parent
ae6f8dcb7d
commit
d2e9b4a0b7
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@ -125,3 +125,6 @@ Module.symvers
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Mkfile.old
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dkms.conf
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obj/
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FreeRTOS-Demo
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@ -0,0 +1,127 @@
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# ######## Build options ########
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verbose = 0
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######## Build setup ########
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# SRCROOT should always be the current directory
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SRCROOT = $(CURDIR)
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# .o directory
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ODIR = obj
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# Source VPATHS
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VPATH += $(SRCROOT)/Source
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VPATH += $(SRCROOT)/Source/portable/MemMang
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VPATH += $(SRCROOT)/Source/portable/GCC/POSIX
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VPATH += $(SRCROOT)/Project/FileIO
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VPATH += $(SRCROOT)/Project
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# FreeRTOS Objects
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C_FILES += croutine.c
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C_FILES += event_groups.c
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C_FILES += list.c
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C_FILES += queue.c
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C_FILES += tasks.c
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C_FILES += timers.c
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# portable Objects
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C_FILES += heap_3.c
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C_FILES += port.c
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# Main Object
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C_FILES += demo.c
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C_FILES += nodes.c
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# Include Paths
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INCLUDES += -I$(SRCROOT)/Source/include
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INCLUDES += -I$(SRCROOT)/Source/portable/GCC/POSIX/
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INCLUDES += -I$(SRCROOT)/Project
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# Generate OBJS names
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OBJS = $(patsubst %.c,%.o,$(C_FILES))
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######## C Flags ########
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# Warnings
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CWARNS += -W
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CWARNS += -Wall
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CWARNS += -Werror
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CWARNS += -Wextra
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CWARNS += -Wformat
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CWARNS += -Wmissing-braces
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CWARNS += -Wno-cast-align
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CWARNS += -Wparentheses
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CWARNS += -Wshadow
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CWARNS += -Wno-sign-compare
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CWARNS += -Wswitch
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CWARNS += -Wuninitialized
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CWARNS += -Wunknown-pragmas
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CWARNS += -Wunused-function
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CWARNS += -Wunused-label
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CWARNS += -Wunused-parameter
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CWARNS += -Wunused-value
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CWARNS += -Wunused-variable
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#CWARNS += -Wmissing-prototypes
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#CWARNS += -Wno-unused-function
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CFLAGS += -m32
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CFLAGS += -DDEBUG=1
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#CFLAGS += -g -DUSE_STDIO=1 -D__GCC_POSIX__=1
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CFLAGS += -g -UUSE_STDIO -D__GCC_POSIX__=1
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ifneq ($(shell uname), Darwin)
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CFLAGS += -pthread
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endif
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# MAX_NUMBER_OF_TASKS = max pthreads used in the POSIX port.
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# Default value is 64 (_POSIX_THREAD_THREADS_MAX), the minimum number required by POSIX.
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CFLAGS += -DMAX_NUMBER_OF_TASKS=300
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CFLAGS += $(INCLUDES) $(CWARNS) -O2
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######## Makefile targets ########
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# Rules
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.PHONY : all
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all: setup FreeRTOS-Demo
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.PHONY : setup
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setup:
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# Make obj directory
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@mkdir -p $(ODIR)
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# Fix to place .o files in ODIR
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_OBJS = $(patsubst %,$(ODIR)/%,$(OBJS))
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$(ODIR)/%.o: %.c
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# If verbose, print gcc execution, else hide
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ifeq ($(verbose),1)
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@echo ">> Compiling $<"
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$(CC) $(CFLAGS) -c -o $@ $<
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else
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@echo ">> Compiling $(notdir $<)"
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@$(CC) $(CFLAGS) -c -o $@ $<
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endif
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FreeRTOS-Demo: $(_OBJS)
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@echo ">> Linking $@..."
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ifeq ($(verbose),1)
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$(CC) $(CFLAGS) $^ $(LINKFLAGS) $(LIBS) -o $@
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else
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@$(CC) $(CFLAGS) $^ $(LINKFLAGS) $(LIBS) -o $@
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endif
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@echo "-------------------------"
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@echo "BUILD COMPLETE: $@"
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@echo "-------------------------"
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.PHONY : clean
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clean:
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@-rm -rf $(ODIR) FreeRTOS-Demo
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@echo "--------------"
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@echo "CLEAN COMPLETE"
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@echo "--------------"
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@ -0,0 +1,70 @@
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#ifndef FREERTOS_CONFIG_H
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#define FREERTOS_CONFIG_H
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/*-----------------------------------------------------------
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* Application specific definitions.
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*
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* These definitions should be adjusted for your particular hardware and
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* application requirements.
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*
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* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
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* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
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*
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* See http://www.freertos.org/a00110.html.
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*----------------------------------------------------------*/
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#define configUSE_PREEMPTION 1
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#define configUSE_IDLE_HOOK 0
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#define configUSE_TICK_HOOK 1
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#define configTICK_RATE_HZ ( ( portTickType ) 1000 )
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#define configMINIMAL_STACK_SIZE ( ( unsigned portSHORT ) 64 ) /* 64words x 4byte = 256byte */
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#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 64 * 1024) ) /* 65536words x 4byte = 256Kbyte */
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#define configMAX_TASK_NAME_LEN ( 16 )
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#define configUSE_TRACE_FACILITY 0
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#define configUSE_16_BIT_TICKS 0
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#define configIDLE_SHOULD_YIELD 1
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#define configUSE_MUTEXES 1
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#define configCHECK_FOR_STACK_OVERFLOW 0 /* Do not use this option on the PC port. */
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#define configUSE_RECURSIVE_MUTEXES 1
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#define configQUEUE_REGISTRY_SIZE 20
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#define configUSE_MALLOC_FAILED_HOOK 1
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#define configUSE_APPLICATION_TASK_TAG 1
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#define configUSE_COUNTING_SEMAPHORES 1
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#define configUSE_ALTERNATIVE_API 0
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//#define configMAX_SYSCALL_INTERRUPT_PRIORITY 1
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#define configUSE_QUEUE_SETS 1
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#define configUSE_TASK_NOTIFICATIONS 1
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/* Software timer related configuration options. */
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#define configUSE_TIMERS 1
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#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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#define configTIMER_QUEUE_LENGTH 20
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#define configTIMER_TASK_STACK_DEPTH ( configMINIMAL_STACK_SIZE * 2 )
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#define configMAX_PRIORITIES ( 10 )
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#define configGENERATE_RUN_TIME_STATS 1
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/* Set the following definitions to 1 to include the API function, or zero
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to exclude the API function. In most cases the linker will remove unused
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functions anyway. */
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#define INCLUDE_vTaskPrioritySet 1
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#define INCLUDE_uxTaskPriorityGet 1
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#define INCLUDE_vTaskDelete 1
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#define INCLUDE_vTaskSuspend 1
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#define INCLUDE_vTaskDelayUntil 1
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#define INCLUDE_vTaskDelay 1
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#define INCLUDE_uxTaskGetStackHighWaterMark 0 /* Do not use this option on the PC port. */
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#define INCLUDE_xTaskGetSchedulerState 1
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#define INCLUDE_xTimerGetTimerDaemonTaskHandle 1
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#define INCLUDE_xTaskGetIdleTaskHandle 1
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#define INCLUDE_pcTaskGetTaskName 1
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#define INCLUDE_eTaskGetState 1
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#define INCLUDE_xSemaphoreGetMutexHolder 1
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#define INCLUDE_xTimerPendFunctionCall 1
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#define INCLUDE_xTaskAbortDelay 1
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#define INCLUDE_xTaskGetHandle 1
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#endif /* FREERTOS_CONFIG_H */
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@ -0,0 +1,171 @@
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/*
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* This file is part of the distribution https://git.mosad.xyz/localhorst/ParallelTrafficRouter_FreeRTOS
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* Copyright (c) 2019 Hendrik Schutter.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, version 3.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include "FreeRTOS.h"
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#include "task.h"
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#include "semphr.h"
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#include "demo.h"
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#define SIMULATE_COST
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SemaphoreHandle_t xMutexData;
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void vApplicationMallocFailedHook( void );
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void vApplicationIdleHook( void );
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void vApplicationTickHook( void );
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void search(void* arguments);
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void show(void* arguments);
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int main()
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{
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printf("starting routing ...\n");
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xMutexData = xSemaphoreCreateMutex();
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THREAD_DATA_t* data;
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data = (THREAD_DATA_t*) pvPortMalloc(sizeof(THREAD_DATA_t));
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data->node = getStartNode();
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data->cost = 0;
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data->depth = 0;
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data->predecessors[0] = data->node->id;
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data->bestpath = (BESTPATH_t*) pvPortMalloc(sizeof(BESTPATH_t));
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data->bestpath->lowestCost = -1;
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data->bestpath->depth = 0;
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xTaskCreate(search, "startTask", configMINIMAL_STACK_SIZE, (void*) data, 1, 0);
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xTaskCreate(show, "showTask", configMINIMAL_STACK_SIZE, (void*) data, 0, 0);
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vTaskStartScheduler();
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return 0;
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}
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void search(void* arguments)
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{
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THREAD_DATA_t *data = (THREAD_DATA_t*) arguments;
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printf("Node: %i reached\n", data->node->id);
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#ifdef SIMULATE_COST
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vTaskDelay(((data->cost)*20)/ portTICK_PERIOD_MS); //receive data for route
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#endif
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if(data->node->id == 8) //end node reached
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{
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printf("Route found! Cost: %i\n", data->cost);
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xSemaphoreTake( xMutexData, ( TickType_t ) 1 );
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if((data->bestpath->lowestCost == -1) || (data->bestpath->lowestCost > data->cost))
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//first route found or better route found
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{
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data->bestpath->lowestCost = data->cost;
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data->bestpath->depth = data->depth;
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for(int j = 0; j < data->depth; j++)
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{
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data->bestpath->predecessorsBestPath[j] = data->predecessors[j];
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}
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data->bestpath->predecessorsBestPath[(data->bestpath->depth)] = data->node->id;
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}
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xSemaphoreGive( xMutexData );
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}
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else
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{
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//create new tasks
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for(int i = 0; i < data->node->nodescount; i++)
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{
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THREAD_DATA_t* nextdata;
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nextdata = (THREAD_DATA_t*) pvPortMalloc(sizeof(THREAD_DATA_t));
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//nextdata = (THREAD_DATA_t*) pvPortMalloc(1000000000);
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nextdata->node = (data->node->nodesnext[i]);
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nextdata->bestpath = data->bestpath;
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nextdata->cost = data->node->nodescost[i] + data->cost; //sum up cost
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nextdata->depth = data->depth + 1;
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for(int j = 0; j < data->depth; j++) {
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nextdata->predecessors[j] = data->predecessors[j];
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}
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nextdata->predecessors[((nextdata->depth) - 1)] = data->node->id;
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xTaskCreate(search, "searchTask", configMINIMAL_STACK_SIZE, (void*) nextdata, 2, 0);
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}
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}
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printf("Node: %i exit\n", data->node->id);
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vTaskDelete( NULL );
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}
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void show(void* arguments)
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{
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THREAD_DATA_t *data = (THREAD_DATA_t*) arguments;
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for(;;)
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{
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xSemaphoreTake( xMutexData, ( TickType_t ) 1 );
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if(data->bestpath->lowestCost > -1)
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{
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printf("\nBest route: %i", data->bestpath->predecessorsBestPath[0]);
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for(int i = 1; i <= data->bestpath->depth; i++) {
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printf(" --> %i", data->bestpath->predecessorsBestPath[i]);
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}
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printf("\nWith cost of: %i\n", data->bestpath->lowestCost);
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}
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xSemaphoreGive( xMutexData );
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vTaskDelay(1000 / portTICK_PERIOD_MS); //wait 1sec
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}
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vTaskDelete( NULL );
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}
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void vApplicationMallocFailedHook( void )
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{
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printf("Malloc failed\n");
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}
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void vApplicationIdleHook( void )
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{
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//printf("No tasks to do\n");
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}
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void vApplicationTickHook( void )
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{
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//printf("TickHook\n");
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}
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@ -0,0 +1,54 @@
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/*
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* This file is part of the distribution https://git.mosad.xyz/localhorst/ParallelTrafficRouter_FreeRTOS
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* Copyright (c) 2019 Hendrik Schutter.
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*
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* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, version 3.
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*
|
||||
* This program is distributed in the hope that it will be useful, but
|
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* 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
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef DEMO_H
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#define DEMO_H
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#define MAX_CHILDREN 3
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#define MAX_DEPTH 4
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typedef struct node NODE_t;
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typedef struct threadData THREAD_DATA_t;
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typedef struct bestPath BESTPATH_t;
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extern NODE_t* getStartNode();
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struct node {
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int id; //identifier for this node
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int nodescount; //how many children nodes
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NODE_t* nodesnext[MAX_CHILDREN]; //array of children nodes
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int nodescost[MAX_CHILDREN]; //array of cost per children node
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};
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struct threadData {
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int depth; //depth of the next node, e.g. start --> 0
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NODE_t* node; //next node to go
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int cost; //cost for the next node
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int predecessors[MAX_DEPTH]; // array with all predecessor
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BESTPATH_t* bestpath;
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};
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struct bestPath {
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int lowestCost;
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int predecessorsBestPath[MAX_DEPTH]; // array with all predecessor of the best path
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int depth; //depth of the best path, aka. how many nodes
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};
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#endif /* DEMO_H */
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@ -0,0 +1,92 @@
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/*
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* This file is part of the distribution https://git.mosad.xyz/localhorst/ParallelTrafficRouter_FreeRTOS
|
||||
* Copyright (c) 2019 Hendrik Schutter.
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||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, version 3.
|
||||
*
|
||||
* This program 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
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdlib.h>
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#include "demo.h"
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#include "FreeRTOS.h"
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NODE_t* getStartNode();
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NODE_t* getStartNode() {
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static NODE_t* start;
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static NODE_t* g;
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static NODE_t* f;
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static NODE_t* e;
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static NODE_t* d;
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static NODE_t* c;
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static NODE_t* b;
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static NODE_t* a;
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static NODE_t* end;
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start = (NODE_t*) pvPortMalloc(sizeof(NODE_t));
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a = (NODE_t*) pvPortMalloc(sizeof(NODE_t));
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b = (NODE_t*) pvPortMalloc(sizeof(NODE_t));
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c = (NODE_t*) pvPortMalloc(sizeof(NODE_t));
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d = (NODE_t*) pvPortMalloc(sizeof(NODE_t));
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e = (NODE_t*) pvPortMalloc(sizeof(NODE_t));
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f = (NODE_t*) pvPortMalloc(sizeof(NODE_t));
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g = (NODE_t*) pvPortMalloc(sizeof(NODE_t));
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end = (NODE_t*) pvPortMalloc(sizeof(NODE_t));
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end->id = 8;
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end->nodescount = 0;
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g->id = 7;
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g->nodescount = 0;
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f->id = 6;
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f->nodescount = 1;
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f->nodesnext[0] = end;
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f->nodescost[0] = 7;
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e->id = 5;
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e->nodescount = 0;
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d->id = 4;
|
||||
d->nodescount = 0;
|
||||
|
||||
c->id = 3;
|
||||
c->nodescount = 1;
|
||||
c->nodesnext[0] = end;
|
||||
c->nodescost[0] = 3;
|
||||
|
||||
b->id = 2;
|
||||
b->nodescount = 3;
|
||||
b->nodesnext[0] = e;
|
||||
b->nodescost[0] = 11;
|
||||
b->nodesnext[1] = f;
|
||||
b->nodescost[1] = 42;
|
||||
b->nodesnext[2] = g;
|
||||
b->nodescost[2] = 8;
|
||||
|
||||
a->id = 1;
|
||||
a->nodescount = 2;
|
||||
a->nodesnext[0] = c;
|
||||
a->nodescost[0] = 15;
|
||||
a->nodesnext[1] = d;
|
||||
a->nodescost[1] = 27;
|
||||
|
||||
start->id = 0;
|
||||
start->nodescount = 2;
|
||||
start->nodesnext[0] = a;
|
||||
start->nodescost[0] = 72;
|
||||
start->nodesnext[1] = b;
|
||||
start->nodescost[1] = 32;
|
||||
|
||||
return start;
|
||||
}
|
31
README.md
31
README.md
|
@ -1,3 +1,34 @@
|
|||
# ParallelTrafficRouter_FreeRTOS
|
||||
|
||||
Example of a parallel algorithm in a FreeRTOS simulation
|
||||
|
||||
##Build requirements
|
||||
|
||||
###openSuse Tumbleweed
|
||||
|
||||
zypper install git make gcc-32bit
|
||||
|
||||
###Ubuntu 18.04
|
||||
|
||||
apt-get install git make gcc gcc-multilib g++-multilib
|
||||
|
||||
###Microsoft Windows
|
||||
|
||||
[FreeRTOS site for the Windows port](https://www.freertos.org/FreeRTOS-Windows-Simulator-Emulator-for-Visual-Studio-and-Eclipse-MingW.html)
|
||||
|
||||
##Build
|
||||
|
||||
* git clone https://git.mosad.xyz/localhorst/ParallelTrafficRouter_FreeRTOS.git
|
||||
* cd ParallelTrafficRouter_FreeRTOS
|
||||
* make
|
||||
|
||||
##Execute
|
||||
* ./FreeRTOS-Demo
|
||||
|
||||
### Using freeRTOS simulator fork from [https://github.com/Muriukidavid/FreeRTOS-Sim](https://github.com/Muriukidavid/FreeRTOS-Sim)
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
|
@ -0,0 +1,395 @@
|
|||
/*
|
||||
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
|
||||
All rights reserved
|
||||
|
||||
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||
|
||||
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. Full license text is available on the following
|
||||
link: http://www.freertos.org/a00114.html
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS provides completely free yet professionally developed, *
|
||||
* robust, strictly quality controlled, supported, and cross *
|
||||
* platform software that is more than just the market leader, it *
|
||||
* is the industry's de facto standard. *
|
||||
* *
|
||||
* Help yourself get started quickly while simultaneously helping *
|
||||
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
||||
* tutorial book, reference manual, or both: *
|
||||
* http://www.FreeRTOS.org/Documentation *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
||||
the FAQ page "My application does not run, what could be wrong?". Have you
|
||||
defined configASSERT()?
|
||||
|
||||
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||
embedded software for free we request you assist our global community by
|
||||
participating in the support forum.
|
||||
|
||||
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||
be as productive as possible as early as possible. Now you can receive
|
||||
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||
|
||||
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||
licenses offer ticketed support, indemnification and commercial middleware.
|
||||
|
||||
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.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "croutine.h"
|
||||
|
||||
/* Remove the whole file is co-routines are not being used. */
|
||||
#if( configUSE_CO_ROUTINES != 0 )
|
||||
|
||||
/*
|
||||
* 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 List_t pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ]; /*< Prioritised ready co-routines. */
|
||||
static List_t xDelayedCoRoutineList1; /*< Delayed co-routines. */
|
||||
static List_t xDelayedCoRoutineList2; /*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */
|
||||
static List_t * pxDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used. */
|
||||
static List_t * pxOverflowDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */
|
||||
static List_t 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. --------------------------------*/
|
||||
CRCB_t * pxCurrentCoRoutine = NULL;
|
||||
static UBaseType_t uxTopCoRoutineReadyPriority = 0;
|
||||
static TickType_t 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( ( List_t * ) &( 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 );
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPriority, UBaseType_t uxIndex )
|
||||
{
|
||||
BaseType_t xReturn;
|
||||
CRCB_t *pxCoRoutine;
|
||||
|
||||
/* Allocate the memory that will store the co-routine control block. */
|
||||
pxCoRoutine = ( CRCB_t * ) pvPortMalloc( sizeof( CRCB_t ) );
|
||||
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 ListItem_t.
|
||||
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 ), ( ( TickType_t ) configMAX_CO_ROUTINE_PRIORITIES - ( TickType_t ) 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( TickType_t xTicksToDelay, List_t *pxEventList )
|
||||
{
|
||||
TickType_t 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. */
|
||||
( void ) uxListRemove( ( ListItem_t * ) &( 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( ( List_t * ) pxOverflowDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
|
||||
}
|
||||
else
|
||||
{
|
||||
/* The wake time has not overflowed, so we can use the
|
||||
current block list. */
|
||||
vListInsert( ( List_t * ) pxDelayedCoRoutineList, ( ListItem_t * ) &( 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 )
|
||||
{
|
||||
CRCB_t *pxUnblockedCRCB;
|
||||
|
||||
/* The pending ready list can be accessed by an ISR. */
|
||||
portDISABLE_INTERRUPTS();
|
||||
{
|
||||
pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyCoRoutineList) );
|
||||
( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
|
||||
}
|
||||
portENABLE_INTERRUPTS();
|
||||
|
||||
( void ) uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) );
|
||||
prvAddCoRoutineToReadyQueue( pxUnblockedCRCB );
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvCheckDelayedList( void )
|
||||
{
|
||||
CRCB_t *pxCRCB;
|
||||
|
||||
xPassedTicks = xTaskGetTickCount() - xLastTickCount;
|
||||
while( xPassedTicks )
|
||||
{
|
||||
xCoRoutineTickCount++;
|
||||
xPassedTicks--;
|
||||
|
||||
/* If the tick count has overflowed we need to swap the ready lists. */
|
||||
if( xCoRoutineTickCount == 0 )
|
||||
{
|
||||
List_t * 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 = ( CRCB_t * ) 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. */
|
||||
( void ) uxListRemove( &( pxCRCB->xGenericListItem ) );
|
||||
|
||||
/* Is the co-routine waiting on an event also? */
|
||||
if( pxCRCB->xEventListItem.pvContainer )
|
||||
{
|
||||
( void ) 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 )
|
||||
{
|
||||
UBaseType_t uxPriority;
|
||||
|
||||
for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ )
|
||||
{
|
||||
vListInitialise( ( List_t * ) &( pxReadyCoRoutineLists[ uxPriority ] ) );
|
||||
}
|
||||
|
||||
vListInitialise( ( List_t * ) &xDelayedCoRoutineList1 );
|
||||
vListInitialise( ( List_t * ) &xDelayedCoRoutineList2 );
|
||||
vListInitialise( ( List_t * ) &xPendingReadyCoRoutineList );
|
||||
|
||||
/* Start with pxDelayedCoRoutineList using list1 and the
|
||||
pxOverflowDelayedCoRoutineList using list2. */
|
||||
pxDelayedCoRoutineList = &xDelayedCoRoutineList1;
|
||||
pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
BaseType_t xCoRoutineRemoveFromEventList( const List_t *pxEventList )
|
||||
{
|
||||
CRCB_t *pxUnblockedCRCB;
|
||||
BaseType_t 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 = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
|
||||
( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
|
||||
vListInsertEnd( ( List_t * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) );
|
||||
|
||||
if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority )
|
||||
{
|
||||
xReturn = pdTRUE;
|
||||
}
|
||||
else
|
||||
{
|
||||
xReturn = pdFALSE;
|
||||
}
|
||||
|
||||
return xReturn;
|
||||
}
|
||||
|
||||
#endif /* configUSE_CO_ROUTINES == 0 */
|
||||
|
|
@ -0,0 +1,752 @@
|
|||
/*
|
||||
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
|
||||
All rights reserved
|
||||
|
||||
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||
|
||||
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. Full license text is available on the following
|
||||
link: http://www.freertos.org/a00114.html
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS provides completely free yet professionally developed, *
|
||||
* robust, strictly quality controlled, supported, and cross *
|
||||
* platform software that is more than just the market leader, it *
|
||||
* is the industry's de facto standard. *
|
||||
* *
|
||||
* Help yourself get started quickly while simultaneously helping *
|
||||
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
||||
* tutorial book, reference manual, or both: *
|
||||
* http://www.FreeRTOS.org/Documentation *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
||||
the FAQ page "My application does not run, what could be wrong?". Have you
|
||||
defined configASSERT()?
|
||||
|
||||
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||
embedded software for free we request you assist our global community by
|
||||
participating in the support forum.
|
||||
|
||||
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||
be as productive as possible as early as possible. Now you can receive
|
||||
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||
|
||||
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||
licenses offer ticketed support, indemnification and commercial middleware.
|
||||
|
||||
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.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
/* Standard includes. */
|
||||
#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
|
||||
|
||||
/* FreeRTOS includes. */
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "timers.h"
|
||||
#include "event_groups.h"
|
||||
|
||||
/* Lint e961 and e750 are suppressed as a MISRA exception justified because the
|
||||
MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
|
||||
header files above, but not in this file, in order to generate the correct
|
||||
privileged Vs unprivileged linkage and placement. */
|
||||
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
|
||||
|
||||
/* The following bit fields convey control information in a task's event list
|
||||
item value. It is important they don't clash with the
|
||||
taskEVENT_LIST_ITEM_VALUE_IN_USE definition. */
|
||||
#if configUSE_16_BIT_TICKS == 1
|
||||
#define eventCLEAR_EVENTS_ON_EXIT_BIT 0x0100U
|
||||
#define eventUNBLOCKED_DUE_TO_BIT_SET 0x0200U
|
||||
#define eventWAIT_FOR_ALL_BITS 0x0400U
|
||||
#define eventEVENT_BITS_CONTROL_BYTES 0xff00U
|
||||
#else
|
||||
#define eventCLEAR_EVENTS_ON_EXIT_BIT 0x01000000UL
|
||||
#define eventUNBLOCKED_DUE_TO_BIT_SET 0x02000000UL
|
||||
#define eventWAIT_FOR_ALL_BITS 0x04000000UL
|
||||
#define eventEVENT_BITS_CONTROL_BYTES 0xff000000UL
|
||||
#endif
|
||||
|
||||
typedef struct xEventGroupDefinition
|
||||
{
|
||||
EventBits_t uxEventBits;
|
||||
List_t xTasksWaitingForBits; /*< List of tasks waiting for a bit to be set. */
|
||||
|
||||
#if( configUSE_TRACE_FACILITY == 1 )
|
||||
UBaseType_t uxEventGroupNumber;
|
||||
#endif
|
||||
|
||||
#if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
|
||||
uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the event group is statically allocated to ensure no attempt is made to free the memory. */
|
||||
#endif
|
||||
} EventGroup_t;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Test the bits set in uxCurrentEventBits to see if the wait condition is met.
|
||||
* The wait condition is defined by xWaitForAllBits. If xWaitForAllBits is
|
||||
* pdTRUE then the wait condition is met if all the bits set in uxBitsToWaitFor
|
||||
* are also set in uxCurrentEventBits. If xWaitForAllBits is pdFALSE then the
|
||||
* wait condition is met if any of the bits set in uxBitsToWait for are also set
|
||||
* in uxCurrentEventBits.
