Updating MicroBlaze port - work in progress.
Richard Barry
14 years ago
parent
f5b2c790a0
commit
328a8b586f
@ -0,0 +1,468 @@
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/*
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FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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FreeRTOS supports many tools and architectures. V7.0.0 is sponsored by:
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Atollic AB - Atollic provides professional embedded systems development
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tools for C/C++ development, code analysis and test automation.
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See http://www.atollic.com
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***************************************************************************
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* *
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* FreeRTOS tutorial books are available in pdf and paperback. *
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* Complete, revised, and edited pdf reference manuals are also *
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* available. *
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* *
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* Purchasing FreeRTOS documentation will not only help you, by *
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* ensuring you get running as quickly as possible and with an *
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* in-depth knowledge of how to use FreeRTOS, it will also help *
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* the FreeRTOS project to continue with its mission of providing *
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* professional grade, cross platform, de facto standard solutions *
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* for microcontrollers - completely free of charge! *
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* *
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* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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* *
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* Thank you for using FreeRTOS, and thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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>>>NOTE<<< The modification to the GPL is included to allow you to
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distribute a combined work that includes FreeRTOS without being obliged to
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provide the source code for proprietary components outside of the FreeRTOS
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kernel. FreeRTOS 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
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or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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#ifndef INC_FREERTOS_H
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#define INC_FREERTOS_H
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/*
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* Include the generic headers required for the FreeRTOS port being used.
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*/
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#include <stddef.h>
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/* Basic FreeRTOS definitions. */
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#include "projdefs.h"
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/* Application specific configuration options. */
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#include "FreeRTOSConfig.h"
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/* Definitions specific to the port being used. */
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#include "portable.h"
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/* Defines the prototype to which the application task hook function must
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conform. */
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typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
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/*
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* Check all the required application specific macros have been defined.
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* These macros are application specific and (as downloaded) are defined
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* within FreeRTOSConfig.h.
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*/
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#ifndef configUSE_PREEMPTION
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#error Missing definition: configUSE_PREEMPTION should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
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#endif
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#ifndef configUSE_IDLE_HOOK
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#error Missing definition: configUSE_IDLE_HOOK should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
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#endif
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#ifndef configUSE_TICK_HOOK
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#error Missing definition: configUSE_TICK_HOOK should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
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#endif
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#ifndef configUSE_CO_ROUTINES
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#error Missing definition: configUSE_CO_ROUTINES should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
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#endif
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#ifndef INCLUDE_vTaskPrioritySet
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#error Missing definition: INCLUDE_vTaskPrioritySet should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
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#endif
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#ifndef INCLUDE_uxTaskPriorityGet
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#error Missing definition: INCLUDE_uxTaskPriorityGet should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
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#endif
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#ifndef INCLUDE_vTaskDelete
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#error Missing definition: INCLUDE_vTaskDelete should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
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#endif
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#ifndef INCLUDE_vTaskCleanUpResources
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#error Missing definition: INCLUDE_vTaskCleanUpResources should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
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#endif
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#ifndef INCLUDE_vTaskSuspend
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#error Missing definition: INCLUDE_vTaskSuspend should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
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#endif
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#ifndef INCLUDE_vTaskDelayUntil
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#error Missing definition: INCLUDE_vTaskDelayUntil should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
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#endif
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#ifndef INCLUDE_vTaskDelay
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#error Missing definition: INCLUDE_vTaskDelay should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
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#endif
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#ifndef configUSE_16_BIT_TICKS
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#error Missing definition: configUSE_16_BIT_TICKS should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
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#endif
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#ifndef configUSE_APPLICATION_TASK_TAG
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#define configUSE_APPLICATION_TASK_TAG 0
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#endif
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#ifndef INCLUDE_uxTaskGetStackHighWaterMark
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#define INCLUDE_uxTaskGetStackHighWaterMark 0
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#endif
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#ifndef configUSE_RECURSIVE_MUTEXES
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#define configUSE_RECURSIVE_MUTEXES 0
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#endif
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#ifndef configUSE_MUTEXES
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#define configUSE_MUTEXES 0
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#endif
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#ifndef configUSE_TIMERS
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#define configUSE_TIMERS 0
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#endif
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#ifndef configUSE_COUNTING_SEMAPHORES
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#define configUSE_COUNTING_SEMAPHORES 0
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#endif
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#ifndef configUSE_ALTERNATIVE_API
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#define configUSE_ALTERNATIVE_API 0
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#endif
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#ifndef portCRITICAL_NESTING_IN_TCB
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#define portCRITICAL_NESTING_IN_TCB 0
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#endif
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#ifndef configMAX_TASK_NAME_LEN
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#define configMAX_TASK_NAME_LEN 16
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#endif
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#ifndef configIDLE_SHOULD_YIELD
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#define configIDLE_SHOULD_YIELD 1
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#endif
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#if configMAX_TASK_NAME_LEN < 1
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#error configMAX_TASK_NAME_LEN must be set to a minimum of 1 in FreeRTOSConfig.h
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#endif
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#ifndef INCLUDE_xTaskResumeFromISR
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#define INCLUDE_xTaskResumeFromISR 1
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#endif
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#ifndef configASSERT
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#define configASSERT( x )
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#endif
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/* The timers module relies on xTaskGetSchedulerState(). */
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#if configUSE_TIMERS == 1
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#ifndef configTIMER_TASK_PRIORITY
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#error If configUSE_TIMERS is set to 1 then configTIMER_TASK_PRIORITY must also be defined.
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#endif /* configTIMER_TASK_PRIORITY */
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#ifndef configTIMER_QUEUE_LENGTH
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#error If configUSE_TIMERS is set to 1 then configTIMER_QUEUE_LENGTH must also be defined.
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#endif /* configTIMER_QUEUE_LENGTH */
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#ifndef configTIMER_TASK_STACK_DEPTH
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#error If configUSE_TIMERS is set to 1 then configTIMER_TASK_STACK_DEPTH must also be defined.
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#endif /* configTIMER_TASK_STACK_DEPTH */
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#endif /* configUSE_TIMERS */
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#ifndef INCLUDE_xTaskGetSchedulerState
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#define INCLUDE_xTaskGetSchedulerState 0
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#endif
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#ifndef INCLUDE_xTaskGetCurrentTaskHandle
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#define INCLUDE_xTaskGetCurrentTaskHandle 0
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#endif
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#ifndef portSET_INTERRUPT_MASK_FROM_ISR
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#define portSET_INTERRUPT_MASK_FROM_ISR() 0
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#endif
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#ifndef portCLEAR_INTERRUPT_MASK_FROM_ISR
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#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) uxSavedStatusValue
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#endif
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#ifndef configQUEUE_REGISTRY_SIZE
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#define configQUEUE_REGISTRY_SIZE 0U
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#endif
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#if ( configQUEUE_REGISTRY_SIZE < 1U )
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#define vQueueAddToRegistry( xQueue, pcName )
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#define vQueueUnregisterQueue( xQueue )
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#endif
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/* Remove any unused trace macros. */
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#ifndef traceSTART
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/* Used to perform any necessary initialisation - for example, open a file
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into which trace is to be written. */
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#define traceSTART()
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#endif
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#ifndef traceEND
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/* Use to close a trace, for example close a file into which trace has been
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written. */
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#define traceEND()
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#endif
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#ifndef traceTASK_SWITCHED_IN
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/* Called after a task has been selected to run. pxCurrentTCB holds a pointer
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to the task control block of the selected task. */
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#define traceTASK_SWITCHED_IN()
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#endif
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#ifndef traceTASK_SWITCHED_OUT
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/* Called before a task has been selected to run. pxCurrentTCB holds a pointer
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to the task control block of the task being switched out. */
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#define traceTASK_SWITCHED_OUT()
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#endif
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#ifndef traceBLOCKING_ON_QUEUE_RECEIVE
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/* Task is about to block because it cannot read from a
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queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore
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upon which the read was attempted. pxCurrentTCB points to the TCB of the
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task that attempted the read. */
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#define traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue )
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#endif
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#ifndef traceBLOCKING_ON_QUEUE_SEND
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/* Task is about to block because it cannot write to a
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queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore
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upon which the write was attempted. pxCurrentTCB points to the TCB of the
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task that attempted the write. */
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#define traceBLOCKING_ON_QUEUE_SEND( pxQueue )
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#endif
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#ifndef configCHECK_FOR_STACK_OVERFLOW
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#define configCHECK_FOR_STACK_OVERFLOW 0
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#endif
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/* The following event macros are embedded in the kernel API calls. */
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#ifndef traceQUEUE_CREATE
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#define traceQUEUE_CREATE( pxNewQueue )
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#endif
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#ifndef traceQUEUE_CREATE_FAILED
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#define traceQUEUE_CREATE_FAILED()
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#endif
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#ifndef traceCREATE_MUTEX
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#define traceCREATE_MUTEX( pxNewQueue )
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#endif
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#ifndef traceCREATE_MUTEX_FAILED
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#define traceCREATE_MUTEX_FAILED()
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#endif
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#ifndef traceGIVE_MUTEX_RECURSIVE
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#define traceGIVE_MUTEX_RECURSIVE( pxMutex )
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#endif
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#ifndef traceGIVE_MUTEX_RECURSIVE_FAILED
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#define traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex )
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#endif
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#ifndef traceTAKE_MUTEX_RECURSIVE
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#define traceTAKE_MUTEX_RECURSIVE( pxMutex )
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#endif
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#ifndef traceTAKE_MUTEX_RECURSIVE_FAILED
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#define traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex )
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#endif
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#ifndef traceCREATE_COUNTING_SEMAPHORE
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#define traceCREATE_COUNTING_SEMAPHORE()
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#endif
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#ifndef traceCREATE_COUNTING_SEMAPHORE_FAILED
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#define traceCREATE_COUNTING_SEMAPHORE_FAILED()
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#endif
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#ifndef traceQUEUE_SEND
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#define traceQUEUE_SEND( pxQueue )
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#endif
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#ifndef traceQUEUE_SEND_FAILED
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#define traceQUEUE_SEND_FAILED( pxQueue )
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#endif
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#ifndef traceQUEUE_RECEIVE
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#define traceQUEUE_RECEIVE( pxQueue )
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#endif
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#ifndef traceQUEUE_PEEK
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#define traceQUEUE_PEEK( pxQueue )
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#endif
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#ifndef traceQUEUE_RECEIVE_FAILED
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#define traceQUEUE_RECEIVE_FAILED( pxQueue )
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#endif
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#ifndef traceQUEUE_SEND_FROM_ISR
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#define traceQUEUE_SEND_FROM_ISR( pxQueue )
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#endif
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#ifndef traceQUEUE_SEND_FROM_ISR_FAILED
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#define traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue )
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#endif
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#ifndef traceQUEUE_RECEIVE_FROM_ISR
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#define traceQUEUE_RECEIVE_FROM_ISR( pxQueue )
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#endif
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#ifndef traceQUEUE_RECEIVE_FROM_ISR_FAILED
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#define traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue )
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#endif
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#ifndef traceQUEUE_DELETE
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#define traceQUEUE_DELETE( pxQueue )
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#endif
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#ifndef traceTASK_CREATE
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#define traceTASK_CREATE( pxNewTCB )
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#endif
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#ifndef traceTASK_CREATE_FAILED
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#define traceTASK_CREATE_FAILED()
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#endif
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#ifndef traceTASK_DELETE
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#define traceTASK_DELETE( pxTaskToDelete )
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#endif
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#ifndef traceTASK_DELAY_UNTIL
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#define traceTASK_DELAY_UNTIL()
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#endif
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#ifndef traceTASK_DELAY
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#define traceTASK_DELAY()
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#endif
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#ifndef traceTASK_PRIORITY_SET
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#define traceTASK_PRIORITY_SET( pxTask, uxNewPriority )
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#endif
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#ifndef traceTASK_SUSPEND
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#define traceTASK_SUSPEND( pxTaskToSuspend )
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#endif
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#ifndef traceTASK_RESUME
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#define traceTASK_RESUME( pxTaskToResume )
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#endif
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#ifndef traceTASK_RESUME_FROM_ISR
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#define traceTASK_RESUME_FROM_ISR( pxTaskToResume )
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#endif
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#ifndef traceTASK_INCREMENT_TICK
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#define traceTASK_INCREMENT_TICK( xTickCount )
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#endif
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#ifndef traceTIMER_CREATE
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#define traceTIMER_CREATE( pxNewTimer )
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#endif
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#ifndef traceTIMER_CREATE_FAILED
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#define traceTIMER_CREATE_FAILED()
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#endif
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#ifndef traceTIMER_COMMAND_SEND
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#define traceTIMER_COMMAND_SEND( xTimer, xMessageID, xMessageValueValue, xReturn )
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#endif
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#ifndef traceTIMER_EXPIRED
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#define traceTIMER_EXPIRED( pxTimer )
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#endif
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#ifndef traceTIMER_COMMAND_RECEIVED
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#define traceTIMER_COMMAND_RECEIVED( pxTimer, xMessageID, xMessageValue )
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#endif
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#ifndef configGENERATE_RUN_TIME_STATS
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#define configGENERATE_RUN_TIME_STATS 0
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#endif
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#if ( configGENERATE_RUN_TIME_STATS == 1 )
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#ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS
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#error If configGENERATE_RUN_TIME_STATS is defined then portCONFIGURE_TIMER_FOR_RUN_TIME_STATS must also be defined. portCONFIGURE_TIMER_FOR_RUN_TIME_STATS should call a port layer function to setup a peripheral timer/counter that can then be used as the run time counter time base.
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#endif /* portCONFIGURE_TIMER_FOR_RUN_TIME_STATS */
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#ifndef portGET_RUN_TIME_COUNTER_VALUE
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#ifndef portALT_GET_RUN_TIME_COUNTER_VALUE
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#error If configGENERATE_RUN_TIME_STATS is defined then either portGET_RUN_TIME_COUNTER_VALUE or portALT_GET_RUN_TIME_COUNTER_VALUE must also be defined. See the examples provided and the FreeRTOS web site for more information.
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#endif /* portALT_GET_RUN_TIME_COUNTER_VALUE */
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#endif /* portGET_RUN_TIME_COUNTER_VALUE */
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#endif /* configGENERATE_RUN_TIME_STATS */
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#ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS
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#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()
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#endif
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|
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#ifndef configUSE_MALLOC_FAILED_HOOK
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#define configUSE_MALLOC_FAILED_HOOK 0
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||||
#endif
|
||||
|
||||
#ifndef portPRIVILEGE_BIT
|
||||
#define portPRIVILEGE_BIT ( ( unsigned portBASE_TYPE ) 0x00 )
|
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#endif
|
||||
|
||||
#ifndef portYIELD_WITHIN_API
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||||
#define portYIELD_WITHIN_API portYIELD
|
||||
#endif
|
||||
|
||||
#ifndef pvPortMallocAligned
|
||||
#define pvPortMallocAligned( x, puxStackBuffer ) ( ( ( puxStackBuffer ) == NULL ) ? ( pvPortMalloc( ( x ) ) ) : ( puxStackBuffer ) )
|
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#endif
|
||||
|
||||
#ifndef vPortFreeAligned
|
||||
#define vPortFreeAligned( pvBlockToFree ) vPortFree( pvBlockToFree )
|
||||
#endif
|
||||
|
||||
#endif /* INC_FREERTOS_H */
|
||||
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||||
@ -0,0 +1,174 @@
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||||
/*
|
||||
FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
FreeRTOS supports many tools and architectures. V7.0.0 is sponsored by:
|
||||
Atollic AB - Atollic provides professional embedded systems development
|
||||
tools for C/C++ development, code analysis and test automation.
|
||||
See http://www.atollic.com
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
|
||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
This file is part of the FreeRTOS distribution.
|
||||
|
||||
FreeRTOS is free software; you can redistribute it and/or modify it under
|
||||
the terms of the GNU General Public License (version 2) as published by the
|
||||
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
>>>NOTE<<< The modification to the GPL is included to allow you to
|
||||
distribute a combined work that includes FreeRTOS without being obliged to
|
||||
provide the source code for proprietary components outside of the FreeRTOS
|
||||
kernel. FreeRTOS is distributed in the hope that it will be useful, but
|
||||
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
|
||||
more details. You should have received a copy of the GNU General Public
|
||||
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, latest information, license and
|
||||
contact details.
|
||||
|
||||
http://www.SafeRTOS.com - A version that is certified for use in safety
|
||||
critical systems.
|
||||
|
||||
http://www.OpenRTOS.com - Commercial support, development, porting,
|
||||
licensing and training services.
|
||||
*/
|
||||
|
||||
#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 == 0 )
|
||||
|
||||
/* FreeRTOSConfig.h is not set to check for stack overflows. */
|
||||
#define taskFIRST_CHECK_FOR_STACK_OVERFLOW()
|
||||
#define taskSECOND_CHECK_FOR_STACK_OVERFLOW()
|
||||
|
||||
#endif /* configCHECK_FOR_STACK_OVERFLOW == 0 */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if( configCHECK_FOR_STACK_OVERFLOW == 1 )
|
||||
|
||||
/* FreeRTOSConfig.h is only set to use the first method of
|
||||
overflow checking. */
|
||||
#define taskSECOND_CHECK_FOR_STACK_OVERFLOW()
|
||||
|
||||
#endif
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if( ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH < 0 ) )
|
||||
|
||||
/* Only the current stack state is to be checked. */
|
||||
#define taskFIRST_CHECK_FOR_STACK_OVERFLOW() \
|
||||
{ \
|
||||
/* Is the currently saved stack pointer within the stack limit? */ \
|
||||
if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \
|
||||
{ \
|
||||
vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
|
||||
} \
|
||||
}
|
||||
|
||||
#endif /* configCHECK_FOR_STACK_OVERFLOW > 0 */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if( ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH > 0 ) )
|
||||
|
||||
/* Only the current stack state is to be checked. */
|
||||
#define taskFIRST_CHECK_FOR_STACK_OVERFLOW() \
|
||||
{ \
|
||||
\
|
||||
/* Is the currently saved stack pointer within the stack limit? */ \
|
||||
if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack ) \
|
||||
{ \
|
||||
vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
|
||||
} \
|
||||
}
|
||||
|
||||
#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) )
|
||||
|
||||
#define taskSECOND_CHECK_FOR_STACK_OVERFLOW() \
|
||||
{ \
|
||||
static const unsigned char 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 }; \
|
||||
\
|
||||
\
|
||||
/* Has the extremity of the task stack ever been written over? */ \
|
||||
if( memcmp( ( void * ) pxCurrentTCB->pxStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \
|
||||
{ \
|
||||
vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
|
||||
} \
|
||||
}
|
||||
|
||||
#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) )
|
||||
|
||||
#define taskSECOND_CHECK_FOR_STACK_OVERFLOW() \
|
||||
{ \
|
||||
char *pcEndOfStack = ( char * ) pxCurrentTCB->pxEndOfStack; \
|
||||
static const unsigned char 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( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
|
||||
} \
|
||||
}
|
||||
|
||||
#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#endif /* STACK_MACROS_H */
|
||||
|
||||
@ -0,0 +1,752 @@
|
||||
/*
|
||||
FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
FreeRTOS supports many tools and architectures. V7.0.0 is sponsored by:
|
||||
Atollic AB - Atollic provides professional embedded systems development
|
||||
tools for C/C++ development, code analysis and test automation.
|
||||
See http://www.atollic.com
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
|
||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
This file is part of the FreeRTOS distribution.
|
||||
|
||||
FreeRTOS is free software; you can redistribute it and/or modify it under
|
||||
the terms of the GNU General Public License (version 2) as published by the
|
||||
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
>>>NOTE<<< The modification to the GPL is included to allow you to
|
||||
distribute a combined work that includes FreeRTOS without being obliged to
|
||||
provide the source code for proprietary components outside of the FreeRTOS
|
||||
kernel. FreeRTOS is distributed in the hope that it will be useful, but
|
||||
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
|
||||
more details. You should have received a copy of the GNU General Public
|
||||
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, latest information, license and
|
||||
contact details.
|
||||
|
||||
http://www.SafeRTOS.com - A version that is certified for use in safety
|
||||
critical systems.
|
||||
|
||||
http://www.OpenRTOS.com - Commercial support, development, porting,
|
||||
licensing and training services.
|
||||
*/
|
||||
|
||||
#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 * xCoRoutineHandle;
|
||||
|
||||
/* Defines the prototype to which co-routine functions must conform. */
|
||||
typedef void (*crCOROUTINE_CODE)( xCoRoutineHandle, unsigned portBASE_TYPE );
|
||||
|
||||
typedef struct corCoRoutineControlBlock
|
||||
{
|
||||
crCOROUTINE_CODE pxCoRoutineFunction;
|
||||
xListItem xGenericListItem; /*< List item used to place the CRCB in ready and blocked queues. */
|
||||
xListItem xEventListItem; /*< List item used to place the CRCB in event lists. */
|
||||
unsigned portBASE_TYPE uxPriority; /*< The priority of the co-routine in relation to other co-routines. */
|
||||
unsigned portBASE_TYPE uxIndex; /*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */
|
||||
unsigned short uxState; /*< Used internally by the co-routine implementation. */
|
||||
} corCRCB; /* Co-routine control block. Note must be identical in size down to uxPriority with tskTCB. */
|
||||
|
||||
/**
|
||||
* croutine. h
|
||||
*<pre>
|
||||
portBASE_TYPE xCoRoutineCreate(
|
||||
crCOROUTINE_CODE pxCoRoutineCode,
|
||||
unsigned portBASE_TYPE uxPriority,
|
||||
unsigned portBASE_TYPE 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( xCoRoutineHandle xHandle, unsigned portBASE_TYPE 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 portTickType 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 long 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 )
|
||||
{
|
||||
unsigned char ucParameterToPass;
|
||||
xTaskHandle 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
|
||||
*/
|
||||
signed portBASE_TYPE xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, unsigned portBASE_TYPE uxPriority, unsigned portBASE_TYPE 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( xCoRoutineHandle 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( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
|
||||
{
|
||||
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
|
||||
static long 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( ( ( corCRCB * )( 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( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
|
||||
{
|
||||
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
|
||||
static long 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 ) ( ( corCRCB * )( xHandle ) )->uxState = (__LINE__ * 2); return; case (__LINE__ * 2):
|
||||
#define crSET_STATE1( xHandle ) ( ( corCRCB * )( xHandle ) )->uxState = ((__LINE__ * 2)+1); return; case ((__LINE__ * 2)+1):
|
||||
|
||||
/**
|
||||
* croutine. h
|
||||
*<pre>
|
||||
crDELAY( xCoRoutineHandle xHandle, portTickType 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_RATE_MS
|
||||
* can be used to convert ticks to milliseconds.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
// Co-routine to be created.
|
||||
void vACoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE 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_RATE_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(
|
||||
xCoRoutineHandle xHandle,
|
||||
xQueueHandle pxQueue,
|
||||
void *pvItemToQueue,
|
||||
portTickType xTicksToWait,
|
||||
portBASE_TYPE *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_RATE_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( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
|
||||
{
|
||||
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
|
||||
static portBASE_TYPE xNumberToPost = 0;
|
||||
static portBASE_TYPE 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(
|
||||
xCoRoutineHandle xHandle,
|
||||
xQueueHandle pxQueue,
|
||||
void *pvBuffer,
|
||||
portTickType xTicksToWait,
|
||||
portBASE_TYPE *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_RATE_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( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
|
||||
{
|
||||
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
|
||||
static portBASE_TYPE xResult;
|
||||
static unsigned portBASE_TYPE 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(
|
||||
xQueueHandle pxQueue,
|
||||
void *pvItemToQueue,
|
||||
portBASE_TYPE 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( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
|
||||
{
|
||||
char cRxedChar;
|
||||
portBASE_TYPE 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;
|
||||
portBASE_TYPE 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(
|
||||
xQueueHandle pxQueue,
|
||||
void *pvBuffer,
|
||||
portBASE_TYPE * 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( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
|
||||
{
|
||||
// cChar holds its value while this co-routine is blocked and must therefore
|
||||
// be declared static.
|
||||
static char cCharToTx = 'a';
|
||||
portBASE_TYPE 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;
|
||||
portBASE_TYPE 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( portTickType xTicksToDelay, xList *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.
|
||||
*/
|
||||
signed portBASE_TYPE xCoRoutineRemoveFromEventList( const xList *pxEventList );
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* CO_ROUTINE_H */
|
||||
@ -0,0 +1,314 @@
|
||||
/*
|
||||
FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
FreeRTOS supports many tools and architectures. V7.0.0 is sponsored by:
|
||||
Atollic AB - Atollic provides professional embedded systems development
|
||||
tools for C/C++ development, code analysis and test automation.
|
||||
See http://www.atollic.com
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
|
||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
This file is part of the FreeRTOS distribution.
|
||||
|
||||
FreeRTOS is free software; you can redistribute it and/or modify it under
|
||||
the terms of the GNU General Public License (version 2) as published by the
|
||||
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
>>>NOTE<<< The modification to the GPL is included to allow you to
|
||||
distribute a combined work that includes FreeRTOS without being obliged to
|
||||
provide the source code for proprietary components outside of the FreeRTOS
|
||||
kernel. FreeRTOS is distributed in the hope that it will be useful, but
|
||||
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
|
||||
more details. You should have received a copy of the GNU General Public
|
||||
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, latest information, license and
|
||||
contact details.
