@ -2241,7 +2532,7 @@ tskTCB *pxNewTCB;
consumed less than 1% of the total run time. */
#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
{
sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
}
#else
{
@ -2259,7 +2550,7 @@ tskTCB *pxNewTCB;
} while( pxNextTCB != pxFirstTCB );
}
#endif
#endif /* configGENERATE_RUN_TIME_STATS */
/*-----------------------------------------------------------*/
#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
@ -2279,23 +2570,8 @@ tskTCB *pxNewTCB;
return usCount;
}
#endif
/*-----------------------------------------------------------*/
#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
#if ( INCLUDE_uxTaskGetRunTime == 1 )
unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask )
{
unsigned long runTime;
tskTCB *pxTCB;
pxTCB = prvGetTCBFromHandle( xTask );
runTime = pxTCB->ulRunTimeCounter;
pxTCB->ulRunTimeCounter = 0;
return runTime;
}
#endif
/*-----------------------------------------------------------*/
#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
@ -2323,7 +2599,7 @@ tskTCB *pxNewTCB;
return uxReturn;
}
#endif
#endif /* INCLUDE_uxTaskGetStackHighWaterMark */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelete == 1 )
@ -2341,9 +2617,7 @@ tskTCB *pxNewTCB;
vPortFree( pxTCB );
}
#endif
#endif /* INCLUDE_vTaskDelete */
/*-----------------------------------------------------------*/
#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
@ -2360,8 +2634,7 @@ tskTCB *pxNewTCB;
return xReturn;
}
#endif
#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
/*-----------------------------------------------------------*/
#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
@ -2389,7 +2662,7 @@ tskTCB *pxNewTCB;
return xReturn;
}
#endif
#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
/*-----------------------------------------------------------*/
#if ( configUSE_MUTEXES == 1 )
@ -2398,34 +2671,40 @@ tskTCB *pxNewTCB;
{
tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
configASSERT( pxMutexHolder );
if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
/* If the mutex was given back by an interrupt while the queue was
locked then the mutex holder might now be NULL. */
if( pxMutexHolder != NULL )
{
/* 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 ) ) != pdFALSE )
if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
{
vListRemove( &( pxTCB->xGenericListItem ) );
/* Adjust the mutex holder state to account for its new priority. */
listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
/* 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;
}
/* If the task being modified is in the ready state it will need to
be moved into a new list. */
if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
{
if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
{
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
}
traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
/* 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;
}
traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
}
}
}
#endif
#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/
#if ( configUSE_MUTEXES == 1 )
@ -2440,7 +2719,10 @@ tskTCB *pxNewTCB;
{
/* 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 ) );
if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
{
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
}
/* Disinherit the priority before adding the task into the new
ready list. */
@ -2452,7 +2734,7 @@ tskTCB *pxNewTCB;
}
}
#endif
#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
@ -2467,28 +2749,28 @@ tskTCB *pxNewTCB;
}
}
#endif
#endif /* portCRITICAL_NESTING_IN_TCB */
/*-----------------------------------------------------------*/
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
void vTaskExitCritical( void )
{
if( xSchedulerRunning != pdFALSE )
void vTaskExitCritical( void )
{
if( pxCurrentTCB->uxCriticalNesting > 0U )
if( xSchedulerRunning != pdFALSE )
{
( pxCurrentTCB->uxCriticalNesting )--;
if( pxCurrentTCB->uxCriticalNesting == 0U )
if( pxCurrentTCB->uxCriticalNesting > 0U )
{
portENABLE_INTERRUPTS();
( pxCurrentTCB->uxCriticalNesting )--;
if( pxCurrentTCB->uxCriticalNesting == 0U )
{
portENABLE_INTERRUPTS();
}
}
}
}
}
#endif
#endif /* portCRITICAL_NESTING_IN_TCB */
/*-----------------------------------------------------------*/

127
flight/PiOS/Common/Libraries/FreeRTOS/Source/timers.c Executable file → Normal file
View File