|
||||
*/
|
||||
static BaseType_t prvTestWaitCondition( const EventBits_t uxCurrentEventBits, const EventBits_t uxBitsToWaitFor, const BaseType_t xWaitForAllBits ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if( configSUPPORT_STATIC_ALLOCATION == 1 )
|
||||
|
||||
EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t *pxEventGroupBuffer )
|
||||
{
|
||||
EventGroup_t *pxEventBits;
|
||||
|
||||
/* A StaticEventGroup_t object must be provided. */
|
||||
configASSERT( pxEventGroupBuffer );
|
||||
|
||||
/* The user has provided a statically allocated event group - use it. */
|
||||
pxEventBits = ( EventGroup_t * ) pxEventGroupBuffer; /*lint !e740 EventGroup_t and StaticEventGroup_t are guaranteed to have the same size and alignment requirement - checked by configASSERT(). */
|
||||
|
||||
if( pxEventBits != NULL )
|
||||
{
|
||||
pxEventBits->uxEventBits = 0;
|
||||
vListInitialise( &( pxEventBits->xTasksWaitingForBits ) );
|
||||
|
||||
#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
|
||||
{
|
||||
/* Both static and dynamic allocation can be used, so note that
|
||||
this event group was created statically in case the event group
|
||||
is later deleted. */
|
||||
pxEventBits->ucStaticallyAllocated = pdTRUE;
|
||||
}
|
||||
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
|
||||
|
||||
traceEVENT_GROUP_CREATE( pxEventBits );
|
||||
}
|
||||
else
|
||||
{
|
||||
traceEVENT_GROUP_CREATE_FAILED();
|
||||
}
|
||||
|
||||
return ( EventGroupHandle_t ) pxEventBits;
|
||||
}
|
||||
|
||||
#endif /* configSUPPORT_STATIC_ALLOCATION */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
|
||||
|
||||
EventGroupHandle_t xEventGroupCreate( void )
|
||||
{
|
||||
EventGroup_t *pxEventBits;
|
||||
|
||||
/* Allocate the event group. */
|
||||
pxEventBits = ( EventGroup_t * ) pvPortMalloc( sizeof( EventGroup_t ) );
|
||||
|
||||
if( pxEventBits != NULL )
|
||||
{
|
||||
pxEventBits->uxEventBits = 0;
|
||||
vListInitialise( &( pxEventBits->xTasksWaitingForBits ) );
|
||||
|
||||
#if( configSUPPORT_STATIC_ALLOCATION == 1 )
|
||||
{
|
||||
/* Both static and dynamic allocation can be used, so note this
|
||||
event group was allocated statically in case the event group is
|
||||
later deleted. */
|
||||
pxEventBits->ucStaticallyAllocated = pdFALSE;
|
||||
}
|
||||
#endif /* configSUPPORT_STATIC_ALLOCATION */
|
||||
|
||||
traceEVENT_GROUP_CREATE( pxEventBits );
|
||||
}
|
||||
else
|
||||
{
|
||||
traceEVENT_GROUP_CREATE_FAILED();
|
||||
}
|
||||
|
||||
return ( EventGroupHandle_t ) pxEventBits;
|
||||
}
|
||||
|
||||
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, const EventBits_t uxBitsToWaitFor, TickType_t xTicksToWait )
|
||||
{
|
||||
EventBits_t uxOriginalBitValue, uxReturn;
|
||||
EventGroup_t *pxEventBits = ( EventGroup_t * ) xEventGroup;
|
||||
BaseType_t xAlreadyYielded;
|
||||
BaseType_t xTimeoutOccurred = pdFALSE;
|
||||
|
||||
configASSERT( ( uxBitsToWaitFor & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
|
||||
configASSERT( uxBitsToWaitFor != 0 );
|
||||
#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
|
||||
{
|
||||
configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
|
||||
}
|
||||
#endif
|
||||
|
||||
vTaskSuspendAll();
|
||||
{
|
||||
uxOriginalBitValue = pxEventBits->uxEventBits;
|
||||
|
||||
( void ) xEventGroupSetBits( xEventGroup, uxBitsToSet );
|
||||
|
||||
if( ( ( uxOriginalBitValue | uxBitsToSet ) & uxBitsToWaitFor ) == uxBitsToWaitFor )
|
||||
{
|
||||
/* All the rendezvous bits are now set - no need to block. */
|
||||
uxReturn = ( uxOriginalBitValue | uxBitsToSet );
|
||||
|
||||
/* Rendezvous always clear the bits. They will have been cleared
|
||||
already unless this is the only task in the rendezvous. */
|
||||
pxEventBits->uxEventBits &= ~uxBitsToWaitFor;
|
||||
|
||||
xTicksToWait = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
if( xTicksToWait != ( TickType_t ) 0 )
|
||||
{
|
||||
traceEVENT_GROUP_SYNC_BLOCK( xEventGroup, uxBitsToSet, uxBitsToWaitFor );
|
||||
|
||||
/* Store the bits that the calling task is waiting for in the
|
||||
task's event list item so the kernel knows when a match is
|
||||
found. Then enter the blocked state. */
|
||||
vTaskPlaceOnUnorderedEventList( &( pxEventBits->xTasksWaitingForBits ), ( uxBitsToWaitFor | eventCLEAR_EVENTS_ON_EXIT_BIT | eventWAIT_FOR_ALL_BITS ), xTicksToWait );
|
||||
|
||||
/* This assignment is obsolete as uxReturn will get set after
|
||||
the task unblocks, but some compilers mistakenly generate a
|
||||
warning about uxReturn being returned without being set if the
|
||||
assignment is omitted. */
|
||||
uxReturn = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* The rendezvous bits were not set, but no block time was
|
||||
specified - just return the current event bit value. */
|
||||
uxReturn = pxEventBits->uxEventBits;
|
||||
}
|
||||
}
|
||||
}
|
||||
xAlreadyYielded = xTaskResumeAll();
|
||||
|
||||
if( xTicksToWait != ( TickType_t ) 0 )
|
||||
{
|
||||
if( xAlreadyYielded == pdFALSE )
|
||||
{
|
||||
portYIELD_WITHIN_API();
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
|
||||
/* The task blocked to wait for its required bits to be set - at this
|
||||
point either the required bits were set or the block time expired. If
|
||||
the required bits were set they will have been stored in the task's
|
||||
event list item, and they should now be retrieved then cleared. */
|
||||
uxReturn = uxTaskResetEventItemValue();
|
||||
|
||||
if( ( uxReturn & eventUNBLOCKED_DUE_TO_BIT_SET ) == ( EventBits_t ) 0 )
|
||||
{
|
||||
/* The task timed out, just return the current event bit value. */
|
||||
taskENTER_CRITICAL();
|
||||
{
|
||||
uxReturn = pxEventBits->uxEventBits;
|
||||
|
||||
/* Although the task got here because it timed out before the
|
||||
bits it was waiting for were set, it is possible that since it
|
||||
unblocked another task has set the bits. If this is the case
|
||||
then it needs to clear the bits before exiting. */
|
||||
if( ( uxReturn & uxBitsToWaitFor ) == uxBitsToWaitFor )
|
||||
{
|
||||
pxEventBits->uxEventBits &= ~uxBitsToWaitFor;
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
taskEXIT_CRITICAL();
|
||||
|
||||
xTimeoutOccurred = pdTRUE;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* The task unblocked because the bits were set. */
|
||||
}
|
||||
|
||||
/* Control bits might be set as the task had blocked should not be
|
||||
returned. */
|
||||
uxReturn &= ~eventEVENT_BITS_CONTROL_BYTES;
|
||||
}
|
||||
|
||||
traceEVENT_GROUP_SYNC_END( xEventGroup, uxBitsToSet, uxBitsToWaitFor, xTimeoutOccurred );
|
||||
|
||||
return uxReturn;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToWaitFor, const BaseType_t xClearOnExit, const BaseType_t xWaitForAllBits, TickType_t xTicksToWait )
|
||||
{
|
||||
EventGroup_t *pxEventBits = ( EventGroup_t * ) xEventGroup;
|
||||
EventBits_t uxReturn, uxControlBits = 0;
|
||||
BaseType_t xWaitConditionMet, xAlreadyYielded;
|
||||
BaseType_t xTimeoutOccurred = pdFALSE;
|
||||
|
||||
/* Check the user is not attempting to wait on the bits used by the kernel
|
||||
itself, and that at least one bit is being requested. */
|
||||
configASSERT( xEventGroup );
|
||||
configASSERT( ( uxBitsToWaitFor & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
|
||||
configASSERT( uxBitsToWaitFor != 0 );
|
||||
#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
|
||||
{
|
||||
configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
|
||||
}
|
||||
#endif
|
||||
|
||||
vTaskSuspendAll();
|
||||
{
|
||||
const EventBits_t uxCurrentEventBits = pxEventBits->uxEventBits;
|
||||
|
||||
/* Check to see if the wait condition is already met or not. */
|
||||
xWaitConditionMet = prvTestWaitCondition( uxCurrentEventBits, uxBitsToWaitFor, xWaitForAllBits );
|
||||
|
||||
if( xWaitConditionMet != pdFALSE )
|
||||
{
|
||||
/* The wait condition has already been met so there is no need to
|
||||
block. */
|
||||
uxReturn = uxCurrentEventBits;
|
||||
xTicksToWait = ( TickType_t ) 0;
|
||||
|
||||
/* Clear the wait bits if requested to do so. */
|
||||
if( xClearOnExit != pdFALSE )
|
||||
{
|
||||
pxEventBits->uxEventBits &= ~uxBitsToWaitFor;
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
else if( xTicksToWait == ( TickType_t ) 0 )
|
||||
{
|
||||
/* The wait condition has not been met, but no block time was
|
||||
specified, so just return the current value. */
|
||||
uxReturn = uxCurrentEventBits;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* The task is going to block to wait for its required bits to be
|
||||
set. uxControlBits are used to remember the specified behaviour of
|
||||
this call to xEventGroupWaitBits() - for use when the event bits
|
||||
unblock the task. */
|
||||
if( xClearOnExit != pdFALSE )
|
||||
{
|
||||
uxControlBits |= eventCLEAR_EVENTS_ON_EXIT_BIT;
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
|
||||
if( xWaitForAllBits != pdFALSE )
|
||||
{
|
||||
uxControlBits |= eventWAIT_FOR_ALL_BITS;
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
|
||||
/* Store the bits that the calling task is waiting for in the
|
||||
task's event list item so the kernel knows when a match is
|
||||
found. Then enter the blocked state. */
|
||||
vTaskPlaceOnUnorderedEventList( &( pxEventBits->xTasksWaitingForBits ), ( uxBitsToWaitFor | uxControlBits ), xTicksToWait );
|
||||
|
||||
/* This is obsolete as it will get set after the task unblocks, but
|
||||
some compilers mistakenly generate a warning about the variable
|
||||
being returned without being set if it is not done. */
|
||||
uxReturn = 0;
|
||||
|
||||
traceEVENT_GROUP_WAIT_BITS_BLOCK( xEventGroup, uxBitsToWaitFor );
|
||||
}
|
||||
}
|
||||
xAlreadyYielded = xTaskResumeAll();
|
||||
|
||||
if( xTicksToWait != ( TickType_t ) 0 )
|
||||
{
|
||||
if( xAlreadyYielded == pdFALSE )
|
||||
{
|
||||
portYIELD_WITHIN_API();
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
|
||||
/* The task blocked to wait for its required bits to be set - at this
|
||||
point either the required bits were set or the block time expired. If
|
||||
the required bits were set they will have been stored in the task's
|
||||
event list item, and they should now be retrieved then cleared. */
|
||||
uxReturn = uxTaskResetEventItemValue();
|
||||
|
||||
if( ( uxReturn & eventUNBLOCKED_DUE_TO_BIT_SET ) == ( EventBits_t ) 0 )
|
||||
{
|
||||
taskENTER_CRITICAL();
|
||||
{
|
||||
/* The task timed out, just return the current event bit value. */
|
||||
uxReturn = pxEventBits->uxEventBits;
|
||||
|
||||
/* It is possible that the event bits were updated between this
|
||||
task leaving the Blocked state and running again. */
|
||||
if( prvTestWaitCondition( uxReturn, uxBitsToWaitFor, xWaitForAllBits ) != pdFALSE )
|
||||
{
|
||||
if( xClearOnExit != pdFALSE )
|
||||
{
|
||||
pxEventBits->uxEventBits &= ~uxBitsToWaitFor;
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
taskEXIT_CRITICAL();
|
||||
|
||||
/* Prevent compiler warnings when trace macros are not used. */
|
||||
xTimeoutOccurred = pdFALSE;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* The task unblocked because the bits were set. */
|
||||
}
|
||||
|
||||
/* The task blocked so control bits may have been set. */
|
||||
uxReturn &= ~eventEVENT_BITS_CONTROL_BYTES;
|
||||
}
|
||||
traceEVENT_GROUP_WAIT_BITS_END( xEventGroup, uxBitsToWaitFor, xTimeoutOccurred );
|
||||
|
||||
return uxReturn;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear )
|
||||
{
|
||||
EventGroup_t *pxEventBits = ( EventGroup_t * ) xEventGroup;
|
||||
EventBits_t uxReturn;
|
||||
|
||||
/* Check the user is not attempting to clear the bits used by the kernel
|
||||
itself. */
|
||||
configASSERT( xEventGroup );
|
||||
configASSERT( ( uxBitsToClear & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
|
||||
|
||||
taskENTER_CRITICAL();
|
||||
{
|
||||
traceEVENT_GROUP_CLEAR_BITS( xEventGroup, uxBitsToClear );
|
||||
|
||||
/* The value returned is the event group value prior to the bits being
|
||||
cleared. */
|
||||
uxReturn = pxEventBits->uxEventBits;
|
||||
|
||||
/* Clear the bits. */
|
||||
pxEventBits->uxEventBits &= ~uxBitsToClear;
|
||||
}
|
||||
taskEXIT_CRITICAL();
|
||||
|
||||
return uxReturn;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) )
|
||||
|
||||
BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear )
|
||||
{
|
||||
BaseType_t xReturn;
|
||||
|
||||
traceEVENT_GROUP_CLEAR_BITS_FROM_ISR( xEventGroup, uxBitsToClear );
|
||||
xReturn = xTimerPendFunctionCallFromISR( vEventGroupClearBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToClear, NULL );
|
||||
|
||||
return xReturn;
|
||||
}
|
||||
|
||||
#endif
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup )
|
||||
{
|
||||
UBaseType_t uxSavedInterruptStatus;
|
||||
EventGroup_t *pxEventBits = ( EventGroup_t * ) xEventGroup;
|
||||
EventBits_t uxReturn;
|
||||
|
||||
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
|
||||
{
|
||||
uxReturn = pxEventBits->uxEventBits;
|
||||
}
|
||||
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
|
||||
|
||||
return uxReturn;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet )
|
||||
{
|
||||
ListItem_t *pxListItem, *pxNext;
|
||||
ListItem_t const *pxListEnd;
|
||||
List_t *pxList;
|
||||
EventBits_t uxBitsToClear = 0, uxBitsWaitedFor, uxControlBits;
|
||||
EventGroup_t *pxEventBits = ( EventGroup_t * ) xEventGroup;
|
||||
BaseType_t xMatchFound = pdFALSE;
|
||||
|
||||
/* Check the user is not attempting to set the bits used by the kernel
|
||||
itself. */
|
||||
configASSERT( xEventGroup );
|
||||
configASSERT( ( uxBitsToSet & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
|
||||
|
||||
pxList = &( pxEventBits->xTasksWaitingForBits );
|
||||
pxListEnd = listGET_END_MARKER( pxList ); /*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */
|
||||
vTaskSuspendAll();
|
||||
{
|
||||
traceEVENT_GROUP_SET_BITS( xEventGroup, uxBitsToSet );
|
||||
|
||||
pxListItem = listGET_HEAD_ENTRY( pxList );
|
||||
|
||||
/* Set the bits. */
|
||||
pxEventBits->uxEventBits |= uxBitsToSet;
|
||||
|
||||
/* See if the new bit value should unblock any tasks. */
|
||||
while( pxListItem != pxListEnd )
|
||||
{
|
||||
pxNext = listGET_NEXT( pxListItem );
|
||||
uxBitsWaitedFor = listGET_LIST_ITEM_VALUE( pxListItem );
|
||||
xMatchFound = pdFALSE;
|
||||
|
||||
/* Split the bits waited for from the control bits. */
|
||||
uxControlBits = uxBitsWaitedFor & eventEVENT_BITS_CONTROL_BYTES;
|
||||
uxBitsWaitedFor &= ~eventEVENT_BITS_CONTROL_BYTES;
|
||||
|
||||
if( ( uxControlBits & eventWAIT_FOR_ALL_BITS ) == ( EventBits_t ) 0 )
|
||||
{
|
||||
/* Just looking for single bit being set. */
|
||||
if( ( uxBitsWaitedFor & pxEventBits->uxEventBits ) != ( EventBits_t ) 0 )
|
||||
{
|
||||
xMatchFound = pdTRUE;
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
else if( ( uxBitsWaitedFor & pxEventBits->uxEventBits ) == uxBitsWaitedFor )
|
||||
{
|
||||
/* All bits are set. */
|
||||
xMatchFound = pdTRUE;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Need all bits to be set, but not all the bits were set. */
|
||||
}
|
||||
|
||||
if( xMatchFound != pdFALSE )
|
||||
{
|
||||
/* The bits match. Should the bits be cleared on exit? */
|
||||
if( ( uxControlBits & eventCLEAR_EVENTS_ON_EXIT_BIT ) != ( EventBits_t ) 0 )
|
||||
{
|
||||
uxBitsToClear |= uxBitsWaitedFor;
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
|
||||
/* Store the actual event flag value in the task's event list
|
||||
item before removing the task from the event list. The
|
||||
eventUNBLOCKED_DUE_TO_BIT_SET bit is set so the task knows
|
||||
that is was unblocked due to its required bits matching, rather
|
||||
than because it timed out. */
|
||||
( void ) xTaskRemoveFromUnorderedEventList( pxListItem, pxEventBits->uxEventBits | eventUNBLOCKED_DUE_TO_BIT_SET );
|
||||
}
|
||||
|
||||
/* Move onto the next list item. Note pxListItem->pxNext is not
|
||||
used here as the list item may have been removed from the event list
|
||||
and inserted into the ready/pending reading list. */
|
||||
pxListItem = pxNext;
|
||||
}
|
||||
|
||||
/* Clear any bits that matched when the eventCLEAR_EVENTS_ON_EXIT_BIT
|
||||
bit was set in the control word. */
|
||||
pxEventBits->uxEventBits &= ~uxBitsToClear;
|
||||
}
|
||||
( void ) xTaskResumeAll();
|
||||
|
||||
return pxEventBits->uxEventBits;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vEventGroupDelete( EventGroupHandle_t xEventGroup )
|
||||
{
|
||||
EventGroup_t *pxEventBits = ( EventGroup_t * ) xEventGroup;
|
||||
const List_t *pxTasksWaitingForBits = &( pxEventBits->xTasksWaitingForBits );
|
||||
|
||||
vTaskSuspendAll();
|
||||
{
|
||||
traceEVENT_GROUP_DELETE( xEventGroup );
|
||||
|
||||
while( listCURRENT_LIST_LENGTH( pxTasksWaitingForBits ) > ( UBaseType_t ) 0 )
|
||||
{
|
||||
/* Unblock the task, returning 0 as the event list is being deleted
|
||||
and cannot therefore have any bits set. */
|
||||
configASSERT( pxTasksWaitingForBits->xListEnd.pxNext != ( ListItem_t * ) &( pxTasksWaitingForBits->xListEnd ) );
|
||||
( void ) xTaskRemoveFromUnorderedEventList( pxTasksWaitingForBits->xListEnd.pxNext, eventUNBLOCKED_DUE_TO_BIT_SET );
|
||||
}
|
||||
|
||||
#if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
|
||||
{
|
||||
/* The event group can only have been allocated dynamically - free
|
||||
it again. */
|
||||
vPortFree( pxEventBits );
|
||||
}
|
||||
#elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
|
||||
{
|
||||
/* The event group could have been allocated statically or
|
||||
dynamically, so check before attempting to free the memory. */
|
||||
if( pxEventBits->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
|
||||
{
|
||||
vPortFree( pxEventBits );
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
|
||||
}
|
||||
( void ) xTaskResumeAll();
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* For internal use only - execute a 'set bits' command that was pended from
|
||||
an interrupt. */
|
||||
void vEventGroupSetBitsCallback( void *pvEventGroup, const uint32_t ulBitsToSet )
|
||||
{
|
||||
( void ) xEventGroupSetBits( pvEventGroup, ( EventBits_t ) ulBitsToSet );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* For internal use only - execute a 'clear bits' command that was pended from
|
||||
an interrupt. */
|
||||
void vEventGroupClearBitsCallback( void *pvEventGroup, const uint32_t ulBitsToClear )
|
||||
{
|
||||
( void ) xEventGroupClearBits( pvEventGroup, ( EventBits_t ) ulBitsToClear );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static BaseType_t prvTestWaitCondition( const EventBits_t uxCurrentEventBits, const EventBits_t uxBitsToWaitFor, const BaseType_t xWaitForAllBits )
|
||||
{
|
||||
BaseType_t xWaitConditionMet = pdFALSE;
|
||||
|
||||
if( xWaitForAllBits == pdFALSE )
|
||||
{
|
||||
/* Task only has to wait for one bit within uxBitsToWaitFor to be
|
||||
set. Is one already set? */
|
||||
if( ( uxCurrentEventBits & uxBitsToWaitFor ) != ( EventBits_t ) 0 )
|
||||
{
|
||||
xWaitConditionMet = pdTRUE;
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Task has to wait for all the bits in uxBitsToWaitFor to be set.
|
||||
Are they set already? */
|
||||
if( ( uxCurrentEventBits & uxBitsToWaitFor ) == uxBitsToWaitFor )
|
||||
{
|
||||
xWaitConditionMet = pdTRUE;
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
|
||||
return xWaitConditionMet;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) )
|
||||
|
||||
BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken )
|
||||
{
|
||||
BaseType_t xReturn;
|
||||
|
||||
traceEVENT_GROUP_SET_BITS_FROM_ISR( xEventGroup, uxBitsToSet );
|
||||
xReturn = xTimerPendFunctionCallFromISR( vEventGroupSetBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToSet, pxHigherPriorityTaskWoken );
|
||||
|
||||
return xReturn;
|
||||
}
|
||||
|
||||
#endif
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if (configUSE_TRACE_FACILITY == 1)
|
||||
|
||||
UBaseType_t uxEventGroupGetNumber( void* xEventGroup )
|
||||
{
|
||||
UBaseType_t xReturn;
|
||||
EventGroup_t *pxEventBits = ( EventGroup_t * ) xEventGroup;
|
||||
|
||||
if( xEventGroup == NULL )
|
||||
{
|
||||
xReturn = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
xReturn = pxEventBits->uxEventGroupNumber;
|
||||
}
|
||||
|
||||
return xReturn;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
File diff suppressed because it is too large
Load Diff
|
@ -0,0 +1,171 @@
|
|||
/*
|
||||
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
|
||||
All rights reserved
|
||||
|
||||
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||
|
||||
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. Full license text is available on the following
|
||||
link: http://www.freertos.org/a00114.html
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS provides completely free yet professionally developed, *
|
||||
* robust, strictly quality controlled, supported, and cross *
|
||||
* platform software that is more than just the market leader, it *
|
||||
* is the industry's de facto standard. *
|
||||
* *
|
||||
* Help yourself get started quickly while simultaneously helping *
|
||||
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
||||
* tutorial book, reference manual, or both: *
|
||||
* http://www.FreeRTOS.org/Documentation *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
||||
the FAQ page "My application does not run, what could be wrong?". Have you
|
||||
defined configASSERT()?
|
||||
|
||||
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||
embedded software for free we request you assist our global community by
|
||||
participating in the support forum.
|
||||
|
||||
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||
be as productive as possible as early as possible. Now you can receive
|
||||
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||
|
||||
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||
licenses offer ticketed support, indemnification and commercial middleware.
|
||||
|
||||
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.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
#ifndef STACK_MACROS_H
|
||||
#define STACK_MACROS_H
|
||||
|
||||
/*
|
||||
* Call the stack overflow hook function if the stack of the task being swapped
|
||||
* out is currently overflowed, or looks like it might have overflowed in the
|
||||
* past.
|
||||
*
|
||||
* Setting configCHECK_FOR_STACK_OVERFLOW to 1 will cause the macro to check
|
||||
* the current stack state only - comparing the current top of stack value to
|
||||
* the stack limit. Setting configCHECK_FOR_STACK_OVERFLOW to greater than 1
|
||||
* will also cause the last few stack bytes to be checked to ensure the value
|
||||
* to which the bytes were set when the task was created have not been
|
||||
* overwritten. Note this second test does not guarantee that an overflowed
|
||||
* stack will always be recognised.
|
||||
*/
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH < 0 ) )
|
||||
|
||||
/* Only the current stack state is to be checked. */
|
||||
#define taskCHECK_FOR_STACK_OVERFLOW() \
|
||||
{ \
|
||||
/* Is the currently saved stack pointer within the stack limit? */ \
|
||||
if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \
|
||||
{ \
|
||||
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
|
||||
} \
|
||||
}
|
||||
|
||||
#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH > 0 ) )
|
||||
|
||||
/* Only the current stack state is to be checked. */
|
||||
#define taskCHECK_FOR_STACK_OVERFLOW() \
|
||||
{ \
|
||||
\
|
||||
/* Is the currently saved stack pointer within the stack limit? */ \
|
||||
if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack ) \
|
||||
{ \
|
||||
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
|
||||
} \
|
||||
}
|
||||
|
||||
#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) )
|
||||
|
||||
#define taskCHECK_FOR_STACK_OVERFLOW() \
|
||||
{ \
|
||||
const uint32_t * const pulStack = ( uint32_t * ) pxCurrentTCB->pxStack; \
|
||||
const uint32_t ulCheckValue = ( uint32_t ) 0xa5a5a5a5; \
|
||||
\
|
||||
if( ( pulStack[ 0 ] != ulCheckValue ) || \
|
||||
( pulStack[ 1 ] != ulCheckValue ) || \
|
||||
( pulStack[ 2 ] != ulCheckValue ) || \
|
||||
( pulStack[ 3 ] != ulCheckValue ) ) \
|
||||
{ \
|
||||
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
|
||||
} \
|
||||
}
|
||||
|
||||
#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) )
|
||||
|
||||
#define taskCHECK_FOR_STACK_OVERFLOW() \
|
||||
{ \
|
||||
int8_t *pcEndOfStack = ( int8_t * ) pxCurrentTCB->pxEndOfStack; \
|
||||
static const uint8_t ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
|
||||
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
|
||||
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
|
||||
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
|
||||
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \
|
||||
\
|
||||
\
|
||||
pcEndOfStack -= sizeof( ucExpectedStackBytes ); \
|
||||
\
|
||||
/* Has the extremity of the task stack ever been written over? */ \
|
||||
if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \
|
||||
{ \
|
||||
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
|
||||
} \
|
||||
}
|
||||
|
||||
#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Remove stack overflow macro if not being used. */
|
||||
#ifndef taskCHECK_FOR_STACK_OVERFLOW
|
||||
#define taskCHECK_FOR_STACK_OVERFLOW()
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
#endif /* STACK_MACROS_H */
|
||||
|
|
@ -0,0 +1,762 @@
|
|||
/*
|
||||
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
|
||||
All rights reserved
|
||||
|
||||
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||
|
||||
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. Full license text is available on the following
|
||||
link: http://www.freertos.org/a00114.html
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS provides completely free yet professionally developed, *
|
||||
* robust, strictly quality controlled, supported, and cross *
|
||||
* platform software that is more than just the market leader, it *
|
||||
* is the industry's de facto standard. *
|
||||
* *
|
||||
* Help yourself get started quickly while simultaneously helping *
|
||||
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
||||
* tutorial book, reference manual, or both: *
|
||||
* http://www.FreeRTOS.org/Documentation *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
||||
the FAQ page "My application does not run, what could be wrong?". Have you
|
||||
defined configASSERT()?
|
||||
|
||||
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||
embedded software for free we request you assist our global community by
|
||||
participating in the support forum.
|
||||
|
||||
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||
be as productive as possible as early as possible. Now you can receive
|
||||
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||
|
||||
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||
licenses offer ticketed support, indemnification and commercial middleware.
|
||||
|
||||
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.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
#ifndef CO_ROUTINE_H
|
||||
#define CO_ROUTINE_H
|
||||
|
||||
#ifndef INC_FREERTOS_H
|
||||
#error "include FreeRTOS.h must appear in source files before include croutine.h"
|
||||
#endif
|
||||
|
||||
#include "list.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Used to hide the implementation of the co-routine control block. The
|
||||
control block structure however has to be included in the header due to
|
||||
the macro implementation of the co-routine functionality. */
|
||||
typedef void * CoRoutineHandle_t;
|
||||
|
||||
/* Defines the prototype to which co-routine functions must conform. */
|
||||
typedef void (*crCOROUTINE_CODE)( CoRoutineHandle_t, UBaseType_t );
|
||||
|
||||
typedef struct corCoRoutineControlBlock
|
||||
{
|
||||
crCOROUTINE_CODE pxCoRoutineFunction;
|
||||
ListItem_t xGenericListItem; /*< List item used to place the CRCB in ready and blocked queues. */
|
||||
ListItem_t xEventListItem; /*< List item used to place the CRCB in event lists. */
|
||||
UBaseType_t uxPriority; /*< The priority of the co-routine in relation to other co-routines. */
|
||||
UBaseType_t uxIndex; /*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */
|
||||
uint16_t uxState; /*< Used internally by the co-routine implementation. */
|
||||
} CRCB_t; /* Co-routine control block. Note must be identical in size down to uxPriority with TCB_t. */
|
||||
|
||||
/**
|
||||
* croutine. h
|
||||
*<pre>
|
||||
BaseType_t xCoRoutineCreate(
|
||||
crCOROUTINE_CODE pxCoRoutineCode,
|
||||
UBaseType_t uxPriority,
|
||||
UBaseType_t uxIndex
|
||||
);</pre>
|
||||
*
|
||||
* Create a new co-routine and add it to the list of co-routines that are
|
||||
* ready to run.
|
||||
*
|
||||
* @param pxCoRoutineCode Pointer to the co-routine function. Co-routine
|
||||
* functions require special syntax - see the co-routine section of the WEB
|
||||
* documentation for more information.
|
||||
*
|
||||
* @param uxPriority The priority with respect to other co-routines at which
|
||||
* the co-routine will run.
|
||||
*
|
||||
* @param uxIndex Used to distinguish between different co-routines that
|
||||
* execute the same function. See the example below and the co-routine section
|
||||
* of the WEB documentation for further information.
|
||||
*
|
||||
* @return pdPASS if the co-routine was successfully created and added to a ready
|
||||
* list, otherwise an error code defined with ProjDefs.h.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
// Co-routine to be created.
|
||||
void vFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
||||
{
|
||||
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
|
||||
// This may not be necessary for const variables.
|
||||
static const char cLedToFlash[ 2 ] = { 5, 6 };
|
||||
static const TickType_t uxFlashRates[ 2 ] = { 200, 400 };
|
||||
|
||||
// Must start every co-routine with a call to crSTART();
|
||||
crSTART( xHandle );
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
// This co-routine just delays for a fixed period, then toggles
|
||||
// an LED. Two co-routines are created using this function, so
|
||||
// the uxIndex parameter is used to tell the co-routine which
|
||||
// LED to flash and how int32_t to delay. This assumes xQueue has
|
||||
// already been created.
|
||||
vParTestToggleLED( cLedToFlash[ uxIndex ] );
|
||||
crDELAY( xHandle, uxFlashRates[ uxIndex ] );
|
||||
}
|
||||
|
||||
// Must end every co-routine with a call to crEND();
|
||||
crEND();
|
||||
}
|
||||
|
||||
// Function that creates two co-routines.
|
||||
void vOtherFunction( void )
|
||||
{
|
||||
uint8_t ucParameterToPass;
|
||||
TaskHandle_t xHandle;
|
||||
|
||||
// Create two co-routines at priority 0. The first is given index 0
|
||||
// so (from the code above) toggles LED 5 every 200 ticks. The second
|
||||
// is given index 1 so toggles LED 6 every 400 ticks.
|
||||
for( uxIndex = 0; uxIndex < 2; uxIndex++ )
|
||||
{
|
||||
xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
|
||||
}
|
||||
}
|
||||
</pre>
|
||||
* \defgroup xCoRoutineCreate xCoRoutineCreate
|
||||
* \ingroup Tasks
|
||||
*/
|
||||
BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPriority, UBaseType_t uxIndex );
|
||||
|
||||
|
||||
/**
|
||||
* croutine. h
|
||||
*<pre>
|
||||
void vCoRoutineSchedule( void );</pre>
|
||||
*
|
||||
* Run a co-routine.
|
||||
*
|
||||
* vCoRoutineSchedule() executes the highest priority co-routine that is able
|
||||
* to run. The co-routine will execute until it either blocks, yields or is
|
||||
* preempted by a task. Co-routines execute cooperatively so one
|
||||
* co-routine cannot be preempted by another, but can be preempted by a task.
|
||||
*
|
||||
* If an application comprises of both tasks and co-routines then
|
||||
* vCoRoutineSchedule should be called from the idle task (in an idle task
|
||||
* hook).