|
||||
|
||||
http://www.SafeRTOS.com - A version that is certified for use in safety
|
||||
critical systems.
|
||||
|
||||
http://www.OpenRTOS.com - Commercial support, development, porting,
|
||||
licensing and training services.
|
||||
*/
|
||||
|
||||
/*
|
||||
* 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.
|
||||
*
|
||||
* xLists can only store pointers to xListItems. Each xListItem 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 LIST_H
|
||||
#define LIST_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
/*
|
||||
* Definition of the only type of object that a list can contain.
|
||||
*/
|
||||
struct xLIST_ITEM
|
||||
{
|
||||
portTickType xItemValue; /*< The value being listed. In most cases this is used to sort the list in descending order. */
|
||||
volatile struct xLIST_ITEM * pxNext; /*< Pointer to the next xListItem in the list. */
|
||||
volatile struct xLIST_ITEM * pxPrevious;/*< Pointer to the previous xListItem 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 * pvContainer; /*< Pointer to the list in which this list item is placed (if any). */
|
||||
};
|
||||
typedef struct xLIST_ITEM xListItem; /* For some reason lint wants this as two separate definitions. */
|
||||
|
||||
struct xMINI_LIST_ITEM
|
||||
{
|
||||
portTickType xItemValue;
|
||||
volatile struct xLIST_ITEM *pxNext;
|
||||
volatile struct xLIST_ITEM *pxPrevious;
|
||||
};
|
||||
typedef struct xMINI_LIST_ITEM xMiniListItem;
|
||||
|
||||
/*
|
||||
* Definition of the type of queue used by the scheduler.
|
||||
*/
|
||||
typedef struct xLIST
|
||||
{
|
||||
volatile unsigned portBASE_TYPE uxNumberOfItems;
|
||||
volatile xListItem * pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to pvListGetOwnerOfNextEntry (). */
|
||||
volatile xMiniListItem 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. */
|
||||
} xList;
|
||||
|
||||
/*
|
||||
* 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 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 the retrieve the value of the list item. The value can
|
||||
* represent anything - for example a 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 the 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 )
|
||||
|
||||
/*
|
||||
* 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 ) ( ( pxList )->uxNumberOfItems == ( unsigned portBASE_TYPE ) 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 entries 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 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 ) \
|
||||
{ \
|
||||
xList * 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( ( pxConstList )->pxIndex == ( xListItem * ) &( ( 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 is the list item is in the list, otherwise pdFALSE.
|
||||
* pointer against
|
||||
*/
|
||||
#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( pxListItem )->pvContainer == ( void * ) ( pxList ) )
|
||||
|
||||
/*
|
||||
* 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( xList *pxList );
|
||||
|
||||
/*
|
||||
* 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( xListItem *pxItem );
|
||||
|
||||
/*
|
||||
* 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 to that is to be placed in the list.
|
||||
*
|
||||
* \page vListInsert vListInsert
|
||||
* \ingroup LinkedList
|
||||
*/
|
||||
void vListInsert( xList *pxList, xListItem *pxNewListItem );
|
||||
|
||||
/*
|
||||
* 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 pvIndex is used to walk through a list. Calling
|
||||
* listGET_OWNER_OF_NEXT_ENTRY increments pvIndex 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 pvIndex. This means that every other
|
||||
* item within the list will be returned by listGET_OWNER_OF_NEXT_ENTRY before
|
||||
* the pvIndex 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( xList *pxList, xListItem *pxNewListItem );
|
||||
|
||||
/*
|
||||
* Remove an item from a list. The list item has a pointer to the list that
|
||||
* it is in, so only the list item need be passed into the function.
|
||||
*
|
||||
* @param vListRemove The item to be removed. The item will remove itself from
|
||||
* the list pointed to by it's pxContainer parameter.
|
||||
*
|
||||
* \page vListRemove vListRemove
|
||||
* \ingroup LinkedList
|
||||
*/
|
||||
void vListRemove( xListItem *pxItemToRemove );
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
@ -0,0 +1,141 @@
|
||||
/*
|
||||
FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
FreeRTOS supports many tools and architectures. V7.0.0 is sponsored by:
|
||||
Atollic AB - Atollic provides professional embedded systems development
|
||||
tools for C/C++ development, code analysis and test automation.
|
||||
See http://www.atollic.com
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
|
||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
This file is part of the FreeRTOS distribution.
|
||||
|
||||
FreeRTOS is free software; you can redistribute it and/or modify it under
|
||||
the terms of the GNU General Public License (version 2) as published by the
|
||||
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
>>>NOTE<<< The modification to the GPL is included to allow you to
|
||||
distribute a combined work that includes FreeRTOS without being obliged to
|
||||
provide the source code for proprietary components outside of the FreeRTOS
|
||||
kernel. FreeRTOS is distributed in the hope that it will be useful, but
|
||||
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
|
||||
more details. You should have received a copy of the GNU General Public
|
||||
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, latest information, license and
|
||||
contact details.
|
||||
|
||||
http://www.SafeRTOS.com - A version that is certified for use in safety
|
||||
critical systems.
|
||||
|
||||
http://www.OpenRTOS.com - Commercial support, development, porting,
|
||||
licensing and training services.
|
||||
*/
|
||||
|
||||
#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
|
||||
|
||||
#define xTaskGenericCreate MPU_xTaskGenericCreate
|
||||
#define vTaskAllocateMPURegions MPU_vTaskAllocateMPURegions
|
||||
#define vTaskDelete MPU_vTaskDelete
|
||||
#define vTaskDelayUntil MPU_vTaskDelayUntil
|
||||
#define vTaskDelay MPU_vTaskDelay
|
||||
#define uxTaskPriorityGet MPU_uxTaskPriorityGet
|
||||
#define vTaskPrioritySet MPU_vTaskPrioritySet
|
||||
#define vTaskSuspend MPU_vTaskSuspend
|
||||
#define xTaskIsTaskSuspended MPU_xTaskIsTaskSuspended
|
||||
#define vTaskResume MPU_vTaskResume
|
||||
#define vTaskSuspendAll MPU_vTaskSuspendAll
|
||||
#define xTaskResumeAll MPU_xTaskResumeAll
|
||||
#define xTaskGetTickCount MPU_xTaskGetTickCount
|
||||
#define uxTaskGetNumberOfTasks MPU_uxTaskGetNumberOfTasks
|
||||
#define vTaskList MPU_vTaskList
|
||||
#define vTaskGetRunTimeStats MPU_vTaskGetRunTimeStats
|
||||
#define vTaskStartTrace MPU_vTaskStartTrace
|
||||
#define ulTaskEndTrace MPU_ulTaskEndTrace
|
||||
#define vTaskSetApplicationTaskTag MPU_vTaskSetApplicationTaskTag
|
||||
#define xTaskGetApplicationTaskTag MPU_xTaskGetApplicationTaskTag
|
||||
#define xTaskCallApplicationTaskHook MPU_xTaskCallApplicationTaskHook
|
||||
#define uxTaskGetStackHighWaterMark MPU_uxTaskGetStackHighWaterMark
|
||||
#define xTaskGetCurrentTaskHandle MPU_xTaskGetCurrentTaskHandle
|
||||
#define xTaskGetSchedulerState MPU_xTaskGetSchedulerState
|
||||
|
||||
#define xQueueCreate MPU_xQueueCreate
|
||||
#define xQueueCreateMutex MPU_xQueueCreateMutex
|
||||
#define xQueueGiveMutexRecursive MPU_xQueueGiveMutexRecursive
|
||||
#define xQueueTakeMutexRecursive MPU_xQueueTakeMutexRecursive
|
||||
#define xQueueCreateCountingSemaphore MPU_xQueueCreateCountingSemaphore
|
||||
#define xQueueGenericSend MPU_xQueueGenericSend
|
||||
#define xQueueAltGenericSend MPU_xQueueAltGenericSend
|
||||
#define xQueueAltGenericReceive MPU_xQueueAltGenericReceive
|
||||
#define xQueueGenericReceive MPU_xQueueGenericReceive
|
||||
#define uxQueueMessagesWaiting MPU_uxQueueMessagesWaiting
|
||||
#define vQueueDelete MPU_vQueueDelete
|
||||
|
||||
#define pvPortMalloc MPU_pvPortMalloc
|
||||
#define vPortFree MPU_vPortFree
|
||||
#define xPortGetFreeHeapSize MPU_xPortGetFreeHeapSize
|
||||
#define vPortInitialiseBlocks MPU_vPortInitialiseBlocks
|
||||
|
||||
#if configQUEUE_REGISTRY_SIZE > 0
|
||||
#define vQueueAddToRegistry MPU_vQueueAddToRegistry
|
||||
#define vQueueUnregisterQueue MPU_vQueueUnregisterQueue
|
||||
#endif
|
||||
|
||||
/* 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")))
|
||||
//#define 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 +1,396 @@
|
||||
/*
|
||||
FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
FreeRTOS supports many tools and architectures. V7.0.0 is sponsored by:
|
||||
Atollic AB - Atollic provides professional embedded systems development
|
||||
tools for C/C++ development, code analysis and test automation.
|
||||
See http://www.atollic.com
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
|
||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
This file is part of the FreeRTOS distribution.
|
||||
|
||||
FreeRTOS is free software; you can redistribute it and/or modify it under
|
||||
the terms of the GNU General Public License (version 2) as published by the
|
||||
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
>>>NOTE<<< The modification to the GPL is included to allow you to
|
||||
distribute a combined work that includes FreeRTOS without being obliged to
|
||||
provide the source code for proprietary components outside of the FreeRTOS
|
||||
kernel. FreeRTOS is distributed in the hope that it will be useful, but
|
||||
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
|
||||
more details. You should have received a copy of the GNU General Public
|
||||
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, latest information, license and
|
||||
contact details.
|
||||
|
||||
http://www.SafeRTOS.com - A version that is certified for use in safety
|
||||
critical systems.
|
||||
|
||||
http://www.OpenRTOS.com - Commercial support, development, porting,
|
||||
licensing and training services.
|
||||
*/
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* Portable layer API. Each function must be defined for each port.
|
||||
*----------------------------------------------------------*/
|
||||
|
||||
#ifndef PORTABLE_H
|
||||
#define PORTABLE_H
|
||||
|
||||
/* Include the macro file relevant to the port being used. */
|
||||
|
||||
#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
|
||||
|
||||
/* Catch all to ensure portmacro.h is included in the build. Newer demos
|
||||
have the path as part of the project options, rather than as relative from
|
||||
the project location. If portENTER_CRITICAL() has not been defined then
|
||||
portmacro.h has not yet been included - as every portmacro.h provides a
|
||||
portENTER_CRITICAL() definition. Check the demo application for your demo
|
||||
to find the path to the correct portmacro.h file. */
|
||||
#ifndef portENTER_CRITICAL
|
||||
#include "portmacro.h"
|
||||
#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 )
|
||||
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters, portBASE_TYPE xRunPrivileged ) PRIVILEGED_FUNCTION;
|
||||
#else
|
||||
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters );
|
||||
#endif
|
||||
|
||||
/*
|
||||
* 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;
|
||||
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
portBASE_TYPE 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, portSTACK_TYPE *pxBottomOfStack, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* PORTABLE_H */
|
||||
|
||||
@ -0,0 +1,83 @@
|
||||
/*
|
||||
FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
FreeRTOS supports many tools and architectures. V7.0.0 is sponsored by:
|
||||
Atollic AB - Atollic provides professional embedded systems development
|
||||
tools for C/C++ development, code analysis and test automation.
|
||||
See http://www.atollic.com
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
|
||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
This file is part of the FreeRTOS distribution.
|
||||
|
||||
FreeRTOS is free software; you can redistribute it and/or modify it under
|
||||
the terms of the GNU General Public License (version 2) as published by the
|
||||
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
>>>NOTE<<< The modification to the GPL is included to allow you to
|
||||
distribute a combined work that includes FreeRTOS without being obliged to
|
||||
provide the source code for proprietary components outside of the FreeRTOS
|
||||
kernel. FreeRTOS is distributed in the hope that it will be useful, but
|
||||
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
|
||||
more details. You should have received a copy of the GNU General Public
|
||||
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, latest information, license and
|
||||
contact details.
|
||||
|
||||
http://www.SafeRTOS.com - A version that is certified for use in safety
|
||||
critical systems.
|
||||
|
||||
http://www.OpenRTOS.com - Commercial support, development, porting,
|
||||
licensing and training services.
|
||||
*/
|
||||
|
||||
#ifndef PROJDEFS_H
|
||||
#define PROJDEFS_H
|
||||
|
||||
/* Defines the prototype to which task functions must conform. */
|
||||
typedef void (*pdTASK_CODE)( void * );
|
||||
|
||||
#define pdTRUE ( 1 )
|
||||
#define pdFALSE ( 0 )
|
||||
|
||||
#define pdPASS ( 1 )
|
||||
#define pdFAIL ( 0 )
|
||||
#define errQUEUE_EMPTY ( 0 )
|
||||
#define errQUEUE_FULL ( 0 )
|
||||
|
||||
/* Error definitions. */
|
||||
#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ( -1 )
|
||||
#define errNO_TASK_TO_RUN ( -2 )
|
||||
#define errQUEUE_BLOCKED ( -4 )
|
||||
#define errQUEUE_YIELD ( -5 )
|
||||
|
||||
#endif /* PROJDEFS_H */
|
||||
|
||||
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@ -0,0 +1,717 @@
|
||||
/*
|
||||
FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
FreeRTOS supports many tools and architectures. V7.0.0 is sponsored by:
|
||||
Atollic AB - Atollic provides professional embedded systems development
|
||||
tools for C/C++ development, code analysis and test automation.
|
||||
See http://www.atollic.com
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
|
||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
This file is part of the FreeRTOS distribution.
|
||||
|
||||
FreeRTOS is free software; you can redistribute it and/or modify it under
|
||||
the terms of the GNU General Public License (version 2) as published by the
|
||||
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
>>>NOTE<<< The modification to the GPL is included to allow you to
|
||||
distribute a combined work that includes FreeRTOS without being obliged to
|
||||
provide the source code for proprietary components outside of the FreeRTOS
|
||||
kernel. FreeRTOS is distributed in the hope that it will be useful, but
|
||||
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
|
||||
more details. You should have received a copy of the GNU General Public
|
||||
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, latest information, license and
|
||||
contact details.
|
||||
|
||||
http://www.SafeRTOS.com - A version that is certified for use in safety
|
||||
critical systems.
|
||||
|
||||
http://www.OpenRTOS.com - Commercial support, development, porting,
|
||||
licensing and training services.
|
||||
*/
|
||||
|
||||
#ifndef SEMAPHORE_H
|
||||
#define SEMAPHORE_H
|
||||
|
||||
#ifndef INC_FREERTOS_H
|
||||
#error "#include FreeRTOS.h" must appear in source files before "#include semphr.h"
|
||||
#endif
|
||||
|
||||
#include "queue.h"
|
||||
|
||||
typedef xQueueHandle xSemaphoreHandle;
|
||||
|
||||
#define semBINARY_SEMAPHORE_QUEUE_LENGTH ( ( unsigned char ) 1U )
|
||||
#define semSEMAPHORE_QUEUE_ITEM_LENGTH ( ( unsigned char ) 0U )
|
||||
#define semGIVE_BLOCK_TIME ( ( portTickType ) 0U )
|
||||
|
||||
|
||||
/**
|
||||
* semphr. h
|
||||
* <pre>vSemaphoreCreateBinary( xSemaphoreHandle xSemaphore )</pre>
|
||||
*
|
||||
* <i>Macro</i> that implements a semaphore by using the existing queue mechanism.
|
||||
* The queue length is 1 as this is a binary semaphore. The data size is 0
|
||||
* as we don't want to actually store any data - we just want to know if the
|
||||
* queue is empty or full.
|
||||
*
|
||||
* This type of semaphore can be used for pure synchronisation between tasks or
|
||||
* between an interrupt and a task. The semaphore need not be given back once
|
||||
* obtained, so one task/interrupt can continuously 'give' the semaphore while
|
||||
* another continuously 'takes' the semaphore. For this reason this type of
|
||||
* semaphore does not use a priority inheritance mechanism. For an alternative
|
||||
* that does use priority inheritance see xSemaphoreCreateMutex().
|
||||
*
|
||||
* @param xSemaphore Handle to the created semaphore. Should be of type xSemaphoreHandle.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
xSemaphoreHandle xSemaphore;
|
||||
|
||||
void vATask( void * pvParameters )
|
||||
{
|
||||
// Semaphore cannot be used before a call to vSemaphoreCreateBinary ().
|
||||
// This is a macro so pass the variable in directly.
|
||||
vSemaphoreCreateBinary( xSemaphore );
|
||||
|
||||
if( xSemaphore != NULL )
|
||||
{
|
||||
// The semaphore was created successfully.
|
||||
// The semaphore can now be used.
|
||||
}
|
||||
}
|
||||
</pre>
|
||||
* \defgroup vSemaphoreCreateBinary vSemaphoreCreateBinary
|
||||
* \ingroup Semaphores
|
||||
*/
|
||||
#define vSemaphoreCreateBinary( xSemaphore ) { \
|
||||
( xSemaphore ) = xQueueCreate( ( unsigned portBASE_TYPE ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH ); \
|
||||
if( ( xSemaphore ) != NULL ) \
|
||||
{ \
|
||||
xSemaphoreGive( ( xSemaphore ) ); \
|
||||
} \
|
||||
}
|
||||
|
||||
/**
|
||||
* semphr. h
|
||||
* <pre>xSemaphoreTake(
|
||||
* xSemaphoreHandle xSemaphore,
|
||||
* portTickType xBlockTime
|
||||
* )</pre>
|
||||
*
|
||||
* <i>Macro</i> to obtain a semaphore. The semaphore must have previously been
|
||||
* created with a call to vSemaphoreCreateBinary(), xSemaphoreCreateMutex() or
|
||||
* xSemaphoreCreateCounting().
|
||||
*
|
||||
* @param xSemaphore A handle to the semaphore being taken - obtained when
|
||||
* the semaphore was created.
|
||||
*
|
||||
* @param xBlockTime The time in ticks to wait for the semaphore to become
|
||||
* available. The macro portTICK_RATE_MS can be used to convert this to a
|
||||
* real time. A block time of zero can be used to poll the semaphore. A block
|
||||
* time of portMAX_DELAY can be used to block indefinitely (provided
|
||||
* INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h).
|
||||
*
|
||||
* @return pdTRUE if the semaphore was obtained. pdFALSE
|
||||
* if xBlockTime expired without the semaphore becoming available.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
xSemaphoreHandle xSemaphore = NULL;
|
||||
|
||||
// A task that creates a semaphore.
|
||||
void vATask( void * pvParameters )
|
||||
{
|
||||
// Create the semaphore to guard a shared resource.
|
||||
vSemaphoreCreateBinary( xSemaphore );
|
||||
}
|
||||
|
||||
// A task that uses the semaphore.
|
||||
void vAnotherTask( void * pvParameters )
|
||||
{
|
||||
// ... Do other things.
|
||||
|
||||
if( xSemaphore != NULL )
|
||||
{
|
||||
// See if we can obtain the semaphore. If the semaphore is not available
|
||||
// wait 10 ticks to see if it becomes free.
|
||||
if( xSemaphoreTake( xSemaphore, ( portTickType ) 10 ) == pdTRUE )
|
||||
{
|
||||
// We were able to obtain the semaphore and can now access the
|
||||
// shared resource.
|
||||
|
||||
// ...
|
||||
|
||||
// We have finished accessing the shared resource. Release the
|
||||
// semaphore.
|
||||
xSemaphoreGive( xSemaphore );
|
||||
}
|
||||
else
|
||||
{
|
||||
// We could not obtain the semaphore and can therefore not access
|
||||
// the shared resource safely.
|
||||
}
|
||||
}
|
||||
}
|
||||
</pre>
|
||||
* \defgroup xSemaphoreTake xSemaphoreTake
|
||||
* \ingroup Semaphores
|
||||
*/
|
||||
#define xSemaphoreTake( xSemaphore, xBlockTime ) xQueueGenericReceive( ( xQueueHandle ) ( xSemaphore ), NULL, ( xBlockTime ), pdFALSE )
|
||||
|
||||
/**
|
||||
* semphr. h
|
||||
* xSemaphoreTakeRecursive(
|
||||
* xSemaphoreHandle xMutex,
|
||||
* portTickType xBlockTime
|
||||
* )
|
||||
*
|
||||
* <i>Macro</i> to recursively obtain, or 'take', a mutex type semaphore.
|
||||
* The mutex must have previously been created using a call to
|
||||
* xSemaphoreCreateRecursiveMutex();
|
||||
*
|
||||
* configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this
|
||||
* macro to be available.
|
||||
*
|
||||
* This macro must not be used on mutexes created using xSemaphoreCreateMutex().
|
||||
*
|
||||
* A mutex used recursively can be 'taken' repeatedly by the owner. The mutex
|
||||
* doesn't become available again until the owner has called
|
||||
* xSemaphoreGiveRecursive() for each successful 'take' request. For example,
|
||||
* if a task successfully 'takes' the same mutex 5 times then the mutex will
|
||||
* not be available to any other task until it has also 'given' the mutex back
|
||||
* exactly five times.
|
||||
*
|
||||
* @param xMutex A handle to the mutex being obtained. This is the
|
||||
* handle returned by xSemaphoreCreateRecursiveMutex();
|
||||
*
|
||||
* @param xBlockTime The time in ticks to wait for the semaphore to become
|
||||
* available. The macro portTICK_RATE_MS can be used to convert this to a
|
||||
* real time. A block time of zero can be used to poll the semaphore. If
|
||||
* the task already owns the semaphore then xSemaphoreTakeRecursive() will
|
||||
* return immediately no matter what the value of xBlockTime.
|
||||
*
|
||||
* @return pdTRUE if the semaphore was obtained. pdFALSE if xBlockTime
|
||||
* expired without the semaphore becoming available.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
xSemaphoreHandle xMutex = NULL;
|
||||
|
||||
// A task that creates a mutex.
|
||||
void vATask( void * pvParameters )
|
||||
{
|
||||
// Create the mutex to guard a shared resource.
|
||||
xMutex = xSemaphoreCreateRecursiveMutex();
|
||||
}
|
||||
|
||||
// A task that uses the mutex.
|
||||
void vAnotherTask( void * pvParameters )
|
||||
{
|
||||
// ... Do other things.
|
||||
|
||||
if( xMutex != NULL )
|
||||
{
|
||||
// See if we can obtain the mutex. If the mutex is not available
|
||||
// wait 10 ticks to see if it becomes free.
|
||||
if( xSemaphoreTakeRecursive( xSemaphore, ( portTickType ) 10 ) == pdTRUE )
|
||||
{
|
||||
// We were able to obtain the mutex and can now access the
|
||||
// shared resource.
|
||||
|
||||
// ...
|
||||
// For some reason due to the nature of the code further calls to
|
||||
// xSemaphoreTakeRecursive() are made on the same mutex. In real
|
||||
// code these would not be just sequential calls as this would make
|
||||
// no sense. Instead the calls are likely to be buried inside
|
||||
// a more complex call structure.
|
||||
xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
|
||||
xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
|
||||
|
||||
// The mutex has now been 'taken' three times, so will not be
|
||||
// available to another task until it has also been given back
|
||||
// three times. Again it is unlikely that real code would have
|
||||
// these calls sequentially, but instead buried in a more complex
|
||||
// call structure. This is just for illustrative purposes.
|
||||
xSemaphoreGiveRecursive( xMutex );
|
||||
xSemaphoreGiveRecursive( xMutex );
|
||||
xSemaphoreGiveRecursive( xMutex );
|
||||
|
||||
// Now the mutex can be taken by other tasks.
|
||||
}
|
||||
else
|
||||
{
|
||||
// We could not obtain the mutex and can therefore not access
|
||||
// the shared resource safely.
|
||||
}
|
||||
}
|
||||
}
|
||||
</pre>
|
||||
* \defgroup xSemaphoreTakeRecursive xSemaphoreTakeRecursive
|
||||
* \ingroup Semaphores
|
||||
*/
|
||||
#define xSemaphoreTakeRecursive( xMutex, xBlockTime ) xQueueTakeMutexRecursive( ( xMutex ), ( xBlockTime ) )
|
||||
|
||||
|
||||
/*
|
||||
* xSemaphoreAltTake() is an alternative version of xSemaphoreTake().
|
||||
*
|
||||
* The source code that implements the alternative (Alt) API is much
|
||||
* simpler because it executes everything from within a critical section.
|
||||
* This is the approach taken by many other RTOSes, but FreeRTOS.org has the
|
||||
* preferred fully featured API too. The fully featured API has more
|
||||
* complex code that takes longer to execute, but makes much less use of
|
||||
* critical sections. Therefore the alternative API sacrifices interrupt
|
||||
* responsiveness to gain execution speed, whereas the fully featured API
|
||||
* sacrifices execution speed to ensure better interrupt responsiveness.
|
||||
*/
|
||||
#define xSemaphoreAltTake( xSemaphore, xBlockTime ) xQueueAltGenericReceive( ( xQueueHandle ) ( xSemaphore ), NULL, ( xBlockTime ), pdFALSE )
|
||||
|
||||
/**
|
||||
* semphr. h
|
||||
* <pre>xSemaphoreGive( xSemaphoreHandle xSemaphore )</pre>
|
||||
*
|
||||
* <i>Macro</i> to release a semaphore. The semaphore must have previously been
|
||||
* created with a call to vSemaphoreCreateBinary(), xSemaphoreCreateMutex() or
|
||||
* xSemaphoreCreateCounting(). and obtained using sSemaphoreTake().
|
||||
*
|
||||
* This macro must not be used from an ISR. See xSemaphoreGiveFromISR () for
|
||||
* an alternative which can be used from an ISR.
|
||||
*
|
||||
* This macro must also not be used on semaphores created using
|
||||
* xSemaphoreCreateRecursiveMutex().
|
||||
*
|
||||
* @param xSemaphore A handle to the semaphore being released. This is the
|
||||
* handle returned when the semaphore was created.
|
||||
*
|
||||
* @return pdTRUE if the semaphore was released. pdFALSE if an error occurred.
|
||||
* Semaphores are implemented using queues. An error can occur if there is
|
||||
* no space on the queue to post a message - indicating that the
|
||||
* semaphore was not first obtained correctly.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
xSemaphoreHandle xSemaphore = NULL;
|
||||
|
||||
void vATask( void * pvParameters )
|
||||
{
|
||||
// Create the semaphore to guard a shared resource.
|
||||
vSemaphoreCreateBinary( xSemaphore );
|
||||
|
||||
if( xSemaphore != NULL )
|
||||
{
|
||||
if( xSemaphoreGive( xSemaphore ) != pdTRUE )
|
||||
{
|
||||
// We would expect this call to fail because we cannot give
|
||||
// a semaphore without first "taking" it!
|
||||
}
|
||||
|
||||
// Obtain the semaphore - don't block if the semaphore is not
|
||||
// immediately available.
|
||||
if( xSemaphoreTake( xSemaphore, ( portTickType ) 0 ) )
|
||||
{
|
||||
// We now have the semaphore and can access the shared resource.
|
||||
|
||||
// ...
|
||||
|
||||
// We have finished accessing the shared resource so can free the
|
||||
// semaphore.
|
||||
if( xSemaphoreGive( xSemaphore ) != pdTRUE )
|
||||
{
|
||||
// We would not expect this call to fail because we must have
|
||||
// obtained the semaphore to get here.
