From: richardbarry Date: Thu, 5 Jul 2012 09:41:37 +0000 (+0000) Subject: In the SAM4S demo, moved FreeRTOS into the ASF/thirdparty directory. X-Git-Tag: V7.2.0~16 X-Git-Url: https://git.sur5r.net/?a=commitdiff_plain;h=8c971926f1b71dcc04acf93e80cd097c69045942;p=freertos In the SAM4S demo, moved FreeRTOS into the ASF/thirdparty directory. Changed some of the compiler warning configuration. git-svn-id: https://svn.code.sf.net/p/freertos/code/trunk@1756 1d2547de-c912-0410-9cb9-b8ca96c0e9e2 --- diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/RTOSDemo.atsuo b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/RTOSDemo.atsuo index b2cce4a67..d6467076a 100644 Binary files a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/RTOSDemo.atsuo and b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/RTOSDemo.atsuo differ diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/RTOSDemo.cproj b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/RTOSDemo.cproj index ec02a17b5..9cc4c2e60 100644 --- a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/RTOSDemo.cproj +++ b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/RTOSDemo.cproj @@ -251,6 +251,9 @@ ARM_MATH_CM4=true BOARD=SAM4S_EK __SAM4S16C__ + XMEGA=0 + MEGA=0 + UC3=0 @@ -271,17 +274,16 @@ ../src/asf/thirdparty/CMSIS/Include ../src/asf/thirdparty/CMSIS/Lib/GCC ../src/config - ../src/FreeRTOS-Source/include - ../src/FreeRTOS-Source/portable/GCC/ARM_CM3 + ../src/asf/thirdparty/FreeRTOS/include + ../src/asf/thirdparty/FreeRTOS/portable/GCC/ARM_CM3 ../src/Common-Demo-Source/include - Optimize (-O1) -fdata-sections True Maximum (-g3) True - -pipe -Wall -Wstrict-prototypes -Wmissing-prototypes -Werror-implicit-function-declaration -Wpointer-arith -std=gnu99 -ffunction-sections -fdata-sections -Wchar-subscripts -Wcomment -Wformat=2 -Wimplicit-int -Wmain -Wparentheses -Wsequence-point -Wreturn-type -Wswitch -Wtrigraphs -Wunused -Wuninitialized -Wunknown-pragmas -Wfloat-equal -Wundef -Wshadow -Wbad-function-cast -Wwrite-strings -Wsign-compare -Waggregate-return -Wmissing-declarations -Wformat -Wmissing-format-attribute -Wno-deprecated-declarations -Wpacked -Wredundant-decls -Wnested-externs -Winline -Wlong-long -Wunreachable-code -Wcast-align --param max-inline-insns-single=500 -Dprintf=iprintf + -pipe -Wall -Wextra -std=gnu99 -ffunction-sections -fdata-sections --param max-inline-insns-single=500 -Dprintf=iprintf arm_cortexM4l_math @@ -364,6 +366,60 @@ compile + + compile + + + compile + + + compile + + + compile + + + compile + + + compile + + + compile + + + compile + + + compile + + + compile + + + compile + + + compile + + + compile + + + compile + + + compile + + + compile + + + compile + + + compile + compile @@ -427,37 +483,7 @@ compile - - compile - - - compile - - - compile - - - compile - - - compile - - - compile - - - compile - - - compile - - - compile - - - compile - - + compile @@ -783,15 +809,15 @@ + + + + + + - - - - - - \ No newline at end of file diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/FreeRTOS.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/FreeRTOS.h deleted file mode 100644 index fb31e736c..000000000 --- a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/FreeRTOS.h +++ /dev/null @@ -1,522 +0,0 @@ -/* - FreeRTOS V7.1.1 - Copyright (C) 2012 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! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong? * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - - http://www.FreeRTOS.org - Documentation, training, latest information, - license and contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. - - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. -*/ - -#ifndef INC_FREERTOS_H -#define INC_FREERTOS_H - - -/* - * Include the generic headers required for the FreeRTOS port being used. - */ -#include - -/* Basic FreeRTOS definitions. */ -#include "projdefs.h" - -/* Application specific configuration options. */ -#include "FreeRTOSConfig.h" - -/* Definitions specific to the port being used. */ -#include "portable.h" - - -/* Defines the prototype to which the application task hook function must -conform. */ -typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); - - - - - -/* - * Check all the required application specific macros have been defined. - * These macros are application specific and (as downloaded) are defined - * within FreeRTOSConfig.h. - */ - -#ifndef configUSE_PREEMPTION - #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. -#endif - -#ifndef configUSE_IDLE_HOOK - #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. -#endif - -#ifndef configUSE_TICK_HOOK - #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. -#endif - -#ifndef configUSE_CO_ROUTINES - #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. -#endif - -#ifndef INCLUDE_vTaskPrioritySet - #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. -#endif - -#ifndef INCLUDE_uxTaskPriorityGet - #error Missing definition: INCLUDE_uxTaskPriorityGet should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. -#endif - -#ifndef INCLUDE_vTaskDelete - #error Missing definition: INCLUDE_vTaskDelete should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. -#endif - -#ifndef INCLUDE_vTaskSuspend - #error Missing definition: INCLUDE_vTaskSuspend should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. -#endif - -#ifndef INCLUDE_vTaskDelayUntil - #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. -#endif - -#ifndef INCLUDE_vTaskDelay - #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. -#endif - -#ifndef configUSE_16_BIT_TICKS - #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. -#endif - -#ifndef INCLUDE_xTaskGetIdleTaskHandle - #define INCLUDE_xTaskGetIdleTaskHandle 0 -#endif - -#ifndef INCLUDE_xTimerGetTimerDaemonTaskHandle - #define INCLUDE_xTimerGetTimerDaemonTaskHandle 0 -#endif - -#ifndef INCLUDE_xQueueGetMutexHolder - #define INCLUDE_xQueueGetMutexHolder 0 -#endif - -#ifndef INCLUDE_pcTaskGetTaskName - #define INCLUDE_pcTaskGetTaskName 0 -#endif - -#ifndef configUSE_APPLICATION_TASK_TAG - #define configUSE_APPLICATION_TASK_TAG 0 -#endif - -#ifndef INCLUDE_uxTaskGetStackHighWaterMark - #define INCLUDE_uxTaskGetStackHighWaterMark 0 -#endif - -#ifndef configUSE_RECURSIVE_MUTEXES - #define configUSE_RECURSIVE_MUTEXES 0 -#endif - -#ifndef configUSE_MUTEXES - #define configUSE_MUTEXES 0 -#endif - -#ifndef configUSE_TIMERS - #define configUSE_TIMERS 0 -#endif - -#ifndef configUSE_COUNTING_SEMAPHORES - #define configUSE_COUNTING_SEMAPHORES 0 -#endif - -#ifndef configUSE_ALTERNATIVE_API - #define configUSE_ALTERNATIVE_API 0 -#endif - -#ifndef portCRITICAL_NESTING_IN_TCB - #define portCRITICAL_NESTING_IN_TCB 0 -#endif - -#ifndef configMAX_TASK_NAME_LEN - #define configMAX_TASK_NAME_LEN 16 -#endif - -#ifndef configIDLE_SHOULD_YIELD - #define configIDLE_SHOULD_YIELD 1 -#endif - -#if configMAX_TASK_NAME_LEN < 1 - #error configMAX_TASK_NAME_LEN must be set to a minimum of 1 in FreeRTOSConfig.h -#endif - -#ifndef INCLUDE_xTaskResumeFromISR - #define INCLUDE_xTaskResumeFromISR 1 -#endif - -#ifndef configASSERT - #define configASSERT( x ) -#endif - -#ifndef portALIGNMENT_ASSERT_pxCurrentTCB - #define portALIGNMENT_ASSERT_pxCurrentTCB configASSERT -#endif - -/* The timers module relies on xTaskGetSchedulerState(). */ -#if configUSE_TIMERS == 1 - - #ifndef configTIMER_TASK_PRIORITY - #error If configUSE_TIMERS is set to 1 then configTIMER_TASK_PRIORITY must also be defined. - #endif /* configTIMER_TASK_PRIORITY */ - - #ifndef configTIMER_QUEUE_LENGTH - #error If configUSE_TIMERS is set to 1 then configTIMER_QUEUE_LENGTH must also be defined. - #endif /* configTIMER_QUEUE_LENGTH */ - - #ifndef configTIMER_TASK_STACK_DEPTH - #error If configUSE_TIMERS is set to 1 then configTIMER_TASK_STACK_DEPTH must also be defined. - #endif /* configTIMER_TASK_STACK_DEPTH */ - -#endif /* configUSE_TIMERS */ - -#ifndef INCLUDE_xTaskGetSchedulerState - #define INCLUDE_xTaskGetSchedulerState 0 -#endif - -#ifndef INCLUDE_xTaskGetCurrentTaskHandle - #define INCLUDE_xTaskGetCurrentTaskHandle 0 -#endif - - -#ifndef portSET_INTERRUPT_MASK_FROM_ISR - #define portSET_INTERRUPT_MASK_FROM_ISR() 0 -#endif - -#ifndef portCLEAR_INTERRUPT_MASK_FROM_ISR - #define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) uxSavedStatusValue -#endif - -#ifndef portCLEAN_UP_TCB - #define portCLEAN_UP_TCB( pxTCB ) ( void ) pxTCB -#endif - -#ifndef portSETUP_TCB - #define portSETUP_TCB( pxTCB ) ( void ) pxTCB -#endif - -#ifndef configQUEUE_REGISTRY_SIZE - #define configQUEUE_REGISTRY_SIZE 0U -#endif - -#if ( configQUEUE_REGISTRY_SIZE < 1 ) - #define vQueueAddToRegistry( xQueue, pcName ) - #define vQueueUnregisterQueue( xQueue ) -#endif - -#ifndef portPOINTER_SIZE_TYPE - #define portPOINTER_SIZE_TYPE unsigned long -#endif - -/* Remove any unused trace macros. */ -#ifndef traceSTART - /* Used to perform any necessary initialisation - for example, open a file - into which trace is to be written. */ - #define traceSTART() -#endif - -#ifndef traceEND - /* Use to close a trace, for example close a file into which trace has been - written. */ - #define traceEND() -#endif - -#ifndef traceTASK_SWITCHED_IN - /* Called after a task has been selected to run. pxCurrentTCB holds a pointer - to the task control block of the selected task. */ - #define traceTASK_SWITCHED_IN() -#endif - -#ifndef traceTASK_SWITCHED_OUT - /* Called before a task has been selected to run. pxCurrentTCB holds a pointer - to the task control block of the task being switched out. */ - #define traceTASK_SWITCHED_OUT() -#endif - -#ifndef traceTASK_PRIORITY_INHERIT - /* Called when a task attempts to take a mutex that is already held by a - lower priority task. pxTCBOfMutexHolder is a pointer to the TCB of the task - that holds the mutex. uxInheritedPriority is the priority the mutex holder - will inherit (the priority of the task that is attempting to obtain the - muted. */ - #define traceTASK_PRIORITY_INHERIT( pxTCBOfMutexHolder, uxInheritedPriority ) -#endif - -#ifndef traceTASK_PRIORITY_DISINHERIT - /* Called when a task releases a mutex, the holding of which had resulted in - the task inheriting the priority of a higher priority task. - pxTCBOfMutexHolder is a pointer to the TCB of the task that is releasing the - mutex. uxOriginalPriority is the task's configured (base) priority. */ - #define traceTASK_PRIORITY_DISINHERIT( pxTCBOfMutexHolder, uxOriginalPriority ) -#endif - -#ifndef traceBLOCKING_ON_QUEUE_RECEIVE - /* Task is about to block because it cannot read from a - queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore - upon which the read was attempted. pxCurrentTCB points to the TCB of the - task that attempted the read. */ - #define traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue ) -#endif - -#ifndef traceBLOCKING_ON_QUEUE_SEND - /* Task is about to block because it cannot write to a - queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore - upon which the write was attempted. pxCurrentTCB points to the TCB of the - task that attempted the write. */ - #define traceBLOCKING_ON_QUEUE_SEND( pxQueue ) -#endif - -#ifndef configCHECK_FOR_STACK_OVERFLOW - #define configCHECK_FOR_STACK_OVERFLOW 0 -#endif - -/* The following event macros are embedded in the kernel API calls. */ - -#ifndef traceMOVED_TASK_TO_READY_STATE - #define traceMOVED_TASK_TO_READY_STATE( pxTCB ) -#endif - -#ifndef traceQUEUE_CREATE - #define traceQUEUE_CREATE( pxNewQueue ) -#endif - -#ifndef traceQUEUE_CREATE_FAILED - #define traceQUEUE_CREATE_FAILED( ucQueueType ) -#endif - -#ifndef traceCREATE_MUTEX - #define traceCREATE_MUTEX( pxNewQueue ) -#endif - -#ifndef traceCREATE_MUTEX_FAILED - #define traceCREATE_MUTEX_FAILED() -#endif - -#ifndef traceGIVE_MUTEX_RECURSIVE - #define traceGIVE_MUTEX_RECURSIVE( pxMutex ) -#endif - -#ifndef traceGIVE_MUTEX_RECURSIVE_FAILED - #define traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex ) -#endif - -#ifndef traceTAKE_MUTEX_RECURSIVE - #define traceTAKE_MUTEX_RECURSIVE( pxMutex ) -#endif - -#ifndef traceTAKE_MUTEX_RECURSIVE_FAILED - #define traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex ) -#endif - -#ifndef traceCREATE_COUNTING_SEMAPHORE - #define traceCREATE_COUNTING_SEMAPHORE() -#endif - -#ifndef traceCREATE_COUNTING_SEMAPHORE_FAILED - #define traceCREATE_COUNTING_SEMAPHORE_FAILED() -#endif - -#ifndef traceQUEUE_SEND - #define traceQUEUE_SEND( pxQueue ) -#endif - -#ifndef traceQUEUE_SEND_FAILED - #define traceQUEUE_SEND_FAILED( pxQueue ) -#endif - -#ifndef traceQUEUE_RECEIVE - #define traceQUEUE_RECEIVE( pxQueue ) -#endif - -#ifndef traceQUEUE_PEEK - #define traceQUEUE_PEEK( pxQueue ) -#endif - -#ifndef traceQUEUE_RECEIVE_FAILED - #define traceQUEUE_RECEIVE_FAILED( pxQueue ) -#endif - -#ifndef traceQUEUE_SEND_FROM_ISR - #define traceQUEUE_SEND_FROM_ISR( pxQueue ) -#endif - -#ifndef traceQUEUE_SEND_FROM_ISR_FAILED - #define traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue ) -#endif - -#ifndef traceQUEUE_RECEIVE_FROM_ISR - #define traceQUEUE_RECEIVE_FROM_ISR( pxQueue ) -#endif - -#ifndef traceQUEUE_RECEIVE_FROM_ISR_FAILED - #define traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue ) -#endif - -#ifndef traceQUEUE_DELETE - #define traceQUEUE_DELETE( pxQueue ) -#endif - -#ifndef traceTASK_CREATE - #define traceTASK_CREATE( pxNewTCB ) -#endif - -#ifndef traceTASK_CREATE_FAILED - #define traceTASK_CREATE_FAILED() -#endif - -#ifndef traceTASK_DELETE - #define traceTASK_DELETE( pxTaskToDelete ) -#endif - -#ifndef traceTASK_DELAY_UNTIL - #define traceTASK_DELAY_UNTIL() -#endif - -#ifndef traceTASK_DELAY - #define traceTASK_DELAY() -#endif - -#ifndef traceTASK_PRIORITY_SET - #define traceTASK_PRIORITY_SET( pxTask, uxNewPriority ) -#endif - -#ifndef traceTASK_SUSPEND - #define traceTASK_SUSPEND( pxTaskToSuspend ) -#endif - -#ifndef traceTASK_RESUME - #define traceTASK_RESUME( pxTaskToResume ) -#endif - -#ifndef traceTASK_RESUME_FROM_ISR - #define traceTASK_RESUME_FROM_ISR( pxTaskToResume ) -#endif - -#ifndef traceTASK_INCREMENT_TICK - #define traceTASK_INCREMENT_TICK( xTickCount ) -#endif - -#ifndef traceTIMER_CREATE - #define traceTIMER_CREATE( pxNewTimer ) -#endif - -#ifndef traceTIMER_CREATE_FAILED - #define traceTIMER_CREATE_FAILED() -#endif - -#ifndef traceTIMER_COMMAND_SEND - #define traceTIMER_COMMAND_SEND( xTimer, xMessageID, xMessageValueValue, xReturn ) -#endif - -#ifndef traceTIMER_EXPIRED - #define traceTIMER_EXPIRED( pxTimer ) -#endif - -#ifndef traceTIMER_COMMAND_RECEIVED - #define traceTIMER_COMMAND_RECEIVED( pxTimer, xMessageID, xMessageValue ) -#endif - -#ifndef configGENERATE_RUN_TIME_STATS - #define configGENERATE_RUN_TIME_STATS 0 -#endif - -#if ( configGENERATE_RUN_TIME_STATS == 1 ) - - #ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS - #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. - #endif /* portCONFIGURE_TIMER_FOR_RUN_TIME_STATS */ - - #ifndef portGET_RUN_TIME_COUNTER_VALUE - #ifndef portALT_GET_RUN_TIME_COUNTER_VALUE - #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. - #endif /* portALT_GET_RUN_TIME_COUNTER_VALUE */ - #endif /* portGET_RUN_TIME_COUNTER_VALUE */ - -#endif /* configGENERATE_RUN_TIME_STATS */ - -#ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS - #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() -#endif - -#ifndef configUSE_MALLOC_FAILED_HOOK - #define configUSE_MALLOC_FAILED_HOOK 0 -#endif - -#ifndef portPRIVILEGE_BIT - #define portPRIVILEGE_BIT ( ( unsigned portBASE_TYPE ) 0x00 ) -#endif - -#ifndef portYIELD_WITHIN_API - #define portYIELD_WITHIN_API portYIELD -#endif - -#ifndef pvPortMallocAligned - #define pvPortMallocAligned( x, puxStackBuffer ) ( ( ( puxStackBuffer ) == NULL ) ? ( pvPortMalloc( ( x ) ) ) : ( puxStackBuffer ) ) -#endif - -#ifndef vPortFreeAligned - #define vPortFreeAligned( pvBlockToFree ) vPortFree( pvBlockToFree ) -#endif - -#endif /* INC_FREERTOS_H */ - diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/StackMacros.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/StackMacros.h deleted file mode 100644 index b7a98efa3..000000000 --- a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/StackMacros.h +++ /dev/null @@ -1,181 +0,0 @@ -/* - FreeRTOS V7.1.1 - Copyright (C) 2012 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! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong? * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - - http://www.FreeRTOS.org - Documentation, training, latest information, - license and contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. - - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. -*/ - -#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 */ - diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/croutine.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/croutine.h deleted file mode 100644 index 725c5db61..000000000 --- a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/croutine.h +++ /dev/null @@ -1,759 +0,0 @@ -/* - FreeRTOS V7.1.1 - Copyright (C) 2012 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! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong? * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - - http://www.FreeRTOS.org - Documentation, training, latest information, - license and contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. - - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. -*/ - -#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 - *
- portBASE_TYPE xCoRoutineCreate(
-                                 crCOROUTINE_CODE pxCoRoutineCode,
-                                 unsigned portBASE_TYPE uxPriority,
-                                 unsigned portBASE_TYPE uxIndex
-                               );
- * - * 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: - 
- // 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 );
-     }
- }
-
- * \defgroup xCoRoutineCreate xCoRoutineCreate - * \ingroup Tasks - */ -signed portBASE_TYPE xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, unsigned portBASE_TYPE uxPriority, unsigned portBASE_TYPE uxIndex ); - - -/** - * croutine. h - *
- void vCoRoutineSchedule( void );
- * - * 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: - 
- // 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();
-    }
- }
-
- * \defgroup vCoRoutineSchedule vCoRoutineSchedule - * \ingroup Tasks - */ -void vCoRoutineSchedule( void ); - -/** - * croutine. h - * 
- crSTART( xCoRoutineHandle xHandle );
- * - * This macro MUST always be called at the start of a co-routine function. - * - * Example usage: - 
- // 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();
- }
- * \defgroup crSTART crSTART - * \ingroup Tasks - */ -#define crSTART( pxCRCB ) switch( ( ( corCRCB * )( pxCRCB ) )->uxState ) { case 0: - -/** - * croutine. h - * 
- crEND();
- * - * This macro MUST always be called at the end of a co-routine function. - * - * Example usage: - 
- // 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();
- }
- * \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 - *
- crDELAY( xCoRoutineHandle xHandle, portTickType xTicksToDelay );
- * - * 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: - 
- // 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();
- }
- * \defgroup crDELAY crDELAY - * \ingroup Tasks - */ -#define crDELAY( xHandle, xTicksToDelay ) \ - if( ( xTicksToDelay ) > 0 ) \ - { \ - vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL ); \ - } \ - crSET_STATE0( ( xHandle ) ); - -/** - * 
- crQUEUE_SEND(
-                  xCoRoutineHandle xHandle,
-                  xQueueHandle pxQueue,
-                  void *pvItemToQueue,
-                  portTickType xTicksToWait,
-                  portBASE_TYPE *pxResult
-             )
- * - * 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: - 
- // 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();
- }
- * \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 - * 
-  crQUEUE_RECEIVE(
-                     xCoRoutineHandle xHandle,
-                     xQueueHandle pxQueue,
-                     void *pvBuffer,
-                     portTickType xTicksToWait,
-                     portBASE_TYPE *pxResult
-                 )
- * - * 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: - 
- // 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();
- }
- * \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 - * 
-  crQUEUE_SEND_FROM_ISR(
-                            xQueueHandle pxQueue,
-                            void *pvItemToQueue,
-                            portBASE_TYPE xCoRoutinePreviouslyWoken
-                       )
- * - * 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: - 
- // 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 );
-     }
- }
- * \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 - * 
-  crQUEUE_SEND_FROM_ISR(
-                            xQueueHandle pxQueue,
-                            void *pvBuffer,
-                            portBASE_TYPE * pxCoRoutineWoken
-                       )
- * - * 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: - 
- // 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 );
-		 }
-     }
- }
- * \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 */ diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/list.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/list.h deleted file mode 100644 index c36de5737..000000000 --- a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/list.h +++ /dev/null @@ -1,337 +0,0 @@ -/* - FreeRTOS V7.1.1 - Copyright (C) 2012 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! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong? * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - - http://www.FreeRTOS.org - Documentation, training, latest information, - license and contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. - - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. -*/ - -/* - * 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 get the owner of a list item. The owner of a list item - * is the object (usually a TCB) that contains the list item. - * - * \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER - * \ingroup LinkedList - */ -#define listGET_LIST_ITEM_OWNER( pxListItem ) ( pxListItem )->pvOwner - -/* - * Access macro to set the value of the list item. In most cases the value is - * used to sort the list in descending order. - * - * \page listSET_LIST_ITEM_VALUE listSET_LIST_ITEM_VALUE - * \ingroup LinkedList - */ -#define listSET_LIST_ITEM_VALUE( pxListItem, xValue ) ( pxListItem )->xItemValue = ( xValue ) - -/* - * Access macro to retrieve the value of the list item. The value can - * represent anything - for example 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 ) ) - -/* - * This provides a crude means of knowing if a list has been initialised, as - * pxList->xListEnd.xItemValue is set to portMAX_DELAY by the vListInitialise() - * function. - */ -#define listLIST_IS_INITIALISED( pxList ) ( ( pxList )->xListEnd.xItemValue == portMAX_DELAY ) - -/* - * Must be called before a list is used! This initialises all the members - * of the list structure and inserts the xListEnd item into the list as a - * marker to the back of the list. - * - * @param pxList Pointer to the list being initialised. - * - * \page vListInitialise vListInitialise - * \ingroup LinkedList - */ -void vListInitialise( 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 - diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/mpu_wrappers.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/mpu_wrappers.h deleted file mode 100644 index 12246b8d9..000000000 --- a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/mpu_wrappers.h +++ /dev/null @@ -1,148 +0,0 @@ -/* - FreeRTOS V7.1.1 - Copyright (C) 2012 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! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong? * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - - http://www.FreeRTOS.org - Documentation, training, latest information, - license and contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. - - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. -*/ - -#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 xQueueGenericCreate MPU_xQueueGenericCreate - #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 */ - diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/portable.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/portable.h deleted file mode 100644 index 38882d399..000000000 --- a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/portable.h +++ /dev/null @@ -1,403 +0,0 @@ -/* - FreeRTOS V7.1.1 - Copyright (C) 2012 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! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong? * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - - http://www.FreeRTOS.org - Documentation, training, latest information, - license and contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. - - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. -*/ - -/*----------------------------------------------------------- - * 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 */ - diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/projdefs.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/projdefs.h deleted file mode 100644 index c6b04db9b..000000000 --- a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/projdefs.h +++ /dev/null @@ -1,90 +0,0 @@ -/* - FreeRTOS V7.1.1 - Copyright (C) 2012 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! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong? * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - - http://www.FreeRTOS.org - Documentation, training, latest information, - license and contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. - - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. -*/ - -#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 */ - - - diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/queue.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/queue.h deleted file mode 100644 index 4574895f3..000000000 --- a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/queue.h +++ /dev/null @@ -1,1300 +0,0 @@ -/* - FreeRTOS V7.1.1 - Copyright (C) 2012 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! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong? * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - - http://www.FreeRTOS.org - Documentation, training, latest information, - license and contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. - - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. -*/ - - -#ifndef QUEUE_H -#define QUEUE_H - -#ifndef INC_FREERTOS_H - #error "include FreeRTOS.h" must appear in source files before "include queue.h" -#endif - -#ifdef __cplusplus -extern "C" { -#endif - - -#include "mpu_wrappers.h" - -/** - * Type by which queues are referenced. For example, a call to xQueueCreate - * returns (via a pointer parameter) an xQueueHandle variable that can then - * be used as a parameter to xQueueSend(), xQueueReceive(), etc. - */ -typedef void * xQueueHandle; - - -/* For internal use only. */ -#define queueSEND_TO_BACK ( 0 ) -#define queueSEND_TO_FRONT ( 1 ) - -/* For internal use only. These definitions *must* match those in queue.c. */ -#define queueQUEUE_TYPE_BASE ( 0U ) -#define queueQUEUE_TYPE_MUTEX ( 1U ) -#define queueQUEUE_TYPE_COUNTING_SEMAPHORE ( 2U ) -#define queueQUEUE_TYPE_BINARY_SEMAPHORE ( 3U ) -#define queueQUEUE_TYPE_RECURSIVE_MUTEX ( 4U ) - -/** - * queue. h - * 
- xQueueHandle xQueueCreate(
-							  unsigned portBASE_TYPE uxQueueLength,
-							  unsigned portBASE_TYPE uxItemSize
-						  );
- *
- * - * Creates a new queue instance. This allocates the storage required by the - * new queue and returns a handle for the queue. - * - * @param uxQueueLength The maximum number of items that the queue can contain. - * - * @param uxItemSize The number of bytes each item in the queue will require. - * Items are queued by copy, not by reference, so this is the number of bytes - * that will be copied for each posted item. Each item on the queue must be - * the same size. - * - * @return If the queue is successfully create then a handle to the newly - * created queue is returned. If the queue cannot be created then 0 is - * returned. - * - * Example usage: - 
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- };
-
- void vATask( void *pvParameters )
- {
- xQueueHandle xQueue1, xQueue2;
-
-	// Create a queue capable of containing 10 unsigned long values.
-	xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
-	if( xQueue1 == 0 )
-	{
-		// Queue was not created and must not be used.
-	}
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-	if( xQueue2 == 0 )
-	{
-		// Queue was not created and must not be used.
-	}
-
-	// ... Rest of task code.
- }
-
- * \defgroup xQueueCreate xQueueCreate - * \ingroup QueueManagement - */ -#define xQueueCreate( uxQueueLength, uxItemSize ) xQueueGenericCreate( uxQueueLength, uxItemSize, queueQUEUE_TYPE_BASE ) - -/** - * queue. h - * 
- portBASE_TYPE xQueueSendToToFront(
-								   xQueueHandle	xQueue,
-								   const void	*	pvItemToQueue,
-								   portTickType	xTicksToWait
-							   );
- *
- * - * This is a macro that calls xQueueGenericSend(). - * - * Post an item to the front of a queue. The item is queued by copy, not by - * reference. This function must not be called from an interrupt service - * routine. See xQueueSendFromISR () for an alternative which may be used - * in an ISR. - * - * @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 xTicksToWait The maximum amount of time the task should block - * waiting for space to become available on the queue, should it already - * be full. The call will return immediately if this is set to 0 and the - * queue is full. The time is defined in tick periods so the constant - * portTICK_RATE_MS should be used to convert to real time if this is required. - * - * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. - * - * Example usage: - 
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- } xMessage;
-
- unsigned long ulVar = 10UL;
-
- void vATask( void *pvParameters )
- {
- xQueueHandle xQueue1, xQueue2;
- struct AMessage *pxMessage;
-
-	// Create a queue capable of containing 10 unsigned long values.
-	xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-
-	// ...
-
-	if( xQueue1 != 0 )
-	{
-		// Send an unsigned long.  Wait for 10 ticks for space to become
-		// available if necessary.
-		if( xQueueSendToFront( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
-		{
-			// Failed to post the message, even after 10 ticks.
-		}
-	}
-
-	if( xQueue2 != 0 )
-	{
-		// Send a pointer to a struct AMessage object.  Don't block if the
-		// queue is already full.
-		pxMessage = & xMessage;
-		xQueueSendToFront( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
-	}
-
-	// ... Rest of task code.
- }
-
- * \defgroup xQueueSend xQueueSend - * \ingroup QueueManagement - */ -#define xQueueSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_FRONT ) - -/** - * queue. h - * 
- portBASE_TYPE xQueueSendToBack(
-								   xQueueHandle	xQueue,
-								   const	void	*	pvItemToQueue,
-								   portTickType	xTicksToWait
-							   );
- *
- * - * This is a macro that calls xQueueGenericSend(). - * - * Post an item to the back of a queue. The item is queued by copy, not by - * reference. This function must not be called from an interrupt service - * routine. See xQueueSendFromISR () for an alternative which may be used - * in an ISR. - * - * @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 xTicksToWait The maximum amount of time the task should block - * waiting for space to become available on the queue, should it already - * be full. The call will return immediately if this is set to 0 and the queue - * is full. The time is defined in tick periods so the constant - * portTICK_RATE_MS should be used to convert to real time if this is required. - * - * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. - * - * Example usage: - 
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- } xMessage;
-
- unsigned long ulVar = 10UL;
-
- void vATask( void *pvParameters )
- {
- xQueueHandle xQueue1, xQueue2;
- struct AMessage *pxMessage;
-
-	// Create a queue capable of containing 10 unsigned long values.
-	xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-
-	// ...
-
-	if( xQueue1 != 0 )
-	{
-		// Send an unsigned long.  Wait for 10 ticks for space to become
-		// available if necessary.
-		if( xQueueSendToBack( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
-		{
-			// Failed to post the message, even after 10 ticks.
-		}
-	}
-
-	if( xQueue2 != 0 )
-	{
-		// Send a pointer to a struct AMessage object.  Don't block if the
-		// queue is already full.
-		pxMessage = & xMessage;
-		xQueueSendToBack( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
-	}
-
-	// ... Rest of task code.
- }
-
- * \defgroup xQueueSend xQueueSend - * \ingroup QueueManagement - */ -#define xQueueSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK ) - -/** - * queue. h - * 
- portBASE_TYPE xQueueSend(
-							  xQueueHandle xQueue,
-							  const void * pvItemToQueue,
-							  portTickType xTicksToWait
-						 );
- *
- * - * This is a macro that calls xQueueGenericSend(). It is included for - * backward compatibility with versions of FreeRTOS.org that did not - * include the xQueueSendToFront() and xQueueSendToBack() macros. It is - * equivalent to xQueueSendToBack(). - * - * Post an item on a queue. The item is queued by copy, not by reference. - * This function must not be called from an interrupt service routine. - * See xQueueSendFromISR () for an alternative which may be used in an ISR. - * - * @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 xTicksToWait The maximum amount of time the task should block - * waiting for space to become available on the queue, should it already - * be full. The call will return immediately if this is set to 0 and the - * queue is full. The time is defined in tick periods so the constant - * portTICK_RATE_MS should be used to convert to real time if this is required. - * - * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. - * - * Example usage: - 
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- } xMessage;
-
- unsigned long ulVar = 10UL;
-
- void vATask( void *pvParameters )
- {
- xQueueHandle xQueue1, xQueue2;
- struct AMessage *pxMessage;
-
-	// Create a queue capable of containing 10 unsigned long values.
-	xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-
-	// ...
-
-	if( xQueue1 != 0 )
-	{
-		// Send an unsigned long.  Wait for 10 ticks for space to become
-		// available if necessary.
-		if( xQueueSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
-		{
-			// Failed to post the message, even after 10 ticks.
-		}
-	}
-
-	if( xQueue2 != 0 )
-	{
-		// Send a pointer to a struct AMessage object.  Don't block if the
-		// queue is already full.
-		pxMessage = & xMessage;
-		xQueueSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
-	}
-
-	// ... Rest of task code.
- }
-
- * \defgroup xQueueSend xQueueSend - * \ingroup QueueManagement - */ -#define xQueueSend( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK ) - - -/** - * queue. h - * 
- portBASE_TYPE xQueueGenericSend(
-									xQueueHandle xQueue,
-									const void * pvItemToQueue,
-									portTickType xTicksToWait
-									portBASE_TYPE xCopyPosition
-								);
- *
- * - * It is preferred that the macros xQueueSend(), xQueueSendToFront() and - * xQueueSendToBack() are used in place of calling this function directly. - * - * Post an item on a queue. The item is queued by copy, not by reference. - * This function must not be called from an interrupt service routine. - * See xQueueSendFromISR () for an alternative which may be used in an ISR. - * - * @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 xTicksToWait The maximum amount of time the task should block - * waiting for space to become available on the queue, should it already - * be full. The call will return immediately if this is set to 0 and the - * queue is full. The time is defined in tick periods so the constant - * portTICK_RATE_MS should be used to convert to real time if this is required. - * - * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the - * item at the back of the queue, or queueSEND_TO_FRONT to place the item - * at the front of the queue (for high priority messages). - * - * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. - * - * Example usage: - 
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- } xMessage;
-
- unsigned long ulVar = 10UL;
-
- void vATask( void *pvParameters )
- {
- xQueueHandle xQueue1, xQueue2;
- struct AMessage *pxMessage;
-
-	// Create a queue capable of containing 10 unsigned long values.
-	xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-
-	// ...
-
-	if( xQueue1 != 0 )
-	{
-		// Send an unsigned long.  Wait for 10 ticks for space to become
-		// available if necessary.
-		if( xQueueGenericSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10, queueSEND_TO_BACK ) != pdPASS )
-		{
-			// Failed to post the message, even after 10 ticks.
-		}
-	}
-
-	if( xQueue2 != 0 )
-	{
-		// Send a pointer to a struct AMessage object.  Don't block if the
-		// queue is already full.
-		pxMessage = & xMessage;
-		xQueueGenericSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0, queueSEND_TO_BACK );
-	}
-
-	// ... Rest of task code.
- }
-
- * \defgroup xQueueSend xQueueSend - * \ingroup QueueManagement - */ -signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ); - -/** - * queue. h - * 
- portBASE_TYPE xQueuePeek(
-							 xQueueHandle xQueue,
-							 void *pvBuffer,
-							 portTickType xTicksToWait
-						 );
- * - * This is a macro that calls the xQueueGenericReceive() function. - * - * Receive an item from a queue without removing the item from the queue. - * The item is received by copy so a buffer of adequate size must be - * provided. The number of bytes copied into the buffer was defined when - * the queue was created. - * - * Successfully received items remain on the queue so will be returned again - * by the next call, or a call to xQueueReceive(). - * - * This macro must not be used in an interrupt service routine. - * - * @param pxQueue The handle to the queue from which the item is to be - * received. - * - * @param pvBuffer Pointer to the buffer into which the received item will - * be copied. - * - * @param xTicksToWait The maximum amount of time the task should block - * waiting for an item to receive should the queue be empty at the time - * of the call. The time is defined in tick periods so the constant - * portTICK_RATE_MS should be used to convert to real time if this is required. - * xQueuePeek() will return immediately if xTicksToWait is 0 and the queue - * is empty. - * - * @return pdTRUE if an item was successfully received from the queue, - * otherwise pdFALSE. - * - * Example usage: - 
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- } xMessage;
-
- xQueueHandle xQueue;
-
- // Task to create a queue and post a value.
- void vATask( void *pvParameters )
- {
- struct AMessage *pxMessage;
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
-	if( xQueue == 0 )
-	{
-		// Failed to create the queue.
-	}
-
-	// ...
-
-	// Send a pointer to a struct AMessage object.  Don't block if the
-	// queue is already full.
-	pxMessage = & xMessage;
-	xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
-
-	// ... Rest of task code.
- }
-
- // Task to peek the data from the queue.
- void vADifferentTask( void *pvParameters )
- {
- struct AMessage *pxRxedMessage;
-
-	if( xQueue != 0 )
-	{
-		// Peek a message on the created queue.  Block for 10 ticks if a
-		// message is not immediately available.
-		if( xQueuePeek( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
-		{
-			// pcRxedMessage now points to the struct AMessage variable posted
-			// by vATask, but the item still remains on the queue.
-		}
-	}
-
-	// ... Rest of task code.
- }
-
- * \defgroup xQueueReceive xQueueReceive - * \ingroup QueueManagement - */ -#define xQueuePeek( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdTRUE ) - -/** - * queue. h - * 
- portBASE_TYPE xQueueReceive(
-								 xQueueHandle xQueue,
-								 void *pvBuffer,
-								 portTickType xTicksToWait
-							);
- * - * This is a macro that calls the xQueueGenericReceive() function. - * - * Receive an item from a queue. The item is received by copy so a buffer of - * adequate size must be provided. The number of bytes copied into the buffer - * was defined when the queue was created. - * - * Successfully received items are removed from the queue. - * - * This function must not be used in an interrupt service routine. See - * xQueueReceiveFromISR for an alternative that can. - * - * @param pxQueue The handle to the queue from which the item is to be - * received. - * - * @param pvBuffer Pointer to the buffer into which the received item will - * be copied. - * - * @param xTicksToWait The maximum amount of time the task should block - * waiting for an item to receive should the queue be empty at the time - * of the call. xQueueReceive() will return immediately if xTicksToWait - * is zero and the queue is empty. The time is defined in tick periods so the - * constant portTICK_RATE_MS should be used to convert to real time if this is - * required. - * - * @return pdTRUE if an item was successfully received from the queue, - * otherwise pdFALSE. - * - * Example usage: - 
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- } xMessage;
-
- xQueueHandle xQueue;
-
- // Task to create a queue and post a value.
- void vATask( void *pvParameters )
- {
- struct AMessage *pxMessage;
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
-	if( xQueue == 0 )
-	{
-		// Failed to create the queue.
-	}
-
-	// ...
-
-	// Send a pointer to a struct AMessage object.  Don't block if the
-	// queue is already full.
-	pxMessage = & xMessage;
-	xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
-
-	// ... Rest of task code.
- }
-
- // Task to receive from the queue.
- void vADifferentTask( void *pvParameters )
- {
- struct AMessage *pxRxedMessage;
-
-	if( xQueue != 0 )
-	{
-		// Receive a message on the created queue.  Block for 10 ticks if a
-		// message is not immediately available.
-		if( xQueueReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
-		{
-			// pcRxedMessage now points to the struct AMessage variable posted
-			// by vATask.
-		}
-	}
-
-	// ... Rest of task code.
- }
-
- * \defgroup xQueueReceive xQueueReceive - * \ingroup QueueManagement - */ -#define xQueueReceive( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdFALSE ) - - -/** - * queue. h - * 
- portBASE_TYPE xQueueGenericReceive(
-									   xQueueHandle	xQueue,
-									   void	*pvBuffer,
-									   portTickType	xTicksToWait
-									   portBASE_TYPE	xJustPeek
-									);
- * - * It is preferred that the macro xQueueReceive() be used rather than calling - * this function directly. - * - * Receive an item from a queue. The item is received by copy so a buffer of - * adequate size must be provided. The number of bytes copied into the buffer - * was defined when the queue was created. - * - * This function must not be used in an interrupt service routine. See - * xQueueReceiveFromISR for an alternative that can. - * - * @param pxQueue The handle to the queue from which the item is to be - * received. - * - * @param pvBuffer Pointer to the buffer into which the received item will - * be copied. - * - * @param xTicksToWait The maximum amount of time the task should block - * waiting for an item to receive should the queue be empty at the time - * of the call. The time is defined in tick periods so the constant - * portTICK_RATE_MS should be used to convert to real time if this is required. - * xQueueGenericReceive() will return immediately if the queue is empty and - * xTicksToWait is 0. - * - * @param xJustPeek When set to true, the item received from the queue is not - * actually removed from the queue - meaning a subsequent call to - * xQueueReceive() will return the same item. When set to false, the item - * being received from the queue is also removed from the queue. - * - * @return pdTRUE if an item was successfully received from the queue, - * otherwise pdFALSE. - * - * Example usage: - 
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- } xMessage;
-
- xQueueHandle xQueue;
-
- // Task to create a queue and post a value.
- void vATask( void *pvParameters )
- {
- struct AMessage *pxMessage;
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
-	if( xQueue == 0 )
-	{
-		// Failed to create the queue.
-	}
-
-	// ...
-
-	// Send a pointer to a struct AMessage object.  Don't block if the
-	// queue is already full.
-	pxMessage = & xMessage;
-	xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
-
-	// ... Rest of task code.
- }
-
- // Task to receive from the queue.
- void vADifferentTask( void *pvParameters )
- {
- struct AMessage *pxRxedMessage;
-
-	if( xQueue != 0 )
-	{
-		// Receive a message on the created queue.  Block for 10 ticks if a
-		// message is not immediately available.
-		if( xQueueGenericReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
-		{
-			// pcRxedMessage now points to the struct AMessage variable posted
-			// by vATask.
-		}
-	}
-
-	// ... Rest of task code.
- }
-
- * \defgroup xQueueReceive xQueueReceive - * \ingroup QueueManagement - */ -signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeek ); - -/** - * queue. h - * 
unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue );
- * - * Return the number of messages stored in a queue. - * - * @param xQueue A handle to the queue being queried. - * - * @return The number of messages available in the queue. - * - * \page uxQueueMessagesWaiting uxQueueMessagesWaiting - * \ingroup QueueManagement - */ -unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue ); - -/** - * queue. h - * 
void vQueueDelete( xQueueHandle xQueue );
- * - * Delete a queue - freeing all the memory allocated for storing of items - * placed on the queue. - * - * @param xQueue A handle to the queue to be deleted. - * - * \page vQueueDelete vQueueDelete - * \ingroup QueueManagement - */ -void vQueueDelete( xQueueHandle pxQueue ); - -/** - * queue. h - * 
- portBASE_TYPE xQueueSendToFrontFromISR(
-										 xQueueHandle pxQueue,
-										 const void *pvItemToQueue,
-										 portBASE_TYPE *pxHigherPriorityTaskWoken
-									  );
-
- * - * This is a macro that calls xQueueGenericSendFromISR(). - * - * Post an item to the front of a queue. It is safe to use this macro from - * within an interrupt service routine. - * - * Items are queued by copy not reference so it is preferable to only - * queue small items, especially when called from an ISR. In most cases - * it would be preferable to store a pointer to the item being queued. - * - * @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 pxHigherPriorityTaskWoken xQueueSendToFrontFromISR() will set - * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task - * to unblock, and the unblocked task has a priority higher than the currently - * running task. If xQueueSendToFromFromISR() sets this value to pdTRUE then - * a context switch should be requested before the interrupt is exited. - * - * @return pdTRUE if the data was successfully sent to the queue, otherwise - * errQUEUE_FULL. - * - * Example usage for buffered IO (where the ISR can obtain more than one value - * per call): - 
- void vBufferISR( void )
- {
- char cIn;
- portBASE_TYPE xHigherPrioritTaskWoken;
-
-	// We have not woken a task at the start of the ISR.
-	xHigherPriorityTaskWoken = pdFALSE;
-
-	// Loop until the buffer is empty.
-	do
-	{
-		// Obtain a byte from the buffer.
-		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
-
-		// Post the byte.
-		xQueueSendToFrontFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
-
-	} while( portINPUT_BYTE( BUFFER_COUNT ) );
-
-	// Now the buffer is empty we can switch context if necessary.
-	if( xHigherPriorityTaskWoken )
-	{
-		taskYIELD ();
-	}
- }
-
- * - * \defgroup xQueueSendFromISR xQueueSendFromISR - * \ingroup QueueManagement - */ -#define xQueueSendToFrontFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_FRONT ) - - -/** - * queue. h - * 
- portBASE_TYPE xQueueSendToBackFromISR(
-										 xQueueHandle pxQueue,
-										 const void *pvItemToQueue,
-										 portBASE_TYPE *pxHigherPriorityTaskWoken
-									  );
-
- * - * This is a macro that calls xQueueGenericSendFromISR(). - * - * Post an item to the back of a queue. It is safe to use this macro from - * within an interrupt service routine. - * - * Items are queued by copy not reference so it is preferable to only - * queue small items, especially when called from an ISR. In most cases - * it would be preferable to store a pointer to the item being queued. - * - * @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 pxHigherPriorityTaskWoken xQueueSendToBackFromISR() will set - * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task - * to unblock, and the unblocked task has a priority higher than the currently - * running task. If xQueueSendToBackFromISR() sets this value to pdTRUE then - * a context switch should be requested before the interrupt is exited. - * - * @return pdTRUE if the data was successfully sent to the queue, otherwise - * errQUEUE_FULL. - * - * Example usage for buffered IO (where the ISR can obtain more than one value - * per call): - 
- void vBufferISR( void )
- {
- char cIn;
- portBASE_TYPE xHigherPriorityTaskWoken;
-
-	// We have not woken a task at the start of the ISR.
-	xHigherPriorityTaskWoken = pdFALSE;
-
-	// Loop until the buffer is empty.
-	do
-	{
-		// Obtain a byte from the buffer.
-		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
-
-		// Post the byte.
-		xQueueSendToBackFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
-
-	} while( portINPUT_BYTE( BUFFER_COUNT ) );
-
-	// Now the buffer is empty we can switch context if necessary.
-	if( xHigherPriorityTaskWoken )
-	{
-		taskYIELD ();
-	}
- }
-
- * - * \defgroup xQueueSendFromISR xQueueSendFromISR - * \ingroup QueueManagement - */ -#define xQueueSendToBackFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK ) - -/** - * queue. h - * 
- portBASE_TYPE xQueueSendFromISR(
-									 xQueueHandle pxQueue,
-									 const void *pvItemToQueue,
-									 portBASE_TYPE *pxHigherPriorityTaskWoken
-								);
-
- * - * This is a macro that calls xQueueGenericSendFromISR(). It is included - * for backward compatibility with versions of FreeRTOS.org that did not - * include the xQueueSendToBackFromISR() and xQueueSendToFrontFromISR() - * macros. - * - * Post an item to the back of a queue. It is safe to use this function from - * within an interrupt service routine. - * - * Items are queued by copy not reference so it is preferable to only - * queue small items, especially when called from an ISR. In most cases - * it would be preferable to store a pointer to the item being queued. - * - * @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 pxHigherPriorityTaskWoken xQueueSendFromISR() will set - * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task - * to unblock, and the unblocked task has a priority higher than the currently - * running task. If xQueueSendFromISR() sets this value to pdTRUE then - * a context switch should be requested before the interrupt is exited. - * - * @return pdTRUE if the data was successfully sent to the queue, otherwise - * errQUEUE_FULL. - * - * Example usage for buffered IO (where the ISR can obtain more than one value - * per call): - 
- void vBufferISR( void )
- {
- char cIn;
- portBASE_TYPE xHigherPriorityTaskWoken;
-
-	// We have not woken a task at the start of the ISR.
-	xHigherPriorityTaskWoken = pdFALSE;
-
-	// Loop until the buffer is empty.
-	do
-	{
-		// Obtain a byte from the buffer.
-		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
-
-		// Post the byte.
-		xQueueSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
-
-	} while( portINPUT_BYTE( BUFFER_COUNT ) );
-
-	// Now the buffer is empty we can switch context if necessary.
-	if( xHigherPriorityTaskWoken )
-	{
-		// Actual macro used here is port specific.
-		taskYIELD_FROM_ISR ();
-	}
- }
-
- * - * \defgroup xQueueSendFromISR xQueueSendFromISR - * \ingroup QueueManagement - */ -#define xQueueSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK ) - -/** - * queue. h - * 
- portBASE_TYPE xQueueGenericSendFromISR(
-										   xQueueHandle	pxQueue,
-										   const	void	*pvItemToQueue,
-										   portBASE_TYPE	*pxHigherPriorityTaskWoken,
-										   portBASE_TYPE	xCopyPosition
-									   );
-
- * - * It is preferred that the macros xQueueSendFromISR(), - * xQueueSendToFrontFromISR() and xQueueSendToBackFromISR() be used in place - * of calling this function directly. - * - * Post an item on a queue. It is safe to use this function from within an - * interrupt service routine. - * - * Items are queued by copy not reference so it is preferable to only - * queue small items, especially when called from an ISR. In most cases - * it would be preferable to store a pointer to the item being queued. - * - * @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 pxHigherPriorityTaskWoken xQueueGenericSendFromISR() will set - * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task - * to unblock, and the unblocked task has a priority higher than the currently - * running task. If xQueueGenericSendFromISR() sets this value to pdTRUE then - * a context switch should be requested before the interrupt is exited. - * - * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the - * item at the back of the queue, or queueSEND_TO_FRONT to place the item - * at the front of the queue (for high priority messages). - * - * @return pdTRUE if the data was successfully sent to the queue, otherwise - * errQUEUE_FULL. - * - * Example usage for buffered IO (where the ISR can obtain more than one value - * per call): - 
- void vBufferISR( void )
- {
- char cIn;
- portBASE_TYPE xHigherPriorityTaskWokenByPost;
-
-	// We have not woken a task at the start of the ISR.
-	xHigherPriorityTaskWokenByPost = pdFALSE;
-
-	// Loop until the buffer is empty.
-	do
-	{
-		// Obtain a byte from the buffer.
-		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
-
-		// Post each byte.
-		xQueueGenericSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWokenByPost, queueSEND_TO_BACK );
-
-	} while( portINPUT_BYTE( BUFFER_COUNT ) );
-
-	// Now the buffer is empty we can switch context if necessary.  Note that the
-	// name of the yield function required is port specific.
-	if( xHigherPriorityTaskWokenByPost )
-	{
-		taskYIELD_YIELD_FROM_ISR();
-	}
- }
-
- * - * \defgroup xQueueSendFromISR xQueueSendFromISR - * \ingroup QueueManagement - */ -signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition ); - -/** - * queue. h - * 
- portBASE_TYPE xQueueReceiveFromISR(
-									   xQueueHandle	pxQueue,
-									   void	*pvBuffer,
-									   portBASE_TYPE	*pxTaskWoken
-								   );
- *
- * - * Receive an item from a queue. It is safe to use this function from within an - * interrupt service routine. - * - * @param pxQueue The handle to the queue from which the item is to be - * received. - * - * @param pvBuffer Pointer to the buffer into which the received item will - * be copied. - * - * @param pxTaskWoken A task may be blocked waiting for space to become - * available on the queue. If xQueueReceiveFromISR causes such a task to - * unblock *pxTaskWoken will get set to pdTRUE, otherwise *pxTaskWoken will - * remain unchanged. - * - * @return pdTRUE if an item was successfully received from the queue, - * otherwise pdFALSE. - * - * Example usage: - 
-
- xQueueHandle xQueue;
-
- // Function to create a queue and post some values.
- void vAFunction( void *pvParameters )
- {
- char cValueToPost;
- const portTickType xBlockTime = ( portTickType )0xff;
-
-	// Create a queue capable of containing 10 characters.
-	xQueue = xQueueCreate( 10, sizeof( char ) );
-	if( xQueue == 0 )
-	{
-		// Failed to create the queue.
-	}
-
-	// ...
-
-	// Post some characters that will be used within an ISR.  If the queue
-	// is full then this task will block for xBlockTime ticks.