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
// This idle task hook will schedule a co-routine each time it is called.
|
||||
// The rest of the idle task will execute between co-routine calls.
|
||||
void vApplicationIdleHook( void )
|
||||
{
|
||||
vCoRoutineSchedule();
|
||||
}
|
||||
|
||||
// Alternatively, if you do not require any other part of the idle task to
|
||||
// execute, the idle task hook can call vCoRoutineScheduler() within an
|
||||
// infinite loop.
|
||||
void vApplicationIdleHook( void )
|
||||
{
|
||||
for( ;; )
|
||||
{
|
||||
vCoRoutineSchedule();
|
||||
}
|
||||
}
|
||||
</pre>
|
||||
* \defgroup vCoRoutineSchedule vCoRoutineSchedule
|
||||
* \ingroup Tasks
|
||||
*/
|
||||
void vCoRoutineSchedule( void );
|
||||
|
||||
/**
|
||||
* croutine. h
|
||||
* <pre>
|
||||
crSTART( CoRoutineHandle_t xHandle );</pre>
|
||||
*
|
||||
* This macro MUST always be called at the start of a co-routine function.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
// Co-routine to be created.
|
||||
void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
||||
{
|
||||
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
|
||||
static int32_t ulAVariable;
|
||||
|
||||
// Must start every co-routine with a call to crSTART();
|
||||
crSTART( xHandle );
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
// Co-routine functionality goes here.
|
||||
}
|
||||
|
||||
// Must end every co-routine with a call to crEND();
|
||||
crEND();
|
||||
}</pre>
|
||||
* \defgroup crSTART crSTART
|
||||
* \ingroup Tasks
|
||||
*/
|
||||
#define crSTART( pxCRCB ) switch( ( ( CRCB_t * )( pxCRCB ) )->uxState ) { case 0:
|
||||
|
||||
/**
|
||||
* croutine. h
|
||||
* <pre>
|
||||
crEND();</pre>
|
||||
*
|
||||
* This macro MUST always be called at the end of a co-routine function.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
// Co-routine to be created.
|
||||
void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
||||
{
|
||||
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
|
||||
static int32_t ulAVariable;
|
||||
|
||||
// Must start every co-routine with a call to crSTART();
|
||||
crSTART( xHandle );
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
// Co-routine functionality goes here.
|
||||
}
|
||||
|
||||
// Must end every co-routine with a call to crEND();
|
||||
crEND();
|
||||
}</pre>
|
||||
* \defgroup crSTART crSTART
|
||||
* \ingroup Tasks
|
||||
*/
|
||||
#define crEND() }
|
||||
|
||||
/*
|
||||
* These macros are intended for internal use by the co-routine implementation
|
||||
* only. The macros should not be used directly by application writers.
|
||||
*/
|
||||
#define crSET_STATE0( xHandle ) ( ( CRCB_t * )( xHandle ) )->uxState = (__LINE__ * 2); return; case (__LINE__ * 2):
|
||||
#define crSET_STATE1( xHandle ) ( ( CRCB_t * )( xHandle ) )->uxState = ((__LINE__ * 2)+1); return; case ((__LINE__ * 2)+1):
|
||||
|
||||
/**
|
||||
* croutine. h
|
||||
*<pre>
|
||||
crDELAY( CoRoutineHandle_t xHandle, TickType_t xTicksToDelay );</pre>
|
||||
*
|
||||
* Delay a co-routine for a fixed period of time.
|
||||
*
|
||||
* crDELAY can only be called from the co-routine function itself - not
|
||||
* from within a function called by the co-routine function. This is because
|
||||
* co-routines do not maintain their own stack.
|
||||
*
|
||||
* @param xHandle The handle of the co-routine to delay. This is the xHandle
|
||||
* parameter of the co-routine function.
|
||||
*
|
||||
* @param xTickToDelay The number of ticks that the co-routine should delay
|
||||
* for. The actual amount of time this equates to is defined by
|
||||
* configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant portTICK_PERIOD_MS
|
||||
* can be used to convert ticks to milliseconds.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
// Co-routine to be created.
|
||||
void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
||||
{
|
||||
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
|
||||
// This may not be necessary for const variables.
|
||||
// We are to delay for 200ms.
|
||||
static const xTickType xDelayTime = 200 / portTICK_PERIOD_MS;
|
||||
|
||||
// Must start every co-routine with a call to crSTART();
|
||||
crSTART( xHandle );
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
// Delay for 200ms.
|
||||
crDELAY( xHandle, xDelayTime );
|
||||
|
||||
// Do something here.
|
||||
}
|
||||
|
||||
// Must end every co-routine with a call to crEND();
|
||||
crEND();
|
||||
}</pre>
|
||||
* \defgroup crDELAY crDELAY
|
||||
* \ingroup Tasks
|
||||
*/
|
||||
#define crDELAY( xHandle, xTicksToDelay ) \
|
||||
if( ( xTicksToDelay ) > 0 ) \
|
||||
{ \
|
||||
vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL ); \
|
||||
} \
|
||||
crSET_STATE0( ( xHandle ) );
|
||||
|
||||
/**
|
||||
* <pre>
|
||||
crQUEUE_SEND(
|
||||
CoRoutineHandle_t xHandle,
|
||||
QueueHandle_t pxQueue,
|
||||
void *pvItemToQueue,
|
||||
TickType_t xTicksToWait,
|
||||
BaseType_t *pxResult
|
||||
)</pre>
|
||||
*
|
||||
* The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
|
||||
* equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
|
||||
*
|
||||
* crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
|
||||
* xQueueSend() and xQueueReceive() can only be used from tasks.
|
||||
*
|
||||
* crQUEUE_SEND can only be called from the co-routine function itself - not
|
||||
* from within a function called by the co-routine function. This is because
|
||||
* co-routines do not maintain their own stack.
|
||||
*
|
||||
* See the co-routine section of the WEB documentation for information on
|
||||
* passing data between tasks and co-routines and between ISR's and
|
||||
* co-routines.
|
||||
*
|
||||
* @param xHandle The handle of the calling co-routine. This is the xHandle
|
||||
* parameter of the co-routine function.
|
||||
*
|
||||
* @param pxQueue The handle of the queue on which the data will be posted.
|
||||
* The handle is obtained as the return value when the queue is created using
|
||||
* the xQueueCreate() API function.
|
||||
*
|
||||
* @param pvItemToQueue A pointer to the data being posted onto the queue.
|
||||
* The number of bytes of each queued item is specified when the queue is
|
||||
* created. This number of bytes is copied from pvItemToQueue into the queue
|
||||
* itself.
|
||||
*
|
||||
* @param xTickToDelay The number of ticks that the co-routine should block
|
||||
* to wait for space to become available on the queue, should space not be
|
||||
* available immediately. The actual amount of time this equates to is defined
|
||||
* by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant
|
||||
* portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see example
|
||||
* below).
|
||||
*
|
||||
* @param pxResult The variable pointed to by pxResult will be set to pdPASS if
|
||||
* data was successfully posted onto the queue, otherwise it will be set to an
|
||||
* error defined within ProjDefs.h.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
// Co-routine function that blocks for a fixed period then posts a number onto
|
||||
// a queue.
|
||||
static void prvCoRoutineFlashTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
||||
{
|
||||
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
|
||||
static BaseType_t xNumberToPost = 0;
|
||||
static BaseType_t xResult;
|
||||
|
||||
// Co-routines must begin with a call to crSTART().
|
||||
crSTART( xHandle );
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
// This assumes the queue has already been created.
|
||||
crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult );
|
||||
|
||||
if( xResult != pdPASS )
|
||||
{
|
||||
// The message was not posted!
|
||||
}
|
||||
|
||||
// Increment the number to be posted onto the queue.
|
||||
xNumberToPost++;
|
||||
|
||||
// Delay for 100 ticks.
|
||||
crDELAY( xHandle, 100 );
|
||||
}
|
||||
|
||||
// Co-routines must end with a call to crEND().
|
||||
crEND();
|
||||
}</pre>
|
||||
* \defgroup crQUEUE_SEND crQUEUE_SEND
|
||||
* \ingroup Tasks
|
||||
*/
|
||||
#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \
|
||||
{ \
|
||||
*( pxResult ) = xQueueCRSend( ( pxQueue) , ( pvItemToQueue) , ( xTicksToWait ) ); \
|
||||
if( *( pxResult ) == errQUEUE_BLOCKED ) \
|
||||
{ \
|
||||
crSET_STATE0( ( xHandle ) ); \
|
||||
*pxResult = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), 0 ); \
|
||||
} \
|
||||
if( *pxResult == errQUEUE_YIELD ) \
|
||||
{ \
|
||||
crSET_STATE1( ( xHandle ) ); \
|
||||
*pxResult = pdPASS; \
|
||||
} \
|
||||
}
|
||||
|
||||
/**
|
||||
* croutine. h
|
||||
* <pre>
|
||||
crQUEUE_RECEIVE(
|
||||
CoRoutineHandle_t xHandle,
|
||||
QueueHandle_t pxQueue,
|
||||
void *pvBuffer,
|
||||
TickType_t xTicksToWait,
|
||||
BaseType_t *pxResult
|
||||
)</pre>
|
||||
*
|
||||
* The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
|
||||
* equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
|
||||
*
|
||||
* crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
|
||||
* xQueueSend() and xQueueReceive() can only be used from tasks.
|
||||
*
|
||||
* crQUEUE_RECEIVE can only be called from the co-routine function itself - not
|
||||
* from within a function called by the co-routine function. This is because
|
||||
* co-routines do not maintain their own stack.
|
||||
*
|
||||
* See the co-routine section of the WEB documentation for information on
|
||||
* passing data between tasks and co-routines and between ISR's and
|
||||
* co-routines.
|
||||
*
|
||||
* @param xHandle The handle of the calling co-routine. This is the xHandle
|
||||
* parameter of the co-routine function.
|
||||
*
|
||||
* @param pxQueue The handle of the queue from which the data will be received.
|
||||
* The handle is obtained as the return value when the queue is created using
|
||||
* the xQueueCreate() API function.
|
||||
*
|
||||
* @param pvBuffer The buffer into which the received item is to be copied.
|
||||
* The number of bytes of each queued item is specified when the queue is
|
||||
* created. This number of bytes is copied into pvBuffer.
|
||||
*
|
||||
* @param xTickToDelay The number of ticks that the co-routine should block
|
||||
* to wait for data to become available from the queue, should data not be
|
||||
* available immediately. The actual amount of time this equates to is defined
|
||||
* by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant
|
||||
* portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see the
|
||||
* crQUEUE_SEND example).
|
||||
*
|
||||
* @param pxResult The variable pointed to by pxResult will be set to pdPASS if
|
||||
* data was successfully retrieved from the queue, otherwise it will be set to
|
||||
* an error code as defined within ProjDefs.h.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
// A co-routine receives the number of an LED to flash from a queue. It
|
||||
// blocks on the queue until the number is received.
|
||||
static void prvCoRoutineFlashWorkTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
||||
{
|
||||
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
|
||||
static BaseType_t xResult;
|
||||
static UBaseType_t uxLEDToFlash;
|
||||
|
||||
// All co-routines must start with a call to crSTART().
|
||||
crSTART( xHandle );
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
// Wait for data to become available on the queue.
|
||||
crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
|
||||
|
||||
if( xResult == pdPASS )
|
||||
{
|
||||
// We received the LED to flash - flash it!
|
||||
vParTestToggleLED( uxLEDToFlash );
|
||||
}
|
||||
}
|
||||
|
||||
crEND();
|
||||
}</pre>
|
||||
* \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE
|
||||
* \ingroup Tasks
|
||||
*/
|
||||
#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \
|
||||
{ \
|
||||
*( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), ( xTicksToWait ) ); \
|
||||
if( *( pxResult ) == errQUEUE_BLOCKED ) \
|
||||
{ \
|
||||
crSET_STATE0( ( xHandle ) ); \
|
||||
*( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), 0 ); \
|
||||
} \
|
||||
if( *( pxResult ) == errQUEUE_YIELD ) \
|
||||
{ \
|
||||
crSET_STATE1( ( xHandle ) ); \
|
||||
*( pxResult ) = pdPASS; \
|
||||
} \
|
||||
}
|
||||
|
||||
/**
|
||||
* croutine. h
|
||||
* <pre>
|
||||
crQUEUE_SEND_FROM_ISR(
|
||||
QueueHandle_t pxQueue,
|
||||
void *pvItemToQueue,
|
||||
BaseType_t xCoRoutinePreviouslyWoken
|
||||
)</pre>
|
||||
*
|
||||
* The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
|
||||
* co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
|
||||
* functions used by tasks.
|
||||
*
|
||||
* crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
|
||||
* pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
|
||||
* xQueueReceiveFromISR() can only be used to pass data between a task and and
|
||||
* ISR.
|
||||
*
|
||||
* crQUEUE_SEND_FROM_ISR can only be called from an ISR to send data to a queue
|
||||
* that is being used from within a co-routine.
|
||||
*
|
||||
* See the co-routine section of the WEB documentation for information on
|
||||
* passing data between tasks and co-routines and between ISR's and
|
||||
* co-routines.
|
||||
*
|
||||
* @param xQueue The handle to the queue on which the item is to be posted.
|
||||
*
|
||||
* @param pvItemToQueue A pointer to the item that is to be placed on the
|
||||
* queue. The size of the items the queue will hold was defined when the
|
||||
* queue was created, so this many bytes will be copied from pvItemToQueue
|
||||
* into the queue storage area.
|
||||
*
|
||||
* @param xCoRoutinePreviouslyWoken This is included so an ISR can post onto
|
||||
* the same queue multiple times from a single interrupt. The first call
|
||||
* should always pass in pdFALSE. Subsequent calls should pass in
|
||||
* the value returned from the previous call.
|
||||
*
|
||||
* @return pdTRUE if a co-routine was woken by posting onto the queue. This is
|
||||
* used by the ISR to determine if a context switch may be required following
|
||||
* the ISR.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
// A co-routine that blocks on a queue waiting for characters to be received.
|
||||
static void vReceivingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
||||
{
|
||||
char cRxedChar;
|
||||
BaseType_t xResult;
|
||||
|
||||
// All co-routines must start with a call to crSTART().
|
||||
crSTART( xHandle );
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
// Wait for data to become available on the queue. This assumes the
|
||||
// queue xCommsRxQueue has already been created!
|
||||
crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
|
||||
|
||||
// Was a character received?
|
||||
if( xResult == pdPASS )
|
||||
{
|
||||
// Process the character here.
|
||||
}
|
||||
}
|
||||
|
||||
// All co-routines must end with a call to crEND().
|
||||
crEND();
|
||||
}
|
||||
|
||||
// An ISR that uses a queue to send characters received on a serial port to
|
||||
// a co-routine.
|
||||
void vUART_ISR( void )
|
||||
{
|
||||
char cRxedChar;
|
||||
BaseType_t xCRWokenByPost = pdFALSE;
|
||||
|
||||
// We loop around reading characters until there are none left in the UART.
|
||||
while( UART_RX_REG_NOT_EMPTY() )
|
||||
{
|
||||
// Obtain the character from the UART.
|
||||
cRxedChar = UART_RX_REG;
|
||||
|
||||
// Post the character onto a queue. xCRWokenByPost will be pdFALSE
|
||||
// the first time around the loop. If the post causes a co-routine
|
||||
// to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.
|
||||
// In this manner we can ensure that if more than one co-routine is
|
||||
// blocked on the queue only one is woken by this ISR no matter how
|
||||
// many characters are posted to the queue.
|
||||
xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost );
|
||||
}
|
||||
}</pre>
|
||||
* \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR
|
||||
* \ingroup Tasks
|
||||
*/
|
||||
#define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) xQueueCRSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( xCoRoutinePreviouslyWoken ) )
|
||||
|
||||
|
||||
/**
|
||||
* croutine. h
|
||||
* <pre>
|
||||
crQUEUE_SEND_FROM_ISR(
|
||||
QueueHandle_t pxQueue,
|
||||
void *pvBuffer,
|
||||
BaseType_t * pxCoRoutineWoken
|
||||
)</pre>
|
||||
*
|
||||
* The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
|
||||
* co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
|
||||
* functions used by tasks.
|
||||
*
|
||||
* crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
|
||||
* pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
|
||||
* xQueueReceiveFromISR() can only be used to pass data between a task and and
|
||||
* ISR.
|
||||
*
|
||||
* crQUEUE_RECEIVE_FROM_ISR can only be called from an ISR to receive data
|
||||
* from a queue that is being used from within a co-routine (a co-routine
|
||||
* posted to the queue).
|
||||
*
|
||||
* See the co-routine section of the WEB documentation for information on
|
||||
* passing data between tasks and co-routines and between ISR's and
|
||||
* co-routines.
|
||||
*
|
||||
* @param xQueue The handle to the queue on which the item is to be posted.
|
||||
*
|
||||
* @param pvBuffer A pointer to a buffer into which the received item will be
|
||||
* placed. The size of the items the queue will hold was defined when the
|
||||
* queue was created, so this many bytes will be copied from the queue into
|
||||
* pvBuffer.
|
||||
*
|
||||
* @param pxCoRoutineWoken A co-routine may be blocked waiting for space to become
|
||||
* available on the queue. If crQUEUE_RECEIVE_FROM_ISR causes such a
|
||||
* co-routine to unblock *pxCoRoutineWoken will get set to pdTRUE, otherwise
|
||||
* *pxCoRoutineWoken will remain unchanged.
|
||||
*
|
||||
* @return pdTRUE an item was successfully received from the queue, otherwise
|
||||
* pdFALSE.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
// A co-routine that posts a character to a queue then blocks for a fixed
|
||||
// period. The character is incremented each time.
|
||||
static void vSendingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
||||
{
|
||||
// cChar holds its value while this co-routine is blocked and must therefore
|
||||
// be declared static.
|
||||
static char cCharToTx = 'a';
|
||||
BaseType_t xResult;
|
||||
|
||||
// All co-routines must start with a call to crSTART().
|
||||
crSTART( xHandle );
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
// Send the next character to the queue.
|
||||
crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult );
|
||||
|
||||
if( xResult == pdPASS )
|
||||
{
|
||||
// The character was successfully posted to the queue.
|
||||
}
|
||||
else
|
||||
{
|
||||
// Could not post the character to the queue.
|
||||
}
|
||||
|
||||
// Enable the UART Tx interrupt to cause an interrupt in this
|
||||
// hypothetical UART. The interrupt will obtain the character
|
||||
// from the queue and send it.
|
||||
ENABLE_RX_INTERRUPT();
|
||||
|
||||
// Increment to the next character then block for a fixed period.
|
||||
// cCharToTx will maintain its value across the delay as it is
|
||||
// declared static.
|
||||
cCharToTx++;
|
||||
if( cCharToTx > 'x' )
|
||||
{
|
||||
cCharToTx = 'a';
|
||||
}
|
||||
crDELAY( 100 );
|
||||
}
|
||||
|
||||
// All co-routines must end with a call to crEND().
|
||||
crEND();
|
||||
}
|
||||
|
||||
// An ISR that uses a queue to receive characters to send on a UART.
|
||||
void vUART_ISR( void )
|
||||
{
|
||||
char cCharToTx;
|
||||
BaseType_t xCRWokenByPost = pdFALSE;
|
||||
|
||||
while( UART_TX_REG_EMPTY() )
|
||||
{
|
||||
// Are there any characters in the queue waiting to be sent?
|
||||
// xCRWokenByPost will automatically be set to pdTRUE if a co-routine
|
||||
// is woken by the post - ensuring that only a single co-routine is
|
||||
// woken no matter how many times we go around this loop.
|
||||
if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) )
|
||||
{
|
||||
SEND_CHARACTER( cCharToTx );
|
||||
}
|
||||
}
|
||||
}</pre>
|
||||
* \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR
|
||||
* \ingroup Tasks
|
||||
*/
|
||||
#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) xQueueCRReceiveFromISR( ( pxQueue ), ( pvBuffer ), ( pxCoRoutineWoken ) )
|
||||
|
||||
/*
|
||||
* This function is intended for internal use by the co-routine macros only.
|
||||
* The macro nature of the co-routine implementation requires that the
|
||||
* prototype appears here. The function should not be used by application
|
||||
* writers.
|
||||
*
|
||||
* Removes the current co-routine from its ready list and places it in the
|
||||
* appropriate delayed list.
|
||||
*/
|
||||
void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList );
|
||||
|
||||
/*
|
||||
* This function is intended for internal use by the queue implementation only.
|
||||
* The function should not be used by application writers.
|
||||
*
|
||||
* Removes the highest priority co-routine from the event list and places it in
|
||||
* the pending ready list.
|
||||
*/
|
||||
BaseType_t xCoRoutineRemoveFromEventList( const List_t *pxEventList );
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* CO_ROUTINE_H */
|
|
@ -0,0 +1,321 @@
|
|||
/*
|
||||
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
|
||||
All rights reserved
|
||||
|
||||
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||
|
||||
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. Full license text is available on the following
|
||||
link: http://www.freertos.org/a00114.html
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS provides completely free yet professionally developed, *
|
||||
* robust, strictly quality controlled, supported, and cross *
|
||||
* platform software that is more than just the market leader, it *
|
||||
* is the industry's de facto standard. *
|
||||
* *
|
||||
* Help yourself get started quickly while simultaneously helping *
|
||||
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
||||
* tutorial book, reference manual, or both: *
|
||||
* http://www.FreeRTOS.org/Documentation *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
||||
the FAQ page "My application does not run, what could be wrong?". Have you
|
||||
defined configASSERT()?
|
||||
|
||||
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||
embedded software for free we request you assist our global community by
|
||||
participating in the support forum.
|
||||
|
||||
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||
be as productive as possible as early as possible. Now you can receive
|
||||
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||
|
||||
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||
licenses offer ticketed support, indemnification and commercial middleware.
|
||||
|
||||
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.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
#ifndef DEPRECATED_DEFINITIONS_H
|
||||
#define DEPRECATED_DEFINITIONS_H
|
||||
|
||||
|
||||
/* Each FreeRTOS port has a unique portmacro.h header file. Originally a
|
||||
pre-processor definition was used to ensure the pre-processor found the correct
|
||||
portmacro.h file for the port being used. That scheme was deprecated in favour
|
||||
of setting the compiler's include path such that it found the correct
|
||||
portmacro.h file - removing the need for the constant and allowing the
|
||||
portmacro.h file to be located anywhere in relation to the port being used. The
|
||||
definitions below remain in the code for backward compatibility only. New
|
||||
projects should not use them. */
|
||||
|
||||
#ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT
|
||||
#include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h"
|
||||
typedef void ( __interrupt __far *pxISR )();
|
||||
#endif
|
||||
|
||||
#ifdef OPEN_WATCOM_FLASH_LITE_186_PORT
|
||||
#include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h"
|
||||
typedef void ( __interrupt __far *pxISR )();
|
||||
#endif
|
||||
|
||||
#ifdef GCC_MEGA_AVR
|
||||
#include "../portable/GCC/ATMega323/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef IAR_MEGA_AVR
|
||||
#include "../portable/IAR/ATMega323/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef MPLAB_PIC24_PORT
|
||||
#include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef MPLAB_DSPIC_PORT
|
||||
#include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef MPLAB_PIC18F_PORT
|
||||
#include "../../Source/portable/MPLAB/PIC18F/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef MPLAB_PIC32MX_PORT
|
||||
#include "../../Source/portable/MPLAB/PIC32MX/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef _FEDPICC
|
||||
#include "libFreeRTOS/Include/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef SDCC_CYGNAL
|
||||
#include "../../Source/portable/SDCC/Cygnal/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef GCC_ARM7
|
||||
#include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef GCC_ARM7_ECLIPSE
|
||||
#include "portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef ROWLEY_LPC23xx
|
||||
#include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef IAR_MSP430
|
||||
#include "..\..\Source\portable\IAR\MSP430\portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef GCC_MSP430
|
||||
#include "../../Source/portable/GCC/MSP430F449/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef ROWLEY_MSP430
|
||||
#include "../../Source/portable/Rowley/MSP430F449/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef ARM7_LPC21xx_KEIL_RVDS
|
||||
#include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef SAM7_GCC
|
||||
#include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef SAM7_IAR
|
||||
#include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef SAM9XE_IAR
|
||||
#include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef LPC2000_IAR
|
||||
#include "..\..\Source\portable\IAR\LPC2000\portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef STR71X_IAR
|
||||
#include "..\..\Source\portable\IAR\STR71x\portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef STR75X_IAR
|
||||
#include "..\..\Source\portable\IAR\STR75x\portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef STR75X_GCC
|
||||
#include "..\..\Source\portable\GCC\STR75x\portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef STR91X_IAR
|
||||
#include "..\..\Source\portable\IAR\STR91x\portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef GCC_H8S
|
||||
#include "../../Source/portable/GCC/H8S2329/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef GCC_AT91FR40008
|
||||
#include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef RVDS_ARMCM3_LM3S102
|
||||
#include "../../Source/portable/RVDS/ARM_CM3/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef GCC_ARMCM3_LM3S102
|
||||
#include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef GCC_ARMCM3
|
||||
#include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef IAR_ARM_CM3
|
||||
#include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef IAR_ARMCM3_LM
|
||||
#include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef HCS12_CODE_WARRIOR
|
||||
#include "../../Source/portable/CodeWarrior/HCS12/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef MICROBLAZE_GCC
|
||||
#include "../../Source/portable/GCC/MicroBlaze/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef TERN_EE
|
||||
#include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef GCC_HCS12
|
||||
#include "../../Source/portable/GCC/HCS12/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef GCC_MCF5235
|
||||
#include "../../Source/portable/GCC/MCF5235/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef COLDFIRE_V2_GCC
|
||||
#include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef COLDFIRE_V2_CODEWARRIOR
|
||||
#include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef GCC_PPC405
|
||||
#include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef GCC_PPC440
|
||||
#include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef _16FX_SOFTUNE
|
||||
#include "..\..\Source\portable\Softune\MB96340\portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef BCC_INDUSTRIAL_PC_PORT
|
||||
/* A short file name has to be used in place of the normal
|
||||
FreeRTOSConfig.h when using the Borland compiler. */
|
||||
#include "frconfig.h"
|
||||
#include "..\portable\BCC\16BitDOS\PC\prtmacro.h"
|
||||
typedef void ( __interrupt __far *pxISR )();
|
||||
#endif
|
||||
|
||||
#ifdef BCC_FLASH_LITE_186_PORT
|
||||
/* A short file name has to be used in place of the normal
|
||||
FreeRTOSConfig.h when using the Borland compiler. */
|
||||
#include "frconfig.h"
|
||||
#include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h"
|
||||
typedef void ( __interrupt __far *pxISR )();
|
||||
#endif
|
||||
|
||||
#ifdef __GNUC__
|
||||
#ifdef __AVR32_AVR32A__
|
||||
#include "portmacro.h"
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef __ICCAVR32__
|
||||
#ifdef __CORE__
|
||||
#if __CORE__ == __AVR32A__
|
||||
#include "portmacro.h"
|
||||
#endif
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef __91467D
|
||||
#include "portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef __96340
|
||||
#include "portmacro.h"
|
||||
#endif
|
||||
|
||||
|
||||
#ifdef __IAR_V850ES_Fx3__
|
||||
#include "../../Source/portable/IAR/V850ES/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef __IAR_V850ES_Jx3__
|
||||
#include "../../Source/portable/IAR/V850ES/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef __IAR_V850ES_Jx3_L__
|
||||
#include "../../Source/portable/IAR/V850ES/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef __IAR_V850ES_Jx2__
|
||||
#include "../../Source/portable/IAR/V850ES/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef __IAR_V850ES_Hx2__
|
||||
#include "../../Source/portable/IAR/V850ES/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef __IAR_78K0R_Kx3__
|
||||
#include "../../Source/portable/IAR/78K0R/portmacro.h"
|
||||
#endif
|
||||
|
||||
#ifdef __IAR_78K0R_Kx3L__
|
||||
#include "../../Source/portable/IAR/78K0R/portmacro.h"
|
||||
#endif
|
||||
|
||||
#endif /* DEPRECATED_DEFINITIONS_H */
|
||||
|
|
@ -0,0 +1,797 @@
|
|||
/*
|
||||
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
|
||||
All rights reserved
|
||||
|
||||
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||
|
||||
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. Full license text is available on the following
|
||||
link: http://www.freertos.org/a00114.html
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS provides completely free yet professionally developed, *
|
||||
* robust, strictly quality controlled, supported, and cross *
|
||||
* platform software that is more than just the market leader, it *
|
||||
* is the industry's de facto standard. *
|
||||
* *
|
||||
* Help yourself get started quickly while simultaneously helping *
|
||||
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
||||
* tutorial book, reference manual, or both: *
|
||||
* http://www.FreeRTOS.org/Documentation *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
||||
the FAQ page "My application does not run, what could be wrong?". Have you
|
||||
defined configASSERT()?
|
||||
|
||||
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||
embedded software for free we request you assist our global community by
|
||||
participating in the support forum.
|
||||
|
||||
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||
be as productive as possible as early as possible. Now you can receive
|
||||
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||
|
||||
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||
licenses offer ticketed support, indemnification and commercial middleware.
|
||||
|
||||
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.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
#ifndef EVENT_GROUPS_H
|
||||
#define EVENT_GROUPS_H
|
||||
|
||||
#ifndef INC_FREERTOS_H
|
||||
#error "include FreeRTOS.h" must appear in source files before "include event_groups.h"
|
||||
#endif
|
||||
|
||||
/* FreeRTOS includes. */
|
||||
#include "timers.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/**
|
||||
* An event group is a collection of bits to which an application can assign a
|
||||
* meaning. For example, an application may create an event group to convey
|
||||
* the status of various CAN bus related events in which bit 0 might mean "A CAN
|
||||
* message has been received and is ready for processing", bit 1 might mean "The
|
||||
* application has queued a message that is ready for sending onto the CAN
|
||||
* network", and bit 2 might mean "It is time to send a SYNC message onto the
|
||||
* CAN network" etc. A task can then test the bit values to see which events
|
||||
* are active, and optionally enter the Blocked state to wait for a specified
|
||||
* bit or a group of specified bits to be active. To continue the CAN bus
|
||||
* example, a CAN controlling task can enter the Blocked state (and therefore
|
||||
* not consume any processing time) until either bit 0, bit 1 or bit 2 are
|
||||
* active, at which time the bit that was actually active would inform the task
|
||||
* which action it had to take (process a received message, send a message, or
|
||||
* send a SYNC).
|
||||
*
|
||||
* The event groups implementation contains intelligence to avoid race
|
||||
* conditions that would otherwise occur were an application to use a simple
|
||||
* variable for the same purpose. This is particularly important with respect
|
||||
* to when a bit within an event group is to be cleared, and when bits have to
|
||||
* be set and then tested atomically - as is the case where event groups are
|
||||
* used to create a synchronisation point between multiple tasks (a
|
||||
* 'rendezvous').
|
||||
*
|
||||
* \defgroup EventGroup
|
||||
*/
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* event_groups.h
|
||||
*
|
||||
* Type by which event groups are referenced. For example, a call to
|
||||
* xEventGroupCreate() returns an EventGroupHandle_t variable that can then
|
||||
* be used as a parameter to other event group functions.
|
||||
*
|
||||
* \defgroup EventGroupHandle_t EventGroupHandle_t
|
||||
* \ingroup EventGroup
|
||||
*/
|
||||
typedef void * EventGroupHandle_t;
|
||||
|
||||
/*
|
||||
* The type that holds event bits always matches TickType_t - therefore the
|
||||
* number of bits it holds is set by configUSE_16_BIT_TICKS (16 bits if set to 1,
|
||||
* 32 bits if set to 0.