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
</pre>
|
||||
* \defgroup xSemaphoreGive xSemaphoreGive
|
||||
* \ingroup Semaphores
|
||||
*/
|
||||
#define xSemaphoreGive( xSemaphore ) xQueueGenericSend( ( xQueueHandle ) ( xSemaphore ), NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
|
||||
|
||||
/**
|
||||
* semphr. h
|
||||
* <pre>xSemaphoreGiveRecursive( xSemaphoreHandle xMutex )</pre>
|
||||
*
|
||||
* <i>Macro</i> to recursively release, or 'give', a mutex type semaphore.
|
||||
* The mutex must have previously been created using a call to
|
||||
* xSemaphoreCreateRecursiveMutex();
|
||||
*
|
||||
* configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this
|
||||
* macro to be available.
|
||||
*
|
||||
* This macro must not be used on mutexes created using xSemaphoreCreateMutex().
|
||||
*
|
||||
* A mutex used recursively can be 'taken' repeatedly by the owner. The mutex
|
||||
* doesn't become available again until the owner has called
|
||||
* xSemaphoreGiveRecursive() for each successful 'take' request. For example,
|
||||
* if a task successfully 'takes' the same mutex 5 times then the mutex will
|
||||
* not be available to any other task until it has also 'given' the mutex back
|
||||
* exactly five times.
|
||||
*
|
||||
* @param xMutex A handle to the mutex being released, or 'given'. This is the
|
||||
* handle returned by xSemaphoreCreateMutex();
|
||||
*
|
||||
* @return pdTRUE if the semaphore was given.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
xSemaphoreHandle xMutex = NULL;
|
||||
|
||||
// A task that creates a mutex.
|
||||
void vATask( void * pvParameters )
|
||||
{
|
||||
// Create the mutex to guard a shared resource.
|
||||
xMutex = xSemaphoreCreateRecursiveMutex();
|
||||
}
|
||||
|
||||
// A task that uses the mutex.
|
||||
void vAnotherTask( void * pvParameters )
|
||||
{
|
||||
// ... Do other things.
|
||||
|
||||
if( xMutex != NULL )
|
||||
{
|
||||
// See if we can obtain the mutex. If the mutex is not available
|
||||
// wait 10 ticks to see if it becomes free.
|
||||
if( xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 ) == pdTRUE )
|
||||
{
|
||||
// We were able to obtain the mutex and can now access the
|
||||
// shared resource.
|
||||
|
||||
// ...
|
||||
// For some reason due to the nature of the code further calls to
|
||||
// xSemaphoreTakeRecursive() are made on the same mutex. In real
|
||||
// code these would not be just sequential calls as this would make
|
||||
// no sense. Instead the calls are likely to be buried inside
|
||||
// a more complex call structure.
|
||||
xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
|
||||
xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
|
||||
|
||||
// The mutex has now been 'taken' three times, so will not be
|
||||
// available to another task until it has also been given back
|
||||
// three times. Again it is unlikely that real code would have
|
||||
// these calls sequentially, it would be more likely that the calls
|
||||
// to xSemaphoreGiveRecursive() would be called as a call stack
|
||||
// unwound. This is just for demonstrative purposes.
|
||||
xSemaphoreGiveRecursive( xMutex );
|
||||
xSemaphoreGiveRecursive( xMutex );
|
||||
xSemaphoreGiveRecursive( xMutex );
|
||||
|
||||
// Now the mutex can be taken by other tasks.
|
||||
}
|
||||
else
|
||||
{
|
||||
// We could not obtain the mutex and can therefore not access
|
||||
// the shared resource safely.
|
||||
}
|
||||
}
|
||||
}
|
||||
</pre>
|
||||
* \defgroup xSemaphoreGiveRecursive xSemaphoreGiveRecursive
|
||||
* \ingroup Semaphores
|
||||
*/
|
||||
#define xSemaphoreGiveRecursive( xMutex ) xQueueGiveMutexRecursive( ( xMutex ) )
|
||||
|
||||
/*
|
||||
* xSemaphoreAltGive() is an alternative version of xSemaphoreGive().
|
||||
*
|
||||
* The source code that implements the alternative (Alt) API is much
|
||||
* simpler because it executes everything from within a critical section.
|
||||
* This is the approach taken by many other RTOSes, but FreeRTOS.org has the
|
||||
* preferred fully featured API too. The fully featured API has more
|
||||
* complex code that takes longer to execute, but makes much less use of
|
||||
* critical sections. Therefore the alternative API sacrifices interrupt
|
||||
* responsiveness to gain execution speed, whereas the fully featured API
|
||||
* sacrifices execution speed to ensure better interrupt responsiveness.
|
||||
*/
|
||||
#define xSemaphoreAltGive( xSemaphore ) xQueueAltGenericSend( ( xQueueHandle ) ( xSemaphore ), NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
|
||||
|
||||
/**
|
||||
* semphr. h
|
||||
* <pre>
|
||||
xSemaphoreGiveFromISR(
|
||||
xSemaphoreHandle xSemaphore,
|
||||
signed portBASE_TYPE *pxHigherPriorityTaskWoken
|
||||
)</pre>
|
||||
*
|
||||
* <i>Macro</i> to release a semaphore. The semaphore must have previously been
|
||||
* created with a call to vSemaphoreCreateBinary() or xSemaphoreCreateCounting().
|
||||
*
|
||||
* Mutex type semaphores (those created using a call to xSemaphoreCreateMutex())
|
||||
* must not be used with this macro.
|
||||
*
|
||||
* This macro can be used from an ISR.
|
||||
*
|
||||
* @param xSemaphore A handle to the semaphore being released. This is the
|
||||
* handle returned when the semaphore was created.
|
||||
*
|
||||
* @param pxHigherPriorityTaskWoken xSemaphoreGiveFromISR() will set
|
||||
* *pxHigherPriorityTaskWoken to pdTRUE if giving the semaphore caused a task
|
||||
* to unblock, and the unblocked task has a priority higher than the currently
|
||||
* running task. If xSemaphoreGiveFromISR() sets this value to pdTRUE then
|
||||
* a context switch should be requested before the interrupt is exited.
|
||||
*
|
||||
* @return pdTRUE if the semaphore was successfully given, otherwise errQUEUE_FULL.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
\#define LONG_TIME 0xffff
|
||||
\#define TICKS_TO_WAIT 10
|
||||
xSemaphoreHandle xSemaphore = NULL;
|
||||
|
||||
// Repetitive task.
|
||||
void vATask( void * pvParameters )
|
||||
{
|
||||
for( ;; )
|
||||
{
|
||||
// We want this task to run every 10 ticks of a timer. The semaphore
|
||||
// was created before this task was started.
|
||||
|
||||
// Block waiting for the semaphore to become available.
|
||||
if( xSemaphoreTake( xSemaphore, LONG_TIME ) == pdTRUE )
|
||||
{
|
||||
// It is time to execute.
|
||||
|
||||
// ...
|
||||
|
||||
// We have finished our task. Return to the top of the loop where
|
||||
// we will block on the semaphore until it is time to execute
|
||||
// again. Note when using the semaphore for synchronisation with an
|
||||
// ISR in this manner there is no need to 'give' the semaphore back.
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Timer ISR
|
||||
void vTimerISR( void * pvParameters )
|
||||
{
|
||||
static unsigned char ucLocalTickCount = 0;
|
||||
static signed portBASE_TYPE xHigherPriorityTaskWoken;
|
||||
|
||||
// A timer tick has occurred.
|
||||
|
||||
// ... Do other time functions.
|
||||
|
||||
// Is it time for vATask () to run?
|
||||
xHigherPriorityTaskWoken = pdFALSE;
|
||||
ucLocalTickCount++;
|
||||
if( ucLocalTickCount >= TICKS_TO_WAIT )
|
||||
{
|
||||
// Unblock the task by releasing the semaphore.
|
||||
xSemaphoreGiveFromISR( xSemaphore, &xHigherPriorityTaskWoken );
|
||||
|
||||
// Reset the count so we release the semaphore again in 10 ticks time.
|
||||
ucLocalTickCount = 0;
|
||||
}
|
||||
|
||||
if( xHigherPriorityTaskWoken != pdFALSE )
|
||||
{
|
||||
// We can force a context switch here. Context switching from an
|
||||
// ISR uses port specific syntax. Check the demo task for your port
|
||||
// to find the syntax required.
|
||||
}
|
||||
}
|
||||
</pre>
|
||||
* \defgroup xSemaphoreGiveFromISR xSemaphoreGiveFromISR
|
||||
* \ingroup Semaphores
|
||||
*/
|
||||
#define xSemaphoreGiveFromISR( xSemaphore, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueueHandle ) ( xSemaphore ), NULL, ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
|
||||
|
||||
/**
|
||||
* semphr. h
|
||||
* <pre>xSemaphoreHandle xSemaphoreCreateMutex( void )</pre>
|
||||
*
|
||||
* <i>Macro</i> that implements a mutex semaphore by using the existing queue
|
||||
* mechanism.
|
||||
*
|
||||
* Mutexes created using this macro can be accessed using the xSemaphoreTake()
|
||||
* and xSemaphoreGive() macros. The xSemaphoreTakeRecursive() and
|
||||
* xSemaphoreGiveRecursive() macros should not be used.
|
||||
*
|
||||
* This type of semaphore uses a priority inheritance mechanism so a task
|
||||
* 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the
|
||||
* semaphore it is no longer required.
|
||||
*
|
||||
* Mutex type semaphores cannot be used from within interrupt service routines.
|
||||
*
|
||||
* See vSemaphoreCreateBinary() for an alternative implementation that can be
|
||||
* used for pure synchronisation (where one task or interrupt always 'gives' the
|
||||
* semaphore and another always 'takes' the semaphore) and from within interrupt
|
||||
* service routines.
|
||||
*
|
||||
* @return xSemaphore Handle to the created mutex semaphore. Should be of type
|
||||
* xSemaphoreHandle.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
xSemaphoreHandle xSemaphore;
|
||||
|
||||
void vATask( void * pvParameters )
|
||||
{
|
||||
// Semaphore cannot be used before a call to xSemaphoreCreateMutex().
|
||||
// This is a macro so pass the variable in directly.
|
||||
xSemaphore = xSemaphoreCreateMutex();
|
||||
|
||||
if( xSemaphore != NULL )
|
||||
{
|
||||
// The semaphore was created successfully.
|
||||
// The semaphore can now be used.
|
||||
}
|
||||
}
|
||||
</pre>
|
||||
* \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex
|
||||
* \ingroup Semaphores
|
||||
*/
|
||||
#define xSemaphoreCreateMutex() xQueueCreateMutex()
|
||||
|
||||
|
||||
/**
|
||||
* semphr. h
|
||||
* <pre>xSemaphoreHandle xSemaphoreCreateRecursiveMutex( void )</pre>
|
||||
*
|
||||
* <i>Macro</i> that implements a recursive mutex by using the existing queue
|
||||
* mechanism.
|
||||
*
|
||||
* Mutexes created using this macro can be accessed using the
|
||||
* xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() macros. The
|
||||
* xSemaphoreTake() and xSemaphoreGive() macros should not be used.
|
||||
*
|
||||
* A mutex used recursively can be 'taken' repeatedly by the owner. The mutex
|
||||
* doesn't become available again until the owner has called
|
||||
* xSemaphoreGiveRecursive() for each successful 'take' request. For example,
|
||||
* if a task successfully 'takes' the same mutex 5 times then the mutex will
|
||||
* not be available to any other task until it has also 'given' the mutex back
|
||||
* exactly five times.
|
||||
*
|
||||
* This type of semaphore uses a priority inheritance mechanism so a task
|
||||
* 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the
|
||||
* semaphore it is no longer required.
|
||||
*
|
||||
* Mutex type semaphores cannot be used from within interrupt service routines.
|
||||
*
|
||||
* See vSemaphoreCreateBinary() for an alternative implementation that can be
|
||||
* used for pure synchronisation (where one task or interrupt always 'gives' the
|
||||
* semaphore and another always 'takes' the semaphore) and from within interrupt
|
||||
* service routines.
|
||||
*
|
||||
* @return xSemaphore Handle to the created mutex semaphore. Should be of type
|
||||
* xSemaphoreHandle.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
xSemaphoreHandle xSemaphore;
|
||||
|
||||
void vATask( void * pvParameters )
|
||||
{
|
||||
// Semaphore cannot be used before a call to xSemaphoreCreateMutex().
|
||||
// This is a macro so pass the variable in directly.
|
||||
xSemaphore = xSemaphoreCreateRecursiveMutex();
|
||||
|
||||
if( xSemaphore != NULL )
|
||||
{
|
||||
// The semaphore was created successfully.
|
||||
// The semaphore can now be used.
|
||||
}
|
||||
}
|
||||
</pre>
|
||||
* \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex
|
||||
* \ingroup Semaphores
|
||||
*/
|
||||
#define xSemaphoreCreateRecursiveMutex() xQueueCreateMutex()
|
||||
|
||||
/**
|
||||
* semphr. h
|
||||
* <pre>xSemaphoreHandle xSemaphoreCreateCounting( unsigned portBASE_TYPE uxMaxCount, unsigned portBASE_TYPE uxInitialCount )</pre>
|
||||
*
|
||||
* <i>Macro</i> that creates a counting semaphore by using the existing
|
||||
* queue mechanism.
|
||||
*
|
||||
* Counting semaphores are typically used for two things:
|
||||
*
|
||||
* 1) Counting events.
|
||||
*
|
||||
* In this usage scenario an event handler will 'give' a semaphore each time
|
||||
* an event occurs (incrementing the semaphore count value), and a handler
|
||||
* task will 'take' a semaphore each time it processes an event
|
||||
* (decrementing the semaphore count value). The count value is therefore
|
||||
* the difference between the number of events that have occurred and the
|
||||
* number that have been processed. In this case it is desirable for the
|
||||
* initial count value to be zero.
|
||||
*
|
||||
* 2) Resource management.
|
||||
*
|
||||
* In this usage scenario the count value indicates the number of resources
|
||||
* available. To obtain control of a resource a task must first obtain a
|
||||
* semaphore - decrementing the semaphore count value. When the count value
|
||||
* reaches zero there are no free resources. When a task finishes with the
|
||||
* resource it 'gives' the semaphore back - incrementing the semaphore count
|
||||
* value. In this case it is desirable for the initial count value to be
|
||||
* equal to the maximum count value, indicating that all resources are free.
|
||||
*
|
||||
* @param uxMaxCount The maximum count value that can be reached. When the
|
||||
* semaphore reaches this value it can no longer be 'given'.
|
||||
*
|
||||
* @param uxInitialCount The count value assigned to the semaphore when it is
|
||||
* created.
|
||||
*
|
||||
* @return Handle to the created semaphore. Null if the semaphore could not be
|
||||
* created.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
xSemaphoreHandle xSemaphore;
|
||||
|
||||
void vATask( void * pvParameters )
|
||||
{
|
||||
xSemaphoreHandle xSemaphore = NULL;
|
||||
|
||||
// Semaphore cannot be used before a call to xSemaphoreCreateCounting().
|
||||
// The max value to which the semaphore can count should be 10, and the
|
||||
// initial value assigned to the count should be 0.
|
||||
xSemaphore = xSemaphoreCreateCounting( 10, 0 );
|
||||
|
||||
if( xSemaphore != NULL )
|
||||
{
|
||||
// The semaphore was created successfully.
|
||||
// The semaphore can now be used.