@ -1,6 +1,8 @@
/*
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
@ -27,41 +29,47 @@
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 modification to the GPL is included to allow you to
>>>>>>NOTE<<<<<< The modification 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.
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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
@ -118,9 +126,9 @@ PRIVILEGED_DATA static xList *pxOverflowTimerList;
PRIVILEGED_DATA static xQueueHandle xTimerQueue = NULL;
#if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )
PRIVILEGED_DATA static xTaskHandle xTimerTaskHandle = NULL;
#endif
/*-----------------------------------------------------------*/
@ -200,7 +208,7 @@ portBASE_TYPE xReturn = pdFAIL;
{
/* Create the timer task, storing its handle in xTimerTaskHandle so
it can be returned by the xTimerGetTimerDaemonTaskHandle() function. */
xReturn = xTaskCreate( prvTimerTask, ( const signed char * ) "Tmr Svc", ( unsigned short ) configTIMER_TASK_STACK_DEPTH, NULL, ( ( unsigned portBASE_TYPE ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, &xTimerTaskHandle );
xReturn = xTaskCreate( prvTimerTask, ( const signed char * ) "Tmr Svc", ( unsigned short ) configTIMER_TASK_STACK_DEPTH, NULL, ( ( unsigned portBASE_TYPE ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, &xTimerTaskHandle );
}
#else
{
@ -215,7 +223,7 @@ portBASE_TYPE xReturn = pdFAIL;
}
/*-----------------------------------------------------------*/
xTimerHandle xTimerCreate( const signed char *pcTimerName, portTickType xTimerPeriodInTicks, unsigned portBASE_TYPE uxAutoReload, void *pvTimerID, tmrTIMER_CALLBACK pxCallbackFunction )
xTimerHandle xTimerCreate( const signed char * const pcTimerName, portTickType xTimerPeriodInTicks, unsigned portBASE_TYPE uxAutoReload, void *pvTimerID, tmrTIMER_CALLBACK pxCallbackFunction )
{
xTIMER *pxNewTimer;
@ -233,7 +241,7 @@ xTIMER *pxNewTimer;
/* Ensure the infrastructure used by the timer service task has been
created/initialised. */
prvCheckForValidListAndQueue();
/* Initialise the timer structure members using the function parameters. */
pxNewTimer->pcTimerName = pcTimerName;
pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
@ -241,7 +249,7 @@ xTIMER *pxNewTimer;
pxNewTimer->pvTimerID = pvTimerID;
pxNewTimer->pxCallbackFunction = pxCallbackFunction;
vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
traceTIMER_CREATE( pxNewTimer );
}
else
@ -249,7 +257,7 @@ xTIMER *pxNewTimer;
traceTIMER_CREATE_FAILED();
}
}
return ( xTimerHandle ) pxNewTimer;
}
/*-----------------------------------------------------------*/
@ -283,10 +291,10 @@ xTIMER_MESSAGE xMessage;
{
xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
}
traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
}
return xReturn;
}
/*-----------------------------------------------------------*/
@ -300,7 +308,7 @@ xTIMER_MESSAGE xMessage;
configASSERT( ( xTimerTaskHandle != NULL ) );
return xTimerTaskHandle;
}
#endif
/*-----------------------------------------------------------*/
@ -312,7 +320,7 @@ portBASE_TYPE xResult;
/* Remove the timer from the list of active timers. A check has already
been performed to ensure the list is not empty. */
pxTimer = ( xTIMER * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
vListRemove( &( pxTimer->xTimerListItem ) );
uxListRemove( &( pxTimer->xTimerListItem ) );
traceTIMER_EXPIRED( pxTimer );
/* If the timer is an auto reload timer then calculate the next
@ -357,9 +365,9 @@ portBASE_TYPE xListWasEmpty;
/* If a timer has expired, process it. Otherwise, block this task
until either a timer does expire, or a command is received. */
prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
/* Empty the command queue. */
prvProcessReceivedCommands();
prvProcessReceivedCommands();
}
}
/*-----------------------------------------------------------*/
@ -445,7 +453,7 @@ portTickType xTimeNow;
PRIVILEGED_DATA static portTickType xLastTime = ( portTickType ) 0U;
xTimeNow = xTaskGetTickCount();
if( xTimeNow < xLastTime )
{
prvSwitchTimerLists( xLastTime );
@ -455,9 +463,9 @@ PRIVILEGED_DATA static portTickType xLastTime = ( portTickType ) 0U;
{
*pxTimerListsWereSwitched = pdFALSE;
}
xLastTime = xTimeNow;
return xTimeNow;
}
/*-----------------------------------------------------------*/
@ -468,7 +476,7 @@ portBASE_TYPE xProcessTimerNow = pdFALSE;
listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );
listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
if( xNextExpiryTime <= xTimeNow )
{
/* Has the expiry time elapsed between the command to start/reset a
@ -510,31 +518,29 @@ xTIMER *pxTimer;
portBASE_TYPE xTimerListsWereSwitched, xResult;
portTickType xTimeNow;
/* In this case the xTimerListsWereSwitched parameter is not used, but it
must be present in the function call. */
xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
while( xQueueReceive( xTimerQueue, &xMessage, tmrNO_DELAY ) != pdFAIL )
{
pxTimer = xMessage.pxTimer;
/* Is the timer already in a list of active timers? When the command
is trmCOMMAND_PROCESS_TIMER_OVERFLOW, the timer will be NULL as the
command is to the task rather than to an individual timer. */
if( pxTimer != NULL )
if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE )
{
if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE )
{
/* The timer is in a list, remove it. */
vListRemove( &( pxTimer->xTimerListItem ) );
}
/* The timer is in a list, remove it. */
uxListRemove( &( pxTimer->xTimerListItem ) );
}
traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.xMessageValue );
/* In this case the xTimerListsWereSwitched parameter is not used, but
it must be present in the function call. prvSampleTimeNow() must be
called after the message is received from xTimerQueue so there is no
possibility of a higher priority task adding a message to the message
queue with a time that is ahead of the timer daemon task (because it
pre-empted the timer daemon task after the xTimeNow value was set). */
xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
switch( xMessage.xMessageID )
{
case tmrCOMMAND_START :
case tmrCOMMAND_START :
/* Start or restart a timer. */
if( prvInsertTimerInActiveList( pxTimer, xMessage.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.xMessageValue ) == pdTRUE )
{
@ -551,7 +557,7 @@ portTickType xTimeNow;
}
break;
case tmrCOMMAND_STOP :
case tmrCOMMAND_STOP :
/* The timer has already been removed from the active list.
There is nothing to do here. */
break;
@ -568,7 +574,7 @@ portTickType xTimeNow;
vPortFree( pxTimer );
break;
default :
default :
/* Don't expect to get here. */
break;
}
@ -585,7 +591,7 @@ portBASE_TYPE xResult;
/* Remove compiler warnings if configASSERT() is not defined. */
( void ) xLastTime;
/* The tick count has overflowed. The timer lists must be switched.
If there are any timers still referenced from the current timer list
then they must have expired and should be processed before the lists
@ -596,7 +602,7 @@ portBASE_TYPE xResult;
/* Remove the timer from the list. */
pxTimer = ( xTIMER * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
vListRemove( &( pxTimer->xTimerListItem ) );
uxListRemove( &( pxTimer->xTimerListItem ) );
/* Execute its callback, then send a command to restart the timer if
it is an auto-reload timer. It cannot be restarted here as the lists
@ -684,3 +690,6 @@ xTIMER *pxTimer = ( xTIMER * ) xTimer;
to include software timer functionality. If you want to include software timer
functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
#endif /* configUSE_TIMERS == 1 */

92
flight/PiOS/Common/Libraries/FreeRTOS/howto_upgrade.txt Normal file
View File

@ -0,0 +1,92 @@
General guidelines for updating FreeRTOS
This file will list the necessary modifications to FreeRTOS package to be used inside PiOS
- include/task.h
add the following declaration:
/**
* task.h
* <PRE>unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask );</PRE>
*
* Returns the run time of selected task
*
* @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 run time of selected task
*/
unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask );
it usually is added after the declaration of vTaskGetRunTimeStats.
- task.c
add the following function:
#if ( INCLUDE_uxTaskGetRunTime == 1 )
unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask )
{
unsigned long runTime;
tskTCB *pxTCB;
pxTCB = prvGetTCBFromHandle( xTask );
runTime = pxTCB->ulRunTimeCounter;
pxTCB->ulRunTimeCounter = 0;
return runTime;
}
#endif
/*----------------------------------------------------------*/
it usually is added after the declaration of vTaskGetRunTimeStats.
- portable/MemMang/heap_1.c
following there is the modification done in this revision against the base heap_1.c
The modifications add a currentTOTAL_HEAP_SIZE variable that hold the current heap size,
used instead of the configTOTAL_HEAP_SIZE macro that can be changed by the added
xPortIncreaseHeapSize function.
--- ../op_evo/FreeRTOSV7.4.0/FreeRTOS/Source/portable/MemMang/heap_1.c 2013-04-06 15:04:22.760048534 +0200
+++ ./flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c 2013-04-06 14:53:31.828030608 +0200
@@ -92,13 +92,16 @@
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-/* A few bytes might be lost to byte aligning the heap start address. */
-#define configADJUSTED_HEAP_SIZE ( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT )
/* Allocate the memory for the heap. */
-static unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
+static unsigned char ucHeap[ configTOTAL_HEAP_SIZE ] __attribute__ ((section (".heap")));
static size_t xNextFreeByte = ( size_t ) 0;
+static size_t currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE;
+
+/* A few bytes might be lost to byte aligning the heap start address. */
+#define configADJUSTED_HEAP_SIZE (currentTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT)
+
/*-----------------------------------------------------------*/
void *pvPortMalloc( size_t xWantedSize )
@@ -172,6 +175,12 @@
{
return ( configADJUSTED_HEAP_SIZE - xNextFreeByte );
}
+/*-----------------------------------------------------------*/
-
-
+void xPortIncreaseHeapSize( size_t bytes )
+{
+ vTaskSuspendAll();
+ currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE + bytes;
+ xTaskResumeAll();
+}
+/*-----------------------------------------------------------*/

