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Code Issues Releases Activity

PiOS.win32: changes according to rev 2480, fix compile error in manualcontrol.c, add vTaskDelete() to win32 FreeRTOS.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2484 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
cwabbott 2011-01-19 23:52:11 +00:00 committed by cwabbott
parent 4f5bfead3b
commit e73da04cc6
5 changed files with 69 additions and 38 deletions
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36
flight/Modules/ManualControl/manualcontrol.c
View File

@ -73,39 +73,39 @@ static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutr
static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time); static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time);
#define assumptions1 ( \ #define assumptions1 ( \
(MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_NONE == MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE) && \ ((int)MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_NONE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE) && \
(MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_RATE == MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE) && \ ((int)MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_RATE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE) && \
(MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_ATTITUDE == MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE) \ ((int)MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_ATTITUDE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE) \
) )
#define assumptions2 ( \ #define assumptions2 ( \
(MANUALCONTROLSETTINGS_POS1FLIGHTMODE_MANUAL == MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL) && \ ((int)MANUALCONTROLSETTINGS_POS1FLIGHTMODE_MANUAL == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL) && \
(MANUALCONTROLSETTINGS_POS1FLIGHTMODE_STABILIZED == MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED) && \ ((int)MANUALCONTROLSETTINGS_POS1FLIGHTMODE_STABILIZED == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED) && \
(MANUALCONTROLSETTINGS_POS1FLIGHTMODE_AUTO == MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO) \ ((int)MANUALCONTROLSETTINGS_POS1FLIGHTMODE_AUTO == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO) \
) )
#define assumptions3 ( \ #define assumptions3 ( \
(MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_NONE == MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE) && \ ((int)MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_NONE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE) && \
(MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_RATE == MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE) && \ ((int)MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_RATE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE) && \
(MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_ATTITUDE == MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE) \ ((int)MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_ATTITUDE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE) \
) )
#define assumptions4 ( \ #define assumptions4 ( \
(MANUALCONTROLSETTINGS_POS2FLIGHTMODE_MANUAL == MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL) && \ ((int)MANUALCONTROLSETTINGS_POS2FLIGHTMODE_MANUAL == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL) && \
(MANUALCONTROLSETTINGS_POS2FLIGHTMODE_STABILIZED == MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED) && \ ((int)MANUALCONTROLSETTINGS_POS2FLIGHTMODE_STABILIZED == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED) && \
(MANUALCONTROLSETTINGS_POS2FLIGHTMODE_AUTO == MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO) \ ((int)MANUALCONTROLSETTINGS_POS2FLIGHTMODE_AUTO == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO) \
) )
#define assumptions5 ( \ #define assumptions5 ( \
(MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_NONE == MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE) && \ ((int)MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_NONE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE) && \
(MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_RATE == MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE) && \ ((int)MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_RATE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE) && \
(MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_ATTITUDE == MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE) \ ((int)MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_ATTITUDE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE) \
) )
#define assumptions6 ( \ #define assumptions6 ( \
(MANUALCONTROLSETTINGS_POS3FLIGHTMODE_MANUAL == MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL) && \ ((int)MANUALCONTROLSETTINGS_POS3FLIGHTMODE_MANUAL == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL) && \
(MANUALCONTROLSETTINGS_POS3FLIGHTMODE_STABILIZED == MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED) && \ ((int)MANUALCONTROLSETTINGS_POS3FLIGHTMODE_STABILIZED == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED) && \
(MANUALCONTROLSETTINGS_POS3FLIGHTMODE_AUTO == MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO) \ ((int)MANUALCONTROLSETTINGS_POS3FLIGHTMODE_AUTO == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO) \
) )