|
||||
*
|
||||
* \defgroup EventBits_t EventBits_t
|
||||
* \ingroup EventGroup
|
||||
*/
|
||||
typedef TickType_t EventBits_t;
|
||||
|
||||
/**
|
||||
* event_groups.h
|
||||
*<pre>
|
||||
EventGroupHandle_t xEventGroupCreate( void );
|
||||
</pre>
|
||||
*
|
||||
* Create a new event group.
|
||||
*
|
||||
* Internally, within the FreeRTOS implementation, event groups use a [small]
|
||||
* block of memory, in which the event group's structure is stored. If an event
|
||||
* groups is created using xEventGropuCreate() then the required memory is
|
||||
* automatically dynamically allocated inside the xEventGroupCreate() function.
|
||||
* (see http://www.freertos.org/a00111.html). If an event group is created
|
||||
* using xEventGropuCreateStatic() then the application writer must instead
|
||||
* provide the memory that will get used by the event group.
|
||||
* xEventGroupCreateStatic() therefore allows an event group to be created
|
||||
* without using any dynamic memory allocation.
|
||||
*
|
||||
* Although event groups are not related to ticks, for internal implementation
|
||||
* reasons the number of bits available for use in an event group is dependent
|
||||
* on the configUSE_16_BIT_TICKS setting in FreeRTOSConfig.h. If
|
||||
* configUSE_16_BIT_TICKS is 1 then each event group contains 8 usable bits (bit
|
||||
* 0 to bit 7). If configUSE_16_BIT_TICKS is set to 0 then each event group has
|
||||
* 24 usable bits (bit 0 to bit 23). The EventBits_t type is used to store
|
||||
* event bits within an event group.
|
||||
*
|
||||
* @return If the event group was created then a handle to the event group is
|
||||
* returned. If there was insufficient FreeRTOS heap available to create the
|
||||
* event group then NULL is returned. See http://www.freertos.org/a00111.html
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
// Declare a variable to hold the created event group.
|
||||
EventGroupHandle_t xCreatedEventGroup;
|
||||
|
||||
// Attempt to create the event group.
|
||||
xCreatedEventGroup = xEventGroupCreate();
|
||||
|
||||
// Was the event group created successfully?
|
||||
if( xCreatedEventGroup == NULL )
|
||||
{
|
||||
// The event group was not created because there was insufficient
|
||||
// FreeRTOS heap available.
|
||||
}
|
||||
else
|
||||
{
|
||||
// The event group was created.
|
||||
}
|
||||
</pre>
|
||||
* \defgroup xEventGroupCreate xEventGroupCreate
|
||||
* \ingroup EventGroup
|
||||
*/
|
||||
#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
|
||||
EventGroupHandle_t xEventGroupCreate( void ) PRIVILEGED_FUNCTION;
|
||||
#endif
|
||||
|
||||
/**
|
||||
* event_groups.h
|
||||
*<pre>
|
||||
EventGroupHandle_t xEventGroupCreateStatic( EventGroupHandle_t * pxEventGroupBuffer );
|
||||
</pre>
|
||||
*
|
||||
* Create a new event group.
|
||||
*
|
||||
* Internally, within the FreeRTOS implementation, event groups use a [small]
|
||||
* block of memory, in which the event group's structure is stored. If an event
|
||||
* groups is created using xEventGropuCreate() then the required memory is
|
||||
* automatically dynamically allocated inside the xEventGroupCreate() function.
|
||||
* (see http://www.freertos.org/a00111.html). If an event group is created
|
||||
* using xEventGropuCreateStatic() then the application writer must instead
|
||||
* provide the memory that will get used by the event group.
|
||||
* xEventGroupCreateStatic() therefore allows an event group to be created
|
||||
* without using any dynamic memory allocation.
|
||||
*
|
||||
* Although event groups are not related to ticks, for internal implementation
|
||||
* reasons the number of bits available for use in an event group is dependent
|
||||
* on the configUSE_16_BIT_TICKS setting in FreeRTOSConfig.h. If
|
||||
* configUSE_16_BIT_TICKS is 1 then each event group contains 8 usable bits (bit
|
||||
* 0 to bit 7). If configUSE_16_BIT_TICKS is set to 0 then each event group has
|
||||
* 24 usable bits (bit 0 to bit 23). The EventBits_t type is used to store
|
||||
* event bits within an event group.
|
||||
*
|
||||
* @param pxEventGroupBuffer pxEventGroupBuffer must point to a variable of type
|
||||
* StaticEventGroup_t, which will be then be used to hold the event group's data
|
||||
* structures, removing the need for the memory to be allocated dynamically.
|
||||
*
|
||||
* @return If the event group was created then a handle to the event group is
|
||||
* returned. If pxEventGroupBuffer was NULL then NULL is returned.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
// StaticEventGroup_t is a publicly accessible structure that has the same
|
||||
// size and alignment requirements as the real event group structure. It is
|
||||
// provided as a mechanism for applications to know the size of the event
|
||||
// group (which is dependent on the architecture and configuration file
|
||||
// settings) without breaking the strict data hiding policy by exposing the
|
||||
// real event group internals. This StaticEventGroup_t variable is passed
|
||||
// into the xSemaphoreCreateEventGroupStatic() function and is used to store
|
||||
// the event group's data structures
|
||||
StaticEventGroup_t xEventGroupBuffer;
|
||||
|
||||
// Create the event group without dynamically allocating any memory.
|
||||
xEventGroup = xEventGroupCreateStatic( &xEventGroupBuffer );
|
||||
</pre>
|
||||
*/
|
||||
#if( configSUPPORT_STATIC_ALLOCATION == 1 )
|
||||
EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t *pxEventGroupBuffer ) PRIVILEGED_FUNCTION;
|
||||
#endif
|
||||
|
||||
/**
|
||||
* event_groups.h
|
||||
*<pre>
|
||||
EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
|
||||
const EventBits_t uxBitsToWaitFor,
|
||||
const BaseType_t xClearOnExit,
|
||||
const BaseType_t xWaitForAllBits,
|
||||
const TickType_t xTicksToWait );
|
||||
</pre>
|
||||
*
|
||||
* [Potentially] block to wait for one or more bits to be set within a
|
||||
* previously created event group.
|
||||
*
|
||||
* This function cannot be called from an interrupt.
|
||||
*
|
||||
* @param xEventGroup The event group in which the bits are being tested. The
|
||||
* event group must have previously been created using a call to
|
||||
* xEventGroupCreate().
|
||||
*
|
||||
* @param uxBitsToWaitFor A bitwise value that indicates the bit or bits to test
|
||||
* inside the event group. For example, to wait for bit 0 and/or bit 2 set
|
||||
* uxBitsToWaitFor to 0x05. To wait for bits 0 and/or bit 1 and/or bit 2 set
|
||||
* uxBitsToWaitFor to 0x07. Etc.
|
||||
*
|
||||
* @param xClearOnExit If xClearOnExit is set to pdTRUE then any bits within
|
||||
* uxBitsToWaitFor that are set within the event group will be cleared before
|
||||
* xEventGroupWaitBits() returns if the wait condition was met (if the function
|
||||
* returns for a reason other than a timeout). If xClearOnExit is set to
|
||||
* pdFALSE then the bits set in the event group are not altered when the call to
|
||||
* xEventGroupWaitBits() returns.
|
||||
*
|
||||
* @param xWaitForAllBits If xWaitForAllBits is set to pdTRUE then
|
||||
* xEventGroupWaitBits() will return when either all the bits in uxBitsToWaitFor
|
||||
* are set or the specified block time expires. If xWaitForAllBits is set to
|
||||
* pdFALSE then xEventGroupWaitBits() will return when any one of the bits set
|
||||
* in uxBitsToWaitFor is set or the specified block time expires. The block
|
||||
* time is specified by the xTicksToWait parameter.
|
||||
*
|
||||
* @param xTicksToWait The maximum amount of time (specified in 'ticks') to wait
|
||||
* for one/all (depending on the xWaitForAllBits value) of the bits specified by
|
||||
* uxBitsToWaitFor to become set.
|
||||
*
|
||||
* @return The value of the event group at the time either the bits being waited
|
||||
* for became set, or the block time expired. Test the return value to know
|
||||
* which bits were set. If xEventGroupWaitBits() returned because its timeout
|
||||
* expired then not all the bits being waited for will be set. If
|
||||
* xEventGroupWaitBits() returned because the bits it was waiting for were set
|
||||
* then the returned value is the event group value before any bits were
|
||||
* automatically cleared in the case that xClearOnExit parameter was set to
|
||||
* pdTRUE.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
#define BIT_0 ( 1 << 0 )
|
||||
#define BIT_4 ( 1 << 4 )
|
||||
|
||||
void aFunction( EventGroupHandle_t xEventGroup )
|
||||
{
|
||||
EventBits_t uxBits;
|
||||
const TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS;
|
||||
|
||||
// Wait a maximum of 100ms for either bit 0 or bit 4 to be set within
|
||||
// the event group. Clear the bits before exiting.
|
||||
uxBits = xEventGroupWaitBits(
|
||||
xEventGroup, // The event group being tested.
|
||||
BIT_0 | BIT_4, // The bits within the event group to wait for.
|
||||
pdTRUE, // BIT_0 and BIT_4 should be cleared before returning.
|
||||
pdFALSE, // Don't wait for both bits, either bit will do.
|
||||
xTicksToWait ); // Wait a maximum of 100ms for either bit to be set.
|
||||
|
||||
if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
|
||||
{
|
||||
// xEventGroupWaitBits() returned because both bits were set.
|
||||
}
|
||||
else if( ( uxBits & BIT_0 ) != 0 )
|
||||
{
|
||||
// xEventGroupWaitBits() returned because just BIT_0 was set.
|
||||
}
|
||||
else if( ( uxBits & BIT_4 ) != 0 )
|
||||
{
|
||||
// xEventGroupWaitBits() returned because just BIT_4 was set.
|
||||
}
|
||||
else
|
||||
{
|
||||
// xEventGroupWaitBits() returned because xTicksToWait ticks passed
|
||||
// without either BIT_0 or BIT_4 becoming set.
|
||||
}
|
||||
}
|
||||
</pre>
|
||||
* \defgroup xEventGroupWaitBits xEventGroupWaitBits
|
||||
* \ingroup EventGroup
|
||||
*/
|
||||
EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToWaitFor, const BaseType_t xClearOnExit, const BaseType_t xWaitForAllBits, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/**
|
||||
* event_groups.h
|
||||
*<pre>
|
||||
EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear );
|
||||
</pre>
|
||||
*
|
||||
* Clear bits within an event group. This function cannot be called from an
|
||||
* interrupt.
|
||||
*
|
||||
* @param xEventGroup The event group in which the bits are to be cleared.
|
||||
*
|
||||
* @param uxBitsToClear A bitwise value that indicates the bit or bits to clear
|
||||
* in the event group. For example, to clear bit 3 only, set uxBitsToClear to
|
||||
* 0x08. To clear bit 3 and bit 0 set uxBitsToClear to 0x09.
|
||||
*
|
||||
* @return The value of the event group before the specified bits were cleared.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
#define BIT_0 ( 1 << 0 )
|
||||
#define BIT_4 ( 1 << 4 )
|
||||
|
||||
void aFunction( EventGroupHandle_t xEventGroup )
|
||||
{
|
||||
EventBits_t uxBits;
|
||||
|
||||
// Clear bit 0 and bit 4 in xEventGroup.
|
||||
uxBits = xEventGroupClearBits(
|
||||
xEventGroup, // The event group being updated.
|
||||
BIT_0 | BIT_4 );// The bits being cleared.
|
||||
|
||||
if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
|
||||
{
|
||||
// Both bit 0 and bit 4 were set before xEventGroupClearBits() was
|
||||
// called. Both will now be clear (not set).
|
||||
}
|
||||
else if( ( uxBits & BIT_0 ) != 0 )
|
||||
{
|
||||
// Bit 0 was set before xEventGroupClearBits() was called. It will
|
||||
// now be clear.
|
||||
}
|
||||
else if( ( uxBits & BIT_4 ) != 0 )
|
||||
{
|
||||
// Bit 4 was set before xEventGroupClearBits() was called. It will
|
||||
// now be clear.
|
||||
}
|
||||
else
|
||||
{
|
||||
// Neither bit 0 nor bit 4 were set in the first place.
|
||||
}
|
||||
}
|
||||
</pre>
|
||||
* \defgroup xEventGroupClearBits xEventGroupClearBits
|
||||
* \ingroup EventGroup
|
||||
*/
|
||||
EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/**
|
||||
* event_groups.h
|
||||
*<pre>
|
||||
BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
|
||||
</pre>
|
||||
*
|
||||
* A version of xEventGroupClearBits() that can be called from an interrupt.
|
||||
*
|
||||
* Setting bits in an event group is not a deterministic operation because there
|
||||
* are an unknown number of tasks that may be waiting for the bit or bits being
|
||||
* set. FreeRTOS does not allow nondeterministic operations to be performed
|
||||
* while interrupts are disabled, so protects event groups that are accessed
|
||||
* from tasks by suspending the scheduler rather than disabling interrupts. As
|
||||
* a result event groups cannot be accessed directly from an interrupt service
|
||||
* routine. Therefore xEventGroupClearBitsFromISR() sends a message to the
|
||||
* timer task to have the clear operation performed in the context of the timer
|
||||
* task.
|
||||
*
|
||||
* @param xEventGroup The event group in which the bits are to be cleared.
|
||||
*
|
||||
* @param uxBitsToClear A bitwise value that indicates the bit or bits to clear.
|
||||
* For example, to clear bit 3 only, set uxBitsToClear to 0x08. To clear bit 3
|
||||
* and bit 0 set uxBitsToClear to 0x09.
|
||||
*
|
||||
* @return If the request to execute the function was posted successfully then
|
||||
* pdPASS is returned, otherwise pdFALSE is returned. pdFALSE will be returned
|
||||
* if the timer service queue was full.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
#define BIT_0 ( 1 << 0 )
|
||||
#define BIT_4 ( 1 << 4 )
|
||||
|
||||
// An event group which it is assumed has already been created by a call to
|
||||
// xEventGroupCreate().
|
||||
EventGroupHandle_t xEventGroup;
|
||||
|
||||
void anInterruptHandler( void )
|
||||
{
|
||||
// Clear bit 0 and bit 4 in xEventGroup.
|
||||
xResult = xEventGroupClearBitsFromISR(
|
||||
xEventGroup, // The event group being updated.
|
||||
BIT_0 | BIT_4 ); // The bits being set.
|
||||
|
||||
if( xResult == pdPASS )
|
||||
{
|
||||
// The message was posted successfully.
|
||||
}
|
||||
}
|
||||
</pre>
|
||||
* \defgroup xEventGroupClearBitsFromISR xEventGroupClearBitsFromISR
|
||||
* \ingroup EventGroup
|
||||
*/
|
||||
#if( configUSE_TRACE_FACILITY == 1 )
|
||||
BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet ) PRIVILEGED_FUNCTION;
|
||||
#else
|
||||
#define xEventGroupClearBitsFromISR( xEventGroup, uxBitsToClear ) xTimerPendFunctionCallFromISR( vEventGroupClearBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToClear, NULL )
|
||||
#endif
|
||||
|
||||
/**
|
||||
* event_groups.h
|
||||
*<pre>
|
||||
EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
|
||||
</pre>
|
||||
*
|
||||
* Set bits within an event group.
|
||||
* This function cannot be called from an interrupt. xEventGroupSetBitsFromISR()
|
||||
* is a version that can be called from an interrupt.
|
||||
*
|
||||
* Setting bits in an event group will automatically unblock tasks that are
|
||||
* blocked waiting for the bits.
|
||||
*
|
||||
* @param xEventGroup The event group in which the bits are to be set.
|
||||
*
|
||||
* @param uxBitsToSet A bitwise value that indicates the bit or bits to set.
|
||||
* For example, to set bit 3 only, set uxBitsToSet to 0x08. To set bit 3
|
||||
* and bit 0 set uxBitsToSet to 0x09.
|
||||
*
|
||||
* @return The value of the event group at the time the call to
|
||||
* xEventGroupSetBits() returns. There are two reasons why the returned value
|
||||
* might have the bits specified by the uxBitsToSet parameter cleared. First,
|
||||
* if setting a bit results in a task that was waiting for the bit leaving the
|
||||
* blocked state then it is possible the bit will be cleared automatically
|
||||
* (see the xClearBitOnExit parameter of xEventGroupWaitBits()). Second, any
|
||||
* unblocked (or otherwise Ready state) task that has a priority above that of
|
||||
* the task that called xEventGroupSetBits() will execute and may change the
|
||||
* event group value before the call to xEventGroupSetBits() returns.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
#define BIT_0 ( 1 << 0 )
|
||||
#define BIT_4 ( 1 << 4 )
|
||||
|
||||
void aFunction( EventGroupHandle_t xEventGroup )
|
||||
{
|
||||
EventBits_t uxBits;
|
||||
|
||||
// Set bit 0 and bit 4 in xEventGroup.
|
||||
uxBits = xEventGroupSetBits(
|
||||
xEventGroup, // The event group being updated.
|
||||
BIT_0 | BIT_4 );// The bits being set.
|
||||
|
||||
if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
|
||||
{
|
||||
// Both bit 0 and bit 4 remained set when the function returned.
|
||||
}
|
||||
else if( ( uxBits & BIT_0 ) != 0 )
|
||||
{
|
||||
// Bit 0 remained set when the function returned, but bit 4 was
|
||||
// cleared. It might be that bit 4 was cleared automatically as a
|
||||
// task that was waiting for bit 4 was removed from the Blocked
|
||||
// state.
|
||||
}
|
||||
else if( ( uxBits & BIT_4 ) != 0 )
|
||||
{
|
||||
// Bit 4 remained set when the function returned, but bit 0 was
|
||||
// cleared. It might be that bit 0 was cleared automatically as a
|
||||
// task that was waiting for bit 0 was removed from the Blocked
|
||||
// state.
|
||||
}
|
||||
else
|
||||
{
|
||||
// Neither bit 0 nor bit 4 remained set. It might be that a task
|
||||
// was waiting for both of the bits to be set, and the bits were
|
||||
// cleared as the task left the Blocked state.
|
||||
}
|
||||
}
|
||||
</pre>
|
||||
* \defgroup xEventGroupSetBits xEventGroupSetBits
|
||||
* \ingroup EventGroup
|
||||
*/
|
||||
EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/**
|
||||
* event_groups.h
|
||||
*<pre>
|
||||
BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken );
|
||||
</pre>
|
||||
*
|
||||
* A version of xEventGroupSetBits() that can be called from an interrupt.
|
||||
*
|
||||
* Setting bits in an event group is not a deterministic operation because there
|
||||
* are an unknown number of tasks that may be waiting for the bit or bits being
|
||||
* set. FreeRTOS does not allow nondeterministic operations to be performed in
|
||||
* interrupts or from critical sections. Therefore xEventGroupSetBitsFromISR()
|
||||
* sends a message to the timer task to have the set operation performed in the
|
||||
* context of the timer task - where a scheduler lock is used in place of a
|
||||
* critical section.
|
||||
*
|
||||
* @param xEventGroup The event group in which the bits are to be set.
|
||||
*
|
||||
* @param uxBitsToSet A bitwise value that indicates the bit or bits to set.
|
||||
* For example, to set bit 3 only, set uxBitsToSet to 0x08. To set bit 3
|
||||
* and bit 0 set uxBitsToSet to 0x09.
|
||||
*
|
||||
* @param pxHigherPriorityTaskWoken As mentioned above, calling this function
|
||||
* will result in a message being sent to the timer daemon task. If the
|
||||
* priority of the timer daemon task is higher than the priority of the
|
||||
* currently running task (the task the interrupt interrupted) then
|
||||
* *pxHigherPriorityTaskWoken will be set to pdTRUE by
|
||||
* xEventGroupSetBitsFromISR(), indicating that a context switch should be
|
||||
* requested before the interrupt exits. For that reason
|
||||
* *pxHigherPriorityTaskWoken must be initialised to pdFALSE. See the
|
||||
* example code below.
|
||||
*
|
||||
* @return If the request to execute the function was posted successfully then
|
||||
* pdPASS is returned, otherwise pdFALSE is returned. pdFALSE will be returned
|
||||
* if the timer service queue was full.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
#define BIT_0 ( 1 << 0 )
|
||||
#define BIT_4 ( 1 << 4 )
|
||||
|
||||
// An event group which it is assumed has already been created by a call to
|
||||
// xEventGroupCreate().
|
||||
EventGroupHandle_t xEventGroup;
|
||||
|
||||
void anInterruptHandler( void )
|
||||
{
|
||||
BaseType_t xHigherPriorityTaskWoken, xResult;
|
||||
|
||||
// xHigherPriorityTaskWoken must be initialised to pdFALSE.
|
||||
xHigherPriorityTaskWoken = pdFALSE;
|
||||
|
||||
// Set bit 0 and bit 4 in xEventGroup.
|
||||
xResult = xEventGroupSetBitsFromISR(
|
||||
xEventGroup, // The event group being updated.
|
||||
BIT_0 | BIT_4 // The bits being set.
|
||||
&xHigherPriorityTaskWoken );
|
||||
|
||||
// Was the message posted successfully?
|
||||
if( xResult == pdPASS )
|
||||
{
|
||||
// If xHigherPriorityTaskWoken is now set to pdTRUE then a context
|
||||
// switch should be requested. The macro used is port specific and
|
||||
// will be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() -
|
||||
// refer to the documentation page for the port being used.
|
||||
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
|
||||
}
|
||||
}
|
||||
</pre>
|
||||
* \defgroup xEventGroupSetBitsFromISR xEventGroupSetBitsFromISR
|
||||
* \ingroup EventGroup
|
||||
*/
|
||||
#if( configUSE_TRACE_FACILITY == 1 )
|
||||
BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
|
||||
#else
|
||||
#define xEventGroupSetBitsFromISR( xEventGroup, uxBitsToSet, pxHigherPriorityTaskWoken ) xTimerPendFunctionCallFromISR( vEventGroupSetBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToSet, pxHigherPriorityTaskWoken )
|
||||
#endif
|
||||
|
||||
/**
|
||||
* event_groups.h
|
||||
*<pre>
|
||||
EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup,
|
||||
const EventBits_t uxBitsToSet,
|
||||
const EventBits_t uxBitsToWaitFor,
|
||||
TickType_t xTicksToWait );
|
||||
</pre>
|
||||
*
|
||||
* Atomically set bits within an event group, then wait for a combination of
|
||||
* bits to be set within the same event group. This functionality is typically
|
||||
* used to synchronise multiple tasks, where each task has to wait for the other
|
||||
* tasks to reach a synchronisation point before proceeding.
|
||||
*
|
||||
* This function cannot be used from an interrupt.
|
||||
*
|
||||
* The function will return before its block time expires if the bits specified
|
||||
* by the uxBitsToWait parameter are set, or become set within that time. In
|
||||
* this case all the bits specified by uxBitsToWait will be automatically
|
||||
* cleared before the function returns.
|
||||
*
|
||||
* @param xEventGroup The event group in which the bits are being tested. The
|
||||
* event group must have previously been created using a call to
|
||||
* xEventGroupCreate().
|
||||
*
|
||||
* @param uxBitsToSet The bits to set in the event group before determining
|
||||
* if, and possibly waiting for, all the bits specified by the uxBitsToWait
|
||||
* parameter are set.
|
||||
*
|
||||
* @param uxBitsToWaitFor A bitwise value that indicates the bit or bits to test
|
||||
* inside the event group. For example, to wait for bit 0 and bit 2 set
|
||||
* uxBitsToWaitFor to 0x05. To wait for bits 0 and bit 1 and bit 2 set
|
||||
* uxBitsToWaitFor to 0x07. Etc.
|
||||
*
|
||||
* @param xTicksToWait The maximum amount of time (specified in 'ticks') to wait
|
||||
* for all of the bits specified by uxBitsToWaitFor to become set.
|
||||
*
|
||||
* @return The value of the event group at the time either the bits being waited
|
||||
* for became set, or the block time expired. Test the return value to know
|
||||
* which bits were set. If xEventGroupSync() returned because its timeout
|
||||
* expired then not all the bits being waited for will be set. If
|
||||
* xEventGroupSync() returned because all the bits it was waiting for were
|
||||
* set then the returned value is the event group value before any bits were
|
||||
* automatically cleared.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
// Bits used by the three tasks.
|
||||
#define TASK_0_BIT ( 1 << 0 )
|
||||
#define TASK_1_BIT ( 1 << 1 )
|
||||
#define TASK_2_BIT ( 1 << 2 )
|
||||
|
||||
#define ALL_SYNC_BITS ( TASK_0_BIT | TASK_1_BIT | TASK_2_BIT )
|
||||
|
||||
// Use an event group to synchronise three tasks. It is assumed this event
|
||||
// group has already been created elsewhere.
|
||||
EventGroupHandle_t xEventBits;
|
||||
|
||||
void vTask0( void *pvParameters )
|
||||
{
|
||||
EventBits_t uxReturn;
|
||||
TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS;
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
// Perform task functionality here.
|
||||
|
||||
// Set bit 0 in the event flag to note this task has reached the
|
||||
// sync point. The other two tasks will set the other two bits defined
|
||||
// by ALL_SYNC_BITS. All three tasks have reached the synchronisation
|
||||
// point when all the ALL_SYNC_BITS are set. Wait a maximum of 100ms
|
||||
// for this to happen.
|
||||
uxReturn = xEventGroupSync( xEventBits, TASK_0_BIT, ALL_SYNC_BITS, xTicksToWait );
|
||||
|
||||
if( ( uxReturn & ALL_SYNC_BITS ) == ALL_SYNC_BITS )
|
||||
{
|
||||
// All three tasks reached the synchronisation point before the call
|
||||
// to xEventGroupSync() timed out.
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void vTask1( void *pvParameters )
|
||||
{
|
||||
for( ;; )
|
||||
{
|
||||
// Perform task functionality here.
|
||||
|
||||
// Set bit 1 in the event flag to note this task has reached the
|
||||
// synchronisation point. The other two tasks will set the other two
|
||||
// bits defined by ALL_SYNC_BITS. All three tasks have reached the
|
||||
// synchronisation point when all the ALL_SYNC_BITS are set. Wait
|
||||
// indefinitely for this to happen.
|
||||
xEventGroupSync( xEventBits, TASK_1_BIT, ALL_SYNC_BITS, portMAX_DELAY );
|
||||
|
||||
// xEventGroupSync() was called with an indefinite block time, so
|
||||
// this task will only reach here if the syncrhonisation was made by all
|
||||
// three tasks, so there is no need to test the return value.
|
||||
}
|
||||
}
|
||||
|
||||
void vTask2( void *pvParameters )
|
||||
{
|
||||
for( ;; )
|
||||
{
|
||||
// Perform task functionality here.
|
||||
|
||||
// Set bit 2 in the event flag to note this task has reached the
|
||||
// synchronisation point. The other two tasks will set the other two
|
||||
// bits defined by ALL_SYNC_BITS. All three tasks have reached the
|
||||
// synchronisation point when all the ALL_SYNC_BITS are set. Wait
|
||||
// indefinitely for this to happen.
|
||||
xEventGroupSync( xEventBits, TASK_2_BIT, ALL_SYNC_BITS, portMAX_DELAY );
|
||||
|
||||
// xEventGroupSync() was called with an indefinite block time, so
|
||||
// this task will only reach here if the syncrhonisation was made by all
|
||||
// three tasks, so there is no need to test the return value.
|
||||
}
|
||||
}
|
||||
|
||||
</pre>
|
||||
* \defgroup xEventGroupSync xEventGroupSync
|
||||
* \ingroup EventGroup
|
||||
*/
|
||||
EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, const EventBits_t uxBitsToWaitFor, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
|
||||
|
||||
|
||||
/**
|
||||
* event_groups.h
|
||||
*<pre>
|
||||
EventBits_t xEventGroupGetBits( EventGroupHandle_t xEventGroup );
|
||||
</pre>
|
||||
*
|
||||
* Returns the current value of the bits in an event group. This function
|
||||
* cannot be used from an interrupt.
|
||||
*
|
||||
* @param xEventGroup The event group being queried.
|
||||
*
|
||||
* @return The event group bits at the time xEventGroupGetBits() was called.
|
||||
*
|
||||
* \defgroup xEventGroupGetBits xEventGroupGetBits
|
||||
* \ingroup EventGroup
|
||||
*/
|
||||
#define xEventGroupGetBits( xEventGroup ) xEventGroupClearBits( xEventGroup, 0 )
|
||||
|
||||
/**
|
||||
* event_groups.h
|
||||
*<pre>
|
||||
EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup );
|
||||
</pre>
|
||||
*
|
||||
* A version of xEventGroupGetBits() that can be called from an ISR.
|
||||
*
|
||||
* @param xEventGroup The event group being queried.
|
||||
*
|
||||
* @return The event group bits at the time xEventGroupGetBitsFromISR() was called.
|
||||
*
|
||||
* \defgroup xEventGroupGetBitsFromISR xEventGroupGetBitsFromISR
|
||||
* \ingroup EventGroup
|
||||
*/
|
||||
EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/**
|
||||
* event_groups.h
|
||||
*<pre>
|
||||
void xEventGroupDelete( EventGroupHandle_t xEventGroup );
|
||||
</pre>
|
||||
*
|
||||
* Delete an event group that was previously created by a call to
|
||||
* xEventGroupCreate(). Tasks that are blocked on the event group will be
|
||||
* unblocked and obtain 0 as the event group's value.
|
||||
*
|
||||
* @param xEventGroup The event group being deleted.
|
||||
*/
|
||||
void vEventGroupDelete( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/* For internal use only. */
|
||||
void vEventGroupSetBitsCallback( void *pvEventGroup, const uint32_t ulBitsToSet ) PRIVILEGED_FUNCTION;
|
||||
void vEventGroupClearBitsCallback( void *pvEventGroup, const uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION;
|
||||
|
||||
|
||||
#if (configUSE_TRACE_FACILITY == 1)
|
||||
UBaseType_t uxEventGroupGetNumber( void* xEventGroup ) PRIVILEGED_FUNCTION;
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* EVENT_GROUPS_H */
|
||||
|
||||
|
|
@ -0,0 +1,453 @@
|
|||
/*
|
||||
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
|
||||
All rights reserved
|
||||
|
||||
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||
|
||||
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. Full license text is available on the following
|
||||
link: http://www.freertos.org/a00114.html
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS provides completely free yet professionally developed, *
|
||||
* robust, strictly quality controlled, supported, and cross *
|
||||
* platform software that is more than just the market leader, it *
|
||||
* is the industry's de facto standard. *
|
||||
* *
|
||||
* Help yourself get started quickly while simultaneously helping *
|
||||
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
||||
* tutorial book, reference manual, or both: *
|
||||
* http://www.FreeRTOS.org/Documentation *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
||||
the FAQ page "My application does not run, what could be wrong?". Have you
|
||||
defined configASSERT()?