315
flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c Executable file → Normal file
View File

@ -1,6 +1,8 @@
/*
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
@ -27,41 +29,47 @@
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 modification to the GPL is included to allow you to
>>>>>>NOTE<<<<<< The modification 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.
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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
/*-----------------------------------------------------------
@ -79,17 +87,27 @@ FreeRTOS.org versions prior to V4.4.0 did not include this definition. */
#define configKERNEL_INTERRUPT_PRIORITY 255
#endif
/* Constants required to manipulate the NVIC. */
#define portNVIC_SYSTICK_CTRL ( ( volatile unsigned long *) 0xe000e010 )
#define portNVIC_SYSTICK_LOAD ( ( volatile unsigned long *) 0xe000e014 )
#define portNVIC_INT_CTRL ( ( volatile unsigned long *) 0xe000ed04 )
#define portNVIC_SYSPRI2 ( ( volatile unsigned long *) 0xe000ed20 )
#define portNVIC_SYSTICK_CLK 0x00000004
#define portNVIC_SYSTICK_INT 0x00000002
#define portNVIC_SYSTICK_ENABLE 0x00000001
#define portNVIC_PENDSVSET 0x10000000
#define portNVIC_PENDSV_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16 )
#define portNVIC_SYSTICK_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24 )
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
#endif
/* Constants required to manipulate the core. Registers first... */
#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile unsigned long * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_LOAD_REG ( * ( ( volatile unsigned long * ) 0xe000e014 ) )
#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( * ( ( volatile unsigned long * ) 0xe000e018 ) )
#define portNVIC_INT_CTRL_REG ( * ( ( volatile unsigned long * ) 0xe000ed04 ) )
#define portNVIC_SYSPRI2_REG ( * ( ( volatile unsigned long * ) 0xe000ed20 ) )
/* ...then bits in the registers. */
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL )
#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL )
#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL )
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL )
#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL )
#define portNVIC_PENDSV_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
#define portNVIC_SYSTICK_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
/* Constants required to set up the initial stack. */
#define portINITIAL_XPSR ( 0x01000000 )
@ -103,9 +121,11 @@ variable. */
static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
/*
* Setup the timer to generate the tick interrupts.
* Setup the timer to generate the tick interrupts. The implementation in this
* file is weak to allow application writers to change the timer used to
* generate the tick interrupt.
*/
static void prvSetupTimerInterrupt( void );
void vPortSetupTimerInterrupt( void );
/*
* Exception handlers.
@ -121,6 +141,31 @@ static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
/*-----------------------------------------------------------*/
/*
* The number of SysTick increments that make up one tick period.
*/
#if configUSE_TICKLESS_IDLE == 1
static unsigned long ulTimerReloadValueForOneTick = 0;
#endif
/*
* The maximum number of tick periods that can be suppressed is limited by the
* 24 bit resolution of the SysTick timer.
*/
#if configUSE_TICKLESS_IDLE == 1
static unsigned long xMaximumPossibleSuppressedTicks = 0;
#endif /* configUSE_TICKLESS_IDLE */
/*
* Compensate for the CPU cycles that pass while the SysTick is stopped (low
* power functionality only.
*/
#if configUSE_TICKLESS_IDLE == 1
static unsigned long ulStoppedTimerCompensation = 0;
#endif /* configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/
/*
* See header file for description.
*/
@ -180,17 +225,17 @@ static void prvPortStartFirstTask( void )
*/
portBASE_TYPE xPortStartScheduler( void )
{
/* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.
/* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );
/* Make PendSV, CallSV and SysTick the same priroity as the kernel. */
*(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;
*(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;
portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
/* Start the timer that generates the tick ISR. Interrupts are disabled
here already. */
prvSetupTimerInterrupt();
vPortSetupTimerInterrupt();
/* Initialise the critical nesting count ready for the first task. */
uxCriticalNesting = 0;
@ -213,7 +258,7 @@ void vPortEndScheduler( void )
void vPortYieldFromISR( void )
{
/* Set a PendSV to request a context switch. */
*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
}
/*-----------------------------------------------------------*/
@ -234,6 +279,37 @@ void vPortExitCritical( void )
}
/*-----------------------------------------------------------*/
__attribute__(( naked )) unsigned long ulPortSetInterruptMask( void )
{
__asm volatile \
( \
" mrs r0, basepri \n" \
" mov r1, %0 \n" \
" msr basepri, r1 \n" \
" bx lr \n" \
:: "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "r0", "r1" \
);
/* This return will not be reached but is necessary to prevent compiler
warnings. */
return 0;
}
/*-----------------------------------------------------------*/
__attribute__(( naked )) void vPortClearInterruptMask( unsigned long ulNewMaskValue )
{
__asm volatile \
( \
" msr basepri, r0 \n" \
" bx lr \n" \
:::"r0" \
);
/* Just to avoid compiler warnings. */
( void ) ulNewMaskValue;
}
/*-----------------------------------------------------------*/
void xPortPendSVHandler( void )
{
/* This is a naked function. */
@ -271,30 +347,171 @@ void xPortPendSVHandler( void )
void xPortSysTickHandler( void )
{
unsigned long ulDummy;
/* If using preemption, also force a context switch. */
#if configUSE_PREEMPTION == 1
*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
#endif
ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
/* Only reset the systick load register if configUSE_TICKLESS_IDLE is set to
1. If it is set to 0 tickless idle is not being used. If it is set to a
value other than 0 or 1 then a timer other than the SysTick is being used
to generate the tick interrupt. */
#if configUSE_TICKLESS_IDLE == 1
portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
#endif
( void ) portSET_INTERRUPT_MASK_FROM_ISR();
{
vTaskIncrementTick();
}
portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 );
}
/*-----------------------------------------------------------*/
#if configUSE_TICKLESS_IDLE == 1
__attribute__((weak)) void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime )
{
unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickIncrements;
portTickType xModifiableIdleTime;
/* Make sure the SysTick reload value does not overflow the counter. */
if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
{
xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
}
/* Calculate the reload value required to wait xExpectedIdleTime
tick periods. -1 is used because this code will execute part way
through one of the tick periods, and the fraction of a tick period is
accounted for later. */
ulReloadValue = ( ulTimerReloadValueForOneTick * ( xExpectedIdleTime - 1UL ) );
if( ulReloadValue > ulStoppedTimerCompensation )
{
ulReloadValue -= ulStoppedTimerCompensation;
}
/* Stop the SysTick momentarily. The time the SysTick is stopped for
is accounted for as best it can be, but using the tickless mode will
inevitably result in some tiny drift of the time maintained by the
kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
/* Adjust the reload value to take into account that the current time
slice is already partially complete. */
ulReloadValue += ( portNVIC_SYSTICK_LOAD_REG - ( portNVIC_SYSTICK_LOAD_REG - portNVIC_SYSTICK_CURRENT_VALUE_REG ) );
/* Enter a critical section but don't use the taskENTER_CRITICAL()
method as that will mask interrupts that should exit sleep mode. */
__asm volatile( "cpsid i" );
/* If a context switch is pending or a task is waiting for the scheduler
to be unsuspended then abandon the low power entry. */
if( eTaskConfirmSleepModeStatus() == eAbortSleep )
{
/* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
/* Re-enable interrupts - see comments above the cpsid instruction()
above. */
__asm volatile( "cpsie i" );
}
else
{
/* Set the new reload value. */
portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
/* Clear the SysTick count flag and set the count value back to
zero. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
/* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
/* Sleep until something happens. configPRE_SLEEP_PROCESSING() can
set its parameter to 0 to indicate that its implementation contains
its own wait for interrupt or wait for event instruction, and so wfi
should not be executed again. However, the original expected idle
time variable must remain unmodified, so a copy is taken. */
xModifiableIdleTime = xExpectedIdleTime;
configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
if( xModifiableIdleTime > 0 )
{
__asm volatile( "wfi" );
}
configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
/* Stop SysTick. Again, the time the SysTick is stopped for is
accounted for as best it can be, but using the tickless mode will
inevitably result in some tiny drift of the time maintained by the
kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
/* Re-enable interrupts - see comments above the cpsid instruction()
above. */
__asm volatile( "cpsie i" );
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{
/* The tick interrupt has already executed, and the SysTick
count reloaded with the portNVIC_SYSTICK_LOAD_REG value.
Reset the portNVIC_SYSTICK_LOAD_REG with whatever remains of
this tick period. */
portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
/* The tick interrupt handler will already have pended the tick
processing in the kernel. As the pending tick will be
processed as soon as this function exits, the tick value
maintained by the tick is stepped forward by one less than the
time spent waiting. */
ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
}
else
{
/* Something other than the tick interrupt ended the sleep.
Work out how long the sleep lasted. */
ulCompletedSysTickIncrements = ( xExpectedIdleTime * ulTimerReloadValueForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
/* How many complete tick periods passed while the processor
was waiting? */
ulCompleteTickPeriods = ulCompletedSysTickIncrements / ulTimerReloadValueForOneTick;
/* The reload value is set to whatever fraction of a single tick
period remains. */
portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerReloadValueForOneTick ) - ulCompletedSysTickIncrements;
}
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
value. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
vTaskStepTick( ulCompleteTickPeriods );
}
}
#endif /* #if configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/
/*
* Setup the systick timer to generate the tick interrupts at the required
* frequency.
*/
void prvSetupTimerInterrupt( void )
__attribute__(( weak )) void vPortSetupTimerInterrupt( void )
{
/* Calculate the constants required to configure the tick interrupt. */
#if configUSE_TICKLESS_IDLE == 1
{
ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
xMaximumPossibleSuppressedTicks = 0xffffffUL / ( ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
}
#endif /* configUSE_TICKLESS_IDLE */
/* Configure SysTick to interrupt at the requested rate. */
*(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
*(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
}
/*-----------------------------------------------------------*/