-	cValueToPost = 'a';
-	xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );
-	cValueToPost = 'b';
-	xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );
-
-	// ... keep posting characters ... this task may block when the queue
-	// becomes full.
-
-	cValueToPost = 'c';
-	xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );
- }
-
- // ISR that outputs all the characters received on the queue.
- void vISR_Routine( void )
- {
- portBASE_TYPE xTaskWokenByReceive = pdFALSE;
- char cRxedChar;
-
-	while( xQueueReceiveFromISR( xQueue, ( void * ) &cRxedChar, &xTaskWokenByReceive) )
-	{
-		// A character was received.  Output the character now.
-		vOutputCharacter( cRxedChar );
-
-		// If removing the character from the queue woke the task that was
-		// posting onto the queue cTaskWokenByReceive will have been set to
-		// pdTRUE.  No matter how many times this loop iterates only one
-		// task will be woken.
-	}
-
-	if( cTaskWokenByPost != ( char ) pdFALSE;
-	{
-		taskYIELD ();
-	}
- }
-
- * \defgroup xQueueReceiveFromISR xQueueReceiveFromISR - * \ingroup QueueManagement - */ -signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken ); - -/* - * Utilities to query queues that are safe to use from an ISR. These utilities - * should be used only from witin an ISR, or within a critical section. - */ -signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue ); -signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue ); -unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue ); - - -/* - * xQueueAltGenericSend() is an alternative version of xQueueGenericSend(). - * Likewise xQueueAltGenericReceive() is an alternative version of - * xQueueGenericReceive(). - * - * 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. - */ -signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ); -signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ); -#define xQueueAltSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_FRONT ) -#define xQueueAltSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK ) -#define xQueueAltReceive( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdFALSE ) -#define xQueueAltPeek( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdTRUE ) - -/* - * The functions defined above are for passing data to and from tasks. The - * functions below are the equivalents for passing data to and from - * co-routines. - * - * These functions are called from the co-routine macro implementation and - * should not be called directly from application code. Instead use the macro - * wrappers defined within croutine.h. - */ -signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ); -signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken ); -signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait ); -signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait ); - -/* - * For internal use only. Use xSemaphoreCreateMutex(), - * xSemaphoreCreateCounting() or xSemaphoreGetMutexHolder() instead of calling - * these functions directly. - */ -xQueueHandle xQueueCreateMutex( unsigned char ucQueueType ); -xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ); -void* xQueueGetMutexHolder( xQueueHandle xSemaphore ); - -/* - * For internal use only. Use xSemaphoreTakeMutexRecursive() or - * xSemaphoreGiveMutexRecursive() instead of calling these functions directly. - */ -portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle pxMutex, portTickType xBlockTime ); -portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex ); - -/* - * Reset a queue back to its original empty state. pdPASS is returned if the - * queue is successfully reset. pdFAIL is returned if the queue could not be - * reset because there are tasks blocked on the queue waiting to either - * receive from the queue or send to the queue. - */ -#define xQueueReset( pxQueue ) xQueueGenericReset( pxQueue, pdFALSE ) - -/* - * The registry is provided as a means for kernel aware debuggers to - * locate queues, semaphores and mutexes. Call vQueueAddToRegistry() add - * a queue, semaphore or mutex handle to the registry if you want the handle - * to be available to a kernel aware debugger. If you are not using a kernel - * aware debugger then this function can be ignored. - * - * configQUEUE_REGISTRY_SIZE defines the maximum number of handles the - * registry can hold. configQUEUE_REGISTRY_SIZE must be greater than 0 - * within FreeRTOSConfig.h for the registry to be available. Its value - * does not effect the number of queues, semaphores and mutexes that can be - * created - just the number that the registry can hold. - * - * @param xQueue The handle of the queue being added to the registry. This - * is the handle returned by a call to xQueueCreate(). Semaphore and mutex - * handles can also be passed in here. - * - * @param pcName The name to be associated with the handle. This is the - * name that the kernel aware debugger will display. - */ -#if configQUEUE_REGISTRY_SIZE > 0U - void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcName ); -#endif - -/* - * Generic version of the queue creation function, which is in turn called by - * any queue, semaphore or mutex creation function or macro. - */ -xQueueHandle xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType ); - -/* Not public API functions. */ -void vQueueWaitForMessageRestricted( xQueueHandle pxQueue, portTickType xTicksToWait ); -portBASE_TYPE xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue ); - - -#ifdef __cplusplus -} -#endif - -#endif /* QUEUE_H */ - diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/semphr.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/semphr.h deleted file mode 100644 index b523c723e..000000000 --- a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/semphr.h +++ /dev/null @@ -1,787 +0,0 @@ -/* - FreeRTOS V7.1.1 - Copyright (C) 2012 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! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong? * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - - http://www.FreeRTOS.org - Documentation, training, latest information, - license and contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. - - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. -*/ - -#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 - * 
vSemaphoreCreateBinary( xSemaphoreHandle xSemaphore )
- * - * Macro 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: - 
- 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.  
-    }
- }
-
- * \defgroup vSemaphoreCreateBinary vSemaphoreCreateBinary - * \ingroup Semaphores - */ -#define vSemaphoreCreateBinary( xSemaphore ) \ - { \ - ( xSemaphore ) = xQueueGenericCreate( ( unsigned portBASE_TYPE ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE ); \ - if( ( xSemaphore ) != NULL ) \ - { \ - xSemaphoreGive( ( xSemaphore ) ); \ - } \ - } - -/** - * semphr. h - * 
xSemaphoreTake( 
- *                   xSemaphoreHandle xSemaphore, 
- *                   portTickType xBlockTime 
- *               )
- * - * Macro 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: - 
- 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.
-        }
-    }
- }
-
- * \defgroup xSemaphoreTake xSemaphoreTake - * \ingroup Semaphores - */ -#define xSemaphoreTake( xSemaphore, xBlockTime ) xQueueGenericReceive( ( xQueueHandle ) ( xSemaphore ), NULL, ( xBlockTime ), pdFALSE ) - -/** - * semphr. h - * xSemaphoreTakeRecursive( - * xSemaphoreHandle xMutex, - * portTickType xBlockTime - * ) - * - * Macro 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: - 
- 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.
-        }
-    }
- }
-
- * \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 - * 
xSemaphoreGive( xSemaphoreHandle xSemaphore )
- * - * Macro 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: - 
- 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.
-            }
-        }
-    }
- }
-
- * \defgroup xSemaphoreGive xSemaphoreGive - * \ingroup Semaphores - */ -#define xSemaphoreGive( xSemaphore ) xQueueGenericSend( ( xQueueHandle ) ( xSemaphore ), NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK ) - -/** - * semphr. h - * 
xSemaphoreGiveRecursive( xSemaphoreHandle xMutex )
- * - * Macro 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: - 
- 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.
-        }
-    }
- }
-
- * \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 - * 
- xSemaphoreGiveFromISR( 
-                          xSemaphoreHandle xSemaphore, 
-                          signed portBASE_TYPE *pxHigherPriorityTaskWoken
-                      )
- * - * Macro 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: - 
- \#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.
-    }
- }
-
- * \defgroup xSemaphoreGiveFromISR xSemaphoreGiveFromISR - * \ingroup Semaphores - */ -#define xSemaphoreGiveFromISR( xSemaphore, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueueHandle ) ( xSemaphore ), NULL, ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK ) - -/** - * semphr. h - * 
- xSemaphoreTakeFromISR( 
-                          xSemaphoreHandle xSemaphore, 
-                          signed portBASE_TYPE *pxHigherPriorityTaskWoken
-                      )
- * - * Macro to take a semaphore from an ISR. 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, however taking a semaphore from an ISR - * is not a common operation. It is likely to only be useful when taking a - * counting semaphore when an interrupt is obtaining an object from a resource - * pool (when the semaphore count indicates the number of resources available). - * - * @param xSemaphore A handle to the semaphore being taken. This is the - * handle returned when the semaphore was created. - * - * @param pxHigherPriorityTaskWoken xSemaphoreTakeFromISR() will set - * *pxHigherPriorityTaskWoken to pdTRUE if taking the semaphore caused a task - * to unblock, and the unblocked task has a priority higher than the currently - * running task. If xSemaphoreTakeFromISR() sets this value to pdTRUE then - * a context switch should be requested before the interrupt is exited. - * - * @return pdTRUE if the semaphore was successfully taken, otherwise - * pdFALSE - */ -#define xSemaphoreTakeFromISR( xSemaphore, pxHigherPriorityTaskWoken ) xQueueReceiveFromISR( ( xQueueHandle ) ( xSemaphore ), NULL, ( pxHigherPriorityTaskWoken ) ) - -/** - * semphr. h - * 
xSemaphoreHandle xSemaphoreCreateMutex( void )
- * - * Macro 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: - 
- 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.  
-    }
- }
-
- * \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex - * \ingroup Semaphores - */ -#define xSemaphoreCreateMutex() xQueueCreateMutex( queueQUEUE_TYPE_MUTEX ) - - -/** - * semphr. h - * 
xSemaphoreHandle xSemaphoreCreateRecursiveMutex( void )
- * - * Macro 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: - 
- 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.  
-    }
- }
-
- * \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex - * \ingroup Semaphores - */ -#define xSemaphoreCreateRecursiveMutex() xQueueCreateMutex( queueQUEUE_TYPE_RECURSIVE_MUTEX ) - -/** - * semphr. h - * 
xSemaphoreHandle xSemaphoreCreateCounting( unsigned portBASE_TYPE uxMaxCount, unsigned portBASE_TYPE uxInitialCount )
- * - * Macro 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: - 
- 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.  
-    }
- }
-
- * \defgroup xSemaphoreCreateCounting xSemaphoreCreateCounting - * \ingroup Semaphores - */ -#define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount ) xQueueCreateCountingSemaphore( ( uxMaxCount ), ( uxInitialCount ) ) - -/** - * semphr. h - * 
void vSemaphoreDelete( xSemaphoreHandle xSemaphore );
- * - * Delete a semaphore. This function must be used with care. For example, - * do not delete a mutex type semaphore if the mutex is held by a task. - * - * @param xSemaphore A handle to the semaphore to be deleted. - * - * \page vSemaphoreDelete vSemaphoreDelete - * \ingroup Semaphores - */ -#define vSemaphoreDelete( xSemaphore ) vQueueDelete( ( xQueueHandle ) ( xSemaphore ) ) - -/** - * semphr.h - * 
xTaskHandle xSemaphoreGetMutexHolder( xSemaphoreHandle xMutex );
- * - * If xMutex is indeed a mutex type semaphore, return the current mutex holder. - * If xMutex is not a mutex type semaphore, or the mutex is available (not held - * by a task), return NULL. - * - * Note: This Is is a good way of determining if the calling task is the mutex - * holder, but not a good way of determining the identity of the mutex holder as - * the holder may change between the function exiting and the returned value - * being tested. - */ -#define xSemaphoreGetMutexHolder( xSemaphore ) xQueueGetMutexHolder( ( xSemaphore ) ) - -#endif /* SEMAPHORE_H */ - - diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/task.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/task.h deleted file mode 100644 index 3f462ff3e..000000000 --- a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/task.h +++ /dev/null @@ -1,1336 +0,0 @@ -/* - FreeRTOS V7.1.1 - Copyright (C) 2012 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! - - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong? * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - - http://www.FreeRTOS.org - Documentation, training, latest information, - license and contact details. - - http://www.FreeRTOS.org/plus - Selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. - - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. -*/ - - -#ifndef TASK_H -#define TASK_H - -#ifndef INC_FREERTOS_H - #error "include FreeRTOS.h must appear in source files before include task.h" -#endif - -#include "portable.h" -#include "list.h" - -#ifdef __cplusplus -extern "C" { -#endif - -/*----------------------------------------------------------- - * MACROS AND DEFINITIONS - *----------------------------------------------------------*/ - -#define tskKERNEL_VERSION_NUMBER "V7.1.1" - -/** - * task. h - * - * Type by which tasks are referenced. For example, a call to xTaskCreate - * returns (via a pointer parameter) an xTaskHandle variable that can then - * be used as a parameter to vTaskDelete to delete the task. - * - * \page xTaskHandle xTaskHandle - * \ingroup Tasks - */ -typedef void * xTaskHandle; - -/* - * Used internally only. - */ -typedef struct xTIME_OUT -{ - portBASE_TYPE xOverflowCount; - portTickType xTimeOnEntering; -} xTimeOutType; - -/* - * Defines the memory ranges allocated to the task when an MPU is used. - */ -typedef struct xMEMORY_REGION -{ - void *pvBaseAddress; - unsigned long ulLengthInBytes; - unsigned long ulParameters; -} xMemoryRegion; - -/* - * Parameters required to create an MPU protected task. - */ -typedef struct xTASK_PARAMTERS -{ - pdTASK_CODE pvTaskCode; - const signed char * const pcName; - unsigned short usStackDepth; - void *pvParameters; - unsigned portBASE_TYPE uxPriority; - portSTACK_TYPE *puxStackBuffer; - xMemoryRegion xRegions[ portNUM_CONFIGURABLE_REGIONS ]; -} xTaskParameters; - -/* - * Defines the priority used by the idle task. This must not be modified. - * - * \ingroup TaskUtils - */ -#define tskIDLE_PRIORITY ( ( unsigned portBASE_TYPE ) 0U ) - -/** - * task. h - * - * Macro for forcing a context switch. - * - * \page taskYIELD taskYIELD - * \ingroup SchedulerControl - */ -#define taskYIELD() portYIELD() - -/** - * task. h - * - * Macro to mark the start of a critical code region. Preemptive context - * switches cannot occur when in a critical region. - * - * NOTE: This may alter the stack (depending on the portable implementation) - * so must be used with care! - * - * \page taskENTER_CRITICAL taskENTER_CRITICAL - * \ingroup SchedulerControl - */ -#define taskENTER_CRITICAL() portENTER_CRITICAL() - -/** - * task. h - * - * Macro to mark the end of a critical code region. Preemptive context - * switches cannot occur when in a critical region. - * - * NOTE: This may alter the stack (depending on the portable implementation) - * so must be used with care! - * - * \page taskEXIT_CRITICAL taskEXIT_CRITICAL - * \ingroup SchedulerControl - */ -#define taskEXIT_CRITICAL() portEXIT_CRITICAL() - -/** - * task. h - * - * Macro to disable all maskable interrupts. - * - * \page taskDISABLE_INTERRUPTS taskDISABLE_INTERRUPTS - * \ingroup SchedulerControl - */ -#define taskDISABLE_INTERRUPTS() portDISABLE_INTERRUPTS() - -/** - * task. h - * - * Macro to enable microcontroller interrupts. - * - * \page taskENABLE_INTERRUPTS taskENABLE_INTERRUPTS - * \ingroup SchedulerControl - */ -#define taskENABLE_INTERRUPTS() portENABLE_INTERRUPTS() - -/* Definitions returned by xTaskGetSchedulerState(). */ -#define taskSCHEDULER_NOT_STARTED 0 -#define taskSCHEDULER_RUNNING 1 -#define taskSCHEDULER_SUSPENDED 2 - -/*----------------------------------------------------------- - * TASK CREATION API - *----------------------------------------------------------*/ - -/** - * task. h - *
- portBASE_TYPE xTaskCreate(
-							  pdTASK_CODE pvTaskCode,
-							  const char * const pcName,
-							  unsigned short usStackDepth,
-							  void *pvParameters,
-							  unsigned portBASE_TYPE uxPriority,
-							  xTaskHandle *pvCreatedTask
-						  );
- * - * Create a new task and add it to the list of tasks that are ready to run. - * - * xTaskCreate() can only be used to create a task that has unrestricted - * access to the entire microcontroller memory map. Systems that include MPU - * support can alternatively create an MPU constrained task using - * xTaskCreateRestricted(). - * - * @param pvTaskCode Pointer to the task entry function. Tasks - * must be implemented to never return (i.e. continuous loop). - * - * @param pcName A descriptive name for the task. This is mainly used to - * facilitate debugging. Max length defined by tskMAX_TASK_NAME_LEN - default - * is 16. - * - * @param usStackDepth The size of the task stack specified as the number of - * variables the stack can hold - not the number of bytes. For example, if - * the stack is 16 bits wide and usStackDepth is defined as 100, 200 bytes - * will be allocated for stack storage. - * - * @param pvParameters Pointer that will be used as the parameter for the task - * being created. - * - * @param uxPriority The priority at which the task should run. Systems that - * include MPU support can optionally create tasks in a privileged (system) - * mode by setting bit portPRIVILEGE_BIT of the priority parameter. For - * example, to create a privileged task at priority 2 the uxPriority parameter - * should be set to ( 2 | portPRIVILEGE_BIT ). - * - * @param pvCreatedTask Used to pass back a handle by which the created task - * can be referenced. - * - * @return pdPASS if the task was successfully created and added to a ready - * list, otherwise an error code defined in the file errors. h - * - * Example usage: - 
- // Task to be created.
- void vTaskCode( void * pvParameters )
- {
-	 for( ;; )
-	 {
-		 // Task code goes here.
-	 }
- }
-
- // Function that creates a task.
- void vOtherFunction( void )
- {
- static unsigned char ucParameterToPass;
- xTaskHandle xHandle;
-
-	 // Create the task, storing the handle.  Note that the passed parameter ucParameterToPass
-	 // must exist for the lifetime of the task, so in this case is declared static.  If it was just an
-	 // an automatic stack variable it might no longer exist, or at least have been corrupted, by the time
-	 // the new task attempts to access it.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );
-
-	 // Use the handle to delete the task.
-	 vTaskDelete( xHandle );
- }
-
- * \defgroup xTaskCreate xTaskCreate - * \ingroup Tasks - */ -#define xTaskCreate( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask ) xTaskGenericCreate( ( pvTaskCode ), ( pcName ), ( usStackDepth ), ( pvParameters ), ( uxPriority ), ( pxCreatedTask ), ( NULL ), ( NULL ) ) - -/** - * task. h - *
- portBASE_TYPE xTaskCreateRestricted( xTaskParameters *pxTaskDefinition, xTaskHandle *pxCreatedTask );
- * - * xTaskCreateRestricted() should only be used in systems that include an MPU - * implementation. - * - * Create a new task and add it to the list of tasks that are ready to run. - * The function parameters define the memory regions and associated access - * permissions allocated to the task. - * - * @param pxTaskDefinition Pointer to a structure that contains a member - * for each of the normal xTaskCreate() parameters (see the xTaskCreate() API - * documentation) plus an optional stack buffer and the memory region - * definitions. - * - * @param pxCreatedTask Used to pass back a handle by which the created task - * can be referenced. - * - * @return pdPASS if the task was successfully created and added to a ready - * list, otherwise an error code defined in the file errors. h - * - * Example usage: - 
-// Create an xTaskParameters structure that defines the task to be created.
-static const xTaskParameters xCheckTaskParameters =
-{
-	vATask,		// pvTaskCode - the function that implements the task.
-	"ATask",	// pcName - just a text name for the task to assist debugging.
-	100,		// usStackDepth	- the stack size DEFINED IN WORDS.
-	NULL,		// pvParameters - passed into the task function as the function parameters.
-	( 1UL | portPRIVILEGE_BIT ),// uxPriority - task priority, set the portPRIVILEGE_BIT if the task should run in a privileged state.
-	cStackBuffer,// puxStackBuffer - the buffer to be used as the task stack.
-
-	// xRegions - Allocate up to three separate memory regions for access by
-	// the task, with appropriate access permissions.  Different processors have
-	// different memory alignment requirements - refer to the FreeRTOS documentation
-	// for full information.
-	{											
-		// Base address					Length	Parameters
-        { cReadWriteArray,				32,		portMPU_REGION_READ_WRITE },
-        { cReadOnlyArray,				32,		portMPU_REGION_READ_ONLY },
-        { cPrivilegedOnlyAccessArray,	128,	portMPU_REGION_PRIVILEGED_READ_WRITE }
-	}
-};
-
-int main( void )
-{
-xTaskHandle xHandle;
-
-	// Create a task from the const structure defined above.  The task handle
-	// is requested (the second parameter is not NULL) but in this case just for
-	// demonstration purposes as its not actually used.
-	xTaskCreateRestricted( &xRegTest1Parameters, &xHandle );
-
-	// Start the scheduler.
-	vTaskStartScheduler();
-
-	// Will only get here if there was insufficient memory to create the idle
-	// task.
-	for( ;; );
-}
-
- * \defgroup xTaskCreateRestricted xTaskCreateRestricted - * \ingroup Tasks - */ -#define xTaskCreateRestricted( x, pxCreatedTask ) xTaskGenericCreate( ((x)->pvTaskCode), ((x)->pcName), ((x)->usStackDepth), ((x)->pvParameters), ((x)->uxPriority), (pxCreatedTask), ((x)->puxStackBuffer), ((x)->xRegions) ) - -/** - * task. h - *
- void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxRegions );
- * - * Memory regions are assigned to a restricted task when the task is created by - * a call to xTaskCreateRestricted(). These regions can be redefined using - * vTaskAllocateMPURegions(). - * - * @param xTask The handle of the task being updated. - * - * @param xRegions A pointer to an xMemoryRegion structure that contains the - * new memory region definitions. - * - * Example usage: - 
-// Define an array of xMemoryRegion structures that configures an MPU region
-// allowing read/write access for 1024 bytes starting at the beginning of the
-// ucOneKByte array.  The other two of the maximum 3 definable regions are
-// unused so set to zero.
-static const xMemoryRegion xAltRegions[ portNUM_CONFIGURABLE_REGIONS ] =
-{											
-	// Base address		Length		Parameters
-	{ ucOneKByte,		1024,		portMPU_REGION_READ_WRITE },
-	{ 0,				0,			0 },
-	{ 0,				0,			0 }
-};
-
-void vATask( void *pvParameters )
-{
-	// This task was created such that it has access to certain regions of
-	// memory as defined by the MPU configuration.  At some point it is
-	// desired that these MPU regions are replaced with that defined in the
-	// xAltRegions const struct above.  Use a call to vTaskAllocateMPURegions()
-	// for this purpose.  NULL is used as the task handle to indicate that this
-	// function should modify the MPU regions of the calling task.
-	vTaskAllocateMPURegions( NULL, xAltRegions );
-	
-	// Now the task can continue its function, but from this point on can only
-	// access its stack and the ucOneKByte array (unless any other statically
-	// defined or shared regions have been declared elsewhere).
-}
-
- * \defgroup xTaskCreateRestricted xTaskCreateRestricted - * \ingroup Tasks - */ -void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxRegions ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
void vTaskDelete( xTaskHandle pxTask );
- * - * INCLUDE_vTaskDelete must be defined as 1 for this function to be available. - * See the configuration section for more information. - * - * Remove a task from the RTOS real time kernels management. The task being - * deleted will be removed from all ready, blocked, suspended and event lists. - * - * NOTE: The idle task is responsible for freeing the kernel allocated - * memory from tasks that have been deleted. It is therefore important that - * the idle task is not starved of microcontroller processing time if your - * application makes any calls to vTaskDelete (). Memory allocated by the - * task code is not automatically freed, and should be freed before the task - * is deleted. - * - * See the demo application file death.c for sample code that utilises - * vTaskDelete (). - * - * @param pxTask The handle of the task to be deleted. Passing NULL will - * cause the calling task to be deleted. - * - * Example usage: - 
- void vOtherFunction( void )
- {
- xTaskHandle xHandle;
-
-	 // Create the task, storing the handle.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-
-	 // Use the handle to delete the task.
-	 vTaskDelete( xHandle );
- }
-
- * \defgroup vTaskDelete vTaskDelete - * \ingroup Tasks - */ -void vTaskDelete( xTaskHandle pxTaskToDelete ) PRIVILEGED_FUNCTION; - -/*----------------------------------------------------------- - * TASK CONTROL API - *----------------------------------------------------------*/ - -/** - * task. h - * 
void vTaskDelay( portTickType xTicksToDelay );
- * - * Delay a task for a given number of ticks. The actual time that the - * task remains blocked depends on the tick rate. The constant - * portTICK_RATE_MS can be used to calculate real time from the tick - * rate - with the resolution of one tick period. - * - * INCLUDE_vTaskDelay must be defined as 1 for this function to be available. - * See the configuration section for more information. - * - * - * vTaskDelay() specifies a time at which the task wishes to unblock relative to - * the time at which vTaskDelay() is called. For example, specifying a block - * period of 100 ticks will cause the task to unblock 100 ticks after - * vTaskDelay() is called. vTaskDelay() does not therefore provide a good method - * of controlling the frequency of a cyclical task as the path taken through the - * code, as well as other task and interrupt activity, will effect the frequency - * at which vTaskDelay() gets called and therefore the time at which the task - * next executes. See vTaskDelayUntil() for an alternative API function designed - * to facilitate fixed frequency execution. It does this by specifying an - * absolute time (rather than a relative time) at which the calling task should - * unblock. - * - * @param xTicksToDelay The amount of time, in tick periods, that - * the calling task should block. - * - * Example usage: - - void vTaskFunction( void * pvParameters ) - { - void vTaskFunction( void * pvParameters ) - { - // Block for 500ms. - const portTickType xDelay = 500 / portTICK_RATE_MS; - - for( ;; ) - { - // Simply toggle the LED every 500ms, blocking between each toggle. - vToggleLED(); - vTaskDelay( xDelay ); - } - } - - * \defgroup vTaskDelay vTaskDelay - * \ingroup TaskCtrl - */ -void vTaskDelay( portTickType xTicksToDelay ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
void vTaskDelayUntil( portTickType *pxPreviousWakeTime, portTickType xTimeIncrement );
- * - * INCLUDE_vTaskDelayUntil must be defined as 1 for this function to be available. - * See the configuration section for more information. - * - * Delay a task until a specified time. This function can be used by cyclical - * tasks to ensure a constant execution frequency. - * - * This function differs from vTaskDelay () in one important aspect: vTaskDelay () will - * cause a task to block for the specified number of ticks from the time vTaskDelay () is - * called. It is therefore difficult to use vTaskDelay () by itself to generate a fixed - * execution frequency as the time between a task starting to execute and that task - * calling vTaskDelay () may not be fixed [the task may take a different path though the - * code between calls, or may get interrupted or preempted a different number of times - * each time it executes]. - * - * Whereas vTaskDelay () specifies a wake time relative to the time at which the function - * is called, vTaskDelayUntil () specifies the absolute (exact) time at which it wishes to - * unblock. - * - * The constant portTICK_RATE_MS can be used to calculate real time from the tick - * rate - with the resolution of one tick period. - * - * @param pxPreviousWakeTime Pointer to a variable that holds the time at which the - * task was last unblocked. The variable must be initialised with the current time - * prior to its first use (see the example below). Following this the variable is - * automatically updated within vTaskDelayUntil (). - * - * @param xTimeIncrement The cycle time period. The task will be unblocked at - * time *pxPreviousWakeTime + xTimeIncrement. Calling vTaskDelayUntil with the - * same xTimeIncrement parameter value will cause the task to execute with - * a fixed interface period. - * - * Example usage: - 
- // Perform an action every 10 ticks.
- void vTaskFunction( void * pvParameters )
- {
- portTickType xLastWakeTime;
- const portTickType xFrequency = 10;
-
-	 // Initialise the xLastWakeTime variable with the current time.
-	 xLastWakeTime = xTaskGetTickCount ();
-	 for( ;; )
-	 {
-		 // Wait for the next cycle.
-		 vTaskDelayUntil( &xLastWakeTime, xFrequency );
-
-		 // Perform action here.
-	 }
- }
-
- * \defgroup vTaskDelayUntil vTaskDelayUntil - * \ingroup TaskCtrl - */ -void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask );
- * - * INCLUDE_xTaskPriorityGet must be defined as 1 for this function to be available. - * See the configuration section for more information. - * - * Obtain the priority of any task. - * - * @param pxTask Handle of the task to be queried. Passing a NULL - * handle results in the priority of the calling task being returned. - * - * @return The priority of pxTask. - * - * Example usage: - 
- void vAFunction( void )
- {
- xTaskHandle xHandle;
-
-	 // Create a task, storing the handle.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-
-	 // ...
-
-	 // Use the handle to obtain the priority of the created task.
-	 // It was created with tskIDLE_PRIORITY, but may have changed
-	 // it itself.
-	 if( uxTaskPriorityGet( xHandle ) != tskIDLE_PRIORITY )
-	 {
-		 // The task has changed it's priority.
-	 }
-
-	 // ...
-
-	 // Is our priority higher than the created task?
-	 if( uxTaskPriorityGet( xHandle ) < uxTaskPriorityGet( NULL ) )
-	 {
-		 // Our priority (obtained using NULL handle) is higher.
-	 }
- }
-
- * \defgroup uxTaskPriorityGet uxTaskPriorityGet - * \ingroup TaskCtrl - */ -unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority );
- * - * INCLUDE_vTaskPrioritySet must be defined as 1 for this function to be available. - * See the configuration section for more information. - * - * Set the priority of any task. - * - * A context switch will occur before the function returns if the priority - * being set is higher than the currently executing task. - * - * @param pxTask Handle to the task for which the priority is being set. - * Passing a NULL handle results in the priority of the calling task being set. - * - * @param uxNewPriority The priority to which the task will be set. - * - * Example usage: - 
- void vAFunction( void )
- {
- xTaskHandle xHandle;
-
-	 // Create a task, storing the handle.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-
-	 // ...
-
-	 // Use the handle to raise the priority of the created task.
-	 vTaskPrioritySet( xHandle, tskIDLE_PRIORITY + 1 );
-
-	 // ...
-
-	 // Use a NULL handle to raise our priority to the same value.
-	 vTaskPrioritySet( NULL, tskIDLE_PRIORITY + 1 );
- }
-
- * \defgroup vTaskPrioritySet vTaskPrioritySet - * \ingroup TaskCtrl - */ -void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
void vTaskSuspend( xTaskHandle pxTaskToSuspend );
- * - * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available. - * See the configuration section for more information. - * - * Suspend any task. When suspended a task will never get any microcontroller - * processing time, no matter what its priority. - * - * Calls to vTaskSuspend are not accumulative - - * i.e. calling vTaskSuspend () twice on the same task still only requires one - * call to vTaskResume () to ready the suspended task. - * - * @param pxTaskToSuspend Handle to the task being suspended. Passing a NULL - * handle will cause the calling task to be suspended. - * - * Example usage: - 
- void vAFunction( void )
- {
- xTaskHandle xHandle;
-
-	 // Create a task, storing the handle.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-
-	 // ...
-
-	 // Use the handle to suspend the created task.
-	 vTaskSuspend( xHandle );
-
-	 // ...
-
-	 // The created task will not run during this period, unless
-	 // another task calls vTaskResume( xHandle ).
-
-	 //...
-
-
-	 // Suspend ourselves.
-	 vTaskSuspend( NULL );
-
-	 // We cannot get here unless another task calls vTaskResume
-	 // with our handle as the parameter.
- }
-
- * \defgroup vTaskSuspend vTaskSuspend - * \ingroup TaskCtrl - */ -void vTaskSuspend( xTaskHandle pxTaskToSuspend ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
void vTaskResume( xTaskHandle pxTaskToResume );
- * - * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available. - * See the configuration section for more information. - * - * Resumes a suspended task. - * - * A task that has been suspended by one of more calls to vTaskSuspend () - * will be made available for running again by a single call to - * vTaskResume (). - * - * @param pxTaskToResume Handle to the task being readied. - * - * Example usage: - 
- void vAFunction( void )
- {
- xTaskHandle xHandle;
-
-	 // Create a task, storing the handle.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-
-	 // ...
-
-	 // Use the handle to suspend the created task.
-	 vTaskSuspend( xHandle );
-
-	 // ...
-
-	 // The created task will not run during this period, unless
-	 // another task calls vTaskResume( xHandle ).
-
-	 //...
-
-
-	 // Resume the suspended task ourselves.
-	 vTaskResume( xHandle );
-
-	 // The created task will once again get microcontroller processing
-	 // time in accordance with it priority within the system.
- }
-
- * \defgroup vTaskResume vTaskResume - * \ingroup TaskCtrl - */ -void vTaskResume( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
void xTaskResumeFromISR( xTaskHandle pxTaskToResume );
- * - * INCLUDE_xTaskResumeFromISR must be defined as 1 for this function to be - * available. See the configuration section for more information. - * - * An implementation of vTaskResume() that can be called from within an ISR. - * - * A task that has been suspended by one of more calls to vTaskSuspend () - * will be made available for running again by a single call to - * xTaskResumeFromISR (). - * - * @param pxTaskToResume Handle to the task being readied. - * - * \defgroup vTaskResumeFromISR vTaskResumeFromISR - * \ingroup TaskCtrl - */ -portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION; - -/*----------------------------------------------------------- - * SCHEDULER CONTROL - *----------------------------------------------------------*/ - -/** - * task. h - * 
void vTaskStartScheduler( void );
- * - * Starts the real time kernel tick processing. After calling the kernel - * has control over which tasks are executed and when. This function - * does not return until an executing task calls vTaskEndScheduler (). - * - * At least one task should be created via a call to xTaskCreate () - * before calling vTaskStartScheduler (). The idle task is created - * automatically when the first application task is created. - * - * See the demo application file main.c for an example of creating - * tasks and starting the kernel. - * - * Example usage: - 
- void vAFunction( void )
- {
-	 // Create at least one task before starting the kernel.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
-
-	 // Start the real time kernel with preemption.
-	 vTaskStartScheduler ();
-
-	 // Will not get here unless a task calls vTaskEndScheduler ()
- }
-
- * - * \defgroup vTaskStartScheduler vTaskStartScheduler - * \ingroup SchedulerControl - */ -void vTaskStartScheduler( void ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
void vTaskEndScheduler( void );
- * - * Stops the real time kernel tick. All created tasks will be automatically - * deleted and multitasking (either preemptive or cooperative) will - * stop. Execution then resumes from the point where vTaskStartScheduler () - * was called, as if vTaskStartScheduler () had just returned. - * - * See the demo application file main. c in the demo/PC directory for an - * example that uses vTaskEndScheduler (). - * - * vTaskEndScheduler () requires an exit function to be defined within the - * portable layer (see vPortEndScheduler () in port. c for the PC port). This - * performs hardware specific operations such as stopping the kernel tick. - * - * vTaskEndScheduler () will cause all of the resources allocated by the - * kernel to be freed - but will not free resources allocated by application - * tasks. - * - * Example usage: - 
- void vTaskCode( void * pvParameters )
- {
-	 for( ;; )
-	 {
-		 // Task code goes here.
-
-		 // At some point we want to end the real time kernel processing
-		 // so call ...
-		 vTaskEndScheduler ();
-	 }
- }
-
- void vAFunction( void )
- {
-	 // Create at least one task before starting the kernel.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
-
-	 // Start the real time kernel with preemption.
-	 vTaskStartScheduler ();
-
-	 // Will only get here when the vTaskCode () task has called
-	 // vTaskEndScheduler ().  When we get here we are back to single task
-	 // execution.
- }
-
- * - * \defgroup vTaskEndScheduler vTaskEndScheduler - * \ingroup SchedulerControl - */ -void vTaskEndScheduler( void ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
void vTaskSuspendAll( void );
- * - * Suspends all real time kernel activity while keeping interrupts (including the - * kernel tick) enabled. - * - * After calling vTaskSuspendAll () the calling task will continue to execute - * without risk of being swapped out until a call to xTaskResumeAll () has been - * made. - * - * API functions that have the potential to cause a context switch (for example, - * vTaskDelayUntil(), xQueueSend(), etc.) must not be called while the scheduler - * is suspended. - * - * Example usage: - 
- void vTask1( void * pvParameters )
- {
-	 for( ;; )
-	 {
-		 // Task code goes here.
-
-		 // ...
-
-		 // At some point the task wants to perform a long operation during
-		 // which it does not want to get swapped out.  It cannot use
-		 // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
-		 // operation may cause interrupts to be missed - including the
-		 // ticks.
-
-		 // Prevent the real time kernel swapping out the task.
-		 vTaskSuspendAll ();
-
-		 // Perform the operation here.  There is no need to use critical
-		 // sections as we have all the microcontroller processing time.
-		 // During this time interrupts will still operate and the kernel
-		 // tick count will be maintained.
-
-		 // ...
-
-		 // The operation is complete.  Restart the kernel.
-		 xTaskResumeAll ();
-	 }
- }
-
- * \defgroup vTaskSuspendAll vTaskSuspendAll - * \ingroup SchedulerControl - */ -void vTaskSuspendAll( void ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
char xTaskResumeAll( void );
- * - * Resumes real time kernel activity following a call to vTaskSuspendAll (). - * After a call to vTaskSuspendAll () the kernel will take control of which - * task is executing at any time. - * - * @return If resuming the scheduler caused a context switch then pdTRUE is - * returned, otherwise pdFALSE is returned. - * - * Example usage: - 
- void vTask1( void * pvParameters )
- {
-	 for( ;; )
-	 {
-		 // Task code goes here.
-
-		 // ...
-
-		 // At some point the task wants to perform a long operation during
-		 // which it does not want to get swapped out.  It cannot use
-		 // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
-		 // operation may cause interrupts to be missed - including the
-		 // ticks.
-
-		 // Prevent the real time kernel swapping out the task.
-		 vTaskSuspendAll ();
-
-		 // Perform the operation here.  There is no need to use critical
-		 // sections as we have all the microcontroller processing time.
-		 // During this time interrupts will still operate and the real
-		 // time kernel tick count will be maintained.
-
-		 // ...
-
-		 // The operation is complete.  Restart the kernel.  We want to force
-		 // a context switch - but there is no point if resuming the scheduler
-		 // caused a context switch already.