|
||||
}
|
||||
}
|
||||
</pre>
|
||||
* \defgroup xSemaphoreCreateCounting xSemaphoreCreateCounting
|
||||
* \ingroup Semaphores
|
||||
*/
|
||||
#define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount ) xQueueCreateCountingSemaphore( ( uxMaxCount ), ( uxInitialCount ) )
|
||||
|
||||
|
||||
#endif /* SEMAPHORE_H */
|
||||
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@ -0,0 +1,526 @@
|
||||
#ifndef TIMER_TEST_H
|
||||
#define TIMER_TEST_H
|
||||
|
||||
#define tmrtestNUM_TIMERS 15
|
||||
|
||||
|
||||
extern portTickType xTickCount;
|
||||
extern xTaskHandle pxCurrentTCB;
|
||||
extern portTickType xNumOfOverflows;
|
||||
|
||||
static void vTimerTest_Initialise( void );
|
||||
static portBASE_TYPE xTimerTest1_xTimeStartAndResetWakeTimeCalculation( void );
|
||||
portBASE_TYPE xTimerTest2_xTestFreeRunningBehaviour( unsigned portBASE_TYPE uxPeriodMultiplier );
|
||||
|
||||
static void prvCheckServiceTaskBehaviour( portBASE_TYPE x, portBASE_TYPE xExpireTimeHasOverflowed, portBASE_TYPE xTickCountOverflowed );
|
||||
|
||||
static void prvTestFailed( void );
|
||||
|
||||
xTIMER *xAutoReloadTimers[ tmrtestNUM_TIMERS ];
|
||||
unsigned portBASE_TYPE uxAutoReloadTimerCounters[ tmrtestNUM_TIMERS ];
|
||||
portBASE_TYPE xTestStatus = pdPASS;
|
||||
xTaskHandle xTestTask1 = NULL, xTestTask2 = NULL;
|
||||
|
||||
struct xTestData
|
||||
{
|
||||
portTickType xStartTickCount;
|
||||
portTickType xTimerPeriod;
|
||||
portTickType xTickIncrementBetweenCommandAndProcessing;
|
||||
portTickType xExpectedCalculatedExpiryTime;
|
||||
xList * pxExpectedList;
|
||||
unsigned portBASE_TYPE uxExpectedCallbackCount;
|
||||
};
|
||||
|
||||
const struct xTestData xTestCase[] =
|
||||
{
|
||||
/* xStartTickCount, xTimerPeriod, Tck Inc, Expected Expire Time, Expected list, Expected callback count, Second tick inc */
|
||||
|
||||
/* Test cases when the command to start a timer and the processing of the
|
||||
start command execute without the tick count incrementing in between. */
|
||||
{ portMAX_DELAY - 8, 2, 0, ( portMAX_DELAY - 8 ) + 2, &xActiveTimerList1, 0 }, /* Expire before an overflow. */
|
||||
{ portMAX_DELAY - 8, 8, 0, ( portMAX_DELAY - 8 ) + 8, &xActiveTimerList1, 0 }, /* Expire immediately before and overflow. */
|
||||
{ portMAX_DELAY - 8, 9, 0, 0, &xActiveTimerList2, 0 }, /* Expire on an overflow. */
|
||||
{ portMAX_DELAY - 8, portMAX_DELAY, 0, ( ( portMAX_DELAY - 8 ) - 1 ), &xActiveTimerList2, 0 }, /* Delay for the longest possible time. */
|
||||
{ portMAX_DELAY, portMAX_DELAY, 0, ( portMAX_DELAY - 1 ), &xActiveTimerList2, 0 }, /* Delay for the longest possible time starting from the maximum tick count. */
|
||||
{ 0, portMAX_DELAY, 0, ( portMAX_DELAY ), &xActiveTimerList1, 0 }, /* Delay for the maximum ticks, starting with from the minimum tick count. */
|
||||
|
||||
/* Test cases when the command to start a timer and the processing of the
|
||||
start command execute at different tick count values. */
|
||||
{ portMAX_DELAY - 8, 2, 1, ( portMAX_DELAY - 8 ) + 2, &xActiveTimerList1, 0 }, /* The expire time does not overflow, and the tick count does not overflow between the command and processing the command. */
|
||||
{ portMAX_DELAY - 8, 8, 2, ( portMAX_DELAY - 8 ) + 8, &xActiveTimerList1, 0 }, /* The expire time does not overflow but is on the portMAX_DELAY limit, and the tick count does not overflow between the command and processing the command. */
|
||||
{ portMAX_DELAY - 8, 9, 3, 0, &xActiveTimerList2, 0 }, /* The expire time overflows to 0, and the tick count does not overflow between the command and processing the command. */
|
||||
{ portMAX_DELAY - 2, 9, 1, ( portMAX_DELAY - 2 ) + 9, &xActiveTimerList2, 0 }, /* The expire time overflows, but the tick count does not overflow between the command and processing the command. */
|
||||
{ portMAX_DELAY - 2, 9, 3, ( portMAX_DELAY - 2 ) + 9, &xActiveTimerList2, 0 }, /* The timer overflows between the command and processing the command. The expire time also overflows. */
|
||||
|
||||
/* Add tests where the timer should have expired by the time the command is processed. */
|
||||
{ 10, 9, 10, ( 10 + ( 2 * 9 ) ), &xActiveTimerList1, 1 }, /* Nothing overflows, but the time between the timer being set and the command being processed is greater than the timers expiry time. The timer should get processed immediately, so the expected expire time is twice the period as the timer will get auto-reloaded. */
|
||||
{ portMAX_DELAY - 2, 9, 10, ( portMAX_DELAY - 2 ) + ( 2 * 9 ), &xActiveTimerList2, 1 }, /* The timer overflows between the command and processing the command. The expire time also overflows and the number of ticks that occur between the command and the processing exceeds the timer expiry period. The timer should get processed immediately, so the expected expire time is twice the period as the timer will get auto-reloaded.*/
|
||||
{ portMAX_DELAY - 2, 9, 9, ( portMAX_DELAY - 2 ) + ( 2 * 9 ), &xActiveTimerList2, 1 }, /* The timer overflows between the command and processing the command. The expire time also overflows and the number of ticks between command and processing equals the timer expiry period. The timer should get processed immediately, so the expected expire time is twice the period as the timer will get auto-reloaded.*/
|
||||
|
||||
{ portMAX_DELAY - 20, 9, 21, ( portMAX_DELAY - 20 ) + ( 3 * 9 ), &xActiveTimerList2, 2 }, /* The tick count has overflowed but the timer expire time has not overflowed. The tick count overflows to 0. The timer should get processed immediately, so the expected expire time is twice the period as the timer will get auto-reloaded.*/
|
||||
{ portMAX_DELAY - 20, 9, 22, ( portMAX_DELAY - 20 ) + ( 3 * 9 ), &xActiveTimerList2, 2 }, /* The tick count has overflowed but the timer expire time has not overflowed. The tick count overflows to greater than 0. The timer should get processed immediately, so the expected expire time is twice the period as the timer will get auto-reloaded.*/
|
||||
{ portMAX_DELAY - 5, 2, 20, ( portMAX_DELAY - 5 ) + ( 11 * 2 ), &xActiveTimerList2, 10 }, /* The tick and expire time overflow, but the first expire time overflow results in a time that is less than the tick count. */
|
||||
};
|
||||
|
||||
typedef struct tskTaskControlBlockx
|
||||
{
|
||||
volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE STRUCT. */
|
||||
|
||||
#if ( portUSING_MPU_WRAPPERS == 1 )
|
||||
xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE STRUCT. */
|
||||
#endif
|
||||
|
||||
xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
|
||||
xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
|
||||
unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
|
||||
portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
|
||||
signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
|
||||
|
||||
#if ( portSTACK_GROWTH > 0 )
|
||||
portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
|
||||
#endif
|
||||
|
||||
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
|
||||
unsigned portBASE_TYPE uxCriticalNesting;
|
||||
#endif
|
||||
|
||||
#if ( configUSE_TRACE_FACILITY == 1 )
|
||||
unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
|
||||
#endif
|
||||
|
||||
#if ( configUSE_MUTEXES == 1 )
|
||||
unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
|
||||
#endif
|
||||
|
||||
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
|
||||
pdTASK_HOOK_CODE pxTaskTag;
|
||||
#endif
|
||||
|
||||
#if ( configGENERATE_RUN_TIME_STATS == 1 )
|
||||
unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
|
||||
#endif
|
||||
|
||||
} tskTCBx;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void vAutoReloadTimerCallback( xTIMER *pxTimer )
|
||||
{
|
||||
portBASE_TYPE xTimerID = ( portBASE_TYPE ) pxTimer->pvTimerID;
|
||||
|
||||
if( xTimerID < tmrtestNUM_TIMERS )
|
||||
{
|
||||
( uxAutoReloadTimerCounters[ xTimerID ] )++;
|
||||
}
|
||||
else
|
||||
{
|
||||
prvTestFailed();
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void vTimerTest_Initialise( void )
|
||||
{
|
||||
portBASE_TYPE xTimerNumber;
|
||||
extern void prvInitialiseTaskLists( void );
|
||||
extern portBASE_TYPE xSchedulerRunning;
|
||||
|
||||
prvInitialiseTaskLists();
|
||||
xTimerQueue = NULL;
|
||||
xSchedulerRunning = pdTRUE;
|
||||
|
||||
for( xTimerNumber = 0; xTimerNumber < tmrtestNUM_TIMERS; xTimerNumber++ )
|
||||
{
|
||||
/* Delete any existing timers. */
|
||||
if( xAutoReloadTimers[ xTimerNumber ] != NULL )
|
||||
{
|
||||
vPortFree( xAutoReloadTimers[ xTimerNumber ] );
|
||||
}
|
||||
|
||||
/* Create new autoreload timers. */
|
||||
xAutoReloadTimers[ xTimerNumber ] = xTimerCreate( "Timer", 0xffff, pdTRUE, ( void * ) xTimerNumber, vAutoReloadTimerCallback );
|
||||
uxAutoReloadTimerCounters[ xTimerNumber ] = 0;
|
||||
if( xAutoReloadTimers == NULL )
|
||||
{
|
||||
prvTestFailed();
|
||||
}
|
||||
}
|
||||
|
||||
/* Initialise lists so they are empty. */
|
||||
vListInitialise( &xActiveTimerList1 );
|
||||
vListInitialise( &xActiveTimerList2 );
|
||||
|
||||
/* Call prvSampleTimeNow with a tick count of zero so it sets its
|
||||
internal static "last time" variable to zero. */
|
||||
xTickCount = 0;
|
||||
xNumOfOverflows = 0;
|
||||
prvSampleTimeNow( &xTimerNumber );
|
||||
|
||||
/* Initialise the list pointers in case prvSampleTimeNow() changed them. */
|
||||
pxCurrentTimerList = &xActiveTimerList1;
|
||||
pxOverflowTimerList = &xActiveTimerList2;
|
||||
|
||||
// if( xTestTask1 == NULL )
|
||||
{
|
||||
xTaskCreate( (pdTASK_CODE)prvTestFailed, "Task1", configMINIMAL_STACK_SIZE, NULL, 0, &xTestTask1 );
|
||||
}
|
||||
|
||||
// if( xTestTask2 == NULL )
|
||||
{
|
||||
xTaskCreate( (pdTASK_CODE)prvTestFailed, "Task1", configMINIMAL_STACK_SIZE, NULL, 0, &xTestTask2 );
|
||||
}
|
||||
|
||||
pxCurrentTCB = xTestTask1;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvTestFailed( void )
|
||||
{
|
||||
static unsigned long ulFailures = 0;
|
||||
|
||||
ulFailures++;
|
||||
xTestStatus = pdFAIL;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvCheckServiceTaskBehaviour( portBASE_TYPE x, portBASE_TYPE xExpireTimeHasOverflowed, portBASE_TYPE xTickCountOverflowed )
|
||||
{
|
||||
portBASE_TYPE xListWasEmpty;
|
||||
portTickType xNextExpireTime;
|
||||
extern xList * volatile pxOverflowDelayedTaskList, *pxDelayedTaskList;
|
||||
extern xList pxReadyTasksLists[];
|
||||
|
||||
xListWasEmpty = portMAX_DELAY;
|
||||
xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
|
||||
|
||||
/* If the timer expire time has overflowed it should be present in the overflow
|
||||
list of active timers, unless the tick count has also overflowed and the expire
|
||||
time has not passed. If the expire time has not overflowed it should be
|
||||
present in the current list of active timers. Either way, its expire time should
|
||||
equal the expected expire time. */
|
||||
if( ( xExpireTimeHasOverflowed == pdTRUE ) && ( xTickCountOverflowed == pdFALSE ) )
|
||||
{
|
||||
/* The timer will be in the overflow list, so prvGetNextExpireTime()
|
||||
should not have found it, but instead returned an expire time that
|
||||
will ensure the timer service task will unblock when the lists need
|
||||
switching. */
|
||||
if( ( xNextExpireTime != 0 ) || ( xListWasEmpty == pdFALSE ) )
|
||||
{
|
||||
prvTestFailed();
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if( ( xNextExpireTime != xTestCase[ x ].xExpectedCalculatedExpiryTime ) || ( xListWasEmpty != pdFALSE ) )
|
||||
{
|
||||
prvTestFailed();
|
||||
}
|
||||
}
|
||||
|
||||
prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
|
||||
|
||||
/* Has the timer expired the expected number of times? */
|
||||
if( uxAutoReloadTimerCounters[ 0 ] != xTestCase[ x ].uxExpectedCallbackCount )
|
||||
{
|
||||
prvTestFailed();
|
||||
}
|
||||
|
||||
/* The task should now be blocked. It should only appear in the overflow
|
||||
delayed task list if xNextExpireTime is equal to 0. */
|
||||
if( xNextExpireTime == 0 )
|
||||
{
|
||||
if( listIS_CONTAINED_WITHIN( pxOverflowDelayedTaskList, &( ( ( tskTCBx * ) pxCurrentTCB )->xGenericListItem ) ) == pdFALSE )
|
||||
{
|
||||
prvTestFailed();
|
||||
}
|
||||
|
||||
if( listGET_LIST_ITEM_VALUE( &( ( ( tskTCBx * ) pxCurrentTCB )->xGenericListItem ) ) != 0 )
|
||||
{
|
||||
prvTestFailed();
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if( listIS_CONTAINED_WITHIN( pxDelayedTaskList, &( ( ( tskTCBx * ) pxCurrentTCB )->xGenericListItem ) ) == pdFALSE )
|
||||
{
|
||||
prvTestFailed();
|
||||
}
|
||||
|
||||
if( listGET_LIST_ITEM_VALUE( &( ( ( tskTCBx * ) pxCurrentTCB )->xGenericListItem ) ) != xTestCase[ x ].xExpectedCalculatedExpiryTime )
|
||||
{
|
||||
prvTestFailed();
|
||||
}
|
||||
}
|
||||
|
||||
/* The timer should have be re-loaded, and still be referenced from one
|
||||
or other of the active lists. */
|
||||
if( listGET_LIST_ITEM_VALUE( &( xAutoReloadTimers[ 0 ]->xTimerListItem ) ) != xTestCase[ x ].xExpectedCalculatedExpiryTime )
|
||||
{
|
||||
prvTestFailed();
|
||||
}
|
||||
if( listIS_CONTAINED_WITHIN( NULL, &( xAutoReloadTimers[ 0 ]->xTimerListItem ) ) == pdTRUE )
|
||||
{
|
||||
prvTestFailed();
|
||||
}
|
||||
|
||||
/* Move the task back to the ready list from the delayed list. */
|
||||
vListRemove( &( ( ( tskTCBx * ) pxCurrentTCB )->xGenericListItem ) );
|
||||
vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ 0 ] ), &( ( ( tskTCBx * ) pxCurrentTCB )->xGenericListItem ) );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static portBASE_TYPE xTimerTest1_xTimeStartAndResetWakeTimeCalculation( void )
|
||||
{
|
||||
portBASE_TYPE x, xListWasEmpty;
|
||||
portTickType xNextExpireTime;
|
||||
|
||||
if( sizeof( portTickType ) != 2 )
|
||||
{
|
||||
/* This test should be performed using 16bit ticks. */
|
||||
prvTestFailed();
|
||||
}
|
||||
|
||||
for( x = 0; x < ( sizeof( xTestCase ) / sizeof( struct xTestData ) ); x++ )
|
||||
{
|
||||
/* Set everything back to its start condition. */
|
||||
vTimerTest_Initialise();
|
||||
|
||||
/* Load the tick count with the test case data. */
|
||||
xTickCount = xTestCase[ x ].xStartTickCount;
|
||||
|
||||
/* Query the timers list to see if it contains any timers, and if so,
|
||||
obtain the time at which the next timer will expire. The list should be
|
||||
empty, so 0 should be returned (to cause the task to unblock when a
|
||||
tick overflow occurs. Likewise xListWasEmpty should be set to pdTRUE. */
|
||||
xListWasEmpty = portMAX_DELAY;
|
||||
xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
|
||||
|
||||
if( ( xListWasEmpty != pdTRUE ) || ( xNextExpireTime != ( portTickType ) 0 ) )
|
||||
{
|
||||
prvTestFailed();
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Call prvProcessReceivedCommands() just so the code under test knows
|
||||
what the tick count is in the pre-condition state. */
|
||||
prvProcessReceivedCommands();
|
||||
|
||||
xAutoReloadTimers[ 0 ]->xTimerPeriodInTicks = xTestCase[ x ].xTimerPeriod;
|
||||
xTimerStart( xAutoReloadTimers[ 0 ], 0 );
|
||||
|
||||
/* Move the tick count on to the time at which the command should be
|
||||
processed. */
|
||||
xTickCount += xTestCase[ x ].xTickIncrementBetweenCommandAndProcessing;
|
||||
|
||||
/* Process the sent command with the updated tick count. */
|
||||
prvProcessReceivedCommands();
|
||||
|
||||
if( listGET_LIST_ITEM_VALUE( &( xAutoReloadTimers[ 0 ]->xTimerListItem ) ) != xTestCase[ x ].xExpectedCalculatedExpiryTime )
|
||||
{
|
||||
prvTestFailed();
|
||||
}
|
||||
if( listIS_CONTAINED_WITHIN( xTestCase[ x ].pxExpectedList, &( xAutoReloadTimers[ 0 ]->xTimerListItem ) ) == pdFALSE )
|
||||
{
|
||||
prvTestFailed();
|
||||
}
|
||||
if( uxAutoReloadTimerCounters[ 0 ] != xTestCase[ x ].uxExpectedCallbackCount )
|
||||
{
|
||||
prvTestFailed();
|
||||
}
|
||||
|
||||
if( xTickCount < xTestCase[ x ].xStartTickCount ) /* The tick count has overflowed */
|
||||
{
|
||||
if( xTestCase[ x ].pxExpectedList == &xActiveTimerList2 ) /* The timer expire time has overflowed. */
|
||||
{
|
||||
if( xTestCase[ x ].xExpectedCalculatedExpiryTime <= xTickCount ) /* The timer expire time has passed */
|
||||
{
|
||||
/* The expire time should never have passed when here is
|
||||
reached because the timer whould have been processed enough
|
||||
times to make the expire time catch up. */
|
||||
prvTestFailed();
|
||||
}
|
||||
else /* The timer expire time has not passed. */
|
||||
{
|
||||
prvCheckServiceTaskBehaviour( x, pdTRUE, pdTRUE );
|
||||
}
|
||||
}
|
||||
else /* The timer expire time has not overflowed. */
|
||||
{
|
||||
/* If the timer expire time has not overflowed but the tick count has
|
||||
overflowed, then the timer expire time must have been passed. The
|
||||
expire time should never have passed when here is reached because
|
||||
the timer whould have been processed enough times to make the expire
|
||||
time catch up. */
|
||||
prvTestFailed();
|
||||
}
|
||||
}
|
||||
else /* The tick count has not overflowed. */
|
||||
{
|
||||
if( xTestCase[ x ].pxExpectedList == &xActiveTimerList2 ) /* The timer expire time has overflowed */
|
||||
{
|
||||
/* If the expire time has overflowed, but the tick count has not
|
||||
overflowed, then the timer expire time cannot have been passed. */
|
||||
prvCheckServiceTaskBehaviour( x, pdTRUE, pdFALSE );
|
||||
}
|
||||
else /* The timer expire time has not overflowed. */
|
||||
{
|
||||
if( xTickCount >= xTestCase[ x ].xExpectedCalculatedExpiryTime ) /* The timer expire time has passed */
|
||||
{
|
||||
/* The expire time should never have passed when here is
|
||||
reached because the timer whould have been processed enough
|
||||
times to make the expire time catch up. */
|
||||
prvTestFailed();
|
||||
}
|
||||
else /* The timer expire time has not passed. */
|
||||
{
|
||||
prvCheckServiceTaskBehaviour( x, pdFALSE, pdFALSE );
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return xTestStatus;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
portBASE_TYPE xTimerTest2_xTestFreeRunningBehaviour( unsigned portBASE_TYPE uxPeriodMultiplier )
|
||||
{
|
||||
unsigned portBASE_TYPE uxExpectedIncrements, x, uxMix = 0, uxPeriod;
|
||||
const unsigned portBASE_TYPE uxMaxIterations = 0x1fffff;
|
||||
extern xList pxReadyTasksLists[];
|
||||
portTickType xNextExpireTime;
|
||||
portBASE_TYPE xListWasEmpty;
|
||||
extern xTaskHandle pxCurrentTCB;
|
||||
|
||||
if( sizeof( portTickType ) != 2 )
|
||||
{
|
||||
/* This test should be performed using 16bit ticks. */
|
||||
prvTestFailed();
|
||||
}
|
||||
|
||||
/* Initialise the test. This will create tmrtestNUM_TIMERS timers. */
|
||||
vTimerTest_Initialise();
|
||||
|
||||
/* Give each timer a period, then start it running. */
|
||||
for( x = 0; x < tmrtestNUM_TIMERS; x++ )
|
||||
{
|
||||
uxPeriod = ( x + ( unsigned portBASE_TYPE ) 1 ) * uxPeriodMultiplier;
|
||||
xTimerChangePeriod( xAutoReloadTimers[ x ], ( portTickType ) uxPeriod, 0 );
|
||||
xTimerStart( xAutoReloadTimers[ x ], 0 );
|
||||
prvProcessReceivedCommands();
|
||||
}
|
||||
|
||||
xTickCount = 1;
|
||||
x = 1;
|
||||
|
||||
/* Simulate the task running. */
|
||||
while( x <= uxMaxIterations )
|
||||
{
|
||||
/* Query the timers list to see if it contains any timers, and if so,
|
||||
obtain the time at which the next timer will expire. */
|
||||
xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
|
||||
|
||||
/* It is legitimate for tick increments to occur here. */
|
||||
if( ( uxMix < 2 ) && ( x < uxMaxIterations - 5 ) )
|
||||
{
|
||||
vTaskIncrementTick();
|
||||
x++;
|
||||
vTaskIncrementTick();
|
||||
x++;
|
||||
vTaskIncrementTick();
|
||||
x++;
|
||||
}
|
||||
|
||||
/* If a timer has expired, process it. Otherwise, block this task
|
||||
until either a timer does expire, or a command is received. */
|
||||
prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
|
||||
|
||||
/* If the task blocked, increment the tick until it unblocks. */
|
||||
while( listIS_CONTAINED_WITHIN( ( xList * ) &( pxReadyTasksLists[ 0 ] ), &( ( ( tskTCBx * ) pxCurrentTCB )->xGenericListItem ) ) == pdFALSE )
|
||||
{
|
||||
if( ( uxMix == 1 ) && ( x < ( uxMaxIterations + 3 ) ) )
|
||||
{
|
||||
vTaskIncrementTick();
|
||||
x++;
|
||||
vTaskIncrementTick();
|
||||
x++;
|
||||
vTaskIncrementTick();
|
||||
x++;
|
||||
}
|
||||
if( ( uxMix == 2 ) && ( x < ( uxMaxIterations + 2 ) ) )
|
||||
{
|
||||
vTaskIncrementTick();
|
||||
x++;
|
||||
vTaskIncrementTick();
|
||||
x++;
|
||||
}
|
||||
else
|
||||
{
|
||||
vTaskIncrementTick();
|
||||
x++;
|
||||
}
|
||||
}
|
||||
|
||||
uxMix++;
|
||||
if( uxMix > 8 )
|
||||
{
|
||||
uxMix = 0;
|
||||
}
|
||||
|
||||
/* Make sure time does not go past that expected. */
|
||||
if( x > uxMaxIterations )
|
||||
{
|
||||
xTickCount -= ( portTickType ) ( x - uxMaxIterations );
|
||||
}
|
||||
|
||||
/* Empty the command queue. */
|
||||
prvProcessReceivedCommands();
|
||||
}
|
||||
|
||||
/* Catch up with the tick count, if it was incremented more than once in one
|
||||
go. */
|
||||
xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
|
||||
prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
|
||||
|
||||
/* This time, if the task blocked, there is nothing left to do. If it didn't
|
||||
block then empty the command queue for good measure. */
|
||||
if( listIS_CONTAINED_WITHIN( ( xList * ) &( pxReadyTasksLists[ 0 ] ), &( ( ( tskTCBx * ) pxCurrentTCB )->xGenericListItem ) ) != pdFALSE )
|
||||
{
|
||||
/* Empty the command queue. */
|
||||
prvProcessReceivedCommands();
|
||||
}
|
||||
|
||||
/* Check each timer has incremented the expected number of times. */
|
||||
for( x = 0; x < tmrtestNUM_TIMERS; x++ )
|
||||
{
|
||||
uxPeriod = ( x + ( unsigned portBASE_TYPE ) 1 ) * uxPeriodMultiplier;
|
||||
uxExpectedIncrements = ( uxMaxIterations / ( unsigned portBASE_TYPE ) uxPeriod );
|
||||
|
||||
if( ( uxExpectedIncrements - uxAutoReloadTimerCounters[ x ] ) > 1 )
|
||||
{
|
||||
prvTestFailed();
|
||||
}
|
||||
}
|
||||
|
||||
return xTestStatus;
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vRunTimerModuleTests( void )
|
||||
{
|
||||
unsigned long x;
|
||||
|
||||
xTimerTest1_xTimeStartAndResetWakeTimeCalculation();
|
||||
|
||||
for( x = 1; x < 1000; x++ )
|
||||
{
|
||||
xTimerTest2_xTestFreeRunningBehaviour( x );
|
||||
}
|
||||
|
||||
for( ;; );
|
||||
}
|
||||
|
||||
#endif TIMER_TEST_H
|
||||
|
||||
@ -0,0 +1,936 @@
|
||||
/*
|
||||
FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
FreeRTOS supports many tools and architectures. V7.0.0 is sponsored by:
|
||||
Atollic AB - Atollic provides professional embedded systems development
|
||||
tools for C/C++ development, code analysis and test automation.
|
||||
See http://www.atollic.com
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
|
||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
This file is part of the FreeRTOS distribution.
|
||||
|
||||
FreeRTOS is free software; you can redistribute it and/or modify it under
|
||||
the terms of the GNU General Public License (version 2) as published by the
|
||||
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
>>>NOTE<<< The modification to the GPL is included to allow you to
|
||||
distribute a combined work that includes FreeRTOS without being obliged to
|
||||
provide the source code for proprietary components outside of the FreeRTOS
|
||||
kernel. FreeRTOS is distributed in the hope that it will be useful, but
|
||||
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
|
||||
more details. You should have received a copy of the GNU General Public
|
||||
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, latest information, license and
|
||||
contact details.
|
||||
|
||||
http://www.SafeRTOS.com - A version that is certified for use in safety
|
||||
critical systems.
|
||||
|
||||
http://www.OpenRTOS.com - Commercial support, development, porting,
|
||||
licensing and training services.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef TIMERS_H
|
||||
#define TIMERS_H
|
||||
|
||||
#ifndef INC_FREERTOS_H
|
||||
#error "include FreeRTOS.h must appear in source files before include timers.h"
|
||||
#endif
|
||||
|
||||
#include "portable.h"
|
||||
#include "list.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* IDs for commands that can be sent/received on the timer queue. These are to
|
||||
be used solely through the macros that make up the public software timer API,
|
||||
as defined below. */
|
||||
#define tmrCOMMAND_START 0
|
||||
#define tmrCOMMAND_STOP 1
|
||||
#define tmrCOMMAND_CHANGE_PERIOD 2
|
||||
#define tmrCOMMAND_DELETE 3
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* MACROS AND DEFINITIONS
|
||||
*----------------------------------------------------------*/
|
||||
|
||||
/**
|
||||
* Type by which software timers are referenced. For example, a call to
|
||||
* xTimerCreate() returns an xTimerHandle variable that can then be used to
|
||||
* reference the subject timer in calls to other software timer API functions
|
||||
* (for example, xTimerStart(), xTimerReset(), etc.).
|
||||
*/
|
||||
typedef void * xTimerHandle;
|
||||
|
||||
/* Define the prototype to which timer callback functions must conform. */
|
||||
typedef void (*tmrTIMER_CALLBACK)( xTimerHandle xTimer );
|
||||
|
||||
/**
|
||||
* xTimerHandle xTimerCreate( const signed char *pcTimerName,
|
||||
* portTickType xTimerPeriod,
|
||||
* unsigned portBASE_TYPE uxAutoReload,
|
||||
* void * pvTimerID,
|
||||
* tmrTIMER_CALLBACK pxCallbackFunction );
|
||||
*
|
||||
* Creates a new software timer instance. This allocates the storage required
|
||||
* by the new timer, initialises the new timers internal state, and returns a
|
||||
* handle by which the new timer can be referenced.
|
||||
*
|
||||
* Timers are created in the dormant state. The xTimerStart(), xTimerReset(),
|
||||
* xTimerStartFromISR(), xTimerResetFromISR(), xTimerChangePeriod() and
|
||||
* xTimerChangePeriodFromISR() API functions can all be used to transition a timer into the
|
||||
* active state.
|
||||
*
|
||||
* @param pcTimerName A text name that is assigned to the timer. This is done
|
||||
* purely to assist debugging. The kernel itself only ever references a timer by
|
||||
* its handle, and never by its name.
|
||||
*
|
||||
* @param xTimerPeriod The timer period. The time is defined in tick periods so
|
||||
* the constant portTICK_RATE_MS can be used to convert a time that has been
|
||||
* specified in milliseconds. For example, if the timer must expire after 100
|
||||
* ticks, then xTimerPeriod should be set to 100. Alternatively, if the timer
|
||||
* must expire after 500ms, then xPeriod can be set to ( 500 / portTICK_RATE_MS )
|
||||
* provided configTICK_RATE_HZ is less than or equal to 1000.
|
||||
*
|
||||
* @param uxAutoReload If uxAutoReload is set to pdTRUE then the timer will
|
||||
* expire repeatedly with a frequency set by the xTimerPeriod parameter. If
|
||||
* uxAutoReload is set to pdFALSE then the timer will be a one-shot timer and
|
||||
* enter the dormant state after it expires.
|
||||
*
|
||||
* @param pvTimerID An identifier that is assigned to the timer being created.
|
||||
* Typically this would be used in the timer callback function to identify which
|
||||
* timer expired when the same callback function is assigned to more than one
|
||||
* timer.
|
||||
*
|
||||
* @param pxCallbackFunction The function to call when the timer expires.
|
||||
* Callback functions must have the prototype defined by tmrTIMER_CALLBACK,
|
||||
* which is "void vCallbackFunction( xTimerHandle xTimer );".
|
||||
*
|
||||
* @return If the timer is successfully create then a handle to the newly
|
||||
* created timer is returned. If the timer cannot be created (because either
|
||||
* there is insufficient FreeRTOS heap remaining to allocate the timer
|
||||
* structures, or the timer period was set to 0) then 0 is returned.
|
||||
*
|
||||
* Example usage:
|
||||
*
|
||||
*
|
||||
* #define NUM_TIMERS 5
|
||||
*
|
||||
* // An array to hold handles to the created timers.
|
||||
* xTimerHandle xTimers[ NUM_TIMERS ];
|
||||
*
|
||||
* // An array to hold a count of the number of times each timer expires.
|
||||
* long lExpireCounters[ NUM_TIMERS ] = { 0 };
|
||||
*
|
||||
* // Define a callback function that will be used by multiple timer instances.
|
||||
* // The callback function does nothing but count the number of times the
|
||||
* // associated timer expires, and stop the timer once the timer has expired
|
||||
* // 10 times.