|
||||
|
||||
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||
embedded software for free we request you assist our global community by
|
||||
participating in the support forum.
|
||||
|
||||
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||
be as productive as possible as early as possible. Now you can receive
|
||||
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||
|
||||
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||
licenses offer ticketed support, indemnification and commercial middleware.
|
||||
|
||||
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.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
/*
|
||||
* This is the list implementation used by the scheduler. While it is tailored
|
||||
* heavily for the schedulers needs, it is also available for use by
|
||||
* application code.
|
||||
*
|
||||
* list_ts can only store pointers to list_item_ts. Each ListItem_t contains a
|
||||
* numeric value (xItemValue). Most of the time the lists are sorted in
|
||||
* descending item value order.
|
||||
*
|
||||
* Lists are created already containing one list item. The value of this
|
||||
* item is the maximum possible that can be stored, it is therefore always at
|
||||
* the end of the list and acts as a marker. The list member pxHead always
|
||||
* points to this marker - even though it is at the tail of the list. This
|
||||
* is because the tail contains a wrap back pointer to the true head of
|
||||
* the list.
|
||||
*
|
||||
* In addition to it's value, each list item contains a pointer to the next
|
||||
* item in the list (pxNext), a pointer to the list it is in (pxContainer)
|
||||
* and a pointer to back to the object that contains it. These later two
|
||||
* pointers are included for efficiency of list manipulation. There is
|
||||
* effectively a two way link between the object containing the list item and
|
||||
* the list item itself.
|
||||
*
|
||||
*
|
||||
* \page ListIntroduction List Implementation
|
||||
* \ingroup FreeRTOSIntro
|
||||
*/
|
||||
|
||||
#ifndef INC_FREERTOS_H
|
||||
#error FreeRTOS.h must be included before list.h
|
||||
#endif
|
||||
|
||||
#ifndef LIST_H
|
||||
#define LIST_H
|
||||
|
||||
/*
|
||||
* The list structure members are modified from within interrupts, and therefore
|
||||
* by rights should be declared volatile. However, they are only modified in a
|
||||
* functionally atomic way (within critical sections of with the scheduler
|
||||
* suspended) and are either passed by reference into a function or indexed via
|
||||
* a volatile variable. Therefore, in all use cases tested so far, the volatile
|
||||
* qualifier can be omitted in order to provide a moderate performance
|
||||
* improvement without adversely affecting functional behaviour. The assembly
|
||||
* instructions generated by the IAR, ARM and GCC compilers when the respective
|
||||
* compiler's options were set for maximum optimisation has been inspected and
|
||||
* deemed to be as intended. That said, as compiler technology advances, and
|
||||
* especially if aggressive cross module optimisation is used (a use case that
|
||||
* has not been exercised to any great extend) then it is feasible that the
|
||||
* volatile qualifier will be needed for correct optimisation. It is expected
|
||||
* that a compiler removing essential code because, without the volatile
|
||||
* qualifier on the list structure members and with aggressive cross module
|
||||
* optimisation, the compiler deemed the code unnecessary will result in
|
||||
* complete and obvious failure of the scheduler. If this is ever experienced
|
||||
* then the volatile qualifier can be inserted in the relevant places within the
|
||||
* list structures by simply defining configLIST_VOLATILE to volatile in
|
||||
* FreeRTOSConfig.h (as per the example at the bottom of this comment block).
|
||||
* If configLIST_VOLATILE is not defined then the preprocessor directives below
|
||||
* will simply #define configLIST_VOLATILE away completely.
|
||||
*
|
||||
* To use volatile list structure members then add the following line to
|
||||
* FreeRTOSConfig.h (without the quotes):
|
||||
* "#define configLIST_VOLATILE volatile"
|
||||
*/
|
||||
#ifndef configLIST_VOLATILE
|
||||
#define configLIST_VOLATILE
|
||||
#endif /* configSUPPORT_CROSS_MODULE_OPTIMISATION */
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Macros that can be used to place known values within the list structures,
|
||||
then check that the known values do not get corrupted during the execution of
|
||||
the application. These may catch the list data structures being overwritten in
|
||||
memory. They will not catch data errors caused by incorrect configuration or
|
||||
use of FreeRTOS.*/
|
||||
#if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 )
|
||||
/* Define the macros to do nothing. */
|
||||
#define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE
|
||||
#define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE
|
||||
#define listFIRST_LIST_INTEGRITY_CHECK_VALUE
|
||||
#define listSECOND_LIST_INTEGRITY_CHECK_VALUE
|
||||
#define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )
|
||||
#define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )
|
||||
#define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList )
|
||||
#define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList )
|
||||
#define listTEST_LIST_ITEM_INTEGRITY( pxItem )
|
||||
#define listTEST_LIST_INTEGRITY( pxList )
|
||||
#else
|
||||
/* Define macros that add new members into the list structures. */
|
||||
#define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue1;
|
||||
#define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue2;
|
||||
#define listFIRST_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue1;
|
||||
#define listSECOND_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue2;
|
||||
|
||||
/* Define macros that set the new structure members to known values. */
|
||||
#define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue1 = pdINTEGRITY_CHECK_VALUE
|
||||
#define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue2 = pdINTEGRITY_CHECK_VALUE
|
||||
#define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) ( pxList )->xListIntegrityValue1 = pdINTEGRITY_CHECK_VALUE
|
||||
#define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) ( pxList )->xListIntegrityValue2 = pdINTEGRITY_CHECK_VALUE
|
||||
|
||||
/* Define macros that will assert if one of the structure members does not
|
||||
contain its expected value. */
|
||||
#define listTEST_LIST_ITEM_INTEGRITY( pxItem ) configASSERT( ( ( pxItem )->xListItemIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxItem )->xListItemIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
|
||||
#define listTEST_LIST_INTEGRITY( pxList ) configASSERT( ( ( pxList )->xListIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxList )->xListIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
|
||||
#endif /* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES */
|
||||
|
||||
|
||||
/*
|
||||
* Definition of the only type of object that a list can contain.
|
||||
*/
|
||||
struct xLIST_ITEM
|
||||
{
|
||||
listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
|
||||
configLIST_VOLATILE TickType_t xItemValue; /*< The value being listed. In most cases this is used to sort the list in descending order. */
|
||||
struct xLIST_ITEM * configLIST_VOLATILE pxNext; /*< Pointer to the next ListItem_t in the list. */
|
||||
struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; /*< Pointer to the previous ListItem_t in the list. */
|
||||
void * pvOwner; /*< Pointer to the object (normally a TCB) that contains the list item. There is therefore a two way link between the object containing the list item and the list item itself. */
|
||||
void * configLIST_VOLATILE pvContainer; /*< Pointer to the list in which this list item is placed (if any). */
|
||||
listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
|
||||
};
|
||||
typedef struct xLIST_ITEM ListItem_t; /* For some reason lint wants this as two separate definitions. */
|
||||
|
||||
struct xMINI_LIST_ITEM
|
||||
{
|
||||
listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
|
||||
configLIST_VOLATILE TickType_t xItemValue;
|
||||
struct xLIST_ITEM * configLIST_VOLATILE pxNext;
|
||||
struct xLIST_ITEM * configLIST_VOLATILE pxPrevious;
|
||||
};
|
||||
typedef struct xMINI_LIST_ITEM MiniListItem_t;
|
||||
|
||||
/*
|
||||
* Definition of the type of queue used by the scheduler.
|
||||
*/
|
||||
typedef struct xLIST
|
||||
{
|
||||
listFIRST_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
|
||||
configLIST_VOLATILE UBaseType_t uxNumberOfItems;
|
||||
ListItem_t * configLIST_VOLATILE pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to listGET_OWNER_OF_NEXT_ENTRY (). */
|
||||
MiniListItem_t xListEnd; /*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */
|
||||
listSECOND_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
|
||||
} List_t;
|
||||
|
||||
/*
|
||||
* Access macro to set the owner of a list item. The owner of a list item
|
||||
* is the object (usually a TCB) that contains the list item.
|
||||
*
|
||||
* \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
|
||||
* \ingroup LinkedList
|
||||
*/
|
||||
#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner ) ( ( pxListItem )->pvOwner = ( void * ) ( pxOwner ) )
|
||||
|
||||
/*
|
||||
* Access macro to get the owner of a list item. The owner of a list item
|
||||
* is the object (usually a TCB) that contains the list item.
|
||||
*
|
||||
* \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
|
||||
* \ingroup LinkedList
|
||||
*/
|
||||
#define listGET_LIST_ITEM_OWNER( pxListItem ) ( ( pxListItem )->pvOwner )
|
||||
|
||||
/*
|
||||
* Access macro to set the value of the list item. In most cases the value is
|
||||
* used to sort the list in descending order.
|
||||
*
|
||||
* \page listSET_LIST_ITEM_VALUE listSET_LIST_ITEM_VALUE
|
||||
* \ingroup LinkedList
|
||||
*/
|
||||
#define listSET_LIST_ITEM_VALUE( pxListItem, xValue ) ( ( pxListItem )->xItemValue = ( xValue ) )
|
||||
|
||||
/*
|
||||
* Access macro to retrieve the value of the list item. The value can
|
||||
* represent anything - for example the priority of a task, or the time at
|
||||
* which a task should be unblocked.
|
||||
*
|
||||
* \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
|
||||
* \ingroup LinkedList
|
||||
*/
|
||||
#define listGET_LIST_ITEM_VALUE( pxListItem ) ( ( pxListItem )->xItemValue )
|
||||
|
||||
/*
|
||||
* Access macro to retrieve the value of the list item at the head of a given
|
||||
* list.
|
||||
*
|
||||
* \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
|
||||
* \ingroup LinkedList
|
||||
*/
|
||||
#define listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext->xItemValue )
|
||||
|
||||
/*
|
||||
* Return the list item at the head of the list.
|
||||
*
|
||||
* \page listGET_HEAD_ENTRY listGET_HEAD_ENTRY
|
||||
* \ingroup LinkedList
|
||||
*/
|
||||
#define listGET_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext )
|
||||
|
||||
/*
|
||||
* Return the list item at the head of the list.
|
||||
*
|
||||
* \page listGET_NEXT listGET_NEXT
|
||||
* \ingroup LinkedList
|
||||
*/
|
||||
#define listGET_NEXT( pxListItem ) ( ( pxListItem )->pxNext )
|
||||
|
||||
/*
|
||||
* Return the list item that marks the end of the list
|
||||
*
|
||||
* \page listGET_END_MARKER listGET_END_MARKER
|
||||
* \ingroup LinkedList
|
||||
*/
|
||||
#define listGET_END_MARKER( pxList ) ( ( ListItem_t const * ) ( &( ( pxList )->xListEnd ) ) )
|
||||
|
||||
/*
|
||||
* Access macro to determine if a list contains any items. The macro will
|
||||
* only have the value true if the list is empty.
|
||||
*
|
||||
* \page listLIST_IS_EMPTY listLIST_IS_EMPTY
|
||||
* \ingroup LinkedList
|
||||
*/
|
||||
#define listLIST_IS_EMPTY( pxList ) ( ( BaseType_t ) ( ( pxList )->uxNumberOfItems == ( UBaseType_t ) 0 ) )
|
||||
|
||||
/*
|
||||
* Access macro to return the number of items in the list.
|
||||
*/
|
||||
#define listCURRENT_LIST_LENGTH( pxList ) ( ( pxList )->uxNumberOfItems )
|
||||
|
||||
/*
|
||||
* Access function to obtain the owner of the next entry in a list.
|
||||
*
|
||||
* The list member pxIndex is used to walk through a list. Calling
|
||||
* listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list
|
||||
* and returns that entry's pxOwner parameter. Using multiple calls to this
|
||||
* function it is therefore possible to move through every item contained in
|
||||
* a list.
|
||||
*
|
||||
* The pxOwner parameter of a list item is a pointer to the object that owns
|
||||
* the list item. In the scheduler this is normally a task control block.
|
||||
* The pxOwner parameter effectively creates a two way link between the list
|
||||
* item and its owner.
|
||||
*
|
||||
* @param pxTCB pxTCB is set to the address of the owner of the next list item.
|
||||
* @param pxList The list from which the next item owner is to be returned.
|
||||
*
|
||||
* \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY
|
||||
* \ingroup LinkedList
|
||||
*/
|
||||
#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList ) \
|
||||
{ \
|
||||
List_t * const pxConstList = ( pxList ); \
|
||||
/* Increment the index to the next item and return the item, ensuring */ \
|
||||
/* we don't return the marker used at the end of the list. */ \
|
||||
( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \
|
||||
if( ( void * ) ( pxConstList )->pxIndex == ( void * ) &( ( pxConstList )->xListEnd ) ) \
|
||||
{ \
|
||||
( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \
|
||||
} \
|
||||
( pxTCB ) = ( pxConstList )->pxIndex->pvOwner; \
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* Access function to obtain the owner of the first entry in a list. Lists
|
||||
* are normally sorted in ascending item value order.
|
||||
*
|
||||
* This function returns the pxOwner member of the first item in the list.
|
||||
* The pxOwner parameter of a list item is a pointer to the object that owns
|
||||
* the list item. In the scheduler this is normally a task control block.
|
||||
* The pxOwner parameter effectively creates a two way link between the list
|
||||
* item and its owner.
|
||||
*
|
||||
* @param pxList The list from which the owner of the head item is to be
|
||||
* returned.
|
||||
*
|
||||
* \page listGET_OWNER_OF_HEAD_ENTRY listGET_OWNER_OF_HEAD_ENTRY
|
||||
* \ingroup LinkedList
|
||||
*/
|
||||
#define listGET_OWNER_OF_HEAD_ENTRY( pxList ) ( (&( ( pxList )->xListEnd ))->pxNext->pvOwner )
|
||||
|
||||
/*
|
||||
* Check to see if a list item is within a list. The list item maintains a
|
||||
* "container" pointer that points to the list it is in. All this macro does
|
||||
* is check to see if the container and the list match.
|
||||
*
|
||||
* @param pxList The list we want to know if the list item is within.
|
||||
* @param pxListItem The list item we want to know if is in the list.
|
||||
* @return pdTRUE if the list item is in the list, otherwise pdFALSE.
|
||||
*/
|
||||
#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( BaseType_t ) ( ( 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 List_t 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()
|
||||
* function.
|
||||
*/
|
||||
#define listLIST_IS_INITIALISED( pxList ) ( ( pxList )->xListEnd.xItemValue == portMAX_DELAY )
|
||||
|
||||
/*
|
||||
* Must be called before a list is used! This initialises all the members
|
||||
* of the list structure and inserts the xListEnd item into the list as a
|
||||
* marker to the back of the list.
|
||||
*
|
||||
* @param pxList Pointer to the list being initialised.
|
||||
*
|
||||
* \page vListInitialise vListInitialise
|
||||
* \ingroup LinkedList
|
||||
*/
|
||||
void vListInitialise( List_t * const pxList ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* Must be called before a list item is used. This sets the list container to
|
||||
* null so the item does not think that it is already contained in a list.
|
||||
*
|
||||
* @param pxItem Pointer to the list item being initialised.
|
||||
*
|
||||
* \page vListInitialiseItem vListInitialiseItem
|
||||
* \ingroup LinkedList
|
||||
*/
|
||||
void vListInitialiseItem( ListItem_t * const pxItem ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* Insert a list item into a list. The item will be inserted into the list in
|
||||
* a position determined by its item value (descending item value order).
|
||||
*
|
||||
* @param pxList The list into which the item is to be inserted.
|
||||
*
|
||||
* @param pxNewListItem The item that is to be placed in the list.
|
||||
*
|
||||
* \page vListInsert vListInsert
|
||||
* \ingroup LinkedList
|
||||
*/
|
||||
void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* Insert a list item into a list. The item will be inserted in a position
|
||||
* such that it will be the last item within the list returned by multiple
|
||||
* calls to listGET_OWNER_OF_NEXT_ENTRY.
|
||||
*
|
||||
* The list member pxIndex is used to walk through a list. Calling
|
||||
* listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list.
|
||||
* Placing an item in a list using vListInsertEnd effectively places the item
|
||||
* in the list position pointed to by pxIndex. This means that every other
|
||||
* item within the list will be returned by listGET_OWNER_OF_NEXT_ENTRY before
|
||||
* the pxIndex parameter again points to the item being inserted.
|
||||
*
|
||||
* @param pxList The list into which the item is to be inserted.
|
||||
*
|
||||
* @param pxNewListItem The list item to be inserted into the list.
|
||||
*
|
||||
* \page vListInsertEnd vListInsertEnd
|
||||
* \ingroup LinkedList
|
||||
*/
|
||||
void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* 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 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 uxListRemove uxListRemove
|
||||
* \ingroup LinkedList
|
||||
*/
|
||||
UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ) PRIVILEGED_FUNCTION;
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,177 @@
|
|||
/*
|
||||
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
|
||||
All rights reserved
|
||||
|
||||
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||
|
||||
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. Full license text is available on the following
|
||||
link: http://www.freertos.org/a00114.html
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS provides completely free yet professionally developed, *
|
||||
* robust, strictly quality controlled, supported, and cross *
|
||||
* platform software that is more than just the market leader, it *
|
||||
* is the industry's de facto standard. *
|
||||
* *
|
||||
* Help yourself get started quickly while simultaneously helping *
|
||||
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
||||
* tutorial book, reference manual, or both: *
|
||||
* http://www.FreeRTOS.org/Documentation *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
||||
the FAQ page "My application does not run, what could be wrong?". Have you
|
||||
defined configASSERT()?
|
||||
|
||||
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||
embedded software for free we request you assist our global community by
|
||||
participating in the support forum.
|
||||
|
||||
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||
be as productive as possible as early as possible. Now you can receive
|
||||
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||
|
||||
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||
licenses offer ticketed support, indemnification and commercial middleware.
|
||||
|
||||
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.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
/*
|
||||
* When the MPU is used the standard (non MPU) API functions are mapped to
|
||||
* equivalents that start "MPU_", the prototypes for which are defined in this
|
||||
* header files. This will cause the application code to call the MPU_ version
|
||||
* which wraps the non-MPU version with privilege promoting then demoting code,
|
||||
* so the kernel code always runs will full privileges.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef MPU_PROTOTYPES_H
|
||||
#define MPU_PROTOTYPES_H
|
||||
|
||||
/* MPU versions of tasks.h API function. */
|
||||
BaseType_t MPU_xTaskCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask );
|
||||
TaskHandle_t MPU_xTaskCreateStatic( TaskFunction_t pxTaskCode, const char * const pcName, const uint32_t ulStackDepth, void * const pvParameters, UBaseType_t uxPriority, StackType_t * const puxStackBuffer, StaticTask_t * const pxTaskBuffer );
|
||||
BaseType_t MPU_xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask );
|
||||
void MPU_vTaskAllocateMPURegions( TaskHandle_t xTask, const MemoryRegion_t * const pxRegions );
|
||||
void MPU_vTaskDelete( TaskHandle_t xTaskToDelete );
|
||||
void MPU_vTaskDelay( const TickType_t xTicksToDelay );
|
||||
void MPU_vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement );
|
||||
BaseType_t MPU_xTaskAbortDelay( TaskHandle_t xTask );
|
||||
UBaseType_t MPU_uxTaskPriorityGet( TaskHandle_t xTask );
|
||||
eTaskState MPU_eTaskGetState( TaskHandle_t xTask );
|
||||
void MPU_vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState );
|
||||
void MPU_vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority );
|
||||
void MPU_vTaskSuspend( TaskHandle_t xTaskToSuspend );
|
||||
void MPU_vTaskResume( TaskHandle_t xTaskToResume );
|
||||
void MPU_vTaskStartScheduler( void );
|
||||
void MPU_vTaskSuspendAll( void );
|
||||
BaseType_t MPU_xTaskResumeAll( void );
|
||||
TickType_t MPU_xTaskGetTickCount( void );
|
||||
UBaseType_t MPU_uxTaskGetNumberOfTasks( void );
|
||||
char * MPU_pcTaskGetName( TaskHandle_t xTaskToQuery );
|
||||
TaskHandle_t MPU_xTaskGetHandle( const char *pcNameToQuery );
|
||||
UBaseType_t MPU_uxTaskGetStackHighWaterMark( TaskHandle_t xTask );
|
||||
void MPU_vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction );
|
||||
TaskHookFunction_t MPU_xTaskGetApplicationTaskTag( TaskHandle_t xTask );
|
||||
void MPU_vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue );
|
||||
void * MPU_pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex );
|
||||
BaseType_t MPU_xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter );
|
||||
TaskHandle_t MPU_xTaskGetIdleTaskHandle( void );
|
||||
UBaseType_t MPU_uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime );
|
||||
void MPU_vTaskList( char * pcWriteBuffer );
|
||||
void MPU_vTaskGetRunTimeStats( char *pcWriteBuffer );
|
||||
BaseType_t MPU_xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue );
|
||||
BaseType_t MPU_xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait );
|
||||
uint32_t MPU_ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait );
|
||||
BaseType_t MPU_xTaskNotifyStateClear( TaskHandle_t xTask );
|
||||
BaseType_t MPU_xTaskIncrementTick( void );
|
||||
TaskHandle_t MPU_xTaskGetCurrentTaskHandle( void );
|
||||
void MPU_vTaskSetTimeOutState( TimeOut_t * const pxTimeOut );
|
||||
BaseType_t MPU_xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait );
|
||||
void MPU_vTaskMissedYield( void );
|
||||
BaseType_t MPU_xTaskGetSchedulerState( void );
|
||||
|
||||
/* MPU versions of queue.h API function. */
|
||||
BaseType_t MPU_xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition );
|
||||
BaseType_t MPU_xQueueGenericReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait, const BaseType_t xJustPeek );
|
||||
UBaseType_t MPU_uxQueueMessagesWaiting( const QueueHandle_t xQueue );
|
||||
UBaseType_t MPU_uxQueueSpacesAvailable( const QueueHandle_t xQueue );
|
||||
void MPU_vQueueDelete( QueueHandle_t xQueue );
|
||||
QueueHandle_t MPU_xQueueCreateMutex( const uint8_t ucQueueType );
|
||||
QueueHandle_t MPU_xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue );
|
||||
QueueHandle_t MPU_xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount );
|
||||
QueueHandle_t MPU_xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue );
|
||||
void* MPU_xQueueGetMutexHolder( QueueHandle_t xSemaphore );
|
||||
BaseType_t MPU_xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait );
|
||||
BaseType_t MPU_xQueueGiveMutexRecursive( QueueHandle_t pxMutex );
|
||||
void MPU_vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcName );
|
||||
void MPU_vQueueUnregisterQueue( QueueHandle_t xQueue );
|
||||
const char * MPU_pcQueueGetName( QueueHandle_t xQueue );
|
||||
QueueHandle_t MPU_xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType );
|
||||
QueueHandle_t MPU_xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, StaticQueue_t *pxStaticQueue, const uint8_t ucQueueType );
|
||||
QueueSetHandle_t MPU_xQueueCreateSet( const UBaseType_t uxEventQueueLength );
|
||||
BaseType_t MPU_xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet );
|
||||
BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet );
|
||||
QueueSetMemberHandle_t MPU_xQueueSelectFromSet( QueueSetHandle_t xQueueSet, const TickType_t xTicksToWait );
|
||||
BaseType_t MPU_xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue );
|
||||
void MPU_vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber );
|
||||
UBaseType_t MPU_uxQueueGetQueueNumber( QueueHandle_t xQueue );
|
||||
uint8_t MPU_ucQueueGetQueueType( QueueHandle_t xQueue );
|
||||
|
||||
/* MPU versions of timers.h API function. */
|
||||
TimerHandle_t MPU_xTimerCreate( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction );
|
||||
TimerHandle_t MPU_xTimerCreateStatic( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction, StaticTimer_t *pxTimerBuffer );
|
||||
void * MPU_pvTimerGetTimerID( const TimerHandle_t xTimer );
|
||||
void MPU_vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID );
|
||||
BaseType_t MPU_xTimerIsTimerActive( TimerHandle_t xTimer );
|
||||
TaskHandle_t MPU_xTimerGetTimerDaemonTaskHandle( void );
|
||||
BaseType_t MPU_xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait );
|
||||
const char * MPU_pcTimerGetName( TimerHandle_t xTimer );
|
||||
TickType_t MPU_xTimerGetPeriod( TimerHandle_t xTimer );
|
||||
TickType_t MPU_xTimerGetExpiryTime( TimerHandle_t xTimer );
|
||||
BaseType_t MPU_xTimerCreateTimerTask( void );
|
||||
BaseType_t MPU_xTimerGenericCommand( TimerHandle_t xTimer, const BaseType_t xCommandID, const TickType_t xOptionalValue, BaseType_t * const pxHigherPriorityTaskWoken, const TickType_t xTicksToWait );
|
||||
|
||||
/* MPU versions of event_group.h API function. */
|
||||
EventGroupHandle_t MPU_xEventGroupCreate( void );
|
||||
EventGroupHandle_t MPU_xEventGroupCreateStatic( StaticEventGroup_t *pxEventGroupBuffer );
|
||||
EventBits_t MPU_xEventGroupWaitBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToWaitFor, const BaseType_t xClearOnExit, const BaseType_t xWaitForAllBits, TickType_t xTicksToWait );
|
||||
EventBits_t MPU_xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear );
|
||||
EventBits_t MPU_xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
|
||||
EventBits_t MPU_xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, const EventBits_t uxBitsToWaitFor, TickType_t xTicksToWait );
|
||||
void MPU_vEventGroupDelete( EventGroupHandle_t xEventGroup );
|
||||
UBaseType_t MPU_uxEventGroupGetNumber( void* xEventGroup );
|
||||
|
||||
#endif /* MPU_PROTOTYPES_H */
|
||||
|
|
@ -0,0 +1,201 @@
|
|||
/*
|
||||
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
|
||||
All rights reserved
|
||||
|
||||
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||
|
||||
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. Full license text is available on the following
|
||||
link: http://www.freertos.org/a00114.html
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS provides completely free yet professionally developed, *
|
||||
* robust, strictly quality controlled, supported, and cross *
|
||||
* platform software that is more than just the market leader, it *
|
||||
* is the industry's de facto standard. *
|
||||
* *
|
||||
* Help yourself get started quickly while simultaneously helping *
|
||||
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
||||
* tutorial book, reference manual, or both: *
|
||||
* http://www.FreeRTOS.org/Documentation *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
||||
the FAQ page "My application does not run, what could be wrong?". Have you
|
||||
defined configASSERT()?
|
||||
|
||||
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||
embedded software for free we request you assist our global community by
|
||||
participating in the support forum.
|
||||
|
||||
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||
be as productive as possible as early as possible. Now you can receive
|
||||
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||
|
||||
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||
licenses offer ticketed support, indemnification and commercial middleware.
|
||||
|
||||
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.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
#ifndef MPU_WRAPPERS_H
|
||||
#define MPU_WRAPPERS_H
|
||||
|
||||
/* This file redefines API functions to be called through a wrapper macro, but
|
||||
only for ports that are using the MPU. */
|
||||
#ifdef portUSING_MPU_WRAPPERS
|
||||
|
||||
/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE will be defined when this file is
|
||||
included from queue.c or task.c to prevent it from having an effect within
|
||||
those files. */
|
||||
#ifndef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
|
||||
|
||||
/*
|
||||
* Map standard (non MPU) API functions to equivalents that start
|
||||
* "MPU_". This will cause the application code to call the MPU_
|
||||
* version, which wraps the non-MPU version with privilege promoting
|
||||
* then demoting code, so the kernel code always runs will full
|
||||
* privileges.