155
flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h Executable file → Normal file
View File

@ -1,6 +1,8 @@
/*
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
@ -27,41 +29,47 @@
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 modification to the GPL is included to allow you to
>>>>>>NOTE<<<<<< The modification 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.
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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
@ -73,7 +81,7 @@ extern "C" {
#endif
/*-----------------------------------------------------------
* Port specific definitions.
* Port specific definitions.
*
* The settings in this file configure FreeRTOS correctly for the
* given hardware and compiler.
@ -98,71 +106,78 @@ extern "C" {
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_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 4
/*-----------------------------------------------------------*/
/*-----------------------------------------------------------*/
/* Scheduler utilities. */
extern void vPortYieldFromISR( void );
#define portYIELD() vPortYieldFromISR()
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYieldFromISR()
/*-----------------------------------------------------------*/
/* Critical section management. */
/*
* Set basepri to portMAX_SYSCALL_INTERRUPT_PRIORITY without effecting other
* registers. r0 is clobbered.
*/
#define portSET_INTERRUPT_MASK() \
__asm volatile \
( \
" mov r0, %0 \n" \
" msr basepri, r0 \n" \
::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY):"r0" \
)
/*
* Set basepri back to 0 without effective other registers.
* r0 is clobbered. FAQ: Setting BASEPRI to 0 is not a bug. Please see
* http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html before disagreeing.
*/
#define portCLEAR_INTERRUPT_MASK() \
__asm volatile \
( \
" mov r0, #0 \n" \
" msr basepri, r0 \n" \
:::"r0" \
)
/* FAQ: Setting BASEPRI to 0 in portCLEAR_INTERRUPT_MASK_FROM_ISR() is not a
bug. Please see http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html before
disagreeing. */
#define portSET_INTERRUPT_MASK_FROM_ISR() 0;portSET_INTERRUPT_MASK()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) portCLEAR_INTERRUPT_MASK();(void)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()
extern unsigned long ulPortSetInterruptMask( void );
extern void vPortClearInterruptMask( unsigned long ulNewMaskValue );
#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetInterruptMask()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask(x)
#define portDISABLE_INTERRUPTS() ulPortSetInterruptMask()
#define portENABLE_INTERRUPTS() vPortClearInterruptMask(0)
#define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical()
/*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. */
/* Task function macros as described on the FreeRTOS.org WEB site. These are
not necessary for to use this port. They are defined so the common demo files
(which build with all the ports) will build. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
/*-----------------------------------------------------------*/
/* Tickless idle/low power functionality. */
#ifndef portSUPPRESS_TICKS_AND_SLEEP
extern void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime );
#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
#endif
/*-----------------------------------------------------------*/
/* Architecture specific optimisations. */
#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
/* Generic helper function. */
__attribute__( ( always_inline ) ) static inline unsigned char ucPortCountLeadingZeros( unsigned long ulBitmap )
{
unsigned char ucReturn;
__asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) );
return ucReturn;
}
/* Check the configuration. */
#if( configMAX_PRIORITIES > 32 )
#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
#endif
/* Store/clear the ready priorities in a bit map. */
#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
/*-----------------------------------------------------------*/
#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - ucPortCountLeadingZeros( ( uxReadyPriorities ) ) )
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
/*-----------------------------------------------------------*/
/* portNOP() is not required by this port. */
#define portNOP()
#ifdef __cplusplus