|
||||
* void vTimerCallback( xTimerHandle pxTimer )
|
||||
* {
|
||||
* long lArrayIndex;
|
||||
* const long xMaxExpiryCountBeforeStopping = 10;
|
||||
*
|
||||
* // Optionally do something if the pxTimer parameter is NULL.
|
||||
* configASSERT( pxTimer );
|
||||
*
|
||||
* // Which timer expired?
|
||||
* lArrayIndex = ( long ) pvTimerGetTimerID( pxTimer );
|
||||
*
|
||||
* // Increment the number of times that pxTimer has expired.
|
||||
* lExpireCounters[ lArrayIndex ] += 1;
|
||||
*
|
||||
* // If the timer has expired 10 times then stop it from running.
|
||||
* if( lExpireCounters[ lArrayIndex ] == xMaxExpiryCountBeforeStopping )
|
||||
* {
|
||||
* // Do not use a block time if calling a timer API function from a
|
||||
* // timer callback function, as doing so could cause a deadlock!
|
||||
* xTimerStop( pxTimer, 0 );
|
||||
* }
|
||||
* }
|
||||
*
|
||||
* void main( void )
|
||||
* {
|
||||
* long x;
|
||||
*
|
||||
* // Create then start some timers. Starting the timers before the scheduler
|
||||
* // has been started means the timers will start running immediately that
|
||||
* // the scheduler starts.
|
||||
* for( x = 0; x < NUM_TIMERS; x++ )
|
||||
* {
|
||||
* xTimers[ x ] = xTimerCreate( "Timer", // Just a text name, not used by the kernel.
|
||||
* ( 100 * x ), // The timer period in ticks.
|
||||
* pdTRUE, // The timers will auto-reload themselves when they expire.
|
||||
* ( void * ) x, // Assign each timer a unique id equal to its array index.
|
||||
* vTimerCallback // Each timer calls the same callback when it expires.
|
||||
* );
|
||||
*
|
||||
* if( xTimers[ x ] == NULL )
|
||||
* {
|
||||
* // The timer was not created.
|
||||
* }
|
||||
* else
|
||||
* {
|
||||
* // Start the timer. No block time is specified, and even if one was
|
||||
* // it would be ignored because the scheduler has not yet been
|
||||
* // started.
|
||||
* if( xTimerStart( xTimers[ x ], 0 ) != pdPASS )
|
||||
* {
|
||||
* // The timer could not be set into the Active state.
|
||||
* }
|
||||
* }
|
||||
* }
|
||||
*
|
||||
* // ...
|
||||
* // Create tasks here.
|
||||
* // ...
|
||||
*
|
||||
* // Starting the scheduler will start the timers running as they have already
|
||||
* // been set into the active state.
|
||||
* xTaskStartScheduler();
|
||||
*
|
||||
* // Should not reach here.
|
||||
* for( ;; );
|
||||
* }
|
||||
*/
|
||||
xTimerHandle xTimerCreate( const signed char *pcTimerName, portTickType xTimerPeriodInTicks, unsigned portBASE_TYPE uxAutoReload, void * pvTimerID, tmrTIMER_CALLBACK pxCallbackFunction ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/**
|
||||
* void *pvTimerGetTimerID( xTimerHandle xTimer );
|
||||
*
|
||||
* Returns the ID assigned to the timer.
|
||||
*
|
||||
* IDs are assigned to timers using the pvTimerID parameter of the call to
|
||||
* xTimerCreated() that was used to create the timer.
|
||||
*
|
||||
* If the same callback function is assigned to multiple timers then the timer
|
||||
* ID can be used within the callback function to identify which timer actually
|
||||
* expired.
|
||||
*
|
||||
* @param xTimer The timer being queried.
|
||||
*
|
||||
* @return The ID assigned to the timer being queried.
|
||||
*
|
||||
* Example usage:
|
||||
*
|
||||
* See the xTimerCreate() API function example usage scenario.
|
||||
*/
|
||||
void *pvTimerGetTimerID( xTimerHandle xTimer ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/**
|
||||
* portBASE_TYPE xTimerIsTimerActive( xTimerHandle xTimer );
|
||||
*
|
||||
* Queries a timer to see if it is active or dormant.
|
||||
*
|
||||
* A timer will be dormant if:
|
||||
* 1) It has been created but not started, or
|
||||
* 2) It is an expired on-shot timer that has not been restarted.
|
||||
*
|
||||
* Timers are created in the dormant state. The xTimerStart(), xTimerReset(),
|
||||
* xTimerStartFromISR(), xTimerResetFromISR(), xTimerChangePeriod() and
|
||||
* xTimerChangePeriodFromISR() API functions can all be used to transition a timer into the
|
||||
* active state.
|
||||
*
|
||||
* @param xTimer The timer being queried.
|
||||
*
|
||||
* @return pdFALSE will be returned if the timer is dormant. A value other than
|
||||
* pdFALSE will be returned if the timer is active.
|
||||
*
|
||||
* Example usage:
|
||||
*
|
||||
* // This function assumes xTimer has already been created.
|
||||
* void vAFunction( xTimerHandle xTimer )
|
||||
* {
|
||||
* if( xTimerIsTimerActive( xTimer ) != pdFALSE ) // or more simply and equivalently "if( xTimerIsTimerActive( xTimer ) )"
|
||||
* {
|
||||
* // xTimer is active, do something.
|
||||
* }
|
||||
* else
|
||||
* {
|
||||
* // xTimer is not active, do something else.
|
||||
* }
|
||||
* }
|
||||
*/
|
||||
portBASE_TYPE xTimerIsTimerActive( xTimerHandle xTimer ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/**
|
||||
* portBASE_TYPE xTimerStart( xTimerHandle xTimer, portTickType xBlockTime );
|
||||
*
|
||||
* Timer functionality is provided by a timer service/daemon task. Many of the
|
||||
* public FreeRTOS timer API functions send commands to the timer service task
|
||||
* though a queue called the timer command queue. The timer command queue is
|
||||
* private to the kernel itself and is not directly accessible to application
|
||||
* code. The length of the timer command queue is set by the
|
||||
* configTIMER_QUEUE_LENGTH configuration constant.
|
||||
*
|
||||
* xTimerStart() starts a timer that was previously created using the
|
||||
* xTimerCreate() API function. If the timer had already been started and was
|
||||
* already in the active state, then xTimerStart() has equivalent functionality
|
||||
* to the xTimerReset() API function.
|
||||
*
|
||||
* Starting a timer ensures the timer is in the active state. If the timer
|
||||
* is not stopped, deleted, or reset in the mean time, the callback function
|
||||
* associated with the timer will get called 'n' ticks after xTimerStart() was
|
||||
* called, where 'n' is the timers defined period.
|
||||
*
|
||||
* It is valid to call xTimerStart() before the scheduler has been started, but
|
||||
* when this is done the timer will not actually start until the scheduler is
|
||||
* started, and the timers expiry time will be relative to when the scheduler is
|
||||
* started, not relative to when xTimerStart() was called.
|
||||
*
|
||||
* The configUSE_TIMERS configuration constant must be set to 1 for xTimerStart()
|
||||
* to be available.
|
||||
*
|
||||
* @param xTimer The handle of the timer being started/restarted.
|
||||
*
|
||||
* @param xBlockTime Specifies the time, in ticks, that the calling task should
|
||||
* be held in the Blocked state to wait for the start command to be successfully
|
||||
* sent to the timer command queue, should the queue already be full when
|
||||
* xTimerStart() was called. xBlockTime is ignored if xTimerStart() is called
|
||||
* before the scheduler is started.
|
||||
*
|
||||
* @return pdFAIL will be returned if the start command could not be sent to
|
||||
* the timer command queue even after xBlockTime ticks had passed. pdPASS will
|
||||
* be returned if the command was successfully sent to the timer command queue.
|
||||
* When the command is actually processed will depend on the priority of the
|
||||
* timer service/daemon task relative to other tasks in the system, although the
|
||||
* timers expiry time is relative to when xTimerStart() is actually called. The
|
||||
* timer service/daemon task priority is set by the configTIMER_TASK_PRIORITY
|
||||
* configuration constant.
|
||||
*
|
||||
* Example usage:
|
||||
*
|
||||
* See the xTimerCreate() API function example usage scenario.
|
||||
*
|
||||
*/
|
||||
#define xTimerStart( xTimer, xBlockTime ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCount() ), NULL, ( xBlockTime ) )
|
||||
|
||||
/**
|
||||
* portBASE_TYPE xTimerStop( xTimerHandle xTimer, portTickType xBlockTime );
|
||||
*
|
||||
* Timer functionality is provided by a timer service/daemon task. Many of the
|
||||
* public FreeRTOS timer API functions send commands to the timer service task
|
||||
* though a queue called the timer command queue. The timer command queue is
|
||||
* private to the kernel itself and is not directly accessible to application
|
||||
* code. The length of the timer command queue is set by the
|
||||
* configTIMER_QUEUE_LENGTH configuration constant.
|
||||
*
|
||||
* xTimerStop() stops a timer that was previously started using either of the
|
||||
* The xTimerStart(), xTimerReset(), xTimerStartFromISR(), xTimerResetFromISR(),
|
||||
* xTimerChangePeriod() or xTimerChangePeriodFromISR() API functions.
|
||||
*
|
||||
* Stopping a timer ensures the timer is not in the active state.
|
||||
*
|
||||
* The configUSE_TIMERS configuration constant must be set to 1 for xTimerStop()
|
||||
* to be available.
|
||||
*
|
||||
* @param xTimer The handle of the timer being stopped.
|
||||
*
|
||||
* @param xBlockTime Specifies the time, in ticks, that the calling task should
|
||||
* be held in the Blocked state to wait for the stop command to be successfully
|
||||
* sent to the timer command queue, should the queue already be full when
|
||||
* xTimerStop() was called. xBlockTime is ignored if xTimerStop() is called
|
||||
* before the scheduler is started.
|
||||
*
|
||||
* @return pdFAIL will be returned if the stop command could not be sent to
|
||||
* the timer command queue even after xBlockTime ticks had passed. pdPASS will
|
||||
* be returned if the command was successfully sent to the timer command queue.
|
||||
* When the command is actually processed will depend on the priority of the
|
||||
* timer service/daemon task relative to other tasks in the system. The timer
|
||||
* service/daemon task priority is set by the configTIMER_TASK_PRIORITY
|
||||
* configuration constant.
|
||||
*
|
||||
* Example usage:
|
||||
*
|
||||
* See the xTimerCreate() API function example usage scenario.
|
||||
*
|
||||
*/
|
||||
#define xTimerStop( xTimer, xBlockTime ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP, 0U, NULL, ( xBlockTime ) )
|
||||
|
||||
/**
|
||||
* portBASE_TYPE xTimerChangePeriod( xTimerHandle xTimer,
|
||||
* portTickType xNewPeriod,
|
||||
* portTickType xBlockTime );
|
||||
*
|
||||
* Timer functionality is provided by a timer service/daemon task. Many of the
|
||||
* public FreeRTOS timer API functions send commands to the timer service task
|
||||
* though a queue called the timer command queue. The timer command queue is
|
||||
* private to the kernel itself and is not directly accessible to application
|
||||
* code. The length of the timer command queue is set by the
|
||||
* configTIMER_QUEUE_LENGTH configuration constant.
|
||||
*
|
||||
* xTimerChangePeriod() changes the period of a timer that was previously
|
||||
* created using the xTimerCreate() API function.
|
||||
*
|
||||
* xTimerChangePeriod() can be called to change the period of an active or
|
||||
* dormant state timer.
|
||||
*
|
||||
* The configUSE_TIMERS configuration constant must be set to 1 for
|
||||
* xTimerChangePeriod() to be available.
|
||||
*
|
||||
* @param xTimer The handle of the timer that is having its period changed.
|
||||
*
|
||||
* @param xNewPeriod The new period for xTimer. Timer periods are specified in
|
||||
* tick periods, so the constant portTICK_RATE_MS can be used to convert a time
|
||||
* that has been specified in milliseconds. For example, if the timer must
|
||||
* expire after 100 ticks, then xNewPeriod should be set to 100. Alternatively,
|
||||
* if the timer must expire after 500ms, then xNewPeriod can be set to
|
||||
* ( 500 / portTICK_RATE_MS ) provided configTICK_RATE_HZ is less than
|
||||
* or equal to 1000.
|
||||
*
|
||||
* @param xBlockTime Specifies the time, in ticks, that the calling task should
|
||||
* be held in the Blocked state to wait for the change period command to be
|
||||
* successfully sent to the timer command queue, should the queue already be
|
||||
* full when xTimerChangePeriod() was called. xBlockTime is ignored if
|
||||
* xTimerChangePeriod() is called before the scheduler is started.
|
||||
*
|
||||
* @return pdFAIL will be returned if the change period command could not be
|
||||
* sent to the timer command queue even after xBlockTime ticks had passed.
|
||||
* pdPASS will be returned if the command was successfully sent to the timer
|
||||
* command queue. When the command is actually processed will depend on the
|
||||
* priority of the timer service/daemon task relative to other tasks in the
|
||||
* system. The timer service/daemon task priority is set by the
|
||||
* configTIMER_TASK_PRIORITY configuration constant.
|
||||
*
|
||||
* Example usage:
|
||||
*
|
||||
* // This function assumes xTimer has already been created. If the timer
|
||||
* // referenced by xTimer is already active when it is called, then the timer
|
||||
* // is deleted. If the timer referenced by xTimer is not active when it is
|
||||
* // called, then the period of the timer is set to 500ms and the timer is
|
||||
* // started.
|
||||
* void vAFunction( xTimerHandle xTimer )
|
||||
* {
|
||||
* if( xTimerIsTimerActive( xTimer ) != pdFALSE ) // or more simply and equivalently "if( xTimerIsTimerActive( xTimer ) )"
|
||||
* {
|
||||
* // xTimer is already active - delete it.
|
||||
* xTimerDelete( xTimer );
|
||||
* }
|
||||
* else
|
||||
* {
|
||||
* // xTimer is not active, change its period to 500ms. This will also
|
||||
* // cause the timer to start. Block for a maximum of 100 ticks if the
|
||||
* // change period command cannot immediately be sent to the timer
|
||||
* // command queue.
|
||||
* if( xTimerChangePeriod( xTimer, 500 / portTICK_RATE_MS, 100 ) == pdPASS )
|
||||
* {
|
||||
* // The command was successfully sent.
|
||||
* }
|
||||
* else
|
||||
* {
|
||||
* // The command could not be sent, even after waiting for 100 ticks
|
||||
* // to pass. Take appropriate action here.
|
||||
* }
|
||||
* }
|
||||
* }
|
||||
*/
|
||||
#define xTimerChangePeriod( xTimer, xNewPeriod, xBlockTime ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD, ( xNewPeriod ), NULL, ( xBlockTime ) )
|
||||
|
||||
/**
|
||||
* portBASE_TYPE xTimerDelete( xTimerHandle xTimer, portTickType xBlockTime );
|
||||
*
|
||||
* Timer functionality is provided by a timer service/daemon task. Many of the
|
||||
* public FreeRTOS timer API functions send commands to the timer service task
|
||||
* though a queue called the timer command queue. The timer command queue is
|
||||
* private to the kernel itself and is not directly accessible to application
|
||||
* code. The length of the timer command queue is set by the
|
||||
* configTIMER_QUEUE_LENGTH configuration constant.
|
||||
*
|
||||
* xTimerDelete() deletes a timer that was previously created using the
|
||||
* xTimerCreate() API function.
|
||||
*
|
||||
* The configUSE_TIMERS configuration constant must be set to 1 for
|
||||
* xTimerDelete() to be available.
|
||||
*
|
||||
* @param xTimer The handle of the timer being deleted.
|
||||
*
|
||||
* @param xBlockTime Specifies the time, in ticks, that the calling task should
|
||||
* be held in the Blocked state to wait for the delete command to be
|
||||
* successfully sent to the timer command queue, should the queue already be
|
||||
* full when xTimerDelete() was called. xBlockTime is ignored if xTimerDelete()
|
||||
* is called before the scheduler is started.
|
||||
*
|
||||
* @return pdFAIL will be returned if the delete command could not be sent to
|
||||
* the timer command queue even after xBlockTime ticks had passed. pdPASS will
|
||||
* be returned if the command was successfully sent to the timer command queue.
|
||||
* When the command is actually processed will depend on the priority of the
|
||||
* timer service/daemon task relative to other tasks in the system. The timer
|
||||
* service/daemon task priority is set by the configTIMER_TASK_PRIORITY
|
||||
* configuration constant.
|
||||
*
|
||||
* Example usage:
|
||||
*
|
||||
* See the xTimerChangePeriod() API function example usage scenario.
|
||||
*/
|
||||
#define xTimerDelete( xTimer, xBlockTime ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_DELETE, 0U, NULL, ( xBlockTime ) )
|
||||
|
||||
/**
|
||||
* portBASE_TYPE xTimerReset( xTimerHandle xTimer, portTickType xBlockTime );
|
||||
*
|
||||
* Timer functionality is provided by a timer service/daemon task. Many of the
|
||||
* public FreeRTOS timer API functions send commands to the timer service task
|
||||
* though a queue called the timer command queue. The timer command queue is
|
||||
* private to the kernel itself and is not directly accessible to application
|
||||
* code. The length of the timer command queue is set by the
|
||||
* configTIMER_QUEUE_LENGTH configuration constant.
|
||||
*
|
||||
* xTimerReset() re-starts a timer that was previously created using the
|
||||
* xTimerCreate() API function. If the timer had already been started and was
|
||||
* already in the active state, then xTimerReset() will cause the timer to
|
||||
* re-evaluate its expiry time so that it is relative to when xTimerReset() was
|
||||
* called. If the timer was in the dormant state then xTimerReset() has
|
||||
* equivalent functionality to the xTimerStart() API function.
|
||||
*
|
||||
* Resetting a timer ensures the timer is in the active state. If the timer
|
||||
* is not stopped, deleted, or reset in the mean time, the callback function
|
||||
* associated with the timer will get called 'n' ticks after xTimerReset() was
|
||||
* called, where 'n' is the timers defined period.
|
||||
*
|
||||
* It is valid to call xTimerReset() before the scheduler has been started, but
|
||||
* when this is done the timer will not actually start until the scheduler is
|
||||
* started, and the timers expiry time will be relative to when the scheduler is
|
||||
* started, not relative to when xTimerReset() was called.
|
||||
*
|
||||
* The configUSE_TIMERS configuration constant must be set to 1 for xTimerReset()
|
||||
* to be available.
|
||||
*
|
||||
* @param xTimer The handle of the timer being reset/started/restarted.
|
||||
*
|
||||
* @param xBlockTime Specifies the time, in ticks, that the calling task should
|
||||
* be held in the Blocked state to wait for the reset command to be successfully
|
||||
* sent to the timer command queue, should the queue already be full when
|
||||
* xTimerReset() was called. xBlockTime is ignored if xTimerReset() is called
|
||||
* before the scheduler is started.
|
||||
*
|
||||
* @return pdFAIL will be returned if the reset command could not be sent to
|
||||
* the timer command queue even after xBlockTime ticks had passed. pdPASS will
|
||||
* be returned if the command was successfully sent to the timer command queue.
|
||||
* When the command is actually processed will depend on the priority of the
|
||||
* timer service/daemon task relative to other tasks in the system, although the
|
||||
* timers expiry time is relative to when xTimerStart() is actually called. The
|
||||
* timer service/daemon task priority is set by the configTIMER_TASK_PRIORITY
|
||||
* configuration constant.
|
||||
*
|
||||
* Example usage:
|
||||
*
|
||||
* // When a key is pressed, an LCD back-light is switched on. If 5 seconds pass
|
||||
* // without a key being pressed, then the LCD back-light is switched off. In
|
||||
* // this case, the timer is a one-shot timer.
|
||||
*
|
||||
* xTimerHandle xBacklightTimer = NULL;
|
||||
*
|
||||
* // The callback function assigned to the one-shot timer. In this case the
|
||||
* // parameter is not used.
|
||||
* void vBacklightTimerCallback( xTimerHandle pxTimer )
|
||||
* {
|
||||
* // The timer expired, therefore 5 seconds must have passed since a key
|
||||
* // was pressed. Switch off the LCD back-light.
|
||||
* vSetBacklightState( BACKLIGHT_OFF );
|
||||
* }
|
||||
*
|
||||
* // The key press event handler.
|
||||
* void vKeyPressEventHandler( char cKey )
|
||||
* {
|
||||
* // Ensure the LCD back-light is on, then reset the timer that is
|
||||
* // responsible for turning the back-light off after 5 seconds of
|
||||
* // key inactivity. Wait 10 ticks for the command to be successfully sent
|
||||
* // if it cannot be sent immediately.
|
||||
* vSetBacklightState( BACKLIGHT_ON );
|
||||
* if( xTimerReset( xBacklightTimer, 100 ) != pdPASS )
|
||||
* {
|
||||
* // The reset command was not executed successfully. Take appropriate
|
||||
* // action here.
|
||||
* }
|
||||
*
|
||||
* // Perform the rest of the key processing here.
|
||||
* }
|
||||
*
|
||||
* void main( void )
|
||||
* {
|
||||
* long x;
|
||||
*
|
||||
* // Create then start the one-shot timer that is responsible for turning
|
||||
* // the back-light off if no keys are pressed within a 5 second period.
|
||||
* xBacklightTimer = xTimerCreate( "BacklightTimer", // Just a text name, not used by the kernel.
|
||||
* ( 5000 / portTICK_RATE_MS), // The timer period in ticks.
|
||||
* pdFALSE, // The timer is a one-shot timer.
|
||||
* 0, // The id is not used by the callback so can take any value.
|
||||
* vBacklightTimerCallback // The callback function that switches the LCD back-light off.
|
||||
* );
|
||||
*
|
||||
* if( xBacklightTimer == NULL )
|
||||
* {
|
||||
* // The timer was not created.
|
||||
* }
|
||||
* else
|
||||
* {
|
||||
* // Start the timer. No block time is specified, and even if one was
|
||||
* // it would be ignored because the scheduler has not yet been
|
||||
* // started.
|
||||
* if( xTimerStart( xBacklightTimer, 0 ) != pdPASS )
|
||||
* {
|
||||
* // The timer could not be set into the Active state.
|
||||
* }
|
||||
* }
|
||||
*
|
||||
* // ...
|
||||
* // Create tasks here.
|
||||
* // ...
|
||||
*
|
||||
* // Starting the scheduler will start the timer running as it has already
|
||||
* // been set into the active state.
|
||||
* xTaskStartScheduler();
|
||||
*
|
||||
* // Should not reach here.
|
||||
* for( ;; );
|
||||
* }
|
||||
*/
|
||||
#define xTimerReset( xTimer, xBlockTime ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCount() ), NULL, ( xBlockTime ) )
|
||||
|
||||
/**
|
||||
* portBASE_TYPE xTimerStartFromISR( xTimerHandle xTimer,
|
||||
* portBASE_TYPE *pxHigherPriorityTaskWoken );
|
||||
*
|
||||
* A version of xTimerStart() that can be called from an interrupt service
|
||||
* routine.
|
||||
*
|
||||
* @param xTimer The handle of the timer being started/restarted.
|
||||
*
|
||||
* @param pxHigherPriorityTaskWoken The timer service/daemon task spends most
|
||||
* of its time in the Blocked state, waiting for messages to arrive on the timer
|
||||
* command queue. Calling xTimerStartFromISR() writes a message to the timer
|
||||
* command queue, so has the potential to transition the timer service/daemon
|
||||
* task out of the Blocked state. If calling xTimerStartFromISR() causes the
|
||||
* timer service/daemon task to leave the Blocked state, and the timer service/
|
||||
* daemon task has a priority equal to or greater than the currently executing
|
||||
* task (the task that was interrupted), then *pxHigherPriorityTaskWoken will
|
||||
* get set to pdTRUE internally within the xTimerStartFromISR() function. If
|
||||
* xTimerStartFromISR() sets this value to pdTRUE then a context switch should
|
||||
* be performed before the interrupt exits.
|
||||
*
|
||||
* @return pdFAIL will be returned if the start command could not be sent to
|
||||
* the timer command queue. pdPASS will be returned if the command was
|
||||
* successfully sent to the timer command queue. When the command is actually
|
||||
* processed will depend on the priority of the timer service/daemon task
|
||||
* relative to other tasks in the system, although the timers expiry time is
|
||||
* relative to when xTimerStartFromISR() is actually called. The timer service/daemon
|
||||
* task priority is set by the configTIMER_TASK_PRIORITY configuration constant.
|
||||
*
|
||||
* Example usage:
|
||||
*
|
||||
* // This scenario assumes xBacklightTimer has already been created. When a
|
||||
* // key is pressed, an LCD back-light is switched on. If 5 seconds pass
|
||||
* // without a key being pressed, then the LCD back-light is switched off. In
|
||||
* // this case, the timer is a one-shot timer, and unlike the example given for
|
||||
* // the xTimerReset() function, the key press event handler is an interrupt
|
||||
* // service routine.
|
||||
*
|
||||
* // The callback function assigned to the one-shot timer. In this case the
|
||||
* // parameter is not used.
