mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-01 09:24:10 +01:00
e2176d3117
- created temporary branch of OpenPilot (OpenPilot.posix) in order to test multi platform changes on hardware before committing to the main branch git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@995 ebee16cc-31ac-478f-84a7-5cbb03baadba
192 lines
8.3 KiB
C
192 lines
8.3 KiB
C
/*
|
|
FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd.
|
|
|
|
***************************************************************************
|
|
* *
|
|
* If you are: *
|
|
* *
|
|
* + New to FreeRTOS, *
|
|
* + Wanting to learn FreeRTOS or multitasking in general quickly *
|
|
* + Looking for basic training, *
|
|
* + Wanting to improve your FreeRTOS skills and productivity *
|
|
* *
|
|
* then take a look at the FreeRTOS eBook *
|
|
* *
|
|
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
|
|
* http://www.FreeRTOS.org/Documentation *
|
|
* *
|
|
* A pdf reference manual is also available. Both are usually delivered *
|
|
* to your inbox within 20 minutes to two hours when purchased between 8am *
|
|
* and 8pm GMT (although please allow up to 24 hours in case of *
|
|
* exceptional circumstances). Thank you for your support! *
|
|
* *
|
|
***************************************************************************
|
|
|
|
This file is part of the FreeRTOS distribution.
|
|
|
|
FreeRTOS is free software; you can redistribute it and/or modify it under
|
|
the terms of the GNU General Public License (version 2) as published by the
|
|
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
|
***NOTE*** The exception to the GPL is included to allow you to distribute
|
|
a combined work that includes FreeRTOS without being obliged to provide the
|
|
source code for proprietary components outside of the FreeRTOS kernel.
|
|
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
|
|
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
|
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
|
|
more details. You should have received a copy of the GNU General Public
|
|
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
|
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
|
by writing to Richard Barry, contact details for whom are available on the
|
|
FreeRTOS WEB site.
|
|
|
|
1 tab == 4 spaces!
|
|
|
|
http://www.FreeRTOS.org - Documentation, latest information, license and
|
|
contact details.
|
|
|
|
http://www.SafeRTOS.com - A version that is certified for use in safety
|
|
critical systems.
|
|
|
|
http://www.OpenRTOS.com - Commercial support, development, porting,
|
|
licensing and training services.
|
|
*/
|
|
|
|
|
|
#include <stdlib.h>
|
|
#include "FreeRTOS.h"
|
|
#include "list.h"
|
|
|
|
/*-----------------------------------------------------------
|
|
* PUBLIC LIST API documented in list.h
|
|
*----------------------------------------------------------*/
|
|
|
|
void vListInitialise( xList *pxList )
|
|
{
|
|
/* The list structure contains a list item which is used to mark the
|
|
end of the list. To initialise the list the list end is inserted
|
|
as the only list entry. */
|
|
pxList->pxIndex = ( xListItem * ) &( pxList->xListEnd );
|
|
|
|
/* The list end value is the highest possible value in the list to
|
|
ensure it remains at the end of the list. */
|
|
pxList->xListEnd.xItemValue = portMAX_DELAY;
|
|
|
|
/* The list end next and previous pointers point to itself so we know
|
|
when the list is empty. */
|
|
pxList->xListEnd.pxNext = ( xListItem * ) &( pxList->xListEnd );
|
|
pxList->xListEnd.pxPrevious = ( xListItem * ) &( pxList->xListEnd );
|
|
|
|
pxList->uxNumberOfItems = 0;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vListInitialiseItem( xListItem *pxItem )
|
|
{
|
|
/* Make sure the list item is not recorded as being on a list. */
|
|
pxItem->pvContainer = NULL;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vListInsertEnd( xList *pxList, xListItem *pxNewListItem )
|
|
{
|
|
volatile xListItem * pxIndex;