294
flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
View File

@ -1,294 +0,0 @@
/*
FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
* FreeRTOS tutorial books are available in pdf and paperback. *
* Complete, revised, and edited pdf reference manuals are also *
* available. *
* *
* Purchasing FreeRTOS documentation will not only help you, by *
* ensuring you get running as quickly as possible and with an *
* in-depth knowledge of how to use FreeRTOS, it will also help *
* the FreeRTOS project to continue with its mission of providing *
* professional grade, cross platform, de facto standard solutions *
* for microcontrollers - completely free of charge! *
* *
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
* *
* Thank you for using FreeRTOS, and 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 modification 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.
*/
/*
* A sample implementation of pvPortMalloc() and vPortFree() that permits
* allocated blocks to be freed, but does not combine adjacent free blocks
* into a single larger block.
*
* See heap_1.c and heap_3.c for alternative implementations, and the memory
* management pages of http://www.FreeRTOS.org for more information.
*/
#include <stdlib.h>
/* 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
/* Allocate the memory for the heap. The struct is used to force byte
alignment without using any non-portable code. */
static union xRTOS_HEAP
{
#if portBYTE_ALIGNMENT == 8
volatile portDOUBLE dDummy;
#else
volatile unsigned long ulDummy;
#endif
unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
} xHeap __attribute__ ((section (".heap")));
/* Define the linked list structure. This is used to link free blocks in order
of their size. */
typedef struct A_BLOCK_LINK
{
struct A_BLOCK_LINK *pxNextFreeBlock; /*<< The next free block in the list. */
size_t xBlockSize; /*<< The size of the free block. */
} xBlockLink;
static const unsigned short heapSTRUCT_SIZE = ( sizeof( xBlockLink ) + portBYTE_ALIGNMENT - ( sizeof( xBlockLink ) % portBYTE_ALIGNMENT ) );
#define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( heapSTRUCT_SIZE * 2 ) )
/* Create a couple of list links to mark the start and end of the list. */
static xBlockLink xStart, xEnd;
/* Keeps track of the number of free bytes remaining, but says nothing about
fragmentation. */
static size_t xFreeBytesRemaining = configTOTAL_HEAP_SIZE;
static size_t currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE;
/* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */
/*
* Insert a block into the list of free blocks - which is ordered by size of
* the block. Small blocks at the start of the list and large blocks at the end
* of the list.
*/
#define prvInsertBlockIntoFreeList( pxBlockToInsert ) \
{ \
xBlockLink *pxIterator; \
size_t xBlockSize; \
\
xBlockSize = pxBlockToInsert->xBlockSize; \
\
/* Iterate through the list until a block is found that has a larger size */ \
/* than the block we are inserting. */ \
for( pxIterator = &xStart; pxIterator->pxNextFreeBlock->xBlockSize < xBlockSize; pxIterator = pxIterator->pxNextFreeBlock ) \
{ \
/* There is nothing to do here - just iterate to the correct position. */ \
} \
\
/* Update the list to include the block being inserted in the correct */ \
/* position. */ \
pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock; \
pxIterator->pxNextFreeBlock = pxBlockToInsert; \
}
/*-----------------------------------------------------------*/
#define prvHeapInit() \
{ \
xBlockLink *pxFirstFreeBlock; \
\
/* xStart is used to hold a pointer to the first item in the list of free */ \
/* blocks. The void cast is used to prevent compiler warnings. */ \
xStart.pxNextFreeBlock = ( void * ) xHeap.ucHeap; \
xStart.xBlockSize = ( size_t ) 0; \
\
/* xEnd is used to mark the end of the list of free blocks. */ \
xEnd.xBlockSize = currentTOTAL_HEAP_SIZE; \
xEnd.pxNextFreeBlock = NULL; \
\
/* To start with there is a single free block that is sized to take up the \
entire heap space. */ \
pxFirstFreeBlock = ( void * ) xHeap.ucHeap; \
pxFirstFreeBlock->xBlockSize = currentTOTAL_HEAP_SIZE; \
pxFirstFreeBlock->pxNextFreeBlock = &xEnd; \
}
/*-----------------------------------------------------------*/
void *pvPortMalloc( size_t xWantedSize )
{
xBlockLink *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
static portBASE_TYPE xHeapHasBeenInitialised = pdFALSE;
void *pvReturn = NULL;
vTaskSuspendAll();
{
/* If this is the first call to malloc then the heap will require
initialisation to setup the list of free blocks. */
if( xHeapHasBeenInitialised == pdFALSE )
{
prvHeapInit();
xHeapHasBeenInitialised = pdTRUE;
}
/* The wanted size is increased so it can contain a xBlockLink
structure in addition to the requested amount of bytes. */
if( xWantedSize > 0 )
{
xWantedSize += heapSTRUCT_SIZE;
/* Ensure that blocks are always aligned to the required number of bytes. */
if( xWantedSize & portBYTE_ALIGNMENT_MASK )
{
/* Byte alignment required. */
xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
}
}
if( ( xWantedSize > 0 ) && ( xWantedSize < currentTOTAL_HEAP_SIZE ) )
{
/* Blocks are stored in byte order - traverse the list from the start
(smallest) block until one of adequate size is found. */
pxPreviousBlock = &xStart;
pxBlock = xStart.pxNextFreeBlock;
while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock ) )
{
pxPreviousBlock = pxBlock;
pxBlock = pxBlock->pxNextFreeBlock;
}
/* If we found the end marker then a block of adequate size was not found. */
if( pxBlock != &xEnd )
{
/* Return the memory space - jumping over the xBlockLink structure
at its start. */
pvReturn = ( void * ) ( ( ( unsigned char * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE );
/* This block is being returned for use so must be taken our of the
list of free blocks. */
pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
/* If the block is larger than required it can be split into two. */
if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
{
/* This block is to be split into two. Create a new block
following the number of bytes requested. The void cast is
used to prevent byte alignment warnings from the compiler. */
pxNewBlockLink = ( void * ) ( ( ( unsigned char * ) pxBlock ) + xWantedSize );
/* Calculate the sizes of two blocks split from the single
block. */
pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
pxBlock->xBlockSize = xWantedSize;
/* Insert the new block into the list of free blocks. */
prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
}
xFreeBytesRemaining -= pxBlock->xBlockSize;
}
}
}
xTaskResumeAll();
#if( configUSE_MALLOC_FAILED_HOOK == 1 )
{
if( pvReturn == NULL )
{
extern void vApplicationMallocFailedHook( void );
vApplicationMallocFailedHook();
}
}
#endif
return pvReturn;
}
/*-----------------------------------------------------------*/
void vPortFree( void *pv )
{
unsigned char *puc = ( unsigned char * ) pv;
xBlockLink *pxLink;
if( pv )
{
/* The memory being freed will have an xBlockLink structure immediately
before it. */
puc -= heapSTRUCT_SIZE;
/* This casting is to keep the compiler from issuing warnings. */
pxLink = ( void * ) puc;
vTaskSuspendAll();
{
/* Add this block to the list of free blocks. */
prvInsertBlockIntoFreeList( ( ( xBlockLink * ) pxLink ) );
xFreeBytesRemaining += pxLink->xBlockSize;
}
xTaskResumeAll();
}
}
/*-----------------------------------------------------------*/
size_t xPortGetFreeHeapSize( void )
{
return xFreeBytesRemaining;
}
/*-----------------------------------------------------------*/
void vPortInitialiseBlocks( void )
{
/* This just exists to keep the linker quiet. */
}
void xPortIncreaseHeapSize( size_t bytes )
{
xBlockLink *pxNewBlockLink;
vTaskSuspendAll();
currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE + bytes;
xEnd.xBlockSize = currentTOTAL_HEAP_SIZE;
xFreeBytesRemaining += bytes;
/* Insert the new block into the list of free blocks. */
pxNewBlockLink = ( void * ) &xHeap.ucHeap[ configTOTAL_HEAP_SIZE ];
pxNewBlockLink->xBlockSize = bytes;
prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
xTaskResumeAll();
}
/*-----------------------------------------------------------*/