|
||||
* void vBacklightTimerCallback( xTimerHandle pxTimer )
|
||||
* {
|
||||
* // The timer expired, therefore 5 seconds must have passed since a key
|
||||
* // was pressed. Switch off the LCD back-light.
|
||||
* vSetBacklightState( BACKLIGHT_OFF );
|
||||
* }
|
||||
*
|
||||
* // The key press interrupt service routine.
|
||||
* void vKeyPressEventInterruptHandler( void )
|
||||
* {
|
||||
* portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
|
||||
*
|
||||
* // Ensure the LCD back-light is on, then restart the timer that is
|
||||
* // responsible for turning the back-light off after 5 seconds of
|
||||
* // key inactivity. This is an interrupt service routine so can only
|
||||
* // call FreeRTOS API functions that end in "FromISR".
|
||||
* vSetBacklightState( BACKLIGHT_ON );
|
||||
*
|
||||
* // xTimerStartFromISR() or xTimerResetFromISR() could be called here
|
||||
* // as both cause the timer to re-calculate its expiry time.
|
||||
* // xHigherPriorityTaskWoken was initialised to pdFALSE when it was
|
||||
* // declared (in this function).
|
||||
* if( xTimerStartFromISR( xBacklightTimer, &xHigherPriorityTaskWoken ) != pdPASS )
|
||||
* {
|
||||
* // The start command was not executed successfully. Take appropriate
|
||||
* // action here.
|
||||
* }
|
||||
*
|
||||
* // Perform the rest of the key processing here.
|
||||
*
|
||||
* // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch
|
||||
* // should be performed. The syntax required to perform a context switch
|
||||
* // from inside an ISR varies from port to port, and from compiler to
|
||||
* // compiler. Inspect the demos for the port you are using to find the
|
||||
* // actual syntax required.
|
||||
* if( xHigherPriorityTaskWoken != pdFALSE )
|
||||
* {
|
||||
* // Call the interrupt safe yield function here (actual function
|
||||
* // depends on the FreeRTOS port being used.
|
||||
* }
|
||||
* }
|
||||
*/
|
||||
#define xTimerStartFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
|
||||
|
||||
/**
|
||||
* portBASE_TYPE xTimerStopFromISR( xTimerHandle xTimer,
|
||||
* portBASE_TYPE *pxHigherPriorityTaskWoken );
|
||||
*
|
||||
* A version of xTimerStop() that can be called from an interrupt service
|
||||
* routine.
|
||||
*
|
||||
* @param xTimer The handle of the timer being stopped.
|
||||
*
|
||||
* @param pxHigherPriorityTaskWoken The timer service/daemon task spends most
|
||||
* of its time in the Blocked state, waiting for messages to arrive on the timer
|
||||
* command queue. Calling xTimerStopFromISR() writes a message to the timer
|
||||
* command queue, so has the potential to transition the timer service/daemon
|
||||
* task out of the Blocked state. If calling xTimerStopFromISR() causes the
|
||||
* timer service/daemon task to leave the Blocked state, and the timer service/
|
||||
* daemon task has a priority equal to or greater than the currently executing
|
||||
* task (the task that was interrupted), then *pxHigherPriorityTaskWoken will
|
||||
* get set to pdTRUE internally within the xTimerStopFromISR() function. If
|
||||
* xTimerStopFromISR() sets this value to pdTRUE then a context switch should
|
||||
* be performed before the interrupt exits.
|
||||
*
|
||||
* @return pdFAIL will be returned if the stop command could not be sent to
|
||||
* the timer command queue. pdPASS will be returned if the command was
|
||||
* successfully sent to the timer command queue. When the command is actually
|
||||
* processed will depend on the priority of the timer service/daemon task
|
||||
* relative to other tasks in the system. The timer service/daemon task
|
||||
* priority is set by the configTIMER_TASK_PRIORITY configuration constant.
|
||||
*
|
||||
* Example usage:
|
||||
*
|
||||
* // This scenario assumes xTimer has already been created and started. When
|
||||
* // an interrupt occurs, the timer should be simply stopped.
|
||||
*
|
||||
* // The interrupt service routine that stops the timer.
|
||||
* void vAnExampleInterruptServiceRoutine( void )
|
||||
* {
|
||||
* portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
|
||||
*
|
||||
* // The interrupt has occurred - simply stop the timer.
|
||||
* // xHigherPriorityTaskWoken was set to pdFALSE where it was defined
|
||||
* // (within this function). As this is an interrupt service routine, only
|
||||
* // FreeRTOS API functions that end in "FromISR" can be used.
|
||||
* if( xTimerStopFromISR( xTimer, &xHigherPriorityTaskWoken ) != pdPASS )
|
||||
* {
|
||||
* // The stop command was not executed successfully. Take appropriate
|
||||
* // action here.
|
||||
* }
|
||||
*
|
||||
* // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch
|
||||
* // should be performed. The syntax required to perform a context switch
|
||||
* // from inside an ISR varies from port to port, and from compiler to
|
||||
* // compiler. Inspect the demos for the port you are using to find the
|
||||
* // actual syntax required.
|
||||
* if( xHigherPriorityTaskWoken != pdFALSE )
|
||||
* {
|
||||
* // Call the interrupt safe yield function here (actual function
|
||||
* // depends on the FreeRTOS port being used.
|
||||
* }
|
||||
* }
|
||||
*/
|
||||
#define xTimerStopFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP, 0, ( pxHigherPriorityTaskWoken ), 0U )
|
||||
|
||||
/**
|
||||
* portBASE_TYPE xTimerChangePeriodFromISR( xTimerHandle xTimer,
|
||||
* portTickType xNewPeriod,
|
||||
* portBASE_TYPE *pxHigherPriorityTaskWoken );
|
||||
*
|
||||
* A version of xTimerChangePeriod() that can be called from an interrupt
|
||||
* service routine.
|
||||
*
|
||||
* @param xTimer The handle of the timer that is having its period changed.
|
||||
*
|
||||
* @param xNewPeriod The new period for xTimer. Timer periods are specified in
|
||||
* tick periods, so the constant portTICK_RATE_MS can be used to convert a time
|
||||
* that has been specified in milliseconds. For example, if the timer must
|
||||
* expire after 100 ticks, then xNewPeriod should be set to 100. Alternatively,
|
||||
* if the timer must expire after 500ms, then xNewPeriod can be set to
|
||||
* ( 500 / portTICK_RATE_MS ) provided configTICK_RATE_HZ is less than
|
||||
* or equal to 1000.
|
||||
*
|
||||
* @param pxHigherPriorityTaskWoken The timer service/daemon task spends most
|
||||
* of its time in the Blocked state, waiting for messages to arrive on the timer
|
||||
* command queue. Calling xTimerChangePeriodFromISR() writes a message to the
|
||||
* timer command queue, so has the potential to transition the timer service/
|
||||
* daemon task out of the Blocked state. If calling xTimerChangePeriodFromISR()
|
||||
* causes the timer service/daemon task to leave the Blocked state, and the
|
||||
* timer service/daemon task has a priority equal to or greater than the
|
||||
* currently executing task (the task that was interrupted), then
|
||||
* *pxHigherPriorityTaskWoken will get set to pdTRUE internally within the
|
||||
* xTimerChangePeriodFromISR() function. If xTimerChangePeriodFromISR() sets
|
||||
* this value to pdTRUE then a context switch should be performed before the
|
||||
* interrupt exits.
|
||||
*
|
||||
* @return pdFAIL will be returned if the command to change the timers period
|
||||
* could not be sent to the timer command queue. pdPASS will be returned if the
|
||||
* command was successfully sent to the timer command queue. When the command
|
||||
* is actually processed will depend on the priority of the timer service/daemon
|
||||
* task relative to other tasks in the system. The timer service/daemon task
|
||||
* priority is set by the configTIMER_TASK_PRIORITY configuration constant.
|
||||
*
|
||||
* Example usage:
|
||||
*
|
||||
* // This scenario assumes xTimer has already been created and started. When
|
||||
* // an interrupt occurs, the period of xTimer should be changed to 500ms.
|
||||
*
|
||||
* // The interrupt service routine that changes the period of xTimer.
|
||||
* void vAnExampleInterruptServiceRoutine( void )
|
||||
* {
|
||||
* portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
|
||||
*
|
||||
* // The interrupt has occurred - change the period of xTimer to 500ms.
|
||||
* // xHigherPriorityTaskWoken was set to pdFALSE where it was defined
|
||||
* // (within this function). As this is an interrupt service routine, only
|
||||
* // FreeRTOS API functions that end in "FromISR" can be used.
|
||||
* if( xTimerChangePeriodFromISR( xTimer, &xHigherPriorityTaskWoken ) != pdPASS )
|
||||
* {
|
||||
* // The command to change the timers period was not executed
|
||||
* // successfully. Take appropriate action here.
|
||||
* }
|
||||
*
|
||||
* // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch
|
||||
* // should be performed. The syntax required to perform a context switch
|
||||
* // from inside an ISR varies from port to port, and from compiler to
|
||||
* // compiler. Inspect the demos for the port you are using to find the
|
||||
* // actual syntax required.
|
||||
* if( xHigherPriorityTaskWoken != pdFALSE )
|
||||
* {
|
||||
* // Call the interrupt safe yield function here (actual function
|
||||
* // depends on the FreeRTOS port being used.
|
||||
* }
|
||||
* }
|
||||
*/
|
||||
#define xTimerChangePeriodFromISR( xTimer, xNewPeriod, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD, ( xNewPeriod ), ( pxHigherPriorityTaskWoken ), 0U )
|
||||
|
||||
/**
|
||||
* portBASE_TYPE xTimerResetFromISR( xTimerHandle xTimer,
|
||||
* portBASE_TYPE *pxHigherPriorityTaskWoken );
|
||||
*
|
||||
* A version of xTimerReset() that can be called from an interrupt service
|
||||
* routine.
|
||||
*
|
||||
* @param xTimer The handle of the timer that is to be started, reset, or
|
||||
* restarted.
|
||||
*
|
||||
* @param pxHigherPriorityTaskWoken The timer service/daemon task spends most
|
||||
* of its time in the Blocked state, waiting for messages to arrive on the timer
|
||||
* command queue. Calling xTimerResetFromISR() writes a message to the timer
|
||||
* command queue, so has the potential to transition the timer service/daemon
|
||||
* task out of the Blocked state. If calling xTimerResetFromISR() causes the
|
||||
* timer service/daemon task to leave the Blocked state, and the timer service/
|
||||
* daemon task has a priority equal to or greater than the currently executing
|
||||
* task (the task that was interrupted), then *pxHigherPriorityTaskWoken will
|
||||
* get set to pdTRUE internally within the xTimerResetFromISR() function. If
|
||||
* xTimerResetFromISR() sets this value to pdTRUE then a context switch should
|
||||
* be performed before the interrupt exits.
|
||||
*
|
||||
* @return pdFAIL will be returned if the reset command could not be sent to
|
||||
* the timer command queue. pdPASS will be returned if the command was
|
||||
* successfully sent to the timer command queue. When the command is actually
|
||||
* processed will depend on the priority of the timer service/daemon task
|
||||
* relative to other tasks in the system, although the timers expiry time is
|
||||
* relative to when xTimerResetFromISR() is actually called. The timer service/daemon
|
||||
* task priority is set by the configTIMER_TASK_PRIORITY configuration constant.
|
||||
*
|
||||
* Example usage:
|
||||
*
|
||||
* // This scenario assumes xBacklightTimer has already been created. When a
|
||||
* // key is pressed, an LCD back-light is switched on. If 5 seconds pass
|
||||
* // without a key being pressed, then the LCD back-light is switched off. In
|
||||
* // this case, the timer is a one-shot timer, and unlike the example given for
|
||||
* // the xTimerReset() function, the key press event handler is an interrupt
|
||||
* // service routine.
|
||||
*
|
||||
* // The callback function assigned to the one-shot timer. In this case the
|
||||
* // parameter is not used.
|
||||
* void vBacklightTimerCallback( xTimerHandle pxTimer )
|
||||
* {
|
||||
* // The timer expired, therefore 5 seconds must have passed since a key
|
||||
* // was pressed. Switch off the LCD back-light.
|
||||
* vSetBacklightState( BACKLIGHT_OFF );
|
||||
* }
|
||||
*
|
||||
* // The key press interrupt service routine.
|
||||
* void vKeyPressEventInterruptHandler( void )
|
||||
* {
|
||||
* portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
|
||||
*
|
||||
* // Ensure the LCD back-light is on, then reset the timer that is
|
||||
* // responsible for turning the back-light off after 5 seconds of
|
||||
* // key inactivity. This is an interrupt service routine so can only
|
||||
* // call FreeRTOS API functions that end in "FromISR".
|
||||
* vSetBacklightState( BACKLIGHT_ON );
|
||||
*
|
||||
* // xTimerStartFromISR() or xTimerResetFromISR() could be called here
|
||||
* // as both cause the timer to re-calculate its expiry time.
|
||||
* // xHigherPriorityTaskWoken was initialised to pdFALSE when it was
|
||||
* // declared (in this function).
|
||||
* if( xTimerResetFromISR( xBacklightTimer, &xHigherPriorityTaskWoken ) != pdPASS )
|
||||
* {
|
||||
* // The reset command was not executed successfully. Take appropriate
|
||||
* // action here.
|
||||
* }
|
||||
*
|
||||
* // Perform the rest of the key processing here.
|
||||
*
|
||||
* // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch
|
||||
* // should be performed. The syntax required to perform a context switch
|
||||
* // from inside an ISR varies from port to port, and from compiler to
|
||||
* // compiler. Inspect the demos for the port you are using to find the
|
||||
* // actual syntax required.
|
||||
* if( xHigherPriorityTaskWoken != pdFALSE )
|
||||
* {
|
||||
* // Call the interrupt safe yield function here (actual function
|
||||
* // depends on the FreeRTOS port being used.
|
||||
* }
|
||||
* }
|
||||
*/
|
||||
#define xTimerResetFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
|
||||
|
||||
/*
|
||||
* Functions beyond this part are not part of the public API and are intended
|
||||
* for use by the kernel only.
|
||||
*/
|
||||
portBASE_TYPE xTimerCreateTimerTask( void ) PRIVILEGED_FUNCTION;
|
||||
portBASE_TYPE xTimerGenericCommand( xTimerHandle xTimer, portBASE_TYPE xCommandID, portTickType xOptionalValue, portBASE_TYPE *pxHigherPriorityTaskWoken, portTickType xBlockTime ) PRIVILEGED_FUNCTION;
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
#endif /* TIMERS_H */
|
||||
|
||||
|
||||
|
||||
@ -0,0 +1,197 @@
|
||||
/*
|
||||
FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
FreeRTOS supports many tools and architectures. V7.0.0 is sponsored by:
|
||||
Atollic AB - Atollic provides professional embedded systems development
|
||||
tools for C/C++ development, code analysis and test automation.
|
||||
See http://www.atollic.com
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
|
||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
This file is part of the FreeRTOS distribution.
|
||||
|
||||
FreeRTOS is free software; you can redistribute it and/or modify it under
|
||||
the terms of the GNU General Public License (version 2) as published by the
|
||||
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
>>>NOTE<<< The modification to the GPL is included to allow you to
|
||||
distribute a combined work that includes FreeRTOS without being obliged to
|
||||
provide the source code for proprietary components outside of the FreeRTOS
|
||||
kernel. FreeRTOS is distributed in the hope that it will be useful, but
|
||||
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
|
||||
more details. You should have received a copy of the GNU General Public
|
||||
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, latest information, license and
|
||||
contact details.
|
||||
|
||||
http://www.SafeRTOS.com - A version that is certified for use in safety
|
||||
critical systems.
|
||||
|
||||
http://www.OpenRTOS.com - Commercial support, development, porting,
|
||||
licensing and training services.
|
||||
*/
|
||||
|
||||
|
||||
#include <stdlib.h>
|
||||
#include "FreeRTOS.h"
|
||||
#include "list.h"
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* PUBLIC LIST API documented in list.h
|
||||
*----------------------------------------------------------*/
|
||||
|
||||
void vListInitialise( xList *pxList )
|
||||
{
|
||||
/* The list structure contains a list item which is used to mark the
|
||||
end of the list. To initialise the list the list end is inserted
|
||||
as the only list entry. */
|
||||
pxList->pxIndex = ( xListItem * ) &( pxList->xListEnd );
|
||||
|
||||
/* The list end value is the highest possible value in the list to
|
||||
ensure it remains at the end of the list. */
|
||||
pxList->xListEnd.xItemValue = portMAX_DELAY;
|
||||
|
||||
/* The list end next and previous pointers point to itself so we know
|
||||
when the list is empty. */
|
||||
pxList->xListEnd.pxNext = ( xListItem * ) &( pxList->xListEnd );
|
||||
pxList->xListEnd.pxPrevious = ( xListItem * ) &( pxList->xListEnd );
|
||||
|
||||
pxList->uxNumberOfItems = ( unsigned portBASE_TYPE ) 0U;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vListInitialiseItem( xListItem *pxItem )
|
||||
{
|
||||
/* Make sure the list item is not recorded as being on a list. */
|
||||
pxItem->pvContainer = NULL;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vListInsertEnd( xList *pxList, xListItem *pxNewListItem )
|
||||
{
|
||||
volatile xListItem * pxIndex;
|
||||
|
||||
/* Insert a new list item into pxList, but rather than sort the list,
|
||||
makes the new list item the last item to be removed by a call to
|
||||
pvListGetOwnerOfNextEntry. This means it has to be the item pointed to by
|
||||
the pxIndex member. */
|
||||
pxIndex = pxList->pxIndex;
|
||||
|
||||
pxNewListItem->pxNext = pxIndex->pxNext;
|
||||
pxNewListItem->pxPrevious = pxList->pxIndex;
|
||||
pxIndex->pxNext->pxPrevious = ( volatile xListItem * ) pxNewListItem;
|
||||
pxIndex->pxNext = ( volatile xListItem * ) pxNewListItem;
|
||||
pxList->pxIndex = ( volatile xListItem * ) pxNewListItem;
|
||||
|
||||
/* Remember which list the item is in. */
|
||||
pxNewListItem->pvContainer = ( void * ) pxList;
|
||||
|
||||
( pxList->uxNumberOfItems )++;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vListInsert( xList *pxList, xListItem *pxNewListItem )
|
||||
{
|
||||
volatile xListItem *pxIterator;
|
||||
portTickType xValueOfInsertion;
|
||||
|
||||
/* Insert the new list item into the list, sorted in ulListItem order. */
|
||||
xValueOfInsertion = pxNewListItem->xItemValue;
|
||||
|
||||
/* If the list already contains a list item with the same item value then
|
||||
the new list item should be placed after it. This ensures that TCB's which
|
||||
are stored in ready lists (all of which have the same ulListItem value)
|
||||
get an equal share of the CPU. However, if the xItemValue is the same as
|
||||
the back marker the iteration loop below will not end. This means we need
|
||||
to guard against this by checking the value first and modifying the
|
||||
algorithm slightly if necessary. */
|
||||
if( xValueOfInsertion == portMAX_DELAY )
|
||||
{
|
||||
pxIterator = pxList->xListEnd.pxPrevious;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* *** NOTE ***********************************************************
|
||||
If you find your application is crashing here then likely causes are:
|
||||
1) Stack overflow -
|
||||
see http://www.freertos.org/Stacks-and-stack-overflow-checking.html
|
||||
2) Incorrect interrupt priority assignment, especially on Cortex-M3
|
||||
parts where numerically high priority values denote low actual
|
||||
interrupt priories, which can seem counter intuitive. See
|
||||
configMAX_SYSCALL_INTERRUPT_PRIORITY on http://www.freertos.org/a00110.html
|
||||
3) Calling an API function from within a critical section or when
|
||||
the scheduler is suspended.
|
||||
4) Using a queue or semaphore before it has been initialised or
|
||||
before the scheduler has been started (are interrupts firing
|
||||
before vTaskStartScheduler() has been called?).
|
||||
See http://www.freertos.org/FAQHelp.html for more tips.
|
||||
**********************************************************************/
|
||||
|
||||
for( pxIterator = ( xListItem * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext )
|
||||
{
|
||||
/* There is nothing to do here, we are just iterating to the
|
||||
wanted insertion position. */
|
||||
}
|
||||
}
|
||||
|
||||
pxNewListItem->pxNext = pxIterator->pxNext;
|
||||
pxNewListItem->pxNext->pxPrevious = ( volatile xListItem * ) pxNewListItem;
|
||||
pxNewListItem->pxPrevious = pxIterator;
|
||||
pxIterator->pxNext = ( volatile xListItem * ) pxNewListItem;
|
||||
|
||||
/* Remember which list the item is in. This allows fast removal of the
|
||||
item later. */
|
||||
pxNewListItem->pvContainer = ( void * ) pxList;
|
||||
|
||||
( pxList->uxNumberOfItems )++;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vListRemove( xListItem *pxItemToRemove )
|
||||
{
|
||||
xList * pxList;
|
||||
|
||||
pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious;
|
||||
pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext;
|
||||
|
||||
/* The list item knows which list it is in. Obtain the list from the list
|
||||
item. */
|
||||
pxList = ( xList * ) pxItemToRemove->pvContainer;
|
||||
|
||||
/* Make sure the index is left pointing to a valid item. */
|
||||
if( pxList->pxIndex == pxItemToRemove )
|
||||
{
|
||||
pxList->pxIndex = pxItemToRemove->pxPrevious;
|
||||
}
|
||||
|
||||
pxItemToRemove->pvContainer = NULL;
|
||||
( pxList->uxNumberOfItems )--;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
@ -0,0 +1,338 @@
|
||||
/*
|
||||
FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
|
||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
This file is part of the FreeRTOS distribution.
|
||||
|
||||
FreeRTOS is free software; you can redistribute it and/or modify it under
|
||||
the terms of the GNU General Public License (version 2) as published by the
|
||||
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
>>>NOTE<<< The modification to the GPL is included to allow you to
|
||||
distribute a combined work that includes FreeRTOS without being obliged to
|
||||
provide the source code for proprietary components outside of the FreeRTOS
|
||||
kernel. FreeRTOS is distributed in the hope that it will be useful, but
|
||||
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
|
||||
more details. You should have received a copy of the GNU General Public
|
||||
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, latest information, license and
|
||||
contact details.
|
||||
|
||||
http://www.SafeRTOS.com - A version that is certified for use in safety
|
||||
critical systems.
|
||||
|
||||
http://www.OpenRTOS.com - Commercial support, development, porting,
|
||||
licensing and training services.
|
||||
*/
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* Implementation of functions defined in portable.h for the MicroBlaze port.
|
||||
*----------------------------------------------------------*/
|
||||
|
||||
|
||||
/* Scheduler includes. */
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
/* Standard includes. */
|
||||
#include <string.h>
|
||||
|
||||
/* Hardware includes. */
|
||||
#include <xintc.h>
|
||||
#include <xintc_i.h>
|
||||
#include <xtmrctr.h>
|
||||
|
||||
/* Tasks are started with interrupts enabled. */
|
||||
#define portINITIAL_MSR_STATE ( ( portSTACK_TYPE ) 0x02 )
|
||||
|
||||
/* Tasks are started with a critical section nesting of 0 - however prior
|
||||
to the scheduler being commenced we don't want the critical nesting level
|
||||
to reach zero, so it is initialised to a high value. */
|
||||
#define portINITIAL_NESTING_VALUE ( 0xff )
|
||||
|
||||
/* Our hardware setup only uses one counter. */
|
||||
#define portCOUNTER_0 0
|
||||
|
||||
/* The stack used by the ISR is filled with a known value to assist in
|
||||
debugging. */
|
||||
#define portISR_STACK_FILL_VALUE 0x55555555
|
||||
|
||||
/* Counts the nesting depth of calls to portENTER_CRITICAL(). Each task
|
||||
maintains it's own count, so this variable is saved as part of the task
|
||||
context. */
|
||||
volatile unsigned portBASE_TYPE uxCriticalNesting = portINITIAL_NESTING_VALUE;
|
||||
|
||||
/* To limit the amount of stack required by each task, this port uses a
|
||||
separate stack for interrupts. */
|
||||
unsigned long *pulISRStack;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Call an application provided callback to set up the periodic interrupt used
|
||||
* for the RTOS tick. Using an application callback allows the application
|
||||
* writer to decide
|
||||
*/
|
||||
extern void vApplicationSetupTimerInterrupt( void );
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Initialise the stack of a task to look exactly as if a call to
|
||||
* portSAVE_CONTEXT had been made.
|
||||
*
|
||||
* See the header file portable.h.
|
||||
*/
|
||||
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
|
||||
{
|
||||
extern void *_SDA2_BASE_, *_SDA_BASE_;
|
||||
const unsigned long ulR2 = ( unsigned long ) &_SDA2_BASE_;
|
||||
const unsigned long ulR13 = ( unsigned long ) &_SDA_BASE_;
|
||||
|
||||
#if 0
|
||||
#ifdef XPAR_MICROBLAZE_USE_ICACHE
|
||||
microblaze_invalidate_icache();
|
||||
microblaze_enable_icache();
|
||||
#endif
|
||||
|
||||
#ifdef XPAR_MICROBLAZE_USE_DCACHE
|
||||
microblaze_invalidate_dcache();
|
||||
microblaze_enable_dcache();
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/* Place a few bytes of known values on the bottom of the stack.