|
|
|
|
/* Insert a new list item into pxList, but rather than sort the list,
|
|
makes the new list item the last item to be removed by a call to
|
|
pvListGetOwnerOfNextEntry. This means it has to be the item pointed to by
|
|
the pxIndex member. */
|
|
pxIndex = pxList->pxIndex;
|
|
|
|
pxNewListItem->pxNext = pxIndex->pxNext;
|
|
pxNewListItem->pxPrevious = pxList->pxIndex;
|
|
pxIndex->pxNext->pxPrevious = ( volatile xListItem * ) pxNewListItem;
|
|
pxIndex->pxNext = ( volatile xListItem * ) pxNewListItem;
|
|
pxList->pxIndex = ( volatile xListItem * ) pxNewListItem;
|
|
|
|
/* Remember which list the item is in. */
|
|
pxNewListItem->pvContainer = ( void * ) pxList;
|
|
|
|
( pxList->uxNumberOfItems )++;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vListInsert( xList *pxList, xListItem *pxNewListItem )
|
|
{
|
|
volatile xListItem *pxIterator;
|
|
portTickType xValueOfInsertion;
|
|
|
|
/* Insert the new list item into the list, sorted in ulListItem order. */
|
|
xValueOfInsertion = pxNewListItem->xItemValue;
|
|
|
|
/* If the list already contains a list item with the same item value then
|
|
the new list item should be placed after it. This ensures that TCB's which
|
|
are stored in ready lists (all of which have the same ulListItem value)
|
|
get an equal share of the CPU. However, if the xItemValue is the same as
|
|
the back marker the iteration loop below will not end. This means we need
|
|
to guard against this by checking the value first and modifying the
|
|
algorithm slightly if necessary. */
|
|
if( xValueOfInsertion == portMAX_DELAY )
|
|
{
|
|
pxIterator = pxList->xListEnd.pxPrevious;
|
|
}
|
|
else
|
|
{
|
|
/* *** NOTE ***********************************************************
|
|
If you find your application is crashing here then likely causes are:
|
|
1) Stack overflow -
|
|
see http://www.freertos.org/Stacks-and-stack-overflow-checking.html
|
|
2) Incorrect interrupt priority assignment, especially on Cortex M3
|
|
parts where numerically high priority values denote low actual
|
|
interrupt priories, which can seem counter intuitive. See
|
|
configMAX_SYSCALL_INTERRUPT_PRIORITY on http://www.freertos.org/a00110.html
|
|
3) Calling an API function from within a critical section or when
|
|
the scheduler is suspended.
|
|
4) Using a queue or semaphore before it has been initialised or
|
|
before the scheduler has been started (are interrupts firing
|
|
before vTaskStartScheduler() has been called?).
|
|
See http://www.freertos.org/FAQHelp.html for more tips.
|
|
**********************************************************************/
|
|
|
|
for( pxIterator = ( xListItem * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext )
|
|
{
|
|
/* There is nothing to do here, we are just iterating to the
|
|
wanted insertion position. */
|
|
}
|
|
}
|
|
|
|
pxNewListItem->pxNext = pxIterator->pxNext;
|
|
pxNewListItem->pxNext->pxPrevious = ( volatile xListItem * ) pxNewListItem;
|
|
pxNewListItem->pxPrevious = pxIterator;
|
|
pxIterator->pxNext = ( volatile xListItem * ) pxNewListItem;
|
|
|
|
/* Remember which list the item is in. This allows fast removal of the
|
|
item later. */
|
|
pxNewListItem->pvContainer = ( void * ) pxList;
|
|
|
|
( pxList->uxNumberOfItems )++;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vListRemove( xListItem *pxItemToRemove )
|
|
{
|
|
xList * pxList;
|
|
|
|
pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious;
|
|
pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext;
|
|
|
|
/* The list item knows which list it is in. Obtain the list from the list
|
|
item. */
|
|
pxList = ( xList * ) pxItemToRemove->pvContainer;
|
|
|
|
/* Make sure the index is left pointing to a valid item. */
|
|
if( pxList->pxIndex == pxItemToRemove )
|
|
{
|
|
pxList->pxIndex = pxItemToRemove->pxPrevious;
|
|
}
|
|
|
|
pxItemToRemove->pvContainer = NULL;
|
|
( pxList->uxNumberOfItems )--;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|