|
||||
*/
|
||||
|
||||
/* Map standard tasks.h API functions to the MPU equivalents. */
|
||||
#define xTaskCreate MPU_xTaskCreate
|
||||
#define xTaskCreateStatic MPU_xTaskCreateStatic
|
||||
#define xTaskCreateRestricted MPU_xTaskCreateRestricted
|
||||
#define vTaskAllocateMPURegions MPU_vTaskAllocateMPURegions
|
||||
#define vTaskDelete MPU_vTaskDelete
|
||||
#define vTaskDelay MPU_vTaskDelay
|
||||
#define vTaskDelayUntil MPU_vTaskDelayUntil
|
||||
#define xTaskAbortDelay MPU_xTaskAbortDelay
|
||||
#define uxTaskPriorityGet MPU_uxTaskPriorityGet
|
||||
#define eTaskGetState MPU_eTaskGetState
|
||||
#define vTaskGetInfo MPU_vTaskGetInfo
|
||||
#define vTaskPrioritySet MPU_vTaskPrioritySet
|
||||
#define vTaskSuspend MPU_vTaskSuspend
|
||||
#define vTaskResume MPU_vTaskResume
|
||||
#define vTaskSuspendAll MPU_vTaskSuspendAll
|
||||
#define xTaskResumeAll MPU_xTaskResumeAll
|
||||
#define xTaskGetTickCount MPU_xTaskGetTickCount
|
||||
#define uxTaskGetNumberOfTasks MPU_uxTaskGetNumberOfTasks
|
||||
#define pcTaskGetName MPU_pcTaskGetName
|
||||
#define xTaskGetHandle MPU_xTaskGetHandle
|
||||
#define uxTaskGetStackHighWaterMark MPU_uxTaskGetStackHighWaterMark
|
||||
#define vTaskSetApplicationTaskTag MPU_vTaskSetApplicationTaskTag
|
||||
#define xTaskGetApplicationTaskTag MPU_xTaskGetApplicationTaskTag
|
||||
#define vTaskSetThreadLocalStoragePointer MPU_vTaskSetThreadLocalStoragePointer
|
||||
#define pvTaskGetThreadLocalStoragePointer MPU_pvTaskGetThreadLocalStoragePointer
|
||||
#define xTaskCallApplicationTaskHook MPU_xTaskCallApplicationTaskHook
|
||||
#define xTaskGetIdleTaskHandle MPU_xTaskGetIdleTaskHandle
|
||||
#define uxTaskGetSystemState MPU_uxTaskGetSystemState
|
||||
#define vTaskList MPU_vTaskList
|
||||
#define vTaskGetRunTimeStats MPU_vTaskGetRunTimeStats
|
||||
#define xTaskGenericNotify MPU_xTaskGenericNotify
|
||||
#define xTaskNotifyWait MPU_xTaskNotifyWait
|
||||
#define ulTaskNotifyTake MPU_ulTaskNotifyTake
|
||||
#define xTaskNotifyStateClear MPU_xTaskNotifyStateClear
|
||||
|
||||
#define xTaskGetCurrentTaskHandle MPU_xTaskGetCurrentTaskHandle
|
||||
#define vTaskSetTimeOutState MPU_vTaskSetTimeOutState
|
||||
#define xTaskCheckForTimeOut MPU_xTaskCheckForTimeOut
|
||||
#define xTaskGetSchedulerState MPU_xTaskGetSchedulerState
|
||||
|
||||
/* Map standard queue.h API functions to the MPU equivalents. */
|
||||
#define xQueueGenericSend MPU_xQueueGenericSend
|
||||
#define xQueueGenericReceive MPU_xQueueGenericReceive
|
||||
#define uxQueueMessagesWaiting MPU_uxQueueMessagesWaiting
|
||||
#define uxQueueSpacesAvailable MPU_uxQueueSpacesAvailable
|
||||
#define vQueueDelete MPU_vQueueDelete
|
||||
#define xQueueCreateMutex MPU_xQueueCreateMutex
|
||||
#define xQueueCreateMutexStatic MPU_xQueueCreateMutexStatic
|
||||
#define xQueueCreateCountingSemaphore MPU_xQueueCreateCountingSemaphore
|
||||
#define xQueueCreateCountingSemaphoreStatic MPU_xQueueCreateCountingSemaphoreStatic
|
||||
#define xQueueGetMutexHolder MPU_xQueueGetMutexHolder
|
||||
#define xQueueTakeMutexRecursive MPU_xQueueTakeMutexRecursive
|
||||
#define xQueueGiveMutexRecursive MPU_xQueueGiveMutexRecursive
|
||||
#define xQueueGenericCreate MPU_xQueueGenericCreate
|
||||
#define xQueueGenericCreateStatic MPU_xQueueGenericCreateStatic
|
||||
#define xQueueCreateSet MPU_xQueueCreateSet
|
||||
#define xQueueAddToSet MPU_xQueueAddToSet
|
||||
#define xQueueRemoveFromSet MPU_xQueueRemoveFromSet
|
||||
#define xQueueSelectFromSet MPU_xQueueSelectFromSet
|
||||
#define xQueueGenericReset MPU_xQueueGenericReset
|
||||
|
||||
#if( configQUEUE_REGISTRY_SIZE > 0 )
|
||||
#define vQueueAddToRegistry MPU_vQueueAddToRegistry
|
||||
#define vQueueUnregisterQueue MPU_vQueueUnregisterQueue
|
||||
#define pcQueueGetName MPU_pcQueueGetName
|
||||
#endif
|
||||
|
||||
/* Map standard timer.h API functions to the MPU equivalents. */
|
||||
#define xTimerCreate MPU_xTimerCreate
|
||||
#define xTimerCreateStatic MPU_xTimerCreateStatic
|
||||
#define pvTimerGetTimerID MPU_pvTimerGetTimerID
|
||||
#define vTimerSetTimerID MPU_vTimerSetTimerID
|
||||
#define xTimerIsTimerActive MPU_xTimerIsTimerActive
|
||||
#define xTimerGetTimerDaemonTaskHandle MPU_xTimerGetTimerDaemonTaskHandle
|
||||
#define xTimerPendFunctionCall MPU_xTimerPendFunctionCall
|
||||
#define pcTimerGetName MPU_pcTimerGetName
|
||||
#define xTimerGetPeriod MPU_xTimerGetPeriod
|
||||
#define xTimerGetExpiryTime MPU_xTimerGetExpiryTime
|
||||
#define xTimerGenericCommand MPU_xTimerGenericCommand
|
||||
|
||||
/* Map standard event_group.h API functions to the MPU equivalents. */
|
||||
#define xEventGroupCreate MPU_xEventGroupCreate
|
||||
#define xEventGroupCreateStatic MPU_xEventGroupCreateStatic
|
||||
#define xEventGroupWaitBits MPU_xEventGroupWaitBits
|
||||
#define xEventGroupClearBits MPU_xEventGroupClearBits
|
||||
#define xEventGroupSetBits MPU_xEventGroupSetBits
|
||||
#define xEventGroupSync MPU_xEventGroupSync
|
||||
#define vEventGroupDelete MPU_vEventGroupDelete
|
||||
|
||||
/* Remove the privileged function macro. */
|
||||
#define PRIVILEGED_FUNCTION
|
||||
|
||||
#else /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
|
||||
|
||||
/* Ensure API functions go in the privileged execution section. */
|
||||
#define PRIVILEGED_FUNCTION __attribute__((section("privileged_functions")))
|
||||
#define PRIVILEGED_DATA __attribute__((section("privileged_data")))
|
||||
|
||||
#endif /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
|
||||
|
||||
#else /* portUSING_MPU_WRAPPERS */
|
||||
|
||||
#define PRIVILEGED_FUNCTION
|
||||
#define PRIVILEGED_DATA
|
||||
#define portUSING_MPU_WRAPPERS 0
|
||||
|
||||
#endif /* portUSING_MPU_WRAPPERS */
|
||||
|
||||
|
||||
#endif /* MPU_WRAPPERS_H */
|
||||
|
|
@ -0,0 +1,207 @@
|
|||
/*
|
||||
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
|
||||
All rights reserved
|
||||
|
||||
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||
|
||||
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. Full license text is available on the following
|
||||
link: http://www.freertos.org/a00114.html
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS provides completely free yet professionally developed, *
|
||||
* robust, strictly quality controlled, supported, and cross *
|
||||
* platform software that is more than just the market leader, it *
|
||||
* is the industry's de facto standard. *
|
||||
* *
|
||||
* Help yourself get started quickly while simultaneously helping *
|
||||
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
||||
* tutorial book, reference manual, or both: *
|
||||
* http://www.FreeRTOS.org/Documentation *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
||||
the FAQ page "My application does not run, what could be wrong?". Have you
|
||||
defined configASSERT()?
|
||||
|
||||
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||
embedded software for free we request you assist our global community by
|
||||
participating in the support forum.
|
||||
|
||||
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||
be as productive as possible as early as possible. Now you can receive
|
||||
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||
|
||||
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||
licenses offer ticketed support, indemnification and commercial middleware.
|
||||
|
||||
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.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* Portable layer API. Each function must be defined for each port.
|
||||
*----------------------------------------------------------*/
|
||||
|
||||
#ifndef PORTABLE_H
|
||||
#define PORTABLE_H
|
||||
|
||||
/* Each FreeRTOS port has a unique portmacro.h header file. Originally a
|
||||
pre-processor definition was used to ensure the pre-processor found the correct
|
||||
portmacro.h file for the port being used. That scheme was deprecated in favour
|
||||
of setting the compiler's include path such that it found the correct
|
||||
portmacro.h file - removing the need for the constant and allowing the
|
||||
portmacro.h file to be located anywhere in relation to the port being used.
|
||||
Purely for reasons of backward compatibility the old method is still valid, but
|
||||
to make it clear that new projects should not use it, support for the port
|
||||
specific constants has been moved into the deprecated_definitions.h header
|
||||
file. */
|
||||
#include "deprecated_definitions.h"
|
||||
|
||||
/* If portENTER_CRITICAL is not defined then including deprecated_definitions.h
|
||||
did not result in a portmacro.h header file being included - and it should be
|
||||
included here. In this case the path to the correct portmacro.h header file
|
||||
must be set in the compiler's include path. */
|
||||
#ifndef portENTER_CRITICAL
|
||||
#include "portmacro.h"
|
||||
#endif
|
||||
|
||||
#if portBYTE_ALIGNMENT == 32
|
||||
#define portBYTE_ALIGNMENT_MASK ( 0x001f )
|
||||
#endif
|
||||
|
||||
#if portBYTE_ALIGNMENT == 16
|
||||
#define portBYTE_ALIGNMENT_MASK ( 0x000f )
|
||||
#endif
|
||||
|
||||
#if portBYTE_ALIGNMENT == 8
|
||||
#define portBYTE_ALIGNMENT_MASK ( 0x0007 )
|
||||
#endif
|
||||
|
||||
#if portBYTE_ALIGNMENT == 4
|
||||
#define portBYTE_ALIGNMENT_MASK ( 0x0003 )
|
||||
#endif
|
||||
|
||||
#if portBYTE_ALIGNMENT == 2
|
||||
#define portBYTE_ALIGNMENT_MASK ( 0x0001 )
|
||||
#endif
|
||||
|
||||
#if portBYTE_ALIGNMENT == 1
|
||||
#define portBYTE_ALIGNMENT_MASK ( 0x0000 )
|
||||
#endif
|
||||
|
||||
#ifndef portBYTE_ALIGNMENT_MASK
|
||||
#error "Invalid portBYTE_ALIGNMENT definition"
|
||||
#endif
|
||||
|
||||
#ifndef portNUM_CONFIGURABLE_REGIONS
|
||||
#define portNUM_CONFIGURABLE_REGIONS 1
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#include "mpu_wrappers.h"
|
||||
|
||||
/*
|
||||
* Setup the stack of a new task so it is ready to be placed under the
|
||||
* scheduler control. The registers have to be placed on the stack in
|
||||
* the order that the port expects to find them.
|
||||
*
|
||||
*/
|
||||
#if( portUSING_MPU_WRAPPERS == 1 )
|
||||
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged ) PRIVILEGED_FUNCTION;
|
||||
#else
|
||||
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) PRIVILEGED_FUNCTION;
|
||||
#endif
|
||||
|
||||
/* Used by heap_5.c. */
|
||||
typedef struct HeapRegion
|
||||
{
|
||||
uint8_t *pucStartAddress;
|
||||
size_t xSizeInBytes;
|
||||
} HeapRegion_t;
|
||||
|
||||
/*
|
||||
* Used to define multiple heap regions for use by heap_5.c. This function
|
||||
* must be called before any calls to pvPortMalloc() - not creating a task,
|
||||
* queue, semaphore, mutex, software timer, event group, etc. will result in
|
||||
* pvPortMalloc being called.
|
||||
*
|
||||
* pxHeapRegions passes in an array of HeapRegion_t structures - each of which
|
||||
* defines a region of memory that can be used as the heap. The array is
|
||||
* terminated by a HeapRegions_t structure that has a size of 0. The region
|
||||
* with the lowest start address must appear first in the array.
|
||||
*/
|
||||
void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions ) PRIVILEGED_FUNCTION;
|
||||
|
||||
|
||||
/*
|
||||
* Map to the memory management routines required for the port.
|
||||
*/
|
||||
void *pvPortMalloc( size_t xSize ) PRIVILEGED_FUNCTION;
|
||||
void vPortFree( void *pv ) PRIVILEGED_FUNCTION;
|
||||
void vPortInitialiseBlocks( void ) PRIVILEGED_FUNCTION;
|
||||
size_t xPortGetFreeHeapSize( void ) PRIVILEGED_FUNCTION;
|
||||
size_t xPortGetMinimumEverFreeHeapSize( void ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* Setup the hardware ready for the scheduler to take control. This generally
|
||||
* sets up a tick interrupt and sets timers for the correct tick frequency.
|
||||
*/
|
||||
BaseType_t xPortStartScheduler( void ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* Undo any hardware/ISR setup that was performed by xPortStartScheduler() so
|
||||
* the hardware is left in its original condition after the scheduler stops
|
||||
* executing.
|
||||
*/
|
||||
void vPortEndScheduler( void ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* The structures and methods of manipulating the MPU are contained within the
|
||||
* port layer.
|
||||
*
|
||||
* Fills the xMPUSettings structure with the memory region information
|
||||
* contained in xRegions.
|
||||
*/
|
||||
#if( portUSING_MPU_WRAPPERS == 1 )
|
||||
struct xMEMORY_REGION;
|
||||
void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, StackType_t *pxBottomOfStack, uint32_t ulStackDepth ) PRIVILEGED_FUNCTION;
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* PORTABLE_H */
|
||||
|
|
@ -0,0 +1,161 @@
|
|||
/*
|
||||
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
|
||||
All rights reserved
|
||||
|
||||
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||
|
||||
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. Full license text is available on the following
|
||||
link: http://www.freertos.org/a00114.html
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS provides completely free yet professionally developed, *
|
||||
* robust, strictly quality controlled, supported, and cross *
|
||||
* platform software that is more than just the market leader, it *
|
||||
* is the industry's de facto standard. *
|
||||
* *
|
||||
* Help yourself get started quickly while simultaneously helping *
|
||||
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
||||
* tutorial book, reference manual, or both: *
|
||||
* http://www.FreeRTOS.org/Documentation *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
||||
the FAQ page "My application does not run, what could be wrong?". Have you
|
||||
defined configASSERT()?
|
||||
|
||||
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||
embedded software for free we request you assist our global community by
|
||||
participating in the support forum.
|
||||
|
||||
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||
be as productive as possible as early as possible. Now you can receive
|
||||
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||
|
||||
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||
licenses offer ticketed support, indemnification and commercial middleware.
|
||||
|
||||
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.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
#ifndef PROJDEFS_H
|
||||
#define PROJDEFS_H
|
||||
|
||||
/*
|
||||
* Defines the prototype to which task functions must conform. Defined in this
|
||||
* file to ensure the type is known before portable.h is included.
|
||||
*/
|
||||
typedef void (*TaskFunction_t)( void * );
|
||||
|
||||
/* Converts a time in milliseconds to a time in ticks. This macro can be
|
||||
overridden by a macro of the same name defined in FreeRTOSConfig.h in case the
|
||||
definition here is not suitable for your application. */
|
||||
#ifndef pdMS_TO_TICKS
|
||||
#define pdMS_TO_TICKS( xTimeInMs ) ( ( TickType_t ) ( ( ( TickType_t ) ( xTimeInMs ) * ( TickType_t ) configTICK_RATE_HZ ) / ( TickType_t ) 1000 ) )
|
||||
#endif
|
||||
|
||||
#define pdFALSE ( ( BaseType_t ) 0 )
|
||||
#define pdTRUE ( ( BaseType_t ) 1 )
|
||||
|
||||
#define pdPASS ( pdTRUE )
|
||||
#define pdFAIL ( pdFALSE )
|
||||
#define errQUEUE_EMPTY ( ( BaseType_t ) 0 )
|
||||
#define errQUEUE_FULL ( ( BaseType_t ) 0 )
|
||||
|
||||
/* FreeRTOS error definitions. */
|
||||
#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ( -1 )
|
||||
#define errQUEUE_BLOCKED ( -4 )
|
||||
#define errQUEUE_YIELD ( -5 )
|
||||
|
||||
/* Macros used for basic data corruption checks. */
|
||||
#ifndef configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES
|
||||
#define configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES 0
|
||||
#endif
|
||||
|
||||
#if( configUSE_16_BIT_TICKS == 1 )
|
||||
#define pdINTEGRITY_CHECK_VALUE 0x5a5a
|
||||
#else
|
||||
#define pdINTEGRITY_CHECK_VALUE 0x5a5a5a5aUL
|
||||
#endif
|
||||
|
||||
/* The following errno values are used by FreeRTOS+ components, not FreeRTOS
|
||||
itself. */
|
||||
#define pdFREERTOS_ERRNO_NONE 0 /* No errors */
|
||||
#define pdFREERTOS_ERRNO_ENOENT 2 /* No such file or directory */
|
||||
#define pdFREERTOS_ERRNO_EINTR 4 /* Interrupted system call */
|
||||
#define pdFREERTOS_ERRNO_EIO 5 /* I/O error */
|
||||
#define pdFREERTOS_ERRNO_ENXIO 6 /* No such device or address */
|
||||
#define pdFREERTOS_ERRNO_EBADF 9 /* Bad file number */
|
||||
#define pdFREERTOS_ERRNO_EAGAIN 11 /* No more processes */
|
||||
#define pdFREERTOS_ERRNO_EWOULDBLOCK 11 /* Operation would block */
|
||||
#define pdFREERTOS_ERRNO_ENOMEM 12 /* Not enough memory */
|
||||
#define pdFREERTOS_ERRNO_EACCES 13 /* Permission denied */
|
||||
#define pdFREERTOS_ERRNO_EFAULT 14 /* Bad address */
|
||||
#define pdFREERTOS_ERRNO_EBUSY 16 /* Mount device busy */
|
||||
#define pdFREERTOS_ERRNO_EEXIST 17 /* File exists */
|
||||
#define pdFREERTOS_ERRNO_EXDEV 18 /* Cross-device link */
|
||||
#define pdFREERTOS_ERRNO_ENODEV 19 /* No such device */
|
||||
#define pdFREERTOS_ERRNO_ENOTDIR 20 /* Not a directory */
|
||||
#define pdFREERTOS_ERRNO_EISDIR 21 /* Is a directory */
|
||||
#define pdFREERTOS_ERRNO_EINVAL 22 /* Invalid argument */
|
||||
#define pdFREERTOS_ERRNO_ENOSPC 28 /* No space left on device */
|
||||
#define pdFREERTOS_ERRNO_ESPIPE 29 /* Illegal seek */
|
||||
#define pdFREERTOS_ERRNO_EROFS 30 /* Read only file system */
|
||||
#define pdFREERTOS_ERRNO_EUNATCH 42 /* Protocol driver not attached */
|
||||
#define pdFREERTOS_ERRNO_EBADE 50 /* Invalid exchange */
|
||||
#define pdFREERTOS_ERRNO_EFTYPE 79 /* Inappropriate file type or format */
|
||||
#define pdFREERTOS_ERRNO_ENMFILE 89 /* No more files */
|
||||
#define pdFREERTOS_ERRNO_ENOTEMPTY 90 /* Directory not empty */
|
||||
#define pdFREERTOS_ERRNO_ENAMETOOLONG 91 /* File or path name too long */
|
||||
#define pdFREERTOS_ERRNO_EOPNOTSUPP 95 /* Operation not supported on transport endpoint */
|
||||
#define pdFREERTOS_ERRNO_ENOBUFS 105 /* No buffer space available */
|
||||
#define pdFREERTOS_ERRNO_ENOPROTOOPT 109 /* Protocol not available */
|
||||
#define pdFREERTOS_ERRNO_EADDRINUSE 112 /* Address already in use */
|
||||
#define pdFREERTOS_ERRNO_ETIMEDOUT 116 /* Connection timed out */
|
||||
#define pdFREERTOS_ERRNO_EINPROGRESS 119 /* Connection already in progress */
|
||||
#define pdFREERTOS_ERRNO_EALREADY 120 /* Socket already connected */
|
||||
#define pdFREERTOS_ERRNO_EADDRNOTAVAIL 125 /* Address not available */
|
||||
#define pdFREERTOS_ERRNO_EISCONN 127 /* Socket is already connected */
|
||||
#define pdFREERTOS_ERRNO_ENOTCONN 128 /* Socket is not connected */
|
||||
#define pdFREERTOS_ERRNO_ENOMEDIUM 135 /* No medium inserted */
|
||||
#define pdFREERTOS_ERRNO_EILSEQ 138 /* An invalid UTF-16 sequence was encountered. */
|
||||
#define pdFREERTOS_ERRNO_ECANCELED 140 /* Operation canceled. */
|
||||
|
||||
/* The following endian values are used by FreeRTOS+ components, not FreeRTOS
|
||||
itself. */
|
||||
#define pdFREERTOS_LITTLE_ENDIAN 0
|
||||
#define pdFREERTOS_BIG_ENDIAN 1
|
||||
|
||||
#endif /* PROJDEFS_H */
|
||||
|
||||
|
||||
|
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
|
@ -0,0 +1,27 @@
|
|||
|
||||
#ifndef FREERTOS_STDINT
|
||||
#define FREERTOS_STDINT
|
||||
|
||||
/*******************************************************************************
|
||||
* THIS IS NOT A FULL stdint.h IMPLEMENTATION - It only contains the definitions
|
||||
* necessary to build the FreeRTOS code. It is provided to allow FreeRTOS to be
|
||||
* built using compilers that do not provide their own stdint.h definition.
|
||||
*
|
||||
* To use this file:
|
||||
*
|
||||
* 1) Copy this file into the directory that contains your FreeRTOSConfig.h
|
||||
* header file, as that directory will already be in the compilers include
|
||||
* path.
|
||||
*
|
||||
* 2) Rename the copied file stdint.h.
|
||||
*
|
||||
*/
|
||||
|
||||
typedef signed char int8_t;
|
||||
typedef unsigned char uint8_t;
|
||||
typedef short int16_t;
|
||||
typedef unsigned short uint16_t;
|
||||
typedef long int32_t;
|
||||
typedef unsigned long uint32_t;
|
||||
|
||||
#endif /* FREERTOS_STDINT */
|
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
|
@ -0,0 +1,240 @@
|
|||
/*
|
||||
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
|
||||
All rights reserved
|
||||
|
||||
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||
|
||||
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. Full license text is available on the following
|
||||
link: http://www.freertos.org/a00114.html
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS provides completely free yet professionally developed, *
|
||||
* robust, strictly quality controlled, supported, and cross *
|
||||
* platform software that is more than just the market leader, it *
|
||||
* is the industry's de facto standard. *
|
||||
* *
|
||||
* Help yourself get started quickly while simultaneously helping *
|
||||
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
||||
* tutorial book, reference manual, or both: *
|
||||
* http://www.FreeRTOS.org/Documentation *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
||||
the FAQ page "My application does not run, what could be wrong?". Have you
|
||||
defined configASSERT()?
|
||||
|
||||
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||
embedded software for free we request you assist our global community by
|
||||
participating in the support forum.
|
||||
|
||||
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||
be as productive as possible as early as possible. Now you can receive
|
||||
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||
|
||||
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||
licenses offer ticketed support, indemnification and commercial middleware.
|
||||
|
||||
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.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
|
||||
#include <stdlib.h>
|
||||
#include "FreeRTOS.h"
|
||||
#include "list.h"
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* PUBLIC LIST API documented in list.h
|
||||
*----------------------------------------------------------*/
|
||||
|
||||
void vListInitialise( List_t * const 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 = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */
|
||||
|
||||
/* 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 = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */
|
||||
pxList->xListEnd.pxPrevious = ( ListItem_t * ) &( pxList->xListEnd );/*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */
|
||||
|
||||
pxList->uxNumberOfItems = ( UBaseType_t ) 0U;
|
||||
|
||||
/* Write known values into the list if
|
||||
configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
|
||||
listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList );
|
||||
listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vListInitialiseItem( ListItem_t * const pxItem )
|
||||
{
|
||||
/* Make sure the list item is not recorded as being on a list. */
|
||||
pxItem->pvContainer = NULL;
|
||||
|
||||
/* Write known values into the list item if
|
||||
configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
|
||||
listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
|
||||
listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem )
|
||||
{
|
||||
ListItem_t * const pxIndex = pxList->pxIndex;
|
||||
|
||||
/* Only effective when configASSERT() is also defined, these tests may catch
|
||||
the list data structures being overwritten in memory. They will not catch
|
||||
data errors caused by incorrect configuration or use of FreeRTOS. */
|
||||
listTEST_LIST_INTEGRITY( pxList );
|
||||
listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
|
||||
|
||||
/* 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
|
||||
listGET_OWNER_OF_NEXT_ENTRY(). */
|
||||
pxNewListItem->pxNext = pxIndex;
|
||||
pxNewListItem->pxPrevious = pxIndex->pxPrevious;
|
||||
|
||||
/* Only used during decision coverage testing. */
|
||||
mtCOVERAGE_TEST_DELAY();
|
||||
|
||||
pxIndex->pxPrevious->pxNext = pxNewListItem;
|
||||
pxIndex->pxPrevious = pxNewListItem;
|
||||
|
||||
/* Remember which list the item is in. */
|
||||
pxNewListItem->pvContainer = ( void * ) pxList;
|
||||
|
||||
( pxList->uxNumberOfItems )++;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem )
|
||||
{
|
||||
ListItem_t *pxIterator;
|
||||
const TickType_t xValueOfInsertion = pxNewListItem->xItemValue;
|
||||
|
||||
/* Only effective when configASSERT() is also defined, these tests may catch
|
||||
the list data structures being overwritten in memory. They will not catch
|
||||
data errors caused by incorrect configuration or use of FreeRTOS. */
|
||||
listTEST_LIST_INTEGRITY( pxList );
|
||||
listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
|
||||
|
||||
/* Insert the new list item into the list, sorted in xItemValue order.
|
||||
|
||||
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 xItemValue value) get a
|
||||
share of the CPU. However, if the xItemValue is the same as the back marker
|
||||
the iteration loop below will not end. Therefore the value is checked
|
||||
first, and the algorithm slightly modified if necessary. */
|
||||
if( xValueOfInsertion == portMAX_DELAY )
|
||||
{
|
||||
pxIterator = pxList->xListEnd.pxPrevious;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* *** NOTE ***********************************************************
|
||||
If you find your application is crashing here then likely causes are
|
||||
listed below. In addition see http://www.freertos.org/FAQHelp.html for
|
||||
more tips, and ensure configASSERT() is defined!
|
||||
http://www.freertos.org/a00110.html#configASSERT
|
||||
|
||||
1) Stack overflow -
|
||||
see http://www.freertos.org/Stacks-and-stack-overflow-checking.html
|
||||
2) Incorrect interrupt priority assignment, especially on Cortex-M
|
||||
parts where numerically high priority values denote low actual
|
||||
interrupt priorities, which can seem counter intuitive. See
|
||||
http://www.freertos.org/RTOS-Cortex-M3-M4.html and the definition
|
||||
of 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, or calling an API function that does
|
||||
not end in "FromISR" from an interrupt.
|
||||
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?).
|
||||
**********************************************************************/
|
||||
|
||||
for( pxIterator = ( ListItem_t * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext ) /*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */
|
||||
{
|
||||
/* There is nothing to do here, just iterating to the wanted
|
||||
insertion position. */
|
||||
}
|
||||
}
|
||||
|
||||
pxNewListItem->pxNext = pxIterator->pxNext;
|
||||
pxNewListItem->pxNext->pxPrevious = pxNewListItem;
|
||||
pxNewListItem->pxPrevious = pxIterator;
|
||||
pxIterator->pxNext = pxNewListItem;
|
||||
|
||||
/* Remember which list the item is in. This allows fast removal of the
|
||||
item later. */
|
||||
pxNewListItem->pvContainer = ( void * ) pxList;
|
||||
|
||||
( pxList->uxNumberOfItems )++;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove )
|
||||
{
|
||||
/* The list item knows which list it is in. Obtain the list from the list
|
||||
item. */
|
||||
List_t * const pxList = ( List_t * ) pxItemToRemove->pvContainer;
|
||||
|
||||
pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious;
|
||||
pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext;
|
||||
|
||||
/* Only used during decision coverage testing. */
|
||||
mtCOVERAGE_TEST_DELAY();
|
||||
|
||||
/* Make sure the index is left pointing to a valid item. */
|
||||
if( pxList->pxIndex == pxItemToRemove )
|
||||
{
|
||||
pxList->pxIndex = pxItemToRemove->pxPrevious;
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
|
||||
pxItemToRemove->pvContainer = NULL;
|
||||
( pxList->uxNumberOfItems )--;
|
||||
|
||||
return pxList->uxNumberOfItems;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
|
@ -0,0 +1,787 @@
|
|||
/*
|
||||
Copyright (C) 2009 William Davy - william.davy@wittenstein.co.uk
|
||||
Contributed to FreeRTOS.org V5.3.0.
|
||||
|
||||
This file is part of the FreeRTOS.org distribution.
|
||||
|
||||
FreeRTOS.org 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.
|
||||
|
||||
FreeRTOS.org 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 along
|
||||
with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59
|
||||
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
|
||||
|
||||
A special exception to the GPL is included to allow you to distribute a
|
||||
combined work that includes FreeRTOS.org without being obliged to provide
|
||||
the source code for any proprietary components. See the licensing section
|
||||
of http://www.FreeRTOS.org for full details.