33
flight/OpenPilot/Makefile.win32
View File

@ -53,7 +53,7 @@ FLASH_TOOL = OPENOCD
USE_THUMB_MODE = YES USE_THUMB_MODE = YES
# List of modules to include # List of modules to include
MODULES = Telemetry Actuator Stabilization Guidance ManualControl# FlightPlan MODULES = Telemetry Actuator Stabilization Guidance ManualControl FlightPlan
#MODULES = Telemetry GPS ManualControl Actuator Altitude Attitude Stabilization #MODULES = Telemetry GPS ManualControl Actuator Altitude Attitude Stabilization
#MODULES = Telemetry Example #MODULES = Telemetry Example
#MODULES = Telemetry MK/MKSerial #MODULES = Telemetry MK/MKSerial
@ -206,12 +206,12 @@ SRC += $(RTOSSRCDIR)/portable/GCC/Win32/port.c
SRC += $(RTOSSRCDIR)/portable/MemMang/heap_3.c SRC += $(RTOSSRCDIR)/portable/MemMang/heap_3.c
## PyMite files ## PyMite files
#SRC += $(wildcard ${PYMITEVM}/*.c) SRC += $(wildcard ${PYMITEVM}/*.c)
#SRC += $(wildcard ${PYMITEPLAT}/*.c) SRC += $(wildcard ${PYMITEPLAT}/*.c)
#SRC += $(OUTDIR)/pmlib_img.c SRC += $(OUTDIR)/pmlib_img.c
#SRC += $(OUTDIR)/pmlib_nat.c SRC += $(OUTDIR)/pmlib_nat.c
#SRC += $(OUTDIR)/pmlibusr_img.c SRC += $(OUTDIR)/pmlibusr_img.c
#SRC += $(OUTDIR)/pmlibusr_nat.c SRC += $(OUTDIR)/pmlibusr_nat.c
@ -434,7 +434,7 @@ exe: $(OUTDIR)/$(TARGET).exe
#all: begin gccversion sizebefore build sizeafter finished end #all: begin gccversion sizebefore build sizeafter finished end
#all: begin gccversion build sizeafter finished end #all: begin gccversion build sizeafter finished end
#all: elf #all: elf
all: exe all: gencode exe
ifeq ($(LOADFORMAT),ihex) ifeq ($(LOADFORMAT),ihex)
build: elf hex lss sym build: elf hex lss sym
@ -458,6 +458,9 @@ else
quote = quote =
endif endif
# Generate intermediate code
gencode: ${OUTDIR}/InitMods.c $(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h
${OUTDIR}/InitMods.c: Makefile.win32 ${OUTDIR}/InitMods.c: Makefile.win32
@echo ${MSG_MODINIT} @echo ${MSG_MODINIT}
@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c @echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
@ -466,12 +469,12 @@ ${OUTDIR}/InitMods.c: Makefile.win32
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c @echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c @echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# Generate code for PyMite #Generate code for PyMite
#$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h $(OPMODULEDIR)/FlightPlan/flightplan.c: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py) $(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h $(OPMODULEDIR)/FlightPlan/flightplan.c: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py)
# @echo ${MSG_PYMITEINIT} @echo ${MSG_PYMITEINIT}
# @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py) @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
# @$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h @$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
# @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
# Eye candy. # Eye candy.
begin: begin:
@ -664,6 +667,6 @@ endif
# Listing of phony targets. # Listing of phony targets.
.PHONY : all begin finish end sizebefore sizeafter gccversion \ .PHONY : all begin gencode finish end sizebefore sizeafter gccversion \
build exe elf hex bin lss sym clean clean_list program build exe elf hex bin lss sym clean clean_list program

2
flight/PiOS.win32/inc/FreeRTOSConfig.h
View File

@ -48,7 +48,7 @@ to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1 #define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1 #define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 0 #define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 0 #define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 1 #define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1 #define INCLUDE_vTaskDelayUntil 1