-		 if( !xTaskResumeAll () )
-		 {
-			  taskYIELD ();
-		 }
-	 }
- }
-
- * \defgroup xTaskResumeAll xTaskResumeAll - * \ingroup SchedulerControl - */ -signed portBASE_TYPE xTaskResumeAll( void ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask );
- * - * Utility task that simply returns pdTRUE if the task referenced by xTask is - * currently in the Suspended state, or pdFALSE if the task referenced by xTask - * is in any other state. - * - */ -signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask ) PRIVILEGED_FUNCTION; - -/*----------------------------------------------------------- - * TASK UTILITIES - *----------------------------------------------------------*/ - -/** - * task. h - * 
portTickType xTaskGetTickCount( void );
- * - * @return The count of ticks since vTaskStartScheduler was called. - * - * \page xTaskGetTickCount xTaskGetTickCount - * \ingroup TaskUtils - */ -portTickType xTaskGetTickCount( void ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
portTickType xTaskGetTickCountFromISR( void );
- * - * @return The count of ticks since vTaskStartScheduler was called. - * - * This is a version of xTaskGetTickCount() that is safe to be called from an - * ISR - provided that portTickType is the natural word size of the - * microcontroller being used or interrupt nesting is either not supported or - * not being used. - * - * \page xTaskGetTickCount xTaskGetTickCount - * \ingroup TaskUtils - */ -portTickType xTaskGetTickCountFromISR( void ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
unsigned short uxTaskGetNumberOfTasks( void );
- * - * @return The number of tasks that the real time kernel is currently managing. - * This includes all ready, blocked and suspended tasks. A task that - * has been deleted but not yet freed by the idle task will also be - * included in the count. - * - * \page uxTaskGetNumberOfTasks uxTaskGetNumberOfTasks - * \ingroup TaskUtils - */ -unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery );
- * - * @return The text (human readable) name of the task referenced by the handle - * xTaskToQueury. A task can query its own name by either passing in its own - * handle, or by setting xTaskToQuery to NULL. INCLUDE_pcTaskGetTaskName must be - * set to 1 in FreeRTOSConfig.h for pcTaskGetTaskName() to be available. - * - * \page pcTaskGetTaskName pcTaskGetTaskName - * \ingroup TaskUtils - */ -signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery ); - -/** - * task. h - * 
void vTaskList( char *pcWriteBuffer );
- * - * configUSE_TRACE_FACILITY must be defined as 1 for this function to be - * available. See the configuration section for more information. - * - * NOTE: This function will disable interrupts for its duration. It is - * not intended for normal application runtime use but as a debug aid. - * - * Lists all the current tasks, along with their current state and stack - * usage high water mark. - * - * Tasks are reported as blocked ('B'), ready ('R'), deleted ('D') or - * suspended ('S'). - * - * @param pcWriteBuffer A buffer into which the above mentioned details - * will be written, in ascii form. This buffer is assumed to be large - * enough to contain the generated report. Approximately 40 bytes per - * task should be sufficient. - * - * \page vTaskList vTaskList - * \ingroup TaskUtils - */ -void vTaskList( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
void vTaskGetRunTimeStats( char *pcWriteBuffer );
- * - * configGENERATE_RUN_TIME_STATS must be defined as 1 for this function - * to be available. The application must also then provide definitions - * for portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and - * portGET_RUN_TIME_COUNTER_VALUE to configure a peripheral timer/counter - * and return the timers current count value respectively. The counter - * should be at least 10 times the frequency of the tick count. - * - * NOTE: This function will disable interrupts for its duration. It is - * not intended for normal application runtime use but as a debug aid. - * - * Setting configGENERATE_RUN_TIME_STATS to 1 will result in a total - * accumulated execution time being stored for each task. The resolution - * of the accumulated time value depends on the frequency of the timer - * configured by the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro. - * Calling vTaskGetRunTimeStats() writes the total execution time of each - * task into a buffer, both as an absolute count value and as a percentage - * of the total system execution time. - * - * @param pcWriteBuffer A buffer into which the execution times will be - * written, in ascii form. This buffer is assumed to be large enough to - * contain the generated report. Approximately 40 bytes per task should - * be sufficient. - * - * \page vTaskGetRunTimeStats vTaskGetRunTimeStats - * \ingroup TaskUtils - */ -void vTaskGetRunTimeStats( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
void vTaskStartTrace( char * pcBuffer, unsigned portBASE_TYPE uxBufferSize );
- * - * Starts a real time kernel activity trace. The trace logs the identity of - * which task is running when. - * - * The trace file is stored in binary format. A separate DOS utility called - * convtrce.exe is used to convert this into a tab delimited text file which - * can be viewed and plotted in a spread sheet. - * - * @param pcBuffer The buffer into which the trace will be written. - * - * @param ulBufferSize The size of pcBuffer in bytes. The trace will continue - * until either the buffer in full, or ulTaskEndTrace () is called. - * - * \page vTaskStartTrace vTaskStartTrace - * \ingroup TaskUtils - */ -void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
unsigned long ulTaskEndTrace( void );
- * - * Stops a kernel activity trace. See vTaskStartTrace (). - * - * @return The number of bytes that have been written into the trace buffer. - * - * \page usTaskEndTrace usTaskEndTrace - * \ingroup TaskUtils - */ -unsigned long ulTaskEndTrace( void ) PRIVILEGED_FUNCTION; - -/** - * task.h - * 
unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask );
- * - * INCLUDE_uxTaskGetStackHighWaterMark must be set to 1 in FreeRTOSConfig.h for - * this function to be available. - * - * Returns the high water mark of the stack associated with xTask. That is, - * the minimum free stack space there has been (in words, so on a 32 bit machine - * a value of 1 means 4 bytes) since the task started. The smaller the returned - * number the closer the task has come to overflowing its stack. - * - * @param xTask Handle of the task associated with the stack to be checked. - * Set xTask to NULL to check the stack of the calling task. - * - * @return The smallest amount of free stack space there has been (in bytes) - * since the task referenced by xTask was created. - */ -unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask ) PRIVILEGED_FUNCTION; - -/* When using trace macros it is sometimes necessary to include tasks.h before -FreeRTOS.h. When this is done pdTASK_HOOK_CODE will not yet have been defined, -so the following two prototypes will cause a compilation error. This can be -fixed by simply guarding against the inclusion of these two prototypes unless -they are explicitly required by the configUSE_APPLICATION_TASK_TAG configuration -constant. */ -#ifdef configUSE_APPLICATION_TASK_TAG - #if configUSE_APPLICATION_TASK_TAG == 1 - /** - * task.h - * 
void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction );
- * - * Sets pxHookFunction to be the task hook function used by the task xTask. - * Passing xTask as NULL has the effect of setting the calling tasks hook - * function. - */ - void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction ) PRIVILEGED_FUNCTION; - - /** - * task.h - * 
void xTaskGetApplicationTaskTag( xTaskHandle xTask );
- * - * Returns the pxHookFunction value assigned to the task xTask. - */ - pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask ) PRIVILEGED_FUNCTION; - #endif /* configUSE_APPLICATION_TASK_TAG ==1 */ -#endif /* ifdef configUSE_APPLICATION_TASK_TAG */ - -/** - * task.h - * 
portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction );
- * - * Calls the hook function associated with xTask. Passing xTask as NULL has - * the effect of calling the Running tasks (the calling task) hook function. - * - * pvParameter is passed to the hook function for the task to interpret as it - * wants. - */ -portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter ) PRIVILEGED_FUNCTION; - -/** - * xTaskGetIdleTaskHandle() is only available if - * INCLUDE_xTaskGetIdleTaskHandle is set to 1 in FreeRTOSConfig.h. - * - * Simply returns the handle of the idle task. It is not valid to call - * xTaskGetIdleTaskHandle() before the scheduler has been started. - */ -xTaskHandle xTaskGetIdleTaskHandle( void ); - -/*----------------------------------------------------------- - * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES - *----------------------------------------------------------*/ - -/* - * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY - * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS - * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. - * - * Called from the real time kernel tick (either preemptive or cooperative), - * this increments the tick count and checks if any tasks that are blocked - * for a finite period required removing from a blocked list and placing on - * a ready list. - */ -void vTaskIncrementTick( void ) PRIVILEGED_FUNCTION; - -/* - * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN - * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. - * - * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED. - * - * Removes the calling task from the ready list and places it both - * on the list of tasks waiting for a particular event, and the - * list of delayed tasks. The task will be removed from both lists - * and replaced on the ready list should either the event occur (and - * there be no higher priority tasks waiting on the same event) or - * the delay period expires. - * - * @param pxEventList The list containing tasks that are blocked waiting - * for the event to occur. - * - * @param xTicksToWait The maximum amount of time that the task should wait - * for the event to occur. This is specified in kernel ticks,the constant - * portTICK_RATE_MS can be used to convert kernel ticks into a real time - * period. - */ -void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait ) PRIVILEGED_FUNCTION; - -/* - * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN - * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. - * - * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED. - * - * This function performs nearly the same function as vTaskPlaceOnEventList(). - * The difference being that this function does not permit tasks to block - * indefinitely, whereas vTaskPlaceOnEventList() does. - * - * @return pdTRUE if the task being removed has a higher priority than the task - * making the call, otherwise pdFALSE. - */ -void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait ) PRIVILEGED_FUNCTION; - -/* - * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN - * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. - * - * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED. - * - * Removes a task from both the specified event list and the list of blocked - * tasks, and places it on a ready queue. - * - * xTaskRemoveFromEventList () will be called if either an event occurs to - * unblock a task, or the block timeout period expires. - * - * @return pdTRUE if the task being removed has a higher priority than the task - * making the call, otherwise pdFALSE. - */ -signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList ) PRIVILEGED_FUNCTION; - -/* - * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY - * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS - * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. - * - * Sets the pointer to the current TCB to the TCB of the highest priority task - * that is ready to run. - */ -void vTaskSwitchContext( void ) PRIVILEGED_FUNCTION; - -/* - * Return the handle of the calling task. - */ -xTaskHandle xTaskGetCurrentTaskHandle( void ) PRIVILEGED_FUNCTION; - -/* - * Capture the current time status for future reference. - */ -void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut ) PRIVILEGED_FUNCTION; - -/* - * Compare the time status now with that previously captured to see if the - * timeout has expired. - */ -portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait ) PRIVILEGED_FUNCTION; - -/* - * Shortcut used by the queue implementation to prevent unnecessary call to - * taskYIELD(); - */ -void vTaskMissedYield( void ) PRIVILEGED_FUNCTION; - -/* - * Returns the scheduler state as taskSCHEDULER_RUNNING, - * taskSCHEDULER_NOT_STARTED or taskSCHEDULER_SUSPENDED. - */ -portBASE_TYPE xTaskGetSchedulerState( void ) PRIVILEGED_FUNCTION; - -/* - * Raises the priority of the mutex holder to that of the calling task should - * the mutex holder have a priority less than the calling task. - */ -void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder ) PRIVILEGED_FUNCTION; - -/* - * Set the priority of a task back to its proper priority in the case that it - * inherited a higher priority while it was holding a semaphore. - */ -void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder ) PRIVILEGED_FUNCTION; - -/* - * Generic version of the task creation function which is in turn called by the - * xTaskCreate() and xTaskCreateRestricted() macros. - */ -signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions ) PRIVILEGED_FUNCTION; - -/* - * Get the uxTCBNumber assigned to the task referenced by the xTask parameter. - */ -unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask ); - -/* - * Set the uxTCBNumber of the task referenced by the xTask parameter to - * ucHandle. - */ -void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle ); - - -#ifdef __cplusplus -} -#endif -#endif /* TASK_H */ - - - diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/timers.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/timers.h deleted file mode 100644 index fd0a3e812..000000000 --- a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/include/timers.h +++ /dev/null @@ -1,952 +0,0 @@ -/* - FreeRTOS V7.1.1 - Copyright (C) 2012 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! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong? * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - - http://www.FreeRTOS.org - Documentation, training, latest information, - license and contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. - - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. -*/ - - -#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" -#include "task.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 xTimerPeriodInTicks, - * 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 xTimerPeriodInTicks 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 xTimerPeriodInTicks 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 xTimerPeriodInTicks 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; - -/** - * xTimerGetTimerDaemonTaskHandle() is only available if - * INCLUDE_xTimerGetTimerDaemonTaskHandle is set to 1 in FreeRTOSConfig.h. - * - * Simply returns the handle of the timer service/daemon task. It it not valid - * to call xTimerGetTimerDaemonTaskHandle() before the scheduler has been started. - */ -xTaskHandle xTimerGetTimerDaemonTaskHandle( void ); - -/** - * 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, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portTickType xBlockTime ) PRIVILEGED_FUNCTION; - -#ifdef __cplusplus -} -#endif -#endif /* TIMERS_H */ - - - diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/list.c b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/list.c deleted file mode 100644 index f4a4a0da9..000000000 --- a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/list.c +++ /dev/null @@ -1,204 +0,0 @@ -/* - FreeRTOS V7.1.1 - Copyright (C) 2012 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! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong? * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - - http://www.FreeRTOS.org - Documentation, training, latest information, - license and contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. - - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. -*/ - - -#include -#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 )--; -} -/*-----------------------------------------------------------*/ - diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/portable/GCC/ARM_CM3/port.c b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/portable/GCC/ARM_CM3/port.c deleted file mode 100644 index 344b381eb..000000000 --- a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/portable/GCC/ARM_CM3/port.c +++ /dev/null @@ -1,300 +0,0 @@ -/* - FreeRTOS V7.1.1 - Copyright (C) 2012 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! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong? * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - - http://www.FreeRTOS.org - Documentation, training, latest information, - license and contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. - - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. -*/ - -/*----------------------------------------------------------- - * Implementation of functions defined in portable.h for the ARM CM3 port. - *----------------------------------------------------------*/ - -/* Scheduler includes. */ -#include "FreeRTOS.h" -#include "task.h" - -/* For backward compatibility, ensure configKERNEL_INTERRUPT_PRIORITY is -defined. The value should also ensure backward compatibility. -FreeRTOS.org versions prior to V4.4.0 did not include this definition. */ -#ifndef configKERNEL_INTERRUPT_PRIORITY - #define configKERNEL_INTERRUPT_PRIORITY 255 -#endif - -#if configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 - #error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html -#endif - -/* Constants required to manipulate the NVIC. */ -#define portNVIC_SYSTICK_CTRL ( ( volatile unsigned long *) 0xe000e010 ) -#define portNVIC_SYSTICK_LOAD ( ( volatile unsigned long *) 0xe000e014 ) -#define portNVIC_INT_CTRL ( ( volatile unsigned long *) 0xe000ed04 ) -#define portNVIC_SYSPRI2 ( ( volatile unsigned long *) 0xe000ed20 ) -#define portNVIC_SYSTICK_CLK 0x00000004 -#define portNVIC_SYSTICK_INT 0x00000002 -#define portNVIC_SYSTICK_ENABLE 0x00000001 -#define portNVIC_PENDSVSET 0x10000000 -#define portNVIC_PENDSV_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16 ) -#define portNVIC_SYSTICK_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24 ) - -/* Constants required to set up the initial stack. */ -#define portINITIAL_XPSR ( 0x01000000 ) - -/* The priority used by the kernel is assigned to a variable to make access -from inline assembler easier. */ -const unsigned long ulKernelPriority = configKERNEL_INTERRUPT_PRIORITY; - -/* Each task maintains its own interrupt status in the critical nesting -variable. */ -static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa; - -/* - * Setup the timer to generate the tick interrupts. - */ -static void prvSetupTimerInterrupt( void ); - -/* - * Exception handlers. - */ -void xPortPendSVHandler( void ) __attribute__ (( naked )); -void xPortSysTickHandler( void ); -void vPortSVCHandler( void ) __attribute__ (( naked )); - -/* - * Start first task is a separate function so it can be tested in isolation. - */ -static void prvPortStartFirstTask( void ) __attribute__ (( naked )); - -/*-----------------------------------------------------------*/ - -/* - * See header file for description. - */ -portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ) -{ - /* Simulate the stack frame as it would be created by a context switch - interrupt. */ - pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ - *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ - pxTopOfStack--; - *pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* PC */ - pxTopOfStack--; - *pxTopOfStack = 0; /* LR */ - pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ - *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */ - pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ - - return pxTopOfStack; -} -/*-----------------------------------------------------------*/ - -void vPortSVCHandler( void ) -{ - __asm volatile ( - " ldr r3, pxCurrentTCBConst2 \n" /* Restore the context. */ - " ldr r1, [r3] \n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */ - " ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */ - " ldmia r0!, {r4-r11} \n" /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */ - " msr psp, r0 \n" /* Restore the task stack pointer. */ - " mov r0, #0 \n" - " msr basepri, r0 \n" - " orr r14, #0xd \n" - " bx r14 \n" - " \n" - " .align 2 \n" - "pxCurrentTCBConst2: .word pxCurrentTCB \n" - ); -} -/*-----------------------------------------------------------*/ - -static void prvPortStartFirstTask( void ) -{ - __asm volatile( - " ldr r0, =0xE000ED08 \n" /* Use the NVIC offset register to locate the stack. */ - " ldr r0, [r0] \n" - " ldr r0, [r0] \n" - " msr msp, r0 \n" /* Set the msp back to the start of the stack. */ - " cpsie i \n" /* Globally enable interrupts. */ - " svc 0 \n" /* System call to start first task. */ - " nop \n" - ); -} -/*-----------------------------------------------------------*/ - -/* - * See header file for description. - */ -portBASE_TYPE xPortStartScheduler( void ) -{ - /* Make PendSV, CallSV and SysTick the same priroity as the kernel. */ - *(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI; - *(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI; - - /* Start the timer that generates the tick ISR. Interrupts are disabled - here already. */ - prvSetupTimerInterrupt(); - - /* Initialise the critical nesting count ready for the first task. */ - uxCriticalNesting = 0; - - /* Start the first task. */ - prvPortStartFirstTask(); - - /* Should not get here! */ - return 0; -} -/*-----------------------------------------------------------*/ - -void vPortEndScheduler( void ) -{ - /* It is unlikely that the CM3 port will require this function as there - is nothing to return to. */ -} -/*-----------------------------------------------------------*/ - -void vPortYieldFromISR( void ) -{ - /* Set a PendSV to request a context switch. */ - *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET; -} -/*-----------------------------------------------------------*/ - -void vPortEnterCritical( void ) -{ - portDISABLE_INTERRUPTS(); - uxCriticalNesting++; -} -/*-----------------------------------------------------------*/ - -void vPortExitCritical( void ) -{ - uxCriticalNesting--; - if( uxCriticalNesting == 0 ) - { - portENABLE_INTERRUPTS(); - } -} -/*-----------------------------------------------------------*/ - -void xPortPendSVHandler( void ) -{ - /* This is a naked function. */ - - __asm volatile - ( - " mrs r0, psp \n" - " \n" - " ldr r3, pxCurrentTCBConst \n" /* Get the location of the current TCB. */ - " ldr r2, [r3] \n" - " \n" - " stmdb r0!, {r4-r11} \n" /* Save the remaining registers. */ - " str r0, [r2] \n" /* Save the new top of stack into the first member of the TCB. */ - " \n" - " stmdb sp!, {r3, r14} \n" - " mov r0, %0 \n" - " msr basepri, r0 \n" - " bl vTaskSwitchContext \n" - " mov r0, #0 \n" - " msr basepri, r0 \n" - " ldmia sp!, {r3, r14} \n" - " \n" /* Restore the context, including the critical nesting count. */ - " ldr r1, [r3] \n" - " ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */ - " ldmia r0!, {r4-r11} \n" /* Pop the registers. */ - " msr psp, r0 \n" - " bx r14 \n" - " \n" - " .align 2 \n" - "pxCurrentTCBConst: .word pxCurrentTCB \n" - ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY) - ); -} -/*-----------------------------------------------------------*/ - -void xPortSysTickHandler( void ) -{ -unsigned long ulDummy; - - /* If using preemption, also force a context switch. */ - #if configUSE_PREEMPTION == 1 - *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET; - #endif - - ulDummy = portSET_INTERRUPT_MASK_FROM_ISR(); - { - vTaskIncrementTick(); - } - portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy ); -} -/*-----------------------------------------------------------*/ - -/* - * Setup the systick timer to generate the tick interrupts at the required - * frequency. - */ -void prvSetupTimerInterrupt( void ) -{ - /* Configure SysTick to interrupt at the requested rate. */ - *(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; - *(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE; -} -/*-----------------------------------------------------------*/ - diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/portable/GCC/ARM_CM3/portmacro.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/portable/GCC/ARM_CM3/portmacro.h deleted file mode 100644 index 6220a2ed8..000000000 --- a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/portable/GCC/ARM_CM3/portmacro.h +++ /dev/null @@ -1,169 +0,0 @@ -/* - FreeRTOS V7.1.1 - Copyright (C) 2012 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! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong? * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - - http://www.FreeRTOS.org - Documentation, training, latest information, - license and contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. - - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. -*/ - - -#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 long - -#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 -/*-----------------------------------------------------------*/ - -/* Architecture specifics. */ -#define portSTACK_GROWTH ( -1 ) -#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ ) -#define portBYTE_ALIGNMENT 8 -/*-----------------------------------------------------------*/ - - -/* Scheduler utilities. */ -extern void vPortYieldFromISR( void ); - -#define portYIELD() vPortYieldFromISR() - -#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYieldFromISR() -/*-----------------------------------------------------------*/ - - -/* Critical section management. */ - -/* - * Set basepri to portMAX_SYSCALL_INTERRUPT_PRIORITY without effecting other - * registers. r0 is clobbered. - */ -#define portSET_INTERRUPT_MASK() \ - __asm volatile \ - ( \ - " mov r0, %0 \n" \ - " msr basepri, r0 \n" \ - ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY):"r0" \ - ) - -/* - * Set basepri back to 0 without effective other registers. - * r0 is clobbered. - */ -#define portCLEAR_INTERRUPT_MASK() \ - __asm volatile \ - ( \ - " mov r0, #0 \n" \ - " msr basepri, r0 \n" \ - :::"r0" \ - ) - -#define portSET_INTERRUPT_MASK_FROM_ISR() 0;portSET_INTERRUPT_MASK() -#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) portCLEAR_INTERRUPT_MASK();(void)x - - -extern void vPortEnterCritical( void ); -extern void vPortExitCritical( void ); - -#define portDISABLE_INTERRUPTS() portSET_INTERRUPT_MASK() -#define portENABLE_INTERRUPTS() portCLEAR_INTERRUPT_MASK() -#define portENTER_CRITICAL() vPortEnterCritical() -#define portEXIT_CRITICAL() vPortExitCritical() -/*-----------------------------------------------------------*/ - -/* Task function macros as described on the FreeRTOS.org WEB site. */ -#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) -#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) - -#define portNOP() - -#ifdef __cplusplus -} -#endif - -#endif /* PORTMACRO_H */ - diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/portable/MemMang/heap_2.c b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/portable/MemMang/heap_2.c deleted file mode 100644 index bfad2455c..000000000 --- a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/portable/MemMang/heap_2.c +++ /dev/null @@ -1,291 +0,0 @@ -/* - FreeRTOS V7.1.1 - Copyright (C) 2012 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! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong? * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - - http://www.FreeRTOS.org - Documentation, training, latest information, - license and contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. - - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. -*/ - -/* - * 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 - -/* 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. */ -} diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/queue.c b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/queue.c deleted file mode 100644 index a546dcc08..000000000 --- a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/queue.c +++ /dev/null @@ -1,1682 +0,0 @@ -/* - FreeRTOS V7.1.1 - Copyright (C) 2012 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! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong? * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - - http://www.FreeRTOS.org - Documentation, training, latest information, - license and contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. - - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. -*/ - -#include -#include - -/* 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" - -#if ( configUSE_CO_ROUTINES == 1 ) - #include "croutine.h" -#endif - -#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE - -/*----------------------------------------------------------- - * PUBLIC LIST API documented in list.h - *----------------------------------------------------------*/ - -/* Constants used with the cRxLock and cTxLock structure members. */ -#define queueUNLOCKED ( ( signed portBASE_TYPE ) -1 ) -#define queueLOCKED_UNMODIFIED ( ( signed portBASE_TYPE ) 0 ) - -#define queueERRONEOUS_UNBLOCK ( -1 ) - -/* For internal use only. */ -#define queueSEND_TO_BACK ( 0 ) -#define queueSEND_TO_FRONT ( 1 ) - -/* Effectively make a union out of the xQUEUE structure. */ -#define pxMutexHolder pcTail -#define uxQueueType pcHead -#define uxRecursiveCallCount pcReadFrom -#define queueQUEUE_IS_MUTEX NULL - -/* Semaphores do not actually store or copy data, so have an items size of -zero. */ -#define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( unsigned portBASE_TYPE ) 0 ) -#define queueDONT_BLOCK ( ( portTickType ) 0U ) -#define queueMUTEX_GIVE_BLOCK_TIME ( ( portTickType ) 0U ) - -/* These definitions *must* match those in queue.h. */ -#define queueQUEUE_TYPE_BASE ( 0U ) -#define queueQUEUE_TYPE_MUTEX ( 1U ) -#define queueQUEUE_TYPE_COUNTING_SEMAPHORE ( 2U ) -#define queueQUEUE_TYPE_BINARY_SEMAPHORE ( 3U ) -#define queueQUEUE_TYPE_RECURSIVE_MUTEX ( 4U ) - -/* - * Definition of the queue used by the scheduler. - * Items are queued by copy, not reference. - */ -typedef struct QueueDefinition -{ - signed char *pcHead; /*< Points to the beginning of the queue storage area. */ - signed char *pcTail; /*< Points to the byte at the end of the queue storage area. Once more byte is allocated than necessary to store the queue items, this is used as a marker. */ - - signed char *pcWriteTo; /*< Points to the free next place in the storage area. */ - signed char *pcReadFrom; /*< Points to the last place that a queued item was read from. */ - - xList xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */ - xList xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */ - - volatile unsigned portBASE_TYPE uxMessagesWaiting;/*< The number of items currently in the queue. */ - unsigned portBASE_TYPE uxLength; /*< The length of the queue defined as the number of items it will hold, not the number of bytes. */ - unsigned portBASE_TYPE uxItemSize; /*< The size of each items that the queue will hold. */ - - signed portBASE_TYPE xRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */ - signed portBASE_TYPE xTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */ - - #if ( configUSE_TRACE_FACILITY == 1 ) - unsigned char ucQueueNumber; - unsigned char ucQueueType; - #endif - -} xQUEUE; -/*-----------------------------------------------------------*/ - -/* - * Inside this file xQueueHandle is a pointer to a xQUEUE structure. - * To keep the definition private the API header file defines it as a - * pointer to void. - */ -typedef xQUEUE * xQueueHandle; - -/* - * Prototypes for public functions are included here so we don't have to - * include the API header file (as it defines xQueueHandle differently). These - * functions are documented in the API header file. - */ -xQueueHandle xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType ) PRIVILEGED_FUNCTION; -signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION; -unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; -void vQueueDelete( xQueueHandle xQueue ) PRIVILEGED_FUNCTION; -signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION; -signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) PRIVILEGED_FUNCTION; -signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; -xQueueHandle xQueueCreateMutex( unsigned char ucQueueType ) PRIVILEGED_FUNCTION; -xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ) PRIVILEGED_FUNCTION; -portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime ) PRIVILEGED_FUNCTION; -portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex ) PRIVILEGED_FUNCTION; -signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION; -signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) PRIVILEGED_FUNCTION; -signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; -signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; -unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; -void vQueueWaitForMessageRestricted( xQueueHandle pxQueue, portTickType xTicksToWait ) PRIVILEGED_FUNCTION; -unsigned char ucQueueGetQueueNumber( xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; -void vQueueSetQueueNumber( xQueueHandle pxQueue, unsigned char ucQueueNumber ) PRIVILEGED_FUNCTION; -unsigned char ucQueueGetQueueType( xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; -portBASE_TYPE xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue ) PRIVILEGED_FUNCTION; -xTaskHandle xQueueGetMutexHolder( xQueueHandle xSemaphore ) PRIVILEGED_FUNCTION; - -/* - * Co-routine queue functions differ from task queue functions. Co-routines are - * an optional component. - */ -#if configUSE_CO_ROUTINES == 1 - signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ) PRIVILEGED_FUNCTION; - signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken ) PRIVILEGED_FUNCTION; - signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait ) PRIVILEGED_FUNCTION; - signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait ) PRIVILEGED_FUNCTION; -#endif - -/* - * The queue registry is just a means for kernel aware debuggers to locate - * queue structures. It has no other purpose so is an optional component. - */ -#if configQUEUE_REGISTRY_SIZE > 0 - - /* The type stored within the queue registry array. This allows a name - to be assigned to each queue making kernel aware debugging a little - more user friendly. */ - typedef struct QUEUE_REGISTRY_ITEM - { - signed char *pcQueueName; - xQueueHandle xHandle; - } xQueueRegistryItem; - - /* The queue registry is simply an array of xQueueRegistryItem structures. - The pcQueueName member of a structure being NULL is indicative of the - array position being vacant. */ - xQueueRegistryItem xQueueRegistry[ configQUEUE_REGISTRY_SIZE ]; - - /* Removes a queue from the registry by simply setting the pcQueueName - member to NULL. */ - static void vQueueUnregisterQueue( xQueueHandle xQueue ) PRIVILEGED_FUNCTION; - void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName ) PRIVILEGED_FUNCTION; -#endif - -/* - * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not - * prevent an ISR from adding or removing items to the queue, but does prevent - * an ISR from removing tasks from the queue event lists. If an ISR finds a - * queue is locked it will instead increment the appropriate queue lock count - * to indicate that a task may require unblocking. When the queue in unlocked - * these lock counts are inspected, and the appropriate action taken. - */ -static void prvUnlockQueue( xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; - -/* - * Uses a critical section to determine if there is any data in a queue. - * - * @return pdTRUE if the queue contains no items, otherwise pdFALSE. - */ -static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; - -/* - * Uses a critical section to determine if there is any space in a queue. - * - * @return pdTRUE if there is no space, otherwise pdFALSE; - */ -static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; - -/* - * Copies an item into the queue, either at the front of the queue or the - * back of the queue. - */ -static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition ) PRIVILEGED_FUNCTION; - -/* - * Copies an item out of a queue. - */ -static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer ) PRIVILEGED_FUNCTION; -/*-----------------------------------------------------------*/ - -/* - * Macro to mark a queue as locked. Locking a queue prevents an ISR from - * accessing the queue event lists. - */ -#define prvLockQueue( pxQueue ) \ - taskENTER_CRITICAL(); \ - { \ - if( ( pxQueue )->xRxLock == queueUNLOCKED ) \ - { \ - ( pxQueue )->xRxLock = queueLOCKED_UNMODIFIED; \ - } \ - if( ( pxQueue )->xTxLock == queueUNLOCKED ) \ - { \ - ( pxQueue )->xTxLock = queueLOCKED_UNMODIFIED; \ - } \ - } \ - taskEXIT_CRITICAL() -/*-----------------------------------------------------------*/ - - -/*----------------------------------------------------------- - * PUBLIC QUEUE MANAGEMENT API documented in queue.h - *----------------------------------------------------------*/ - -portBASE_TYPE xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue ) -{ - configASSERT( pxQueue ); - - taskENTER_CRITICAL(); - { - pxQueue->pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize ); - pxQueue->uxMessagesWaiting = ( unsigned portBASE_TYPE ) 0U; - pxQueue->pcWriteTo = pxQueue->pcHead; - pxQueue->pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - ( unsigned portBASE_TYPE ) 1U ) * pxQueue->uxItemSize ); - pxQueue->xRxLock = queueUNLOCKED; - pxQueue->xTxLock = queueUNLOCKED; - - if( xNewQueue == pdFALSE ) - { - /* If there are tasks blocked waiting to read from the queue, then - the tasks will remain blocked as after this function exits the queue - will still be empty. If there are tasks blocked waiting to write to - the queue, then one should be unblocked as after this function exits - it will be possible to write to it. */ - if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) - { - if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE ) - { - portYIELD_WITHIN_API(); - } - } - } - else - { - /* Ensure the event queues start in the correct state. */ - vListInitialise( &( pxQueue->xTasksWaitingToSend ) ); - vListInitialise( &( pxQueue->xTasksWaitingToReceive ) ); - } - } - taskEXIT_CRITICAL(); - - /* A value is returned for calling semantic consistency with previous - versions. */ - return pdPASS; -} -/*-----------------------------------------------------------*/ - -xQueueHandle xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType ) -{ -xQUEUE *pxNewQueue; -size_t xQueueSizeInBytes; -xQueueHandle xReturn = NULL; - - /* Remove compiler warnings about unused parameters should - configUSE_TRACE_FACILITY not be set to 1. */ - ( void ) ucQueueType; - - /* Allocate the new queue structure. */ - if( uxQueueLength > ( unsigned portBASE_TYPE ) 0 ) - { - pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) ); - if( pxNewQueue != NULL ) - { - /* Create the list of pointers to queue items. The queue is one byte - longer than asked for to make wrap checking easier/faster. */ - xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1; - - pxNewQueue->pcHead = ( signed char * ) pvPortMalloc( xQueueSizeInBytes ); - if( pxNewQueue->pcHead != NULL ) - { - /* Initialise the queue members as described above where the - queue type is defined. */ - pxNewQueue->uxLength = uxQueueLength; - pxNewQueue->uxItemSize = uxItemSize; - xQueueGenericReset( pxNewQueue, pdTRUE ); - #if ( configUSE_TRACE_FACILITY == 1 ) - { - pxNewQueue->ucQueueType = ucQueueType; - } - #endif /* configUSE_TRACE_FACILITY */ - - traceQUEUE_CREATE( pxNewQueue ); - xReturn = pxNewQueue; - } - else - { - traceQUEUE_CREATE_FAILED( ucQueueType ); - vPortFree( pxNewQueue ); - } - } - } - - configASSERT( xReturn ); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -#if ( configUSE_MUTEXES == 1 ) - - xQueueHandle xQueueCreateMutex( unsigned char ucQueueType ) - { - xQUEUE *pxNewQueue; - - /* Prevent compiler warnings about unused parameters if - configUSE_TRACE_FACILITY does not equal 1. */ - ( void ) ucQueueType; - - /* Allocate the new queue structure. */ - pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) ); - if( pxNewQueue != NULL ) - { - /* Information required for priority inheritance. */ - pxNewQueue->pxMutexHolder = NULL; - pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX; - - /* Queues used as a mutex no data is actually copied into or out - of the queue. */ - pxNewQueue->pcWriteTo = NULL; - pxNewQueue->pcReadFrom = NULL; - - /* Each mutex has a length of 1 (like a binary semaphore) and - an item size of 0 as nothing is actually copied into or out - of the mutex. */ - pxNewQueue->uxMessagesWaiting = ( unsigned portBASE_TYPE ) 0U; - pxNewQueue->uxLength = ( unsigned portBASE_TYPE ) 1U; - pxNewQueue->uxItemSize = ( unsigned portBASE_TYPE ) 0U; - pxNewQueue->xRxLock = queueUNLOCKED; - pxNewQueue->xTxLock = queueUNLOCKED; - - #if ( configUSE_TRACE_FACILITY == 1 ) - { - pxNewQueue->ucQueueType = ucQueueType; - } - #endif - - /* Ensure the event queues start with the correct state. */ - vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) ); - vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) ); - - traceCREATE_MUTEX( pxNewQueue ); - - /* Start with the semaphore in the expected state. */ - xQueueGenericSend( pxNewQueue, NULL, ( portTickType ) 0U, queueSEND_TO_BACK ); - } - else - { - traceCREATE_MUTEX_FAILED(); - } - - configASSERT( pxNewQueue ); - return pxNewQueue; - } - -#endif /* configUSE_MUTEXES */ -/*-----------------------------------------------------------*/ - -#if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xQueueGetMutexHolder == 1 ) ) - - void* xQueueGetMutexHolder( xQueueHandle xSemaphore ) - { - void *pxReturn; - - /* This function is called by xSemaphoreGetMutexHolder(), and should not - be called directly. Note: This is is a good way of determining if the - calling task is the mutex holder, but not a good way of determining the - identity of the mutex holder, as the holder may change between the - following critical section exiting and the function returning. */ - taskENTER_CRITICAL(); - { - if( xSemaphore->uxQueueType == queueQUEUE_IS_MUTEX ) - { - pxReturn = ( void * ) xSemaphore->pxMutexHolder; - } - else - { - pxReturn = NULL; - } - } - taskEXIT_CRITICAL(); - - return pxReturn; - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( configUSE_RECURSIVE_MUTEXES == 1 ) - - portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex ) - { - portBASE_TYPE xReturn; - - configASSERT( pxMutex ); - - /* If this is the task that holds the mutex then pxMutexHolder will not - change outside of this task. If this task does not hold the mutex then - pxMutexHolder can never coincidentally equal the tasks handle, and as - this is the only condition we are interested in it does not matter if - pxMutexHolder is accessed simultaneously by another task. Therefore no - mutual exclusion is required to test the pxMutexHolder variable. */ - if( pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle() ) - { - traceGIVE_MUTEX_RECURSIVE( pxMutex ); - - /* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to - the task handle, therefore no underflow check is required. Also, - uxRecursiveCallCount is only modified by the mutex holder, and as - there can only be one, no mutual exclusion is required to modify the - uxRecursiveCallCount member. */ - ( pxMutex->uxRecursiveCallCount )--; - - /* Have we unwound the call count? */ - if( pxMutex->uxRecursiveCallCount == 0 ) - { - /* Return the mutex. This will automatically unblock any other - task that might be waiting to access the mutex. */ - xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK ); - } - - xReturn = pdPASS; - } - else - { - /* We cannot give the mutex because we are not the holder. */ - xReturn = pdFAIL; - - traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex ); - } - - return xReturn; - } - -#endif /* configUSE_RECURSIVE_MUTEXES */ -/*-----------------------------------------------------------*/ - -#if configUSE_RECURSIVE_MUTEXES == 1 - - portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle pxMutex, portTickType xBlockTime ) - { - portBASE_TYPE xReturn; - - configASSERT( pxMutex ); - - /* Comments regarding mutual exclusion as per those within - xQueueGiveMutexRecursive(). */ - - traceTAKE_MUTEX_RECURSIVE( pxMutex ); - - if( pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle() ) - { - ( pxMutex->uxRecursiveCallCount )++; - xReturn = pdPASS; - } - else - { - xReturn = xQueueGenericReceive( pxMutex, NULL, xBlockTime, pdFALSE ); - - /* pdPASS will only be returned if we successfully obtained the mutex, - we may have blocked to reach here. */ - if( xReturn == pdPASS ) - { - ( pxMutex->uxRecursiveCallCount )++; - } - else - { - traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex ); - } - } - - return xReturn; - } - -#endif /* configUSE_RECURSIVE_MUTEXES */ -/*-----------------------------------------------------------*/ - -#if configUSE_COUNTING_SEMAPHORES == 1 - - xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ) - { - xQueueHandle pxHandle; - - pxHandle = xQueueGenericCreate( ( unsigned portBASE_TYPE ) uxCountValue, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE ); - - if( pxHandle != NULL ) - { - pxHandle->uxMessagesWaiting = uxInitialCount; - - traceCREATE_COUNTING_SEMAPHORE(); - } - else - { - traceCREATE_COUNTING_SEMAPHORE_FAILED(); - } - - configASSERT( pxHandle ); - return pxHandle; - } - -#endif /* configUSE_COUNTING_SEMAPHORES */ -/*-----------------------------------------------------------*/ - -signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) -{ -signed portBASE_TYPE xEntryTimeSet = pdFALSE; -xTimeOutType xTimeOut; - - configASSERT( pxQueue ); - configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) ); - - /* This function relaxes the coding standard somewhat to allow return - statements within the function itself. This is done in the interest - of execution time efficiency. */ - for( ;; ) - { - taskENTER_CRITICAL(); - { - /* Is there room on the queue now? To be running we must be - the highest priority task wanting to access the queue. */ - if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) - { - traceQUEUE_SEND( pxQueue ); - prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); - - /* If there was a task waiting for data to arrive on the - queue then unblock it now. */ - if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) - { - if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE ) - { - /* The unblocked task has a priority higher than - our own so yield immediately. Yes it is ok to do - this from within the critical section - the kernel - takes care of that. */ - portYIELD_WITHIN_API(); - } - } - - taskEXIT_CRITICAL(); - - /* Return to the original privilege level before exiting the - function. */ - return pdPASS; - } - else - { - if( xTicksToWait == ( portTickType ) 0 ) - { - /* The queue was full and no block time is specified (or - the block time has expired) so leave now. */ - taskEXIT_CRITICAL(); - - /* Return to the original privilege level before exiting - the function. */ - traceQUEUE_SEND_FAILED( pxQueue ); - return errQUEUE_FULL; - } - else if( xEntryTimeSet == pdFALSE ) - { - /* The queue was full and a block time was specified so - configure the timeout structure. */ - vTaskSetTimeOutState( &xTimeOut ); - xEntryTimeSet = pdTRUE; - } - } - } - taskEXIT_CRITICAL(); - - /* Interrupts and other tasks can send to and receive from the queue - now the critical section has been exited. */ - - vTaskSuspendAll(); - prvLockQueue( pxQueue ); - - /* Update the timeout state to see if it has expired yet. */ - if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) - { - if( prvIsQueueFull( pxQueue ) != pdFALSE ) - { - traceBLOCKING_ON_QUEUE_SEND( pxQueue ); - vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait ); - - /* Unlocking the queue means queue events can effect the - event list. It is possible that interrupts occurring now - remove this task from the event list again - but as the - scheduler is suspended the task will go onto the pending - ready last instead of the actual ready list. */ - prvUnlockQueue( pxQueue ); - - /* Resuming the scheduler will move tasks from the pending - ready list into the ready list - so it is feasible that this - task is already in a ready list before it yields - in which - case the yield will not cause a context switch unless there - is also a higher priority task in the pending ready list. */ - if( xTaskResumeAll() == pdFALSE ) - { - portYIELD_WITHIN_API(); - } - } - else - { - /* Try again. */ - prvUnlockQueue( pxQueue ); - ( void ) xTaskResumeAll(); - } - } - else - { - /* The timeout has expired. */ - prvUnlockQueue( pxQueue ); - ( void ) xTaskResumeAll(); - - /* Return to the original privilege level before exiting the - function. */ - traceQUEUE_SEND_FAILED( pxQueue ); - return errQUEUE_FULL; - } - } -} -/*-----------------------------------------------------------*/ - -#if configUSE_ALTERNATIVE_API == 1 - - signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) - { - signed portBASE_TYPE xEntryTimeSet = pdFALSE; - xTimeOutType xTimeOut; - - configASSERT( pxQueue ); - configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) ); - - for( ;; ) - { - taskENTER_CRITICAL(); - { - /* Is there room on the queue now? To be running we must be - the highest priority task wanting to access the queue. */ - if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) - { - traceQUEUE_SEND( pxQueue ); - prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); - - /* If there was a task waiting for data to arrive on the - queue then unblock it now. */ - if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) - { - if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE ) - { - /* The unblocked task has a priority higher than - our own so yield immediately. */ - portYIELD_WITHIN_API(); - } - } - - taskEXIT_CRITICAL(); - return pdPASS; - } - else - { - if( xTicksToWait == ( portTickType ) 0 ) - { - taskEXIT_CRITICAL(); - return errQUEUE_FULL; - } - else if( xEntryTimeSet == pdFALSE ) - { - vTaskSetTimeOutState( &xTimeOut ); - xEntryTimeSet = pdTRUE; - } - } - } - taskEXIT_CRITICAL(); - - taskENTER_CRITICAL(); - { - if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) - { - if( prvIsQueueFull( pxQueue ) != pdFALSE ) - { - traceBLOCKING_ON_QUEUE_SEND( pxQueue ); - vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait ); - portYIELD_WITHIN_API(); - } - } - else - { - taskEXIT_CRITICAL(); - traceQUEUE_SEND_FAILED( pxQueue ); - return errQUEUE_FULL; - } - } - taskEXIT_CRITICAL(); - } - } - -#endif /* configUSE_ALTERNATIVE_API */ -/*-----------------------------------------------------------*/ - -#if configUSE_ALTERNATIVE_API == 1 - - signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) - { - signed portBASE_TYPE xEntryTimeSet = pdFALSE; - xTimeOutType xTimeOut; - signed char *pcOriginalReadPosition; - - configASSERT( pxQueue ); - configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) ); - - for( ;; ) - { - taskENTER_CRITICAL(); - { - if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) - { - /* Remember our read position in case we are just peeking. */ - pcOriginalReadPosition = pxQueue->pcReadFrom; - - prvCopyDataFromQueue( pxQueue, pvBuffer ); - - if( xJustPeeking == pdFALSE ) - { - traceQUEUE_RECEIVE( pxQueue ); - - /* We are actually removing data. */ - --( pxQueue->uxMessagesWaiting ); - - #if ( configUSE_MUTEXES == 1 ) - { - if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) - { - /* Record the information required to implement - priority inheritance should it become necessary. */ - pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle(); - } - } - #endif - - if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) - { - if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE ) - { - portYIELD_WITHIN_API(); - } - } - } - else - { - traceQUEUE_PEEK( pxQueue ); - - /* We are not removing the data, so reset our read - pointer. */ - pxQueue->pcReadFrom = pcOriginalReadPosition; - - /* The data is being left in the queue, so see if there are - any other tasks waiting for the data. */ - if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) - { - /* Tasks that are removed from the event list will get added to - the pending ready list as the scheduler is still suspended. */ - if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) - { - /* The task waiting has a higher priority than this task. */ - portYIELD_WITHIN_API(); - } - } - - } - - taskEXIT_CRITICAL(); - return pdPASS; - } - else - { - if( xTicksToWait == ( portTickType ) 0 ) - { - taskEXIT_CRITICAL(); - traceQUEUE_RECEIVE_FAILED( pxQueue ); - return errQUEUE_EMPTY; - } - else if( xEntryTimeSet == pdFALSE ) - { - vTaskSetTimeOutState( &xTimeOut ); - xEntryTimeSet = pdTRUE; - } - } - } - taskEXIT_CRITICAL(); - - taskENTER_CRITICAL(); - { - if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) - { - if( prvIsQueueEmpty( pxQueue ) != pdFALSE ) - { - traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue ); - - #if ( configUSE_MUTEXES == 1 ) - { - if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) - { - portENTER_CRITICAL(); - vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder ); - portEXIT_CRITICAL(); - } - } - #endif - - vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait ); - portYIELD_WITHIN_API(); - } - } - else - { - taskEXIT_CRITICAL(); - traceQUEUE_RECEIVE_FAILED( pxQueue ); - return errQUEUE_EMPTY; - } - } - taskEXIT_CRITICAL(); - } - } - - -#endif /* configUSE_ALTERNATIVE_API */ -/*-----------------------------------------------------------*/ - -signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition ) -{ -signed portBASE_TYPE xReturn; -unsigned portBASE_TYPE uxSavedInterruptStatus; - - configASSERT( pxQueue ); - configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) ); - - /* Similar to xQueueGenericSend, except we don't block if there is no room - in the queue. Also we don't directly wake a task that was blocked on a - queue read, instead we return a flag to say whether a context switch is - required or not (i.e. has a task with a higher priority than us been woken - by this post). */ - uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); - { - if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) - { - traceQUEUE_SEND_FROM_ISR( pxQueue ); - - prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); - - /* If the queue is locked we do not alter the event list. This will - be done when the queue is unlocked later. */ - if( pxQueue->xTxLock == queueUNLOCKED ) - { - if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) - { - if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) - { - /* The task waiting has a higher priority so record that a - context switch is required. */ - if( pxHigherPriorityTaskWoken != NULL ) - { - *pxHigherPriorityTaskWoken = pdTRUE; - } - } - } - } - else - { - /* Increment the lock count so the task that unlocks the queue - knows that data was posted while it was locked. */ - ++( pxQueue->xTxLock ); - } - - xReturn = pdPASS; - } - else - { - traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue ); - xReturn = errQUEUE_FULL; - } - } - portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) -{ -signed portBASE_TYPE xEntryTimeSet = pdFALSE; -xTimeOutType xTimeOut; -signed char *pcOriginalReadPosition; - - configASSERT( pxQueue ); - configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) ); - - /* This function relaxes the coding standard somewhat to allow return - statements within the function itself. This is done in the interest - of execution time efficiency. */ - - for( ;; ) - { - taskENTER_CRITICAL(); - { - /* Is there data in the queue now? To be running we must be - the highest priority task wanting to access the queue. */ - if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) - { - /* Remember our read position in case we are just peeking. */ - pcOriginalReadPosition = pxQueue->pcReadFrom; - - prvCopyDataFromQueue( pxQueue, pvBuffer ); - - if( xJustPeeking == pdFALSE ) - { - traceQUEUE_RECEIVE( pxQueue ); - - /* We are actually removing data. */ - --( pxQueue->uxMessagesWaiting ); - - #if ( configUSE_MUTEXES == 1 ) - { - if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) - { - /* Record the information required to implement - priority inheritance should it become necessary. */ - pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle(); - } - } - #endif - - if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) - { - if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE ) - { - portYIELD_WITHIN_API(); - } - } - } - else - { - traceQUEUE_PEEK( pxQueue ); - - /* We are not removing the data, so reset our read - pointer. */ - pxQueue->pcReadFrom = pcOriginalReadPosition; - - /* The data is being left in the queue, so see if there are - any other tasks waiting for the data. */ - if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) - { - /* Tasks that are removed from the event list will get added to - the pending ready list as the scheduler is still suspended. */ - if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) - { - /* The task waiting has a higher priority than this task. */ - portYIELD_WITHIN_API(); - } - } - } - - taskEXIT_CRITICAL(); - return pdPASS; - } - else - { - if( xTicksToWait == ( portTickType ) 0 ) - { - /* The queue was empty and no block time is specified (or - the block time has expired) so leave now. */ - taskEXIT_CRITICAL(); - traceQUEUE_RECEIVE_FAILED( pxQueue ); - return errQUEUE_EMPTY; - } - else if( xEntryTimeSet == pdFALSE ) - { - /* The queue was empty and a block time was specified so - configure the timeout structure. */ - vTaskSetTimeOutState( &xTimeOut ); - xEntryTimeSet = pdTRUE; - } - } - } - taskEXIT_CRITICAL(); - - /* Interrupts and other tasks can send to and receive from the queue - now the critical section has been exited. */ - - vTaskSuspendAll(); - prvLockQueue( pxQueue ); - - /* Update the timeout state to see if it has expired yet. */ - if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) - { - if( prvIsQueueEmpty( pxQueue ) != pdFALSE ) - { - traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue ); - - #if ( configUSE_MUTEXES == 1 ) - { - if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) - { - portENTER_CRITICAL(); - { - vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder ); - } - portEXIT_CRITICAL(); - } - } - #endif - - vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait ); - prvUnlockQueue( pxQueue ); - if( xTaskResumeAll() == pdFALSE ) - { - portYIELD_WITHIN_API(); - } - } - else - { - /* Try again. */ - prvUnlockQueue( pxQueue ); - ( void ) xTaskResumeAll(); - } - } - else - { - prvUnlockQueue( pxQueue ); - ( void ) xTaskResumeAll(); - traceQUEUE_RECEIVE_FAILED( pxQueue ); - return errQUEUE_EMPTY; - } - } -} -/*-----------------------------------------------------------*/ - -signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken ) -{ -signed portBASE_TYPE xReturn; -unsigned portBASE_TYPE uxSavedInterruptStatus; - - configASSERT( pxQueue ); - configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) ); - - uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); - { - /* We cannot block from an ISR, so check there is data available. */ - if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) - { - traceQUEUE_RECEIVE_FROM_ISR( pxQueue ); - - prvCopyDataFromQueue( pxQueue, pvBuffer ); - --( pxQueue->uxMessagesWaiting ); - - /* If the queue is locked we will not modify the event list. Instead - we update the lock count so the task that unlocks the queue will know - that an ISR has removed data while the queue was locked. */ - if( pxQueue->xRxLock == queueUNLOCKED ) - { - if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) - { - if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) - { - /* The task waiting has a higher priority than us so - force a context switch. */ - if( pxHigherPriorityTaskWoken != NULL ) - { - *pxHigherPriorityTaskWoken = pdTRUE; - } - } - } - } - else - { - /* Increment the lock count so the task that unlocks the queue - knows that data was removed while it was locked. */ - ++( pxQueue->xRxLock ); - } - - xReturn = pdPASS; - } - else - { - xReturn = pdFAIL; - traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue ); - } - } - portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue ) -{ -unsigned portBASE_TYPE uxReturn; - - configASSERT( pxQueue ); - - taskENTER_CRITICAL(); - uxReturn = pxQueue->uxMessagesWaiting; - taskEXIT_CRITICAL(); - - return uxReturn; -} -/*-----------------------------------------------------------*/ - -unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue ) -{ -unsigned portBASE_TYPE uxReturn; - - configASSERT( pxQueue ); - - uxReturn = pxQueue->uxMessagesWaiting; - - return uxReturn; -} -/*-----------------------------------------------------------*/ - -void vQueueDelete( xQueueHandle pxQueue ) -{ - configASSERT( pxQueue ); - - traceQUEUE_DELETE( pxQueue ); - vQueueUnregisterQueue( pxQueue ); - vPortFree( pxQueue->pcHead ); - vPortFree( pxQueue ); -} -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - unsigned char ucQueueGetQueueNumber( xQueueHandle pxQueue ) - { - return pxQueue->ucQueueNumber; - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - void vQueueSetQueueNumber( xQueueHandle pxQueue, unsigned char ucQueueNumber ) - { - pxQueue->ucQueueNumber = ucQueueNumber; - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - unsigned char ucQueueGetQueueType( xQueueHandle pxQueue ) - { - return pxQueue->ucQueueType; - } - -#endif -/*-----------------------------------------------------------*/ - -static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition ) -{ - if( pxQueue->uxItemSize == ( unsigned portBASE_TYPE ) 0 ) - { - #if ( configUSE_MUTEXES == 1 ) - { - if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) - { - /* The mutex is no longer being held. */ - vTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder ); - pxQueue->pxMutexHolder = NULL; - } - } - #endif - } - else if( xPosition == queueSEND_TO_BACK ) - { - memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize ); - pxQueue->pcWriteTo += pxQueue->uxItemSize; - if( pxQueue->pcWriteTo >= pxQueue->pcTail ) - { - pxQueue->pcWriteTo = pxQueue->pcHead; - } - } - else - { - memcpy( ( void * ) pxQueue->pcReadFrom, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize ); - pxQueue->pcReadFrom -= pxQueue->uxItemSize; - if( pxQueue->pcReadFrom < pxQueue->pcHead ) - { - pxQueue->pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize ); - } - } - - ++( pxQueue->uxMessagesWaiting ); -} -/*-----------------------------------------------------------*/ - -static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer ) -{ - if( pxQueue->uxQueueType != queueQUEUE_IS_MUTEX ) - { - pxQueue->pcReadFrom += pxQueue->uxItemSize; - if( pxQueue->pcReadFrom >= pxQueue->pcTail ) - { - pxQueue->pcReadFrom = pxQueue->pcHead; - } - memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize ); - } -} -/*-----------------------------------------------------------*/ - -static void prvUnlockQueue( xQueueHandle pxQueue ) -{ - /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */ - - /* The lock counts contains the number of extra data items placed or - removed from the queue while the queue was locked. When a queue is - locked items can be added or removed, but the event lists cannot be - updated. */ - taskENTER_CRITICAL(); - { - /* See if data was added to the queue while it was locked. */ - while( pxQueue->xTxLock > queueLOCKED_UNMODIFIED ) - { - /* Data was posted while the queue was locked. Are any tasks - blocked waiting for data to become available? */ - if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) - { - /* Tasks that are removed from the event list will get added to - the pending ready list as the scheduler is still suspended. */ - if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) - { - /* The task waiting has a higher priority so record that a - context switch is required. */ - vTaskMissedYield(); - } - - --( pxQueue->xTxLock ); - } - else - { - break; - } - } - - pxQueue->xTxLock = queueUNLOCKED; - } - taskEXIT_CRITICAL(); - - /* Do the same for the Rx lock. */ - taskENTER_CRITICAL(); - { - while( pxQueue->xRxLock > queueLOCKED_UNMODIFIED ) - { - if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) - { - if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) - { - vTaskMissedYield(); - } - - --( pxQueue->xRxLock ); - } - else - { - break; - } - } - - pxQueue->xRxLock = queueUNLOCKED; - } - taskEXIT_CRITICAL(); -} -/*-----------------------------------------------------------*/ - -static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue ) -{ -signed portBASE_TYPE xReturn; - - taskENTER_CRITICAL(); - xReturn = ( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 ); - taskEXIT_CRITICAL(); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue ) -{ -signed portBASE_TYPE xReturn; - - configASSERT( pxQueue ); - xReturn = ( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 ); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue ) -{ -signed portBASE_TYPE xReturn; - - taskENTER_CRITICAL(); - xReturn = ( pxQueue->uxMessagesWaiting == pxQueue->uxLength ); - taskEXIT_CRITICAL(); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue ) -{ -signed portBASE_TYPE xReturn; - - configASSERT( pxQueue ); - xReturn = ( pxQueue->uxMessagesWaiting == pxQueue->uxLength ); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -#if configUSE_CO_ROUTINES == 1 -signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait ) -{ -signed portBASE_TYPE xReturn; - - /* If the queue is already full we may have to block. A critical section - is required to prevent an interrupt removing something from the queue - between the check to see if the queue is full and blocking on the queue. */ - portDISABLE_INTERRUPTS(); - { - if( prvIsQueueFull( pxQueue ) != pdFALSE ) - { - /* The queue is full - do we want to block or just leave without - posting? */ - if( xTicksToWait > ( portTickType ) 0 ) - { - /* As this is called from a coroutine we cannot block directly, but - return indicating that we need to block. */ - vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) ); - portENABLE_INTERRUPTS(); - return errQUEUE_BLOCKED; - } - else - { - portENABLE_INTERRUPTS(); - return errQUEUE_FULL; - } - } - } - portENABLE_INTERRUPTS(); - - portNOP(); - - portDISABLE_INTERRUPTS(); - { - if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) - { - /* There is room in the queue, copy the data into the queue. */ - prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK ); - xReturn = pdPASS; - - /* Were any co-routines waiting for data to become available? */ - if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) - { - /* In this instance the co-routine could be placed directly - into the ready list as we are within a critical section. - Instead the same pending ready list mechanism is used as if - the event were caused from within an interrupt. */ - if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) - { - /* The co-routine waiting has a higher priority so record - that a yield might be appropriate. */ - xReturn = errQUEUE_YIELD; - } - } - } - else - { - xReturn = errQUEUE_FULL; - } - } - portENABLE_INTERRUPTS(); - - return xReturn; -} -#endif -/*-----------------------------------------------------------*/ - -#if configUSE_CO_ROUTINES == 1 -signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait ) -{ -signed portBASE_TYPE xReturn; - - /* If the queue is already empty we may have to block. A critical section - is required to prevent an interrupt adding something to the queue - between the check to see if the queue is empty and blocking on the queue. */ - portDISABLE_INTERRUPTS(); - { - if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 ) - { - /* There are no messages in the queue, do we want to block or just - leave with nothing? */ - if( xTicksToWait > ( portTickType ) 0 ) - { - /* As this is a co-routine we cannot block directly, but return - indicating that we need to block. */ - vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) ); - portENABLE_INTERRUPTS(); - return errQUEUE_BLOCKED; - } - else - { - portENABLE_INTERRUPTS(); - return errQUEUE_FULL; - } - } - } - portENABLE_INTERRUPTS(); - - portNOP(); - - portDISABLE_INTERRUPTS(); - { - if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) - { - /* Data is available from the queue. */ - pxQueue->pcReadFrom += pxQueue->uxItemSize; - if( pxQueue->pcReadFrom >= pxQueue->pcTail ) - { - pxQueue->pcReadFrom = pxQueue->pcHead; - } - --( pxQueue->uxMessagesWaiting ); - memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize ); - - xReturn = pdPASS; - - /* Were any co-routines waiting for space to become available? */ - if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) - { - /* In this instance the co-routine could be placed directly - into the ready list as we are within a critical section. - Instead the same pending ready list mechanism is used as if - the event were caused from within an interrupt. */ - if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) - { - xReturn = errQUEUE_YIELD; - } - } - } - else - { - xReturn = pdFAIL; - } - } - portENABLE_INTERRUPTS(); - - return xReturn; -} -#endif -/*-----------------------------------------------------------*/ - - - -#if configUSE_CO_ROUTINES == 1 -signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ) -{ - /* Cannot block within an ISR so if there is no space on the queue then - exit without doing anything. */ - if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) - { - prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK ); - - /* We only want to wake one co-routine per ISR, so check that a - co-routine has not already been woken. */ - if( xCoRoutinePreviouslyWoken == pdFALSE ) - { - if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) - { - if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) - { - return pdTRUE; - } - } - } - } - - return xCoRoutinePreviouslyWoken; -} -#endif -/*-----------------------------------------------------------*/ - -#if configUSE_CO_ROUTINES == 1 -signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxCoRoutineWoken ) -{ -signed portBASE_TYPE xReturn; - - /* We cannot block from an ISR, so check there is data available. If - not then just leave without doing anything. */ - if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) - { - /* Copy the data from the queue. */ - pxQueue->pcReadFrom += pxQueue->uxItemSize; - if( pxQueue->pcReadFrom >= pxQueue->pcTail ) - { - pxQueue->pcReadFrom = pxQueue->pcHead; - } - --( pxQueue->uxMessagesWaiting ); - memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize ); - - if( ( *pxCoRoutineWoken ) == pdFALSE ) - { - if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) - { - if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) - { - *pxCoRoutineWoken = pdTRUE; - } - } - } - - xReturn = pdPASS; - } - else - { - xReturn = pdFAIL; - } - - return xReturn; -} -#endif -/*-----------------------------------------------------------*/ - -#if configQUEUE_REGISTRY_SIZE > 0 - - void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName ) - { - unsigned portBASE_TYPE ux; - - /* See if there is an empty space in the registry. A NULL name denotes - a free slot. */ - for( ux = ( unsigned portBASE_TYPE ) 0U; ux < ( unsigned portBASE_TYPE ) configQUEUE_REGISTRY_SIZE; ux++ ) - { - if( xQueueRegistry[ ux ].pcQueueName == NULL ) - { - /* Store the information on this queue. */ - xQueueRegistry[ ux ].pcQueueName = pcQueueName; - xQueueRegistry[ ux ].xHandle = xQueue; - break; - } - } - } - -#endif -/*-----------------------------------------------------------*/ - -#if configQUEUE_REGISTRY_SIZE > 0 - - static void vQueueUnregisterQueue( xQueueHandle xQueue ) - { - unsigned portBASE_TYPE ux; - - /* See if the handle of the queue being unregistered in actually in the - registry. */ - for( ux = ( unsigned portBASE_TYPE ) 0U; ux < ( unsigned portBASE_TYPE ) configQUEUE_REGISTRY_SIZE; ux++ ) - { - if( xQueueRegistry[ ux ].xHandle == xQueue ) - { - /* Set the name to NULL to show that this slot if free again. */ - xQueueRegistry[ ux ].pcQueueName = NULL; - break; - } - } - - } - -#endif -/*-----------------------------------------------------------*/ - -#if configUSE_TIMERS == 1 - - void vQueueWaitForMessageRestricted( xQueueHandle pxQueue, portTickType xTicksToWait ) - { - /* This function should not be called by application code hence the - 'Restricted' in its name. It is not part of the public API. It is - designed for use by kernel code, and has special calling requirements. - It can result in vListInsert() being called on a list that can only - possibly ever have one item in it, so the list will be fast, but even - so it should be called with the scheduler locked and not from a critical - section. */ - - /* Only do anything if there are no messages in the queue. This function - will not actually cause the task to block, just place it on a blocked - list. It will not block until the scheduler is unlocked - at which - time a yield will be performed. If an item is added to the queue while - the queue is locked, and the calling task blocks on the queue, then the - calling task will be immediately unblocked when the queue is unlocked. */ - prvLockQueue( pxQueue ); - if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0U ) - { - /* There is nothing in the queue, block for the specified period. */ - vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait ); - } - prvUnlockQueue( pxQueue ); - } - -#endif - diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/tasks.c b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/tasks.c deleted file mode 100644 index 85e41a05f..000000000 --- a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/tasks.c +++ /dev/null @@ -1,2480 +0,0 @@ -/* - FreeRTOS V7.1.1 - Copyright (C) 2012 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! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong? * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - - http://www.FreeRTOS.org - Documentation, training, latest information, - license and contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. - - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. -*/ - - -#include -#include -#include - -/* 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 "timers.h" -#include "StackMacros.h" - -#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE - -/* - * Macro to define the amount of stack available to the idle task. - */ -#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE - -/* - * Task control block. A task control block (TCB) is allocated to each task, - * and stores the context of the task. - */ -typedef struct tskTaskControlBlock -{ - volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE STRUCT. */ - - #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 stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */ - unsigned portBASE_TYPE uxTaskNumber; /*< This stores a number specifically for use by third party trace code. */ - #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 - -} tskTCB; - - -/* - * Some kernel aware debuggers require data to be viewed to be global, rather - * than file scope. - */ -#ifdef portREMOVE_STATIC_QUALIFIER - #define static -#endif - -/*lint -e956 */ -PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL; - -/* Lists for ready and blocked tasks. --------------------*/ - -PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */ -PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */ -PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */ -PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */ -PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */ -PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */ - -#if ( INCLUDE_vTaskDelete == 1 ) - - PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */ - PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U; - -#endif - -#if ( INCLUDE_vTaskSuspend == 1 ) - - PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */ - -#endif - -#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) - - PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL; - -#endif - -/* File private variables. --------------------------------*/ -PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U; -PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U; -PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY; -PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY; -PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE; -PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE; -PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0U; -PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE; -PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0; -PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U; -PRIVILEGED_DATA static portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY; - -#if ( configGENERATE_RUN_TIME_STATS == 1 ) - - PRIVILEGED_DATA static char pcStatsString[ 50 ] ; - PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */ - static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION; - -#endif - -/* Debugging and trace facilities private variables and macros. ------------*/ - -/* - * The value used to fill the stack of a task when the task is created. This - * is used purely for checking the high water mark for tasks. - */ -#define tskSTACK_FILL_BYTE ( 0xa5U ) - -/* - * Macros used by vListTask to indicate which state a task is in. - */ -#define tskBLOCKED_CHAR ( ( signed char ) 'B' ) -#define tskREADY_CHAR ( ( signed char ) 'R' ) -#define tskDELETED_CHAR ( ( signed char ) 'D' ) -#define tskSUSPENDED_CHAR ( ( signed char ) 'S' ) - -/*-----------------------------------------------------------*/ - -/* - * Place the task represented by pxTCB into the appropriate ready queue for - * the task. It is inserted at the end of the list. One quirk of this is - * that if the task being inserted is at the same priority as the currently - * executing task, then it will only be rescheduled after the currently - * executing task has been rescheduled. - */ -#define prvAddTaskToReadyQueue( pxTCB ) \ - traceMOVED_TASK_TO_READY_STATE( pxTCB ) \ - if( ( pxTCB )->uxPriority > uxTopReadyPriority ) \ - { \ - uxTopReadyPriority = ( pxTCB )->uxPriority; \ - } \ - vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) ) -/*-----------------------------------------------------------*/ - -/* - * Macro that looks at the list of tasks that are currently delayed to see if - * any require waking. - * - * Tasks are stored in the queue in the order of their wake time - meaning - * once one tasks has been found whose timer has not expired we need not look - * any further down the list. - */ -#define prvCheckDelayedTasks() \ -{ \ -portTickType xItemValue; \ - \ - /* Is the tick count greater than or equal to the wake time of the first \ - task referenced from the delayed tasks list? */ \ - if( xTickCount >= xNextTaskUnblockTime ) \ - { \ - for( ;; ) \ - { \ - if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \ - { \ - /* The delayed list is empty. Set xNextTaskUnblockTime to the \ - maximum possible value so it is extremely unlikely that the \ - if( xTickCount >= xNextTaskUnblockTime ) test will pass next \ - time through. */ \ - xNextTaskUnblockTime = portMAX_DELAY; \ - break; \ - } \ - else \ - { \ - /* The delayed list is not empty, get the value of the item at \ - the head of the delayed list. This is the time at which the \ - task at the head of the delayed list should be removed from \ - the Blocked state. */ \ - pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \ - xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \ - \ - if( xTickCount < xItemValue ) \ - { \ - /* It is not time to unblock this item yet, but the item \ - value is the time at which the task at the head of the \ - blocked list should be removed from the Blocked state - \ - so record the item value in xNextTaskUnblockTime. */ \ - xNextTaskUnblockTime = xItemValue; \ - break; \ - } \ - \ - /* It is time to remove the item from the Blocked state. */ \ - vListRemove( &( pxTCB->xGenericListItem ) ); \ - \ - /* Is the task waiting on an event also? */ \ - if( pxTCB->xEventListItem.pvContainer != NULL ) \ - { \ - vListRemove( &( pxTCB->xEventListItem ) ); \ - } \ - prvAddTaskToReadyQueue( pxTCB ); \ - } \ - } \ - } \ -} -/*-----------------------------------------------------------*/ - -/* - * Several functions take an xTaskHandle parameter that can optionally be NULL, - * where NULL is used to indicate that the handle of the currently executing - * task should be used in place of the parameter. This macro simply checks to - * see if the parameter is NULL and returns a pointer to the appropriate TCB. - */ -#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) ) - -/* Callback function prototypes. --------------------------*/ -extern void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName ); -extern void vApplicationTickHook( void ); - -/* File private functions. --------------------------------*/ - -/* - * Utility to ready a TCB for a given task. Mainly just copies the parameters - * into the TCB structure. - */ -static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION; - -/* - * Utility to ready all the lists used by the scheduler. This is called - * automatically upon the creation of the first task. - */ -static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION; - -/* - * The idle task, which as all tasks is implemented as a never ending loop. - * The idle task is automatically created and added to the ready lists upon - * creation of the first user task. - * - * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific - * language extensions. The equivalent prototype for this function is: - * - * void prvIdleTask( void *pvParameters ); - * - */ -static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ); - -/* - * Utility to free all memory allocated by the scheduler to hold a TCB, - * including the stack pointed to by the TCB. - * - * This does not free memory allocated by the task itself (i.e. memory - * allocated by calls to pvPortMalloc from within the tasks application code). - */ -#if ( INCLUDE_vTaskDelete == 1 ) - - static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION; - -#endif - -/* - * Used only by the idle task. This checks to see if anything has been placed - * in the list of tasks waiting to be deleted. If so the task is cleaned up - * and its TCB deleted. - */ -static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION; - -/* - * The currently executing task is entering the Blocked state. Add the task to - * either the current or the overflow delayed task list. - */ -static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION; - -/* - * Allocates memory from the heap for a TCB and associated stack. Checks the - * allocation was successful. - */ -static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION; - -/* - * Called from vTaskList. vListTasks details all the tasks currently under - * control of the scheduler. The tasks may be in one of a number of lists. - * prvListTaskWithinSingleList accepts a list and details the tasks from - * within just that list. - * - * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM - * NORMAL APPLICATION CODE. - */ -#if ( configUSE_TRACE_FACILITY == 1 ) - - static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION; - -#endif - -/* - * When a task is created, the stack of the task is filled with a known value. - * This function determines the 'high water mark' of the task stack by - * determining how much of the stack remains at the original preset value. - */ -#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) - - static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION; - -#endif - - -/*lint +e956 */ - - - -/*----------------------------------------------------------- - * TASK CREATION API documented in task.h - *----------------------------------------------------------*/ - -signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions ) -{ -signed portBASE_TYPE xReturn; -tskTCB * pxNewTCB; - - configASSERT( pxTaskCode ); - configASSERT( ( uxPriority < configMAX_PRIORITIES ) ); - - /* Allocate the memory required by the TCB and stack for the new task, - checking that the allocation was successful. */ - pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer ); - - if( pxNewTCB != NULL ) - { - portSTACK_TYPE *pxTopOfStack; - - #if( portUSING_MPU_WRAPPERS == 1 ) - /* Should the task be created in privileged mode? */ - portBASE_TYPE xRunPrivileged; - if( ( uxPriority & portPRIVILEGE_BIT ) != 0U ) - { - xRunPrivileged = pdTRUE; - } - else - { - xRunPrivileged = pdFALSE; - } - uxPriority &= ~portPRIVILEGE_BIT; - #endif /* portUSING_MPU_WRAPPERS == 1 */ - - /* Calculate the top of stack address. This depends on whether the - stack grows from high memory to low (as per the 80x86) or visa versa. - portSTACK_GROWTH is used to make the result positive or negative as - required by the port. */ - #if( portSTACK_GROWTH < 0 ) - { - pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 ); - pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) ); - - /* Check the alignment of the calculated top of stack is correct. */ - configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) ); - } - #else - { - pxTopOfStack = pxNewTCB->pxStack; - - /* Check the alignment of the stack buffer is correct. */ - configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) ); - - /* If we want to use stack checking on architectures that use - a positive stack growth direction then we also need to store the - other extreme of the stack space. */ - pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 ); - } - #endif - - /* Setup the newly allocated TCB with the initial state of the task. */ - prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth ); - - /* Initialize the TCB stack to look as if the task was already running, - but had been interrupted by the scheduler. The return address is set - to the start of the task function. Once the stack has been initialised - the top of stack variable is updated. */ - #if( portUSING_MPU_WRAPPERS == 1 ) - { - pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged ); - } - #else - { - pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters ); - } - #endif - - /* Check the alignment of the initialised stack. */ - portALIGNMENT_ASSERT_pxCurrentTCB( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) ); - - if( ( void * ) pxCreatedTask != NULL ) - { - /* Pass the TCB out - in an anonymous way. The calling function/ - task can use this as a handle to delete the task later if - required.*/ - *pxCreatedTask = ( xTaskHandle ) pxNewTCB; - } - - /* We are going to manipulate the task queues to add this task to a - ready list, so must make sure no interrupts occur. */ - taskENTER_CRITICAL(); - { - uxCurrentNumberOfTasks++; - if( pxCurrentTCB == NULL ) - { - /* There are no other tasks, or all the other tasks are in - the suspended state - make this the current task. */ - pxCurrentTCB = pxNewTCB; - - if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 ) - { - /* This is the first task to be created so do the preliminary - initialisation required. We will not recover if this call - fails, but we will report the failure. */ - prvInitialiseTaskLists(); - } - } - else - { - /* If the scheduler is not already running, make this task the - current task if it is the highest priority task to be created - so far. */ - if( xSchedulerRunning == pdFALSE ) - { - if( pxCurrentTCB->uxPriority <= uxPriority ) - { - pxCurrentTCB = pxNewTCB; - } - } - } - - /* Remember the top priority to make context switching faster. Use - the priority in pxNewTCB as this has been capped to a valid value. */ - if( pxNewTCB->uxPriority > uxTopUsedPriority ) - { - uxTopUsedPriority = pxNewTCB->uxPriority; - } - - #if ( configUSE_TRACE_FACILITY == 1 ) - { - /* Add a counter into the TCB for tracing only. */ - pxNewTCB->uxTCBNumber = uxTaskNumber; - } - #endif - uxTaskNumber++; - - prvAddTaskToReadyQueue( pxNewTCB ); - - xReturn = pdPASS; - portSETUP_TCB( pxNewTCB ); - traceTASK_CREATE( pxNewTCB ); - } - taskEXIT_CRITICAL(); - } - else - { - xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; - traceTASK_CREATE_FAILED(); - } - - if( xReturn == pdPASS ) - { - if( xSchedulerRunning != pdFALSE ) - { - /* If the created task is of a higher priority than the current task - then it should run now. */ - if( pxCurrentTCB->uxPriority < uxPriority ) - { - portYIELD_WITHIN_API(); - } - } - } - - return xReturn; -} -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskDelete == 1 ) - - void vTaskDelete( xTaskHandle pxTaskToDelete ) - { - tskTCB *pxTCB; - - taskENTER_CRITICAL(); - { - /* Ensure a yield is performed if the current task is being - deleted. */ - if( pxTaskToDelete == pxCurrentTCB ) - { - pxTaskToDelete = NULL; - } - - /* If null is passed in here then we are deleting ourselves. */ - pxTCB = prvGetTCBFromHandle( pxTaskToDelete ); - - /* Remove task from the ready list and place in the termination list. - This will stop the task from be scheduled. The idle task will check - the termination list and free up any memory allocated by the - scheduler for the TCB and stack. */ - vListRemove( &( pxTCB->xGenericListItem ) ); - - /* Is the task waiting on an event also? */ - if( pxTCB->xEventListItem.pvContainer != NULL ) - { - vListRemove( &( pxTCB->xEventListItem ) ); - } - - vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) ); - - /* Increment the ucTasksDeleted variable so the idle task knows - there is a task that has been deleted and that it should therefore - check the xTasksWaitingTermination list. */ - ++uxTasksDeleted; - - /* Increment the uxTaskNumberVariable also so kernel aware debuggers - can detect that the task lists need re-generating. */ - uxTaskNumber++; - - traceTASK_DELETE( pxTCB ); - } - taskEXIT_CRITICAL(); - - /* Force a reschedule if we have just deleted the current task. */ - if( xSchedulerRunning != pdFALSE ) - { - if( ( void * ) pxTaskToDelete == NULL ) - { - portYIELD_WITHIN_API(); - } - } - } - -#endif - - - - - - -/*----------------------------------------------------------- - * TASK CONTROL API documented in task.h - *----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskDelayUntil == 1 ) - - void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement ) - { - portTickType xTimeToWake; - portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE; - - configASSERT( pxPreviousWakeTime ); - configASSERT( ( xTimeIncrement > 0U ) ); - - vTaskSuspendAll(); - { - /* Generate the tick time at which the task wants to wake. */ - xTimeToWake = *pxPreviousWakeTime + xTimeIncrement; - - if( xTickCount < *pxPreviousWakeTime ) - { - /* The tick count has overflowed since this function was - lasted called. In this case the only time we should ever - actually delay is if the wake time has also overflowed, - and the wake time is greater than the tick time. When this - is the case it is as if neither time had overflowed. */ - if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) ) - { - xShouldDelay = pdTRUE; - } - } - else - { - /* The tick time has not overflowed. In this case we will - delay if either the wake time has overflowed, and/or the - tick time is less than the wake time. */ - if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) ) - { - xShouldDelay = pdTRUE; - } - } - - /* Update the wake time ready for the next call. */ - *pxPreviousWakeTime = xTimeToWake; - - if( xShouldDelay != pdFALSE ) - { - traceTASK_DELAY_UNTIL(); - - /* We must remove ourselves from the ready list before adding - ourselves to the blocked list as the same list item is used for - both lists. */ - vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); - prvAddCurrentTaskToDelayedList( xTimeToWake ); - } - } - xAlreadyYielded = xTaskResumeAll(); - - /* Force a reschedule if xTaskResumeAll has not already done so, we may - have put ourselves to sleep. */ - if( xAlreadyYielded == pdFALSE ) - { - portYIELD_WITHIN_API(); - } - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskDelay == 1 ) - - void vTaskDelay( portTickType xTicksToDelay ) - { - portTickType xTimeToWake; - signed portBASE_TYPE xAlreadyYielded = pdFALSE; - - /* A delay time of zero just forces a reschedule. */ - if( xTicksToDelay > ( portTickType ) 0U ) - { - vTaskSuspendAll(); - { - traceTASK_DELAY(); - - /* A task that is removed from the event list while the - scheduler is suspended will not get placed in the ready - list or removed from the blocked list until the scheduler - is resumed. - - This task cannot be in an event list as it is the currently - executing task. */ - - /* Calculate the time to wake - this may overflow but this is - not a problem. */ - xTimeToWake = xTickCount + xTicksToDelay; - - /* We must remove ourselves from the ready list before adding - ourselves to the blocked list as the same list item is used for - both lists. */ - vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); - prvAddCurrentTaskToDelayedList( xTimeToWake ); - } - xAlreadyYielded = xTaskResumeAll(); - } - - /* Force a reschedule if xTaskResumeAll has not already done so, we may - have put ourselves to sleep. */ - if( xAlreadyYielded == pdFALSE ) - { - portYIELD_WITHIN_API(); - } - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_uxTaskPriorityGet == 1 ) - - unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) - { - tskTCB *pxTCB; - unsigned portBASE_TYPE uxReturn; - - taskENTER_CRITICAL(); - { - /* If null is passed in here then we are changing the - priority of the calling function. */ - pxTCB = prvGetTCBFromHandle( pxTask ); - uxReturn = pxTCB->uxPriority; - } - taskEXIT_CRITICAL(); - - return uxReturn; - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskPrioritySet == 1 ) - - void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority ) - { - tskTCB *pxTCB; - unsigned portBASE_TYPE uxCurrentPriority; - portBASE_TYPE xYieldRequired = pdFALSE; - - configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) ); - - /* Ensure the new priority is valid. */ - if( uxNewPriority >= configMAX_PRIORITIES ) - { - uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U; - } - - taskENTER_CRITICAL(); - { - if( pxTask == pxCurrentTCB ) - { - pxTask = NULL; - } - - /* If null is passed in here then we are changing the - priority of the calling function. */ - pxTCB = prvGetTCBFromHandle( pxTask ); - - traceTASK_PRIORITY_SET( pxTCB, uxNewPriority ); - - #if ( configUSE_MUTEXES == 1 ) - { - uxCurrentPriority = pxTCB->uxBasePriority; - } - #else - { - uxCurrentPriority = pxTCB->uxPriority; - } - #endif - - if( uxCurrentPriority != uxNewPriority ) - { - /* The priority change may have readied a task of higher - priority than the calling task. */ - if( uxNewPriority > uxCurrentPriority ) - { - if( pxTask != NULL ) - { - /* The priority of another task is being raised. If we - were raising the priority of the currently running task - there would be no need to switch as it must have already - been the highest priority task. */ - xYieldRequired = pdTRUE; - } - } - else if( pxTask == NULL ) - { - /* Setting our own priority down means there may now be another - task of higher priority that is ready to execute. */ - xYieldRequired = pdTRUE; - } - - - - #if ( configUSE_MUTEXES == 1 ) - { - /* Only change the priority being used if the task is not - currently using an inherited priority. */ - if( pxTCB->uxBasePriority == pxTCB->uxPriority ) - { - pxTCB->uxPriority = uxNewPriority; - } - - /* The base priority gets set whatever. */ - pxTCB->uxBasePriority = uxNewPriority; - } - #else - { - pxTCB->uxPriority = uxNewPriority; - } - #endif - - listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) ); - - /* If the task is in the blocked or suspended list we need do - nothing more than change it's priority variable. However, if - the task is in a ready list it needs to be removed and placed - in the queue appropriate to its new priority. */ - if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) ) - { - /* The task is currently in its ready list - remove before adding - it to it's new ready list. As we are in a critical section we - can do this even if the scheduler is suspended. */ - vListRemove( &( pxTCB->xGenericListItem ) ); - prvAddTaskToReadyQueue( pxTCB ); - } - - if( xYieldRequired == pdTRUE ) - { - portYIELD_WITHIN_API(); - } - } - } - taskEXIT_CRITICAL(); - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskSuspend == 1 ) - - void vTaskSuspend( xTaskHandle pxTaskToSuspend ) - { - tskTCB *pxTCB; - - taskENTER_CRITICAL(); - { - /* Ensure a yield is performed if the current task is being - suspended. */ - if( pxTaskToSuspend == pxCurrentTCB ) - { - pxTaskToSuspend = NULL; - } - - /* If null is passed in here then we are suspending ourselves. */ - pxTCB = prvGetTCBFromHandle( pxTaskToSuspend ); - - traceTASK_SUSPEND( pxTCB ); - - /* Remove task from the ready/delayed list and place in the suspended list. */ - vListRemove( &( pxTCB->xGenericListItem ) ); - - /* Is the task waiting on an event also? */ - if( pxTCB->xEventListItem.pvContainer != NULL ) - { - vListRemove( &( pxTCB->xEventListItem ) ); - } - - vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ); - } - taskEXIT_CRITICAL(); - - if( ( void * ) pxTaskToSuspend == NULL ) - { - if( xSchedulerRunning != pdFALSE ) - { - /* We have just suspended the current task. */ - portYIELD_WITHIN_API(); - } - else - { - /* The scheduler is not running, but the task that was pointed - to by pxCurrentTCB has just been suspended and pxCurrentTCB - must be adjusted to point to a different task. */ - if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) - { - /* No other tasks are ready, so set pxCurrentTCB back to - NULL so when the next task is created pxCurrentTCB will - be set to point to it no matter what its relative priority - is. */ - pxCurrentTCB = NULL; - } - else - { - vTaskSwitchContext(); - } - } - } - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskSuspend == 1 ) - - signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask ) - { - portBASE_TYPE xReturn = pdFALSE; - const tskTCB * const pxTCB = ( tskTCB * ) xTask; - - /* It does not make sense to check if the calling task is suspended. */ - configASSERT( xTask ); - - /* Is the task we are attempting to resume actually in the - suspended list? */ - if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE ) - { - /* Has the task already been resumed from within an ISR? */ - if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE ) - { - /* Is it in the suspended list because it is in the - Suspended state? It is possible to be in the suspended - list because it is blocked on a task with no timeout - specified. */ - if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE ) - { - xReturn = pdTRUE; - } - } - } - - return xReturn; - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskSuspend == 1 ) - - void vTaskResume( xTaskHandle pxTaskToResume ) - { - tskTCB *pxTCB; - - /* It does not make sense to resume the calling task. */ - configASSERT( pxTaskToResume ); - - /* Remove the task from whichever list it is currently in, and place - it in the ready list. */ - pxTCB = ( tskTCB * ) pxTaskToResume; - - /* The parameter cannot be NULL as it is impossible to resume the - currently executing task. */ - if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) ) - { - taskENTER_CRITICAL(); - { - if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE ) - { - traceTASK_RESUME( pxTCB ); - - /* As we are in a critical section we can access the ready - lists even if the scheduler is suspended. */ - vListRemove( &( pxTCB->xGenericListItem ) ); - prvAddTaskToReadyQueue( pxTCB ); - - /* We may have just resumed a higher priority task. */ - if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) - { - /* This yield may not cause the task just resumed to run, but - will leave the lists in the correct state for the next yield. */ - portYIELD_WITHIN_API(); - } - } - } - taskEXIT_CRITICAL(); - } - } - -#endif - -/*-----------------------------------------------------------*/ - -#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) - - portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume ) - { - portBASE_TYPE xYieldRequired = pdFALSE; - tskTCB *pxTCB; - unsigned portBASE_TYPE uxSavedInterruptStatus; - - configASSERT( pxTaskToResume ); - - pxTCB = ( tskTCB * ) pxTaskToResume; - - uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); - { - if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE ) - { - traceTASK_RESUME_FROM_ISR( pxTCB ); - - if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) - { - xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ); - vListRemove( &( pxTCB->xGenericListItem ) ); - prvAddTaskToReadyQueue( pxTCB ); - } - else - { - /* We cannot access the delayed or ready lists, so will hold this - task pending until the scheduler is resumed, at which point a - yield will be performed if necessary. */ - vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); - } - } - } - portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); - - return xYieldRequired; - } - -#endif - - - - -/*----------------------------------------------------------- - * PUBLIC SCHEDULER CONTROL documented in task.h - *----------------------------------------------------------*/ - - -void vTaskStartScheduler( void ) -{ -portBASE_TYPE xReturn; - - /* Add the idle task at the lowest priority. */ - #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) - { - /* Create the idle task, storing its handle in xIdleTaskHandle so it can - be returned by the xTaskGetIdleTaskHandle() function. */ - xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); - } - #else - { - /* Create the idle task without storing its handle. */ - xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL ); - } - #endif - - #if ( configUSE_TIMERS == 1 ) - { - if( xReturn == pdPASS ) - { - xReturn = xTimerCreateTimerTask(); - } - } - #endif - - if( xReturn == pdPASS ) - { - /* Interrupts are turned off here, to ensure a tick does not occur - before or during the call to xPortStartScheduler(). The stacks of - the created tasks contain a status word with interrupts switched on - so interrupts will automatically get re-enabled when the first task - starts to run. - - STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE - DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */ - portDISABLE_INTERRUPTS(); - - xSchedulerRunning = pdTRUE; - xTickCount = ( portTickType ) 0U; - - /* If configGENERATE_RUN_TIME_STATS is defined then the following - macro must be defined to configure the timer/counter used to generate - the run time counter time base. */ - portCONFIGURE_TIMER_FOR_RUN_TIME_STATS(); - - /* Setting up the timer tick is hardware specific and thus in the - portable interface. */ - if( xPortStartScheduler() != pdFALSE ) - { - /* Should not reach here as if the scheduler is running the - function will not return. */ - } - else - { - /* Should only reach here if a task calls xTaskEndScheduler(). */ - } - } - - /* This line will only be reached if the kernel could not be started. */ - configASSERT( xReturn ); -} -/*-----------------------------------------------------------*/ - -void vTaskEndScheduler( void ) -{ - /* Stop the scheduler interrupts and call the portable scheduler end - routine so the original ISRs can be restored if necessary. The port - layer must ensure interrupts enable bit is left in the correct state. */ - portDISABLE_INTERRUPTS(); - xSchedulerRunning = pdFALSE; - vPortEndScheduler(); -} -/*----------------------------------------------------------*/ - -void vTaskSuspendAll( void ) -{ - /* A critical section is not required as the variable is of type - portBASE_TYPE. */ - ++uxSchedulerSuspended; -} -/*----------------------------------------------------------*/ - -signed portBASE_TYPE xTaskResumeAll( void ) -{ -register tskTCB *pxTCB; -signed portBASE_TYPE xAlreadyYielded = pdFALSE; - - /* If uxSchedulerSuspended is zero then this function does not match a - previous call to vTaskSuspendAll(). */ - configASSERT( uxSchedulerSuspended ); - - /* It is possible that an ISR caused a task to be removed from an event - list while the scheduler was suspended. If this was the case then the - removed task will have been added to the xPendingReadyList. Once the - scheduler has been resumed it is safe to move all the pending ready - tasks from this list into their appropriate ready list. */ - taskENTER_CRITICAL(); - { - --uxSchedulerSuspended; - - if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) - { - if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U ) - { - portBASE_TYPE xYieldRequired = pdFALSE; - - /* Move any readied tasks from the pending list into the - appropriate ready list. */ - while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE ) - { - pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ); - vListRemove( &( pxTCB->xEventListItem ) ); - vListRemove( &( pxTCB->xGenericListItem ) ); - prvAddTaskToReadyQueue( pxTCB ); - - /* If we have moved a task that has a priority higher than - the current task then we should yield. */ - if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) - { - xYieldRequired = pdTRUE; - } - } - - /* If any ticks occurred while the scheduler was suspended then - they should be processed now. This ensures the tick count does not - slip, and that any delayed tasks are resumed at the correct time. */ - if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U ) - { - while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U ) - { - vTaskIncrementTick(); - --uxMissedTicks; - } - - /* As we have processed some ticks it is appropriate to yield - to ensure the highest priority task that is ready to run is - the task actually running. */ - #if configUSE_PREEMPTION == 1 - { - xYieldRequired = pdTRUE; - } - #endif - } - - if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) ) - { - xAlreadyYielded = pdTRUE; - xMissedYield = pdFALSE; - portYIELD_WITHIN_API(); - } - } - } - } - taskEXIT_CRITICAL(); - - return xAlreadyYielded; -} - - - - - - -/*----------------------------------------------------------- - * PUBLIC TASK UTILITIES documented in task.h - *----------------------------------------------------------*/ - - - -portTickType xTaskGetTickCount( void ) -{ -portTickType xTicks; - - /* Critical section required if running on a 16 bit processor. */ - taskENTER_CRITICAL(); - { - xTicks = xTickCount; - } - taskEXIT_CRITICAL(); - - return xTicks; -} -/*-----------------------------------------------------------*/ - -portTickType xTaskGetTickCountFromISR( void ) -{ -portTickType xReturn; -unsigned portBASE_TYPE uxSavedInterruptStatus; - - uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); - xReturn = xTickCount; - portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void ) -{ - /* A critical section is not required because the variables are of type - portBASE_TYPE. */ - return uxCurrentNumberOfTasks; -} -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_pcTaskGetTaskName == 1 ) - - signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery ) - { - tskTCB *pxTCB; - - /* If null is passed in here then the name of the calling task is being queried. */ - pxTCB = prvGetTCBFromHandle( xTaskToQuery ); - configASSERT( pxTCB ); - return &( pxTCB->pcTaskName[ 0 ] ); - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - void vTaskList( signed char *pcWriteBuffer ) - { - unsigned portBASE_TYPE uxQueue; - - /* This is a VERY costly function that should be used for debug only. - It leaves interrupts disabled for a LONG time. */ - - vTaskSuspendAll(); - { - /* Run through all the lists that could potentially contain a TCB and - report the task name, state and stack high water mark. */ - - *pcWriteBuffer = ( signed char ) 0x00; - strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" ); - - uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U; - - do - { - uxQueue--; - - if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE ) - { - prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR ); - } - }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY ); - - if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE ) - { - prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR ); - } - - if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE ) - { - prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR ); - } - - #if( INCLUDE_vTaskDelete == 1 ) - { - if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE ) - { - prvListTaskWithinSingleList( pcWriteBuffer, &xTasksWaitingTermination, tskDELETED_CHAR ); - } - } - #endif - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE ) - { - prvListTaskWithinSingleList( pcWriteBuffer, &xSuspendedTaskList, tskSUSPENDED_CHAR ); - } - } - #endif - } - xTaskResumeAll(); - } - -#endif -/*----------------------------------------------------------*/ - -#if ( configGENERATE_RUN_TIME_STATS == 1 ) - - void vTaskGetRunTimeStats( signed char *pcWriteBuffer ) - { - unsigned portBASE_TYPE uxQueue; - unsigned long ulTotalRunTime; - - /* This is a VERY costly function that should be used for debug only. - It leaves interrupts disabled for a LONG time. */ - - vTaskSuspendAll(); - { - #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE - portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime ); - #else - ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE(); - #endif - - /* Divide ulTotalRunTime by 100 to make the percentage caluclations - simpler in the prvGenerateRunTimeStatsForTasksInList() function. */ - ulTotalRunTime /= 100UL; - - /* Run through all the lists that could potentially contain a TCB, - generating a table of run timer percentages in the provided - buffer. */ - - *pcWriteBuffer = ( signed char ) 0x00; - strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" ); - - uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U; - - do - { - uxQueue--; - - if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE ) - { - prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime ); - } - }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY ); - - if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE ) - { - prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime ); - } - - if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE ) - { - prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime ); - } - - #if ( INCLUDE_vTaskDelete == 1 ) - { - if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE ) - { - prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTime ); - } - } - #endif - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE ) - { - prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTime ); - } - } - #endif - } - xTaskResumeAll(); - } - -#endif -/*----------------------------------------------------------*/ - -#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) - - xTaskHandle xTaskGetIdleTaskHandle( void ) - { - /* If xTaskGetIdleTaskHandle() is called before the scheduler has been - started, then xIdleTaskHandle will be NULL. */ - configASSERT( ( xIdleTaskHandle != NULL ) ); - return xIdleTaskHandle; - } - -#endif - -/*----------------------------------------------------------- - * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES - * documented in task.h - *----------------------------------------------------------*/ - -void vTaskIncrementTick( void ) -{ -tskTCB * pxTCB; - - /* Called by the portable layer each time a tick interrupt occurs. - Increments the tick then checks to see if the new tick value will cause any - tasks to be unblocked. */ - if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) - { - ++xTickCount; - if( xTickCount == ( portTickType ) 0U ) - { - xList *pxTemp; - - /* Tick count has overflowed so we need to swap the delay lists. - If there are any items in pxDelayedTaskList here then there is - an error! */ - configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); - - pxTemp = pxDelayedTaskList; - pxDelayedTaskList = pxOverflowDelayedTaskList; - pxOverflowDelayedTaskList = pxTemp; - xNumOfOverflows++; - - if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) - { - /* The new current delayed list is empty. Set - xNextTaskUnblockTime to the maximum possible value so it is - extremely unlikely that the - if( xTickCount >= xNextTaskUnblockTime ) test will pass until - there is an item in the delayed list. */ - xNextTaskUnblockTime = portMAX_DELAY; - } - else - { - /* The new current delayed list is not empty, get the value of - the item at the head of the delayed list. This is the time at - which the task at the head of the delayed list should be removed - from the Blocked state. */ - pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); - xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); - } - } - - /* See if this tick has made a timeout expire. */ - prvCheckDelayedTasks(); - } - else - { - ++uxMissedTicks; - - /* The tick hook gets called at regular intervals, even if the - scheduler is locked. */ - #if ( configUSE_TICK_HOOK == 1 ) - { - vApplicationTickHook(); - } - #endif - } - - #if ( configUSE_TICK_HOOK == 1 ) - { - /* Guard against the tick hook being called when the missed tick - count is being unwound (when the scheduler is being unlocked. */ - if( uxMissedTicks == ( unsigned portBASE_TYPE ) 0U ) - { - vApplicationTickHook(); - } - } - #endif - - traceTASK_INCREMENT_TICK( xTickCount ); -} -/*-----------------------------------------------------------*/ - -#if ( configUSE_APPLICATION_TASK_TAG == 1 ) - - void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction ) - { - tskTCB *xTCB; - - /* If xTask is NULL then we are setting our own task hook. */ - if( xTask == NULL ) - { - xTCB = ( tskTCB * ) pxCurrentTCB; - } - else - { - xTCB = ( tskTCB * ) xTask; - } - - /* Save the hook function in the TCB. A critical section is required as - the value can be accessed from an interrupt. */ - taskENTER_CRITICAL(); - xTCB->pxTaskTag = pxHookFunction; - taskEXIT_CRITICAL(); - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( configUSE_APPLICATION_TASK_TAG == 1 ) - - pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask ) - { - tskTCB *xTCB; - pdTASK_HOOK_CODE xReturn; - - /* If xTask is NULL then we are setting our own task hook. */ - if( xTask == NULL ) - { - xTCB = ( tskTCB * ) pxCurrentTCB; - } - else - { - xTCB = ( tskTCB * ) xTask; - } - - /* Save the hook function in the TCB. A critical section is required as - the value can be accessed from an interrupt. */ - taskENTER_CRITICAL(); - xReturn = xTCB->pxTaskTag; - taskEXIT_CRITICAL(); - - return xReturn; - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( configUSE_APPLICATION_TASK_TAG == 1 ) - - portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter ) - { - tskTCB *xTCB; - portBASE_TYPE xReturn; - - /* If xTask is NULL then we are calling our own task hook. */ - if( xTask == NULL ) - { - xTCB = ( tskTCB * ) pxCurrentTCB; - } - else - { - xTCB = ( tskTCB * ) xTask; - } - - if( xTCB->pxTaskTag != NULL ) - { - xReturn = xTCB->pxTaskTag( pvParameter ); - } - else - { - xReturn = pdFAIL; - } - - return xReturn; - } - -#endif -/*-----------------------------------------------------------*/ - -void vTaskSwitchContext( void ) -{ - if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE ) - { - /* The scheduler is currently suspended - do not allow a context - switch. */ - xMissedYield = pdTRUE; - } - else - { - traceTASK_SWITCHED_OUT(); - - #if ( configGENERATE_RUN_TIME_STATS == 1 ) - { - unsigned long ulTempCounter; - - #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE - portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter ); - #else - ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE(); - #endif - - /* Add the amount of time the task has been running to the accumulated - time so far. The time the task started running was stored in - ulTaskSwitchedInTime. Note that there is no overflow protection here - so count values are only valid until the timer overflows. Generally - this will be about 1 hour assuming a 1uS timer increment. */ - pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime ); - ulTaskSwitchedInTime = ulTempCounter; - } - #endif - - taskFIRST_CHECK_FOR_STACK_OVERFLOW(); - taskSECOND_CHECK_FOR_STACK_OVERFLOW(); - - /* Find the highest priority queue that contains ready tasks. */ - while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) - { - configASSERT( uxTopReadyPriority ); - --uxTopReadyPriority; - } - - /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the - same priority get an equal share of the processor time. */ - listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); - - traceTASK_SWITCHED_IN(); - } -} -/*-----------------------------------------------------------*/ - -void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait ) -{ -portTickType xTimeToWake; - - configASSERT( pxEventList ); - - /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE - SCHEDULER SUSPENDED. */ - - /* Place the event list item of the TCB in the appropriate event list. - This is placed in the list in priority order so the highest priority task - is the first to be woken by the event. */ - vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) ); - - /* We must remove ourselves from the ready list before adding ourselves - to the blocked list as the same list item is used for both lists. We have - exclusive access to the ready lists as the scheduler is locked. */ - vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); - - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - if( xTicksToWait == portMAX_DELAY ) - { - /* Add ourselves to the suspended task list instead of a delayed task - list to ensure we are not woken by a timing event. We will block - indefinitely. */ - vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); - } - else - { - /* Calculate the time at which the task should be woken if the event does - not occur. This may overflow but this doesn't matter. */ - xTimeToWake = xTickCount + xTicksToWait; - prvAddCurrentTaskToDelayedList( xTimeToWake ); - } - } - #else - { - /* Calculate the time at which the task should be woken if the event does - not occur. This may overflow but this doesn't matter. */ - xTimeToWake = xTickCount + xTicksToWait; - prvAddCurrentTaskToDelayedList( xTimeToWake ); - } - #endif -} -/*-----------------------------------------------------------*/ - -#if configUSE_TIMERS == 1 - - void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait ) - { - portTickType xTimeToWake; - - configASSERT( pxEventList ); - - /* This function should not be called by application code hence the - 'Restricted' in its name. It is not part of the public API. It is - designed for use by kernel code, and has special calling requirements - - it should be called from a critical section. */ - - - /* Place the event list item of the TCB in the appropriate event list. - In this case it is assume that this is the only task that is going to - be waiting on this event list, so the faster vListInsertEnd() function - can be used in place of vListInsert. */ - vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) ); - - /* We must remove this task from the ready list before adding it to the - blocked list as the same list item is used for both lists. This - function is called form a critical section. */ - vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); - - /* Calculate the time at which the task should be woken if the event does - not occur. This may overflow but this doesn't matter. */ - xTimeToWake = xTickCount + xTicksToWait; - prvAddCurrentTaskToDelayedList( xTimeToWake ); - } - -#endif /* configUSE_TIMERS */ -/*-----------------------------------------------------------*/ - -signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList ) -{ -tskTCB *pxUnblockedTCB; -portBASE_TYPE xReturn; - - /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE - SCHEDULER SUSPENDED. It can also be called from within an ISR. */ - - /* The event list is sorted in priority order, so we can remove the - first in the list, remove the TCB from the delayed list, and add - it to the ready list. - - If an event is for a queue that is locked then this function will never - get called - the lock count on the queue will get modified instead. This - means we can always expect exclusive access to the event list here. - - This function assumes that a check has already been made to ensure that - pxEventList is not empty. */ - pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); - configASSERT( pxUnblockedTCB ); - vListRemove( &( pxUnblockedTCB->xEventListItem ) ); - - if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) - { - vListRemove( &( pxUnblockedTCB->xGenericListItem ) ); - prvAddTaskToReadyQueue( pxUnblockedTCB ); - } - else - { - /* We cannot access the delayed or ready lists, so will hold this - task pending until the scheduler is resumed. */ - vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) ); - } - - if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority ) - { - /* Return true if the task removed from the event list has - a higher priority than the calling task. This allows - the calling task to know if it should force a context - switch now. */ - xReturn = pdTRUE; - } - else - { - xReturn = pdFALSE; - } - - return xReturn; -} -/*-----------------------------------------------------------*/ - -void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut ) -{ - configASSERT( pxTimeOut ); - pxTimeOut->xOverflowCount = xNumOfOverflows; - pxTimeOut->xTimeOnEntering = xTickCount; -} -/*-----------------------------------------------------------*/ - -portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait ) -{ -portBASE_TYPE xReturn; - - configASSERT( pxTimeOut ); - configASSERT( pxTicksToWait ); - - taskENTER_CRITICAL(); - { - #if ( INCLUDE_vTaskSuspend == 1 ) - /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is - the maximum block time then the task should block indefinitely, and - therefore never time out. */ - if( *pxTicksToWait == portMAX_DELAY ) - { - xReturn = pdFALSE; - } - else /* We are not blocking indefinitely, perform the checks below. */ - #endif - - if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) ) - { - /* The tick count is greater than the time at which vTaskSetTimeout() - was called, but has also overflowed since vTaskSetTimeOut() was called. - It must have wrapped all the way around and gone past us again. This - passed since vTaskSetTimeout() was called. */ - xReturn = pdTRUE; - } - else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait ) - { - /* Not a genuine timeout. Adjust parameters for time remaining. */ - *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ); - vTaskSetTimeOutState( pxTimeOut ); - xReturn = pdFALSE; - } - else - { - xReturn = pdTRUE; - } - } - taskEXIT_CRITICAL(); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -void vTaskMissedYield( void ) -{ - xMissedYield = pdTRUE; -} -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask ) - { - unsigned portBASE_TYPE uxReturn; - tskTCB *pxTCB; - - if( xTask != NULL ) - { - pxTCB = ( tskTCB * ) xTask; - uxReturn = pxTCB->uxTaskNumber; - } - else - { - uxReturn = 0U; - } - - return uxReturn; - } -#endif -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle ) - { - tskTCB *pxTCB; - - if( xTask != NULL ) - { - pxTCB = ( tskTCB * ) xTask; - pxTCB->uxTaskNumber = uxHandle; - } - } -#endif - - -/* - * ----------------------------------------------------------- - * The Idle task. - * ---------------------------------------------------------- - * - * The portTASK_FUNCTION() macro is used to allow port/compiler specific - * language extensions. The equivalent prototype for this function is: - * - * void prvIdleTask( void *pvParameters ); - * - */ -static portTASK_FUNCTION( prvIdleTask, pvParameters ) -{ - /* Stop warnings. */ - ( void ) pvParameters; - - for( ;; ) - { - /* See if any tasks have been deleted. */ - prvCheckTasksWaitingTermination(); - - #if ( configUSE_PREEMPTION == 0 ) - { - /* If we are not using preemption we keep forcing a task switch to - see if any other task has become available. If we are using - preemption we don't need to do this as any task becoming available - will automatically get the processor anyway. */ - taskYIELD(); - } - #endif - - #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) - { - /* When using preemption tasks of equal priority will be - timesliced. If a task that is sharing the idle priority is ready - to run then the idle task should yield before the end of the - timeslice. - - A critical region is not required here as we are just reading from - the list, and an occasional incorrect value will not matter. If - the ready list at the idle priority contains more than one task - then a task other than the idle task is ready to execute. */ - if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 ) - { - taskYIELD(); - } - } - #endif - - #if ( configUSE_IDLE_HOOK == 1 ) - { - extern void vApplicationIdleHook( void ); - - /* Call the user defined function from within the idle task. This - allows the application designer to add background functionality - without the overhead of a separate task. - NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES, - CALL A FUNCTION THAT MIGHT BLOCK. */ - vApplicationIdleHook(); - } - #endif - } -} /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */ - - - - - - - -/*----------------------------------------------------------- - * File private functions documented at the top of the file. - *----------------------------------------------------------*/ - - - -static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) -{ - /* Store the function name in the TCB. */ - #if configMAX_TASK_NAME_LEN > 1 - { - /* Don't bring strncpy into the build unnecessarily. */ - strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN ); - } - #endif - pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0'; - - /* This is used as an array index so must ensure it's not too large. First - remove the privilege bit if one is present. */ - if( uxPriority >= configMAX_PRIORITIES ) - { - uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U; - } - - pxTCB->uxPriority = uxPriority; - #if ( configUSE_MUTEXES == 1 ) - { - pxTCB->uxBasePriority = uxPriority; - } - #endif - - vListInitialiseItem( &( pxTCB->xGenericListItem ) ); - vListInitialiseItem( &( pxTCB->xEventListItem ) ); - - /* Set the pxTCB as a link back from the xListItem. This is so we can get - back to the containing TCB from a generic item in a list. */ - listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB ); - - /* Event lists are always in priority order. */ - listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority ); - listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB ); - - #if ( portCRITICAL_NESTING_IN_TCB == 1 ) - { - pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U; - } - #endif - - #if ( configUSE_APPLICATION_TASK_TAG == 1 ) - { - pxTCB->pxTaskTag = NULL; - } - #endif - - #if ( configGENERATE_RUN_TIME_STATS == 1 ) - { - pxTCB->ulRunTimeCounter = 0UL; - } - #endif - - #if ( portUSING_MPU_WRAPPERS == 1 ) - { - vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth ); - } - #else - { - ( void ) xRegions; - ( void ) usStackDepth; - } - #endif -} -/*-----------------------------------------------------------*/ - -#if ( portUSING_MPU_WRAPPERS == 1 ) - - void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions ) - { - tskTCB *pxTCB; - - if( xTaskToModify == pxCurrentTCB ) - { - xTaskToModify = NULL; - } - - /* If null is passed in here then we are deleting ourselves. */ - pxTCB = prvGetTCBFromHandle( xTaskToModify ); - - vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 ); - } - /*-----------------------------------------------------------*/ -#endif - -static void prvInitialiseTaskLists( void ) -{ -unsigned portBASE_TYPE uxPriority; - - for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ ) - { - vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) ); - } - - vListInitialise( ( xList * ) &xDelayedTaskList1 ); - vListInitialise( ( xList * ) &xDelayedTaskList2 ); - vListInitialise( ( xList * ) &xPendingReadyList ); - - #if ( INCLUDE_vTaskDelete == 1 ) - { - vListInitialise( ( xList * ) &xTasksWaitingTermination ); - } - #endif - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - vListInitialise( ( xList * ) &xSuspendedTaskList ); - } - #endif - - /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList - using list2. */ - pxDelayedTaskList = &xDelayedTaskList1; - pxOverflowDelayedTaskList = &xDelayedTaskList2; -} -/*-----------------------------------------------------------*/ - -static void prvCheckTasksWaitingTermination( void ) -{ - #if ( INCLUDE_vTaskDelete == 1 ) - { - portBASE_TYPE xListIsEmpty; - - /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called - too often in the idle task. */ - if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U ) - { - vTaskSuspendAll(); - xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination ); - xTaskResumeAll(); - - if( xListIsEmpty == pdFALSE ) - { - tskTCB *pxTCB; - - taskENTER_CRITICAL(); - { - pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) ); - vListRemove( &( pxTCB->xGenericListItem ) ); - --uxCurrentNumberOfTasks; - --uxTasksDeleted; - } - taskEXIT_CRITICAL(); - - prvDeleteTCB( pxTCB ); - } - } - } - #endif -} -/*-----------------------------------------------------------*/ - -static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) -{ - /* The list item will be inserted in wake time order. */ - listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake ); - - if( xTimeToWake < xTickCount ) - { - /* Wake time has overflowed. Place this item in the overflow list. */ - vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); - } - else - { - /* The wake time has not overflowed, so we can use the current block list. */ - vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); - - /* If the task entering the blocked state was placed at the head of the - list of blocked tasks then xNextTaskUnblockTime needs to be updated - too. */ - if( xTimeToWake < xNextTaskUnblockTime ) - { - xNextTaskUnblockTime = xTimeToWake; - } - } -} -/*-----------------------------------------------------------*/ - -static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) -{ -tskTCB *pxNewTCB; - - /* Allocate space for the TCB. Where the memory comes from depends on - the implementation of the port malloc function. */ - pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) ); - - if( pxNewTCB != NULL ) - { - /* Allocate space for the stack used by the task being created. - The base of the stack memory stored in the TCB so the task can - be deleted later if required. */ - pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer ); - - if( pxNewTCB->pxStack == NULL ) - { - /* Could not allocate the stack. Delete the allocated TCB. */ - vPortFree( pxNewTCB ); - pxNewTCB = NULL; - } - else - { - /* Just to help debugging. */ - memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) ); - } - } - - return pxNewTCB; -} -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) - { - volatile tskTCB *pxNextTCB, *pxFirstTCB; - unsigned short usStackRemaining; - PRIVILEGED_DATA static char pcStatusString[ configMAX_TASK_NAME_LEN + 30 ]; - - /* Write the details of all the TCB's in pxList into the buffer. */ - listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); - do - { - listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); - #if ( portSTACK_GROWTH > 0 ) - { - usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack ); - } - #else - { - usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack ); - } - #endif - - sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber ); - strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString ); - - } while( pxNextTCB != pxFirstTCB ); - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( configGENERATE_RUN_TIME_STATS == 1 ) - - static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) - { - volatile tskTCB *pxNextTCB, *pxFirstTCB; - unsigned long ulStatsAsPercentage; - - /* Write the run time stats of all the TCB's in pxList into the buffer. */ - listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); - do - { - /* Get next TCB in from the list. */ - listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); - - /* Divide by zero check. */ - if( ulTotalRunTime > 0UL ) - { - /* Has the task run at all? */ - if( pxNextTCB->ulRunTimeCounter == 0UL ) - { - /* The task has used no CPU time at all. */ - sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName ); - } - else - { - /* What percentage of the total run time has the task used? - This will always be rounded down to the nearest integer. - ulTotalRunTime has already been divided by 100. */ - ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime; - - if( ulStatsAsPercentage > 0UL ) - { - #ifdef portLU_PRINTF_SPECIFIER_REQUIRED - { - sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage ); - } - #else - { - /* sizeof( int ) == sizeof( long ) so a smaller - printf() library can be used. */ - sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); - } - #endif - } - else - { - /* If the percentage is zero here then the task has - consumed less than 1% of the total run time. */ - #ifdef portLU_PRINTF_SPECIFIER_REQUIRED - { - sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter ); - } - #else - { - /* sizeof( int ) == sizeof( long ) so a smaller - printf() library can be used. */ - sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter ); - } - #endif - } - } - - strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString ); - } - - } while( pxNextTCB != pxFirstTCB ); - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) - - static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) - { - register unsigned short usCount = 0U; - - while( *pucStackByte == tskSTACK_FILL_BYTE ) - { - pucStackByte -= portSTACK_GROWTH; - usCount++; - } - - usCount /= sizeof( portSTACK_TYPE ); - - return usCount; - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) - - unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask ) - { - tskTCB *pxTCB; - unsigned char *pcEndOfStack; - unsigned portBASE_TYPE uxReturn; - - pxTCB = prvGetTCBFromHandle( xTask ); - - #if portSTACK_GROWTH < 0 - { - pcEndOfStack = ( unsigned char * ) pxTCB->pxStack; - } - #else - { - pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack; - } - #endif - - uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack ); - - return uxReturn; - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskDelete == 1 ) - - static void prvDeleteTCB( tskTCB *pxTCB ) - { - /* This call is required specifically for the TriCore port. It must be - above the vPortFree() calls. The call is also used by ports/demos that - want to allocate and clean RAM statically. */ - portCLEAN_UP_TCB( pxTCB ); - - /* Free up the memory allocated by the scheduler for the task. It is up to - the task to free any memory allocated at the application level. */ - vPortFreeAligned( pxTCB->pxStack ); - vPortFree( pxTCB ); - } - -#endif - - -/*-----------------------------------------------------------*/ - -#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) - - xTaskHandle xTaskGetCurrentTaskHandle( void ) - { - xTaskHandle xReturn; - - /* A critical section is not required as this is not called from - an interrupt and the current TCB will always be the same for any - individual execution thread. */ - xReturn = pxCurrentTCB; - - return xReturn; - } - -#endif - -/*-----------------------------------------------------------*/ - -#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) - - portBASE_TYPE xTaskGetSchedulerState( void ) - { - portBASE_TYPE xReturn; - - if( xSchedulerRunning == pdFALSE ) - { - xReturn = taskSCHEDULER_NOT_STARTED; - } - else - { - if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) - { - xReturn = taskSCHEDULER_RUNNING; - } - else - { - xReturn = taskSCHEDULER_SUSPENDED; - } - } - - return xReturn; - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( configUSE_MUTEXES == 1 ) - - void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder ) - { - tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder; - - configASSERT( pxMutexHolder ); - - if( pxTCB->uxPriority < pxCurrentTCB->uxPriority ) - { - /* Adjust the mutex holder state to account for its new priority. */ - listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ); - - /* If the task being modified is in the ready state it will need to - be moved in to a new list. */ - if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE ) - { - vListRemove( &( pxTCB->xGenericListItem ) ); - - /* Inherit the priority before being moved into the new list. */ - pxTCB->uxPriority = pxCurrentTCB->uxPriority; - prvAddTaskToReadyQueue( pxTCB ); - } - else - { - /* Just inherit the priority. */ - pxTCB->uxPriority = pxCurrentTCB->uxPriority; - } - - traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority ); - } - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( configUSE_MUTEXES == 1 ) - - void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder ) - { - tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder; - - if( pxMutexHolder != NULL ) - { - if( pxTCB->uxPriority != pxTCB->uxBasePriority ) - { - /* We must be the running task to be able to give the mutex back. - Remove ourselves from the ready list we currently appear in. */ - vListRemove( &( pxTCB->xGenericListItem ) ); - - /* Disinherit the priority before adding the task into the new - ready list. */ - traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority ); - pxTCB->uxPriority = pxTCB->uxBasePriority; - listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority ); - prvAddTaskToReadyQueue( pxTCB ); - } - } - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( portCRITICAL_NESTING_IN_TCB == 1 ) - - void vTaskEnterCritical( void ) - { - portDISABLE_INTERRUPTS(); - - if( xSchedulerRunning != pdFALSE ) - { - ( pxCurrentTCB->uxCriticalNesting )++; - } - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( portCRITICAL_NESTING_IN_TCB == 1 ) - -void vTaskExitCritical( void ) -{ - if( xSchedulerRunning != pdFALSE ) - { - if( pxCurrentTCB->uxCriticalNesting > 0U ) - { - ( pxCurrentTCB->uxCriticalNesting )--; - - if( pxCurrentTCB->uxCriticalNesting == 0U ) - { - portENABLE_INTERRUPTS(); - } - } - } -} - -#endif -/*-----------------------------------------------------------*/ - - - - diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/timers.c b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/timers.c deleted file mode 100644 index 2dd68db7e..000000000 --- a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOS/timers.c +++ /dev/null @@ -1,686 +0,0 @@ -/* - FreeRTOS V7.1.1 - Copyright (C) 2012 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! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong? * - * * - * http://www.FreeRTOS.org/FAQHelp.html * - * * - *************************************************************************** - - - http://www.FreeRTOS.org - Documentation, training, latest information, - license and contact details. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. - - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. -*/ - -/* 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; - -#if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 ) - - PRIVILEGED_DATA static xTaskHandle xTimerTaskHandle = NULL; - -#endif - -/*-----------------------------------------------------------*/ - -/* - * 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 ) - { - #if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 ) - { - /* Create the timer task, storing its handle in xTimerTaskHandle so - it can be returned by the xTimerGetTimerDaemonTaskHandle() function. */ - xReturn = xTaskCreate( prvTimerTask, ( const signed char * ) "Tmr Svc", ( unsigned short ) configTIMER_TASK_STACK_DEPTH, NULL, ( unsigned portBASE_TYPE ) configTIMER_TASK_PRIORITY, &xTimerTaskHandle ); - } - #else - { - /* Create the timer task without storing its handle. */ - xReturn = xTaskCreate( prvTimerTask, ( const signed char * ) "Tmr Svc", ( unsigned short ) configTIMER_TASK_STACK_DEPTH, NULL, ( unsigned portBASE_TYPE ) configTIMER_TASK_PRIORITY, NULL); - } - #endif - } - - 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, signed 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; -} -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 ) - - xTaskHandle xTimerGetTimerDaemonTaskHandle( void ) - { - /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been - started, then xTimerTaskHandle will be NULL. */ - configASSERT( ( xTimerTaskHandle != NULL ) ); - return xTimerTaskHandle; - } - -#endif -/*-----------------------------------------------------------*/ - -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 */ diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOSConfig.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOSConfig.h index ff6deb110..217b7bb8c 100644 --- a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOSConfig.h +++ b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/FreeRTOSConfig.h @@ -73,7 +73,7 @@ * executed prior to this project being built. Once it has been executed * remove the #error line below. */ -#error Ensure CreateProjectDirectoryStructure.bat has been executed before building. See comment immediately above. +//#error Ensure CreateProjectDirectoryStructure.bat has been executed before building. See comment immediately above. /*----------------------------------------------------------- * Application specific definitions. diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/ParTest.c b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/ParTest.c index 690cf3f6c..b9e602a23 100644 --- a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/ParTest.c +++ b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/ParTest.c @@ -98,7 +98,7 @@ static const uint32_t ulLED[] = { LED2_GPIO, LED0_GPIO, LED1_GPIO }; void vParTestInitialise( void ) { -long l; +unsigned long ul; for( l = 0; l < partestNUM_LEDS; l++ ) { diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/FreeRTOS.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/FreeRTOS.h new file mode 100644 index 000000000..fb31e736c --- /dev/null +++ b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/FreeRTOS.h @@ -0,0 +1,522 @@ +/* + FreeRTOS V7.1.1 - Copyright (C) 2012 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! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong? * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + + http://www.FreeRTOS.org - Documentation, training, latest information, + license and contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool. + + Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell + the code with commercial support, indemnification, and middleware, under + the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also + provide a safety engineered and independently SIL3 certified version under + the SafeRTOS brand: http://www.SafeRTOS.com. +*/ + +#ifndef INC_FREERTOS_H +#define INC_FREERTOS_H + + +/* + * Include the generic headers required for the FreeRTOS port being used. + */ +#include + +/* Basic FreeRTOS definitions. */ +#include "projdefs.h" + +/* Application specific configuration options. */ +#include "FreeRTOSConfig.h" + +/* Definitions specific to the port being used. */ +#include "portable.h" + + +/* Defines the prototype to which the application task hook function must +conform. */ +typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); + + + + + +/* + * Check all the required application specific macros have been defined. + * These macros are application specific and (as downloaded) are defined + * within FreeRTOSConfig.h. + */ + +#ifndef configUSE_PREEMPTION + #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. +#endif + +#ifndef configUSE_IDLE_HOOK + #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. +#endif + +#ifndef configUSE_TICK_HOOK + #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. +#endif + +#ifndef configUSE_CO_ROUTINES + #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. +#endif + +#ifndef INCLUDE_vTaskPrioritySet + #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. +#endif + +#ifndef INCLUDE_uxTaskPriorityGet + #error Missing definition: INCLUDE_uxTaskPriorityGet should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_vTaskDelete + #error Missing definition: INCLUDE_vTaskDelete should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_vTaskSuspend + #error Missing definition: INCLUDE_vTaskSuspend should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_vTaskDelayUntil + #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. +#endif + +#ifndef INCLUDE_vTaskDelay + #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. +#endif + +#ifndef configUSE_16_BIT_TICKS + #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. +#endif + +#ifndef INCLUDE_xTaskGetIdleTaskHandle + #define INCLUDE_xTaskGetIdleTaskHandle 0 +#endif + +#ifndef INCLUDE_xTimerGetTimerDaemonTaskHandle + #define INCLUDE_xTimerGetTimerDaemonTaskHandle 0 +#endif + +#ifndef INCLUDE_xQueueGetMutexHolder + #define INCLUDE_xQueueGetMutexHolder 0 +#endif + +#ifndef INCLUDE_pcTaskGetTaskName + #define INCLUDE_pcTaskGetTaskName 0 +#endif + +#ifndef configUSE_APPLICATION_TASK_TAG + #define configUSE_APPLICATION_TASK_TAG 0 +#endif + +#ifndef INCLUDE_uxTaskGetStackHighWaterMark + #define INCLUDE_uxTaskGetStackHighWaterMark 0 +#endif + +#ifndef configUSE_RECURSIVE_MUTEXES + #define configUSE_RECURSIVE_MUTEXES 0 +#endif + +#ifndef configUSE_MUTEXES + #define configUSE_MUTEXES 0 +#endif + +#ifndef configUSE_TIMERS + #define configUSE_TIMERS 0 +#endif + +#ifndef configUSE_COUNTING_SEMAPHORES + #define configUSE_COUNTING_SEMAPHORES 0 +#endif + +#ifndef configUSE_ALTERNATIVE_API + #define configUSE_ALTERNATIVE_API 0 +#endif + +#ifndef portCRITICAL_NESTING_IN_TCB + #define portCRITICAL_NESTING_IN_TCB 0 +#endif + +#ifndef configMAX_TASK_NAME_LEN + #define configMAX_TASK_NAME_LEN 16 +#endif + +#ifndef configIDLE_SHOULD_YIELD + #define configIDLE_SHOULD_YIELD 1 +#endif + +#if configMAX_TASK_NAME_LEN < 1 + #error configMAX_TASK_NAME_LEN must be set to a minimum of 1 in FreeRTOSConfig.h +#endif + +#ifndef INCLUDE_xTaskResumeFromISR + #define INCLUDE_xTaskResumeFromISR 1 +#endif + +#ifndef configASSERT + #define configASSERT( x ) +#endif + +#ifndef portALIGNMENT_ASSERT_pxCurrentTCB + #define portALIGNMENT_ASSERT_pxCurrentTCB configASSERT +#endif + +/* The timers module relies on xTaskGetSchedulerState(). */ +#if configUSE_TIMERS == 1 + + #ifndef configTIMER_TASK_PRIORITY + #error If configUSE_TIMERS is set to 1 then configTIMER_TASK_PRIORITY must also be defined. + #endif /* configTIMER_TASK_PRIORITY */ + + #ifndef configTIMER_QUEUE_LENGTH + #error If configUSE_TIMERS is set to 1 then configTIMER_QUEUE_LENGTH must also be defined. + #endif /* configTIMER_QUEUE_LENGTH */ + + #ifndef configTIMER_TASK_STACK_DEPTH + #error If configUSE_TIMERS is set to 1 then configTIMER_TASK_STACK_DEPTH must also be defined. + #endif /* configTIMER_TASK_STACK_DEPTH */ + +#endif /* configUSE_TIMERS */ + +#ifndef INCLUDE_xTaskGetSchedulerState + #define INCLUDE_xTaskGetSchedulerState 0 +#endif + +#ifndef INCLUDE_xTaskGetCurrentTaskHandle + #define INCLUDE_xTaskGetCurrentTaskHandle 0 +#endif + + +#ifndef portSET_INTERRUPT_MASK_FROM_ISR + #define portSET_INTERRUPT_MASK_FROM_ISR() 0 +#endif + +#ifndef portCLEAR_INTERRUPT_MASK_FROM_ISR + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) uxSavedStatusValue +#endif + +#ifndef portCLEAN_UP_TCB + #define portCLEAN_UP_TCB( pxTCB ) ( void ) pxTCB +#endif + +#ifndef portSETUP_TCB + #define portSETUP_TCB( pxTCB ) ( void ) pxTCB +#endif + +#ifndef configQUEUE_REGISTRY_SIZE + #define configQUEUE_REGISTRY_SIZE 0U +#endif + +#if ( configQUEUE_REGISTRY_SIZE < 1 ) + #define vQueueAddToRegistry( xQueue, pcName ) + #define vQueueUnregisterQueue( xQueue ) +#endif + +#ifndef portPOINTER_SIZE_TYPE + #define portPOINTER_SIZE_TYPE unsigned long +#endif + +/* Remove any unused trace macros. */ +#ifndef traceSTART + /* Used to perform any necessary initialisation - for example, open a file + into which trace is to be written. */ + #define traceSTART() +#endif + +#ifndef traceEND + /* Use to close a trace, for example close a file into which trace has been + written. */ + #define traceEND() +#endif + +#ifndef traceTASK_SWITCHED_IN + /* Called after a task has been selected to run. pxCurrentTCB holds a pointer + to the task control block of the selected task. */ + #define traceTASK_SWITCHED_IN() +#endif + +#ifndef traceTASK_SWITCHED_OUT + /* Called before a task has been selected to run. pxCurrentTCB holds a pointer + to the task control block of the task being switched out. */ + #define traceTASK_SWITCHED_OUT() +#endif + +#ifndef traceTASK_PRIORITY_INHERIT + /* Called when a task attempts to take a mutex that is already held by a + lower priority task. pxTCBOfMutexHolder is a pointer to the TCB of the task + that holds the mutex. uxInheritedPriority is the priority the mutex holder + will inherit (the priority of the task that is attempting to obtain the + muted. */ + #define traceTASK_PRIORITY_INHERIT( pxTCBOfMutexHolder, uxInheritedPriority ) +#endif + +#ifndef traceTASK_PRIORITY_DISINHERIT + /* Called when a task releases a mutex, the holding of which had resulted in + the task inheriting the priority of a higher priority task. + pxTCBOfMutexHolder is a pointer to the TCB of the task that is releasing the + mutex. uxOriginalPriority is the task's configured (base) priority. */ + #define traceTASK_PRIORITY_DISINHERIT( pxTCBOfMutexHolder, uxOriginalPriority ) +#endif + +#ifndef traceBLOCKING_ON_QUEUE_RECEIVE + /* Task is about to block because it cannot read from a + queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore + upon which the read was attempted. pxCurrentTCB points to the TCB of the + task that attempted the read. */ + #define traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue ) +#endif + +#ifndef traceBLOCKING_ON_QUEUE_SEND + /* Task is about to block because it cannot write to a + queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore + upon which the write was attempted. pxCurrentTCB points to the TCB of the + task that attempted the write. */ + #define traceBLOCKING_ON_QUEUE_SEND( pxQueue ) +#endif + +#ifndef configCHECK_FOR_STACK_OVERFLOW + #define configCHECK_FOR_STACK_OVERFLOW 0 +#endif + +/* The following event macros are embedded in the kernel API calls. */ + +#ifndef traceMOVED_TASK_TO_READY_STATE + #define traceMOVED_TASK_TO_READY_STATE( pxTCB ) +#endif + +#ifndef traceQUEUE_CREATE + #define traceQUEUE_CREATE( pxNewQueue ) +#endif + +#ifndef traceQUEUE_CREATE_FAILED + #define traceQUEUE_CREATE_FAILED( ucQueueType ) +#endif + +#ifndef traceCREATE_MUTEX + #define traceCREATE_MUTEX( pxNewQueue ) +#endif + +#ifndef traceCREATE_MUTEX_FAILED + #define traceCREATE_MUTEX_FAILED() +#endif + +#ifndef traceGIVE_MUTEX_RECURSIVE + #define traceGIVE_MUTEX_RECURSIVE( pxMutex ) +#endif + +#ifndef traceGIVE_MUTEX_RECURSIVE_FAILED + #define traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex ) +#endif + +#ifndef traceTAKE_MUTEX_RECURSIVE + #define traceTAKE_MUTEX_RECURSIVE( pxMutex ) +#endif + +#ifndef traceTAKE_MUTEX_RECURSIVE_FAILED + #define traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex ) +#endif + +#ifndef traceCREATE_COUNTING_SEMAPHORE + #define traceCREATE_COUNTING_SEMAPHORE() +#endif + +#ifndef traceCREATE_COUNTING_SEMAPHORE_FAILED + #define traceCREATE_COUNTING_SEMAPHORE_FAILED() +#endif + +#ifndef traceQUEUE_SEND + #define traceQUEUE_SEND( pxQueue ) +#endif + +#ifndef traceQUEUE_SEND_FAILED + #define traceQUEUE_SEND_FAILED( pxQueue ) +#endif + +#ifndef traceQUEUE_RECEIVE + #define traceQUEUE_RECEIVE( pxQueue ) +#endif + +#ifndef traceQUEUE_PEEK + #define traceQUEUE_PEEK( pxQueue ) +#endif + +#ifndef traceQUEUE_RECEIVE_FAILED + #define traceQUEUE_RECEIVE_FAILED( pxQueue ) +#endif + +#ifndef traceQUEUE_SEND_FROM_ISR + #define traceQUEUE_SEND_FROM_ISR( pxQueue ) +#endif + +#ifndef traceQUEUE_SEND_FROM_ISR_FAILED + #define traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue ) +#endif + +#ifndef traceQUEUE_RECEIVE_FROM_ISR + #define traceQUEUE_RECEIVE_FROM_ISR( pxQueue ) +#endif + +#ifndef traceQUEUE_RECEIVE_FROM_ISR_FAILED + #define traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue ) +#endif + +#ifndef traceQUEUE_DELETE + #define traceQUEUE_DELETE( pxQueue ) +#endif + +#ifndef traceTASK_CREATE + #define traceTASK_CREATE( pxNewTCB ) +#endif + +#ifndef traceTASK_CREATE_FAILED + #define traceTASK_CREATE_FAILED() +#endif + +#ifndef traceTASK_DELETE + #define traceTASK_DELETE( pxTaskToDelete ) +#endif + +#ifndef traceTASK_DELAY_UNTIL + #define traceTASK_DELAY_UNTIL() +#endif + +#ifndef traceTASK_DELAY + #define traceTASK_DELAY() +#endif + +#ifndef traceTASK_PRIORITY_SET + #define traceTASK_PRIORITY_SET( pxTask, uxNewPriority ) +#endif + +#ifndef traceTASK_SUSPEND + #define traceTASK_SUSPEND( pxTaskToSuspend ) +#endif + +#ifndef traceTASK_RESUME + #define traceTASK_RESUME( pxTaskToResume ) +#endif + +#ifndef traceTASK_RESUME_FROM_ISR + #define traceTASK_RESUME_FROM_ISR( pxTaskToResume ) +#endif + +#ifndef traceTASK_INCREMENT_TICK + #define traceTASK_INCREMENT_TICK( xTickCount ) +#endif + +#ifndef traceTIMER_CREATE + #define traceTIMER_CREATE( pxNewTimer ) +#endif + +#ifndef traceTIMER_CREATE_FAILED + #define traceTIMER_CREATE_FAILED() +#endif + +#ifndef traceTIMER_COMMAND_SEND + #define traceTIMER_COMMAND_SEND( xTimer, xMessageID, xMessageValueValue, xReturn ) +#endif + +#ifndef traceTIMER_EXPIRED + #define traceTIMER_EXPIRED( pxTimer ) +#endif + +#ifndef traceTIMER_COMMAND_RECEIVED + #define traceTIMER_COMMAND_RECEIVED( pxTimer, xMessageID, xMessageValue ) +#endif + +#ifndef configGENERATE_RUN_TIME_STATS + #define configGENERATE_RUN_TIME_STATS 0 +#endif + +#if ( configGENERATE_RUN_TIME_STATS == 1 ) + + #ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS + #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. + #endif /* portCONFIGURE_TIMER_FOR_RUN_TIME_STATS */ + + #ifndef portGET_RUN_TIME_COUNTER_VALUE + #ifndef portALT_GET_RUN_TIME_COUNTER_VALUE + #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. + #endif /* portALT_GET_RUN_TIME_COUNTER_VALUE */ + #endif /* portGET_RUN_TIME_COUNTER_VALUE */ + +#endif /* configGENERATE_RUN_TIME_STATS */ + +#ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS + #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() +#endif + +#ifndef configUSE_MALLOC_FAILED_HOOK + #define configUSE_MALLOC_FAILED_HOOK 0 +#endif + +#ifndef portPRIVILEGE_BIT + #define portPRIVILEGE_BIT ( ( unsigned portBASE_TYPE ) 0x00 ) +#endif + +#ifndef portYIELD_WITHIN_API + #define portYIELD_WITHIN_API portYIELD +#endif + +#ifndef pvPortMallocAligned + #define pvPortMallocAligned( x, puxStackBuffer ) ( ( ( puxStackBuffer ) == NULL ) ? ( pvPortMalloc( ( x ) ) ) : ( puxStackBuffer ) ) +#endif + +#ifndef vPortFreeAligned + #define vPortFreeAligned( pvBlockToFree ) vPortFree( pvBlockToFree ) +#endif + +#endif /* INC_FREERTOS_H */ + diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/StackMacros.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/StackMacros.h new file mode 100644 index 000000000..b7a98efa3 --- /dev/null +++ b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/StackMacros.h @@ -0,0 +1,181 @@ +/* + FreeRTOS V7.1.1 - Copyright (C) 2012 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! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong? * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + + http://www.FreeRTOS.org - Documentation, training, latest information, + license and contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool. + + Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell + the code with commercial support, indemnification, and middleware, under + the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also + provide a safety engineered and independently SIL3 certified version under + the SafeRTOS brand: http://www.SafeRTOS.com. +*/ + +#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 */ + diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/croutine.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/croutine.h new file mode 100644 index 000000000..725c5db61 --- /dev/null +++ b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/croutine.h @@ -0,0 +1,759 @@ +/* + FreeRTOS V7.1.1 - Copyright (C) 2012 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! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong? * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + + http://www.FreeRTOS.org - Documentation, training, latest information, + license and contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool. + + Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell + the code with commercial support, indemnification, and middleware, under + the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also + provide a safety engineered and independently SIL3 certified version under + the SafeRTOS brand: http://www.SafeRTOS.com. +*/ + +#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 + *
+ portBASE_TYPE xCoRoutineCreate(
+                                 crCOROUTINE_CODE pxCoRoutineCode,
+                                 unsigned portBASE_TYPE uxPriority,
+                                 unsigned portBASE_TYPE uxIndex
+                               );
+ * + * 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: + 
+ // 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 );
+     }
+ }
+
+ * \defgroup xCoRoutineCreate xCoRoutineCreate + * \ingroup Tasks + */ +signed portBASE_TYPE xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, unsigned portBASE_TYPE uxPriority, unsigned portBASE_TYPE uxIndex ); + + +/** + * croutine. h + *
+ void vCoRoutineSchedule( void );
+ * + * 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: + 
+ // 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();
+    }
+ }
+
+ * \defgroup vCoRoutineSchedule vCoRoutineSchedule + * \ingroup Tasks + */ +void vCoRoutineSchedule( void ); + +/** + * croutine. h + * 
+ crSTART( xCoRoutineHandle xHandle );
+ * + * This macro MUST always be called at the start of a co-routine function. + * + * Example usage: + 
+ // 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();
+ }
+ * \defgroup crSTART crSTART + * \ingroup Tasks + */ +#define crSTART( pxCRCB ) switch( ( ( corCRCB * )( pxCRCB ) )->uxState ) { case 0: + +/** + * croutine. h + * 
+ crEND();
+ * + * This macro MUST always be called at the end of a co-routine function. + * + * Example usage: + 
+ // 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();
+ }
+ * \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 + *
+ crDELAY( xCoRoutineHandle xHandle, portTickType xTicksToDelay );
+ * + * 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: + 
+ // 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();
+ }
+ * \defgroup crDELAY crDELAY + * \ingroup Tasks + */ +#define crDELAY( xHandle, xTicksToDelay ) \ + if( ( xTicksToDelay ) > 0 ) \ + { \ + vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL ); \ + } \ + crSET_STATE0( ( xHandle ) ); + +/** + * 
+ crQUEUE_SEND(
+                  xCoRoutineHandle xHandle,
+                  xQueueHandle pxQueue,
+                  void *pvItemToQueue,
+                  portTickType xTicksToWait,
+                  portBASE_TYPE *pxResult
+             )
+ * + * 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: + 
+ // 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();
+ }
+ * \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 + * 
+  crQUEUE_RECEIVE(
+                     xCoRoutineHandle xHandle,
+                     xQueueHandle pxQueue,
+                     void *pvBuffer,
+                     portTickType xTicksToWait,
+                     portBASE_TYPE *pxResult
+                 )
+ * + * 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: + 
+ // 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();
+ }
+ * \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 + * 
+  crQUEUE_SEND_FROM_ISR(
+                            xQueueHandle pxQueue,
+                            void *pvItemToQueue,
+                            portBASE_TYPE xCoRoutinePreviouslyWoken
+                       )
+ * + * 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: + 
+ // 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 );
+     }
+ }
+ * \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 + * 
+  crQUEUE_SEND_FROM_ISR(
+                            xQueueHandle pxQueue,
+                            void *pvBuffer,
+                            portBASE_TYPE * pxCoRoutineWoken
+                       )
+ * + * 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: + 
+ // 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 );
+		 }
+     }
+ }
+ * \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 */ diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/list.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/list.h new file mode 100644 index 000000000..c36de5737 --- /dev/null +++ b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/list.h @@ -0,0 +1,337 @@ +/* + FreeRTOS V7.1.1 - Copyright (C) 2012 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! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong? * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + + http://www.FreeRTOS.org - Documentation, training, latest information, + license and contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool. + + Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell + the code with commercial support, indemnification, and middleware, under + the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also + provide a safety engineered and independently SIL3 certified version under + the SafeRTOS brand: http://www.SafeRTOS.com. +*/ + +/* + * 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 get the owner of a list item. The owner of a list item + * is the object (usually a TCB) that contains the list item. + * + * \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER + * \ingroup LinkedList + */ +#define listGET_LIST_ITEM_OWNER( pxListItem ) ( pxListItem )->pvOwner + +/* + * Access macro to set the value of the list item. In most cases the value is + * used to sort the list in descending order. + * + * \page listSET_LIST_ITEM_VALUE listSET_LIST_ITEM_VALUE + * \ingroup LinkedList + */ +#define listSET_LIST_ITEM_VALUE( pxListItem, xValue ) ( pxListItem )->xItemValue = ( xValue ) + +/* + * Access macro to retrieve the value of the list item. The value can + * represent anything - for example 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 ) ) + +/* + * This provides a crude means of knowing if a list has been initialised, as + * pxList->xListEnd.xItemValue is set to portMAX_DELAY by the vListInitialise() + * function. + */ +#define listLIST_IS_INITIALISED( pxList ) ( ( pxList )->xListEnd.xItemValue == portMAX_DELAY ) + +/* + * Must be called before a list is used! This initialises all the members + * of the list structure and inserts the xListEnd item into the list as a + * marker to the back of the list. + * + * @param pxList Pointer to the list being initialised. + * + * \page vListInitialise vListInitialise + * \ingroup LinkedList + */ +void vListInitialise( 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 + diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/mpu_wrappers.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/mpu_wrappers.h new file mode 100644 index 000000000..12246b8d9 --- /dev/null +++ b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/mpu_wrappers.h @@ -0,0 +1,148 @@ +/* + FreeRTOS V7.1.1 - Copyright (C) 2012 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! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong? * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + + http://www.FreeRTOS.org - Documentation, training, latest information, + license and contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool. + + Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell + the code with commercial support, indemnification, and middleware, under + the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also + provide a safety engineered and independently SIL3 certified version under + the SafeRTOS brand: http://www.SafeRTOS.com. +*/ + +#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 xQueueGenericCreate MPU_xQueueGenericCreate + #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 */ + diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/portable.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/portable.h new file mode 100644 index 000000000..38882d399 --- /dev/null +++ b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/portable.h @@ -0,0 +1,403 @@ +/* + FreeRTOS V7.1.1 - Copyright (C) 2012 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! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong? * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + + http://www.FreeRTOS.org - Documentation, training, latest information, + license and contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool. + + Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell + the code with commercial support, indemnification, and middleware, under + the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also + provide a safety engineered and independently SIL3 certified version under + the SafeRTOS brand: http://www.SafeRTOS.com. +*/ + +/*----------------------------------------------------------- + * 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 */ + diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/projdefs.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/projdefs.h new file mode 100644 index 000000000..c6b04db9b --- /dev/null +++ b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/projdefs.h @@ -0,0 +1,90 @@ +/* + FreeRTOS V7.1.1 - Copyright (C) 2012 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! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong? * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + + http://www.FreeRTOS.org - Documentation, training, latest information, + license and contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool. + + Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell + the code with commercial support, indemnification, and middleware, under + the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also + provide a safety engineered and independently SIL3 certified version under + the SafeRTOS brand: http://www.SafeRTOS.com. +*/ + +#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 */ + + + diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/queue.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/queue.h new file mode 100644 index 000000000..4574895f3 --- /dev/null +++ b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/queue.h @@ -0,0 +1,1300 @@ +/* + FreeRTOS V7.1.1 - Copyright (C) 2012 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! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong? * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + + http://www.FreeRTOS.org - Documentation, training, latest information, + license and contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool. + + Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell + the code with commercial support, indemnification, and middleware, under + the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also + provide a safety engineered and independently SIL3 certified version under + the SafeRTOS brand: http://www.SafeRTOS.com. +*/ + + +#ifndef QUEUE_H +#define QUEUE_H + +#ifndef INC_FREERTOS_H + #error "include FreeRTOS.h" must appear in source files before "include queue.h" +#endif + +#ifdef __cplusplus +extern "C" { +#endif + + +#include "mpu_wrappers.h" + +/** + * Type by which queues are referenced. For example, a call to xQueueCreate + * returns (via a pointer parameter) an xQueueHandle variable that can then + * be used as a parameter to xQueueSend(), xQueueReceive(), etc. + */ +typedef void * xQueueHandle; + + +/* For internal use only. */ +#define queueSEND_TO_BACK ( 0 ) +#define queueSEND_TO_FRONT ( 1 ) + +/* For internal use only. These definitions *must* match those in queue.c. */ +#define queueQUEUE_TYPE_BASE ( 0U ) +#define queueQUEUE_TYPE_MUTEX ( 1U ) +#define queueQUEUE_TYPE_COUNTING_SEMAPHORE ( 2U ) +#define queueQUEUE_TYPE_BINARY_SEMAPHORE ( 3U ) +#define queueQUEUE_TYPE_RECURSIVE_MUTEX ( 4U ) + +/** + * queue. h + * 
+ xQueueHandle xQueueCreate(
+							  unsigned portBASE_TYPE uxQueueLength,
+							  unsigned portBASE_TYPE uxItemSize
+						  );
+ *
+ * + * Creates a new queue instance. This allocates the storage required by the + * new queue and returns a handle for the queue. + * + * @param uxQueueLength The maximum number of items that the queue can contain. + * + * @param uxItemSize The number of bytes each item in the queue will require. + * Items are queued by copy, not by reference, so this is the number of bytes + * that will be copied for each posted item. Each item on the queue must be + * the same size. + * + * @return If the queue is successfully create then a handle to the newly + * created queue is returned. If the queue cannot be created then 0 is + * returned. + * + * Example usage: + 
+ struct AMessage
+ {
+	char ucMessageID;
+	char ucData[ 20 ];
+ };
+
+ void vATask( void *pvParameters )
+ {
+ xQueueHandle xQueue1, xQueue2;
+
+	// Create a queue capable of containing 10 unsigned long values.
+	xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
+	if( xQueue1 == 0 )
+	{
+		// Queue was not created and must not be used.
+	}
+
+	// Create a queue capable of containing 10 pointers to AMessage structures.
+	// These should be passed by pointer as they contain a lot of data.
+	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+	if( xQueue2 == 0 )
+	{
+		// Queue was not created and must not be used.
+	}
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueCreate xQueueCreate + * \ingroup QueueManagement + */ +#define xQueueCreate( uxQueueLength, uxItemSize ) xQueueGenericCreate( uxQueueLength, uxItemSize, queueQUEUE_TYPE_BASE ) + +/** + * queue. h + * 
+ portBASE_TYPE xQueueSendToToFront(
+								   xQueueHandle	xQueue,
+								   const void	*	pvItemToQueue,
+								   portTickType	xTicksToWait
+							   );
+ *
+ * + * This is a macro that calls xQueueGenericSend(). + * + * Post an item to the front of a queue. The item is queued by copy, not by + * reference. This function must not be called from an interrupt service + * routine. See xQueueSendFromISR () for an alternative which may be used + * in an ISR. + * + * @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 xTicksToWait The maximum amount of time the task should block + * waiting for space to become available on the queue, should it already + * be full. The call will return immediately if this is set to 0 and the + * queue is full. The time is defined in tick periods so the constant + * portTICK_RATE_MS should be used to convert to real time if this is required. + * + * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. + * + * Example usage: + 
+ struct AMessage
+ {
+	char ucMessageID;
+	char ucData[ 20 ];
+ } xMessage;
+
+ unsigned long ulVar = 10UL;
+
+ void vATask( void *pvParameters )
+ {
+ xQueueHandle xQueue1, xQueue2;
+ struct AMessage *pxMessage;
+
+	// Create a queue capable of containing 10 unsigned long values.
+	xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
+
+	// Create a queue capable of containing 10 pointers to AMessage structures.
+	// These should be passed by pointer as they contain a lot of data.
+	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+
+	// ...
+
+	if( xQueue1 != 0 )
+	{
+		// Send an unsigned long.  Wait for 10 ticks for space to become
+		// available if necessary.
+		if( xQueueSendToFront( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
+		{
+			// Failed to post the message, even after 10 ticks.
+		}
+	}
+
+	if( xQueue2 != 0 )
+	{
+		// Send a pointer to a struct AMessage object.  Don't block if the
+		// queue is already full.
+		pxMessage = & xMessage;
+		xQueueSendToFront( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
+	}
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueSend xQueueSend + * \ingroup QueueManagement + */ +#define xQueueSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_FRONT ) + +/** + * queue. h + * 
+ portBASE_TYPE xQueueSendToBack(
+								   xQueueHandle	xQueue,
+								   const	void	*	pvItemToQueue,
+								   portTickType	xTicksToWait
+							   );
+ *
+ * + * This is a macro that calls xQueueGenericSend(). + * + * Post an item to the back of a queue. The item is queued by copy, not by + * reference. This function must not be called from an interrupt service + * routine. See xQueueSendFromISR () for an alternative which may be used + * in an ISR. + * + * @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 xTicksToWait The maximum amount of time the task should block + * waiting for space to become available on the queue, should it already + * be full. The call will return immediately if this is set to 0 and the queue + * is full. The time is defined in tick periods so the constant + * portTICK_RATE_MS should be used to convert to real time if this is required. + * + * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. + * + * Example usage: + 
+ struct AMessage
+ {
+	char ucMessageID;
+	char ucData[ 20 ];
+ } xMessage;
+
+ unsigned long ulVar = 10UL;
+
+ void vATask( void *pvParameters )
+ {
+ xQueueHandle xQueue1, xQueue2;
+ struct AMessage *pxMessage;
+
+	// Create a queue capable of containing 10 unsigned long values.
+	xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
+
+	// Create a queue capable of containing 10 pointers to AMessage structures.
+	// These should be passed by pointer as they contain a lot of data.
+	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+
+	// ...
+
+	if( xQueue1 != 0 )
+	{
+		// Send an unsigned long.  Wait for 10 ticks for space to become
+		// available if necessary.
+		if( xQueueSendToBack( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
+		{
+			// Failed to post the message, even after 10 ticks.
+		}
+	}
+
+	if( xQueue2 != 0 )
+	{
+		// Send a pointer to a struct AMessage object.  Don't block if the
+		// queue is already full.
+		pxMessage = & xMessage;
+		xQueueSendToBack( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
+	}
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueSend xQueueSend + * \ingroup QueueManagement + */ +#define xQueueSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK ) + +/** + * queue. h + * 
+ portBASE_TYPE xQueueSend(
+							  xQueueHandle xQueue,
+							  const void * pvItemToQueue,
+							  portTickType xTicksToWait
+						 );
+ *
+ * + * This is a macro that calls xQueueGenericSend(). It is included for + * backward compatibility with versions of FreeRTOS.org that did not + * include the xQueueSendToFront() and xQueueSendToBack() macros. It is + * equivalent to xQueueSendToBack(). + * + * Post an item on a queue. The item is queued by copy, not by reference. + * This function must not be called from an interrupt service routine. + * See xQueueSendFromISR () for an alternative which may be used in an ISR. + * + * @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 xTicksToWait The maximum amount of time the task should block + * waiting for space to become available on the queue, should it already + * be full. The call will return immediately if this is set to 0 and the + * queue is full. The time is defined in tick periods so the constant + * portTICK_RATE_MS should be used to convert to real time if this is required. + * + * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. + * + * Example usage: + 
+ struct AMessage
+ {
+	char ucMessageID;
+	char ucData[ 20 ];
+ } xMessage;
+
+ unsigned long ulVar = 10UL;
+
+ void vATask( void *pvParameters )
+ {
+ xQueueHandle xQueue1, xQueue2;
+ struct AMessage *pxMessage;
+
+	// Create a queue capable of containing 10 unsigned long values.
+	xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
+
+	// Create a queue capable of containing 10 pointers to AMessage structures.
+	// These should be passed by pointer as they contain a lot of data.
+	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+
+	// ...
+
+	if( xQueue1 != 0 )
+	{
+		// Send an unsigned long.  Wait for 10 ticks for space to become
+		// available if necessary.
+		if( xQueueSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
+		{
+			// Failed to post the message, even after 10 ticks.
+		}
+	}
+
+	if( xQueue2 != 0 )
+	{
+		// Send a pointer to a struct AMessage object.  Don't block if the
+		// queue is already full.
+		pxMessage = & xMessage;
+		xQueueSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
+	}
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueSend xQueueSend + * \ingroup QueueManagement + */ +#define xQueueSend( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK ) + + +/** + * queue. h + * 
+ portBASE_TYPE xQueueGenericSend(
+									xQueueHandle xQueue,
+									const void * pvItemToQueue,
+									portTickType xTicksToWait
+									portBASE_TYPE xCopyPosition
+								);
+ *
+ * + * It is preferred that the macros xQueueSend(), xQueueSendToFront() and + * xQueueSendToBack() are used in place of calling this function directly. + * + * Post an item on a queue. The item is queued by copy, not by reference. + * This function must not be called from an interrupt service routine. + * See xQueueSendFromISR () for an alternative which may be used in an ISR. + * + * @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 xTicksToWait The maximum amount of time the task should block + * waiting for space to become available on the queue, should it already + * be full. The call will return immediately if this is set to 0 and the + * queue is full. The time is defined in tick periods so the constant + * portTICK_RATE_MS should be used to convert to real time if this is required. + * + * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the + * item at the back of the queue, or queueSEND_TO_FRONT to place the item + * at the front of the queue (for high priority messages). + * + * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. + * + * Example usage: + 
+ struct AMessage
+ {
+	char ucMessageID;
+	char ucData[ 20 ];
+ } xMessage;
+
+ unsigned long ulVar = 10UL;
+
+ void vATask( void *pvParameters )
+ {
+ xQueueHandle xQueue1, xQueue2;
+ struct AMessage *pxMessage;
+
+	// Create a queue capable of containing 10 unsigned long values.
+	xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
+
+	// Create a queue capable of containing 10 pointers to AMessage structures.
+	// These should be passed by pointer as they contain a lot of data.
+	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+
+	// ...
+
+	if( xQueue1 != 0 )
+	{
+		// Send an unsigned long.  Wait for 10 ticks for space to become
+		// available if necessary.
+		if( xQueueGenericSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10, queueSEND_TO_BACK ) != pdPASS )
+		{
+			// Failed to post the message, even after 10 ticks.
+		}
+	}
+
+	if( xQueue2 != 0 )
+	{
+		// Send a pointer to a struct AMessage object.  Don't block if the
+		// queue is already full.
+		pxMessage = & xMessage;
+		xQueueGenericSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0, queueSEND_TO_BACK );
+	}
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueSend xQueueSend + * \ingroup QueueManagement + */ +signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ); + +/** + * queue. h + * 
+ portBASE_TYPE xQueuePeek(
+							 xQueueHandle xQueue,
+							 void *pvBuffer,
+							 portTickType xTicksToWait
+						 );
+ * + * This is a macro that calls the xQueueGenericReceive() function. + * + * Receive an item from a queue without removing the item from the queue. + * The item is received by copy so a buffer of adequate size must be + * provided. The number of bytes copied into the buffer was defined when + * the queue was created. + * + * Successfully received items remain on the queue so will be returned again + * by the next call, or a call to xQueueReceive(). + * + * This macro must not be used in an interrupt service routine. + * + * @param pxQueue The handle to the queue from which the item is to be + * received. + * + * @param pvBuffer Pointer to the buffer into which the received item will + * be copied. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for an item to receive should the queue be empty at the time + * of the call. The time is defined in tick periods so the constant + * portTICK_RATE_MS should be used to convert to real time if this is required. + * xQueuePeek() will return immediately if xTicksToWait is 0 and the queue + * is empty. + * + * @return pdTRUE if an item was successfully received from the queue, + * otherwise pdFALSE. + * + * Example usage: + 
+ struct AMessage
+ {
+	char ucMessageID;
+	char ucData[ 20 ];
+ } xMessage;
+
+ xQueueHandle xQueue;
+
+ // Task to create a queue and post a value.
+ void vATask( void *pvParameters )
+ {
+ struct AMessage *pxMessage;
+
+	// Create a queue capable of containing 10 pointers to AMessage structures.
+	// These should be passed by pointer as they contain a lot of data.
+	xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
+	if( xQueue == 0 )
+	{
+		// Failed to create the queue.
+	}
+
+	// ...
+
+	// Send a pointer to a struct AMessage object.  Don't block if the
+	// queue is already full.
+	pxMessage = & xMessage;
+	xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
+
+	// ... Rest of task code.
+ }
+
+ // Task to peek the data from the queue.
+ void vADifferentTask( void *pvParameters )
+ {
+ struct AMessage *pxRxedMessage;
+
+	if( xQueue != 0 )
+	{
+		// Peek a message on the created queue.  Block for 10 ticks if a
+		// message is not immediately available.
+		if( xQueuePeek( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
+		{
+			// pcRxedMessage now points to the struct AMessage variable posted
+			// by vATask, but the item still remains on the queue.
+		}
+	}
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueReceive xQueueReceive + * \ingroup QueueManagement + */ +#define xQueuePeek( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdTRUE ) + +/** + * queue. h + * 
+ portBASE_TYPE xQueueReceive(
+								 xQueueHandle xQueue,
+								 void *pvBuffer,
+								 portTickType xTicksToWait
+							);
+ * + * This is a macro that calls the xQueueGenericReceive() function. + * + * Receive an item from a queue. The item is received by copy so a buffer of + * adequate size must be provided. The number of bytes copied into the buffer + * was defined when the queue was created. + * + * Successfully received items are removed from the queue. + * + * This function must not be used in an interrupt service routine. See + * xQueueReceiveFromISR for an alternative that can. + * + * @param pxQueue The handle to the queue from which the item is to be + * received. + * + * @param pvBuffer Pointer to the buffer into which the received item will + * be copied. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for an item to receive should the queue be empty at the time + * of the call. xQueueReceive() will return immediately if xTicksToWait + * is zero and the queue is empty. The time is defined in tick periods so the + * constant portTICK_RATE_MS should be used to convert to real time if this is + * required. + * + * @return pdTRUE if an item was successfully received from the queue, + * otherwise pdFALSE. + * + * Example usage: + 
+ struct AMessage
+ {
+	char ucMessageID;
+	char ucData[ 20 ];
+ } xMessage;
+
+ xQueueHandle xQueue;
+
+ // Task to create a queue and post a value.
+ void vATask( void *pvParameters )
+ {
+ struct AMessage *pxMessage;
+
+	// Create a queue capable of containing 10 pointers to AMessage structures.
+	// These should be passed by pointer as they contain a lot of data.
+	xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
+	if( xQueue == 0 )
+	{
+		// Failed to create the queue.
+	}
+
+	// ...
+
+	// Send a pointer to a struct AMessage object.  Don't block if the
+	// queue is already full.
+	pxMessage = & xMessage;
+	xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
+
+	// ... Rest of task code.
+ }
+
+ // Task to receive from the queue.
+ void vADifferentTask( void *pvParameters )
+ {
+ struct AMessage *pxRxedMessage;
+
+	if( xQueue != 0 )
+	{
+		// Receive a message on the created queue.  Block for 10 ticks if a
+		// message is not immediately available.
+		if( xQueueReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
+		{
+			// pcRxedMessage now points to the struct AMessage variable posted
+			// by vATask.
+		}
+	}
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueReceive xQueueReceive + * \ingroup QueueManagement + */ +#define xQueueReceive( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdFALSE ) + + +/** + * queue. h + * 
+ portBASE_TYPE xQueueGenericReceive(
+									   xQueueHandle	xQueue,
+									   void	*pvBuffer,
+									   portTickType	xTicksToWait
+									   portBASE_TYPE	xJustPeek
+									);
+ * + * It is preferred that the macro xQueueReceive() be used rather than calling + * this function directly. + * + * Receive an item from a queue. The item is received by copy so a buffer of + * adequate size must be provided. The number of bytes copied into the buffer + * was defined when the queue was created. + * + * This function must not be used in an interrupt service routine. See + * xQueueReceiveFromISR for an alternative that can. + * + * @param pxQueue The handle to the queue from which the item is to be + * received. + * + * @param pvBuffer Pointer to the buffer into which the received item will + * be copied. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for an item to receive should the queue be empty at the time + * of the call. The time is defined in tick periods so the constant + * portTICK_RATE_MS should be used to convert to real time if this is required. + * xQueueGenericReceive() will return immediately if the queue is empty and + * xTicksToWait is 0. + * + * @param xJustPeek When set to true, the item received from the queue is not + * actually removed from the queue - meaning a subsequent call to + * xQueueReceive() will return the same item. When set to false, the item + * being received from the queue is also removed from the queue. + * + * @return pdTRUE if an item was successfully received from the queue, + * otherwise pdFALSE. + * + * Example usage: + 
+ struct AMessage
+ {
+	char ucMessageID;
+	char ucData[ 20 ];
+ } xMessage;
+
+ xQueueHandle xQueue;
+
+ // Task to create a queue and post a value.
+ void vATask( void *pvParameters )
+ {
+ struct AMessage *pxMessage;
+
+	// Create a queue capable of containing 10 pointers to AMessage structures.
+	// These should be passed by pointer as they contain a lot of data.
+	xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
+	if( xQueue == 0 )
+	{
+		// Failed to create the queue.
+	}
+
+	// ...
+
+	// Send a pointer to a struct AMessage object.  Don't block if the
+	// queue is already full.
+	pxMessage = & xMessage;
+	xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
+
+	// ... Rest of task code.
+ }
+
+ // Task to receive from the queue.
+ void vADifferentTask( void *pvParameters )
+ {
+ struct AMessage *pxRxedMessage;
+
+	if( xQueue != 0 )
+	{
+		// Receive a message on the created queue.  Block for 10 ticks if a
+		// message is not immediately available.
+		if( xQueueGenericReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
+		{
+			// pcRxedMessage now points to the struct AMessage variable posted
+			// by vATask.
+		}
+	}
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueReceive xQueueReceive + * \ingroup QueueManagement + */ +signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeek ); + +/** + * queue. h + * 
unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue );
+ * + * Return the number of messages stored in a queue. + * + * @param xQueue A handle to the queue being queried. + * + * @return The number of messages available in the queue. + * + * \page uxQueueMessagesWaiting uxQueueMessagesWaiting + * \ingroup QueueManagement + */ +unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue ); + +/** + * queue. h + * 
void vQueueDelete( xQueueHandle xQueue );
+ * + * Delete a queue - freeing all the memory allocated for storing of items + * placed on the queue. + * + * @param xQueue A handle to the queue to be deleted. + * + * \page vQueueDelete vQueueDelete + * \ingroup QueueManagement + */ +void vQueueDelete( xQueueHandle pxQueue ); + +/** + * queue. h + * 
+ portBASE_TYPE xQueueSendToFrontFromISR(
+										 xQueueHandle pxQueue,
+										 const void *pvItemToQueue,
+										 portBASE_TYPE *pxHigherPriorityTaskWoken
+									  );
+
+ * + * This is a macro that calls xQueueGenericSendFromISR(). + * + * Post an item to the front of a queue. It is safe to use this macro from + * within an interrupt service routine. + * + * Items are queued by copy not reference so it is preferable to only + * queue small items, especially when called from an ISR. In most cases + * it would be preferable to store a pointer to the item being queued. + * + * @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 pxHigherPriorityTaskWoken xQueueSendToFrontFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xQueueSendToFromFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @return pdTRUE if the data was successfully sent to the queue, otherwise + * errQUEUE_FULL. + * + * Example usage for buffered IO (where the ISR can obtain more than one value + * per call): + 
+ void vBufferISR( void )
+ {
+ char cIn;
+ portBASE_TYPE xHigherPrioritTaskWoken;
+
+	// We have not woken a task at the start of the ISR.
+	xHigherPriorityTaskWoken = pdFALSE;
+
+	// Loop until the buffer is empty.
+	do
+	{
+		// Obtain a byte from the buffer.
+		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+
+		// Post the byte.
+		xQueueSendToFrontFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
+
+	} while( portINPUT_BYTE( BUFFER_COUNT ) );
+
+	// Now the buffer is empty we can switch context if necessary.
+	if( xHigherPriorityTaskWoken )
+	{
+		taskYIELD ();
+	}
+ }
+
+ * + * \defgroup xQueueSendFromISR xQueueSendFromISR + * \ingroup QueueManagement + */ +#define xQueueSendToFrontFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_FRONT ) + + +/** + * queue. h + * 
+ portBASE_TYPE xQueueSendToBackFromISR(
+										 xQueueHandle pxQueue,
+										 const void *pvItemToQueue,
+										 portBASE_TYPE *pxHigherPriorityTaskWoken
+									  );
+
+ * + * This is a macro that calls xQueueGenericSendFromISR(). + * + * Post an item to the back of a queue. It is safe to use this macro from + * within an interrupt service routine. + * + * Items are queued by copy not reference so it is preferable to only + * queue small items, especially when called from an ISR. In most cases + * it would be preferable to store a pointer to the item being queued. + * + * @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 pxHigherPriorityTaskWoken xQueueSendToBackFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xQueueSendToBackFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @return pdTRUE if the data was successfully sent to the queue, otherwise + * errQUEUE_FULL. + * + * Example usage for buffered IO (where the ISR can obtain more than one value + * per call): + 
+ void vBufferISR( void )
+ {
+ char cIn;
+ portBASE_TYPE xHigherPriorityTaskWoken;
+
+	// We have not woken a task at the start of the ISR.
+	xHigherPriorityTaskWoken = pdFALSE;
+
+	// Loop until the buffer is empty.
+	do
+	{
+		// Obtain a byte from the buffer.
+		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+
+		// Post the byte.
+		xQueueSendToBackFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
+
+	} while( portINPUT_BYTE( BUFFER_COUNT ) );
+
+	// Now the buffer is empty we can switch context if necessary.
+	if( xHigherPriorityTaskWoken )
+	{
+		taskYIELD ();
+	}
+ }
+
+ * + * \defgroup xQueueSendFromISR xQueueSendFromISR + * \ingroup QueueManagement + */ +#define xQueueSendToBackFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK ) + +/** + * queue. h + * 
+ portBASE_TYPE xQueueSendFromISR(
+									 xQueueHandle pxQueue,
+									 const void *pvItemToQueue,
+									 portBASE_TYPE *pxHigherPriorityTaskWoken
+								);
+
+ * + * This is a macro that calls xQueueGenericSendFromISR(). It is included + * for backward compatibility with versions of FreeRTOS.org that did not + * include the xQueueSendToBackFromISR() and xQueueSendToFrontFromISR() + * macros. + * + * Post an item to the back of a queue. It is safe to use this function from + * within an interrupt service routine. + * + * Items are queued by copy not reference so it is preferable to only + * queue small items, especially when called from an ISR. In most cases + * it would be preferable to store a pointer to the item being queued. + * + * @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 pxHigherPriorityTaskWoken xQueueSendFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xQueueSendFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @return pdTRUE if the data was successfully sent to the queue, otherwise + * errQUEUE_FULL. + * + * Example usage for buffered IO (where the ISR can obtain more than one value + * per call): + 
+ void vBufferISR( void )
+ {
+ char cIn;
+ portBASE_TYPE xHigherPriorityTaskWoken;
+
+	// We have not woken a task at the start of the ISR.
+	xHigherPriorityTaskWoken = pdFALSE;
+
+	// Loop until the buffer is empty.
+	do
+	{
+		// Obtain a byte from the buffer.
+		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+
+		// Post the byte.
+		xQueueSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
+
+	} while( portINPUT_BYTE( BUFFER_COUNT ) );
+
+	// Now the buffer is empty we can switch context if necessary.
+	if( xHigherPriorityTaskWoken )
+	{
+		// Actual macro used here is port specific.
+		taskYIELD_FROM_ISR ();
+	}
+ }
+
+ * + * \defgroup xQueueSendFromISR xQueueSendFromISR + * \ingroup QueueManagement + */ +#define xQueueSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK ) + +/** + * queue. h + * 
+ portBASE_TYPE xQueueGenericSendFromISR(
+										   xQueueHandle	pxQueue,
+										   const	void	*pvItemToQueue,
+										   portBASE_TYPE	*pxHigherPriorityTaskWoken,
+										   portBASE_TYPE	xCopyPosition
+									   );
+
+ * + * It is preferred that the macros xQueueSendFromISR(), + * xQueueSendToFrontFromISR() and xQueueSendToBackFromISR() be used in place + * of calling this function directly. + * + * Post an item on a queue. It is safe to use this function from within an + * interrupt service routine. + * + * Items are queued by copy not reference so it is preferable to only + * queue small items, especially when called from an ISR. In most cases + * it would be preferable to store a pointer to the item being queued. + * + * @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 pxHigherPriorityTaskWoken xQueueGenericSendFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xQueueGenericSendFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the + * item at the back of the queue, or queueSEND_TO_FRONT to place the item + * at the front of the queue (for high priority messages). + * + * @return pdTRUE if the data was successfully sent to the queue, otherwise + * errQUEUE_FULL. + * + * Example usage for buffered IO (where the ISR can obtain more than one value + * per call): + 
+ void vBufferISR( void )
+ {
+ char cIn;
+ portBASE_TYPE xHigherPriorityTaskWokenByPost;
+
+	// We have not woken a task at the start of the ISR.
+	xHigherPriorityTaskWokenByPost = pdFALSE;
+
+	// Loop until the buffer is empty.
+	do
+	{
+		// Obtain a byte from the buffer.
+		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+
+		// Post each byte.
+		xQueueGenericSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWokenByPost, queueSEND_TO_BACK );
+
+	} while( portINPUT_BYTE( BUFFER_COUNT ) );
+
+	// Now the buffer is empty we can switch context if necessary.  Note that the
+	// name of the yield function required is port specific.
+	if( xHigherPriorityTaskWokenByPost )
+	{
+		taskYIELD_YIELD_FROM_ISR();
+	}
+ }
+
+ * + * \defgroup xQueueSendFromISR xQueueSendFromISR + * \ingroup QueueManagement + */ +signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition ); + +/** + * queue. h + * 
+ portBASE_TYPE xQueueReceiveFromISR(
+									   xQueueHandle	pxQueue,
+									   void	*pvBuffer,
+									   portBASE_TYPE	*pxTaskWoken
+								   );
+ *
+ * + * Receive an item from a queue. It is safe to use this function from within an + * interrupt service routine. + * + * @param pxQueue The handle to the queue from which the item is to be + * received. + * + * @param pvBuffer Pointer to the buffer into which the received item will + * be copied. + * + * @param pxTaskWoken A task may be blocked waiting for space to become + * available on the queue. If xQueueReceiveFromISR causes such a task to + * unblock *pxTaskWoken will get set to pdTRUE, otherwise *pxTaskWoken will + * remain unchanged. + * + * @return pdTRUE if an item was successfully received from the queue, + * otherwise pdFALSE. + * + * Example usage: + 
+
+ xQueueHandle xQueue;
+
+ // Function to create a queue and post some values.