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
|
||||
* *
|
||||
* This is a concise, step by step, 'hands on' guide that describes both *
|
||||
* general multitasking concepts and FreeRTOS specifics. It presents and *
|
||||
* explains numerous examples that are written using the FreeRTOS API. *
|
||||
* Full source code for all the examples is provided in an accompanying *
|
||||
* .zip file. *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
Please ensure to read the configuration and relevant port sections of the
|
||||
online documentation.
|
||||
|
||||
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 functions defined in portable.h for the Posix port.
|
||||
*----------------------------------------------------------*/
|
||||
|
||||
#include <pthread.h>
|
||||
#include <sched.h>
|
||||
#include <signal.h>
|
||||
#include <errno.h>
|
||||
#include <sys/time.h>
|
||||
#include <time.h>
|
||||
#include <sys/times.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <unistd.h>
|
||||
#include <limits.h>
|
||||
|
||||
/* Scheduler includes. */
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
/*-----------------------------------------------------------*/
|
||||
#ifndef MAX_NUMBER_OF_TASKS
|
||||
#define MAX_NUMBER_OF_TASKS ( _POSIX_THREAD_THREADS_MAX )
|
||||
#endif
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Parameters to pass to the newly created pthread. */
|
||||
typedef struct XPARAMS
|
||||
{
|
||||
pdTASK_CODE pxCode;
|
||||
void *pvParams;
|
||||
} xParams;
|
||||
|
||||
/* Each task maintains its own interrupt status in the critical nesting variable. */
|
||||
typedef struct THREAD_SUSPENSIONS
|
||||
{
|
||||
pthread_t hThread;
|
||||
xTaskHandle hTask;
|
||||
unsigned portBASE_TYPE uxCriticalNesting;
|
||||
} xThreadState;
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static xThreadState *pxThreads;
|
||||
static pthread_once_t hSigSetupThread = PTHREAD_ONCE_INIT;
|
||||
static pthread_attr_t xThreadAttributes;
|
||||
static pthread_mutex_t xSuspendResumeThreadMutex = PTHREAD_MUTEX_INITIALIZER;
|
||||
static pthread_mutex_t xSingleThreadMutex = PTHREAD_MUTEX_INITIALIZER;
|
||||
static pthread_t hMainThread = ( pthread_t )NULL;
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static volatile portBASE_TYPE xSentinel = 0;
|
||||
static volatile portBASE_TYPE xSchedulerEnd = pdFALSE;
|
||||
static volatile portBASE_TYPE xInterruptsEnabled = pdTRUE;
|
||||
static volatile portBASE_TYPE xServicingTick = pdFALSE;
|
||||
static volatile portBASE_TYPE xPendYield = pdFALSE;
|
||||
static volatile portLONG lIndexOfLastAddedTask = 0;
|
||||
static volatile unsigned portBASE_TYPE uxCriticalNesting;
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Setup the timer to generate the tick interrupts.
|
||||
*/
|
||||
static void prvSetupTimerInterrupt( void );
|
||||
static void *prvWaitForStart( void * pvParams );
|
||||
static void prvSuspendSignalHandler(int sig);
|
||||
static void prvResumeSignalHandler(int sig);
|
||||
static void prvSetupSignalsAndSchedulerPolicy( void );
|
||||
static void prvSuspendThread( pthread_t xThreadId );
|
||||
static void prvResumeThread( pthread_t xThreadId );
|
||||
static pthread_t prvGetThreadHandle( xTaskHandle hTask );
|
||||
static portLONG prvGetFreeThreadState( void );
|
||||
static void prvSetTaskCriticalNesting( pthread_t xThreadId, unsigned portBASE_TYPE uxNesting );
|
||||
static unsigned portBASE_TYPE prvGetTaskCriticalNesting( pthread_t xThreadId );
|
||||
static void prvDeleteThread( void *xThreadId );
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Exception handlers.
|
||||
*/
|
||||
void vPortYield( void );
|
||||
void vPortSystemTickHandler( int sig );
|
||||
|
||||
/*
|
||||
* Start first task is a separate function so it can be tested in isolation.
|
||||
*/
|
||||
void vPortStartFirstTask( void );
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* See header file for description.
|
||||
*/
|
||||
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
|
||||
{
|
||||
/* Should actually keep this struct on the stack. */
|
||||
xParams *pxThisThreadParams = pvPortMalloc( sizeof( xParams ) );
|
||||
|
||||
(void)pthread_once( &hSigSetupThread, prvSetupSignalsAndSchedulerPolicy );
|
||||
|
||||
if ( (pthread_t)NULL == hMainThread )
|
||||
{
|
||||
hMainThread = pthread_self();
|
||||
}
|
||||
|
||||
/* No need to join the threads. */
|
||||
pthread_attr_init( &xThreadAttributes );
|
||||
pthread_attr_setdetachstate( &xThreadAttributes, PTHREAD_CREATE_DETACHED );
|
||||
|
||||
/* Add the task parameters. */
|
||||
pxThisThreadParams->pxCode = pxCode;
|
||||
pxThisThreadParams->pvParams = pvParameters;
|
||||
|
||||
vPortEnterCritical();
|
||||
|
||||
lIndexOfLastAddedTask = prvGetFreeThreadState();
|
||||
|
||||
/* Create the new pThread. */
|
||||
if ( 0 == pthread_mutex_lock( &xSingleThreadMutex ) )
|
||||
{
|
||||
xSentinel = 0;
|
||||
if ( 0 != pthread_create( &( pxThreads[ lIndexOfLastAddedTask ].hThread ), &xThreadAttributes, prvWaitForStart, (void *)pxThisThreadParams ) )
|
||||
{
|
||||
/* Thread create failed, signal the failure */
|
||||
pxTopOfStack = 0;
|
||||
}
|
||||
|
||||
/* Wait until the task suspends. */
|
||||
(void)pthread_mutex_unlock( &xSingleThreadMutex );
|
||||
while ( xSentinel == 0 );
|
||||
vPortExitCritical();
|
||||
}
|
||||
|
||||
return pxTopOfStack;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortStartFirstTask( void )
|
||||
{
|
||||
/* Initialise the critical nesting count ready for the first task. */
|
||||
uxCriticalNesting = 0;
|
||||
|
||||
/* Start the first task. */
|
||||
vPortEnableInterrupts();
|
||||
|
||||
/* Start the first task. */
|
||||
prvResumeThread( prvGetThreadHandle( xTaskGetCurrentTaskHandle() ) );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* See header file for description.
|
||||
*/
|
||||
portBASE_TYPE xPortStartScheduler( void )
|
||||
{
|
||||
portBASE_TYPE xResult;
|
||||
int iSignal;
|
||||
sigset_t xSignals;
|
||||
sigset_t xSignalToBlock;
|
||||
sigset_t xSignalsBlocked;
|
||||
portLONG lIndex;
|
||||
|
||||
/* Establish the signals to block before they are needed. */
|
||||
sigfillset( &xSignalToBlock );
|
||||
|
||||
/* Block until the end */
|
||||
(void)pthread_sigmask( SIG_SETMASK, &xSignalToBlock, &xSignalsBlocked );
|
||||
|
||||
for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS; lIndex++ )
|
||||
{
|
||||
pxThreads[ lIndex ].uxCriticalNesting = 0;
|
||||
}
|
||||
|
||||
/* Start the timer that generates the tick ISR. Interrupts are disabled
|
||||
here already. */
|
||||
prvSetupTimerInterrupt();
|
||||
|
||||
/* Start the first task. Will not return unless all threads are killed. */
|
||||
vPortStartFirstTask();
|
||||
|
||||
/* This is the end signal we are looking for. */
|
||||
sigemptyset( &xSignals );
|
||||
sigaddset( &xSignals, SIG_RESUME );
|
||||
|
||||
while ( pdTRUE != xSchedulerEnd )
|
||||
{
|
||||
if ( 0 != sigwait( &xSignals, &iSignal ) )
|
||||
{
|
||||
printf( "Main thread spurious signal: %d\n", iSignal );
|
||||
}
|
||||
}
|
||||
|
||||
printf( "Cleaning Up, Exiting.\n" );
|
||||
/* Cleanup the mutexes */
|
||||
xResult = pthread_mutex_destroy( &xSuspendResumeThreadMutex );
|
||||
xResult = pthread_mutex_destroy( &xSingleThreadMutex );
|
||||
vPortFree( (void *)pxThreads );
|
||||
|
||||
/* Should not get here! */
|
||||
return xResult;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortEndScheduler( void )
|
||||
{
|
||||
portBASE_TYPE xNumberOfThreads;
|
||||
portBASE_TYPE xResult;
|
||||
for ( xNumberOfThreads = 0; xNumberOfThreads < MAX_NUMBER_OF_TASKS; xNumberOfThreads++ )
|
||||
{
|
||||
if ( ( pthread_t )NULL != pxThreads[ xNumberOfThreads ].hThread )
|
||||
{
|
||||
/* Kill all of the threads, they are in the detached state. */
|
||||
xResult = pthread_cancel( pxThreads[ xNumberOfThreads ].hThread );
|
||||
if (xResult)
|
||||
printf("pthread_cancel error!\n");
|
||||
}
|
||||
}
|
||||
|
||||
/* Signal the scheduler to exit its loop. */
|
||||
xSchedulerEnd = pdTRUE;
|
||||
(void)pthread_kill( hMainThread, SIG_RESUME );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortYieldFromISR( void )
|
||||
{
|
||||
/* Calling Yield from a Interrupt/Signal handler often doesn't work because the
|
||||
* xSingleThreadMutex is already owned by an original call to Yield. Therefore,
|
||||
* simply indicate that a yield is required soon.
|
||||
*/
|
||||
xPendYield = pdTRUE;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortEnterCritical( void )
|
||||
{
|
||||
vPortDisableInterrupts();
|
||||
uxCriticalNesting++;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortExitCritical( void )
|
||||
{
|
||||
/* Check for unmatched exits. */
|
||||
if ( uxCriticalNesting > 0 )
|
||||
{
|
||||
uxCriticalNesting--;
|
||||
}
|
||||
|
||||
/* If we have reached 0 then re-enable the interrupts. */
|
||||
if( uxCriticalNesting == 0 )
|
||||
{
|
||||
/* Have we missed ticks? This is the equivalent of pending an interrupt. */
|
||||
if ( pdTRUE == xPendYield )
|
||||
{
|
||||
xPendYield = pdFALSE;
|
||||
vPortYield();
|
||||
}
|
||||
vPortEnableInterrupts();
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortYield( void )
|
||||
{
|
||||
pthread_t xTaskToSuspend;
|
||||
pthread_t xTaskToResume;
|
||||
|
||||
if ( 0 == pthread_mutex_lock( &xSingleThreadMutex ) )
|
||||
{
|
||||
xTaskToSuspend = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
|
||||
|
||||
vTaskSwitchContext();
|
||||
|
||||
xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
|
||||
if ( xTaskToSuspend != xTaskToResume )
|
||||
{
|
||||
/* Remember and switch the critical nesting. */
|
||||
prvSetTaskCriticalNesting( xTaskToSuspend, uxCriticalNesting );
|
||||
uxCriticalNesting = prvGetTaskCriticalNesting( xTaskToResume );
|
||||
/* Switch tasks. */
|
||||
prvResumeThread( xTaskToResume );
|
||||
prvSuspendThread( xTaskToSuspend );
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Yielding to self */
|
||||
(void)pthread_mutex_unlock( &xSingleThreadMutex );
|
||||
}
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortDisableInterrupts( void )
|
||||
{
|
||||
xInterruptsEnabled = pdFALSE;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortEnableInterrupts( void )
|
||||
{
|
||||
xInterruptsEnabled = pdTRUE;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
portBASE_TYPE xPortSetInterruptMask( void )
|
||||
{
|
||||
portBASE_TYPE xReturn = xInterruptsEnabled;
|
||||
xInterruptsEnabled = pdFALSE;
|
||||
return xReturn;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortClearInterruptMask( portBASE_TYPE xMask )
|
||||
{
|
||||
xInterruptsEnabled = xMask;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Setup the systick timer to generate the tick interrupts at the required
|
||||
* frequency.
|
||||
*/
|
||||
void prvSetupTimerInterrupt( void )
|
||||
{
|
||||
struct itimerval itimer, oitimer;
|
||||
portTickType xMicroSeconds = portTICK_PERIOD_MS * 1000;
|
||||
|
||||
/* Initialise the structure with the current timer information. */
|
||||
if ( 0 == getitimer( TIMER_TYPE, &itimer ) )
|
||||
{
|
||||
/* Set the interval between timer events. */
|
||||
itimer.it_interval.tv_sec = 0;
|
||||
itimer.it_interval.tv_usec = xMicroSeconds;
|
||||
|
||||
/* Set the current count-down. */
|
||||
itimer.it_value.tv_sec = 0;
|
||||
itimer.it_value.tv_usec = xMicroSeconds;
|
||||
|
||||
/* Set-up the timer interrupt. */
|
||||
if ( 0 != setitimer( TIMER_TYPE, &itimer, &oitimer ) )
|
||||
{
|
||||
printf( "Set Timer problem.\n" );
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
printf( "Get Timer problem.\n" );
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortSystemTickHandler( int sig )
|
||||
{
|
||||
pthread_t xTaskToSuspend;
|
||||
pthread_t xTaskToResume;
|
||||
|
||||
(void)(sig);
|
||||
if ( ( pdTRUE == xInterruptsEnabled ) && ( pdTRUE != xServicingTick ) )
|
||||
{
|
||||
if ( 0 == pthread_mutex_trylock( &xSingleThreadMutex ) )
|
||||
{
|
||||
xServicingTick = pdTRUE;
|
||||
|
||||
xTaskToSuspend = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
|
||||
/* Tick Increment. */
|
||||
xTaskIncrementTick();
|
||||
|
||||
/* Select Next Task. */
|
||||
#if ( configUSE_PREEMPTION == 1 )
|
||||
vTaskSwitchContext();
|
||||
#endif
|
||||
xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
|
||||
|
||||
/* The only thread that can process this tick is the running thread. */
|
||||
if ( xTaskToSuspend != xTaskToResume )
|
||||
{
|
||||
/* Remember and switch the critical nesting. */
|
||||
prvSetTaskCriticalNesting( xTaskToSuspend, uxCriticalNesting );
|
||||
uxCriticalNesting = prvGetTaskCriticalNesting( xTaskToResume );
|
||||
/* Resume next task. */
|
||||
prvResumeThread( xTaskToResume );
|
||||
/* Suspend the current task. */
|
||||
prvSuspendThread( xTaskToSuspend );
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Release the lock as we are Resuming. */
|
||||
(void)pthread_mutex_unlock( &xSingleThreadMutex );
|
||||
}
|
||||
xServicingTick = pdFALSE;
|
||||
}
|
||||
else
|
||||
{
|
||||
xPendYield = pdTRUE;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
xPendYield = pdTRUE;
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortForciblyEndThread( void *pxTaskToDelete )
|
||||
{
|
||||
xTaskHandle hTaskToDelete = ( xTaskHandle )pxTaskToDelete;
|
||||
pthread_t xTaskToDelete;
|
||||
pthread_t xTaskToResume;
|
||||
portBASE_TYPE xResult;
|
||||
|
||||
if ( 0 == pthread_mutex_lock( &xSingleThreadMutex ) )
|
||||
{
|
||||
xTaskToDelete = prvGetThreadHandle( hTaskToDelete );
|
||||
xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
|
||||
|
||||
if ( xTaskToResume == xTaskToDelete )
|
||||
{
|
||||
/* This is a suicidal thread, need to select a different task to run. */
|
||||
vTaskSwitchContext();
|
||||
xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
|
||||
}
|
||||
|
||||
if ( pthread_self() != xTaskToDelete )
|
||||
{
|
||||
/* Cancelling a thread that is not me. */
|
||||
if ( xTaskToDelete != ( pthread_t )NULL )
|
||||
{
|
||||
/* Send a signal to wake the task so that it definitely cancels. */
|
||||
pthread_testcancel();
|
||||
xResult = pthread_cancel( xTaskToDelete );
|
||||
if (xResult)
|
||||
printf("pthread_cancel error!\n");
|
||||
/* Pthread Clean-up function will note the cancellation. */
|
||||
}
|
||||
(void)pthread_mutex_unlock( &xSingleThreadMutex );
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Resume the other thread. */
|
||||
prvResumeThread( xTaskToResume );
|
||||
/* Pthread Clean-up function will note the cancellation. */
|
||||
/* Release the execution. */
|
||||
uxCriticalNesting = 0;
|
||||
vPortEnableInterrupts();
|
||||
(void)pthread_mutex_unlock( &xSingleThreadMutex );
|
||||
/* Commit suicide */
|
||||
pthread_exit( (void *)1 );
|
||||
}
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void *prvWaitForStart( void * pvParams )
|
||||
{
|
||||
xParams * pxParams = ( xParams * )pvParams;
|
||||
pdTASK_CODE pvCode = pxParams->pxCode;
|
||||
void * pParams = pxParams->pvParams;
|
||||
vPortFree( pvParams );
|
||||
|
||||
pthread_cleanup_push( prvDeleteThread, (void *)pthread_self() );
|
||||
|
||||
if ( 0 == pthread_mutex_lock( &xSingleThreadMutex ) )
|
||||
{
|
||||
prvSuspendThread( pthread_self() );
|
||||
}
|
||||
|
||||
pvCode( pParams );
|
||||
|
||||
pthread_cleanup_pop( 1 );
|
||||
return (void *)NULL;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void prvSuspendSignalHandler(int sig)
|
||||
{
|
||||
sigset_t xSignals;
|
||||
|
||||
/* Only interested in the resume signal. */
|
||||
sigemptyset( &xSignals );
|
||||
sigaddset( &xSignals, SIG_RESUME );
|
||||
xSentinel = 1;
|
||||
|
||||
/* Unlock the Single thread mutex to allow the resumed task to continue. */
|
||||
if ( 0 != pthread_mutex_unlock( &xSingleThreadMutex ) )
|
||||
{
|
||||
printf( "Releasing someone else's lock.\n" );
|
||||
}
|
||||
|
||||
/* Wait on the resume signal. */
|
||||
if ( 0 != sigwait( &xSignals, &sig ) )
|
||||
{
|
||||
printf( "SSH: Sw %d\n", sig );
|
||||
}
|
||||
|
||||
/* Will resume here when the SIG_RESUME signal is received. */
|
||||
/* Need to set the interrupts based on the task's critical nesting. */
|
||||
if ( uxCriticalNesting == 0 )
|
||||
{
|
||||
vPortEnableInterrupts();
|
||||
}
|
||||
else
|
||||
{
|
||||
vPortDisableInterrupts();
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void prvSuspendThread( pthread_t xThreadId )
|
||||
{
|
||||
portBASE_TYPE xResult = pthread_mutex_lock( &xSuspendResumeThreadMutex );
|
||||
if ( 0 == xResult )
|
||||
{
|
||||
/* Set-up for the Suspend Signal handler? */
|
||||
xSentinel = 0;
|
||||
xResult = pthread_mutex_unlock( &xSuspendResumeThreadMutex );
|
||||
xResult = pthread_kill( xThreadId, SIG_SUSPEND );
|
||||
if (xResult)
|
||||
printf("pthread_kill error!\n");
|
||||
while ( ( xSentinel == 0 ) && ( pdTRUE != xServicingTick ) )
|
||||
{
|
||||
sched_yield();
|
||||
}
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void prvResumeSignalHandler(int sig)
|
||||
{
|
||||
(void)(sig);
|
||||
/* Yield the Scheduler to ensure that the yielding thread completes. */
|
||||
if ( 0 == pthread_mutex_lock( &xSingleThreadMutex ) )
|
||||
{
|
||||
(void)pthread_mutex_unlock( &xSingleThreadMutex );
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void prvResumeThread( pthread_t xThreadId )
|
||||
{
|
||||
portBASE_TYPE xResult;
|
||||
if ( 0 == pthread_mutex_lock( &xSuspendResumeThreadMutex ) )
|
||||
{
|
||||
if ( pthread_self() != xThreadId )
|
||||
{
|
||||
xResult = pthread_kill( xThreadId, SIG_RESUME );
|
||||
if (xResult)
|
||||
printf("pthread_kill error!\n");
|
||||
}
|
||||
xResult = pthread_mutex_unlock( &xSuspendResumeThreadMutex );
|
||||
if (xResult)
|
||||
printf("pthread_mutex_unlock error!\n");
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void prvSetupSignalsAndSchedulerPolicy( void )
|
||||
{
|
||||
/* The following code would allow for configuring the scheduling of this task as a Real-time task.
|
||||
* The process would then need to be run with higher privileges for it to take affect.
|
||||
int iPolicy;
|
||||
int iResult;
|
||||
int iSchedulerPriority;
|
||||
iResult = pthread_getschedparam( pthread_self(), &iPolicy, &iSchedulerPriority );
|
||||
iResult = pthread_attr_setschedpolicy( &xThreadAttributes, SCHED_FIFO );
|
||||
iPolicy = SCHED_FIFO;
|
||||
iResult = pthread_setschedparam( pthread_self(), iPolicy, &iSchedulerPriority ); */
|
||||
|
||||
struct sigaction sigsuspendself, sigresume, sigtick;
|
||||
portLONG lIndex;
|
||||
|
||||
pxThreads = ( xThreadState *)pvPortMalloc( sizeof( xThreadState ) * MAX_NUMBER_OF_TASKS );
|
||||
for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS; lIndex++ )
|
||||
{
|
||||
pxThreads[ lIndex ].hThread = ( pthread_t )NULL;
|
||||
pxThreads[ lIndex ].hTask = ( xTaskHandle )NULL;
|
||||
pxThreads[ lIndex ].uxCriticalNesting = 0;
|
||||
}
|
||||
|
||||
sigsuspendself.sa_flags = 0;
|
||||
sigsuspendself.sa_handler = prvSuspendSignalHandler;
|
||||
sigfillset( &sigsuspendself.sa_mask );
|
||||
|
||||
sigresume.sa_flags = 0;
|
||||
sigresume.sa_handler = prvResumeSignalHandler;
|
||||
sigfillset( &sigresume.sa_mask );
|
||||
|
||||
sigtick.sa_flags = 0;
|
||||
sigtick.sa_handler = vPortSystemTickHandler;
|
||||
sigfillset( &sigtick.sa_mask );
|
||||
|
||||
if ( 0 != sigaction( SIG_SUSPEND, &sigsuspendself, NULL ) )
|
||||
{
|
||||
printf( "Problem installing SIG_SUSPEND_SELF\n" );
|
||||
}
|
||||
if ( 0 != sigaction( SIG_RESUME, &sigresume, NULL ) )
|
||||
{
|
||||
printf( "Problem installing SIG_RESUME\n" );
|
||||
}
|
||||
if ( 0 != sigaction( SIG_TICK, &sigtick, NULL ) )
|
||||
{
|
||||
printf( "Problem installing SIG_TICK\n" );
|
||||
}
|
||||
printf( "Running as PID: %d\n", getpid() );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
pthread_t prvGetThreadHandle( xTaskHandle hTask )
|
||||
{
|
||||
pthread_t hThread = ( pthread_t )NULL;
|
||||
portLONG lIndex;
|
||||
for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS; lIndex++ )
|
||||
{
|
||||
if ( pxThreads[ lIndex ].hTask == hTask )
|
||||
{
|
||||
hThread = pxThreads[ lIndex ].hThread;
|
||||
break;
|
||||
}
|
||||
}
|
||||
return hThread;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
portLONG prvGetFreeThreadState( void )
|
||||
{
|
||||
portLONG lIndex;
|
||||
for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS; lIndex++ )
|
||||
{
|
||||
if ( pxThreads[ lIndex ].hThread == ( pthread_t )NULL )
|
||||
{
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if ( MAX_NUMBER_OF_TASKS == lIndex )
|
||||
{
|
||||
printf( "No more free threads, please increase the maximum.\n" );
|
||||
lIndex = 0;
|
||||
vPortEndScheduler();
|
||||
}
|
||||
|
||||
return lIndex;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void prvSetTaskCriticalNesting( pthread_t xThreadId, unsigned portBASE_TYPE uxNesting )
|
||||
{
|
||||
portLONG lIndex;
|
||||
for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS; lIndex++ )
|
||||
{
|
||||
if ( pxThreads[ lIndex ].hThread == xThreadId )
|
||||
{
|
||||
pxThreads[ lIndex ].uxCriticalNesting = uxNesting;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
unsigned portBASE_TYPE prvGetTaskCriticalNesting( pthread_t xThreadId )
|
||||
{
|
||||
unsigned portBASE_TYPE uxNesting = 0;
|
||||
portLONG lIndex;
|
||||
for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS; lIndex++ )
|
||||
{
|
||||
if ( pxThreads[ lIndex ].hThread == xThreadId )
|
||||
{
|
||||
uxNesting = pxThreads[ lIndex ].uxCriticalNesting;
|
||||
break;
|
||||
}
|
||||
}
|
||||
return uxNesting;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void prvDeleteThread( void *xThreadId )
|
||||
{
|
||||
portLONG lIndex;
|
||||
for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS; lIndex++ )
|
||||
{
|
||||
if ( pxThreads[ lIndex ].hThread == ( pthread_t )xThreadId )
|
||||
{
|
||||
pxThreads[ lIndex ].hThread = (pthread_t)NULL;
|
||||
pxThreads[ lIndex ].hTask = (xTaskHandle)NULL;
|
||||
if ( pxThreads[ lIndex ].uxCriticalNesting > 0 )
|
||||
{
|
||||
uxCriticalNesting = 0;
|
||||
vPortEnableInterrupts();
|
||||
}
|
||||
pxThreads[ lIndex ].uxCriticalNesting = 0;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortAddTaskHandle( void *pxTaskHandle )
|
||||
{
|
||||
portLONG lIndex;
|
||||
|
||||
pxThreads[ lIndexOfLastAddedTask ].hTask = ( xTaskHandle )pxTaskHandle;
|
||||
for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS; lIndex++ )
|
||||
{
|
||||
if ( pxThreads[ lIndex ].hThread == pxThreads[ lIndexOfLastAddedTask ].hThread )
|
||||
{
|
||||
if ( pxThreads[ lIndex ].hTask != pxThreads[ lIndexOfLastAddedTask ].hTask )
|
||||
{
|
||||
pxThreads[ lIndex ].hThread = ( pthread_t )NULL;
|
||||
pxThreads[ lIndex ].hTask = NULL;
|
||||
pxThreads[ lIndex ].uxCriticalNesting = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortFindTicksPerSecond( void )
|
||||
{
|
||||
/* Needs to be reasonably high for accuracy. */
|
||||
unsigned long ulTicksPerSecond = sysconf(_SC_CLK_TCK);
|
||||
printf( "Timer Resolution for Run TimeStats is %ld ticks per second.\n", ulTicksPerSecond );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
unsigned long ulPortGetTimerValue( void )
|
||||
{
|
||||
struct tms xTimes;
|
||||
unsigned long ulTotalTime = times( &xTimes );
|
||||
/* Return the application code times.
|
||||
* The timer only increases when the application code is actually running
|
||||
* which means that the total execution times should add up to 100%.
|
||||
*/
|
||||
return ( unsigned long ) xTimes.tms_utime;
|
||||
|
||||
/* Should check ulTotalTime for being clock_t max minus 1. */
|
||||
(void)ulTotalTime;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
|
@ -0,0 +1,128 @@
|
|||
/*
|
||||
POSIX Simulator
|
||||
Tested with FreeRTOS V8.2.2
|
||||
1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
#ifndef PORTMACRO_H
|
||||
#define PORTMACRO_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/******************************************************************************
|
||||
Defines
|
||||
******************************************************************************/
|
||||
/* Type definitions. */
|
||||
#define portCHAR char
|
||||
#define portFLOAT float
|
||||
#define portDOUBLE double
|
||||
#define portLONG long
|
||||
#define portSHORT short
|
||||
#define portSTACK_TYPE size_t
|
||||
#define portBASE_TYPE long
|
||||
#define portPOINTER_SIZE_TYPE size_t
|
||||
|
||||
typedef portSTACK_TYPE StackType_t;
|
||||
typedef long BaseType_t;
|
||||
typedef unsigned long UBaseType_t;
|
||||
|
||||
#if( configUSE_16_BIT_TICKS == 1 )
|
||||
typedef uint16_t TickType_t;
|
||||
#define portMAX_DELAY ( TickType_t ) 0xffff
|
||||
#else
|
||||
typedef uint32_t TickType_t;
|
||||
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
|
||||
|
||||
/* 32/64-bit tick type on a 32/64-bit architecture, so reads of the tick
|
||||
count do not need to be guarded with a critical section. */
|
||||
#define portTICK_TYPE_IS_ATOMIC 1
|
||||
#endif
|
||||
|
||||
/* Hardware specifics. */
|
||||
#define portSTACK_GROWTH ( -1 )
|
||||
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
|
||||
#define portINLINE __inline__
|
||||
|
||||
#if defined( __x86_64__)
|
||||
#define portBYTE_ALIGNMENT 8
|
||||
#else
|
||||
#define portBYTE_ALIGNMENT 4
|
||||
#endif
|
||||
|
||||
//TODO: check portREMOVE_STATIC_QUALIFIER
|
||||
#define portREMOVE_STATIC_QUALIFIER
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Scheduler utilities. */
|
||||
extern void vPortYieldFromISR( void );
|
||||
extern void vPortYield( void );
|
||||
#define portYIELD() vPortYield()
|
||||
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYieldFromISR()
|
||||
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Critical section management. */
|
||||
extern BaseType_t xPortSetInterruptMask( void );
|
||||
extern void vPortClearInterruptMask( portBASE_TYPE xMask );
|
||||
|
||||
#define portSET_INTERRUPT_MASK_FROM_ISR() xPortSetInterruptMask()
|
||||
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask(x)
|
||||
|
||||
extern void vPortDisableInterrupts( void );
|
||||
extern void vPortEnableInterrupts( void );
|
||||
#define portSET_INTERRUPT_MASK() ( vPortDisableInterrupts() )
|
||||
#define portCLEAR_INTERRUPT_MASK() ( vPortEnableInterrupts() )
|
||||
|
||||
#define portDISABLE_INTERRUPTS() portSET_INTERRUPT_MASK()
|
||||
#define portENABLE_INTERRUPTS() portCLEAR_INTERRUPT_MASK()
|
||||
|
||||
extern void vPortEnterCritical( void );
|
||||
extern void vPortExitCritical( void );
|
||||
#define portENTER_CRITICAL() vPortEnterCritical()
|
||||
#define portEXIT_CRITICAL() vPortExitCritical()
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Task function macros as described on the FreeRTOS.org WEB site. */
|
||||
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
|
||||
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
|
||||
|
||||
#define portNOP()
|
||||
|
||||
#define portOUTPUT_BYTE( a, b )
|
||||
|
||||
extern void vPortForciblyEndThread( void *pxTaskToDelete );
|
||||
#define traceTASK_DELETE( pxTaskToDelete ) vPortForciblyEndThread( pxTaskToDelete )
|
||||
|
||||
extern void vPortAddTaskHandle( void *pxTaskHandle );
|
||||
#define traceTASK_CREATE( pxNewTCB ) vPortAddTaskHandle( pxNewTCB )
|
||||
|
||||
/* Posix Signal definitions that can be changed or read as appropriate. */
|
||||
#define SIG_SUSPEND SIGUSR1
|
||||
#define SIG_RESUME SIGUSR2
|
||||
|
||||
/* Enable the following hash defines to make use of the real-time tick where time progresses at real-time. */
|
||||
#define SIG_TICK SIGALRM
|
||||
#define TIMER_TYPE ITIMER_REAL
|
||||
/* Enable the following hash defines to make use of the process tick where time progresses only when the process is executing.
|
||||
#define SIG_TICK SIGVTALRM
|
||||
#define TIMER_TYPE ITIMER_VIRTUAL */
|
||||
/* Enable the following hash defines to make use of the profile tick where time progresses when the process or system calls are executing.
|
||||
#define SIG_TICK SIGPROF
|
||||
#define TIMER_TYPE ITIMER_PROF */
|
||||
|
||||
/* Make use of times(man 2) to gather run-time statistics on the tasks. */
|
||||
extern void vPortFindTicksPerSecond( void );
|
||||
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() vPortFindTicksPerSecond() /* Nothing to do because the timer is already present. */
|
||||
extern unsigned long ulPortGetTimerValue( void );
|
||||
#define portGET_RUN_TIME_COUNTER_VALUE() ulPortGetTimerValue() /* Query the System time stats for this process. */
|
||||
|
||||
#ifdef __cplusplus
|
||||
} /* extern C */
|
||||
#endif
|
||||
|
||||
#endif /* PORTMACRO_H */
|
|
@ -0,0 +1,174 @@
|
|||
/*
|
||||
FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd.