30
flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/port.c
View File

@ -196,13 +196,16 @@ static volatile portSTACK_TYPE dwEnabledIsr = NMI; // mask of enabled ISRs (indi
static HANDLE hTickAck; // acknolwledge tick interrupt static HANDLE hTickAck; // acknolwledge tick interrupt
static HANDLE hTermAck; // acknowledge termination static HANDLE hTermAck; // acknowledge termination
volatile SSIM_T *taskToDelete;
BOOL bIsWow64; BOOL bIsWow64;
BOOL bUsingMMCSS; BOOL bUsingMMCSS;
static enum static enum
{ {
SWI_ID_YIELD, SWI_ID_YIELD,
SWI_ID_TERMINATE SWI_ID_TERMINATE,
SWI_ID_ENDTASK
} }
ESWI_ID; ESWI_ID;
@ -638,7 +641,7 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
portBASE_TYPE xPortStartScheduler( void ) portBASE_TYPE xPortStartScheduler( void )
{ {
BOOL bSwitch; BOOL bSwitch, bTaskDelete;
SSIM_T *psSim; SSIM_T *psSim;
DWORD dwIntr; DWORD dwIntr;
int i, iIsrCount; int i, iIsrCount;
@ -675,6 +678,7 @@ portBASE_TYPE xPortStartScheduler( void )
bSwitch = (dwIntr != 0); // switch only for a real interrupt bSwitch = (dwIntr != 0); // switch only for a real interrupt
iIsrCount = 0; // no suspensions after handling first int iIsrCount = 0; // no suspensions after handling first int
bTaskDelete = FALSE;
for(i=0; dwIntr && i<CPU_INTR_COUNT; i++) for(i=0; dwIntr && i<CPU_INTR_COUNT; i++)
{ {
@ -693,6 +697,11 @@ portBASE_TYPE xPortStartScheduler( void )
ReleaseMutex(hIsrMutex); ReleaseMutex(hIsrMutex);
return 0; return 0;
} }
else if(ESWI_ID == SWI_ID_ENDTASK)
{
TerminateThread(taskToDelete->hThread, 0);
CloseHandle(taskToDelete->hSemaphore);
}
psSim->yielded = TRUE; psSim->yielded = TRUE;
iIsrCount++; iIsrCount++;
@ -805,6 +814,23 @@ void __swi(void)
} }
} }
void __delete_task(void *tcb)
{
taskToDelete = *((SSIM_T **)tcb);
if(hIsrDispatcher)
{
WaitForSingleObject(hIsrMutex, INFINITE);
dwPendingIsr |= (1<<CPU_INTR_SWI);
ESWI_ID = SWI_ID_ENDTASK;
SetEvent(hIsrInvoke);
ReleaseMutex(hIsrMutex);
if(pxCurrentTCB == tcb)
Sleep(100000); //This task is suicidal, wait until it dies
}
}
void __generate_interrupt(int iNo) void __generate_interrupt(int iNo)
{ {
if(hIsrDispatcher) if(hIsrDispatcher)

6
flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/portmacro.h
View File

@ -126,8 +126,7 @@ extern void vTaskSwitchContext( void ); \
#define portOUTPUT_BYTE( a, b ) #define portOUTPUT_BYTE( a, b )
extern void vPortForciblyEndThread( void *pxTaskToDelete ); #define traceTASK_DELETE( pxTaskToDelete ) __delete_task( pxTaskToDelete )
#define traceTASK_DELETE( pxTaskToDelete ) vPortForciblyEndThread( pxTaskToDelete )
#define traceTASK_CREATE( pxNewTCB ) #define traceTASK_CREATE( pxNewTCB )
@ -158,6 +157,9 @@ void __enable_interrupt(void);
/* generate software interrupt - non - maskable */ /* generate software interrupt - non - maskable */
void __swi(void); void __swi(void);
/* generate an interrupt which causes the scheduler to delete the task */
void __delete_task(void *tcb);
/* To be used by interrupt generation threads. e.g. Create a thread that /* To be used by interrupt generation threads. e.g. Create a thread that
monitors console events and generate an interrupt whenever a key is pressed. monitors console events and generate an interrupt whenever a key is pressed.
See also implimentation of tick_generator. See also implimentation of tick_generator.