+ void vAFunction( void *pvParameters )
+ {
+ char cValueToPost;
+ const portTickType xBlockTime = ( portTickType )0xff;
+
+	// Create a queue capable of containing 10 characters.
+	xQueue = xQueueCreate( 10, sizeof( char ) );
+	if( xQueue == 0 )
+	{
+		// Failed to create the queue.
+	}
+
+	// ...
+
+	// Post some characters that will be used within an ISR.  If the queue
+	// is full then this task will block for xBlockTime ticks.
+	cValueToPost = 'a';
+	xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );
+	cValueToPost = 'b';
+	xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );
+
+	// ... keep posting characters ... this task may block when the queue
+	// becomes full.
+
+	cValueToPost = 'c';
+	xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );
+ }
+
+ // ISR that outputs all the characters received on the queue.
+ void vISR_Routine( void )
+ {
+ portBASE_TYPE xTaskWokenByReceive = pdFALSE;
+ char cRxedChar;
+
+	while( xQueueReceiveFromISR( xQueue, ( void * ) &cRxedChar, &xTaskWokenByReceive) )
+	{
+		// A character was received.  Output the character now.
+		vOutputCharacter( cRxedChar );
+
+		// If removing the character from the queue woke the task that was
+		// posting onto the queue cTaskWokenByReceive will have been set to
+		// pdTRUE.  No matter how many times this loop iterates only one
+		// task will be woken.
+	}
+
+	if( cTaskWokenByPost != ( char ) pdFALSE;
+	{
+		taskYIELD ();
+	}
+ }
+
+ * \defgroup xQueueReceiveFromISR xQueueReceiveFromISR + * \ingroup QueueManagement + */ +signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken ); + +/* + * Utilities to query queues that are safe to use from an ISR. These utilities + * should be used only from witin an ISR, or within a critical section. + */ +signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue ); +signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue ); +unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue ); + + +/* + * xQueueAltGenericSend() is an alternative version of xQueueGenericSend(). + * Likewise xQueueAltGenericReceive() is an alternative version of + * xQueueGenericReceive(). + * + * 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. + */ +signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ); +signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ); +#define xQueueAltSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_FRONT ) +#define xQueueAltSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK ) +#define xQueueAltReceive( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdFALSE ) +#define xQueueAltPeek( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdTRUE ) + +/* + * The functions defined above are for passing data to and from tasks. The + * functions below are the equivalents for passing data to and from + * co-routines. + * + * These functions are called from the co-routine macro implementation and + * should not be called directly from application code. Instead use the macro + * wrappers defined within croutine.h. + */ +signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ); +signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken ); +signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait ); +signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait ); + +/* + * For internal use only. Use xSemaphoreCreateMutex(), + * xSemaphoreCreateCounting() or xSemaphoreGetMutexHolder() instead of calling + * these functions directly. + */ +xQueueHandle xQueueCreateMutex( unsigned char ucQueueType ); +xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ); +void* xQueueGetMutexHolder( xQueueHandle xSemaphore ); + +/* + * For internal use only. Use xSemaphoreTakeMutexRecursive() or + * xSemaphoreGiveMutexRecursive() instead of calling these functions directly. + */ +portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle pxMutex, portTickType xBlockTime ); +portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex ); + +/* + * Reset a queue back to its original empty state. pdPASS is returned if the + * queue is successfully reset. pdFAIL is returned if the queue could not be + * reset because there are tasks blocked on the queue waiting to either + * receive from the queue or send to the queue. + */ +#define xQueueReset( pxQueue ) xQueueGenericReset( pxQueue, pdFALSE ) + +/* + * The registry is provided as a means for kernel aware debuggers to + * locate queues, semaphores and mutexes. Call vQueueAddToRegistry() add + * a queue, semaphore or mutex handle to the registry if you want the handle + * to be available to a kernel aware debugger. If you are not using a kernel + * aware debugger then this function can be ignored. + * + * configQUEUE_REGISTRY_SIZE defines the maximum number of handles the + * registry can hold. configQUEUE_REGISTRY_SIZE must be greater than 0 + * within FreeRTOSConfig.h for the registry to be available. Its value + * does not effect the number of queues, semaphores and mutexes that can be + * created - just the number that the registry can hold. + * + * @param xQueue The handle of the queue being added to the registry. This + * is the handle returned by a call to xQueueCreate(). Semaphore and mutex + * handles can also be passed in here. + * + * @param pcName The name to be associated with the handle. This is the + * name that the kernel aware debugger will display. + */ +#if configQUEUE_REGISTRY_SIZE > 0U + void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcName ); +#endif + +/* + * Generic version of the queue creation function, which is in turn called by + * any queue, semaphore or mutex creation function or macro. + */ +xQueueHandle xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType ); + +/* Not public API functions. */ +void vQueueWaitForMessageRestricted( xQueueHandle pxQueue, portTickType xTicksToWait ); +portBASE_TYPE xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue ); + + +#ifdef __cplusplus +} +#endif + +#endif /* QUEUE_H */ + diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/semphr.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/semphr.h new file mode 100644 index 000000000..b523c723e --- /dev/null +++ b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/semphr.h @@ -0,0 +1,787 @@ +/* + FreeRTOS V7.1.1 - Copyright (C) 2012 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! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong? * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + + http://www.FreeRTOS.org - Documentation, training, latest information, + license and contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool. + + Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell + the code with commercial support, indemnification, and middleware, under + the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also + provide a safety engineered and independently SIL3 certified version under + the SafeRTOS brand: http://www.SafeRTOS.com. +*/ + +#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 + * 
vSemaphoreCreateBinary( xSemaphoreHandle xSemaphore )
+ * + * Macro 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: + 
+ 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.  
+    }
+ }
+
+ * \defgroup vSemaphoreCreateBinary vSemaphoreCreateBinary + * \ingroup Semaphores + */ +#define vSemaphoreCreateBinary( xSemaphore ) \ + { \ + ( xSemaphore ) = xQueueGenericCreate( ( unsigned portBASE_TYPE ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE ); \ + if( ( xSemaphore ) != NULL ) \ + { \ + xSemaphoreGive( ( xSemaphore ) ); \ + } \ + } + +/** + * semphr. h + * 
xSemaphoreTake( 
+ *                   xSemaphoreHandle xSemaphore, 
+ *                   portTickType xBlockTime 
+ *               )
+ * + * Macro 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: + 
+ 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.
+        }
+    }
+ }
+
+ * \defgroup xSemaphoreTake xSemaphoreTake + * \ingroup Semaphores + */ +#define xSemaphoreTake( xSemaphore, xBlockTime ) xQueueGenericReceive( ( xQueueHandle ) ( xSemaphore ), NULL, ( xBlockTime ), pdFALSE ) + +/** + * semphr. h + * xSemaphoreTakeRecursive( + * xSemaphoreHandle xMutex, + * portTickType xBlockTime + * ) + * + * Macro 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: + 
+ 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.
+        }
+    }
+ }
+
+ * \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 + * 
xSemaphoreGive( xSemaphoreHandle xSemaphore )
+ * + * Macro 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: + 
+ 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.
+            }
+        }
+    }
+ }
+
+ * \defgroup xSemaphoreGive xSemaphoreGive + * \ingroup Semaphores + */ +#define xSemaphoreGive( xSemaphore ) xQueueGenericSend( ( xQueueHandle ) ( xSemaphore ), NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK ) + +/** + * semphr. h + * 
xSemaphoreGiveRecursive( xSemaphoreHandle xMutex )
+ * + * Macro 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: + 
+ 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.
+        }
+    }
+ }
+
+ * \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 + * 
+ xSemaphoreGiveFromISR( 
+                          xSemaphoreHandle xSemaphore, 
+                          signed portBASE_TYPE *pxHigherPriorityTaskWoken
+                      )
+ * + * Macro 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: + 
+ \#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.
+    }
+ }
+
+ * \defgroup xSemaphoreGiveFromISR xSemaphoreGiveFromISR + * \ingroup Semaphores + */ +#define xSemaphoreGiveFromISR( xSemaphore, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueueHandle ) ( xSemaphore ), NULL, ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK ) + +/** + * semphr. h + * 
+ xSemaphoreTakeFromISR( 
+                          xSemaphoreHandle xSemaphore, 
+                          signed portBASE_TYPE *pxHigherPriorityTaskWoken
+                      )
+ * + * Macro to take a semaphore from an ISR. 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, however taking a semaphore from an ISR + * is not a common operation. It is likely to only be useful when taking a + * counting semaphore when an interrupt is obtaining an object from a resource + * pool (when the semaphore count indicates the number of resources available). + * + * @param xSemaphore A handle to the semaphore being taken. This is the + * handle returned when the semaphore was created. + * + * @param pxHigherPriorityTaskWoken xSemaphoreTakeFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if taking the semaphore caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xSemaphoreTakeFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @return pdTRUE if the semaphore was successfully taken, otherwise + * pdFALSE + */ +#define xSemaphoreTakeFromISR( xSemaphore, pxHigherPriorityTaskWoken ) xQueueReceiveFromISR( ( xQueueHandle ) ( xSemaphore ), NULL, ( pxHigherPriorityTaskWoken ) ) + +/** + * semphr. h + * 
xSemaphoreHandle xSemaphoreCreateMutex( void )
+ * + * Macro 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: + 
+ 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.  
+    }
+ }
+
+ * \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex + * \ingroup Semaphores + */ +#define xSemaphoreCreateMutex() xQueueCreateMutex( queueQUEUE_TYPE_MUTEX ) + + +/** + * semphr. h + * 
xSemaphoreHandle xSemaphoreCreateRecursiveMutex( void )
+ * + * Macro 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: + 
+ 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.  
+    }
+ }
+
+ * \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex + * \ingroup Semaphores + */ +#define xSemaphoreCreateRecursiveMutex() xQueueCreateMutex( queueQUEUE_TYPE_RECURSIVE_MUTEX ) + +/** + * semphr. h + * 
xSemaphoreHandle xSemaphoreCreateCounting( unsigned portBASE_TYPE uxMaxCount, unsigned portBASE_TYPE uxInitialCount )
+ * + * Macro 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: + 
+ 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.  
+    }
+ }
+
+ * \defgroup xSemaphoreCreateCounting xSemaphoreCreateCounting + * \ingroup Semaphores + */ +#define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount ) xQueueCreateCountingSemaphore( ( uxMaxCount ), ( uxInitialCount ) ) + +/** + * semphr. h + * 
void vSemaphoreDelete( xSemaphoreHandle xSemaphore );
+ * + * Delete a semaphore. This function must be used with care. For example, + * do not delete a mutex type semaphore if the mutex is held by a task. + * + * @param xSemaphore A handle to the semaphore to be deleted. + * + * \page vSemaphoreDelete vSemaphoreDelete + * \ingroup Semaphores + */ +#define vSemaphoreDelete( xSemaphore ) vQueueDelete( ( xQueueHandle ) ( xSemaphore ) ) + +/** + * semphr.h + * 
xTaskHandle xSemaphoreGetMutexHolder( xSemaphoreHandle xMutex );
+ * + * If xMutex is indeed a mutex type semaphore, return the current mutex holder. + * If xMutex is not a mutex type semaphore, or the mutex is available (not held + * by a task), return NULL. + * + * Note: This Is is a good way of determining if the calling task is the mutex + * holder, but not a good way of determining the identity of the mutex holder as + * the holder may change between the function exiting and the returned value + * being tested. + */ +#define xSemaphoreGetMutexHolder( xSemaphore ) xQueueGetMutexHolder( ( xSemaphore ) ) + +#endif /* SEMAPHORE_H */ + + diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/task.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/task.h new file mode 100644 index 000000000..3f462ff3e --- /dev/null +++ b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/task.h @@ -0,0 +1,1336 @@ +/* + FreeRTOS V7.1.1 - Copyright (C) 2012 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! + + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong? * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + + http://www.FreeRTOS.org - Documentation, training, latest information, + license and contact details. + + http://www.FreeRTOS.org/plus - Selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool. + + Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell + the code with commercial support, indemnification, and middleware, under + the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also + provide a safety engineered and independently SIL3 certified version under + the SafeRTOS brand: http://www.SafeRTOS.com. +*/ + + +#ifndef TASK_H +#define TASK_H + +#ifndef INC_FREERTOS_H + #error "include FreeRTOS.h must appear in source files before include task.h" +#endif + +#include "portable.h" +#include "list.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * MACROS AND DEFINITIONS + *----------------------------------------------------------*/ + +#define tskKERNEL_VERSION_NUMBER "V7.1.1" + +/** + * task. h + * + * Type by which tasks are referenced. For example, a call to xTaskCreate + * returns (via a pointer parameter) an xTaskHandle variable that can then + * be used as a parameter to vTaskDelete to delete the task. + * + * \page xTaskHandle xTaskHandle + * \ingroup Tasks + */ +typedef void * xTaskHandle; + +/* + * Used internally only. + */ +typedef struct xTIME_OUT +{ + portBASE_TYPE xOverflowCount; + portTickType xTimeOnEntering; +} xTimeOutType; + +/* + * Defines the memory ranges allocated to the task when an MPU is used. + */ +typedef struct xMEMORY_REGION +{ + void *pvBaseAddress; + unsigned long ulLengthInBytes; + unsigned long ulParameters; +} xMemoryRegion; + +/* + * Parameters required to create an MPU protected task. + */ +typedef struct xTASK_PARAMTERS +{ + pdTASK_CODE pvTaskCode; + const signed char * const pcName; + unsigned short usStackDepth; + void *pvParameters; + unsigned portBASE_TYPE uxPriority; + portSTACK_TYPE *puxStackBuffer; + xMemoryRegion xRegions[ portNUM_CONFIGURABLE_REGIONS ]; +} xTaskParameters; + +/* + * Defines the priority used by the idle task. This must not be modified. + * + * \ingroup TaskUtils + */ +#define tskIDLE_PRIORITY ( ( unsigned portBASE_TYPE ) 0U ) + +/** + * task. h + * + * Macro for forcing a context switch. + * + * \page taskYIELD taskYIELD + * \ingroup SchedulerControl + */ +#define taskYIELD() portYIELD() + +/** + * task. h + * + * Macro to mark the start of a critical code region. Preemptive context + * switches cannot occur when in a critical region. + * + * NOTE: This may alter the stack (depending on the portable implementation) + * so must be used with care! + * + * \page taskENTER_CRITICAL taskENTER_CRITICAL + * \ingroup SchedulerControl + */ +#define taskENTER_CRITICAL() portENTER_CRITICAL() + +/** + * task. h + * + * Macro to mark the end of a critical code region. Preemptive context + * switches cannot occur when in a critical region. + * + * NOTE: This may alter the stack (depending on the portable implementation) + * so must be used with care! + * + * \page taskEXIT_CRITICAL taskEXIT_CRITICAL + * \ingroup SchedulerControl + */ +#define taskEXIT_CRITICAL() portEXIT_CRITICAL() + +/** + * task. h + * + * Macro to disable all maskable interrupts. + * + * \page taskDISABLE_INTERRUPTS taskDISABLE_INTERRUPTS + * \ingroup SchedulerControl + */ +#define taskDISABLE_INTERRUPTS() portDISABLE_INTERRUPTS() + +/** + * task. h + * + * Macro to enable microcontroller interrupts. + * + * \page taskENABLE_INTERRUPTS taskENABLE_INTERRUPTS + * \ingroup SchedulerControl + */ +#define taskENABLE_INTERRUPTS() portENABLE_INTERRUPTS() + +/* Definitions returned by xTaskGetSchedulerState(). */ +#define taskSCHEDULER_NOT_STARTED 0 +#define taskSCHEDULER_RUNNING 1 +#define taskSCHEDULER_SUSPENDED 2 + +/*----------------------------------------------------------- + * TASK CREATION API + *----------------------------------------------------------*/ + +/** + * task. h + *
+ portBASE_TYPE xTaskCreate(
+							  pdTASK_CODE pvTaskCode,
+							  const char * const pcName,
+							  unsigned short usStackDepth,
+							  void *pvParameters,
+							  unsigned portBASE_TYPE uxPriority,
+							  xTaskHandle *pvCreatedTask
+						  );
+ * + * Create a new task and add it to the list of tasks that are ready to run. + * + * xTaskCreate() can only be used to create a task that has unrestricted + * access to the entire microcontroller memory map. Systems that include MPU + * support can alternatively create an MPU constrained task using + * xTaskCreateRestricted(). + * + * @param pvTaskCode Pointer to the task entry function. Tasks + * must be implemented to never return (i.e. continuous loop). + * + * @param pcName A descriptive name for the task. This is mainly used to + * facilitate debugging. Max length defined by tskMAX_TASK_NAME_LEN - default + * is 16. + * + * @param usStackDepth The size of the task stack specified as the number of + * variables the stack can hold - not the number of bytes. For example, if + * the stack is 16 bits wide and usStackDepth is defined as 100, 200 bytes + * will be allocated for stack storage. + * + * @param pvParameters Pointer that will be used as the parameter for the task + * being created. + * + * @param uxPriority The priority at which the task should run. Systems that + * include MPU support can optionally create tasks in a privileged (system) + * mode by setting bit portPRIVILEGE_BIT of the priority parameter. For + * example, to create a privileged task at priority 2 the uxPriority parameter + * should be set to ( 2 | portPRIVILEGE_BIT ). + * + * @param pvCreatedTask Used to pass back a handle by which the created task + * can be referenced. + * + * @return pdPASS if the task was successfully created and added to a ready + * list, otherwise an error code defined in the file errors. h + * + * Example usage: + 
+ // Task to be created.
+ void vTaskCode( void * pvParameters )
+ {
+	 for( ;; )
+	 {
+		 // Task code goes here.
+	 }
+ }
+
+ // Function that creates a task.
+ void vOtherFunction( void )
+ {
+ static unsigned char ucParameterToPass;
+ xTaskHandle xHandle;
+
+	 // Create the task, storing the handle.  Note that the passed parameter ucParameterToPass
+	 // must exist for the lifetime of the task, so in this case is declared static.  If it was just an
+	 // an automatic stack variable it might no longer exist, or at least have been corrupted, by the time
+	 // the new task attempts to access it.
+	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );
+
+	 // Use the handle to delete the task.
+	 vTaskDelete( xHandle );
+ }
+
+ * \defgroup xTaskCreate xTaskCreate + * \ingroup Tasks + */ +#define xTaskCreate( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask ) xTaskGenericCreate( ( pvTaskCode ), ( pcName ), ( usStackDepth ), ( pvParameters ), ( uxPriority ), ( pxCreatedTask ), ( NULL ), ( NULL ) ) + +/** + * task. h + *
+ portBASE_TYPE xTaskCreateRestricted( xTaskParameters *pxTaskDefinition, xTaskHandle *pxCreatedTask );
+ * + * xTaskCreateRestricted() should only be used in systems that include an MPU + * implementation. + * + * Create a new task and add it to the list of tasks that are ready to run. + * The function parameters define the memory regions and associated access + * permissions allocated to the task. + * + * @param pxTaskDefinition Pointer to a structure that contains a member + * for each of the normal xTaskCreate() parameters (see the xTaskCreate() API + * documentation) plus an optional stack buffer and the memory region + * definitions. + * + * @param pxCreatedTask Used to pass back a handle by which the created task + * can be referenced. + * + * @return pdPASS if the task was successfully created and added to a ready + * list, otherwise an error code defined in the file errors. h + * + * Example usage: + 
+// Create an xTaskParameters structure that defines the task to be created.
+static const xTaskParameters xCheckTaskParameters =
+{
+	vATask,		// pvTaskCode - the function that implements the task.
+	"ATask",	// pcName - just a text name for the task to assist debugging.
+	100,		// usStackDepth	- the stack size DEFINED IN WORDS.
+	NULL,		// pvParameters - passed into the task function as the function parameters.
+	( 1UL | portPRIVILEGE_BIT ),// uxPriority - task priority, set the portPRIVILEGE_BIT if the task should run in a privileged state.
+	cStackBuffer,// puxStackBuffer - the buffer to be used as the task stack.
+
+	// xRegions - Allocate up to three separate memory regions for access by
+	// the task, with appropriate access permissions.  Different processors have
+	// different memory alignment requirements - refer to the FreeRTOS documentation
+	// for full information.
+	{											
+		// Base address					Length	Parameters
+        { cReadWriteArray,				32,		portMPU_REGION_READ_WRITE },
+        { cReadOnlyArray,				32,		portMPU_REGION_READ_ONLY },
+        { cPrivilegedOnlyAccessArray,	128,	portMPU_REGION_PRIVILEGED_READ_WRITE }
+	}
+};
+
+int main( void )
+{
+xTaskHandle xHandle;
+
+	// Create a task from the const structure defined above.  The task handle
+	// is requested (the second parameter is not NULL) but in this case just for
+	// demonstration purposes as its not actually used.
+	xTaskCreateRestricted( &xRegTest1Parameters, &xHandle );
+
+	// Start the scheduler.
+	vTaskStartScheduler();
+
+	// Will only get here if there was insufficient memory to create the idle
+	// task.
+	for( ;; );
+}
+
+ * \defgroup xTaskCreateRestricted xTaskCreateRestricted + * \ingroup Tasks + */ +#define xTaskCreateRestricted( x, pxCreatedTask ) xTaskGenericCreate( ((x)->pvTaskCode), ((x)->pcName), ((x)->usStackDepth), ((x)->pvParameters), ((x)->uxPriority), (pxCreatedTask), ((x)->puxStackBuffer), ((x)->xRegions) ) + +/** + * task. h + *
+ void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxRegions );
+ * + * Memory regions are assigned to a restricted task when the task is created by + * a call to xTaskCreateRestricted(). These regions can be redefined using + * vTaskAllocateMPURegions(). + * + * @param xTask The handle of the task being updated. + * + * @param xRegions A pointer to an xMemoryRegion structure that contains the + * new memory region definitions. + * + * Example usage: + 
+// Define an array of xMemoryRegion structures that configures an MPU region
+// allowing read/write access for 1024 bytes starting at the beginning of the
+// ucOneKByte array.  The other two of the maximum 3 definable regions are
+// unused so set to zero.
+static const xMemoryRegion xAltRegions[ portNUM_CONFIGURABLE_REGIONS ] =
+{											
+	// Base address		Length		Parameters
+	{ ucOneKByte,		1024,		portMPU_REGION_READ_WRITE },
+	{ 0,				0,			0 },
+	{ 0,				0,			0 }
+};
+
+void vATask( void *pvParameters )
+{
+	// This task was created such that it has access to certain regions of
+	// memory as defined by the MPU configuration.  At some point it is
+	// desired that these MPU regions are replaced with that defined in the
+	// xAltRegions const struct above.  Use a call to vTaskAllocateMPURegions()
+	// for this purpose.  NULL is used as the task handle to indicate that this
+	// function should modify the MPU regions of the calling task.
+	vTaskAllocateMPURegions( NULL, xAltRegions );
+	
+	// Now the task can continue its function, but from this point on can only
+	// access its stack and the ucOneKByte array (unless any other statically
+	// defined or shared regions have been declared elsewhere).
+}
+
+ * \defgroup xTaskCreateRestricted xTaskCreateRestricted + * \ingroup Tasks + */ +void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxRegions ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
void vTaskDelete( xTaskHandle pxTask );
+ * + * INCLUDE_vTaskDelete must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Remove a task from the RTOS real time kernels management. The task being + * deleted will be removed from all ready, blocked, suspended and event lists. + * + * NOTE: The idle task is responsible for freeing the kernel allocated + * memory from tasks that have been deleted. It is therefore important that + * the idle task is not starved of microcontroller processing time if your + * application makes any calls to vTaskDelete (). Memory allocated by the + * task code is not automatically freed, and should be freed before the task + * is deleted. + * + * See the demo application file death.c for sample code that utilises + * vTaskDelete (). + * + * @param pxTask The handle of the task to be deleted. Passing NULL will + * cause the calling task to be deleted. + * + * Example usage: + 
+ void vOtherFunction( void )
+ {
+ xTaskHandle xHandle;
+
+	 // Create the task, storing the handle.
+	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+
+	 // Use the handle to delete the task.
+	 vTaskDelete( xHandle );
+ }
+
+ * \defgroup vTaskDelete vTaskDelete + * \ingroup Tasks + */ +void vTaskDelete( xTaskHandle pxTaskToDelete ) PRIVILEGED_FUNCTION; + +/*----------------------------------------------------------- + * TASK CONTROL API + *----------------------------------------------------------*/ + +/** + * task. h + * 
void vTaskDelay( portTickType xTicksToDelay );
+ * + * Delay a task for a given number of ticks. The actual time that the + * task remains blocked depends on the tick rate. The constant + * portTICK_RATE_MS can be used to calculate real time from the tick + * rate - with the resolution of one tick period. + * + * INCLUDE_vTaskDelay must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * + * vTaskDelay() specifies a time at which the task wishes to unblock relative to + * the time at which vTaskDelay() is called. For example, specifying a block + * period of 100 ticks will cause the task to unblock 100 ticks after + * vTaskDelay() is called. vTaskDelay() does not therefore provide a good method + * of controlling the frequency of a cyclical task as the path taken through the + * code, as well as other task and interrupt activity, will effect the frequency + * at which vTaskDelay() gets called and therefore the time at which the task + * next executes. See vTaskDelayUntil() for an alternative API function designed + * to facilitate fixed frequency execution. It does this by specifying an + * absolute time (rather than a relative time) at which the calling task should + * unblock. + * + * @param xTicksToDelay The amount of time, in tick periods, that + * the calling task should block. + * + * Example usage: + + void vTaskFunction( void * pvParameters ) + { + void vTaskFunction( void * pvParameters ) + { + // Block for 500ms. + const portTickType xDelay = 500 / portTICK_RATE_MS; + + for( ;; ) + { + // Simply toggle the LED every 500ms, blocking between each toggle. + vToggleLED(); + vTaskDelay( xDelay ); + } + } + + * \defgroup vTaskDelay vTaskDelay + * \ingroup TaskCtrl + */ +void vTaskDelay( portTickType xTicksToDelay ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
void vTaskDelayUntil( portTickType *pxPreviousWakeTime, portTickType xTimeIncrement );
+ * + * INCLUDE_vTaskDelayUntil must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Delay a task until a specified time. This function can be used by cyclical + * tasks to ensure a constant execution frequency. + * + * This function differs from vTaskDelay () in one important aspect: vTaskDelay () will + * cause a task to block for the specified number of ticks from the time vTaskDelay () is + * called. It is therefore difficult to use vTaskDelay () by itself to generate a fixed + * execution frequency as the time between a task starting to execute and that task + * calling vTaskDelay () may not be fixed [the task may take a different path though the + * code between calls, or may get interrupted or preempted a different number of times + * each time it executes]. + * + * Whereas vTaskDelay () specifies a wake time relative to the time at which the function + * is called, vTaskDelayUntil () specifies the absolute (exact) time at which it wishes to + * unblock. + * + * The constant portTICK_RATE_MS can be used to calculate real time from the tick + * rate - with the resolution of one tick period. + * + * @param pxPreviousWakeTime Pointer to a variable that holds the time at which the + * task was last unblocked. The variable must be initialised with the current time + * prior to its first use (see the example below). Following this the variable is + * automatically updated within vTaskDelayUntil (). + * + * @param xTimeIncrement The cycle time period. The task will be unblocked at + * time *pxPreviousWakeTime + xTimeIncrement. Calling vTaskDelayUntil with the + * same xTimeIncrement parameter value will cause the task to execute with + * a fixed interface period. + * + * Example usage: + 
+ // Perform an action every 10 ticks.
+ void vTaskFunction( void * pvParameters )
+ {
+ portTickType xLastWakeTime;
+ const portTickType xFrequency = 10;
+
+	 // Initialise the xLastWakeTime variable with the current time.
+	 xLastWakeTime = xTaskGetTickCount ();
+	 for( ;; )
+	 {
+		 // Wait for the next cycle.
+		 vTaskDelayUntil( &xLastWakeTime, xFrequency );
+
+		 // Perform action here.
+	 }
+ }
+
+ * \defgroup vTaskDelayUntil vTaskDelayUntil + * \ingroup TaskCtrl + */ +void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask );
+ * + * INCLUDE_xTaskPriorityGet must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Obtain the priority of any task. + * + * @param pxTask Handle of the task to be queried. Passing a NULL + * handle results in the priority of the calling task being returned. + * + * @return The priority of pxTask. + * + * Example usage: + 
+ void vAFunction( void )
+ {
+ xTaskHandle xHandle;
+
+	 // Create a task, storing the handle.
+	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+
+	 // ...
+
+	 // Use the handle to obtain the priority of the created task.
+	 // It was created with tskIDLE_PRIORITY, but may have changed
+	 // it itself.
+	 if( uxTaskPriorityGet( xHandle ) != tskIDLE_PRIORITY )
+	 {
+		 // The task has changed it's priority.
+	 }
+
+	 // ...
+
+	 // Is our priority higher than the created task?
+	 if( uxTaskPriorityGet( xHandle ) < uxTaskPriorityGet( NULL ) )
+	 {
+		 // Our priority (obtained using NULL handle) is higher.
+	 }
+ }
+
+ * \defgroup uxTaskPriorityGet uxTaskPriorityGet + * \ingroup TaskCtrl + */ +unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority );
+ * + * INCLUDE_vTaskPrioritySet must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Set the priority of any task. + * + * A context switch will occur before the function returns if the priority + * being set is higher than the currently executing task. + * + * @param pxTask Handle to the task for which the priority is being set. + * Passing a NULL handle results in the priority of the calling task being set. + * + * @param uxNewPriority The priority to which the task will be set. + * + * Example usage: + 
+ void vAFunction( void )
+ {
+ xTaskHandle xHandle;
+
+	 // Create a task, storing the handle.
+	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+
+	 // ...
+
+	 // Use the handle to raise the priority of the created task.
+	 vTaskPrioritySet( xHandle, tskIDLE_PRIORITY + 1 );
+
+	 // ...
+
+	 // Use a NULL handle to raise our priority to the same value.
+	 vTaskPrioritySet( NULL, tskIDLE_PRIORITY + 1 );
+ }
+
+ * \defgroup vTaskPrioritySet vTaskPrioritySet + * \ingroup TaskCtrl + */ +void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
void vTaskSuspend( xTaskHandle pxTaskToSuspend );
+ * + * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Suspend any task. When suspended a task will never get any microcontroller + * processing time, no matter what its priority. + * + * Calls to vTaskSuspend are not accumulative - + * i.e. calling vTaskSuspend () twice on the same task still only requires one + * call to vTaskResume () to ready the suspended task. + * + * @param pxTaskToSuspend Handle to the task being suspended. Passing a NULL + * handle will cause the calling task to be suspended. + * + * Example usage: + 
+ void vAFunction( void )
+ {
+ xTaskHandle xHandle;
+
+	 // Create a task, storing the handle.
+	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+
+	 // ...
+
+	 // Use the handle to suspend the created task.
+	 vTaskSuspend( xHandle );
+
+	 // ...
+
+	 // The created task will not run during this period, unless
+	 // another task calls vTaskResume( xHandle ).
+
+	 //...
+
+
+	 // Suspend ourselves.
+	 vTaskSuspend( NULL );
+
+	 // We cannot get here unless another task calls vTaskResume
+	 // with our handle as the parameter.
+ }
+
+ * \defgroup vTaskSuspend vTaskSuspend + * \ingroup TaskCtrl + */ +void vTaskSuspend( xTaskHandle pxTaskToSuspend ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
void vTaskResume( xTaskHandle pxTaskToResume );
+ * + * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Resumes a suspended task. + * + * A task that has been suspended by one of more calls to vTaskSuspend () + * will be made available for running again by a single call to + * vTaskResume (). + * + * @param pxTaskToResume Handle to the task being readied. + * + * Example usage: + 
+ void vAFunction( void )
+ {
+ xTaskHandle xHandle;
+
+	 // Create a task, storing the handle.
+	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+
+	 // ...
+
+	 // Use the handle to suspend the created task.
+	 vTaskSuspend( xHandle );
+
+	 // ...
+
+	 // The created task will not run during this period, unless
+	 // another task calls vTaskResume( xHandle ).
+
+	 //...
+
+
+	 // Resume the suspended task ourselves.
+	 vTaskResume( xHandle );
+
+	 // The created task will once again get microcontroller processing
+	 // time in accordance with it priority within the system.
+ }
+
+ * \defgroup vTaskResume vTaskResume + * \ingroup TaskCtrl + */ +void vTaskResume( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
void xTaskResumeFromISR( xTaskHandle pxTaskToResume );
+ * + * INCLUDE_xTaskResumeFromISR must be defined as 1 for this function to be + * available. See the configuration section for more information. + * + * An implementation of vTaskResume() that can be called from within an ISR. + * + * A task that has been suspended by one of more calls to vTaskSuspend () + * will be made available for running again by a single call to + * xTaskResumeFromISR (). + * + * @param pxTaskToResume Handle to the task being readied. + * + * \defgroup vTaskResumeFromISR vTaskResumeFromISR + * \ingroup TaskCtrl + */ +portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION; + +/*----------------------------------------------------------- + * SCHEDULER CONTROL + *----------------------------------------------------------*/ + +/** + * task. h + * 
void vTaskStartScheduler( void );
+ * + * Starts the real time kernel tick processing. After calling the kernel + * has control over which tasks are executed and when. This function + * does not return until an executing task calls vTaskEndScheduler (). + * + * At least one task should be created via a call to xTaskCreate () + * before calling vTaskStartScheduler (). The idle task is created + * automatically when the first application task is created. + * + * See the demo application file main.c for an example of creating + * tasks and starting the kernel. + * + * Example usage: + 
+ void vAFunction( void )
+ {
+	 // Create at least one task before starting the kernel.
+	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
+
+	 // Start the real time kernel with preemption.
+	 vTaskStartScheduler ();
+
+	 // Will not get here unless a task calls vTaskEndScheduler ()
+ }
+
+ * + * \defgroup vTaskStartScheduler vTaskStartScheduler + * \ingroup SchedulerControl + */ +void vTaskStartScheduler( void ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
void vTaskEndScheduler( void );
+ * + * Stops the real time kernel tick. All created tasks will be automatically + * deleted and multitasking (either preemptive or cooperative) will + * stop. Execution then resumes from the point where vTaskStartScheduler () + * was called, as if vTaskStartScheduler () had just returned. + * + * See the demo application file main. c in the demo/PC directory for an + * example that uses vTaskEndScheduler (). + * + * vTaskEndScheduler () requires an exit function to be defined within the + * portable layer (see vPortEndScheduler () in port. c for the PC port). This + * performs hardware specific operations such as stopping the kernel tick. + * + * vTaskEndScheduler () will cause all of the resources allocated by the + * kernel to be freed - but will not free resources allocated by application + * tasks. + * + * Example usage: + 
+ void vTaskCode( void * pvParameters )
+ {
+	 for( ;; )
+	 {
+		 // Task code goes here.
+
+		 // At some point we want to end the real time kernel processing
+		 // so call ...
+		 vTaskEndScheduler ();
+	 }
+ }
+
+ void vAFunction( void )
+ {
+	 // Create at least one task before starting the kernel.
+	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
+
+	 // Start the real time kernel with preemption.
+	 vTaskStartScheduler ();
+
+	 // Will only get here when the vTaskCode () task has called
+	 // vTaskEndScheduler ().  When we get here we are back to single task
+	 // execution.
+ }
+
+ * + * \defgroup vTaskEndScheduler vTaskEndScheduler + * \ingroup SchedulerControl + */ +void vTaskEndScheduler( void ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
void vTaskSuspendAll( void );
+ * + * Suspends all real time kernel activity while keeping interrupts (including the + * kernel tick) enabled. + * + * After calling vTaskSuspendAll () the calling task will continue to execute + * without risk of being swapped out until a call to xTaskResumeAll () has been + * made. + * + * API functions that have the potential to cause a context switch (for example, + * vTaskDelayUntil(), xQueueSend(), etc.) must not be called while the scheduler + * is suspended. + * + * Example usage: + 
+ void vTask1( void * pvParameters )
+ {
+	 for( ;; )
+	 {
+		 // Task code goes here.
+
+		 // ...
+
+		 // At some point the task wants to perform a long operation during
+		 // which it does not want to get swapped out.  It cannot use
+		 // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
+		 // operation may cause interrupts to be missed - including the
+		 // ticks.
+
+		 // Prevent the real time kernel swapping out the task.
+		 vTaskSuspendAll ();
+
+		 // Perform the operation here.  There is no need to use critical
+		 // sections as we have all the microcontroller processing time.
+		 // During this time interrupts will still operate and the kernel
+		 // tick count will be maintained.
+
+		 // ...
+
+		 // The operation is complete.  Restart the kernel.
+		 xTaskResumeAll ();
+	 }
+ }
+
+ * \defgroup vTaskSuspendAll vTaskSuspendAll + * \ingroup SchedulerControl + */ +void vTaskSuspendAll( void ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
char xTaskResumeAll( void );
+ * + * Resumes real time kernel activity following a call to vTaskSuspendAll (). + * After a call to vTaskSuspendAll () the kernel will take control of which + * task is executing at any time. + * + * @return If resuming the scheduler caused a context switch then pdTRUE is + * returned, otherwise pdFALSE is returned. + * + * Example usage: + 
+ void vTask1( void * pvParameters )
+ {
+	 for( ;; )
+	 {
+		 // Task code goes here.
+
+		 // ...
+
+		 // At some point the task wants to perform a long operation during
+		 // which it does not want to get swapped out.  It cannot use
+		 // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
+		 // operation may cause interrupts to be missed - including the
+		 // ticks.
+
+		 // Prevent the real time kernel swapping out the task.
+		 vTaskSuspendAll ();
+
+		 // Perform the operation here.  There is no need to use critical
+		 // sections as we have all the microcontroller processing time.
+		 // During this time interrupts will still operate and the real
+		 // time kernel tick count will be maintained.
+
+		 // ...
+
+		 // The operation is complete.  Restart the kernel.  We want to force
+		 // a context switch - but there is no point if resuming the scheduler
+		 // caused a context switch already.