117
flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
View File

@ -1,117 +0,0 @@
/*
FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
* FreeRTOS tutorial books are available in pdf and paperback. *
* Complete, revised, and edited pdf reference manuals are also *
* available. *
* *
* Purchasing FreeRTOS documentation will not only help you, by *
* ensuring you get running as quickly as possible and with an *
* in-depth knowledge of how to use FreeRTOS, it will also help *
* the FreeRTOS project to continue with its mission of providing *
* professional grade, cross platform, de facto standard solutions *
* for microcontrollers - completely free of charge! *
* *
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
* *
* Thank you for using FreeRTOS, and 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 modification 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 <stdlib.h>
/* 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();
}
}

2
flight/PiOS/STM32F10x/library.mk
View File

@ -46,6 +46,6 @@ EXTRAINCDIRS += $(USBDEVLIB)/inc
ifneq ($(FREERTOS_DIR),)
FREERTOS_PORTDIR := $(PIOS_DEVLIB)Libraries/FreeRTOS/Source
SRC += $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM3/*.c)
SRC += $(wildcard $(FREERTOS_PORTDIR)/portable/MemMang/heap_1.c)
SRC += $(wildcard $(FREERTOS_DIR)/portable/MemMang/heap_1.c)
EXTRAINCDIRS += $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM3
endif

322
flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c Executable file → Normal file
View File