|
||||
All rights reserved
|
||||
|
||||
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||
|
||||
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. Full license text is available on the following
|
||||
link: http://www.freertos.org/a00114.html
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS provides completely free yet professionally developed, *
|
||||
* robust, strictly quality controlled, supported, and cross *
|
||||
* platform software that is more than just the market leader, it *
|
||||
* is the industry's de facto standard. *
|
||||
* *
|
||||
* Help yourself get started quickly while simultaneously helping *
|
||||
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
||||
* tutorial book, reference manual, or both: *
|
||||
* http://www.FreeRTOS.org/Documentation *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
||||
the FAQ page "My application does not run, what could be wrong?". Have you
|
||||
defined configASSERT()?
|
||||
|
||||
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||
embedded software for free we request you assist our global community by
|
||||
participating in the support forum.
|
||||
|
||||
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||
be as productive as possible as early as possible. Now you can receive
|
||||
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||
|
||||
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||
licenses offer ticketed support, indemnification and commercial middleware.
|
||||
|
||||
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.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
|
||||
/*
|
||||
* 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
|
||||
|
||||
/* 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 uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
|
||||
static size_t xNextFreeByte = ( size_t ) 0;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void *pvPortMalloc( size_t xWantedSize )
|
||||
{
|
||||
void *pvReturn = NULL;
|
||||
static uint8_t *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 = ( uint8_t * ) ( ( ( 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;
|
||||
}
|
||||
|
||||
traceMALLOC( pvReturn, xWantedSize );
|
||||
}
|
||||
( void ) 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 );
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,303 @@
|
|||
/*
|
||||
FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd.
|
||||
All rights reserved
|
||||
|
||||
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||
|
||||
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. Full license text is available on the following
|
||||
link: http://www.freertos.org/a00114.html
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS provides completely free yet professionally developed, *
|
||||
* robust, strictly quality controlled, supported, and cross *
|
||||
* platform software that is more than just the market leader, it *
|
||||
* is the industry's de facto standard. *
|
||||
* *
|
||||
* Help yourself get started quickly while simultaneously helping *
|
||||
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
||||
* tutorial book, reference manual, or both: *
|
||||
* http://www.FreeRTOS.org/Documentation *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
||||
the FAQ page "My application does not run, what could be wrong?". Have you
|
||||
defined configASSERT()?
|
||||
|
||||
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||
embedded software for free we request you assist our global community by
|
||||
participating in the support forum.
|
||||
|
||||
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||
be as productive as possible as early as possible. Now you can receive
|
||||
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||
|
||||
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||
licenses offer ticketed support, indemnification and commercial middleware.
|
||||
|
||||
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.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
/*
|
||||
* 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 (and so will fragment memory). See heap_4.c for
|
||||
* an equivalent that does combine adjacent blocks into single larger blocks.
|
||||
*
|
||||
* 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>
|
||||
|
||||
/* 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
|
||||
|
||||
/* 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 uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
|
||||
|
||||
/* 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. */
|
||||
} BlockLink_t;
|
||||
|
||||
|
||||
static const uint16_t heapSTRUCT_SIZE = ( ( sizeof ( BlockLink_t ) + ( portBYTE_ALIGNMENT - 1 ) ) & ~portBYTE_ALIGNMENT_MASK );
|
||||
#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 BlockLink_t xStart, xEnd;
|
||||
|
||||
/* Keeps track of the number of free bytes remaining, but says nothing about
|
||||
fragmentation. */
|
||||
static size_t xFreeBytesRemaining = configADJUSTED_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 ) \
|
||||
{ \
|
||||
BlockLink_t *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; \
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void *pvPortMalloc( size_t xWantedSize )
|
||||
{
|
||||
BlockLink_t *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
|
||||
static BaseType_t 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 BlockLink_t
|
||||
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 ) != 0 )
|
||||
{
|
||||
/* Byte alignment required. */
|
||||
xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
|
||||
}
|
||||
}
|
||||
|
||||
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 != NULL ) )
|
||||
{
|
||||
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 BlockLink_t structure
|
||||
at its start. */
|
||||
pvReturn = ( void * ) ( ( ( uint8_t * ) 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 * ) ( ( ( uint8_t * ) 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;
|
||||
}
|
||||
}
|
||||
|
||||
traceMALLOC( pvReturn, xWantedSize );
|
||||
}
|
||||
( void ) xTaskResumeAll();
|
||||
|
||||
#if( configUSE_MALLOC_FAILED_HOOK == 1 )
|
||||
{
|
||||
if( pvReturn == NULL )
|
||||
{
|
||||
extern void vApplicationMallocFailedHook( void );
|
||||
vApplicationMallocFailedHook();
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
return pvReturn;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortFree( void *pv )
|
||||
{
|
||||
uint8_t *puc = ( uint8_t * ) pv;
|
||||
BlockLink_t *pxLink;
|
||||
|
||||
if( pv != NULL )
|
||||
{
|
||||
/* The memory being freed will have an BlockLink_t structure immediately
|
||||
before it. */
|
||||
puc -= heapSTRUCT_SIZE;
|
||||
|
||||
/* This unexpected casting is to keep some compilers from issuing
|
||||
byte alignment warnings. */
|
||||
pxLink = ( void * ) puc;
|
||||
|
||||
vTaskSuspendAll();
|
||||
{
|
||||
/* Add this block to the list of free blocks. */
|
||||
prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) );
|
||||
xFreeBytesRemaining += pxLink->xBlockSize;
|
||||
traceFREE( pv, pxLink->xBlockSize );
|
||||
}
|
||||
( void ) xTaskResumeAll();
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
size_t xPortGetFreeHeapSize( void )
|
||||
{
|
||||
return xFreeBytesRemaining;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortInitialiseBlocks( void )
|
||||
{
|
||||
/* This just exists to keep the linker quiet. */
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvHeapInit( void )
|
||||
{
|
||||
BlockLink_t *pxFirstFreeBlock;
|
||||
uint8_t *pucAlignedHeap;
|
||||
|
||||
/* Ensure the heap starts on a correctly aligned boundary. */
|
||||
pucAlignedHeap = ( uint8_t * ) ( ( ( 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;
|
||||
|
||||
/* xEnd is used to mark the end of the list of free blocks. */
|
||||
xEnd.xBlockSize = configADJUSTED_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 * ) pucAlignedHeap;
|
||||
pxFirstFreeBlock->xBlockSize = configADJUSTED_HEAP_SIZE;
|
||||
pxFirstFreeBlock->pxNextFreeBlock = &xEnd;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
|
@ -0,0 +1,135 @@
|
|||
/*
|
||||
FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd.
|
||||
All rights reserved
|
||||
|
||||
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||
|
||||
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. Full license text is available on the following
|
||||
link: http://www.freertos.org/a00114.html
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS provides completely free yet professionally developed, *
|
||||
* robust, strictly quality controlled, supported, and cross *
|
||||
* platform software that is more than just the market leader, it *
|
||||
* is the industry's de facto standard. *
|
||||
* *
|
||||
* Help yourself get started quickly while simultaneously helping *
|
||||
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
||||
* tutorial book, reference manual, or both: *
|
||||
* http://www.FreeRTOS.org/Documentation *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
||||
the FAQ page "My application does not run, what could be wrong?". Have you
|
||||
defined configASSERT()?
|
||||
|
||||
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||
embedded software for free we request you assist our global community by
|
||||
participating in the support forum.
|
||||
|
||||
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||
be as productive as possible as early as possible. Now you can receive
|
||||
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||
|
||||
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||
licenses offer ticketed support, indemnification and commercial middleware.
|
||||
|
||||
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.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
|
||||
/*
|
||||
* 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_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>
|
||||
|
||||
/* 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 );
|
||||
traceMALLOC( pvReturn, xWantedSize );
|
||||
}
|
||||
( void ) 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 );
|
||||
traceFREE( pv, 0 );
|
||||
}
|
||||
( void ) xTaskResumeAll();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,474 @@
|
|||
/*
|
||||
FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd.
|
||||
All rights reserved
|
||||
|
||||
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||
|
||||
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. Full license text is available on the following
|
||||
link: http://www.freertos.org/a00114.html
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS provides completely free yet professionally developed, *
|
||||
* robust, strictly quality controlled, supported, and cross *
|
||||
* platform software that is more than just the market leader, it *
|
||||
* is the industry's de facto standard. *
|
||||
* *
|
||||
* Help yourself get started quickly while simultaneously helping *
|
||||
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
||||
* tutorial book, reference manual, or both: *
|
||||
* http://www.FreeRTOS.org/Documentation *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
||||
the FAQ page "My application does not run, what could be wrong?". Have you
|
||||
defined configASSERT()?
|
||||
|
||||
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||
embedded software for free we request you assist our global community by
|
||||
participating in the support forum.
|
||||
|
||||
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||
be as productive as possible as early as possible. Now you can receive
|
||||
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||
|
||||
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||
licenses offer ticketed support, indemnification and commercial middleware.
|
||||
|
||||
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.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
/*
|
||||
* 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 ) ( xHeapStructSize << 1 ) )
|
||||
|
||||
/* Assumes 8bit bytes! */
|
||||
#define heapBITS_PER_BYTE ( ( size_t ) 8 )
|
||||
|
||||
/* Allocate the memory for the heap. */
|
||||
#if( configAPPLICATION_ALLOCATED_HEAP == 1 )
|
||||
/* The application writer has already defined the array used for the RTOS
|
||||
heap - probably so it can be placed in a special segment or address. */
|
||||
extern uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
|
||||
#else
|
||||
static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
|
||||
#endif /* configAPPLICATION_ALLOCATED_HEAP */
|
||||
|
||||
/* 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. */
|
||||
} BlockLink_t;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* 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( BlockLink_t *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 size_t xHeapStructSize = ( sizeof( BlockLink_t ) + ( ( size_t ) ( portBYTE_ALIGNMENT - 1 ) ) ) & ~( ( size_t ) portBYTE_ALIGNMENT_MASK );
|
||||
|
||||
/* Create a couple of list links to mark the start and end of the list. */
|
||||
static BlockLink_t xStart, *pxEnd = NULL;
|
||||
|
||||
/* Keeps track of the number of free bytes remaining, but says nothing about
|
||||
fragmentation. */
|
||||
static size_t xFreeBytesRemaining = 0U;
|
||||
static size_t xMinimumEverFreeBytesRemaining = 0U;
|
||||
|
||||
/* Gets set to the top bit of an size_t type. When this bit in the xBlockSize
|
||||
member of an BlockLink_t structure is set then the block belongs to the
|
||||
application. When the bit is free the block is still part of the free heap
|
||||
space. */
|
||||
static size_t xBlockAllocatedBit = 0;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void *pvPortMalloc( size_t xWantedSize )
|
||||
{
|
||||
BlockLink_t *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();
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
|
||||
/* Check the requested block size is not so large that the top bit is
|
||||
set. The top bit of the block size member of the BlockLink_t structure
|
||||
is used to determine who owns the block - the application or the
|
||||
kernel, so it must be free. */
|
||||
if( ( xWantedSize & xBlockAllocatedBit ) == 0 )
|
||||
{
|
||||
/* The wanted size is increased so it can contain a BlockLink_t
|
||||
structure in addition to the requested amount of bytes. */
|
||||
if( xWantedSize > 0 )
|
||||
{
|
||||
xWantedSize += xHeapStructSize;
|
||||
|
||||
/* Ensure that blocks are always aligned to the required number
|
||||
of bytes. */
|
||||
if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0x00 )
|
||||
{
|
||||
/* Byte alignment required. */
|
||||
xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
|
||||
configASSERT( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) == 0 );
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
|
||||
if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) )
|
||||
{
|
||||
/* 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 pointed to - jumping over the
|
||||
BlockLink_t structure at its start. */
|
||||
pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize );
|
||||
|
||||
/* 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 * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize );
|
||||
configASSERT( ( ( ( size_t ) pxNewBlockLink ) & portBYTE_ALIGNMENT_MASK ) == 0 );
|
||||
|
||||
/* 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 ) );
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
|
||||
xFreeBytesRemaining -= pxBlock->xBlockSize;
|
||||
|
||||
if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining )
|
||||
{
|
||||
xMinimumEverFreeBytesRemaining = xFreeBytesRemaining;
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
|
||||
/* The block is being returned - it is allocated and owned
|
||||
by the application and has no "next" block. */
|
||||
pxBlock->xBlockSize |= xBlockAllocatedBit;
|
||||
pxBlock->pxNextFreeBlock = NULL;
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
|
||||
traceMALLOC( pvReturn, xWantedSize );
|
||||
}
|
||||
( void ) xTaskResumeAll();
|
||||
|
||||
#if( configUSE_MALLOC_FAILED_HOOK == 1 )
|
||||
{
|
||||
if( pvReturn == NULL )
|
||||
{
|
||||
extern void vApplicationMallocFailedHook( void );
|
||||
vApplicationMallocFailedHook();
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
configASSERT( ( ( ( uint32_t ) pvReturn ) & portBYTE_ALIGNMENT_MASK ) == 0 );
|
||||
return pvReturn;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortFree( void *pv )
|
||||
{
|
||||
uint8_t *puc = ( uint8_t * ) pv;
|
||||
BlockLink_t *pxLink;
|
||||
|
||||
if( pv != NULL )
|
||||
{
|
||||
/* The memory being freed will have an BlockLink_t structure immediately
|
||||
before it. */
|
||||
puc -= xHeapStructSize;
|
||||
|
||||
/* This casting is to keep the compiler from issuing warnings. */
|
||||
pxLink = ( void * ) puc;
|
||||
|
||||
/* Check the block is actually allocated. */
|
||||
configASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 );
|
||||
configASSERT( pxLink->pxNextFreeBlock == NULL );
|
||||
|
||||
if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 )
|
||||
{
|
||||
if( pxLink->pxNextFreeBlock == NULL )
|
||||
{
|
||||
/* The block is being returned to the heap - it is no longer
|
||||
allocated. */
|
||||
pxLink->xBlockSize &= ~xBlockAllocatedBit;
|
||||
|
||||
vTaskSuspendAll();
|
||||
{
|
||||
/* Add this block to the list of free blocks. */
|
||||
xFreeBytesRemaining += pxLink->xBlockSize;
|
||||
traceFREE( pv, pxLink->xBlockSize );
|
||||
prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) );
|
||||
}
|
||||
( void ) xTaskResumeAll();
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
size_t xPortGetFreeHeapSize( void )
|
||||
{
|
||||
return xFreeBytesRemaining;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
size_t xPortGetMinimumEverFreeHeapSize( void )
|
||||
{
|
||||
return xMinimumEverFreeBytesRemaining;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortInitialiseBlocks( void )
|
||||
{
|
||||
/* This just exists to keep the linker quiet. */
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvHeapInit( void )
|
||||
{
|
||||
BlockLink_t *pxFirstFreeBlock;
|
||||
uint8_t *pucAlignedHeap;
|
||||
size_t uxAddress;
|
||||
size_t xTotalHeapSize = configTOTAL_HEAP_SIZE;
|
||||
|
||||
/* Ensure the heap starts on a correctly aligned boundary. */
|
||||
uxAddress = ( size_t ) ucHeap;
|
||||
|
||||
if( ( uxAddress & portBYTE_ALIGNMENT_MASK ) != 0 )
|
||||
{
|
||||
uxAddress += ( portBYTE_ALIGNMENT - 1 );
|
||||
uxAddress &= ~( ( size_t ) portBYTE_ALIGNMENT_MASK );
|
||||
xTotalHeapSize -= uxAddress - ( size_t ) ucHeap;
|
||||
}
|
||||
|
||||
pucAlignedHeap = ( uint8_t * ) uxAddress;
|
||||
|
||||
/* 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. */
|
||||
uxAddress = ( ( size_t ) pucAlignedHeap ) + xTotalHeapSize;
|
||||
uxAddress -= xHeapStructSize;
|
||||
uxAddress &= ~( ( size_t ) portBYTE_ALIGNMENT_MASK );
|
||||
pxEnd = ( void * ) uxAddress;
|
||||
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 = uxAddress - ( size_t ) pxFirstFreeBlock;
|
||||
pxFirstFreeBlock->pxNextFreeBlock = pxEnd;
|
||||
|
||||
/* Only one block exists - and it covers the entire usable heap space. */
|
||||
xMinimumEverFreeBytesRemaining = pxFirstFreeBlock->xBlockSize;
|
||||
xFreeBytesRemaining = pxFirstFreeBlock->xBlockSize;
|
||||
|
||||
/* Work out the position of the top bit in a size_t variable. */
|
||||
xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * heapBITS_PER_BYTE ) - 1 );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert )
|
||||
{
|
||||
BlockLink_t *pxIterator;
|
||||
uint8_t *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 = ( uint8_t * ) pxIterator;
|
||||
if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert )
|
||||
{
|
||||
pxIterator->xBlockSize += pxBlockToInsert->xBlockSize;
|
||||
pxBlockToInsert = pxIterator;
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
|
||||
/* Do the block being inserted, and the block it is being inserted before
|
||||
make a contiguous block of memory? */
|
||||
puc = ( uint8_t * ) pxBlockToInsert;
|
||||
if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) 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;
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,523 @@
|
|||
/*
|
||||
FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd.
|
||||
All rights reserved
|
||||
|
||||
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||
|
||||
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. Full license text is available on the following
|
||||
link: http://www.freertos.org/a00114.html
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS provides completely free yet professionally developed, *
|
||||
* robust, strictly quality controlled, supported, and cross *
|
||||
* platform software that is more than just the market leader, it *
|
||||
* is the industry's de facto standard. *
|
||||
* *
|
||||
* Help yourself get started quickly while simultaneously helping *
|
||||
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
||||
* tutorial book, reference manual, or both: *
|
||||
* http://www.FreeRTOS.org/Documentation *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
||||
the FAQ page "My application does not run, what could be wrong?". Have you
|
||||
defined configASSERT()?
|
||||
|
||||
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||
embedded software for free we request you assist our global community by
|
||||
participating in the support forum.
|
||||
|
||||
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||
be as productive as possible as early as possible. Now you can receive
|
||||
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||
|
||||
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||
licenses offer ticketed support, indemnification and commercial middleware.
|
||||
|
||||
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.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
/*
|
||||
* A sample implementation of pvPortMalloc() that allows the heap to be defined
|
||||
* across multiple non-contigous blocks and combines (coalescences) adjacent
|
||||
* memory blocks as they are freed.
|
||||
*
|
||||
* See heap_1.c, 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.
|
||||
*
|
||||
* Usage notes:
|
||||
*
|
||||
* vPortDefineHeapRegions() ***must*** be called before pvPortMalloc().
|
||||
* pvPortMalloc() will be called if any task objects (tasks, queues, event
|
||||
* groups, etc.) are created, therefore vPortDefineHeapRegions() ***must*** be
|
||||
* called before any other objects are defined.
|
||||
*
|
||||
* vPortDefineHeapRegions() takes a single parameter. The parameter is an array
|
||||
* of HeapRegion_t structures. HeapRegion_t is defined in portable.h as
|
||||
*
|
||||
* typedef struct HeapRegion
|
||||
* {
|
||||
* uint8_t *pucStartAddress; << Start address of a block of memory that will be part of the heap.
|
||||
* size_t xSizeInBytes; << Size of the block of memory.
|
||||
* } HeapRegion_t;
|
||||
*
|
||||
* The array is terminated using a NULL zero sized region definition, and the
|
||||
* memory regions defined in the array ***must*** appear in address order from
|
||||
* low address to high address. So the following is a valid example of how
|
||||
* to use the function.
|
||||
*
|
||||
* HeapRegion_t xHeapRegions[] =
|
||||
* {
|
||||
* { ( uint8_t * ) 0x80000000UL, 0x10000 }, << Defines a block of 0x10000 bytes starting at address 0x80000000
|
||||
* { ( uint8_t * ) 0x90000000UL, 0xa0000 }, << Defines a block of 0xa0000 bytes starting at address of 0x90000000
|
||||
* { NULL, 0 } << Terminates the array.
|
||||
* };
|
||||
*
|
||||
* vPortDefineHeapRegions( xHeapRegions ); << Pass the array into vPortDefineHeapRegions().
|
||||
*
|
||||
* Note 0x80000000 is the lower address so appears in the array first.
|
||||
*
|
||||
*/
|
||||
#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 ) ( xHeapStructSize << 1 ) )
|
||||
|
||||
/* Assumes 8bit bytes! */
|
||||
#define heapBITS_PER_BYTE ( ( size_t ) 8 )
|
||||
|
||||
/* 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. */
|
||||
} BlockLink_t;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* 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( BlockLink_t *pxBlockToInsert );
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* The size of the structure placed at the beginning of each allocated memory
|
||||
block must by correctly byte aligned. */
|
||||
static const size_t xHeapStructSize = ( sizeof( BlockLink_t ) + ( ( size_t ) ( portBYTE_ALIGNMENT - 1 ) ) ) & ~( ( size_t ) portBYTE_ALIGNMENT_MASK );
|
||||
|
||||
/* Create a couple of list links to mark the start and end of the list. */
|
||||
static BlockLink_t xStart, *pxEnd = NULL;
|
||||
|
||||
/* Keeps track of the number of free bytes remaining, but says nothing about
|
||||
fragmentation. */
|
||||
static size_t xFreeBytesRemaining = 0U;
|
||||
static size_t xMinimumEverFreeBytesRemaining = 0U;
|
||||
|
||||
/* Gets set to the top bit of an size_t type. When this bit in the xBlockSize
|
||||
member of an BlockLink_t structure is set then the block belongs to the
|
||||
application. When the bit is free the block is still part of the free heap
|
||||
space. */
|
||||
static size_t xBlockAllocatedBit = 0;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void *pvPortMalloc( size_t xWantedSize )
|
||||
{
|
||||
BlockLink_t *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
|
||||
void *pvReturn = NULL;
|
||||
|
||||
/* The heap must be initialised before the first call to
|
||||
prvPortMalloc(). */
|
||||
configASSERT( pxEnd );
|
||||
|
||||
vTaskSuspendAll();
|
||||
{
|
||||
/* Check the requested block size is not so large that the top bit is
|
||||
set. The top bit of the block size member of the BlockLink_t structure
|
||||
is used to determine who owns the block - the application or the
|
||||
kernel, so it must be free. */
|
||||
if( ( xWantedSize & xBlockAllocatedBit ) == 0 )
|
||||
{
|
||||
/* The wanted size is increased so it can contain a BlockLink_t
|
||||
structure in addition to the requested amount of bytes. */
|
||||
if( xWantedSize > 0 )
|
||||
{
|
||||
xWantedSize += xHeapStructSize;
|
||||
|
||||
/* Ensure that blocks are always aligned to the required number
|
||||
of bytes. */
|
||||
if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0x00 )
|
||||
{
|
||||
/* Byte alignment required. */
|
||||
xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
|
||||
if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) )
|
||||
{
|
||||
/* 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 pointed to - jumping over the
|
||||
BlockLink_t structure at its start. */
|
||||
pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize );
|
||||
|
||||
/* 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 * ) ( ( ( uint8_t * ) 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 ) );
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
|
||||
xFreeBytesRemaining -= pxBlock->xBlockSize;
|
||||
|
||||
if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining )
|
||||
{
|
||||
xMinimumEverFreeBytesRemaining = xFreeBytesRemaining;
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
|
||||
/* The block is being returned - it is allocated and owned
|
||||
by the application and has no "next" block. */
|
||||
pxBlock->xBlockSize |= xBlockAllocatedBit;
|
||||
pxBlock->pxNextFreeBlock = NULL;
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
|
||||
traceMALLOC( pvReturn, xWantedSize );
|
||||
}
|
||||
( void ) xTaskResumeAll();
|
||||
|
||||
#if( configUSE_MALLOC_FAILED_HOOK == 1 )
|
||||
{
|
||||
if( pvReturn == NULL )
|
||||
{
|
||||
extern void vApplicationMallocFailedHook( void );
|
||||
vApplicationMallocFailedHook();
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
return pvReturn;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortFree( void *pv )
|
||||
{
|
||||
uint8_t *puc = ( uint8_t * ) pv;
|
||||
BlockLink_t *pxLink;
|
||||
|
||||
if( pv != NULL )
|
||||
{
|
||||
/* The memory being freed will have an BlockLink_t structure immediately
|
||||
before it. */
|
||||
puc -= xHeapStructSize;
|
||||
|
||||
/* This casting is to keep the compiler from issuing warnings. */
|
||||
pxLink = ( void * ) puc;
|
||||
|
||||
/* Check the block is actually allocated. */
|
||||
configASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 );
|
||||
configASSERT( pxLink->pxNextFreeBlock == NULL );
|
||||
|
||||
if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 )
|
||||
{
|
||||
if( pxLink->pxNextFreeBlock == NULL )
|
||||
{
|
||||
/* The block is being returned to the heap - it is no longer
|
||||
allocated. */
|
||||
pxLink->xBlockSize &= ~xBlockAllocatedBit;
|
||||
|
||||
vTaskSuspendAll();
|
||||
{
|
||||
/* Add this block to the list of free blocks. */
|
||||
xFreeBytesRemaining += pxLink->xBlockSize;
|
||||
traceFREE( pv, pxLink->xBlockSize );
|
||||
prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) );
|
||||
}
|
||||
( void ) xTaskResumeAll();
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
size_t xPortGetFreeHeapSize( void )
|
||||
{
|
||||
return xFreeBytesRemaining;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
size_t xPortGetMinimumEverFreeHeapSize( void )
|
||||
{
|
||||
return xMinimumEverFreeBytesRemaining;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert )
|
||||
{
|
||||
BlockLink_t *pxIterator;
|
||||
uint8_t *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 = ( uint8_t * ) pxIterator;
|
||||
if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert )
|
||||
{
|
||||
pxIterator->xBlockSize += pxBlockToInsert->xBlockSize;
|
||||
pxBlockToInsert = pxIterator;
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
|
||||
/* Do the block being inserted, and the block it is being inserted before
|
||||
make a contiguous block of memory? */
|
||||
puc = ( uint8_t * ) pxBlockToInsert;
|
||||
if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) 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;
|
||||
}
|
||||
else
|
||||
{
|
||||
mtCOVERAGE_TEST_MARKER();
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions )
|
||||
{
|
||||
BlockLink_t *pxFirstFreeBlockInRegion = NULL, *pxPreviousFreeBlock;
|
||||
uint8_t *pucAlignedHeap;
|
||||
size_t xTotalRegionSize, xTotalHeapSize = 0;
|
||||
BaseType_t xDefinedRegions = 0;
|
||||
size_t xAddress;
|
||||
const HeapRegion_t *pxHeapRegion;
|
||||
|
||||
/* Can only call once! */
|
||||
configASSERT( pxEnd == NULL );
|
||||
|
||||
pxHeapRegion = &( pxHeapRegions[ xDefinedRegions ] );
|
||||
|
||||
while( pxHeapRegion->xSizeInBytes > 0 )
|
||||
{
|
||||
xTotalRegionSize = pxHeapRegion->xSizeInBytes;
|
||||
|
||||
/* Ensure the heap region starts on a correctly aligned boundary. */
|
||||
xAddress = ( size_t ) pxHeapRegion->pucStartAddress;
|
||||
if( ( xAddress & portBYTE_ALIGNMENT_MASK ) != 0 )
|
||||
{
|
||||
xAddress += ( portBYTE_ALIGNMENT - 1 );
|
||||
xAddress &= ~portBYTE_ALIGNMENT_MASK;
|
||||
|
||||
/* Adjust the size for the bytes lost to alignment. */
|
||||
xTotalRegionSize -= xAddress - ( size_t ) pxHeapRegion->pucStartAddress;
|
||||
}
|
||||
|
||||
pucAlignedHeap = ( uint8_t * ) xAddress;
|
||||
|
||||
/* Set xStart if it has not already been set. */
|
||||
if( xDefinedRegions == 0 )
|
||||
{
|
||||
/* 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 = ( BlockLink_t * ) pucAlignedHeap;
|
||||
xStart.xBlockSize = ( size_t ) 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Should only get here if one region has already been added to the
|
||||
heap. */
|
||||
configASSERT( pxEnd != NULL );
|
||||
|
||||
/* Check blocks are passed in with increasing start addresses. */
|
||||
configASSERT( xAddress > ( size_t ) pxEnd );
|
||||
}
|
||||
|
||||
/* Remember the location of the end marker in the previous region, if
|
||||
any. */
|
||||
pxPreviousFreeBlock = pxEnd;
|
||||
|
||||
/* pxEnd is used to mark the end of the list of free blocks and is
|
||||
inserted at the end of the region space. */
|
||||
xAddress = ( ( size_t ) pucAlignedHeap ) + xTotalRegionSize;
|
||||
xAddress -= xHeapStructSize;
|
||||
xAddress &= ~portBYTE_ALIGNMENT_MASK;
|
||||
pxEnd = ( BlockLink_t * ) xAddress;
|
||||
pxEnd->xBlockSize = 0;
|
||||
pxEnd->pxNextFreeBlock = NULL;
|
||||
|
||||
/* To start with there is a single free block in this region that is
|
||||
sized to take up the entire heap region minus the space taken by the
|
||||
free block structure. */
|
||||
pxFirstFreeBlockInRegion = ( BlockLink_t * ) pucAlignedHeap;
|
||||
pxFirstFreeBlockInRegion->xBlockSize = xAddress - ( size_t ) pxFirstFreeBlockInRegion;
|
||||
pxFirstFreeBlockInRegion->pxNextFreeBlock = pxEnd;
|
||||
|
||||
/* If this is not the first region that makes up the entire heap space
|
||||
then link the previous region to this region. */
|
||||
if( pxPreviousFreeBlock != NULL )
|
||||
{
|
||||
pxPreviousFreeBlock->pxNextFreeBlock = pxFirstFreeBlockInRegion;
|
||||
}
|
||||
|
||||
xTotalHeapSize += pxFirstFreeBlockInRegion->xBlockSize;
|
||||
|
||||
/* Move onto the next HeapRegion_t structure. */
|
||||
xDefinedRegions++;
|
||||
pxHeapRegion = &( pxHeapRegions[ xDefinedRegions ] );
|
||||
}
|
||||
|
||||
xMinimumEverFreeBytesRemaining = xTotalHeapSize;
|
||||
xFreeBytesRemaining = xTotalHeapSize;
|
||||
|
||||
/* Check something was actually defined before it is accessed. */
|
||||
configASSERT( xTotalHeapSize );
|
||||
|
||||
/* Work out the position of the top bit in a size_t variable. */
|
||||
xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * heapBITS_PER_BYTE ) - 1 );
|
||||
}
|
||||
|
File diff suppressed because it is too large
Load Diff
|
@ -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.
|
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
Loading…
Reference in New Issue