+		 if( !xTaskResumeAll () )
+		 {
+			  taskYIELD ();
+		 }
+	 }
+ }
+
+ * \defgroup xTaskResumeAll xTaskResumeAll + * \ingroup SchedulerControl + */ +signed portBASE_TYPE xTaskResumeAll( void ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask );
+ * + * Utility task that simply returns pdTRUE if the task referenced by xTask is + * currently in the Suspended state, or pdFALSE if the task referenced by xTask + * is in any other state. + * + */ +signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask ) PRIVILEGED_FUNCTION; + +/*----------------------------------------------------------- + * TASK UTILITIES + *----------------------------------------------------------*/ + +/** + * task. h + * 
portTickType xTaskGetTickCount( void );
+ * + * @return The count of ticks since vTaskStartScheduler was called. + * + * \page xTaskGetTickCount xTaskGetTickCount + * \ingroup TaskUtils + */ +portTickType xTaskGetTickCount( void ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
portTickType xTaskGetTickCountFromISR( void );
+ * + * @return The count of ticks since vTaskStartScheduler was called. + * + * This is a version of xTaskGetTickCount() that is safe to be called from an + * ISR - provided that portTickType is the natural word size of the + * microcontroller being used or interrupt nesting is either not supported or + * not being used. + * + * \page xTaskGetTickCount xTaskGetTickCount + * \ingroup TaskUtils + */ +portTickType xTaskGetTickCountFromISR( void ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
unsigned short uxTaskGetNumberOfTasks( void );
+ * + * @return The number of tasks that the real time kernel is currently managing. + * This includes all ready, blocked and suspended tasks. A task that + * has been deleted but not yet freed by the idle task will also be + * included in the count. + * + * \page uxTaskGetNumberOfTasks uxTaskGetNumberOfTasks + * \ingroup TaskUtils + */ +unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery );
+ * + * @return The text (human readable) name of the task referenced by the handle + * xTaskToQueury. A task can query its own name by either passing in its own + * handle, or by setting xTaskToQuery to NULL. INCLUDE_pcTaskGetTaskName must be + * set to 1 in FreeRTOSConfig.h for pcTaskGetTaskName() to be available. + * + * \page pcTaskGetTaskName pcTaskGetTaskName + * \ingroup TaskUtils + */ +signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery ); + +/** + * task. h + * 
void vTaskList( char *pcWriteBuffer );
+ * + * configUSE_TRACE_FACILITY must be defined as 1 for this function to be + * available. See the configuration section for more information. + * + * NOTE: This function will disable interrupts for its duration. It is + * not intended for normal application runtime use but as a debug aid. + * + * Lists all the current tasks, along with their current state and stack + * usage high water mark. + * + * Tasks are reported as blocked ('B'), ready ('R'), deleted ('D') or + * suspended ('S'). + * + * @param pcWriteBuffer A buffer into which the above mentioned details + * will be written, in ascii form. This buffer is assumed to be large + * enough to contain the generated report. Approximately 40 bytes per + * task should be sufficient. + * + * \page vTaskList vTaskList + * \ingroup TaskUtils + */ +void vTaskList( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
void vTaskGetRunTimeStats( char *pcWriteBuffer );
+ * + * configGENERATE_RUN_TIME_STATS must be defined as 1 for this function + * to be available. The application must also then provide definitions + * for portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and + * portGET_RUN_TIME_COUNTER_VALUE to configure a peripheral timer/counter + * and return the timers current count value respectively. The counter + * should be at least 10 times the frequency of the tick count. + * + * NOTE: This function will disable interrupts for its duration. It is + * not intended for normal application runtime use but as a debug aid. + * + * Setting configGENERATE_RUN_TIME_STATS to 1 will result in a total + * accumulated execution time being stored for each task. The resolution + * of the accumulated time value depends on the frequency of the timer + * configured by the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro. + * Calling vTaskGetRunTimeStats() writes the total execution time of each + * task into a buffer, both as an absolute count value and as a percentage + * of the total system execution time. + * + * @param pcWriteBuffer A buffer into which the execution times will be + * written, in ascii form. This buffer is assumed to be large enough to + * contain the generated report. Approximately 40 bytes per task should + * be sufficient. + * + * \page vTaskGetRunTimeStats vTaskGetRunTimeStats + * \ingroup TaskUtils + */ +void vTaskGetRunTimeStats( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
void vTaskStartTrace( char * pcBuffer, unsigned portBASE_TYPE uxBufferSize );
+ * + * Starts a real time kernel activity trace. The trace logs the identity of + * which task is running when. + * + * The trace file is stored in binary format. A separate DOS utility called + * convtrce.exe is used to convert this into a tab delimited text file which + * can be viewed and plotted in a spread sheet. + * + * @param pcBuffer The buffer into which the trace will be written. + * + * @param ulBufferSize The size of pcBuffer in bytes. The trace will continue + * until either the buffer in full, or ulTaskEndTrace () is called. + * + * \page vTaskStartTrace vTaskStartTrace + * \ingroup TaskUtils + */ +void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize ) PRIVILEGED_FUNCTION; + +/** + * task. h + * 
unsigned long ulTaskEndTrace( void );
+ * + * Stops a kernel activity trace. See vTaskStartTrace (). + * + * @return The number of bytes that have been written into the trace buffer. + * + * \page usTaskEndTrace usTaskEndTrace + * \ingroup TaskUtils + */ +unsigned long ulTaskEndTrace( void ) PRIVILEGED_FUNCTION; + +/** + * task.h + * 
unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask );
+ * + * INCLUDE_uxTaskGetStackHighWaterMark must be set to 1 in FreeRTOSConfig.h for + * this function to be available. + * + * Returns the high water mark of the stack associated with xTask. That is, + * the minimum free stack space there has been (in words, so on a 32 bit machine + * a value of 1 means 4 bytes) since the task started. The smaller the returned + * number the closer the task has come to overflowing its stack. + * + * @param xTask Handle of the task associated with the stack to be checked. + * Set xTask to NULL to check the stack of the calling task. + * + * @return The smallest amount of free stack space there has been (in bytes) + * since the task referenced by xTask was created. + */ +unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask ) PRIVILEGED_FUNCTION; + +/* When using trace macros it is sometimes necessary to include tasks.h before +FreeRTOS.h. When this is done pdTASK_HOOK_CODE will not yet have been defined, +so the following two prototypes will cause a compilation error. This can be +fixed by simply guarding against the inclusion of these two prototypes unless +they are explicitly required by the configUSE_APPLICATION_TASK_TAG configuration +constant. */ +#ifdef configUSE_APPLICATION_TASK_TAG + #if configUSE_APPLICATION_TASK_TAG == 1 + /** + * task.h + * 
void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction );
+ * + * Sets pxHookFunction to be the task hook function used by the task xTask. + * Passing xTask as NULL has the effect of setting the calling tasks hook + * function. + */ + void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction ) PRIVILEGED_FUNCTION; + + /** + * task.h + * 
void xTaskGetApplicationTaskTag( xTaskHandle xTask );
+ * + * Returns the pxHookFunction value assigned to the task xTask. + */ + pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask ) PRIVILEGED_FUNCTION; + #endif /* configUSE_APPLICATION_TASK_TAG ==1 */ +#endif /* ifdef configUSE_APPLICATION_TASK_TAG */ + +/** + * task.h + * 
portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction );
+ * + * Calls the hook function associated with xTask. Passing xTask as NULL has + * the effect of calling the Running tasks (the calling task) hook function. + * + * pvParameter is passed to the hook function for the task to interpret as it + * wants. + */ +portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter ) PRIVILEGED_FUNCTION; + +/** + * xTaskGetIdleTaskHandle() is only available if + * INCLUDE_xTaskGetIdleTaskHandle is set to 1 in FreeRTOSConfig.h. + * + * Simply returns the handle of the idle task. It is not valid to call + * xTaskGetIdleTaskHandle() before the scheduler has been started. + */ +xTaskHandle xTaskGetIdleTaskHandle( void ); + +/*----------------------------------------------------------- + * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES + *----------------------------------------------------------*/ + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY + * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS + * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * Called from the real time kernel tick (either preemptive or cooperative), + * this increments the tick count and checks if any tasks that are blocked + * for a finite period required removing from a blocked list and placing on + * a ready list. + */ +void vTaskIncrementTick( void ) PRIVILEGED_FUNCTION; + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN + * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED. + * + * Removes the calling task from the ready list and places it both + * on the list of tasks waiting for a particular event, and the + * list of delayed tasks. The task will be removed from both lists + * and replaced on the ready list should either the event occur (and + * there be no higher priority tasks waiting on the same event) or + * the delay period expires. + * + * @param pxEventList The list containing tasks that are blocked waiting + * for the event to occur. + * + * @param xTicksToWait The maximum amount of time that the task should wait + * for the event to occur. This is specified in kernel ticks,the constant + * portTICK_RATE_MS can be used to convert kernel ticks into a real time + * period. + */ +void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait ) PRIVILEGED_FUNCTION; + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN + * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED. + * + * This function performs nearly the same function as vTaskPlaceOnEventList(). + * The difference being that this function does not permit tasks to block + * indefinitely, whereas vTaskPlaceOnEventList() does. + * + * @return pdTRUE if the task being removed has a higher priority than the task + * making the call, otherwise pdFALSE. + */ +void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait ) PRIVILEGED_FUNCTION; + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN + * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED. + * + * Removes a task from both the specified event list and the list of blocked + * tasks, and places it on a ready queue. + * + * xTaskRemoveFromEventList () will be called if either an event occurs to + * unblock a task, or the block timeout period expires. + * + * @return pdTRUE if the task being removed has a higher priority than the task + * making the call, otherwise pdFALSE. + */ +signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList ) PRIVILEGED_FUNCTION; + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY + * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS + * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * Sets the pointer to the current TCB to the TCB of the highest priority task + * that is ready to run. + */ +void vTaskSwitchContext( void ) PRIVILEGED_FUNCTION; + +/* + * Return the handle of the calling task. + */ +xTaskHandle xTaskGetCurrentTaskHandle( void ) PRIVILEGED_FUNCTION; + +/* + * Capture the current time status for future reference. + */ +void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut ) PRIVILEGED_FUNCTION; + +/* + * Compare the time status now with that previously captured to see if the + * timeout has expired. + */ +portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait ) PRIVILEGED_FUNCTION; + +/* + * Shortcut used by the queue implementation to prevent unnecessary call to + * taskYIELD(); + */ +void vTaskMissedYield( void ) PRIVILEGED_FUNCTION; + +/* + * Returns the scheduler state as taskSCHEDULER_RUNNING, + * taskSCHEDULER_NOT_STARTED or taskSCHEDULER_SUSPENDED. + */ +portBASE_TYPE xTaskGetSchedulerState( void ) PRIVILEGED_FUNCTION; + +/* + * Raises the priority of the mutex holder to that of the calling task should + * the mutex holder have a priority less than the calling task. + */ +void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder ) PRIVILEGED_FUNCTION; + +/* + * Set the priority of a task back to its proper priority in the case that it + * inherited a higher priority while it was holding a semaphore. + */ +void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder ) PRIVILEGED_FUNCTION; + +/* + * Generic version of the task creation function which is in turn called by the + * xTaskCreate() and xTaskCreateRestricted() macros. + */ +signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions ) PRIVILEGED_FUNCTION; + +/* + * Get the uxTCBNumber assigned to the task referenced by the xTask parameter. + */ +unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask ); + +/* + * Set the uxTCBNumber of the task referenced by the xTask parameter to + * ucHandle. + */ +void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle ); + + +#ifdef __cplusplus +} +#endif +#endif /* TASK_H */ + + + diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/timers.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/timers.h new file mode 100644 index 000000000..fd0a3e812 --- /dev/null +++ b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/include/timers.h @@ -0,0 +1,952 @@ +/* + FreeRTOS V7.1.1 - Copyright (C) 2012 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! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong? * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + + http://www.FreeRTOS.org - Documentation, training, latest information, + license and contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool. + + Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell + the code with commercial support, indemnification, and middleware, under + the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also + provide a safety engineered and independently SIL3 certified version under + the SafeRTOS brand: http://www.SafeRTOS.com. +*/ + + +#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" +#include "task.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 xTimerPeriodInTicks, + * 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 xTimerPeriodInTicks 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 xTimerPeriodInTicks 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 xTimerPeriodInTicks 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; + +/** + * xTimerGetTimerDaemonTaskHandle() is only available if + * INCLUDE_xTimerGetTimerDaemonTaskHandle is set to 1 in FreeRTOSConfig.h. + * + * Simply returns the handle of the timer service/daemon task. It it not valid + * to call xTimerGetTimerDaemonTaskHandle() before the scheduler has been started. + */ +xTaskHandle xTimerGetTimerDaemonTaskHandle( void ); + +/** + * 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, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portTickType xBlockTime ) PRIVILEGED_FUNCTION; + +#ifdef __cplusplus +} +#endif +#endif /* TIMERS_H */ + + + diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/list.c b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/list.c new file mode 100644 index 000000000..f4a4a0da9 --- /dev/null +++ b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/list.c @@ -0,0 +1,204 @@ +/* + FreeRTOS V7.1.1 - Copyright (C) 2012 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! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong? * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + + http://www.FreeRTOS.org - Documentation, training, latest information, + license and contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool. + + Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell + the code with commercial support, indemnification, and middleware, under + the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also + provide a safety engineered and independently SIL3 certified version under + the SafeRTOS brand: http://www.SafeRTOS.com. +*/ + + +#include +#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 )--; +} +/*-----------------------------------------------------------*/ + diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/portable/GCC/ARM_CM3/port.c b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/portable/GCC/ARM_CM3/port.c new file mode 100644 index 000000000..344b381eb --- /dev/null +++ b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/portable/GCC/ARM_CM3/port.c @@ -0,0 +1,300 @@ +/* + FreeRTOS V7.1.1 - Copyright (C) 2012 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! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong? * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + + http://www.FreeRTOS.org - Documentation, training, latest information, + license and contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool. + + Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell + the code with commercial support, indemnification, and middleware, under + the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also + provide a safety engineered and independently SIL3 certified version under + the SafeRTOS brand: http://www.SafeRTOS.com. +*/ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the ARM CM3 port. + *----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* For backward compatibility, ensure configKERNEL_INTERRUPT_PRIORITY is +defined. The value should also ensure backward compatibility. +FreeRTOS.org versions prior to V4.4.0 did not include this definition. */ +#ifndef configKERNEL_INTERRUPT_PRIORITY + #define configKERNEL_INTERRUPT_PRIORITY 255 +#endif + +#if configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 + #error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html +#endif + +/* Constants required to manipulate the NVIC. */ +#define portNVIC_SYSTICK_CTRL ( ( volatile unsigned long *) 0xe000e010 ) +#define portNVIC_SYSTICK_LOAD ( ( volatile unsigned long *) 0xe000e014 ) +#define portNVIC_INT_CTRL ( ( volatile unsigned long *) 0xe000ed04 ) +#define portNVIC_SYSPRI2 ( ( volatile unsigned long *) 0xe000ed20 ) +#define portNVIC_SYSTICK_CLK 0x00000004 +#define portNVIC_SYSTICK_INT 0x00000002 +#define portNVIC_SYSTICK_ENABLE 0x00000001 +#define portNVIC_PENDSVSET 0x10000000 +#define portNVIC_PENDSV_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16 ) +#define portNVIC_SYSTICK_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24 ) + +/* Constants required to set up the initial stack. */ +#define portINITIAL_XPSR ( 0x01000000 ) + +/* The priority used by the kernel is assigned to a variable to make access +from inline assembler easier. */ +const unsigned long ulKernelPriority = configKERNEL_INTERRUPT_PRIORITY; + +/* Each task maintains its own interrupt status in the critical nesting +variable. */ +static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa; + +/* + * Setup the timer to generate the tick interrupts. + */ +static void prvSetupTimerInterrupt( void ); + +/* + * Exception handlers. + */ +void xPortPendSVHandler( void ) __attribute__ (( naked )); +void xPortSysTickHandler( void ); +void vPortSVCHandler( void ) __attribute__ (( naked )); + +/* + * Start first task is a separate function so it can be tested in isolation. + */ +static void prvPortStartFirstTask( void ) __attribute__ (( naked )); + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ) +{ + /* Simulate the stack frame as it would be created by a context switch + interrupt. */ + pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = 0; /* LR */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */ + pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +void vPortSVCHandler( void ) +{ + __asm volatile ( + " ldr r3, pxCurrentTCBConst2 \n" /* Restore the context. */ + " ldr r1, [r3] \n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */ + " ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */ + " ldmia r0!, {r4-r11} \n" /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */ + " msr psp, r0 \n" /* Restore the task stack pointer. */ + " mov r0, #0 \n" + " msr basepri, r0 \n" + " orr r14, #0xd \n" + " bx r14 \n" + " \n" + " .align 2 \n" + "pxCurrentTCBConst2: .word pxCurrentTCB \n" + ); +} +/*-----------------------------------------------------------*/ + +static void prvPortStartFirstTask( void ) +{ + __asm volatile( + " ldr r0, =0xE000ED08 \n" /* Use the NVIC offset register to locate the stack. */ + " ldr r0, [r0] \n" + " ldr r0, [r0] \n" + " msr msp, r0 \n" /* Set the msp back to the start of the stack. */ + " cpsie i \n" /* Globally enable interrupts. */ + " svc 0 \n" /* System call to start first task. */ + " nop \n" + ); +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +portBASE_TYPE xPortStartScheduler( void ) +{ + /* Make PendSV, CallSV and SysTick the same priroity as the kernel. */ + *(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI; + *(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI; + + /* Start the timer that generates the tick ISR. Interrupts are disabled + here already. */ + prvSetupTimerInterrupt(); + + /* Initialise the critical nesting count ready for the first task. */ + uxCriticalNesting = 0; + + /* Start the first task. */ + prvPortStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the CM3 port will require this function as there + is nothing to return to. */ +} +/*-----------------------------------------------------------*/ + +void vPortYieldFromISR( void ) +{ + /* Set a PendSV to request a context switch. */ + *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET; +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + uxCriticalNesting--; + if( uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void xPortPendSVHandler( void ) +{ + /* This is a naked function. */ + + __asm volatile + ( + " mrs r0, psp \n" + " \n" + " ldr r3, pxCurrentTCBConst \n" /* Get the location of the current TCB. */ + " ldr r2, [r3] \n" + " \n" + " stmdb r0!, {r4-r11} \n" /* Save the remaining registers. */ + " str r0, [r2] \n" /* Save the new top of stack into the first member of the TCB. */ + " \n" + " stmdb sp!, {r3, r14} \n" + " mov r0, %0 \n" + " msr basepri, r0 \n" + " bl vTaskSwitchContext \n" + " mov r0, #0 \n" + " msr basepri, r0 \n" + " ldmia sp!, {r3, r14} \n" + " \n" /* Restore the context, including the critical nesting count. */ + " ldr r1, [r3] \n" + " ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */ + " ldmia r0!, {r4-r11} \n" /* Pop the registers. */ + " msr psp, r0 \n" + " bx r14 \n" + " \n" + " .align 2 \n" + "pxCurrentTCBConst: .word pxCurrentTCB \n" + ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY) + ); +} +/*-----------------------------------------------------------*/ + +void xPortSysTickHandler( void ) +{ +unsigned long ulDummy; + + /* If using preemption, also force a context switch. */ + #if configUSE_PREEMPTION == 1 + *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET; + #endif + + ulDummy = portSET_INTERRUPT_MASK_FROM_ISR(); + { + vTaskIncrementTick(); + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy ); +} +/*-----------------------------------------------------------*/ + +/* + * Setup the systick timer to generate the tick interrupts at the required + * frequency. + */ +void prvSetupTimerInterrupt( void ) +{ + /* Configure SysTick to interrupt at the requested rate. */ + *(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + *(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE; +} +/*-----------------------------------------------------------*/ + diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/portable/GCC/ARM_CM3/portmacro.h b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/portable/GCC/ARM_CM3/portmacro.h new file mode 100644 index 000000000..6220a2ed8 --- /dev/null +++ b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/portable/GCC/ARM_CM3/portmacro.h @@ -0,0 +1,169 @@ +/* + FreeRTOS V7.1.1 - Copyright (C) 2012 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! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong? * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + + http://www.FreeRTOS.org - Documentation, training, latest information, + license and contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool. + + Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell + the code with commercial support, indemnification, and middleware, under + the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also + provide a safety engineered and independently SIL3 certified version under + the SafeRTOS brand: http://www.SafeRTOS.com. +*/ + + +#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 long + +#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 +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 +/*-----------------------------------------------------------*/ + + +/* Scheduler utilities. */ +extern void vPortYieldFromISR( void ); + +#define portYIELD() vPortYieldFromISR() + +#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYieldFromISR() +/*-----------------------------------------------------------*/ + + +/* Critical section management. */ + +/* + * Set basepri to portMAX_SYSCALL_INTERRUPT_PRIORITY without effecting other + * registers. r0 is clobbered. + */ +#define portSET_INTERRUPT_MASK() \ + __asm volatile \ + ( \ + " mov r0, %0 \n" \ + " msr basepri, r0 \n" \ + ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY):"r0" \ + ) + +/* + * Set basepri back to 0 without effective other registers. + * r0 is clobbered. + */ +#define portCLEAR_INTERRUPT_MASK() \ + __asm volatile \ + ( \ + " mov r0, #0 \n" \ + " msr basepri, r0 \n" \ + :::"r0" \ + ) + +#define portSET_INTERRUPT_MASK_FROM_ISR() 0;portSET_INTERRUPT_MASK() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) portCLEAR_INTERRUPT_MASK();(void)x + + +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); + +#define portDISABLE_INTERRUPTS() portSET_INTERRUPT_MASK() +#define portENABLE_INTERRUPTS() portCLEAR_INTERRUPT_MASK() +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#define portNOP() + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/portable/MemMang/heap_2.c b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/portable/MemMang/heap_2.c new file mode 100644 index 000000000..bfad2455c --- /dev/null +++ b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/portable/MemMang/heap_2.c @@ -0,0 +1,291 @@ +/* + FreeRTOS V7.1.1 - Copyright (C) 2012 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! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong? * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + + http://www.FreeRTOS.org - Documentation, training, latest information, + license and contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool. + + Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell + the code with commercial support, indemnification, and middleware, under + the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also + provide a safety engineered and independently SIL3 certified version under + the SafeRTOS brand: http://www.SafeRTOS.com. +*/ + +/* + * 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 + +/* 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. */ +} diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/queue.c b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/queue.c new file mode 100644 index 000000000..a546dcc08 --- /dev/null +++ b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/queue.c @@ -0,0 +1,1682 @@ +/* + FreeRTOS V7.1.1 - Copyright (C) 2012 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! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong? * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + + http://www.FreeRTOS.org - Documentation, training, latest information, + license and contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool. + + Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell + the code with commercial support, indemnification, and middleware, under + the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also + provide a safety engineered and independently SIL3 certified version under + the SafeRTOS brand: http://www.SafeRTOS.com. +*/ + +#include +#include + +/* 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" + +#if ( configUSE_CO_ROUTINES == 1 ) + #include "croutine.h" +#endif + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/*----------------------------------------------------------- + * PUBLIC LIST API documented in list.h + *----------------------------------------------------------*/ + +/* Constants used with the cRxLock and cTxLock structure members. */ +#define queueUNLOCKED ( ( signed portBASE_TYPE ) -1 ) +#define queueLOCKED_UNMODIFIED ( ( signed portBASE_TYPE ) 0 ) + +#define queueERRONEOUS_UNBLOCK ( -1 ) + +/* For internal use only. */ +#define queueSEND_TO_BACK ( 0 ) +#define queueSEND_TO_FRONT ( 1 ) + +/* Effectively make a union out of the xQUEUE structure. */ +#define pxMutexHolder pcTail +#define uxQueueType pcHead +#define uxRecursiveCallCount pcReadFrom +#define queueQUEUE_IS_MUTEX NULL + +/* Semaphores do not actually store or copy data, so have an items size of +zero. */ +#define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( unsigned portBASE_TYPE ) 0 ) +#define queueDONT_BLOCK ( ( portTickType ) 0U ) +#define queueMUTEX_GIVE_BLOCK_TIME ( ( portTickType ) 0U ) + +/* These definitions *must* match those in queue.h. */ +#define queueQUEUE_TYPE_BASE ( 0U ) +#define queueQUEUE_TYPE_MUTEX ( 1U ) +#define queueQUEUE_TYPE_COUNTING_SEMAPHORE ( 2U ) +#define queueQUEUE_TYPE_BINARY_SEMAPHORE ( 3U ) +#define queueQUEUE_TYPE_RECURSIVE_MUTEX ( 4U ) + +/* + * Definition of the queue used by the scheduler. + * Items are queued by copy, not reference. + */ +typedef struct QueueDefinition +{ + signed char *pcHead; /*< Points to the beginning of the queue storage area. */ + signed char *pcTail; /*< Points to the byte at the end of the queue storage area. Once more byte is allocated than necessary to store the queue items, this is used as a marker. */ + + signed char *pcWriteTo; /*< Points to the free next place in the storage area. */ + signed char *pcReadFrom; /*< Points to the last place that a queued item was read from. */ + + xList xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */ + xList xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */ + + volatile unsigned portBASE_TYPE uxMessagesWaiting;/*< The number of items currently in the queue. */ + unsigned portBASE_TYPE uxLength; /*< The length of the queue defined as the number of items it will hold, not the number of bytes. */ + unsigned portBASE_TYPE uxItemSize; /*< The size of each items that the queue will hold. */ + + signed portBASE_TYPE xRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */ + signed portBASE_TYPE xTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */ + + #if ( configUSE_TRACE_FACILITY == 1 ) + unsigned char ucQueueNumber; + unsigned char ucQueueType; + #endif + +} xQUEUE; +/*-----------------------------------------------------------*/ + +/* + * Inside this file xQueueHandle is a pointer to a xQUEUE structure. + * To keep the definition private the API header file defines it as a + * pointer to void. + */ +typedef xQUEUE * xQueueHandle; + +/* + * Prototypes for public functions are included here so we don't have to + * include the API header file (as it defines xQueueHandle differently). These + * functions are documented in the API header file. + */ +xQueueHandle xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType ) PRIVILEGED_FUNCTION; +signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION; +unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; +void vQueueDelete( xQueueHandle xQueue ) PRIVILEGED_FUNCTION; +signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION; +signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) PRIVILEGED_FUNCTION; +signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; +xQueueHandle xQueueCreateMutex( unsigned char ucQueueType ) PRIVILEGED_FUNCTION; +xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ) PRIVILEGED_FUNCTION; +portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime ) PRIVILEGED_FUNCTION; +portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex ) PRIVILEGED_FUNCTION; +signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION; +signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) PRIVILEGED_FUNCTION; +signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; +signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; +unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; +void vQueueWaitForMessageRestricted( xQueueHandle pxQueue, portTickType xTicksToWait ) PRIVILEGED_FUNCTION; +unsigned char ucQueueGetQueueNumber( xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; +void vQueueSetQueueNumber( xQueueHandle pxQueue, unsigned char ucQueueNumber ) PRIVILEGED_FUNCTION; +unsigned char ucQueueGetQueueType( xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; +portBASE_TYPE xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue ) PRIVILEGED_FUNCTION; +xTaskHandle xQueueGetMutexHolder( xQueueHandle xSemaphore ) PRIVILEGED_FUNCTION; + +/* + * Co-routine queue functions differ from task queue functions. Co-routines are + * an optional component. + */ +#if configUSE_CO_ROUTINES == 1 + signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ) PRIVILEGED_FUNCTION; + signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken ) PRIVILEGED_FUNCTION; + signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait ) PRIVILEGED_FUNCTION; + signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait ) PRIVILEGED_FUNCTION; +#endif + +/* + * The queue registry is just a means for kernel aware debuggers to locate + * queue structures. It has no other purpose so is an optional component. + */ +#if configQUEUE_REGISTRY_SIZE > 0 + + /* The type stored within the queue registry array. This allows a name + to be assigned to each queue making kernel aware debugging a little + more user friendly. */ + typedef struct QUEUE_REGISTRY_ITEM + { + signed char *pcQueueName; + xQueueHandle xHandle; + } xQueueRegistryItem; + + /* The queue registry is simply an array of xQueueRegistryItem structures. + The pcQueueName member of a structure being NULL is indicative of the + array position being vacant. */ + xQueueRegistryItem xQueueRegistry[ configQUEUE_REGISTRY_SIZE ]; + + /* Removes a queue from the registry by simply setting the pcQueueName + member to NULL. */ + static void vQueueUnregisterQueue( xQueueHandle xQueue ) PRIVILEGED_FUNCTION; + void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName ) PRIVILEGED_FUNCTION; +#endif + +/* + * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not + * prevent an ISR from adding or removing items to the queue, but does prevent + * an ISR from removing tasks from the queue event lists. If an ISR finds a + * queue is locked it will instead increment the appropriate queue lock count + * to indicate that a task may require unblocking. When the queue in unlocked + * these lock counts are inspected, and the appropriate action taken. + */ +static void prvUnlockQueue( xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; + +/* + * Uses a critical section to determine if there is any data in a queue. + * + * @return pdTRUE if the queue contains no items, otherwise pdFALSE. + */ +static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; + +/* + * Uses a critical section to determine if there is any space in a queue. + * + * @return pdTRUE if there is no space, otherwise pdFALSE; + */ +static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION; + +/* + * Copies an item into the queue, either at the front of the queue or the + * back of the queue. + */ +static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition ) PRIVILEGED_FUNCTION; + +/* + * Copies an item out of a queue. + */ +static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer ) PRIVILEGED_FUNCTION; +/*-----------------------------------------------------------*/ + +/* + * Macro to mark a queue as locked. Locking a queue prevents an ISR from + * accessing the queue event lists. + */ +#define prvLockQueue( pxQueue ) \ + taskENTER_CRITICAL(); \ + { \ + if( ( pxQueue )->xRxLock == queueUNLOCKED ) \ + { \ + ( pxQueue )->xRxLock = queueLOCKED_UNMODIFIED; \ + } \ + if( ( pxQueue )->xTxLock == queueUNLOCKED ) \ + { \ + ( pxQueue )->xTxLock = queueLOCKED_UNMODIFIED; \ + } \ + } \ + taskEXIT_CRITICAL() +/*-----------------------------------------------------------*/ + + +/*----------------------------------------------------------- + * PUBLIC QUEUE MANAGEMENT API documented in queue.h + *----------------------------------------------------------*/ + +portBASE_TYPE xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue ) +{ + configASSERT( pxQueue ); + + taskENTER_CRITICAL(); + { + pxQueue->pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize ); + pxQueue->uxMessagesWaiting = ( unsigned portBASE_TYPE ) 0U; + pxQueue->pcWriteTo = pxQueue->pcHead; + pxQueue->pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - ( unsigned portBASE_TYPE ) 1U ) * pxQueue->uxItemSize ); + pxQueue->xRxLock = queueUNLOCKED; + pxQueue->xTxLock = queueUNLOCKED; + + if( xNewQueue == pdFALSE ) + { + /* If there are tasks blocked waiting to read from the queue, then + the tasks will remain blocked as after this function exits the queue + will still be empty. If there are tasks blocked waiting to write to + the queue, then one should be unblocked as after this function exits + it will be possible to write to it. */ + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE ) + { + portYIELD_WITHIN_API(); + } + } + } + else + { + /* Ensure the event queues start in the correct state. */ + vListInitialise( &( pxQueue->xTasksWaitingToSend ) ); + vListInitialise( &( pxQueue->xTasksWaitingToReceive ) ); + } + } + taskEXIT_CRITICAL(); + + /* A value is returned for calling semantic consistency with previous + versions. */ + return pdPASS; +} +/*-----------------------------------------------------------*/ + +xQueueHandle xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType ) +{ +xQUEUE *pxNewQueue; +size_t xQueueSizeInBytes; +xQueueHandle xReturn = NULL; + + /* Remove compiler warnings about unused parameters should + configUSE_TRACE_FACILITY not be set to 1. */ + ( void ) ucQueueType; + + /* Allocate the new queue structure. */ + if( uxQueueLength > ( unsigned portBASE_TYPE ) 0 ) + { + pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) ); + if( pxNewQueue != NULL ) + { + /* Create the list of pointers to queue items. The queue is one byte + longer than asked for to make wrap checking easier/faster. */ + xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1; + + pxNewQueue->pcHead = ( signed char * ) pvPortMalloc( xQueueSizeInBytes ); + if( pxNewQueue->pcHead != NULL ) + { + /* Initialise the queue members as described above where the + queue type is defined. */ + pxNewQueue->uxLength = uxQueueLength; + pxNewQueue->uxItemSize = uxItemSize; + xQueueGenericReset( pxNewQueue, pdTRUE ); + #if ( configUSE_TRACE_FACILITY == 1 ) + { + pxNewQueue->ucQueueType = ucQueueType; + } + #endif /* configUSE_TRACE_FACILITY */ + + traceQUEUE_CREATE( pxNewQueue ); + xReturn = pxNewQueue; + } + else + { + traceQUEUE_CREATE_FAILED( ucQueueType ); + vPortFree( pxNewQueue ); + } + } + } + + configASSERT( xReturn ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_MUTEXES == 1 ) + + xQueueHandle xQueueCreateMutex( unsigned char ucQueueType ) + { + xQUEUE *pxNewQueue; + + /* Prevent compiler warnings about unused parameters if + configUSE_TRACE_FACILITY does not equal 1. */ + ( void ) ucQueueType; + + /* Allocate the new queue structure. */ + pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) ); + if( pxNewQueue != NULL ) + { + /* Information required for priority inheritance. */ + pxNewQueue->pxMutexHolder = NULL; + pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX; + + /* Queues used as a mutex no data is actually copied into or out + of the queue. */ + pxNewQueue->pcWriteTo = NULL; + pxNewQueue->pcReadFrom = NULL; + + /* Each mutex has a length of 1 (like a binary semaphore) and + an item size of 0 as nothing is actually copied into or out + of the mutex. */ + pxNewQueue->uxMessagesWaiting = ( unsigned portBASE_TYPE ) 0U; + pxNewQueue->uxLength = ( unsigned portBASE_TYPE ) 1U; + pxNewQueue->uxItemSize = ( unsigned portBASE_TYPE ) 0U; + pxNewQueue->xRxLock = queueUNLOCKED; + pxNewQueue->xTxLock = queueUNLOCKED; + + #if ( configUSE_TRACE_FACILITY == 1 ) + { + pxNewQueue->ucQueueType = ucQueueType; + } + #endif + + /* Ensure the event queues start with the correct state. */ + vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) ); + vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) ); + + traceCREATE_MUTEX( pxNewQueue ); + + /* Start with the semaphore in the expected state. */ + xQueueGenericSend( pxNewQueue, NULL, ( portTickType ) 0U, queueSEND_TO_BACK ); + } + else + { + traceCREATE_MUTEX_FAILED(); + } + + configASSERT( pxNewQueue ); + return pxNewQueue; + } + +#endif /* configUSE_MUTEXES */ +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xQueueGetMutexHolder == 1 ) ) + + void* xQueueGetMutexHolder( xQueueHandle xSemaphore ) + { + void *pxReturn; + + /* This function is called by xSemaphoreGetMutexHolder(), and should not + be called directly. Note: This is is a good way of determining if the + calling task is the mutex holder, but not a good way of determining the + identity of the mutex holder, as the holder may change between the + following critical section exiting and the function returning. */ + taskENTER_CRITICAL(); + { + if( xSemaphore->uxQueueType == queueQUEUE_IS_MUTEX ) + { + pxReturn = ( void * ) xSemaphore->pxMutexHolder; + } + else + { + pxReturn = NULL; + } + } + taskEXIT_CRITICAL(); + + return pxReturn; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_RECURSIVE_MUTEXES == 1 ) + + portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex ) + { + portBASE_TYPE xReturn; + + configASSERT( pxMutex ); + + /* If this is the task that holds the mutex then pxMutexHolder will not + change outside of this task. If this task does not hold the mutex then + pxMutexHolder can never coincidentally equal the tasks handle, and as + this is the only condition we are interested in it does not matter if + pxMutexHolder is accessed simultaneously by another task. Therefore no + mutual exclusion is required to test the pxMutexHolder variable. */ + if( pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle() ) + { + traceGIVE_MUTEX_RECURSIVE( pxMutex ); + + /* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to + the task handle, therefore no underflow check is required. Also, + uxRecursiveCallCount is only modified by the mutex holder, and as + there can only be one, no mutual exclusion is required to modify the + uxRecursiveCallCount member. */ + ( pxMutex->uxRecursiveCallCount )--; + + /* Have we unwound the call count? */ + if( pxMutex->uxRecursiveCallCount == 0 ) + { + /* Return the mutex. This will automatically unblock any other + task that might be waiting to access the mutex. */ + xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK ); + } + + xReturn = pdPASS; + } + else + { + /* We cannot give the mutex because we are not the holder. */ + xReturn = pdFAIL; + + traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex ); + } + + return xReturn; + } + +#endif /* configUSE_RECURSIVE_MUTEXES */ +/*-----------------------------------------------------------*/ + +#if configUSE_RECURSIVE_MUTEXES == 1 + + portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle pxMutex, portTickType xBlockTime ) + { + portBASE_TYPE xReturn; + + configASSERT( pxMutex ); + + /* Comments regarding mutual exclusion as per those within + xQueueGiveMutexRecursive(). */ + + traceTAKE_MUTEX_RECURSIVE( pxMutex ); + + if( pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle() ) + { + ( pxMutex->uxRecursiveCallCount )++; + xReturn = pdPASS; + } + else + { + xReturn = xQueueGenericReceive( pxMutex, NULL, xBlockTime, pdFALSE ); + + /* pdPASS will only be returned if we successfully obtained the mutex, + we may have blocked to reach here. */ + if( xReturn == pdPASS ) + { + ( pxMutex->uxRecursiveCallCount )++; + } + else + { + traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex ); + } + } + + return xReturn; + } + +#endif /* configUSE_RECURSIVE_MUTEXES */ +/*-----------------------------------------------------------*/ + +#if configUSE_COUNTING_SEMAPHORES == 1 + + xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ) + { + xQueueHandle pxHandle; + + pxHandle = xQueueGenericCreate( ( unsigned portBASE_TYPE ) uxCountValue, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE ); + + if( pxHandle != NULL ) + { + pxHandle->uxMessagesWaiting = uxInitialCount; + + traceCREATE_COUNTING_SEMAPHORE(); + } + else + { + traceCREATE_COUNTING_SEMAPHORE_FAILED(); + } + + configASSERT( pxHandle ); + return pxHandle; + } + +#endif /* configUSE_COUNTING_SEMAPHORES */ +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) +{ +signed portBASE_TYPE xEntryTimeSet = pdFALSE; +xTimeOutType xTimeOut; + + configASSERT( pxQueue ); + configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) ); + + /* This function relaxes the coding standard somewhat to allow return + statements within the function itself. This is done in the interest + of execution time efficiency. */ + for( ;; ) + { + taskENTER_CRITICAL(); + { + /* Is there room on the queue now? To be running we must be + the highest priority task wanting to access the queue. */ + if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) + { + traceQUEUE_SEND( pxQueue ); + prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); + + /* If there was a task waiting for data to arrive on the + queue then unblock it now. */ + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE ) + { + /* The unblocked task has a priority higher than + our own so yield immediately. Yes it is ok to do + this from within the critical section - the kernel + takes care of that. */ + portYIELD_WITHIN_API(); + } + } + + taskEXIT_CRITICAL(); + + /* Return to the original privilege level before exiting the + function. */ + return pdPASS; + } + else + { + if( xTicksToWait == ( portTickType ) 0 ) + { + /* The queue was full and no block time is specified (or + the block time has expired) so leave now. */ + taskEXIT_CRITICAL(); + + /* Return to the original privilege level before exiting + the function. */ + traceQUEUE_SEND_FAILED( pxQueue ); + return errQUEUE_FULL; + } + else if( xEntryTimeSet == pdFALSE ) + { + /* The queue was full and a block time was specified so + configure the timeout structure. */ + vTaskSetTimeOutState( &xTimeOut ); + xEntryTimeSet = pdTRUE; + } + } + } + taskEXIT_CRITICAL(); + + /* Interrupts and other tasks can send to and receive from the queue + now the critical section has been exited. */ + + vTaskSuspendAll(); + prvLockQueue( pxQueue ); + + /* Update the timeout state to see if it has expired yet. */ + if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) + { + if( prvIsQueueFull( pxQueue ) != pdFALSE ) + { + traceBLOCKING_ON_QUEUE_SEND( pxQueue ); + vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait ); + + /* Unlocking the queue means queue events can effect the + event list. It is possible that interrupts occurring now + remove this task from the event list again - but as the + scheduler is suspended the task will go onto the pending + ready last instead of the actual ready list. */ + prvUnlockQueue( pxQueue ); + + /* Resuming the scheduler will move tasks from the pending + ready list into the ready list - so it is feasible that this + task is already in a ready list before it yields - in which + case the yield will not cause a context switch unless there + is also a higher priority task in the pending ready list. */ + if( xTaskResumeAll() == pdFALSE ) + { + portYIELD_WITHIN_API(); + } + } + else + { + /* Try again. */ + prvUnlockQueue( pxQueue ); + ( void ) xTaskResumeAll(); + } + } + else + { + /* The timeout has expired. */ + prvUnlockQueue( pxQueue ); + ( void ) xTaskResumeAll(); + + /* Return to the original privilege level before exiting the + function. */ + traceQUEUE_SEND_FAILED( pxQueue ); + return errQUEUE_FULL; + } + } +} +/*-----------------------------------------------------------*/ + +#if configUSE_ALTERNATIVE_API == 1 + + signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) + { + signed portBASE_TYPE xEntryTimeSet = pdFALSE; + xTimeOutType xTimeOut; + + configASSERT( pxQueue ); + configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) ); + + for( ;; ) + { + taskENTER_CRITICAL(); + { + /* Is there room on the queue now? To be running we must be + the highest priority task wanting to access the queue. */ + if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) + { + traceQUEUE_SEND( pxQueue ); + prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); + + /* If there was a task waiting for data to arrive on the + queue then unblock it now. */ + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE ) + { + /* The unblocked task has a priority higher than + our own so yield immediately. */ + portYIELD_WITHIN_API(); + } + } + + taskEXIT_CRITICAL(); + return pdPASS; + } + else + { + if( xTicksToWait == ( portTickType ) 0 ) + { + taskEXIT_CRITICAL(); + return errQUEUE_FULL; + } + else if( xEntryTimeSet == pdFALSE ) + { + vTaskSetTimeOutState( &xTimeOut ); + xEntryTimeSet = pdTRUE; + } + } + } + taskEXIT_CRITICAL(); + + taskENTER_CRITICAL(); + { + if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) + { + if( prvIsQueueFull( pxQueue ) != pdFALSE ) + { + traceBLOCKING_ON_QUEUE_SEND( pxQueue ); + vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait ); + portYIELD_WITHIN_API(); + } + } + else + { + taskEXIT_CRITICAL(); + traceQUEUE_SEND_FAILED( pxQueue ); + return errQUEUE_FULL; + } + } + taskEXIT_CRITICAL(); + } + } + +#endif /* configUSE_ALTERNATIVE_API */ +/*-----------------------------------------------------------*/ + +#if configUSE_ALTERNATIVE_API == 1 + + signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) + { + signed portBASE_TYPE xEntryTimeSet = pdFALSE; + xTimeOutType xTimeOut; + signed char *pcOriginalReadPosition; + + configASSERT( pxQueue ); + configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) ); + + for( ;; ) + { + taskENTER_CRITICAL(); + { + if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) + { + /* Remember our read position in case we are just peeking. */ + pcOriginalReadPosition = pxQueue->pcReadFrom; + + prvCopyDataFromQueue( pxQueue, pvBuffer ); + + if( xJustPeeking == pdFALSE ) + { + traceQUEUE_RECEIVE( pxQueue ); + + /* We are actually removing data. */ + --( pxQueue->uxMessagesWaiting ); + + #if ( configUSE_MUTEXES == 1 ) + { + if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) + { + /* Record the information required to implement + priority inheritance should it become necessary. */ + pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle(); + } + } + #endif + + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE ) + { + portYIELD_WITHIN_API(); + } + } + } + else + { + traceQUEUE_PEEK( pxQueue ); + + /* We are not removing the data, so reset our read + pointer. */ + pxQueue->pcReadFrom = pcOriginalReadPosition; + + /* The data is being left in the queue, so see if there are + any other tasks waiting for the data. */ + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + /* Tasks that are removed from the event list will get added to + the pending ready list as the scheduler is still suspended. */ + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The task waiting has a higher priority than this task. */ + portYIELD_WITHIN_API(); + } + } + + } + + taskEXIT_CRITICAL(); + return pdPASS; + } + else + { + if( xTicksToWait == ( portTickType ) 0 ) + { + taskEXIT_CRITICAL(); + traceQUEUE_RECEIVE_FAILED( pxQueue ); + return errQUEUE_EMPTY; + } + else if( xEntryTimeSet == pdFALSE ) + { + vTaskSetTimeOutState( &xTimeOut ); + xEntryTimeSet = pdTRUE; + } + } + } + taskEXIT_CRITICAL(); + + taskENTER_CRITICAL(); + { + if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) + { + if( prvIsQueueEmpty( pxQueue ) != pdFALSE ) + { + traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue ); + + #if ( configUSE_MUTEXES == 1 ) + { + if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) + { + portENTER_CRITICAL(); + vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder ); + portEXIT_CRITICAL(); + } + } + #endif + + vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait ); + portYIELD_WITHIN_API(); + } + } + else + { + taskEXIT_CRITICAL(); + traceQUEUE_RECEIVE_FAILED( pxQueue ); + return errQUEUE_EMPTY; + } + } + taskEXIT_CRITICAL(); + } + } + + +#endif /* configUSE_ALTERNATIVE_API */ +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition ) +{ +signed portBASE_TYPE xReturn; +unsigned portBASE_TYPE uxSavedInterruptStatus; + + configASSERT( pxQueue ); + configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) ); + + /* Similar to xQueueGenericSend, except we don't block if there is no room + in the queue. Also we don't directly wake a task that was blocked on a + queue read, instead we return a flag to say whether a context switch is + required or not (i.e. has a task with a higher priority than us been woken + by this post). */ + uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + { + if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) + { + traceQUEUE_SEND_FROM_ISR( pxQueue ); + + prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); + + /* If the queue is locked we do not alter the event list. This will + be done when the queue is unlocked later. */ + if( pxQueue->xTxLock == queueUNLOCKED ) + { + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The task waiting has a higher priority so record that a + context switch is required. */ + if( pxHigherPriorityTaskWoken != NULL ) + { + *pxHigherPriorityTaskWoken = pdTRUE; + } + } + } + } + else + { + /* Increment the lock count so the task that unlocks the queue + knows that data was posted while it was locked. */ + ++( pxQueue->xTxLock ); + } + + xReturn = pdPASS; + } + else + { + traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue ); + xReturn = errQUEUE_FULL; + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) +{ +signed portBASE_TYPE xEntryTimeSet = pdFALSE; +xTimeOutType xTimeOut; +signed char *pcOriginalReadPosition; + + configASSERT( pxQueue ); + configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) ); + + /* This function relaxes the coding standard somewhat to allow return + statements within the function itself. This is done in the interest + of execution time efficiency. */ + + for( ;; ) + { + taskENTER_CRITICAL(); + { + /* Is there data in the queue now? To be running we must be + the highest priority task wanting to access the queue. */ + if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) + { + /* Remember our read position in case we are just peeking. */ + pcOriginalReadPosition = pxQueue->pcReadFrom; + + prvCopyDataFromQueue( pxQueue, pvBuffer ); + + if( xJustPeeking == pdFALSE ) + { + traceQUEUE_RECEIVE( pxQueue ); + + /* We are actually removing data. */ + --( pxQueue->uxMessagesWaiting ); + + #if ( configUSE_MUTEXES == 1 ) + { + if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) + { + /* Record the information required to implement + priority inheritance should it become necessary. */ + pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle(); + } + } + #endif + + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE ) + { + portYIELD_WITHIN_API(); + } + } + } + else + { + traceQUEUE_PEEK( pxQueue ); + + /* We are not removing the data, so reset our read + pointer. */ + pxQueue->pcReadFrom = pcOriginalReadPosition; + + /* The data is being left in the queue, so see if there are + any other tasks waiting for the data. */ + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + /* Tasks that are removed from the event list will get added to + the pending ready list as the scheduler is still suspended. */ + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The task waiting has a higher priority than this task. */ + portYIELD_WITHIN_API(); + } + } + } + + taskEXIT_CRITICAL(); + return pdPASS; + } + else + { + if( xTicksToWait == ( portTickType ) 0 ) + { + /* The queue was empty and no block time is specified (or + the block time has expired) so leave now. */ + taskEXIT_CRITICAL(); + traceQUEUE_RECEIVE_FAILED( pxQueue ); + return errQUEUE_EMPTY; + } + else if( xEntryTimeSet == pdFALSE ) + { + /* The queue was empty and a block time was specified so + configure the timeout structure. */ + vTaskSetTimeOutState( &xTimeOut ); + xEntryTimeSet = pdTRUE; + } + } + } + taskEXIT_CRITICAL(); + + /* Interrupts and other tasks can send to and receive from the queue + now the critical section has been exited. */ + + vTaskSuspendAll(); + prvLockQueue( pxQueue ); + + /* Update the timeout state to see if it has expired yet. */ + if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) + { + if( prvIsQueueEmpty( pxQueue ) != pdFALSE ) + { + traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue ); + + #if ( configUSE_MUTEXES == 1 ) + { + if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) + { + portENTER_CRITICAL(); + { + vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder ); + } + portEXIT_CRITICAL(); + } + } + #endif + + vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait ); + prvUnlockQueue( pxQueue ); + if( xTaskResumeAll() == pdFALSE ) + { + portYIELD_WITHIN_API(); + } + } + else + { + /* Try again. */ + prvUnlockQueue( pxQueue ); + ( void ) xTaskResumeAll(); + } + } + else + { + prvUnlockQueue( pxQueue ); + ( void ) xTaskResumeAll(); + traceQUEUE_RECEIVE_FAILED( pxQueue ); + return errQUEUE_EMPTY; + } + } +} +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken ) +{ +signed portBASE_TYPE xReturn; +unsigned portBASE_TYPE uxSavedInterruptStatus; + + configASSERT( pxQueue ); + configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) ); + + uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* We cannot block from an ISR, so check there is data available. */ + if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) + { + traceQUEUE_RECEIVE_FROM_ISR( pxQueue ); + + prvCopyDataFromQueue( pxQueue, pvBuffer ); + --( pxQueue->uxMessagesWaiting ); + + /* If the queue is locked we will not modify the event list. Instead + we update the lock count so the task that unlocks the queue will know + that an ISR has removed data while the queue was locked. */ + if( pxQueue->xRxLock == queueUNLOCKED ) + { + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) + { + /* The task waiting has a higher priority than us so + force a context switch. */ + if( pxHigherPriorityTaskWoken != NULL ) + { + *pxHigherPriorityTaskWoken = pdTRUE; + } + } + } + } + else + { + /* Increment the lock count so the task that unlocks the queue + knows that data was removed while it was locked. */ + ++( pxQueue->xRxLock ); + } + + xReturn = pdPASS; + } + else + { + xReturn = pdFAIL; + traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue ); + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue ) +{ +unsigned portBASE_TYPE uxReturn; + + configASSERT( pxQueue ); + + taskENTER_CRITICAL(); + uxReturn = pxQueue->uxMessagesWaiting; + taskEXIT_CRITICAL(); + + return uxReturn; +} +/*-----------------------------------------------------------*/ + +unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue ) +{ +unsigned portBASE_TYPE uxReturn; + + configASSERT( pxQueue ); + + uxReturn = pxQueue->uxMessagesWaiting; + + return uxReturn; +} +/*-----------------------------------------------------------*/ + +void vQueueDelete( xQueueHandle pxQueue ) +{ + configASSERT( pxQueue ); + + traceQUEUE_DELETE( pxQueue ); + vQueueUnregisterQueue( pxQueue ); + vPortFree( pxQueue->pcHead ); + vPortFree( pxQueue ); +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + unsigned char ucQueueGetQueueNumber( xQueueHandle pxQueue ) + { + return pxQueue->ucQueueNumber; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + void vQueueSetQueueNumber( xQueueHandle pxQueue, unsigned char ucQueueNumber ) + { + pxQueue->ucQueueNumber = ucQueueNumber; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + unsigned char ucQueueGetQueueType( xQueueHandle pxQueue ) + { + return pxQueue->ucQueueType; + } + +#endif +/*-----------------------------------------------------------*/ + +static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition ) +{ + if( pxQueue->uxItemSize == ( unsigned portBASE_TYPE ) 0 ) + { + #if ( configUSE_MUTEXES == 1 ) + { + if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) + { + /* The mutex is no longer being held. */ + vTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder ); + pxQueue->pxMutexHolder = NULL; + } + } + #endif + } + else if( xPosition == queueSEND_TO_BACK ) + { + memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize ); + pxQueue->pcWriteTo += pxQueue->uxItemSize; + if( pxQueue->pcWriteTo >= pxQueue->pcTail ) + { + pxQueue->pcWriteTo = pxQueue->pcHead; + } + } + else + { + memcpy( ( void * ) pxQueue->pcReadFrom, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize ); + pxQueue->pcReadFrom -= pxQueue->uxItemSize; + if( pxQueue->pcReadFrom < pxQueue->pcHead ) + { + pxQueue->pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize ); + } + } + + ++( pxQueue->uxMessagesWaiting ); +} +/*-----------------------------------------------------------*/ + +static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer ) +{ + if( pxQueue->uxQueueType != queueQUEUE_IS_MUTEX ) + { + pxQueue->pcReadFrom += pxQueue->uxItemSize; + if( pxQueue->pcReadFrom >= pxQueue->pcTail ) + { + pxQueue->pcReadFrom = pxQueue->pcHead; + } + memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize ); + } +} +/*-----------------------------------------------------------*/ + +static void prvUnlockQueue( xQueueHandle pxQueue ) +{ + /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */ + + /* The lock counts contains the number of extra data items placed or + removed from the queue while the queue was locked. When a queue is + locked items can be added or removed, but the event lists cannot be + updated. */ + taskENTER_CRITICAL(); + { + /* See if data was added to the queue while it was locked. */ + while( pxQueue->xTxLock > queueLOCKED_UNMODIFIED ) + { + /* Data was posted while the queue was locked. Are any tasks + blocked waiting for data to become available? */ + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + /* Tasks that are removed from the event list will get added to + the pending ready list as the scheduler is still suspended. */ + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The task waiting has a higher priority so record that a + context switch is required. */ + vTaskMissedYield(); + } + + --( pxQueue->xTxLock ); + } + else + { + break; + } + } + + pxQueue->xTxLock = queueUNLOCKED; + } + taskEXIT_CRITICAL(); + + /* Do the same for the Rx lock. */ + taskENTER_CRITICAL(); + { + while( pxQueue->xRxLock > queueLOCKED_UNMODIFIED ) + { + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) + { + vTaskMissedYield(); + } + + --( pxQueue->xRxLock ); + } + else + { + break; + } + } + + pxQueue->xRxLock = queueUNLOCKED; + } + taskEXIT_CRITICAL(); +} +/*-----------------------------------------------------------*/ + +static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue ) +{ +signed portBASE_TYPE xReturn; + + taskENTER_CRITICAL(); + xReturn = ( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 ); + taskEXIT_CRITICAL(); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue ) +{ +signed portBASE_TYPE xReturn; + + configASSERT( pxQueue ); + xReturn = ( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue ) +{ +signed portBASE_TYPE xReturn; + + taskENTER_CRITICAL(); + xReturn = ( pxQueue->uxMessagesWaiting == pxQueue->uxLength ); + taskEXIT_CRITICAL(); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue ) +{ +signed portBASE_TYPE xReturn; + + configASSERT( pxQueue ); + xReturn = ( pxQueue->uxMessagesWaiting == pxQueue->uxLength ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +#if configUSE_CO_ROUTINES == 1 +signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait ) +{ +signed portBASE_TYPE xReturn; + + /* If the queue is already full we may have to block. A critical section + is required to prevent an interrupt removing something from the queue + between the check to see if the queue is full and blocking on the queue. */ + portDISABLE_INTERRUPTS(); + { + if( prvIsQueueFull( pxQueue ) != pdFALSE ) + { + /* The queue is full - do we want to block or just leave without + posting? */ + if( xTicksToWait > ( portTickType ) 0 ) + { + /* As this is called from a coroutine we cannot block directly, but + return indicating that we need to block. */ + vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) ); + portENABLE_INTERRUPTS(); + return errQUEUE_BLOCKED; + } + else + { + portENABLE_INTERRUPTS(); + return errQUEUE_FULL; + } + } + } + portENABLE_INTERRUPTS(); + + portNOP(); + + portDISABLE_INTERRUPTS(); + { + if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) + { + /* There is room in the queue, copy the data into the queue. */ + prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK ); + xReturn = pdPASS; + + /* Were any co-routines waiting for data to become available? */ + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + /* In this instance the co-routine could be placed directly + into the ready list as we are within a critical section. + Instead the same pending ready list mechanism is used as if + the event were caused from within an interrupt. */ + if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The co-routine waiting has a higher priority so record + that a yield might be appropriate. */ + xReturn = errQUEUE_YIELD; + } + } + } + else + { + xReturn = errQUEUE_FULL; + } + } + portENABLE_INTERRUPTS(); + + return xReturn; +} +#endif +/*-----------------------------------------------------------*/ + +#if configUSE_CO_ROUTINES == 1 +signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait ) +{ +signed portBASE_TYPE xReturn; + + /* If the queue is already empty we may have to block. A critical section + is required to prevent an interrupt adding something to the queue + between the check to see if the queue is empty and blocking on the queue. */ + portDISABLE_INTERRUPTS(); + { + if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 ) + { + /* There are no messages in the queue, do we want to block or just + leave with nothing? */ + if( xTicksToWait > ( portTickType ) 0 ) + { + /* As this is a co-routine we cannot block directly, but return + indicating that we need to block. */ + vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) ); + portENABLE_INTERRUPTS(); + return errQUEUE_BLOCKED; + } + else + { + portENABLE_INTERRUPTS(); + return errQUEUE_FULL; + } + } + } + portENABLE_INTERRUPTS(); + + portNOP(); + + portDISABLE_INTERRUPTS(); + { + if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) + { + /* Data is available from the queue. */ + pxQueue->pcReadFrom += pxQueue->uxItemSize; + if( pxQueue->pcReadFrom >= pxQueue->pcTail ) + { + pxQueue->pcReadFrom = pxQueue->pcHead; + } + --( pxQueue->uxMessagesWaiting ); + memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize ); + + xReturn = pdPASS; + + /* Were any co-routines waiting for space to become available? */ + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) + { + /* In this instance the co-routine could be placed directly + into the ready list as we are within a critical section. + Instead the same pending ready list mechanism is used as if + the event were caused from within an interrupt. */ + if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) + { + xReturn = errQUEUE_YIELD; + } + } + } + else + { + xReturn = pdFAIL; + } + } + portENABLE_INTERRUPTS(); + + return xReturn; +} +#endif +/*-----------------------------------------------------------*/ + + + +#if configUSE_CO_ROUTINES == 1 +signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ) +{ + /* Cannot block within an ISR so if there is no space on the queue then + exit without doing anything. */ + if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) + { + prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK ); + + /* We only want to wake one co-routine per ISR, so check that a + co-routine has not already been woken. */ + if( xCoRoutinePreviouslyWoken == pdFALSE ) + { + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE ) + { + if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + return pdTRUE; + } + } + } + } + + return xCoRoutinePreviouslyWoken; +} +#endif +/*-----------------------------------------------------------*/ + +#if configUSE_CO_ROUTINES == 1 +signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxCoRoutineWoken ) +{ +signed portBASE_TYPE xReturn; + + /* We cannot block from an ISR, so check there is data available. If + not then just leave without doing anything. */ + if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) + { + /* Copy the data from the queue. */ + pxQueue->pcReadFrom += pxQueue->uxItemSize; + if( pxQueue->pcReadFrom >= pxQueue->pcTail ) + { + pxQueue->pcReadFrom = pxQueue->pcHead; + } + --( pxQueue->uxMessagesWaiting ); + memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize ); + + if( ( *pxCoRoutineWoken ) == pdFALSE ) + { + if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) + { + if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) + { + *pxCoRoutineWoken = pdTRUE; + } + } + } + + xReturn = pdPASS; + } + else + { + xReturn = pdFAIL; + } + + return xReturn; +} +#endif +/*-----------------------------------------------------------*/ + +#if configQUEUE_REGISTRY_SIZE > 0 + + void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName ) + { + unsigned portBASE_TYPE ux; + + /* See if there is an empty space in the registry. A NULL name denotes + a free slot. */ + for( ux = ( unsigned portBASE_TYPE ) 0U; ux < ( unsigned portBASE_TYPE ) configQUEUE_REGISTRY_SIZE; ux++ ) + { + if( xQueueRegistry[ ux ].pcQueueName == NULL ) + { + /* Store the information on this queue. */ + xQueueRegistry[ ux ].pcQueueName = pcQueueName; + xQueueRegistry[ ux ].xHandle = xQueue; + break; + } + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if configQUEUE_REGISTRY_SIZE > 0 + + static void vQueueUnregisterQueue( xQueueHandle xQueue ) + { + unsigned portBASE_TYPE ux; + + /* See if the handle of the queue being unregistered in actually in the + registry. */ + for( ux = ( unsigned portBASE_TYPE ) 0U; ux < ( unsigned portBASE_TYPE ) configQUEUE_REGISTRY_SIZE; ux++ ) + { + if( xQueueRegistry[ ux ].xHandle == xQueue ) + { + /* Set the name to NULL to show that this slot if free again. */ + xQueueRegistry[ ux ].pcQueueName = NULL; + break; + } + } + + } + +#endif +/*-----------------------------------------------------------*/ + +#if configUSE_TIMERS == 1 + + void vQueueWaitForMessageRestricted( xQueueHandle pxQueue, portTickType xTicksToWait ) + { + /* This function should not be called by application code hence the + 'Restricted' in its name. It is not part of the public API. It is + designed for use by kernel code, and has special calling requirements. + It can result in vListInsert() being called on a list that can only + possibly ever have one item in it, so the list will be fast, but even + so it should be called with the scheduler locked and not from a critical + section. */ + + /* Only do anything if there are no messages in the queue. This function + will not actually cause the task to block, just place it on a blocked + list. It will not block until the scheduler is unlocked - at which + time a yield will be performed. If an item is added to the queue while + the queue is locked, and the calling task blocks on the queue, then the + calling task will be immediately unblocked when the queue is unlocked. */ + prvLockQueue( pxQueue ); + if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0U ) + { + /* There is nothing in the queue, block for the specified period. */ + vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait ); + } + prvUnlockQueue( pxQueue ); + } + +#endif + diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/tasks.c b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/tasks.c new file mode 100644 index 000000000..85e41a05f --- /dev/null +++ b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/tasks.c @@ -0,0 +1,2480 @@ +/* + FreeRTOS V7.1.1 - Copyright (C) 2012 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! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong? * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + + http://www.FreeRTOS.org - Documentation, training, latest information, + license and contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool. + + Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell + the code with commercial support, indemnification, and middleware, under + the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also + provide a safety engineered and independently SIL3 certified version under + the SafeRTOS brand: http://www.SafeRTOS.com. +*/ + + +#include +#include +#include + +/* 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 "timers.h" +#include "StackMacros.h" + +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* + * Macro to define the amount of stack available to the idle task. + */ +#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE + +/* + * Task control block. A task control block (TCB) is allocated to each task, + * and stores the context of the task. + */ +typedef struct tskTaskControlBlock +{ + volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE STRUCT. */ + + #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 stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */ + unsigned portBASE_TYPE uxTaskNumber; /*< This stores a number specifically for use by third party trace code. */ + #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 + +} tskTCB; + + +/* + * Some kernel aware debuggers require data to be viewed to be global, rather + * than file scope. + */ +#ifdef portREMOVE_STATIC_QUALIFIER + #define static +#endif + +/*lint -e956 */ +PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL; + +/* Lists for ready and blocked tasks. --------------------*/ + +PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */ +PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */ +PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */ +PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */ +PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */ +PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */ + +#if ( INCLUDE_vTaskDelete == 1 ) + + PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */ + PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U; + +#endif + +#if ( INCLUDE_vTaskSuspend == 1 ) + + PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */ + +#endif + +#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) + + PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL; + +#endif + +/* File private variables. --------------------------------*/ +PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U; +PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U; +PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY; +PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY; +PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE; +PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE; +PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0U; +PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE; +PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0; +PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U; +PRIVILEGED_DATA static portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY; + +#if ( configGENERATE_RUN_TIME_STATS == 1 ) + + PRIVILEGED_DATA static char pcStatsString[ 50 ] ; + PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */ + static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION; + +#endif + +/* Debugging and trace facilities private variables and macros. ------------*/ + +/* + * The value used to fill the stack of a task when the task is created. This + * is used purely for checking the high water mark for tasks. + */ +#define tskSTACK_FILL_BYTE ( 0xa5U ) + +/* + * Macros used by vListTask to indicate which state a task is in. + */ +#define tskBLOCKED_CHAR ( ( signed char ) 'B' ) +#define tskREADY_CHAR ( ( signed char ) 'R' ) +#define tskDELETED_CHAR ( ( signed char ) 'D' ) +#define tskSUSPENDED_CHAR ( ( signed char ) 'S' ) + +/*-----------------------------------------------------------*/ + +/* + * Place the task represented by pxTCB into the appropriate ready queue for + * the task. It is inserted at the end of the list. One quirk of this is + * that if the task being inserted is at the same priority as the currently + * executing task, then it will only be rescheduled after the currently + * executing task has been rescheduled. + */ +#define prvAddTaskToReadyQueue( pxTCB ) \ + traceMOVED_TASK_TO_READY_STATE( pxTCB ) \ + if( ( pxTCB )->uxPriority > uxTopReadyPriority ) \ + { \ + uxTopReadyPriority = ( pxTCB )->uxPriority; \ + } \ + vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) ) +/*-----------------------------------------------------------*/ + +/* + * Macro that looks at the list of tasks that are currently delayed to see if + * any require waking. + * + * Tasks are stored in the queue in the order of their wake time - meaning + * once one tasks has been found whose timer has not expired we need not look + * any further down the list. + */ +#define prvCheckDelayedTasks() \ +{ \ +portTickType xItemValue; \ + \ + /* Is the tick count greater than or equal to the wake time of the first \ + task referenced from the delayed tasks list? */ \ + if( xTickCount >= xNextTaskUnblockTime ) \ + { \ + for( ;; ) \ + { \ + if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \ + { \ + /* The delayed list is empty. Set xNextTaskUnblockTime to the \ + maximum possible value so it is extremely unlikely that the \ + if( xTickCount >= xNextTaskUnblockTime ) test will pass next \ + time through. */ \ + xNextTaskUnblockTime = portMAX_DELAY; \ + break; \ + } \ + else \ + { \ + /* The delayed list is not empty, get the value of the item at \ + the head of the delayed list. This is the time at which the \ + task at the head of the delayed list should be removed from \ + the Blocked state. */ \ + pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \ + xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \ + \ + if( xTickCount < xItemValue ) \ + { \ + /* It is not time to unblock this item yet, but the item \ + value is the time at which the task at the head of the \ + blocked list should be removed from the Blocked state - \ + so record the item value in xNextTaskUnblockTime. */ \ + xNextTaskUnblockTime = xItemValue; \ + break; \ + } \ + \ + /* It is time to remove the item from the Blocked state. */ \ + vListRemove( &( pxTCB->xGenericListItem ) ); \ + \ + /* Is the task waiting on an event also? */ \ + if( pxTCB->xEventListItem.pvContainer != NULL ) \ + { \ + vListRemove( &( pxTCB->xEventListItem ) ); \ + } \ + prvAddTaskToReadyQueue( pxTCB ); \ + } \ + } \ + } \ +} +/*-----------------------------------------------------------*/ + +/* + * Several functions take an xTaskHandle parameter that can optionally be NULL, + * where NULL is used to indicate that the handle of the currently executing + * task should be used in place of the parameter. This macro simply checks to + * see if the parameter is NULL and returns a pointer to the appropriate TCB. + */ +#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) ) + +/* Callback function prototypes. --------------------------*/ +extern void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName ); +extern void vApplicationTickHook( void ); + +/* File private functions. --------------------------------*/ + +/* + * Utility to ready a TCB for a given task. Mainly just copies the parameters + * into the TCB structure. + */ +static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION; + +/* + * Utility to ready all the lists used by the scheduler. This is called + * automatically upon the creation of the first task. + */ +static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION; + +/* + * The idle task, which as all tasks is implemented as a never ending loop. + * The idle task is automatically created and added to the ready lists upon + * creation of the first user task. + * + * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific + * language extensions. The equivalent prototype for this function is: + * + * void prvIdleTask( void *pvParameters ); + * + */ +static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ); + +/* + * Utility to free all memory allocated by the scheduler to hold a TCB, + * including the stack pointed to by the TCB. + * + * This does not free memory allocated by the task itself (i.e. memory + * allocated by calls to pvPortMalloc from within the tasks application code). + */ +#if ( INCLUDE_vTaskDelete == 1 ) + + static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION; + +#endif + +/* + * Used only by the idle task. This checks to see if anything has been placed + * in the list of tasks waiting to be deleted. If so the task is cleaned up + * and its TCB deleted. + */ +static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION; + +/* + * The currently executing task is entering the Blocked state. Add the task to + * either the current or the overflow delayed task list. + */ +static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION; + +/* + * Allocates memory from the heap for a TCB and associated stack. Checks the + * allocation was successful. + */ +static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION; + +/* + * Called from vTaskList. vListTasks details all the tasks currently under + * control of the scheduler. The tasks may be in one of a number of lists. + * prvListTaskWithinSingleList accepts a list and details the tasks from + * within just that list. + * + * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM + * NORMAL APPLICATION CODE. + */ +#if ( configUSE_TRACE_FACILITY == 1 ) + + static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION; + +#endif + +/* + * When a task is created, the stack of the task is filled with a known value. + * This function determines the 'high water mark' of the task stack by + * determining how much of the stack remains at the original preset value. + */ +#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) + + static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION; + +#endif + + +/*lint +e956 */ + + + +/*----------------------------------------------------------- + * TASK CREATION API documented in task.h + *----------------------------------------------------------*/ + +signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions ) +{ +signed portBASE_TYPE xReturn; +tskTCB * pxNewTCB; + + configASSERT( pxTaskCode ); + configASSERT( ( uxPriority < configMAX_PRIORITIES ) ); + + /* Allocate the memory required by the TCB and stack for the new task, + checking that the allocation was successful. */ + pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer ); + + if( pxNewTCB != NULL ) + { + portSTACK_TYPE *pxTopOfStack; + + #if( portUSING_MPU_WRAPPERS == 1 ) + /* Should the task be created in privileged mode? */ + portBASE_TYPE xRunPrivileged; + if( ( uxPriority & portPRIVILEGE_BIT ) != 0U ) + { + xRunPrivileged = pdTRUE; + } + else + { + xRunPrivileged = pdFALSE; + } + uxPriority &= ~portPRIVILEGE_BIT; + #endif /* portUSING_MPU_WRAPPERS == 1 */ + + /* Calculate the top of stack address. This depends on whether the + stack grows from high memory to low (as per the 80x86) or visa versa. + portSTACK_GROWTH is used to make the result positive or negative as + required by the port. */ + #if( portSTACK_GROWTH < 0 ) + { + pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 ); + pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) ); + + /* Check the alignment of the calculated top of stack is correct. */ + configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) ); + } + #else + { + pxTopOfStack = pxNewTCB->pxStack; + + /* Check the alignment of the stack buffer is correct. */ + configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) ); + + /* If we want to use stack checking on architectures that use + a positive stack growth direction then we also need to store the + other extreme of the stack space. */ + pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 ); + } + #endif + + /* Setup the newly allocated TCB with the initial state of the task. */ + prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth ); + + /* Initialize the TCB stack to look as if the task was already running, + but had been interrupted by the scheduler. The return address is set + to the start of the task function. Once the stack has been initialised + the top of stack variable is updated. */ + #if( portUSING_MPU_WRAPPERS == 1 ) + { + pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged ); + } + #else + { + pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters ); + } + #endif + + /* Check the alignment of the initialised stack. */ + portALIGNMENT_ASSERT_pxCurrentTCB( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) ); + + if( ( void * ) pxCreatedTask != NULL ) + { + /* Pass the TCB out - in an anonymous way. The calling function/ + task can use this as a handle to delete the task later if + required.*/ + *pxCreatedTask = ( xTaskHandle ) pxNewTCB; + } + + /* We are going to manipulate the task queues to add this task to a + ready list, so must make sure no interrupts occur. */ + taskENTER_CRITICAL(); + { + uxCurrentNumberOfTasks++; + if( pxCurrentTCB == NULL ) + { + /* There are no other tasks, or all the other tasks are in + the suspended state - make this the current task. */ + pxCurrentTCB = pxNewTCB; + + if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 ) + { + /* This is the first task to be created so do the preliminary + initialisation required. We will not recover if this call + fails, but we will report the failure. */ + prvInitialiseTaskLists(); + } + } + else + { + /* If the scheduler is not already running, make this task the + current task if it is the highest priority task to be created + so far. */ + if( xSchedulerRunning == pdFALSE ) + { + if( pxCurrentTCB->uxPriority <= uxPriority ) + { + pxCurrentTCB = pxNewTCB; + } + } + } + + /* Remember the top priority to make context switching faster. Use + the priority in pxNewTCB as this has been capped to a valid value. */ + if( pxNewTCB->uxPriority > uxTopUsedPriority ) + { + uxTopUsedPriority = pxNewTCB->uxPriority; + } + + #if ( configUSE_TRACE_FACILITY == 1 ) + { + /* Add a counter into the TCB for tracing only. */ + pxNewTCB->uxTCBNumber = uxTaskNumber; + } + #endif + uxTaskNumber++; + + prvAddTaskToReadyQueue( pxNewTCB ); + + xReturn = pdPASS; + portSETUP_TCB( pxNewTCB ); + traceTASK_CREATE( pxNewTCB ); + } + taskEXIT_CRITICAL(); + } + else + { + xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; + traceTASK_CREATE_FAILED(); + } + + if( xReturn == pdPASS ) + { + if( xSchedulerRunning != pdFALSE ) + { + /* If the created task is of a higher priority than the current task + then it should run now. */ + if( pxCurrentTCB->uxPriority < uxPriority ) + { + portYIELD_WITHIN_API(); + } + } + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskDelete == 1 ) + + void vTaskDelete( xTaskHandle pxTaskToDelete ) + { + tskTCB *pxTCB; + + taskENTER_CRITICAL(); + { + /* Ensure a yield is performed if the current task is being + deleted. */ + if( pxTaskToDelete == pxCurrentTCB ) + { + pxTaskToDelete = NULL; + } + + /* If null is passed in here then we are deleting ourselves. */ + pxTCB = prvGetTCBFromHandle( pxTaskToDelete ); + + /* Remove task from the ready list and place in the termination list. + This will stop the task from be scheduled. The idle task will check + the termination list and free up any memory allocated by the + scheduler for the TCB and stack. */ + vListRemove( &( pxTCB->xGenericListItem ) ); + + /* Is the task waiting on an event also? */ + if( pxTCB->xEventListItem.pvContainer != NULL ) + { + vListRemove( &( pxTCB->xEventListItem ) ); + } + + vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) ); + + /* Increment the ucTasksDeleted variable so the idle task knows + there is a task that has been deleted and that it should therefore + check the xTasksWaitingTermination list. */ + ++uxTasksDeleted; + + /* Increment the uxTaskNumberVariable also so kernel aware debuggers + can detect that the task lists need re-generating. */ + uxTaskNumber++; + + traceTASK_DELETE( pxTCB ); + } + taskEXIT_CRITICAL(); + + /* Force a reschedule if we have just deleted the current task. */ + if( xSchedulerRunning != pdFALSE ) + { + if( ( void * ) pxTaskToDelete == NULL ) + { + portYIELD_WITHIN_API(); + } + } + } + +#endif + + + + + + +/*----------------------------------------------------------- + * TASK CONTROL API documented in task.h + *----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskDelayUntil == 1 ) + + void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement ) + { + portTickType xTimeToWake; + portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE; + + configASSERT( pxPreviousWakeTime ); + configASSERT( ( xTimeIncrement > 0U ) ); + + vTaskSuspendAll(); + { + /* Generate the tick time at which the task wants to wake. */ + xTimeToWake = *pxPreviousWakeTime + xTimeIncrement; + + if( xTickCount < *pxPreviousWakeTime ) + { + /* The tick count has overflowed since this function was + lasted called. In this case the only time we should ever + actually delay is if the wake time has also overflowed, + and the wake time is greater than the tick time. When this + is the case it is as if neither time had overflowed. */ + if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) ) + { + xShouldDelay = pdTRUE; + } + } + else + { + /* The tick time has not overflowed. In this case we will + delay if either the wake time has overflowed, and/or the + tick time is less than the wake time. */ + if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) ) + { + xShouldDelay = pdTRUE; + } + } + + /* Update the wake time ready for the next call. */ + *pxPreviousWakeTime = xTimeToWake; + + if( xShouldDelay != pdFALSE ) + { + traceTASK_DELAY_UNTIL(); + + /* We must remove ourselves from the ready list before adding + ourselves to the blocked list as the same list item is used for + both lists. */ + vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + prvAddCurrentTaskToDelayedList( xTimeToWake ); + } + } + xAlreadyYielded = xTaskResumeAll(); + + /* Force a reschedule if xTaskResumeAll has not already done so, we may + have put ourselves to sleep. */ + if( xAlreadyYielded == pdFALSE ) + { + portYIELD_WITHIN_API(); + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskDelay == 1 ) + + void vTaskDelay( portTickType xTicksToDelay ) + { + portTickType xTimeToWake; + signed portBASE_TYPE xAlreadyYielded = pdFALSE; + + /* A delay time of zero just forces a reschedule. */ + if( xTicksToDelay > ( portTickType ) 0U ) + { + vTaskSuspendAll(); + { + traceTASK_DELAY(); + + /* A task that is removed from the event list while the + scheduler is suspended will not get placed in the ready + list or removed from the blocked list until the scheduler + is resumed. + + This task cannot be in an event list as it is the currently + executing task. */ + + /* Calculate the time to wake - this may overflow but this is + not a problem. */ + xTimeToWake = xTickCount + xTicksToDelay; + + /* We must remove ourselves from the ready list before adding + ourselves to the blocked list as the same list item is used for + both lists. */ + vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + prvAddCurrentTaskToDelayedList( xTimeToWake ); + } + xAlreadyYielded = xTaskResumeAll(); + } + + /* Force a reschedule if xTaskResumeAll has not already done so, we may + have put ourselves to sleep. */ + if( xAlreadyYielded == pdFALSE ) + { + portYIELD_WITHIN_API(); + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_uxTaskPriorityGet == 1 ) + + unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) + { + tskTCB *pxTCB; + unsigned portBASE_TYPE uxReturn; + + taskENTER_CRITICAL(); + { + /* If null is passed in here then we are changing the + priority of the calling function. */ + pxTCB = prvGetTCBFromHandle( pxTask ); + uxReturn = pxTCB->uxPriority; + } + taskEXIT_CRITICAL(); + + return uxReturn; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskPrioritySet == 1 ) + + void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority ) + { + tskTCB *pxTCB; + unsigned portBASE_TYPE uxCurrentPriority; + portBASE_TYPE xYieldRequired = pdFALSE; + + configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) ); + + /* Ensure the new priority is valid. */ + if( uxNewPriority >= configMAX_PRIORITIES ) + { + uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U; + } + + taskENTER_CRITICAL(); + { + if( pxTask == pxCurrentTCB ) + { + pxTask = NULL; + } + + /* If null is passed in here then we are changing the + priority of the calling function. */ + pxTCB = prvGetTCBFromHandle( pxTask ); + + traceTASK_PRIORITY_SET( pxTCB, uxNewPriority ); + + #if ( configUSE_MUTEXES == 1 ) + { + uxCurrentPriority = pxTCB->uxBasePriority; + } + #else + { + uxCurrentPriority = pxTCB->uxPriority; + } + #endif + + if( uxCurrentPriority != uxNewPriority ) + { + /* The priority change may have readied a task of higher + priority than the calling task. */ + if( uxNewPriority > uxCurrentPriority ) + { + if( pxTask != NULL ) + { + /* The priority of another task is being raised. If we + were raising the priority of the currently running task + there would be no need to switch as it must have already + been the highest priority task. */ + xYieldRequired = pdTRUE; + } + } + else if( pxTask == NULL ) + { + /* Setting our own priority down means there may now be another + task of higher priority that is ready to execute. */ + xYieldRequired = pdTRUE; + } + + + + #if ( configUSE_MUTEXES == 1 ) + { + /* Only change the priority being used if the task is not + currently using an inherited priority. */ + if( pxTCB->uxBasePriority == pxTCB->uxPriority ) + { + pxTCB->uxPriority = uxNewPriority; + } + + /* The base priority gets set whatever. */ + pxTCB->uxBasePriority = uxNewPriority; + } + #else + { + pxTCB->uxPriority = uxNewPriority; + } + #endif + + listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) ); + + /* If the task is in the blocked or suspended list we need do + nothing more than change it's priority variable. However, if + the task is in a ready list it needs to be removed and placed + in the queue appropriate to its new priority. */ + if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) ) + { + /* The task is currently in its ready list - remove before adding + it to it's new ready list. As we are in a critical section we + can do this even if the scheduler is suspended. */ + vListRemove( &( pxTCB->xGenericListItem ) ); + prvAddTaskToReadyQueue( pxTCB ); + } + + if( xYieldRequired == pdTRUE ) + { + portYIELD_WITHIN_API(); + } + } + } + taskEXIT_CRITICAL(); + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskSuspend == 1 ) + + void vTaskSuspend( xTaskHandle pxTaskToSuspend ) + { + tskTCB *pxTCB; + + taskENTER_CRITICAL(); + { + /* Ensure a yield is performed if the current task is being + suspended. */ + if( pxTaskToSuspend == pxCurrentTCB ) + { + pxTaskToSuspend = NULL; + } + + /* If null is passed in here then we are suspending ourselves. */ + pxTCB = prvGetTCBFromHandle( pxTaskToSuspend ); + + traceTASK_SUSPEND( pxTCB ); + + /* Remove task from the ready/delayed list and place in the suspended list. */ + vListRemove( &( pxTCB->xGenericListItem ) ); + + /* Is the task waiting on an event also? */ + if( pxTCB->xEventListItem.pvContainer != NULL ) + { + vListRemove( &( pxTCB->xEventListItem ) ); + } + + vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ); + } + taskEXIT_CRITICAL(); + + if( ( void * ) pxTaskToSuspend == NULL ) + { + if( xSchedulerRunning != pdFALSE ) + { + /* We have just suspended the current task. */ + portYIELD_WITHIN_API(); + } + else + { + /* The scheduler is not running, but the task that was pointed + to by pxCurrentTCB has just been suspended and pxCurrentTCB + must be adjusted to point to a different task. */ + if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) + { + /* No other tasks are ready, so set pxCurrentTCB back to + NULL so when the next task is created pxCurrentTCB will + be set to point to it no matter what its relative priority + is. */ + pxCurrentTCB = NULL; + } + else + { + vTaskSwitchContext(); + } + } + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskSuspend == 1 ) + + signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask ) + { + portBASE_TYPE xReturn = pdFALSE; + const tskTCB * const pxTCB = ( tskTCB * ) xTask; + + /* It does not make sense to check if the calling task is suspended. */ + configASSERT( xTask ); + + /* Is the task we are attempting to resume actually in the + suspended list? */ + if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE ) + { + /* Has the task already been resumed from within an ISR? */ + if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE ) + { + /* Is it in the suspended list because it is in the + Suspended state? It is possible to be in the suspended + list because it is blocked on a task with no timeout + specified. */ + if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE ) + { + xReturn = pdTRUE; + } + } + } + + return xReturn; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskSuspend == 1 ) + + void vTaskResume( xTaskHandle pxTaskToResume ) + { + tskTCB *pxTCB; + + /* It does not make sense to resume the calling task. */ + configASSERT( pxTaskToResume ); + + /* Remove the task from whichever list it is currently in, and place + it in the ready list. */ + pxTCB = ( tskTCB * ) pxTaskToResume; + + /* The parameter cannot be NULL as it is impossible to resume the + currently executing task. */ + if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) ) + { + taskENTER_CRITICAL(); + { + if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE ) + { + traceTASK_RESUME( pxTCB ); + + /* As we are in a critical section we can access the ready + lists even if the scheduler is suspended. */ + vListRemove( &( pxTCB->xGenericListItem ) ); + prvAddTaskToReadyQueue( pxTCB ); + + /* We may have just resumed a higher priority task. */ + if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) + { + /* This yield may not cause the task just resumed to run, but + will leave the lists in the correct state for the next yield. */ + portYIELD_WITHIN_API(); + } + } + } + taskEXIT_CRITICAL(); + } + } + +#endif + +/*-----------------------------------------------------------*/ + +#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) + + portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume ) + { + portBASE_TYPE xYieldRequired = pdFALSE; + tskTCB *pxTCB; + unsigned portBASE_TYPE uxSavedInterruptStatus; + + configASSERT( pxTaskToResume ); + + pxTCB = ( tskTCB * ) pxTaskToResume; + + uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + { + if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE ) + { + traceTASK_RESUME_FROM_ISR( pxTCB ); + + if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) + { + xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ); + vListRemove( &( pxTCB->xGenericListItem ) ); + prvAddTaskToReadyQueue( pxTCB ); + } + else + { + /* We cannot access the delayed or ready lists, so will hold this + task pending until the scheduler is resumed, at which point a + yield will be performed if necessary. */ + vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); + } + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + + return xYieldRequired; + } + +#endif + + + + +/*----------------------------------------------------------- + * PUBLIC SCHEDULER CONTROL documented in task.h + *----------------------------------------------------------*/ + + +void vTaskStartScheduler( void ) +{ +portBASE_TYPE xReturn; + + /* Add the idle task at the lowest priority. */ + #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) + { + /* Create the idle task, storing its handle in xIdleTaskHandle so it can + be returned by the xTaskGetIdleTaskHandle() function. */ + xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); + } + #else + { + /* Create the idle task without storing its handle. */ + xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL ); + } + #endif + + #if ( configUSE_TIMERS == 1 ) + { + if( xReturn == pdPASS ) + { + xReturn = xTimerCreateTimerTask(); + } + } + #endif + + if( xReturn == pdPASS ) + { + /* Interrupts are turned off here, to ensure a tick does not occur + before or during the call to xPortStartScheduler(). The stacks of + the created tasks contain a status word with interrupts switched on + so interrupts will automatically get re-enabled when the first task + starts to run. + + STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE + DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */ + portDISABLE_INTERRUPTS(); + + xSchedulerRunning = pdTRUE; + xTickCount = ( portTickType ) 0U; + + /* If configGENERATE_RUN_TIME_STATS is defined then the following + macro must be defined to configure the timer/counter used to generate + the run time counter time base. */ + portCONFIGURE_TIMER_FOR_RUN_TIME_STATS(); + + /* Setting up the timer tick is hardware specific and thus in the + portable interface. */ + if( xPortStartScheduler() != pdFALSE ) + { + /* Should not reach here as if the scheduler is running the + function will not return. */ + } + else + { + /* Should only reach here if a task calls xTaskEndScheduler(). */ + } + } + + /* This line will only be reached if the kernel could not be started. */ + configASSERT( xReturn ); +} +/*-----------------------------------------------------------*/ + +void vTaskEndScheduler( void ) +{ + /* Stop the scheduler interrupts and call the portable scheduler end + routine so the original ISRs can be restored if necessary. The port + layer must ensure interrupts enable bit is left in the correct state. */ + portDISABLE_INTERRUPTS(); + xSchedulerRunning = pdFALSE; + vPortEndScheduler(); +} +/*----------------------------------------------------------*/ + +void vTaskSuspendAll( void ) +{ + /* A critical section is not required as the variable is of type + portBASE_TYPE. */ + ++uxSchedulerSuspended; +} +/*----------------------------------------------------------*/ + +signed portBASE_TYPE xTaskResumeAll( void ) +{ +register tskTCB *pxTCB; +signed portBASE_TYPE xAlreadyYielded = pdFALSE; + + /* If uxSchedulerSuspended is zero then this function does not match a + previous call to vTaskSuspendAll(). */ + configASSERT( uxSchedulerSuspended ); + + /* It is possible that an ISR caused a task to be removed from an event + list while the scheduler was suspended. If this was the case then the + removed task will have been added to the xPendingReadyList. Once the + scheduler has been resumed it is safe to move all the pending ready + tasks from this list into their appropriate ready list. */ + taskENTER_CRITICAL(); + { + --uxSchedulerSuspended; + + if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) + { + if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U ) + { + portBASE_TYPE xYieldRequired = pdFALSE; + + /* Move any readied tasks from the pending list into the + appropriate ready list. */ + while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE ) + { + pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ); + vListRemove( &( pxTCB->xEventListItem ) ); + vListRemove( &( pxTCB->xGenericListItem ) ); + prvAddTaskToReadyQueue( pxTCB ); + + /* If we have moved a task that has a priority higher than + the current task then we should yield. */ + if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) + { + xYieldRequired = pdTRUE; + } + } + + /* If any ticks occurred while the scheduler was suspended then + they should be processed now. This ensures the tick count does not + slip, and that any delayed tasks are resumed at the correct time. */ + if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U ) + { + while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U ) + { + vTaskIncrementTick(); + --uxMissedTicks; + } + + /* As we have processed some ticks it is appropriate to yield + to ensure the highest priority task that is ready to run is + the task actually running. */ + #if configUSE_PREEMPTION == 1 + { + xYieldRequired = pdTRUE; + } + #endif + } + + if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) ) + { + xAlreadyYielded = pdTRUE; + xMissedYield = pdFALSE; + portYIELD_WITHIN_API(); + } + } + } + } + taskEXIT_CRITICAL(); + + return xAlreadyYielded; +} + + + + + + +/*----------------------------------------------------------- + * PUBLIC TASK UTILITIES documented in task.h + *----------------------------------------------------------*/ + + + +portTickType xTaskGetTickCount( void ) +{ +portTickType xTicks; + + /* Critical section required if running on a 16 bit processor. */ + taskENTER_CRITICAL(); + { + xTicks = xTickCount; + } + taskEXIT_CRITICAL(); + + return xTicks; +} +/*-----------------------------------------------------------*/ + +portTickType xTaskGetTickCountFromISR( void ) +{ +portTickType xReturn; +unsigned portBASE_TYPE uxSavedInterruptStatus; + + uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + xReturn = xTickCount; + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void ) +{ + /* A critical section is not required because the variables are of type + portBASE_TYPE. */ + return uxCurrentNumberOfTasks; +} +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_pcTaskGetTaskName == 1 ) + + signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery ) + { + tskTCB *pxTCB; + + /* If null is passed in here then the name of the calling task is being queried. */ + pxTCB = prvGetTCBFromHandle( xTaskToQuery ); + configASSERT( pxTCB ); + return &( pxTCB->pcTaskName[ 0 ] ); + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + void vTaskList( signed char *pcWriteBuffer ) + { + unsigned portBASE_TYPE uxQueue; + + /* This is a VERY costly function that should be used for debug only. + It leaves interrupts disabled for a LONG time. */ + + vTaskSuspendAll(); + { + /* Run through all the lists that could potentially contain a TCB and + report the task name, state and stack high water mark. */ + + *pcWriteBuffer = ( signed char ) 0x00; + strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" ); + + uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U; + + do + { + uxQueue--; + + if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE ) + { + prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR ); + } + }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY ); + + if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE ) + { + prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR ); + } + + if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE ) + { + prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR ); + } + + #if( INCLUDE_vTaskDelete == 1 ) + { + if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE ) + { + prvListTaskWithinSingleList( pcWriteBuffer, &xTasksWaitingTermination, tskDELETED_CHAR ); + } + } + #endif + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE ) + { + prvListTaskWithinSingleList( pcWriteBuffer, &xSuspendedTaskList, tskSUSPENDED_CHAR ); + } + } + #endif + } + xTaskResumeAll(); + } + +#endif +/*----------------------------------------------------------*/ + +#if ( configGENERATE_RUN_TIME_STATS == 1 ) + + void vTaskGetRunTimeStats( signed char *pcWriteBuffer ) + { + unsigned portBASE_TYPE uxQueue; + unsigned long ulTotalRunTime; + + /* This is a VERY costly function that should be used for debug only. + It leaves interrupts disabled for a LONG time. */ + + vTaskSuspendAll(); + { + #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE + portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime ); + #else + ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE(); + #endif + + /* Divide ulTotalRunTime by 100 to make the percentage caluclations + simpler in the prvGenerateRunTimeStatsForTasksInList() function. */ + ulTotalRunTime /= 100UL; + + /* Run through all the lists that could potentially contain a TCB, + generating a table of run timer percentages in the provided + buffer. */ + + *pcWriteBuffer = ( signed char ) 0x00; + strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" ); + + uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U; + + do + { + uxQueue--; + + if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE ) + { + prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime ); + } + }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY ); + + if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE ) + { + prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime ); + } + + if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE ) + { + prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime ); + } + + #if ( INCLUDE_vTaskDelete == 1 ) + { + if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE ) + { + prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTime ); + } + } + #endif + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE ) + { + prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTime ); + } + } + #endif + } + xTaskResumeAll(); + } + +#endif +/*----------------------------------------------------------*/ + +#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) + + xTaskHandle xTaskGetIdleTaskHandle( void ) + { + /* If xTaskGetIdleTaskHandle() is called before the scheduler has been + started, then xIdleTaskHandle will be NULL. */ + configASSERT( ( xIdleTaskHandle != NULL ) ); + return xIdleTaskHandle; + } + +#endif + +/*----------------------------------------------------------- + * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES + * documented in task.h + *----------------------------------------------------------*/ + +void vTaskIncrementTick( void ) +{ +tskTCB * pxTCB; + + /* Called by the portable layer each time a tick interrupt occurs. + Increments the tick then checks to see if the new tick value will cause any + tasks to be unblocked. */ + if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) + { + ++xTickCount; + if( xTickCount == ( portTickType ) 0U ) + { + xList *pxTemp; + + /* Tick count has overflowed so we need to swap the delay lists. + If there are any items in pxDelayedTaskList here then there is + an error! */ + configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); + + pxTemp = pxDelayedTaskList; + pxDelayedTaskList = pxOverflowDelayedTaskList; + pxOverflowDelayedTaskList = pxTemp; + xNumOfOverflows++; + + if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) + { + /* The new current delayed list is empty. Set + xNextTaskUnblockTime to the maximum possible value so it is + extremely unlikely that the + if( xTickCount >= xNextTaskUnblockTime ) test will pass until + there is an item in the delayed list. */ + xNextTaskUnblockTime = portMAX_DELAY; + } + else + { + /* The new current delayed list is not empty, get the value of + the item at the head of the delayed list. This is the time at + which the task at the head of the delayed list should be removed + from the Blocked state. */ + pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); + xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); + } + } + + /* See if this tick has made a timeout expire. */ + prvCheckDelayedTasks(); + } + else + { + ++uxMissedTicks; + + /* The tick hook gets called at regular intervals, even if the + scheduler is locked. */ + #if ( configUSE_TICK_HOOK == 1 ) + { + vApplicationTickHook(); + } + #endif + } + + #if ( configUSE_TICK_HOOK == 1 ) + { + /* Guard against the tick hook being called when the missed tick + count is being unwound (when the scheduler is being unlocked. */ + if( uxMissedTicks == ( unsigned portBASE_TYPE ) 0U ) + { + vApplicationTickHook(); + } + } + #endif + + traceTASK_INCREMENT_TICK( xTickCount ); +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_APPLICATION_TASK_TAG == 1 ) + + void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction ) + { + tskTCB *xTCB; + + /* If xTask is NULL then we are setting our own task hook. */ + if( xTask == NULL ) + { + xTCB = ( tskTCB * ) pxCurrentTCB; + } + else + { + xTCB = ( tskTCB * ) xTask; + } + + /* Save the hook function in the TCB. A critical section is required as + the value can be accessed from an interrupt. */ + taskENTER_CRITICAL(); + xTCB->pxTaskTag = pxHookFunction; + taskEXIT_CRITICAL(); + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_APPLICATION_TASK_TAG == 1 ) + + pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask ) + { + tskTCB *xTCB; + pdTASK_HOOK_CODE xReturn; + + /* If xTask is NULL then we are setting our own task hook. */ + if( xTask == NULL ) + { + xTCB = ( tskTCB * ) pxCurrentTCB; + } + else + { + xTCB = ( tskTCB * ) xTask; + } + + /* Save the hook function in the TCB. A critical section is required as + the value can be accessed from an interrupt. */ + taskENTER_CRITICAL(); + xReturn = xTCB->pxTaskTag; + taskEXIT_CRITICAL(); + + return xReturn; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_APPLICATION_TASK_TAG == 1 ) + + portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter ) + { + tskTCB *xTCB; + portBASE_TYPE xReturn; + + /* If xTask is NULL then we are calling our own task hook. */ + if( xTask == NULL ) + { + xTCB = ( tskTCB * ) pxCurrentTCB; + } + else + { + xTCB = ( tskTCB * ) xTask; + } + + if( xTCB->pxTaskTag != NULL ) + { + xReturn = xTCB->pxTaskTag( pvParameter ); + } + else + { + xReturn = pdFAIL; + } + + return xReturn; + } + +#endif +/*-----------------------------------------------------------*/ + +void vTaskSwitchContext( void ) +{ + if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE ) + { + /* The scheduler is currently suspended - do not allow a context + switch. */ + xMissedYield = pdTRUE; + } + else + { + traceTASK_SWITCHED_OUT(); + + #if ( configGENERATE_RUN_TIME_STATS == 1 ) + { + unsigned long ulTempCounter; + + #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE + portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter ); + #else + ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE(); + #endif + + /* Add the amount of time the task has been running to the accumulated + time so far. The time the task started running was stored in + ulTaskSwitchedInTime. Note that there is no overflow protection here + so count values are only valid until the timer overflows. Generally + this will be about 1 hour assuming a 1uS timer increment. */ + pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime ); + ulTaskSwitchedInTime = ulTempCounter; + } + #endif + + taskFIRST_CHECK_FOR_STACK_OVERFLOW(); + taskSECOND_CHECK_FOR_STACK_OVERFLOW(); + + /* Find the highest priority queue that contains ready tasks. */ + while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) + { + configASSERT( uxTopReadyPriority ); + --uxTopReadyPriority; + } + + /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the + same priority get an equal share of the processor time. */ + listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); + + traceTASK_SWITCHED_IN(); + } +} +/*-----------------------------------------------------------*/ + +void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait ) +{ +portTickType xTimeToWake; + + configASSERT( pxEventList ); + + /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE + SCHEDULER SUSPENDED. */ + + /* Place the event list item of the TCB in the appropriate event list. + This is placed in the list in priority order so the highest priority task + is the first to be woken by the event. */ + vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) ); + + /* We must remove ourselves from the ready list before adding ourselves + to the blocked list as the same list item is used for both lists. We have + exclusive access to the ready lists as the scheduler is locked. */ + vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + if( xTicksToWait == portMAX_DELAY ) + { + /* Add ourselves to the suspended task list instead of a delayed task + list to ensure we are not woken by a timing event. We will block + indefinitely. */ + vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + else + { + /* Calculate the time at which the task should be woken if the event does + not occur. This may overflow but this doesn't matter. */ + xTimeToWake = xTickCount + xTicksToWait; + prvAddCurrentTaskToDelayedList( xTimeToWake ); + } + } + #else + { + /* Calculate the time at which the task should be woken if the event does + not occur. This may overflow but this doesn't matter. */ + xTimeToWake = xTickCount + xTicksToWait; + prvAddCurrentTaskToDelayedList( xTimeToWake ); + } + #endif +} +/*-----------------------------------------------------------*/ + +#if configUSE_TIMERS == 1 + + void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait ) + { + portTickType xTimeToWake; + + configASSERT( pxEventList ); + + /* This function should not be called by application code hence the + 'Restricted' in its name. It is not part of the public API. It is + designed for use by kernel code, and has special calling requirements - + it should be called from a critical section. */ + + + /* Place the event list item of the TCB in the appropriate event list. + In this case it is assume that this is the only task that is going to + be waiting on this event list, so the faster vListInsertEnd() function + can be used in place of vListInsert. */ + vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) ); + + /* We must remove this task from the ready list before adding it to the + blocked list as the same list item is used for both lists. This + function is called form a critical section. */ + vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + + /* Calculate the time at which the task should be woken if the event does + not occur. This may overflow but this doesn't matter. */ + xTimeToWake = xTickCount + xTicksToWait; + prvAddCurrentTaskToDelayedList( xTimeToWake ); + } + +#endif /* configUSE_TIMERS */ +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList ) +{ +tskTCB *pxUnblockedTCB; +portBASE_TYPE xReturn; + + /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE + SCHEDULER SUSPENDED. It can also be called from within an ISR. */ + + /* The event list is sorted in priority order, so we can remove the + first in the list, remove the TCB from the delayed list, and add + it to the ready list. + + If an event is for a queue that is locked then this function will never + get called - the lock count on the queue will get modified instead. This + means we can always expect exclusive access to the event list here. + + This function assumes that a check has already been made to ensure that + pxEventList is not empty. */ + pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); + configASSERT( pxUnblockedTCB ); + vListRemove( &( pxUnblockedTCB->xEventListItem ) ); + + if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) + { + vListRemove( &( pxUnblockedTCB->xGenericListItem ) ); + prvAddTaskToReadyQueue( pxUnblockedTCB ); + } + else + { + /* We cannot access the delayed or ready lists, so will hold this + task pending until the scheduler is resumed. */ + vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) ); + } + + if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority ) + { + /* Return true if the task removed from the event list has + a higher priority than the calling task. This allows + the calling task to know if it should force a context + switch now. */ + xReturn = pdTRUE; + } + else + { + xReturn = pdFALSE; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut ) +{ + configASSERT( pxTimeOut ); + pxTimeOut->xOverflowCount = xNumOfOverflows; + pxTimeOut->xTimeOnEntering = xTickCount; +} +/*-----------------------------------------------------------*/ + +portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait ) +{ +portBASE_TYPE xReturn; + + configASSERT( pxTimeOut ); + configASSERT( pxTicksToWait ); + + taskENTER_CRITICAL(); + { + #if ( INCLUDE_vTaskSuspend == 1 ) + /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is + the maximum block time then the task should block indefinitely, and + therefore never time out. */ + if( *pxTicksToWait == portMAX_DELAY ) + { + xReturn = pdFALSE; + } + else /* We are not blocking indefinitely, perform the checks below. */ + #endif + + if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) ) + { + /* The tick count is greater than the time at which vTaskSetTimeout() + was called, but has also overflowed since vTaskSetTimeOut() was called. + It must have wrapped all the way around and gone past us again. This + passed since vTaskSetTimeout() was called. */ + xReturn = pdTRUE; + } + else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait ) + { + /* Not a genuine timeout. Adjust parameters for time remaining. */ + *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ); + vTaskSetTimeOutState( pxTimeOut ); + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + } + taskEXIT_CRITICAL(); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +void vTaskMissedYield( void ) +{ + xMissedYield = pdTRUE; +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask ) + { + unsigned portBASE_TYPE uxReturn; + tskTCB *pxTCB; + + if( xTask != NULL ) + { + pxTCB = ( tskTCB * ) xTask; + uxReturn = pxTCB->uxTaskNumber; + } + else + { + uxReturn = 0U; + } + + return uxReturn; + } +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle ) + { + tskTCB *pxTCB; + + if( xTask != NULL ) + { + pxTCB = ( tskTCB * ) xTask; + pxTCB->uxTaskNumber = uxHandle; + } + } +#endif + + +/* + * ----------------------------------------------------------- + * The Idle task. + * ---------------------------------------------------------- + * + * The portTASK_FUNCTION() macro is used to allow port/compiler specific + * language extensions. The equivalent prototype for this function is: + * + * void prvIdleTask( void *pvParameters ); + * + */ +static portTASK_FUNCTION( prvIdleTask, pvParameters ) +{ + /* Stop warnings. */ + ( void ) pvParameters; + + for( ;; ) + { + /* See if any tasks have been deleted. */ + prvCheckTasksWaitingTermination(); + + #if ( configUSE_PREEMPTION == 0 ) + { + /* If we are not using preemption we keep forcing a task switch to + see if any other task has become available. If we are using + preemption we don't need to do this as any task becoming available + will automatically get the processor anyway. */ + taskYIELD(); + } + #endif + + #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) + { + /* When using preemption tasks of equal priority will be + timesliced. If a task that is sharing the idle priority is ready + to run then the idle task should yield before the end of the + timeslice. + + A critical region is not required here as we are just reading from + the list, and an occasional incorrect value will not matter. If + the ready list at the idle priority contains more than one task + then a task other than the idle task is ready to execute. */ + if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 ) + { + taskYIELD(); + } + } + #endif + + #if ( configUSE_IDLE_HOOK == 1 ) + { + extern void vApplicationIdleHook( void ); + + /* Call the user defined function from within the idle task. This + allows the application designer to add background functionality + without the overhead of a separate task. + NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES, + CALL A FUNCTION THAT MIGHT BLOCK. */ + vApplicationIdleHook(); + } + #endif + } +} /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */ + + + + + + + +/*----------------------------------------------------------- + * File private functions documented at the top of the file. + *----------------------------------------------------------*/ + + + +static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) +{ + /* Store the function name in the TCB. */ + #if configMAX_TASK_NAME_LEN > 1 + { + /* Don't bring strncpy into the build unnecessarily. */ + strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN ); + } + #endif + pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0'; + + /* This is used as an array index so must ensure it's not too large. First + remove the privilege bit if one is present. */ + if( uxPriority >= configMAX_PRIORITIES ) + { + uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U; + } + + pxTCB->uxPriority = uxPriority; + #if ( configUSE_MUTEXES == 1 ) + { + pxTCB->uxBasePriority = uxPriority; + } + #endif + + vListInitialiseItem( &( pxTCB->xGenericListItem ) ); + vListInitialiseItem( &( pxTCB->xEventListItem ) ); + + /* Set the pxTCB as a link back from the xListItem. This is so we can get + back to the containing TCB from a generic item in a list. */ + listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB ); + + /* Event lists are always in priority order. */ + listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority ); + listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB ); + + #if ( portCRITICAL_NESTING_IN_TCB == 1 ) + { + pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U; + } + #endif + + #if ( configUSE_APPLICATION_TASK_TAG == 1 ) + { + pxTCB->pxTaskTag = NULL; + } + #endif + + #if ( configGENERATE_RUN_TIME_STATS == 1 ) + { + pxTCB->ulRunTimeCounter = 0UL; + } + #endif + + #if ( portUSING_MPU_WRAPPERS == 1 ) + { + vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth ); + } + #else + { + ( void ) xRegions; + ( void ) usStackDepth; + } + #endif +} +/*-----------------------------------------------------------*/ + +#if ( portUSING_MPU_WRAPPERS == 1 ) + + void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions ) + { + tskTCB *pxTCB; + + if( xTaskToModify == pxCurrentTCB ) + { + xTaskToModify = NULL; + } + + /* If null is passed in here then we are deleting ourselves. */ + pxTCB = prvGetTCBFromHandle( xTaskToModify ); + + vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 ); + } + /*-----------------------------------------------------------*/ +#endif + +static void prvInitialiseTaskLists( void ) +{ +unsigned portBASE_TYPE uxPriority; + + for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ ) + { + vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) ); + } + + vListInitialise( ( xList * ) &xDelayedTaskList1 ); + vListInitialise( ( xList * ) &xDelayedTaskList2 ); + vListInitialise( ( xList * ) &xPendingReadyList ); + + #if ( INCLUDE_vTaskDelete == 1 ) + { + vListInitialise( ( xList * ) &xTasksWaitingTermination ); + } + #endif + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + vListInitialise( ( xList * ) &xSuspendedTaskList ); + } + #endif + + /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList + using list2. */ + pxDelayedTaskList = &xDelayedTaskList1; + pxOverflowDelayedTaskList = &xDelayedTaskList2; +} +/*-----------------------------------------------------------*/ + +static void prvCheckTasksWaitingTermination( void ) +{ + #if ( INCLUDE_vTaskDelete == 1 ) + { + portBASE_TYPE xListIsEmpty; + + /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called + too often in the idle task. */ + if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U ) + { + vTaskSuspendAll(); + xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination ); + xTaskResumeAll(); + + if( xListIsEmpty == pdFALSE ) + { + tskTCB *pxTCB; + + taskENTER_CRITICAL(); + { + pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) ); + vListRemove( &( pxTCB->xGenericListItem ) ); + --uxCurrentNumberOfTasks; + --uxTasksDeleted; + } + taskEXIT_CRITICAL(); + + prvDeleteTCB( pxTCB ); + } + } + } + #endif +} +/*-----------------------------------------------------------*/ + +static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) +{ + /* The list item will be inserted in wake time order. */ + listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake ); + + if( xTimeToWake < xTickCount ) + { + /* Wake time has overflowed. Place this item in the overflow list. */ + vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + else + { + /* The wake time has not overflowed, so we can use the current block list. */ + vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + + /* If the task entering the blocked state was placed at the head of the + list of blocked tasks then xNextTaskUnblockTime needs to be updated + too. */ + if( xTimeToWake < xNextTaskUnblockTime ) + { + xNextTaskUnblockTime = xTimeToWake; + } + } +} +/*-----------------------------------------------------------*/ + +static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) +{ +tskTCB *pxNewTCB; + + /* Allocate space for the TCB. Where the memory comes from depends on + the implementation of the port malloc function. */ + pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) ); + + if( pxNewTCB != NULL ) + { + /* Allocate space for the stack used by the task being created. + The base of the stack memory stored in the TCB so the task can + be deleted later if required. */ + pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer ); + + if( pxNewTCB->pxStack == NULL ) + { + /* Could not allocate the stack. Delete the allocated TCB. */ + vPortFree( pxNewTCB ); + pxNewTCB = NULL; + } + else + { + /* Just to help debugging. */ + memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) ); + } + } + + return pxNewTCB; +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) + { + volatile tskTCB *pxNextTCB, *pxFirstTCB; + unsigned short usStackRemaining; + PRIVILEGED_DATA static char pcStatusString[ configMAX_TASK_NAME_LEN + 30 ]; + + /* Write the details of all the TCB's in pxList into the buffer. */ + listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); + do + { + listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); + #if ( portSTACK_GROWTH > 0 ) + { + usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack ); + } + #else + { + usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack ); + } + #endif + + sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber ); + strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString ); + + } while( pxNextTCB != pxFirstTCB ); + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( configGENERATE_RUN_TIME_STATS == 1 ) + + static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) + { + volatile tskTCB *pxNextTCB, *pxFirstTCB; + unsigned long ulStatsAsPercentage; + + /* Write the run time stats of all the TCB's in pxList into the buffer. */ + listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); + do + { + /* Get next TCB in from the list. */ + listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); + + /* Divide by zero check. */ + if( ulTotalRunTime > 0UL ) + { + /* Has the task run at all? */ + if( pxNextTCB->ulRunTimeCounter == 0UL ) + { + /* The task has used no CPU time at all. */ + sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName ); + } + else + { + /* What percentage of the total run time has the task used? + This will always be rounded down to the nearest integer. + ulTotalRunTime has already been divided by 100. */ + ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime; + + if( ulStatsAsPercentage > 0UL ) + { + #ifdef portLU_PRINTF_SPECIFIER_REQUIRED + { + sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage ); + } + #else + { + /* sizeof( int ) == sizeof( long ) so a smaller + printf() library can be used. */ + sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); + } + #endif + } + else + { + /* If the percentage is zero here then the task has + consumed less than 1% of the total run time. */ + #ifdef portLU_PRINTF_SPECIFIER_REQUIRED + { + sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter ); + } + #else + { + /* sizeof( int ) == sizeof( long ) so a smaller + printf() library can be used. */ + sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter ); + } + #endif + } + } + + strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString ); + } + + } while( pxNextTCB != pxFirstTCB ); + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) + + static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) + { + register unsigned short usCount = 0U; + + while( *pucStackByte == tskSTACK_FILL_BYTE ) + { + pucStackByte -= portSTACK_GROWTH; + usCount++; + } + + usCount /= sizeof( portSTACK_TYPE ); + + return usCount; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) + + unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask ) + { + tskTCB *pxTCB; + unsigned char *pcEndOfStack; + unsigned portBASE_TYPE uxReturn; + + pxTCB = prvGetTCBFromHandle( xTask ); + + #if portSTACK_GROWTH < 0 + { + pcEndOfStack = ( unsigned char * ) pxTCB->pxStack; + } + #else + { + pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack; + } + #endif + + uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack ); + + return uxReturn; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskDelete == 1 ) + + static void prvDeleteTCB( tskTCB *pxTCB ) + { + /* This call is required specifically for the TriCore port. It must be + above the vPortFree() calls. The call is also used by ports/demos that + want to allocate and clean RAM statically. */ + portCLEAN_UP_TCB( pxTCB ); + + /* Free up the memory allocated by the scheduler for the task. It is up to + the task to free any memory allocated at the application level. */ + vPortFreeAligned( pxTCB->pxStack ); + vPortFree( pxTCB ); + } + +#endif + + +/*-----------------------------------------------------------*/ + +#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) + + xTaskHandle xTaskGetCurrentTaskHandle( void ) + { + xTaskHandle xReturn; + + /* A critical section is not required as this is not called from + an interrupt and the current TCB will always be the same for any + individual execution thread. */ + xReturn = pxCurrentTCB; + + return xReturn; + } + +#endif + +/*-----------------------------------------------------------*/ + +#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) + + portBASE_TYPE xTaskGetSchedulerState( void ) + { + portBASE_TYPE xReturn; + + if( xSchedulerRunning == pdFALSE ) + { + xReturn = taskSCHEDULER_NOT_STARTED; + } + else + { + if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) + { + xReturn = taskSCHEDULER_RUNNING; + } + else + { + xReturn = taskSCHEDULER_SUSPENDED; + } + } + + return xReturn; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_MUTEXES == 1 ) + + void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder ) + { + tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder; + + configASSERT( pxMutexHolder ); + + if( pxTCB->uxPriority < pxCurrentTCB->uxPriority ) + { + /* Adjust the mutex holder state to account for its new priority. */ + listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ); + + /* If the task being modified is in the ready state it will need to + be moved in to a new list. */ + if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE ) + { + vListRemove( &( pxTCB->xGenericListItem ) ); + + /* Inherit the priority before being moved into the new list. */ + pxTCB->uxPriority = pxCurrentTCB->uxPriority; + prvAddTaskToReadyQueue( pxTCB ); + } + else + { + /* Just inherit the priority. */ + pxTCB->uxPriority = pxCurrentTCB->uxPriority; + } + + traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority ); + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_MUTEXES == 1 ) + + void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder ) + { + tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder; + + if( pxMutexHolder != NULL ) + { + if( pxTCB->uxPriority != pxTCB->uxBasePriority ) + { + /* We must be the running task to be able to give the mutex back. + Remove ourselves from the ready list we currently appear in. */ + vListRemove( &( pxTCB->xGenericListItem ) ); + + /* Disinherit the priority before adding the task into the new + ready list. */ + traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority ); + pxTCB->uxPriority = pxTCB->uxBasePriority; + listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority ); + prvAddTaskToReadyQueue( pxTCB ); + } + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( portCRITICAL_NESTING_IN_TCB == 1 ) + + void vTaskEnterCritical( void ) + { + portDISABLE_INTERRUPTS(); + + if( xSchedulerRunning != pdFALSE ) + { + ( pxCurrentTCB->uxCriticalNesting )++; + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( portCRITICAL_NESTING_IN_TCB == 1 ) + +void vTaskExitCritical( void ) +{ + if( xSchedulerRunning != pdFALSE ) + { + if( pxCurrentTCB->uxCriticalNesting > 0U ) + { + ( pxCurrentTCB->uxCriticalNesting )--; + + if( pxCurrentTCB->uxCriticalNesting == 0U ) + { + portENABLE_INTERRUPTS(); + } + } + } +} + +#endif +/*-----------------------------------------------------------*/ + + + + diff --git a/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/timers.c b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/timers.c new file mode 100644 index 000000000..2dd68db7e --- /dev/null +++ b/Demo/CORTEX_M4_ATSAM4S_AVR_Studio/src/asf/thirdparty/FreeRTOS/timers.c @@ -0,0 +1,686 @@ +/* + FreeRTOS V7.1.1 - Copyright (C) 2012 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! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong? * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + + http://www.FreeRTOS.org - Documentation, training, latest information, + license and contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool. + + Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell + the code with commercial support, indemnification, and middleware, under + the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also + provide a safety engineered and independently SIL3 certified version under + the SafeRTOS brand: http://www.SafeRTOS.com. +*/ + +/* 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; + +#if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 ) + + PRIVILEGED_DATA static xTaskHandle xTimerTaskHandle = NULL; + +#endif + +/*-----------------------------------------------------------*/ + +/* + * 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 ) + { + #if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 ) + { + /* Create the timer task, storing its handle in xTimerTaskHandle so + it can be returned by the xTimerGetTimerDaemonTaskHandle() function. */ + xReturn = xTaskCreate( prvTimerTask, ( const signed char * ) "Tmr Svc", ( unsigned short ) configTIMER_TASK_STACK_DEPTH, NULL, ( unsigned portBASE_TYPE ) configTIMER_TASK_PRIORITY, &xTimerTaskHandle ); + } + #else + { + /* Create the timer task without storing its handle. */ + xReturn = xTaskCreate( prvTimerTask, ( const signed char * ) "Tmr Svc", ( unsigned short ) configTIMER_TASK_STACK_DEPTH, NULL, ( unsigned portBASE_TYPE ) configTIMER_TASK_PRIORITY, NULL); + } + #endif + } + + 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, signed 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; +} +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 ) + + xTaskHandle xTimerGetTimerDaemonTaskHandle( void ) + { + /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been + started, then xTimerTaskHandle will be NULL. */ + configASSERT( ( xTimerTaskHandle != NULL ) ); + return xTimerTaskHandle; + } + +#endif +/*-----------------------------------------------------------*/ + +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 */