@ -1,6 +1,8 @@
/*
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
@ -27,41 +29,47 @@
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 modification to the GPL is included to allow you to
>>>>>>NOTE<<<<<< The modification 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.
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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
/*-----------------------------------------------------------
@ -76,17 +84,27 @@
#error This port can only be used when the project options are configured to enable hardware floating point support.
#endif
/* Constants required to manipulate the NVIC. */
#define portNVIC_SYSTICK_CTRL ( ( volatile unsigned long * ) 0xe000e010 )
#define portNVIC_SYSTICK_LOAD ( ( volatile unsigned long * ) 0xe000e014 )
#define portNVIC_INT_CTRL ( ( volatile unsigned long * ) 0xe000ed04 )
#define portNVIC_SYSPRI2 ( ( volatile unsigned long * ) 0xe000ed20 )
#define portNVIC_SYSTICK_CLK 0x00000004
#define portNVIC_SYSTICK_INT 0x00000002
#define portNVIC_SYSTICK_ENABLE 0x00000001
#define portNVIC_PENDSVSET 0x10000000
#define portNVIC_PENDSV_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16 )
#define portNVIC_SYSTICK_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24 )
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
#endif
/* Constants required to manipulate the core. Registers first... */
#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile unsigned long * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_LOAD_REG ( * ( ( volatile unsigned long * ) 0xe000e014 ) )
#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( * ( ( volatile unsigned long * ) 0xe000e018 ) )
#define portNVIC_INT_CTRL_REG ( * ( ( volatile unsigned long * ) 0xe000ed04 ) )
#define portNVIC_SYSPRI2_REG ( * ( ( volatile unsigned long * ) 0xe000ed20 ) )
/* ...then bits in the registers. */
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL )
#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL )
#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL )
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL )
#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL )
#define portNVIC_PENDSV_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
#define portNVIC_SYSTICK_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
/* Constants required to manipulate the VFP. */
#define portFPCCR ( ( volatile unsigned long * ) 0xe000ef34 ) /* Floating point context control register. */
@ -105,9 +123,11 @@ variable. */
static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
/*
* Setup the timer to generate the tick interrupts.
* Setup the timer to generate the tick interrupts. The implementation in this
* file is weak to allow application writers to change the timer used to
* generate the tick interrupt.
*/
static void prvSetupTimerInterrupt( void );
void vPortSetupTimerInterrupt( void );
/*
* Exception handlers.
@ -119,13 +139,37 @@ void vPortSVCHandler( void ) __attribute__ (( naked ));
/*
* Start first task is a separate function so it can be tested in isolation.
*/
static void vPortStartFirstTask( void ) __attribute__ (( naked ));
static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
/*
* Function to enable the VFP.
*/
static void vPortEnableVFP( void ) __attribute__ (( naked ));
/*-----------------------------------------------------------*/
/*
* The number of SysTick increments that make up one tick period.
*/
#if configUSE_TICKLESS_IDLE == 1
static unsigned long ulTimerReloadValueForOneTick = 0;
#endif
/*
* The maximum number of tick periods that can be suppressed is limited by the
* 24 bit resolution of the SysTick timer.
*/
#if configUSE_TICKLESS_IDLE == 1
static unsigned long xMaximumPossibleSuppressedTicks = 0;
#endif /* configUSE_TICKLESS_IDLE */
/*
* Compensate for the CPU cycles that pass while the SysTick is stopped (low
* power functionality only.
*/
#if configUSE_TICKLESS_IDLE == 1
static unsigned long ulStoppedTimerCompensation = 0;
#endif /* configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/
@ -180,7 +224,7 @@ void vPortSVCHandler( void )
}
/*-----------------------------------------------------------*/
static void vPortStartFirstTask( void )
static void prvPortStartFirstTask( void )
{
__asm volatile(
" ldr r0, =0xE000ED08 \n" /* Use the NVIC offset register to locate the stack. */
@ -199,17 +243,17 @@ static void vPortStartFirstTask( void )
*/
portBASE_TYPE xPortStartScheduler( void )
{
/* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.
/* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );
/* Make PendSV and SysTick the lowest priority interrupts. */
*(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;
*(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;
/* Make PendSV, CallSV and SysTick the same priroity as the kernel. */
portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
/* Start the timer that generates the tick ISR. Interrupts are disabled
here already. */
prvSetupTimerInterrupt();
vPortSetupTimerInterrupt();
/* Initialise the critical nesting count ready for the first task. */
uxCriticalNesting = 0;
@ -221,7 +265,7 @@ portBASE_TYPE xPortStartScheduler( void )
*( portFPCCR ) |= portASPEN_AND_LSPEN_BITS;
/* Start the first task. */
vPortStartFirstTask();
prvPortStartFirstTask();
/* Should not get here! */
return 0;
@ -238,7 +282,7 @@ void vPortEndScheduler( void )
void vPortYieldFromISR( void )
{
/* Set a PendSV to request a context switch. */
*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
}
/*-----------------------------------------------------------*/
@ -259,6 +303,37 @@ void vPortExitCritical( void )
}
/*-----------------------------------------------------------*/
__attribute__(( naked )) unsigned long ulPortSetInterruptMask( void )
{
__asm volatile \
( \
" mrs r0, basepri \n" \
" mov r1, %0 \n" \
" msr basepri, r1 \n" \
" bx lr \n" \
:: "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "r0", "r1" \
);
/* This return will not be reached but is necessary to prevent compiler
warnings. */
return 0;
}
/*-----------------------------------------------------------*/
__attribute__(( naked )) void vPortClearInterruptMask( unsigned long ulNewMaskValue )
{
__asm volatile \
( \
" msr basepri, r0 \n" \
" bx lr \n" \
:::"r0" \
);
/* Just to avoid compiler warnings. */
( void ) ulNewMaskValue;
}
/*-----------------------------------------------------------*/
void xPortPendSVHandler( void )
{
/* This is a naked function. */
@ -307,30 +382,171 @@ void xPortPendSVHandler( void )
void xPortSysTickHandler( void )
{
unsigned long ulDummy;
/* If using preemption, also force a context switch. */
#if configUSE_PREEMPTION == 1
*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
#endif
ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
/* Only reset the systick load register if configUSE_TICKLESS_IDLE is set to
1. If it is set to 0 tickless idle is not being used. If it is set to a
value other than 0 or 1 then a timer other than the SysTick is being used
to generate the tick interrupt. */
#if configUSE_TICKLESS_IDLE == 1
portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
#endif
( void ) portSET_INTERRUPT_MASK_FROM_ISR();
{
vTaskIncrementTick();
}
portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 );
}
/*-----------------------------------------------------------*/
#if configUSE_TICKLESS_IDLE == 1
__attribute__((weak)) void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime )
{
unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickIncrements;
portTickType xModifiableIdleTime;
/* Make sure the SysTick reload value does not overflow the counter. */
if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
{
xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
}
/* Calculate the reload value required to wait xExpectedIdleTime
tick periods. -1 is used because this code will execute part way
through one of the tick periods, and the fraction of a tick period is
accounted for later. */
ulReloadValue = ( ulTimerReloadValueForOneTick * ( xExpectedIdleTime - 1UL ) );
if( ulReloadValue > ulStoppedTimerCompensation )
{
ulReloadValue -= ulStoppedTimerCompensation;
}
/* Stop the SysTick momentarily. The time the SysTick is stopped for
is accounted for as best it can be, but using the tickless mode will
inevitably result in some tiny drift of the time maintained by the
kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
/* Adjust the reload value to take into account that the current time
slice is already partially complete. */
ulReloadValue += ( portNVIC_SYSTICK_LOAD_REG - ( portNVIC_SYSTICK_LOAD_REG - portNVIC_SYSTICK_CURRENT_VALUE_REG ) );
/* Enter a critical section but don't use the taskENTER_CRITICAL()
method as that will mask interrupts that should exit sleep mode. */
__asm volatile( "cpsid i" );
/* If a context switch is pending or a task is waiting for the scheduler
to be unsuspended then abandon the low power entry. */
if( eTaskConfirmSleepModeStatus() == eAbortSleep )
{
/* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
/* Re-enable interrupts - see comments above the cpsid instruction()
above. */
__asm volatile( "cpsie i" );
}
else
{
/* Set the new reload value. */
portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
/* Clear the SysTick count flag and set the count value back to
zero. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
/* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
/* Sleep until something happens. configPRE_SLEEP_PROCESSING() can
set its parameter to 0 to indicate that its implementation contains
its own wait for interrupt or wait for event instruction, and so wfi
should not be executed again. However, the original expected idle
time variable must remain unmodified, so a copy is taken. */
xModifiableIdleTime = xExpectedIdleTime;
configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
if( xModifiableIdleTime > 0 )
{
__asm volatile( "wfi" );
}
configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
/* Stop SysTick. Again, the time the SysTick is stopped for is
accounted for as best it can be, but using the tickless mode will
inevitably result in some tiny drift of the time maintained by the
kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
/* Re-enable interrupts - see comments above the cpsid instruction()
above. */
__asm volatile( "cpsie i" );
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{
/* The tick interrupt has already executed, and the SysTick
count reloaded with the portNVIC_SYSTICK_LOAD_REG value.
Reset the portNVIC_SYSTICK_LOAD_REG with whatever remains of
this tick period. */
portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
/* The tick interrupt handler will already have pended the tick
processing in the kernel. As the pending tick will be
processed as soon as this function exits, the tick value
maintained by the tick is stepped forward by one less than the
time spent waiting. */
ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
}
else
{
/* Something other than the tick interrupt ended the sleep.
Work out how long the sleep lasted. */
ulCompletedSysTickIncrements = ( xExpectedIdleTime * ulTimerReloadValueForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
/* How many complete tick periods passed while the processor
was waiting? */
ulCompleteTickPeriods = ulCompletedSysTickIncrements / ulTimerReloadValueForOneTick;
/* The reload value is set to whatever fraction of a single tick
period remains. */
portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerReloadValueForOneTick ) - ulCompletedSysTickIncrements;
}
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
value. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
vTaskStepTick( ulCompleteTickPeriods );
}
}
#endif /* #if configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/
/*
* Setup the systick timer to generate the tick interrupts at the required
* frequency.
*/
void prvSetupTimerInterrupt( void )
__attribute__(( weak )) void vPortSetupTimerInterrupt( void )
{
/* Calculate the constants required to configure the tick interrupt. */
#if configUSE_TICKLESS_IDLE == 1
{
ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
xMaximumPossibleSuppressedTicks = 0xffffffUL / ( ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
}
#endif /* configUSE_TICKLESS_IDLE */
/* Configure SysTick to interrupt at the requested rate. */
*(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
*(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
}
/*-----------------------------------------------------------*/

149
flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h Executable file → Normal file
View File