|
||||
This is essential for the Microblaze port and these lines must
|
||||
not be omitted. The parameter value will overwrite the
|
||||
0x22222222 value during the function prologue. */
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x11111111;
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x22222222;
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x33333333;
|
||||
pxTopOfStack--;
|
||||
|
||||
/* First stack an initial value for the critical section nesting. This
|
||||
is initialised to zero as tasks are started with interrupts enabled. */
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x00; /* R0. */
|
||||
|
||||
/* Place an initial value for all the general purpose registers. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) ulR2; /* R2 - small data area. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x03; /* R3. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x04; /* R4. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;/* R5 contains the function call parameters. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x06; /* R6. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x07; /* R7. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x08; /* R8. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x09; /* R9. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x0a; /* R10. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x0b; /* R11. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x0c; /* R12. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) ulR13; /* R13 - small data read write area. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* R14. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x0f; /* R15. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x10; /* R16. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x11; /* R17. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x12; /* R18. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x13; /* R19. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x14; /* R20. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x15; /* R21. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x16; /* R22. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x17; /* R23. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x18; /* R24. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x19; /* R25. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x1a; /* R26. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x1b; /* R27. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x1c; /* R28. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x1d; /* R29. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x1e; /* R30. */
|
||||
pxTopOfStack--;
|
||||
|
||||
/* The MSR is stacked between R30 and R31. */
|
||||
*pxTopOfStack = portINITIAL_MSR_STATE;
|
||||
pxTopOfStack--;
|
||||
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x1f; /* R31. */
|
||||
pxTopOfStack--;
|
||||
|
||||
/* Return a pointer to the top of the stack we have generated so this can
|
||||
be stored in the task control block for the task. */
|
||||
return pxTopOfStack;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
portBASE_TYPE xPortStartScheduler( void )
|
||||
{
|
||||
extern void ( vStartFirstTask )( void );
|
||||
int iStatus;
|
||||
|
||||
/* Setup the hardware to generate the tick. Interrupts are disabled when
|
||||
this function is called. */
|
||||
vApplicationSetupTimerInterrupt();
|
||||
|
||||
/* Allocate the stack to be used by the interrupt handler. */
|
||||
pulISRStack = ( unsigned long * ) pvPortMalloc( configINTERRUPT_STACK_SIZE * sizeof( portSTACK_TYPE ) );
|
||||
|
||||
/* Restore the context of the first task that is going to run. */
|
||||
if( pulISRStack != NULL )
|
||||
{
|
||||
/* Fill the ISR stack with a known value to facilitate debugging. */
|
||||
memset( pulISRStack, portISR_STACK_FILL_VALUE, configMINIMAL_STACK_SIZE * sizeof( portSTACK_TYPE ) );
|
||||
pulISRStack += ( configMINIMAL_STACK_SIZE - 1 );
|
||||
|
||||
/* Enable exceptions. */
|
||||
microblaze_enable_interrupts();
|
||||
|
||||
if( iStatus == XST_SUCCESS )
|
||||
{
|
||||
/* Kick off the first task. */
|
||||
vStartFirstTask();
|
||||
}
|
||||
}
|
||||
|
||||
/* Should not get here as the tasks are now running! */
|
||||
return pdFALSE;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortEndScheduler( void )
|
||||
{
|
||||
/* Not implemented. */
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Manual context switch called by portYIELD or taskYIELD.
|
||||
*/
|
||||
void vPortYield( void )
|
||||
{
|
||||
extern void VPortYieldASM( void );
|
||||
|
||||
/* Perform the context switch in a critical section to assure it is
|
||||
not interrupted by the tick ISR. It is not a problem to do this as
|
||||
each task maintains it's own interrupt status. */
|
||||
portENTER_CRITICAL();
|
||||
/* Jump directly to the yield function to ensure there is no
|
||||
compiler generated prologue code. */
|
||||
asm volatile ( "bralid r14, VPortYieldASM \n\t" \
|
||||
"or r0, r0, r0 \n\t" );
|
||||
portEXIT_CRITICAL();
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* The task context has already been saved when this is called.
|
||||
*
|
||||
* This handler determines the interrupt source and calls the relevant
|
||||
* peripheral handler.
|
||||
*/
|
||||
void vTaskISRHandler( void )
|
||||
{
|
||||
static unsigned long ulPending;
|
||||
static XIntc_VectorTableEntry *pxTablePtr;
|
||||
static XIntc_Config *pxConfig;
|
||||
static unsigned long ulInterruptMask;
|
||||
|
||||
/* Which interrupts are pending? */
|
||||
ulPending = XIntc_In32( ( XPAR_INTC_SINGLE_BASEADDR + XIN_IVR_OFFSET ) );
|
||||
|
||||
if( ulPending < XPAR_INTC_MAX_NUM_INTR_INPUTS )
|
||||
{
|
||||
|
||||
ulInterruptMask = ( unsigned long ) 1 << ulPending;
|
||||
|
||||
/* Get the configuration data using the device ID */
|
||||
pxConfig = &XIntc_ConfigTable[ ( unsigned long ) XPAR_INTC_SINGLE_DEVICE_ID ];
|
||||
|
||||
pxTablePtr = &( pxConfig->HandlerTable[ ulPending ] );
|
||||
if( pxConfig->AckBeforeService & ( ulInterruptMask ) )
|
||||
{
|
||||
XIntc_AckIntr( pxConfig->BaseAddress, ulInterruptMask );
|
||||
pxTablePtr->Handler( pxTablePtr->CallBackRef );
|
||||
}
|
||||
else
|
||||
{
|
||||
pxTablePtr->Handler( pxTablePtr->CallBackRef );
|
||||
XIntc_AckIntr( pxConfig->BaseAddress, ulInterruptMask );
|
||||
}
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Handler for the timer interrupt.
|
||||
*/
|
||||
void vTickISR( void *pvUnused, unsigned char ucUnused )
|
||||
{
|
||||
/* Ensure the unused parameter does not generate a compiler warning. */
|
||||
( void ) pvUnused;
|
||||
|
||||
/* Increment the RTOS tick - this might cause a task to unblock. */
|
||||
vTaskIncrementTick();
|
||||
|
||||
/* If we are using the preemptive scheduler then we also need to determine
|
||||
if this tick should cause a context switch. */
|
||||
#if configUSE_PREEMPTION == 1
|
||||
vTaskSwitchContext();
|
||||
#endif
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@ -0,0 +1,171 @@
|
||||
.extern pxCurrentTCB
|
||||
.extern vTaskISRHandler
|
||||
.extern vTaskSwitchContext
|
||||
.extern uxCriticalNesting
|
||||
.extern pulISRStack
|
||||
|
||||
.global _interrupt_handler
|
||||
.global VPortYieldASM
|
||||
.global vStartFirstTask
|
||||
|
||||
|
||||
.macro portSAVE_CONTEXT
|
||||
/* Make room for the context on the stack. */
|
||||
addik r1, r1, -132
|
||||
/* Save r31 so it can then be used. */
|
||||
swi r31, r1, 4
|
||||
/* Copy the msr into r31 - this is stacked later. */
|
||||
mfs r31, rmsr
|
||||
/* Stack general registers. */
|
||||
swi r30, r1, 12
|
||||
swi r29, r1, 16
|
||||
swi r28, r1, 20
|
||||
swi r27, r1, 24
|
||||
swi r26, r1, 28
|
||||
swi r25, r1, 32
|
||||
swi r24, r1, 36
|
||||
swi r23, r1, 40
|
||||
swi r22, r1, 44
|
||||
swi r21, r1, 48
|
||||
swi r20, r1, 52
|
||||
swi r19, r1, 56
|
||||
swi r18, r1, 60
|
||||
swi r17, r1, 64
|
||||
swi r16, r1, 68
|
||||
swi r15, r1, 72
|
||||
swi r13, r1, 80
|
||||
swi r12, r1, 84
|
||||
swi r11, r1, 88
|
||||
swi r10, r1, 92
|
||||
swi r9, r1, 96
|
||||
swi r8, r1, 100
|
||||
swi r7, r1, 104
|
||||
swi r6, r1, 108
|
||||
swi r5, r1, 112
|
||||
swi r4, r1, 116
|
||||
swi r3, r1, 120
|
||||
swi r2, r1, 124
|
||||
/* Stack the critical section nesting value. */
|
||||
lwi r3, r0, uxCriticalNesting
|
||||
swi r3, r1, 128
|
||||
/* Save the top of stack value to the TCB. */
|
||||
lwi r3, r0, pxCurrentTCB
|
||||
sw r1, r0, r3
|
||||
|
||||
.endm
|
||||
|
||||
.macro portRESTORE_CONTEXT
|
||||
/* Load the top of stack value from the TCB. */
|
||||
lwi r3, r0, pxCurrentTCB
|
||||
lw r1, r0, r3
|
||||
/* Restore the general registers. */
|
||||
lwi r31, r1, 4
|
||||
lwi r30, r1, 12
|
||||
lwi r29, r1, 16
|
||||
lwi r28, r1, 20
|
||||
lwi r27, r1, 24
|
||||
lwi r26, r1, 28
|
||||
lwi r25, r1, 32
|
||||
lwi r24, r1, 36
|
||||
lwi r23, r1, 40
|
||||
lwi r22, r1, 44
|
||||
lwi r21, r1, 48
|
||||
lwi r20, r1, 52
|
||||
lwi r19, r1, 56
|
||||
lwi r18, r1, 60
|
||||
lwi r17, r1, 64
|
||||
lwi r16, r1, 68
|
||||
lwi r15, r1, 72
|
||||
lwi r14, r1, 76
|
||||
lwi r13, r1, 80
|
||||
lwi r12, r1, 84
|
||||
lwi r11, r1, 88
|
||||
lwi r10, r1, 92
|
||||
lwi r9, r1, 96
|
||||
lwi r8, r1, 100
|
||||
lwi r7, r1, 104
|
||||
lwi r6, r1, 108
|
||||
lwi r5, r1, 112
|
||||
lwi r4, r1, 116
|
||||
lwi r2, r1, 124
|
||||
|
||||
/* Load the critical nesting value. */
|
||||
lwi r3, r1, 128
|
||||
swi r3, r0, uxCriticalNesting
|
||||
|
||||
/* Obtain the MSR value from the stack. */
|
||||
lwi r3, r1, 8
|
||||
|
||||
/* Are interrupts enabled in the MSR? If so return using an return from
|
||||
interrupt instruction to ensure interrupts are enabled only once the task
|
||||
is running again. */
|
||||
andi r3, r3, 2
|
||||
beqid r3, 36
|
||||
or r0, r0, r0
|
||||
|
||||
/* Reload the rmsr from the stack, clear the enable interrupt bit in the
|
||||
value before saving back to rmsr register, then return enabling interrupts
|
||||
as we return. */
|
||||
lwi r3, r1, 8
|
||||
andi r3, r3, ~2
|
||||
mts rmsr, r3
|
||||
lwi r3, r1, 120
|
||||
addik r1, r1, 132
|
||||
rtid r14, 0
|
||||
or r0, r0, r0
|
||||
|
||||
/* Reload the rmsr from the stack, place it in the rmsr register, and
|
||||
return without enabling interrupts. */
|
||||
lwi r3, r1, 8
|
||||
mts rmsr, r3
|
||||
lwi r3, r1, 120
|
||||
addik r1, r1, 132
|
||||
rtsd r14, 0
|
||||
or r0, r0, r0
|
||||
|
||||
.endm
|
||||
|
||||
.text
|
||||
.align 2
|
||||
|
||||
|
||||
_interrupt_handler:
|
||||
portSAVE_CONTEXT
|
||||
/* Entered via an interrupt so interrupts must be enabled in msr. */
|
||||
ori r31, r31, 2
|
||||
/* Stack msr. */
|
||||
swi r31, r1, 8
|
||||
/* Stack the return address. As we entered via an interrupt we do
|
||||
not need to modify the return address prior to stacking. */
|
||||
swi r14, r1, 76
|
||||
/* Now switch to use the ISR stack. */
|
||||
lwi r3, r0, pulISRStack
|
||||
add r1, r3, r0
|
||||
bralid r15, vTaskISRHandler
|
||||
or r0, r0, r0
|
||||
portRESTORE_CONTEXT
|
||||
|
||||
|
||||
VPortYieldASM:
|
||||
portSAVE_CONTEXT
|
||||
/* Stack msr. */
|
||||
swi r31, r1, 8
|
||||
/* Modify the return address so we return to the instruction after the
|
||||
exception. */
|
||||
addi r14, r14, 8
|
||||
swi r14, r1, 76
|
||||
/* Now switch to use the ISR stack. */
|
||||
lwi r3, r0, pulISRStack
|
||||
add r1, r3, r0
|
||||
bralid r15, vTaskSwitchContext
|
||||
or r0, r0, r0
|
||||
portRESTORE_CONTEXT
|
||||
|
||||
vStartFirstTask:
|
||||
portRESTORE_CONTEXT
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@ -0,0 +1,144 @@
|
||||
/*
|
||||
FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
|
||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
This file is part of the FreeRTOS distribution.
|
||||
|
||||
FreeRTOS is free software; you can redistribute it and/or modify it under
|
||||
the terms of the GNU General Public License (version 2) as published by the
|
||||
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
>>>NOTE<<< The modification to the GPL is included to allow you to
|
||||
distribute a combined work that includes FreeRTOS without being obliged to
|
||||
provide the source code for proprietary components outside of the FreeRTOS
|
||||
kernel. FreeRTOS is distributed in the hope that it will be useful, but
|
||||
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
|
||||
more details. You should have received a copy of the GNU General Public
|
||||
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, latest information, license and
|
||||
contact details.
|
||||
|
||||
http://www.SafeRTOS.com - A version that is certified for use in safety
|
||||
critical systems.
|
||||
|
||||
http://www.OpenRTOS.com - Commercial support, development, porting,
|
||||
licensing and training services.
|
||||
*/
|
||||
|
||||
#ifndef PORTMACRO_H
|
||||
#define PORTMACRO_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* Port specific definitions.
|
||||
*
|
||||
* The settings in this file configure FreeRTOS correctly for the
|
||||
* given hardware and compiler.
|
||||
*
|
||||
* These settings should not be altered.
|
||||
*-----------------------------------------------------------
|
||||
*/
|
||||
|
||||
/* Type definitions. */
|
||||
#define portCHAR char
|
||||
#define portFLOAT float
|
||||
#define portDOUBLE double
|
||||
#define portLONG long
|
||||
#define portSHORT short
|
||||
#define portSTACK_TYPE unsigned portLONG
|
||||
#define portBASE_TYPE portLONG
|
||||
|
||||
#if( configUSE_16_BIT_TICKS == 1 )
|
||||
typedef unsigned portSHORT portTickType;
|
||||
#define portMAX_DELAY ( portTickType ) 0xffff
|
||||
#else
|
||||
typedef unsigned portLONG portTickType;
|
||||
#define portMAX_DELAY ( portTickType ) 0xffffffff
|
||||
#endif
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Interrupt control macros. */
|
||||
void microblaze_disable_interrupts( void );
|
||||
void microblaze_enable_interrupts( void );
|
||||
#define portDISABLE_INTERRUPTS() microblaze_disable_interrupts()
|
||||
#define portENABLE_INTERRUPTS() microblaze_enable_interrupts()
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Critical section macros. */
|
||||
void vPortEnterCritical( void );
|
||||
void vPortExitCritical( void );
|
||||
#define portENTER_CRITICAL() { \
|
||||
extern volatile unsigned portBASE_TYPE uxCriticalNesting; \
|
||||
microblaze_disable_interrupts(); \
|
||||
uxCriticalNesting++; \
|
||||
}
|
||||
|
||||
#define portEXIT_CRITICAL() { \
|
||||
extern volatile unsigned portBASE_TYPE uxCriticalNesting; \
|
||||
/* Interrupts are disabled, so we can */ \
|
||||
/* access the variable directly. */ \
|
||||
uxCriticalNesting--; \
|
||||
if( uxCriticalNesting == 0 ) \
|
||||
{ \
|
||||
/* The nesting has unwound and we \
|
||||
can enable interrupts again. */ \
|
||||
portENABLE_INTERRUPTS(); \
|
||||
} \
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Task utilities. */
|
||||
void vPortYield( void );
|
||||
#define portYIELD() vPortYield()
|
||||
|
||||
void vTaskSwitchContext();
|
||||
#define portYIELD_FROM_ISR( x ) if( x != pdFALSE ) vTaskSwitchContext()
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Hardware specifics. */
|
||||
#define portBYTE_ALIGNMENT 4
|
||||
#define portSTACK_GROWTH ( -1 )
|
||||
#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
|
||||
#define portNOP() asm volatile ( "NOP" )
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* 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 )
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* PORTMACRO_H */
|
||||
|
||||
@ -0,0 +1,278 @@
|
||||
/*
|
||||
FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
|
||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
This file is part of the FreeRTOS distribution.
|
||||
|
||||
FreeRTOS is free software; you can redistribute it and/or modify it under
|
||||
the terms of the GNU General Public License (version 2) as published by the
|
||||
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
>>>NOTE<<< The modification to the GPL is included to allow you to
|
||||
distribute a combined work that includes FreeRTOS without being obliged to
|
||||
provide the source code for proprietary components outside of the FreeRTOS
|
||||
kernel. FreeRTOS is distributed in the hope that it will be useful, but
|
||||
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
|
||||
more details. You should have received a copy of the GNU General Public
|
||||
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, latest information, license and
|
||||
contact details.
|
||||
|
||||
http://www.SafeRTOS.com - A version that is certified for use in safety
|
||||
critical systems.
|
||||
|
||||
http://www.OpenRTOS.com - Commercial support, development, porting,
|
||||
licensing and training services.
|
||||
*/
|
||||
|
||||
/*
|
||||
* A sample implementation of pvPortMalloc() and vPortFree() that permits
|
||||
* allocated blocks to be freed, but does not combine adjacent free blocks
|
||||
* into a single larger block.
|
||||
*
|
||||
* See heap_1.c and heap_3.c for alternative implementations, and the memory
|
||||
* management pages of http://www.FreeRTOS.org for more information.
|
||||
*/
|
||||
#include <stdlib.h>
|
||||
|
||||
/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
|
||||
all the API functions to use the MPU wrappers. That should only be done when
|
||||
task.h is included from an application file. */
|
||||
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
|
||||
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
|
||||
|
||||
/* Allocate the memory for the heap. The struct is used to force byte
|
||||
alignment without using any non-portable code. */
|
||||
static union xRTOS_HEAP
|
||||
{
|
||||
#if portBYTE_ALIGNMENT == 8
|
||||
volatile portDOUBLE dDummy;
|
||||
#else
|
||||
volatile unsigned long ulDummy;
|
||||
#endif
|
||||
unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
|
||||
} xHeap;
|
||||
|
||||
/* Define the linked list structure. This is used to link free blocks in order
|
||||
of their size. */
|
||||
typedef struct A_BLOCK_LINK
|
||||
{
|
||||
struct A_BLOCK_LINK *pxNextFreeBlock; /*<< The next free block in the list. */
|
||||
size_t xBlockSize; /*<< The size of the free block. */
|
||||
} xBlockLink;
|
||||
|
||||
|
||||
static const unsigned short heapSTRUCT_SIZE = ( sizeof( xBlockLink ) + portBYTE_ALIGNMENT - ( sizeof( xBlockLink ) % portBYTE_ALIGNMENT ) );
|
||||
#define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( heapSTRUCT_SIZE * 2 ) )
|
||||
|
||||
/* Create a couple of list links to mark the start and end of the list. */
|
||||
static xBlockLink xStart, xEnd;
|
||||
|
||||
/* Keeps track of the number of free bytes remaining, but says nothing about
|
||||
fragmentation. */
|
||||
static size_t xFreeBytesRemaining = configTOTAL_HEAP_SIZE;
|
||||
|
||||
/* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */
|
||||
|
||||
/*
|
||||
* Insert a block into the list of free blocks - which is ordered by size of
|
||||
* the block. Small blocks at the start of the list and large blocks at the end
|
||||
* of the list.
|
||||
*/
|
||||
#define prvInsertBlockIntoFreeList( pxBlockToInsert ) \
|
||||
{ \
|
||||
xBlockLink *pxIterator; \
|
||||
size_t xBlockSize; \
|
||||
\
|
||||
xBlockSize = pxBlockToInsert->xBlockSize; \
|
||||
\
|
||||
/* Iterate through the list until a block is found that has a larger size */ \
|
||||
/* than the block we are inserting. */ \
|
||||
for( pxIterator = &xStart; pxIterator->pxNextFreeBlock->xBlockSize < xBlockSize; pxIterator = pxIterator->pxNextFreeBlock ) \
|
||||
{ \
|
||||
/* There is nothing to do here - just iterate to the correct position. */ \
|
||||
} \
|
||||
\
|
||||
/* Update the list to include the block being inserted in the correct */ \
|
||||
/* position. */ \
|
||||
pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock; \
|
||||
pxIterator->pxNextFreeBlock = pxBlockToInsert; \
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#define prvHeapInit() \
|
||||
{ \
|
||||
xBlockLink *pxFirstFreeBlock; \
|
||||
\
|
||||
/* xStart is used to hold a pointer to the first item in the list of free */ \
|
||||
/* blocks. The void cast is used to prevent compiler warnings. */ \
|
||||
xStart.pxNextFreeBlock = ( void * ) xHeap.ucHeap; \
|
||||
xStart.xBlockSize = ( size_t ) 0; \
|
||||
\
|
||||
/* xEnd is used to mark the end of the list of free blocks. */ \
|
||||
xEnd.xBlockSize = configTOTAL_HEAP_SIZE; \
|
||||
xEnd.pxNextFreeBlock = NULL; \
|
||||
\
|
||||
/* To start with there is a single free block that is sized to take up the \
|
||||
entire heap space. */ \
|
||||
pxFirstFreeBlock = ( void * ) xHeap.ucHeap; \
|
||||
pxFirstFreeBlock->xBlockSize = configTOTAL_HEAP_SIZE; \
|
||||
pxFirstFreeBlock->pxNextFreeBlock = &xEnd; \
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void *pvPortMalloc( size_t xWantedSize )
|
||||
{
|
||||
xBlockLink *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
|
||||
static portBASE_TYPE xHeapHasBeenInitialised = pdFALSE;
|
||||
void *pvReturn = NULL;
|
||||
|
||||
vTaskSuspendAll();
|
||||
{
|
||||
/* If this is the first call to malloc then the heap will require
|
||||
initialisation to setup the list of free blocks. */
|
||||
if( xHeapHasBeenInitialised == pdFALSE )
|
||||
{
|
||||
prvHeapInit();
|
||||
xHeapHasBeenInitialised = pdTRUE;
|
||||
}
|
||||
|
||||
/* The wanted size is increased so it can contain a xBlockLink
|
||||
structure in addition to the requested amount of bytes. */
|
||||
if( xWantedSize > 0 )
|
||||
{
|
||||
xWantedSize += heapSTRUCT_SIZE;
|
||||
|
||||
/* Ensure that blocks are always aligned to the required number of bytes. */
|
||||
if( xWantedSize & portBYTE_ALIGNMENT_MASK )
|
||||
{
|
||||
/* Byte alignment required. */
|
||||
xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
|
||||
}
|
||||
}
|
||||
|
||||
if( ( xWantedSize > 0 ) && ( xWantedSize < configTOTAL_HEAP_SIZE ) )
|
||||
{
|
||||
/* Blocks are stored in byte order - traverse the list from the start
|
||||
(smallest) block until one of adequate size is found. */
|
||||
pxPreviousBlock = &xStart;
|
||||
pxBlock = xStart.pxNextFreeBlock;
|
||||
while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock ) )
|
||||
{
|
||||
pxPreviousBlock = pxBlock;
|
||||
pxBlock = pxBlock->pxNextFreeBlock;
|
||||
}
|
||||
|
||||
/* If we found the end marker then a block of adequate size was not found. */
|
||||
if( pxBlock != &xEnd )
|
||||
{
|
||||
/* Return the memory space - jumping over the xBlockLink structure
|
||||
at its start. */
|
||||
pvReturn = ( void * ) ( ( ( unsigned char * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE );
|
||||
|
||||
/* This block is being returned for use so must be taken our of the
|
||||
list of free blocks. */
|
||||
pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
|
||||
|
||||
/* If the block is larger than required it can be split into two. */
|
||||
if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
|
||||
{
|
||||
/* This block is to be split into two. Create a new block
|
||||
following the number of bytes requested. The void cast is
|
||||
used to prevent byte alignment warnings from the compiler. */
|
||||
pxNewBlockLink = ( void * ) ( ( ( unsigned char * ) pxBlock ) + xWantedSize );
|
||||
|
||||
/* Calculate the sizes of two blocks split from the single
|
||||
block. */
|
||||
pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
|
||||
pxBlock->xBlockSize = xWantedSize;
|
||||
|
||||
/* Insert the new block into the list of free blocks. */
|
||||
prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
|
||||
}
|
||||
|
||||
xFreeBytesRemaining -= pxBlock->xBlockSize;
|
||||
}
|
||||
}
|
||||
}
|
||||
xTaskResumeAll();
|
||||
|
||||
#if( configUSE_MALLOC_FAILED_HOOK == 1 )
|
||||
{
|
||||
if( pvReturn == NULL )
|
||||
{
|
||||
extern void vApplicationMallocFailedHook( void );
|
||||
vApplicationMallocFailedHook();
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
return pvReturn;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortFree( void *pv )
|
||||
{
|
||||
unsigned char *puc = ( unsigned char * ) pv;
|
||||
xBlockLink *pxLink;
|
||||
|
||||
if( pv )
|
||||
{
|
||||
/* The memory being freed will have an xBlockLink structure immediately
|
||||
before it. */
|
||||
puc -= heapSTRUCT_SIZE;
|
||||
|
||||
/* This casting is to keep the compiler from issuing warnings. */
|
||||
pxLink = ( void * ) puc;
|
||||
|
||||
vTaskSuspendAll();
|
||||
{
|
||||
/* Add this block to the list of free blocks. */
|
||||
prvInsertBlockIntoFreeList( ( ( xBlockLink * ) pxLink ) );
|
||||
xFreeBytesRemaining += pxLink->xBlockSize;
|
||||
}
|
||||
xTaskResumeAll();
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
size_t xPortGetFreeHeapSize( void )
|
||||
{
|
||||
return xFreeBytesRemaining;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortInitialiseBlocks( void )
|
||||
{
|
||||
/* This just exists to keep the linker quiet. */
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@ -0,0 +1,649 @@
|
||||
/*
|
||||
FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
FreeRTOS supports many tools and architectures. V7.0.0 is sponsored by:
|
||||
Atollic AB - Atollic provides professional embedded systems development
|
||||
tools for C/C++ development, code analysis and test automation.
|
||||
See http://www.atollic.com
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
|
||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
This file is part of the FreeRTOS distribution.
|
||||
|
||||
FreeRTOS is free software; you can redistribute it and/or modify it under
|
||||
the terms of the GNU General Public License (version 2) as published by the
|
||||
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
>>>NOTE<<< The modification to the GPL is included to allow you to
|
||||
distribute a combined work that includes FreeRTOS without being obliged to
|
||||
provide the source code for proprietary components outside of the FreeRTOS
|
||||
kernel. FreeRTOS is distributed in the hope that it will be useful, but
|
||||
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
|
||||
more details. You should have received a copy of the GNU General Public
|
||||
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, latest information, license and
|
||||
contact details.
|
||||
|
||||
http://www.SafeRTOS.com - A version that is certified for use in safety
|
||||
critical systems.
|
||||
|
||||
http://www.OpenRTOS.com - Commercial support, development, porting,
|
||||
licensing and training services.
|
||||
*/
|
||||
|
||||
/* 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"
|
||||
#include "queue.h"
|
||||
#include "timers.h"
|
||||
|
||||
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
|
||||
|
||||
/* This entire source file will be skipped if the application is not configured
|
||||
to include software timer functionality. This #if is closed at the very bottom
|
||||
of this file. If you want to include software timer functionality then ensure
|
||||
configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
|
||||
#if ( configUSE_TIMERS == 1 )
|
||||
|
||||
/* Misc definitions. */
|
||||
#define tmrNO_DELAY ( portTickType ) 0U
|
||||
|
||||
/* The definition of the timers themselves. */
|
||||
typedef struct tmrTimerControl
|
||||
{
|
||||
const signed char *pcTimerName; /*<< Text name. This is not used by the kernel, it is included simply to make debugging easier. */
|
||||
xListItem xTimerListItem; /*<< Standard linked list item as used by all kernel features for event management. */
|
||||
portTickType xTimerPeriodInTicks;/*<< How quickly and often the timer expires. */
|
||||
unsigned portBASE_TYPE uxAutoReload; /*<< Set to pdTRUE if the timer should be automatically restarted once expired. Set to pdFALSE if the timer is, in effect, a one shot timer. */
|
||||
void *pvTimerID; /*<< An ID to identify the timer. This allows the timer to be identified when the same callback is used for multiple timers. */
|
||||
tmrTIMER_CALLBACK pxCallbackFunction; /*<< The function that will be called when the timer expires. */
|
||||
} xTIMER;
|
||||
|
||||
/* The definition of messages that can be sent and received on the timer
|
||||
queue. */
|
||||
typedef struct tmrTimerQueueMessage
|
||||
{
|
||||
portBASE_TYPE xMessageID; /*<< The command being sent to the timer service task. */
|
||||
portTickType xMessageValue; /*<< An optional value used by a subset of commands, for example, when changing the period of a timer. */
|
||||
xTIMER * pxTimer; /*<< The timer to which the command will be applied. */
|
||||
} xTIMER_MESSAGE;
|
||||
|
||||
|
||||
/* The list in which active timers are stored. Timers are referenced in expire
|
||||
time order, with the nearest expiry time at the front of the list. Only the
|
||||
timer service task is allowed to access xActiveTimerList. */
|
||||
PRIVILEGED_DATA static xList xActiveTimerList1;
|
||||
PRIVILEGED_DATA static xList xActiveTimerList2;
|
||||
PRIVILEGED_DATA static xList *pxCurrentTimerList;
|
||||
PRIVILEGED_DATA static xList *pxOverflowTimerList;
|
||||
|
||||
/* A queue that is used to send commands to the timer service task. */
|
||||
PRIVILEGED_DATA static xQueueHandle xTimerQueue = NULL;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Initialise the infrastructure used by the timer service task if it has not
|
||||
* been initialised already.
|
||||
*/
|
||||
static void prvCheckForValidListAndQueue( void ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* The timer service task (daemon). Timer functionality is controlled by this
|
||||
* task. Other tasks communicate with the timer service task using the
|
||||
* xTimerQueue queue.
|
||||
*/
|
||||
static void prvTimerTask( void *pvParameters ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* Called by the timer service task to interpret and process a command it
|
||||
* received on the timer queue.
|
||||
*/
|
||||
static void prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* Insert the timer into either xActiveTimerList1, or xActiveTimerList2,
|
||||
* depending on if the expire time causes a timer counter overflow.
|
||||
*/
|
||||
static portBASE_TYPE prvInsertTimerInActiveList( xTIMER *pxTimer, portTickType xNextExpiryTime, portTickType xTimeNow, portTickType xCommandTime ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* An active timer has reached its expire time. Reload the timer if it is an
|
||||
* auto reload timer, then call its callback.
|
||||
*/
|
||||
static void prvProcessExpiredTimer( portTickType xNextExpireTime, portTickType xTimeNow ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* The tick count has overflowed. Switch the timer lists after ensuring the
|
||||
* current timer list does not still reference some timers.
|
||||
*/
|
||||
static void prvSwitchTimerLists( portTickType xLastTime ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* Obtain the current tick count, setting *pxTimerListsWereSwitched to pdTRUE
|
||||
* if a tick count overflow occurred since prvSampleTimeNow() was last called.
|
||||
*/
|
||||
static portTickType prvSampleTimeNow( portBASE_TYPE *pxTimerListsWereSwitched ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* If the timer list contains any active timers then return the expire time of
|
||||
* the timer that will expire first and set *pxListWasEmpty to false. If the
|
||||
* timer list does not contain any timers then return 0 and set *pxListWasEmpty
|
||||
* to pdTRUE.
|
||||
*/
|
||||
static portTickType prvGetNextExpireTime( portBASE_TYPE *pxListWasEmpty ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* If a timer has expired, process it. Otherwise, block the timer service task
|
||||
* until either a timer does expire or a command is received.
|
||||
*/
|
||||
static void prvProcessTimerOrBlockTask( portTickType xNextExpireTime, portBASE_TYPE xListWasEmpty ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
portBASE_TYPE xTimerCreateTimerTask( void )
|
||||
{
|
||||
portBASE_TYPE xReturn = pdFAIL;
|
||||
|
||||
/* This function is called when the scheduler is started if
|
||||
configUSE_TIMERS is set to 1. Check that the infrastructure used by the
|
||||
timer service task has been created/initialised. If timers have already
|
||||
been created then the initialisation will already have been performed. */
|
||||
prvCheckForValidListAndQueue();
|
||||
|
||||
if( xTimerQueue != NULL )
|
||||
{
|
||||
xReturn = xTaskCreate( prvTimerTask, ( const signed char * ) "Tmr Svc", ( unsigned short ) configTIMER_TASK_STACK_DEPTH, NULL, ( unsigned portBASE_TYPE ) configTIMER_TASK_PRIORITY, NULL);
|
||||
}
|
||||
|
||||
configASSERT( xReturn );
|
||||
return xReturn;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
xTimerHandle xTimerCreate( const signed char *pcTimerName, portTickType xTimerPeriodInTicks, unsigned portBASE_TYPE uxAutoReload, void *pvTimerID, tmrTIMER_CALLBACK pxCallbackFunction )
|
||||
{
|
||||
xTIMER *pxNewTimer;
|
||||
|
||||
/* Allocate the timer structure. */
|
||||
if( xTimerPeriodInTicks == ( portTickType ) 0U )
|
||||
{
|
||||
pxNewTimer = NULL;
|
||||
configASSERT( ( xTimerPeriodInTicks > 0 ) );
|
||||
}
|
||||
else
|
||||
{
|
||||
pxNewTimer = ( xTIMER * ) pvPortMalloc( sizeof( xTIMER ) );
|
||||
if( pxNewTimer != NULL )
|
||||
{
|
||||
/* Ensure the infrastructure used by the timer service task has been
|
||||
created/initialised. */
|
||||
prvCheckForValidListAndQueue();
|
||||
|
||||
/* Initialise the timer structure members using the function parameters. */
|
||||
pxNewTimer->pcTimerName = pcTimerName;
|
||||
pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
|
||||
pxNewTimer->uxAutoReload = uxAutoReload;
|
||||
pxNewTimer->pvTimerID = pvTimerID;
|
||||
pxNewTimer->pxCallbackFunction = pxCallbackFunction;
|
||||
vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
|
||||
|
||||
traceTIMER_CREATE( pxNewTimer );
|
||||
}
|
||||
else
|
||||
{
|
||||
traceTIMER_CREATE_FAILED();
|
||||
}
|
||||
}
|
||||
|
||||
return ( xTimerHandle ) pxNewTimer;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
portBASE_TYPE xTimerGenericCommand( xTimerHandle xTimer, portBASE_TYPE xCommandID, portTickType xOptionalValue, portBASE_TYPE *pxHigherPriorityTaskWoken, portTickType xBlockTime )
|
||||
{
|
||||
portBASE_TYPE xReturn = pdFAIL;
|
||||
xTIMER_MESSAGE xMessage;
|
||||
|
||||
/* Send a message to the timer service task to perform a particular action
|
||||
on a particular timer definition. */
|
||||
if( xTimerQueue != NULL )
|
||||
{
|
||||
/* Send a command to the timer service task to start the xTimer timer. */
|
||||
xMessage.xMessageID = xCommandID;
|
||||
xMessage.xMessageValue = xOptionalValue;
|
||||
xMessage.pxTimer = ( xTIMER * ) xTimer;
|
||||
|
||||
if( pxHigherPriorityTaskWoken == NULL )
|
||||
{
|
||||
if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING )
|
||||
{
|
||||
xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xBlockTime );
|
||||
}
|
||||
else
|
||||
{
|
||||
xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY );
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
|
||||
}
|
||||
|
||||
traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
|
||||
}
|
||||
|
||||
return xReturn;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvProcessExpiredTimer( portTickType xNextExpireTime, portTickType xTimeNow )
|
||||
{
|
||||
xTIMER *pxTimer;
|
||||
portBASE_TYPE xResult;
|
||||
|
||||
/* Remove the timer from the list of active timers. A check has already
|
||||
been performed to ensure the list is not empty. */
|
||||
pxTimer = ( xTIMER * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
|
||||
vListRemove( &( pxTimer->xTimerListItem ) );
|
||||
traceTIMER_EXPIRED( pxTimer );
|
||||
|
||||
/* If the timer is an auto reload timer then calculate the next
|
||||
expiry time and re-insert the timer in the list of active timers. */
|
||||
if( pxTimer->uxAutoReload == ( unsigned portBASE_TYPE ) pdTRUE )
|
||||
{
|
||||
/* This is the only time a timer is inserted into a list using
|
||||
a time relative to anything other than the current time. It
|
||||
will therefore be inserted into the correct list relative to
|
||||
the time this task thinks it is now, even if a command to
|
||||
switch lists due to a tick count overflow is already waiting in
|
||||
the timer queue. */
|
||||
if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) == pdTRUE )
|
||||
{
|
||||
/* The timer expired before it was added to the active timer
|
||||
list. Reload it now. */
|
||||
xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START, xNextExpireTime, NULL, tmrNO_DELAY );
|
||||
configASSERT( xResult );
|
||||
( void ) xResult;
|
||||
}
|
||||
}
|
||||
|
||||
/* Call the timer callback. */
|
||||
pxTimer->pxCallbackFunction( ( xTimerHandle ) pxTimer );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvTimerTask( void *pvParameters )
|
||||
{
|
||||
portTickType xNextExpireTime;
|
||||
portBASE_TYPE xListWasEmpty;
|
||||
|
||||
/* Just to avoid compiler warnings. */
|
||||
( void ) pvParameters;
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
/* Query the timers list to see if it contains any timers, and if so,
|
||||
obtain the time at which the next timer will expire. */
|
||||
xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
|
||||
|
||||
/* If a timer has expired, process it. Otherwise, block this task
|
||||
until either a timer does expire, or a command is received. */
|
||||
prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
|
||||
|
||||
/* Empty the command queue. */
|
||||
prvProcessReceivedCommands();
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvProcessTimerOrBlockTask( portTickType xNextExpireTime, portBASE_TYPE xListWasEmpty )
|
||||
{
|
||||
portTickType xTimeNow;
|
||||
portBASE_TYPE xTimerListsWereSwitched;
|
||||
|
||||
vTaskSuspendAll();
|
||||
{
|
||||
/* Obtain the time now to make an assessment as to whether the timer
|
||||
has expired or not. If obtaining the time causes the lists to switch
|
||||
then don't process this timer as any timers that remained in the list
|
||||
when the lists were switched will have been processed within the
|
||||
prvSampelTimeNow() function. */
|
||||
xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
|
||||
if( xTimerListsWereSwitched == pdFALSE )
|
||||
{
|
||||
/* The tick count has not overflowed, has the timer expired? */
|
||||
if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )
|
||||
{
|
||||
xTaskResumeAll();
|
||||
prvProcessExpiredTimer( xNextExpireTime, xTimeNow );
|
||||
}
|
||||
else
|
||||
{
|
||||
/* The tick count has not overflowed, and the next expire
|
||||
time has not been reached yet. This task should therefore
|
||||
block to wait for the next expire time or a command to be
|
||||
received - whichever comes first. The following line cannot
|
||||
be reached unless xNextExpireTime > xTimeNow, except in the
|
||||
case when the current timer list is empty. */
|
||||
vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ) );
|
||||
|
||||
if( xTaskResumeAll() == pdFALSE )
|
||||
{
|
||||
/* Yield to wait for either a command to arrive, or the block time
|
||||
to expire. If a command arrived between the critical section being
|
||||
exited and this yield then the yield will not cause the task
|
||||
to block. */
|
||||
portYIELD_WITHIN_API();
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
xTaskResumeAll();
|
||||
}
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static portTickType prvGetNextExpireTime( portBASE_TYPE *pxListWasEmpty )
|
||||
{
|
||||
portTickType xNextExpireTime;
|
||||
|
||||
/* Timers are listed in expiry time order, with the head of the list
|
||||
referencing the task that will expire first. Obtain the time at which
|
||||
the timer with the nearest expiry time will expire. If there are no
|
||||
active timers then just set the next expire time to 0. That will cause
|
||||
this task to unblock when the tick count overflows, at which point the
|
||||
timer lists will be switched and the next expiry time can be
|
||||
re-assessed. */
|
||||
*pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList );
|
||||
if( *pxListWasEmpty == pdFALSE )
|
||||
{
|
||||
xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Ensure the task unblocks when the tick count rolls over. */
|
||||
xNextExpireTime = ( portTickType ) 0U;
|
||||
}
|
||||
|
||||
return xNextExpireTime;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static portTickType prvSampleTimeNow( portBASE_TYPE *pxTimerListsWereSwitched )
|
||||
{
|
||||
portTickType xTimeNow;
|
||||
static portTickType xLastTime = ( portTickType ) 0U;
|
||||
|
||||
xTimeNow = xTaskGetTickCount();
|
||||
|
||||
if( xTimeNow < xLastTime )
|
||||
{
|
||||
prvSwitchTimerLists( xLastTime );
|
||||
*pxTimerListsWereSwitched = pdTRUE;
|
||||
}
|
||||
else
|
||||
{
|
||||
*pxTimerListsWereSwitched = pdFALSE;
|
||||
}
|
||||
|
||||
xLastTime = xTimeNow;
|
||||
|
||||
return xTimeNow;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static portBASE_TYPE prvInsertTimerInActiveList( xTIMER *pxTimer, portTickType xNextExpiryTime, portTickType xTimeNow, portTickType xCommandTime )
|
||||
{
|
||||
portBASE_TYPE xProcessTimerNow = pdFALSE;
|
||||
|
||||
listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );
|
||||
listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
|
||||
|
||||
if( xNextExpiryTime <= xTimeNow )
|
||||
{
|
||||
/* Has the expiry time elapsed between the command to start/reset a
|
||||
timer was issued, and the time the command was processed? */
|
||||
if( ( ( portTickType ) ( xTimeNow - xCommandTime ) ) >= pxTimer->xTimerPeriodInTicks )
|
||||
{
|
||||
/* The time between a command being issued and the command being
|
||||
processed actually exceeds the timers period. */
|
||||
xProcessTimerNow = pdTRUE;
|
||||
}
|
||||
else
|
||||
{
|
||||
vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) );
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) )
|
||||
{
|
||||
/* If, since the command was issued, the tick count has overflowed
|
||||
but the expiry time has not, then the timer must have already passed
|
||||
its expiry time and should be processed immediately. */
|
||||
xProcessTimerNow = pdTRUE;
|
||||
}
|
||||
else
|
||||
{
|
||||
vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
|
||||
}
|
||||
}
|
||||
|
||||
return xProcessTimerNow;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvProcessReceivedCommands( void )
|
||||
{
|
||||
xTIMER_MESSAGE xMessage;
|
||||
xTIMER *pxTimer;
|
||||
portBASE_TYPE xTimerListsWereSwitched, xResult;
|
||||
portTickType xTimeNow;
|
||||
|
||||
/* In this case the xTimerListsWereSwitched parameter is not used, but it
|
||||
must be present in the function call. */
|
||||
xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
|
||||
|
||||
while( xQueueReceive( xTimerQueue, &xMessage, tmrNO_DELAY ) != pdFAIL )
|
||||
{
|
||||
pxTimer = xMessage.pxTimer;
|
||||
|
||||
/* Is the timer already in a list of active timers? When the command
|
||||
is trmCOMMAND_PROCESS_TIMER_OVERFLOW, the timer will be NULL as the
|
||||
command is to the task rather than to an individual timer. */
|
||||
if( pxTimer != NULL )
|
||||
{
|
||||
if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE )
|
||||
{
|
||||
/* The timer is in a list, remove it. */
|
||||
vListRemove( &( pxTimer->xTimerListItem ) );
|
||||
}
|
||||
}
|
||||
|
||||
traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.xMessageValue );
|
||||
|
||||
switch( xMessage.xMessageID )
|
||||
{
|
||||
case tmrCOMMAND_START :
|
||||
/* Start or restart a timer. */
|
||||
if( prvInsertTimerInActiveList( pxTimer, xMessage.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.xMessageValue ) == pdTRUE )
|
||||
{
|
||||
/* The timer expired before it was added to the active timer
|
||||
list. Process it now. */
|
||||
pxTimer->pxCallbackFunction( ( xTimerHandle ) pxTimer );
|
||||
|
||||
if( pxTimer->uxAutoReload == ( unsigned portBASE_TYPE ) pdTRUE )
|
||||
{
|
||||
xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START, xMessage.xMessageValue + pxTimer->xTimerPeriodInTicks, NULL, tmrNO_DELAY );
|
||||
configASSERT( xResult );
|
||||
( void ) xResult;
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case tmrCOMMAND_STOP :
|
||||
/* The timer has already been removed from the active list.
|
||||
There is nothing to do here. */
|
||||
break;
|
||||
|
||||
case tmrCOMMAND_CHANGE_PERIOD :
|
||||
pxTimer->xTimerPeriodInTicks = xMessage.xMessageValue;
|
||||
configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) );
|
||||
prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );
|
||||
break;
|
||||
|
||||
case tmrCOMMAND_DELETE :
|
||||
/* The timer has already been removed from the active list,
|
||||
just free up the memory. */
|
||||
vPortFree( pxTimer );
|
||||
break;
|
||||
|
||||
default :
|
||||
/* Don't expect to get here. */
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvSwitchTimerLists( portTickType xLastTime )
|
||||
{
|
||||
portTickType xNextExpireTime, xReloadTime;
|
||||
xList *pxTemp;
|
||||
xTIMER *pxTimer;
|
||||
portBASE_TYPE xResult;
|
||||
|
||||
/* Remove compiler warnings if configASSERT() is not defined. */
|
||||
( void ) xLastTime;
|
||||
|
||||
/* The tick count has overflowed. The timer lists must be switched.
|
||||
If there are any timers still referenced from the current timer list
|
||||
then they must have expired and should be processed before the lists
|
||||
are switched. */
|
||||
while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE )
|
||||
{
|
||||
xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
|
||||
|
||||
/* Remove the timer from the list. */
|
||||
pxTimer = ( xTIMER * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
|
||||
vListRemove( &( pxTimer->xTimerListItem ) );
|
||||
|
||||
/* Execute its callback, then send a command to restart the timer if
|
||||
it is an auto-reload timer. It cannot be restarted here as the lists
|
||||
have not yet been switched. */
|
||||
pxTimer->pxCallbackFunction( ( xTimerHandle ) pxTimer );
|
||||
|
||||
if( pxTimer->uxAutoReload == ( unsigned portBASE_TYPE ) pdTRUE )
|
||||
{
|
||||
/* Calculate the reload value, and if the reload value results in
|
||||
the timer going into the same timer list then it has already expired
|
||||
and the timer should be re-inserted into the current list so it is
|
||||
processed again within this loop. Otherwise a command should be sent
|
||||
to restart the timer to ensure it is only inserted into a list after
|
||||
the lists have been swapped. */
|
||||
xReloadTime = ( xNextExpireTime + pxTimer->xTimerPeriodInTicks );
|
||||
if( xReloadTime > xNextExpireTime )
|
||||
{
|
||||
listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xReloadTime );
|
||||
listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
|
||||
vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
|
||||
}
|
||||
else
|
||||
{
|
||||
xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START, xNextExpireTime, NULL, tmrNO_DELAY );
|
||||
configASSERT( xResult );
|
||||
( void ) xResult;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pxTemp = pxCurrentTimerList;
|
||||
pxCurrentTimerList = pxOverflowTimerList;
|
||||
pxOverflowTimerList = pxTemp;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvCheckForValidListAndQueue( void )
|
||||
{
|
||||
/* Check that the list from which active timers are referenced, and the
|
||||
queue used to communicate with the timer service, have been
|
||||
initialised. */
|
||||
taskENTER_CRITICAL();
|
||||
{
|
||||
if( xTimerQueue == NULL )
|
||||
{
|
||||
vListInitialise( &xActiveTimerList1 );
|
||||
vListInitialise( &xActiveTimerList2 );
|
||||
pxCurrentTimerList = &xActiveTimerList1;
|
||||
pxOverflowTimerList = &xActiveTimerList2;
|
||||
xTimerQueue = xQueueCreate( ( unsigned portBASE_TYPE ) configTIMER_QUEUE_LENGTH, sizeof( xTIMER_MESSAGE ) );
|
||||
}
|
||||
}
|
||||
taskEXIT_CRITICAL();
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
portBASE_TYPE xTimerIsTimerActive( xTimerHandle xTimer )
|
||||
{
|
||||
portBASE_TYPE xTimerIsInActiveList;
|
||||
xTIMER *pxTimer = ( xTIMER * ) xTimer;
|
||||
|
||||
/* Is the timer in the list of active timers? */
|
||||
taskENTER_CRITICAL();
|
||||
{
|
||||
/* Checking to see if it is in the NULL list in effect checks to see if
|
||||
it is referenced from either the current or the overflow timer lists in
|
||||
one go, but the logic has to be reversed, hence the '!'. */
|
||||
xTimerIsInActiveList = !( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) );
|
||||
}
|
||||
taskEXIT_CRITICAL();
|
||||
|
||||
return xTimerIsInActiveList;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void *pvTimerGetTimerID( xTimerHandle xTimer )
|
||||
{
|
||||
xTIMER *pxTimer = ( xTIMER * ) xTimer;
|
||||
|
||||
return pxTimer->pvTimerID;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* This entire source file will be skipped if the application is not configured
|
||||
to include software timer functionality. If you want to include software timer
|
||||
functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
|
||||
#endif /* configUSE_TIMERS == 1 */
|
||||
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Reference in New Issue