@ -1,6 +1,8 @@
/*
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
@ -27,41 +29,47 @@
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 modification to the GPL is included to allow you to
>>>>>>NOTE<<<<<< The modification 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.
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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
@ -103,60 +111,27 @@ extern "C" {
/* Architecture specifics. */
#define portSTACK_GROWTH ( -1 )
#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8
#define portBYTE_ALIGNMENT 4
/*-----------------------------------------------------------*/
/* Scheduler utilities. */
extern void vPortYieldFromISR( void );
#define portYIELD() vPortYieldFromISR()
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYieldFromISR()
/*-----------------------------------------------------------*/
/* Critical section management. */
/*
* Set basepri to portMAX_SYSCALL_INTERRUPT_PRIORITY without effecting other
* registers. r0 is clobbered.
*/
#define portSET_INTERRUPT_MASK() \
__asm volatile \
( \
" mov r0, %0 \n" \
" msr basepri, r0 \n" \
::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY):"r0" \
)
/*
* Set basepri back to 0 without effective other registers.
* r0 is clobbered. FAQ: Setting BASEPRI to 0 is not a bug. Please see
* http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html before disagreeing.
*/
#define portCLEAR_INTERRUPT_MASK() \
__asm volatile \
( \
" mov r0, #0 \n" \
" msr basepri, r0 \n" \
:::"r0" \
)
/* FAQ: Setting BASEPRI to 0 in portCLEAR_INTERRUPT_MASK_FROM_ISR() is not a
bug. Please see http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html before
disagreeing. */
#define portSET_INTERRUPT_MASK_FROM_ISR() 0;portSET_INTERRUPT_MASK()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) portCLEAR_INTERRUPT_MASK();(void)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()
extern unsigned long ulPortSetInterruptMask( void );
extern void vPortClearInterruptMask( unsigned long ulNewMaskValue );
#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetInterruptMask()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask(x)
#define portDISABLE_INTERRUPTS() ulPortSetInterruptMask()
#define portENABLE_INTERRUPTS() vPortClearInterruptMask(0)
#define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical()
/* There are an uneven number of items on the initial stack, so
portALIGNMENT_ASSERT_pxCurrentTCB() will trigger false positive asserts. */
@ -164,10 +139,50 @@ portALIGNMENT_ASSERT_pxCurrentTCB() will trigger false positive asserts. */
/*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. */
/* Task function macros as described on the FreeRTOS.org WEB site. These are
not necessary for to use this port. They are defined so the common demo files
(which build with all the ports) will build. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
/*-----------------------------------------------------------*/
/* Tickless idle/low power functionality. */
#ifndef portSUPPRESS_TICKS_AND_SLEEP
extern void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime );
#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
#endif
/*-----------------------------------------------------------*/
/* Architecture specific optimisations. */
#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
/* Generic helper function. */
__attribute__( ( always_inline ) ) static inline unsigned char ucPortCountLeadingZeros( unsigned long ulBitmap )
{
unsigned char ucReturn;
__asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) );
return ucReturn;
}
/* Check the configuration. */
#if( configMAX_PRIORITIES > 32 )
#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
#endif
/* Store/clear the ready priorities in a bit map. */
#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
/*-----------------------------------------------------------*/
#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - ucPortCountLeadingZeros( ( uxReadyPriorities ) ) )
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
/*-----------------------------------------------------------*/
/* portNOP() is not required by this port. */
#define portNOP()
#ifdef __cplusplus

160
flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
View File

@ -1,160 +0,0 @@
/*
FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
* FreeRTOS tutorial books are available in pdf and paperback. *
* Complete, revised, and edited pdf reference manuals are also *
* available. *
* *
* Purchasing FreeRTOS documentation will not only help you, by *
* ensuring you get running as quickly as possible and with an *
* in-depth knowledge of how to use FreeRTOS, it will also help *
* the FreeRTOS project to continue with its mission of providing *
* professional grade, cross platform, de facto standard solutions *
* for microcontrollers - completely free of charge! *
* *
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
* *
* Thank you for using FreeRTOS, and 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 modification 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.
*/
/*
* The simplest possible implementation of pvPortMalloc(). Note that this
* implementation does NOT allow allocated memory to be freed again.
*
* See heap_2.c and heap_3.c for alternative implementations, and the memory
* management pages of http://www.FreeRTOS.org for more information.
*/
#include <stdlib.h>
/* 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
/* Allocate the memory for the heap. The struct is used to force byte
alignment without using any non-portable code. */
static union xRTOS_HEAP
{
#if portBYTE_ALIGNMENT == 8
volatile portDOUBLE dDummy;
#else
volatile unsigned long ulDummy;
#endif
unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
} xHeap __attribute__ ((section (".heap")));
static size_t xNextFreeByte = ( size_t ) 0;
static size_t currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE;
/*-----------------------------------------------------------*/
void *pvPortMalloc( size_t xWantedSize )
{
void *pvReturn = NULL;
/* Ensure that blocks are always aligned to the required number of bytes. */
#if portBYTE_ALIGNMENT != 1
if( xWantedSize & portBYTE_ALIGNMENT_MASK )
{
/* Byte alignment required. */
xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
}
#endif
vTaskSuspendAll();
{
/* Check there is enough room left for the allocation. */
if( ( ( xNextFreeByte + xWantedSize ) < currentTOTAL_HEAP_SIZE ) &&
( ( xNextFreeByte + xWantedSize ) > xNextFreeByte ) )/* Check for overflow. */
{
/* Return the next free byte then increment the index past this
block. */
pvReturn = &( xHeap.ucHeap[ xNextFreeByte ] );
xNextFreeByte += xWantedSize;
}
}
xTaskResumeAll();
#if( configUSE_MALLOC_FAILED_HOOK == 1 )
{
if( pvReturn == NULL )
{
extern void vApplicationMallocFailedHook( void );
vApplicationMallocFailedHook();
}
}
#endif
return pvReturn;
}
/*-----------------------------------------------------------*/
void vPortFree( void *pv )
{
/* Memory cannot be freed using this scheme. See heap_2.c and heap_3.c
for alternative implementations, and the memory management pages of
http://www.FreeRTOS.org for more information. */
( void ) pv;
}
/*-----------------------------------------------------------*/
void vPortInitialiseBlocks( void )
{
/* Only required when static memory is not cleared. */
xNextFreeByte = ( size_t ) 0;
}
/*-----------------------------------------------------------*/
size_t xPortGetFreeHeapSize( void )
{
return ( currentTOTAL_HEAP_SIZE - xNextFreeByte );
}
/*-----------------------------------------------------------*/
void xPortIncreaseHeapSize( size_t bytes )
{
vTaskSuspendAll();
currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE + bytes;
xTaskResumeAll();
}
/*-----------------------------------------------------------*/

2
flight/targets/OSD/System/inc/FreeRTOSConfig.h
View File

@ -50,7 +50,7 @@
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
//#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */

2
flight/targets/RevoMini/System/inc/FreeRTOSConfig.h
View File

@ -50,7 +50,7 @@
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
//#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */

2
flight/targets/Revolution/System/inc/FreeRTOSConfig.h
View File

@ -50,7 +50,7 @@
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
//#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */