diff --git a/external/FreeRTOSConfig.h b/external/FreeRTOSConfig.h deleted file mode 100755 index 2e004f305..000000000 --- a/external/FreeRTOSConfig.h +++ /dev/null @@ -1,172 +0,0 @@ -/* - FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd. - All rights reserved - - VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - - This file is part of the FreeRTOS distribution. - - FreeRTOS is free software; you can redistribute it and/or modify it under - the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. - - *************************************************************************** - >>! NOTE: The modification to the GPL is included to allow you to !<< - >>! distribute a combined work that includes FreeRTOS without being !<< - >>! obliged to provide the source code for proprietary components !<< - >>! outside of the FreeRTOS kernel. !<< - *************************************************************************** - - FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY - WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available on the following - link: http://www.freertos.org/a00114.html - - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that is more than just the market leader, it * - * is the industry's de facto standard. * - * * - * Help yourself get started quickly while simultaneously helping * - * to support the FreeRTOS project by purchasing a FreeRTOS * - * tutorial book, reference manual, or both: * - * http://www.FreeRTOS.org/Documentation * - * * - *************************************************************************** - - http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading - the FAQ page "My application does not run, what could be wrong?". Have you - defined configASSERT()? - - http://www.FreeRTOS.org/support - In return for receiving this top quality - embedded software for free we request you assist our global community by - participating in the support forum. - - http://www.FreeRTOS.org/training - Investing in training allows your team to - be as productive as possible as early as possible. Now you can receive - FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers - Ltd, and the world's leading authority on the world's leading RTOS. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool, a DOS - compatible FAT file system, and our tiny thread aware UDP/IP stack. - - http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. - Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. - - http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High - Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and commercial middleware. - - http://www.SafeRTOS.com - High Integrity Systems also provide a safety - engineered and independently SIL3 certified version for use in safety and - mission critical applications that require provable dependability. - - 1 tab == 4 spaces! -*/ - - -#ifndef FREERTOS_CONFIG_H -#define FREERTOS_CONFIG_H - -/*----------------------------------------------------------- - * Application specific definitions. - * - * These definitions should be adjusted for your particular hardware and - * application requirements. - * - * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE - * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. - * - * See http://www.freertos.org/a00110.html. - *----------------------------------------------------------*/ - -/* Ensure stdint is only used by the compiler, and not the assembler. */ -#ifdef __ICCARM__ - #include - extern uint32_t SystemCoreClock; -#endif - -#define configUSE_PREEMPTION 1 -#define configUSE_IDLE_HOOK 0 -#define configUSE_TICK_HOOK 0 -//#define configCPU_CLOCK_HZ ( SystemCoreClock ) -#define configCPU_CLOCK_HZ ( 8000000 ) -#define configTICK_RATE_HZ ( ( TickType_t ) 1000 ) -#define configMAX_PRIORITIES ( 5 ) -#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 130 ) -#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 75 * 1024 ) ) -#define configMAX_TASK_NAME_LEN ( 10 ) -#define configUSE_TRACE_FACILITY 1 -#define configUSE_16_BIT_TICKS 0 -#define configIDLE_SHOULD_YIELD 1 -#define configUSE_MUTEXES 1 -#define configQUEUE_REGISTRY_SIZE 8 -//#define configCHECK_FOR_STACK_OVERFLOW 2 -#define configUSE_RECURSIVE_MUTEXES 1 -#define configUSE_MALLOC_FAILED_HOOK 0 -#define configUSE_APPLICATION_TASK_TAG 0 -#define configUSE_COUNTING_SEMAPHORES 1 -#define configGENERATE_RUN_TIME_STATS 0 - -/* Co-routine definitions. */ -#define configUSE_CO_ROUTINES 0 -#define configMAX_CO_ROUTINE_PRIORITIES ( 2 ) - -/* Software timer definitions. */ -#define configUSE_TIMERS 0 -/*#define configTIMER_TASK_PRIORITY ( 2 ) -#define configTIMER_QUEUE_LENGTH 10 -#define configTIMER_TASK_STACK_DEPTH ( configMINIMAL_STACK_SIZE * 2 )*/ - -/* Set the following definitions to 1 to include the API function, or zero -to exclude the API function. */ -#define INCLUDE_vTaskPrioritySet 1 -#define INCLUDE_uxTaskPriorityGet 1 -#define INCLUDE_vTaskDelete 1 -#define INCLUDE_vTaskCleanUpResources 1 -#define INCLUDE_vTaskSuspend 1 -#define INCLUDE_vTaskDelayUntil 1 -#define INCLUDE_vTaskDelay 1 - -/* Cortex-M specific definitions. */ -#ifdef __NVIC_PRIO_BITS - /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */ - #define configPRIO_BITS __NVIC_PRIO_BITS -#else - #define configPRIO_BITS 4 /* 15 priority levels */ -#endif - -/* The lowest interrupt priority that can be used in a call to a "set priority" -function. */ -#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 0xf - -/* The highest interrupt priority that can be used by any interrupt service -routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL -INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER -PRIORITY THAN THIS! (higher priorities are lower numeric values. */ -#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5 - -/* Interrupt priorities used by the kernel port layer itself. These are generic -to all Cortex-M ports, and do not rely on any particular library functions. */ -#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) ) -/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!! -See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */ -#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) ) - -/* Normal assert() semantics without relying on the provision of an assert.h -header file. */ -//#define configASSERT( x ) if( ( x ) == 0 ) vAssertCalled( __FILE__, __LINE__ ) -#define configASSERT( x ) if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); } - - -/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS -standard names. */ -#define vPortSVCHandler _SVCallServiceRoutine -#define xPortPendSVHandler _PendSVServiceRoutine -#define xPortSysTickHandler _SysTickServiceRoutine - -#endif /* FREERTOS_CONFIG_H */ - diff --git a/external/NEWLIB.txt b/external/NEWLIB.txt deleted file mode 100644 index cfe83cffd..000000000 --- a/external/NEWLIB.txt +++ /dev/null @@ -1,4 +0,0 @@ -- Using memcpy and memset -- using , , and -- using for "bool" -- using strlen from diff --git a/external/freertos/list.c b/external/freertos/list.c deleted file mode 100755 index b8ebafbdb..000000000 --- a/external/freertos/list.c +++ /dev/null @@ -1,240 +0,0 @@ -/* - FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd. - All rights reserved - - VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - - This file is part of the FreeRTOS distribution. - - FreeRTOS is free software; you can redistribute it and/or modify it under - the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. - - *************************************************************************** - >>! NOTE: The modification to the GPL is included to allow you to !<< - >>! distribute a combined work that includes FreeRTOS without being !<< - >>! obliged to provide the source code for proprietary components !<< - >>! outside of the FreeRTOS kernel. !<< - *************************************************************************** - - FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY - WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available on the following - link: http://www.freertos.org/a00114.html - - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that is more than just the market leader, it * - * is the industry's de facto standard. * - * * - * Help yourself get started quickly while simultaneously helping * - * to support the FreeRTOS project by purchasing a FreeRTOS * - * tutorial book, reference manual, or both: * - * http://www.FreeRTOS.org/Documentation * - * * - *************************************************************************** - - http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading - the FAQ page "My application does not run, what could be wrong?". Have you - defined configASSERT()? - - http://www.FreeRTOS.org/support - In return for receiving this top quality - embedded software for free we request you assist our global community by - participating in the support forum. - - http://www.FreeRTOS.org/training - Investing in training allows your team to - be as productive as possible as early as possible. Now you can receive - FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers - Ltd, and the world's leading authority on the world's leading RTOS. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool, a DOS - compatible FAT file system, and our tiny thread aware UDP/IP stack. - - http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. - Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. - - http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High - Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and commercial middleware. - - http://www.SafeRTOS.com - High Integrity Systems also provide a safety - engineered and independently SIL3 certified version for use in safety and - mission critical applications that require provable dependability. - - 1 tab == 4 spaces! -*/ - - -#include -#include "FreeRTOS.h" -#include "list.h" - -/*----------------------------------------------------------- - * PUBLIC LIST API documented in list.h - *----------------------------------------------------------*/ - -void vListInitialise( List_t * const pxList ) -{ - /* The list structure contains a list item which is used to mark the - end of the list. To initialise the list the list end is inserted - as the only list entry. */ - pxList->pxIndex = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */ - - /* The list end value is the highest possible value in the list to - ensure it remains at the end of the list. */ - pxList->xListEnd.xItemValue = portMAX_DELAY; - - /* The list end next and previous pointers point to itself so we know - when the list is empty. */ - pxList->xListEnd.pxNext = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */ - pxList->xListEnd.pxPrevious = ( ListItem_t * ) &( pxList->xListEnd );/*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */ - - pxList->uxNumberOfItems = ( UBaseType_t ) 0U; - - /* Write known values into the list if - configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ - listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ); - listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ); -} -/*-----------------------------------------------------------*/ - -void vListInitialiseItem( ListItem_t * const pxItem ) -{ - /* Make sure the list item is not recorded as being on a list. */ - pxItem->pvContainer = NULL; - - /* Write known values into the list item if - configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ - listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ); - listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ); -} -/*-----------------------------------------------------------*/ - -void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem ) -{ -ListItem_t * const pxIndex = pxList->pxIndex; - - /* Only effective when configASSERT() is also defined, these tests may catch - the list data structures being overwritten in memory. They will not catch - data errors caused by incorrect configuration or use of FreeRTOS. */ - listTEST_LIST_INTEGRITY( pxList ); - listTEST_LIST_ITEM_INTEGRITY( pxNewListItem ); - - /* Insert a new list item into pxList, but rather than sort the list, - makes the new list item the last item to be removed by a call to - listGET_OWNER_OF_NEXT_ENTRY(). */ - pxNewListItem->pxNext = pxIndex; - pxNewListItem->pxPrevious = pxIndex->pxPrevious; - - /* Only used during decision coverage testing. */ - mtCOVERAGE_TEST_DELAY(); - - pxIndex->pxPrevious->pxNext = pxNewListItem; - pxIndex->pxPrevious = pxNewListItem; - - /* Remember which list the item is in. */ - pxNewListItem->pvContainer = ( void * ) pxList; - - ( pxList->uxNumberOfItems )++; -} -/*-----------------------------------------------------------*/ - -void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem ) -{ -ListItem_t *pxIterator; -const TickType_t xValueOfInsertion = pxNewListItem->xItemValue; - - /* Only effective when configASSERT() is also defined, these tests may catch - the list data structures being overwritten in memory. They will not catch - data errors caused by incorrect configuration or use of FreeRTOS. */ - listTEST_LIST_INTEGRITY( pxList ); - listTEST_LIST_ITEM_INTEGRITY( pxNewListItem ); - - /* Insert the new list item into the list, sorted in xItemValue order. - - If the list already contains a list item with the same item value then the - new list item should be placed after it. This ensures that TCB's which are - stored in ready lists (all of which have the same xItemValue value) get a - share of the CPU. However, if the xItemValue is the same as the back marker - the iteration loop below will not end. Therefore the value is checked - first, and the algorithm slightly modified if necessary. */ - if( xValueOfInsertion == portMAX_DELAY ) - { - pxIterator = pxList->xListEnd.pxPrevious; - } - else - { - /* *** NOTE *********************************************************** - If you find your application is crashing here then likely causes are - listed below. In addition see http://www.freertos.org/FAQHelp.html for - more tips, and ensure configASSERT() is defined! - http://www.freertos.org/a00110.html#configASSERT - - 1) Stack overflow - - see http://www.freertos.org/Stacks-and-stack-overflow-checking.html - 2) Incorrect interrupt priority assignment, especially on Cortex-M - parts where numerically high priority values denote low actual - interrupt priorities, which can seem counter intuitive. See - http://www.freertos.org/RTOS-Cortex-M3-M4.html and the definition - of configMAX_SYSCALL_INTERRUPT_PRIORITY on - http://www.freertos.org/a00110.html - 3) Calling an API function from within a critical section or when - the scheduler is suspended, or calling an API function that does - not end in "FromISR" from an interrupt. - 4) Using a queue or semaphore before it has been initialised or - before the scheduler has been started (are interrupts firing - before vTaskStartScheduler() has been called?). - **********************************************************************/ - - for( pxIterator = ( ListItem_t * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext ) /*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */ - { - /* There is nothing to do here, just iterating to the wanted - insertion position. */ - } - } - - pxNewListItem->pxNext = pxIterator->pxNext; - pxNewListItem->pxNext->pxPrevious = pxNewListItem; - pxNewListItem->pxPrevious = pxIterator; - pxIterator->pxNext = pxNewListItem; - - /* Remember which list the item is in. This allows fast removal of the - item later. */ - pxNewListItem->pvContainer = ( void * ) pxList; - - ( pxList->uxNumberOfItems )++; -} -/*-----------------------------------------------------------*/ - -UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ) -{ -/* The list item knows which list it is in. Obtain the list from the list -item. */ -List_t * const pxList = ( List_t * ) pxItemToRemove->pvContainer; - - pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious; - pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext; - - /* Only used during decision coverage testing. */ - mtCOVERAGE_TEST_DELAY(); - - /* Make sure the index is left pointing to a valid item. */ - if( pxList->pxIndex == pxItemToRemove ) - { - pxList->pxIndex = pxItemToRemove->pxPrevious; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - pxItemToRemove->pvContainer = NULL; - ( pxList->uxNumberOfItems )--; - - return pxList->uxNumberOfItems; -} -/*-----------------------------------------------------------*/ - diff --git a/external/freertos/portable/GCC/ARM_CM4F/port.c b/external/freertos/portable/GCC/ARM_CM4F/port.c deleted file mode 100755 index 6292671c3..000000000 --- a/external/freertos/portable/GCC/ARM_CM4F/port.c +++ /dev/null @@ -1,757 +0,0 @@ -/* - FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd. - All rights reserved - - VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - - This file is part of the FreeRTOS distribution. - - FreeRTOS is free software; you can redistribute it and/or modify it under - the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. - - *************************************************************************** - >>! NOTE: The modification to the GPL is included to allow you to !<< - >>! distribute a combined work that includes FreeRTOS without being !<< - >>! obliged to provide the source code for proprietary components !<< - >>! outside of the FreeRTOS kernel. !<< - *************************************************************************** - - FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY - WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available on the following - link: http://www.freertos.org/a00114.html - - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that is more than just the market leader, it * - * is the industry's de facto standard. * - * * - * Help yourself get started quickly while simultaneously helping * - * to support the FreeRTOS project by purchasing a FreeRTOS * - * tutorial book, reference manual, or both: * - * http://www.FreeRTOS.org/Documentation * - * * - *************************************************************************** - - http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading - the FAQ page "My application does not run, what could be wrong?". Have you - defined configASSERT()? - - http://www.FreeRTOS.org/support - In return for receiving this top quality - embedded software for free we request you assist our global community by - participating in the support forum. - - http://www.FreeRTOS.org/training - Investing in training allows your team to - be as productive as possible as early as possible. Now you can receive - FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers - Ltd, and the world's leading authority on the world's leading RTOS. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool, a DOS - compatible FAT file system, and our tiny thread aware UDP/IP stack. - - http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. - Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. - - http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High - Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and commercial middleware. - - http://www.SafeRTOS.com - High Integrity Systems also provide a safety - engineered and independently SIL3 certified version for use in safety and - mission critical applications that require provable dependability. - - 1 tab == 4 spaces! -*/ - -/*----------------------------------------------------------- - * Implementation of functions defined in portable.h for the ARM CM4F port. - *----------------------------------------------------------*/ - -/* Scheduler includes. */ -#include "FreeRTOS.h" -#include "task.h" - -#ifndef __VFP_FP__ - #error This port can only be used when the project options are configured to enable hardware floating point support. -#endif - -#ifndef configSYSTICK_CLOCK_HZ - #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ - /* Ensure the SysTick is clocked at the same frequency as the core. */ - #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) -#else - /* The way the SysTick is clocked is not modified in case it is not the same - as the core. */ - #define portNVIC_SYSTICK_CLK_BIT ( 0 ) -#endif - -/* Constants required to manipulate the core. Registers first... */ -#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000e010 ) ) -#define portNVIC_SYSTICK_LOAD_REG ( * ( ( volatile uint32_t * ) 0xe000e014 ) ) -#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( * ( ( volatile uint32_t * ) 0xe000e018 ) ) -#define portNVIC_SYSPRI2_REG ( * ( ( volatile uint32_t * ) 0xe000ed20 ) ) -/* ...then bits in the registers. */ -#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) -#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) -#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) -#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL ) -#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL ) - -/* Constants used to detect a Cortex-M7 r0p1 core, which should use the ARM_CM7 -r0p1 port. */ -#define portCPUID ( * ( ( volatile uint32_t * ) 0xE000ed00 ) ) -#define portCORTEX_M7_r0p1_ID ( 0x410FC271UL ) -#define portCORTEX_M7_r0p0_ID ( 0x410FC270UL ) - -#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) -#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) - -/* Constants required to check the validity of an interrupt priority. */ -#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) -#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) -#define portAIRCR_REG ( * ( ( volatile uint32_t * ) 0xE000ED0C ) ) -#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) -#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) -#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) -#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) -#define portPRIGROUP_SHIFT ( 8UL ) - -/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */ -#define portVECTACTIVE_MASK ( 0xFFUL ) - -/* Constants required to manipulate the VFP. */ -#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */ -#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL ) - -/* Constants required to set up the initial stack. */ -#define portINITIAL_XPSR ( 0x01000000 ) -#define portINITIAL_EXEC_RETURN ( 0xfffffffd ) - -/* The systick is a 24-bit counter. */ -#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) - -/* A fiddle factor to estimate the number of SysTick counts that would have -occurred while the SysTick counter is stopped during tickless idle -calculations. */ -#define portMISSED_COUNTS_FACTOR ( 45UL ) - -/* Let the user override the pre-loading of the initial LR with the address of -prvTaskExitError() in case is messes up unwinding of the stack in the -debugger. */ -#ifdef configTASK_RETURN_ADDRESS - #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS -#else - #define portTASK_RETURN_ADDRESS prvTaskExitError -#endif - -/* Each task maintains its own interrupt status in the critical nesting -variable. */ -static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; - -/* - * Setup the timer to generate the tick interrupts. The implementation in this - * file is weak to allow application writers to change the timer used to - * generate the tick interrupt. - */ -void vPortSetupTimerInterrupt( 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 )); - -/* - * Function to enable the VFP. - */ - static void vPortEnableVFP( void ) __attribute__ (( naked )); - -/* - * Used to catch tasks that attempt to return from their implementing function. - */ -static void prvTaskExitError( void ); - -/*-----------------------------------------------------------*/ - -/* - * The number of SysTick increments that make up one tick period. - */ -#if configUSE_TICKLESS_IDLE == 1 - static uint32_t ulTimerCountsForOneTick = 0; -#endif /* configUSE_TICKLESS_IDLE */ - -/* - * The maximum number of tick periods that can be suppressed is limited by the - * 24 bit resolution of the SysTick timer. - */ -#if configUSE_TICKLESS_IDLE == 1 - static uint32_t xMaximumPossibleSuppressedTicks = 0; -#endif /* configUSE_TICKLESS_IDLE */ - -/* - * Compensate for the CPU cycles that pass while the SysTick is stopped (low - * power functionality only. - */ -#if configUSE_TICKLESS_IDLE == 1 - static uint32_t ulStoppedTimerCompensation = 0; -#endif /* configUSE_TICKLESS_IDLE */ - -/* - * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure - * FreeRTOS API functions are not called from interrupts that have been assigned - * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. - */ -#if ( configASSERT_DEFINED == 1 ) - static uint8_t ucMaxSysCallPriority = 0; - static uint32_t ulMaxPRIGROUPValue = 0; - static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16; -#endif /* configASSERT_DEFINED */ - -/*-----------------------------------------------------------*/ - -/* - * See header file for description. - */ -StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) -{ - /* Simulate the stack frame as it would be created by a context switch - interrupt. */ - - /* Offset added to account for the way the MCU uses the stack on entry/exit - of interrupts, and to ensure alignment. */ - pxTopOfStack--; - - *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ - pxTopOfStack--; - *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ - pxTopOfStack--; - *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ - - /* Save code space by skipping register initialisation. */ - pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ - *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ - - /* A save method is being used that requires each task to maintain its - own exec return value. */ - pxTopOfStack--; - *pxTopOfStack = portINITIAL_EXEC_RETURN; - - pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ - - return pxTopOfStack; -} -/*-----------------------------------------------------------*/ - -static void prvTaskExitError( void ) -{ - /* A function that implements a task must not exit or attempt to return to - its caller as there is nothing to return to. If a task wants to exit it - should instead call vTaskDelete( NULL ). - - Artificially force an assert() to be triggered if configASSERT() is - defined, then stop here so application writers can catch the error. */ - configASSERT( uxCriticalNesting == ~0UL ); - portDISABLE_INTERRUPTS(); - for( ;; ); -} -/*-----------------------------------------------------------*/ - -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, r14} \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. */ - " isb \n" - " mov r0, #0 \n" - " msr basepri, r0 \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. */ - " cpsie f \n" - " dsb \n" - " isb \n" - " svc 0 \n" /* System call to start first task. */ - " nop \n" - ); -} -/*-----------------------------------------------------------*/ - -/* - * See header file for description. - */ -BaseType_t xPortStartScheduler( void ) -{ - /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. - See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ - configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY ); - - /* This port can be used on all revisions of the Cortex-M7 core other than - the r0p1 parts. r0p1 parts should use the port from the - /source/portable/GCC/ARM_CM7/r0p1 directory. */ - configASSERT( portCPUID != portCORTEX_M7_r0p1_ID ); - configASSERT( portCPUID != portCORTEX_M7_r0p0_ID ); - - #if( configASSERT_DEFINED == 1 ) - { - volatile uint32_t ulOriginalPriority; - volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); - volatile uint8_t ucMaxPriorityValue; - - /* Determine the maximum priority from which ISR safe FreeRTOS API - functions can be called. ISR safe functions are those that end in - "FromISR". FreeRTOS maintains separate thread and ISR API functions to - ensure interrupt entry is as fast and simple as possible. - - Save the interrupt priority value that is about to be clobbered. */ - ulOriginalPriority = *pucFirstUserPriorityRegister; - - /* Determine the number of priority bits available. First write to all - possible bits. */ - *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; - - /* Read the value back to see how many bits stuck. */ - ucMaxPriorityValue = *pucFirstUserPriorityRegister; - - /* Use the same mask on the maximum system call priority. */ - ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; - - /* Calculate the maximum acceptable priority group value for the number - of bits read back. */ - ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; - while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) - { - ulMaxPRIGROUPValue--; - ucMaxPriorityValue <<= ( uint8_t ) 0x01; - } - - /* Shift the priority group value back to its position within the AIRCR - register. */ - ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; - ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; - - /* Restore the clobbered interrupt priority register to its original - value. */ - *pucFirstUserPriorityRegister = ulOriginalPriority; - } - #endif /* conifgASSERT_DEFINED */ - - /* Make PendSV and SysTick the lowest priority interrupts. */ - portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI; - portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI; - - /* Start the timer that generates the tick ISR. Interrupts are disabled - here already. */ - vPortSetupTimerInterrupt(); - - /* Initialise the critical nesting count ready for the first task. */ - uxCriticalNesting = 0; - - /* Ensure the VFP is enabled - it should be anyway. */ - vPortEnableVFP(); - - /* Lazy save always. */ - *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS; - - /* Start the first task. */ - prvPortStartFirstTask(); - - /* Should never get here as the tasks will now be executing! Call the task - exit error function to prevent compiler warnings about a static function - not being called in the case that the application writer overrides this - functionality by defining configTASK_RETURN_ADDRESS. */ - prvTaskExitError(); - - /* Should not get here! */ - return 0; -} -/*-----------------------------------------------------------*/ - -void vPortEndScheduler( void ) -{ - /* Not implemented in ports where there is nothing to return to. - Artificially force an assert. */ - configASSERT( uxCriticalNesting == 1000UL ); -} -/*-----------------------------------------------------------*/ - -void vPortEnterCritical( void ) -{ - portDISABLE_INTERRUPTS(); - uxCriticalNesting++; - - /* This is not the interrupt safe version of the enter critical function so - assert() if it is being called from an interrupt context. Only API - functions that end in "FromISR" can be used in an interrupt. Only assert if - the critical nesting count is 1 to protect against recursive calls if the - assert function also uses a critical section. */ - if( uxCriticalNesting == 1 ) - { - configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 ); - } -} -/*-----------------------------------------------------------*/ - -void vPortExitCritical( void ) -{ - configASSERT( uxCriticalNesting ); - uxCriticalNesting--; - if( uxCriticalNesting == 0 ) - { - portENABLE_INTERRUPTS(); - } -} -/*-----------------------------------------------------------*/ - -void xPortPendSVHandler( void ) -{ - /* This is a naked function. */ - - __asm volatile - ( - " mrs r0, psp \n" - " isb \n" - " \n" - " ldr r3, pxCurrentTCBConst \n" /* Get the location of the current TCB. */ - " ldr r2, [r3] \n" - " \n" - " tst r14, #0x10 \n" /* Is the task using the FPU context? If so, push high vfp registers. */ - " it eq \n" - " vstmdbeq r0!, {s16-s31} \n" - " \n" - " stmdb r0!, {r4-r11, r14} \n" /* Save the core registers. */ - " \n" - " str r0, [r2] \n" /* Save the new top of stack into the first member of the TCB. */ - " \n" - " stmdb sp!, {r3} \n" - " mov r0, %0 \n" - " msr basepri, r0 \n" - " dsb \n" - " isb \n" - " bl vTaskSwitchContext \n" - " mov r0, #0 \n" - " msr basepri, r0 \n" - " ldmia sp!, {r3} \n" - " \n" - " ldr r1, [r3] \n" /* The first item in pxCurrentTCB is the task top of stack. */ - " ldr r0, [r1] \n" - " \n" - " ldmia r0!, {r4-r11, r14} \n" /* Pop the core registers. */ - " \n" - " tst r14, #0x10 \n" /* Is the task using the FPU context? If so, pop the high vfp registers too. */ - " it eq \n" - " vldmiaeq r0!, {s16-s31} \n" - " \n" - " msr psp, r0 \n" - " isb \n" - " \n" - #ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata workaround. */ - #if WORKAROUND_PMU_CM001 == 1 - " push { r14 } \n" - " pop { pc } \n" - #endif - #endif - " \n" - " bx r14 \n" - " \n" - " .align 2 \n" - "pxCurrentTCBConst: .word pxCurrentTCB \n" - ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY) - ); -} -/*-----------------------------------------------------------*/ - -void xPortSysTickHandler( void ) -{ - /* The SysTick runs at the lowest interrupt priority, so when this interrupt - executes all interrupts must be unmasked. There is therefore no need to - save and then restore the interrupt mask value as its value is already - known. */ - ( void ) portSET_INTERRUPT_MASK_FROM_ISR(); - { - /* Increment the RTOS tick. */ - if( xTaskIncrementTick() != pdFALSE ) - { - /* A context switch is required. Context switching is performed in - the PendSV interrupt. Pend the PendSV interrupt. */ - portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; - } - } - portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 ); -} -/*-----------------------------------------------------------*/ - -#if configUSE_TICKLESS_IDLE == 1 - - __attribute__((weak)) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) - { - uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickCTRL; - TickType_t xModifiableIdleTime; - - /* Make sure the SysTick reload value does not overflow the counter. */ - if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) - { - xExpectedIdleTime = xMaximumPossibleSuppressedTicks; - } - - /* Stop the SysTick momentarily. The time the SysTick is stopped for - is accounted for as best it can be, but using the tickless mode will - inevitably result in some tiny drift of the time maintained by the - kernel with respect to calendar time. */ - portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; - - /* Calculate the reload value required to wait xExpectedIdleTime - tick periods. -1 is used because this code will execute part way - through one of the tick periods. */ - ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); - if( ulReloadValue > ulStoppedTimerCompensation ) - { - ulReloadValue -= ulStoppedTimerCompensation; - } - - /* Enter a critical section but don't use the taskENTER_CRITICAL() - method as that will mask interrupts that should exit sleep mode. */ - __asm volatile( "cpsid i" ); - - /* If a context switch is pending or a task is waiting for the scheduler - to be unsuspended then abandon the low power entry. */ - if( eTaskConfirmSleepModeStatus() == eAbortSleep ) - { - /* Restart from whatever is left in the count register to complete - this tick period. */ - portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; - - /* Restart SysTick. */ - portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; - - /* Reset the reload register to the value required for normal tick - periods. */ - portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; - - /* Re-enable interrupts - see comments above the cpsid instruction() - above. */ - __asm volatile( "cpsie i" ); - } - else - { - /* Set the new reload value. */ - portNVIC_SYSTICK_LOAD_REG = ulReloadValue; - - /* Clear the SysTick count flag and set the count value back to - zero. */ - portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; - - /* Restart SysTick. */ - portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; - - /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can - set its parameter to 0 to indicate that its implementation contains - its own wait for interrupt or wait for event instruction, and so wfi - should not be executed again. However, the original expected idle - time variable must remain unmodified, so a copy is taken. */ - xModifiableIdleTime = xExpectedIdleTime; - configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); - if( xModifiableIdleTime > 0 ) - { - __asm volatile( "dsb" ); - __asm volatile( "wfi" ); - __asm volatile( "isb" ); - } - configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); - - /* Stop SysTick. Again, the time the SysTick is stopped for is - accounted for as best it can be, but using the tickless mode will - inevitably result in some tiny drift of the time maintained by the - kernel with respect to calendar time. */ - ulSysTickCTRL = portNVIC_SYSTICK_CTRL_REG; - portNVIC_SYSTICK_CTRL_REG = ( ulSysTickCTRL & ~portNVIC_SYSTICK_ENABLE_BIT ); - - /* Re-enable interrupts - see comments above the cpsid instruction() - above. */ - __asm volatile( "cpsie i" ); - - if( ( ulSysTickCTRL & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) - { - uint32_t ulCalculatedLoadValue; - - /* The tick interrupt has already executed, and the SysTick - count reloaded with ulReloadValue. Reset the - portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick - period. */ - ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); - - /* Don't allow a tiny value, or values that have somehow - underflowed because the post sleep hook did something - that took too long. */ - if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) - { - ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); - } - - portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; - - /* The tick interrupt handler will already have pended the tick - processing in the kernel. As the pending tick will be - processed as soon as this function exits, the tick value - maintained by the tick is stepped forward by one less than the - time spent waiting. */ - ulCompleteTickPeriods = xExpectedIdleTime - 1UL; - } - else - { - /* Something other than the tick interrupt ended the sleep. - Work out how long the sleep lasted rounded to complete tick - periods (not the ulReload value which accounted for part - ticks). */ - ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; - - /* How many complete tick periods passed while the processor - was waiting? */ - ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; - - /* The reload value is set to whatever fraction of a single tick - period remains. */ - portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; - } - - /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG - again, then set portNVIC_SYSTICK_LOAD_REG back to its standard - value. The critical section is used to ensure the tick interrupt - can only execute once in the case that the reload register is near - zero. */ - portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; - portENTER_CRITICAL(); - { - portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; - vTaskStepTick( ulCompleteTickPeriods ); - portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; - } - portEXIT_CRITICAL(); - } - } - -#endif /* #if configUSE_TICKLESS_IDLE */ -/*-----------------------------------------------------------*/ - -/* - * Setup the systick timer to generate the tick interrupts at the required - * frequency. - */ -__attribute__(( weak )) void vPortSetupTimerInterrupt( void ) -{ - /* Calculate the constants required to configure the tick interrupt. */ - #if configUSE_TICKLESS_IDLE == 1 - { - ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); - xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; - ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); - } - #endif /* configUSE_TICKLESS_IDLE */ - - /* Configure SysTick to interrupt at the requested rate. */ - portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; - portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT ); -} -/*-----------------------------------------------------------*/ - -/* This is a naked function. */ -static void vPortEnableVFP( void ) -{ - __asm volatile - ( - " ldr.w r0, =0xE000ED88 \n" /* The FPU enable bits are in the CPACR. */ - " ldr r1, [r0] \n" - " \n" - " orr r1, r1, #( 0xf << 20 ) \n" /* Enable CP10 and CP11 coprocessors, then save back. */ - " str r1, [r0] \n" - " bx r14 " - ); -} -/*-----------------------------------------------------------*/ - -#if( configASSERT_DEFINED == 1 ) - - void vPortValidateInterruptPriority( void ) - { - uint32_t ulCurrentInterrupt; - uint8_t ucCurrentPriority; - - /* Obtain the number of the currently executing interrupt. */ - __asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) ); - - /* Is the interrupt number a user defined interrupt? */ - if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) - { - /* Look up the interrupt's priority. */ - ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; - - /* The following assertion will fail if a service routine (ISR) for - an interrupt that has been assigned a priority above - configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API - function. ISR safe FreeRTOS API functions must *only* be called - from interrupts that have been assigned a priority at or below - configMAX_SYSCALL_INTERRUPT_PRIORITY. - - Numerically low interrupt priority numbers represent logically high - interrupt priorities, therefore the priority of the interrupt must - be set to a value equal to or numerically *higher* than - configMAX_SYSCALL_INTERRUPT_PRIORITY. - - Interrupts that use the FreeRTOS API must not be left at their - default priority of zero as that is the highest possible priority, - which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, - and therefore also guaranteed to be invalid. - - FreeRTOS maintains separate thread and ISR API functions to ensure - interrupt entry is as fast and simple as possible. - - The following links provide detailed information: - http://www.freertos.org/RTOS-Cortex-M3-M4.html - http://www.freertos.org/FAQHelp.html */ - configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); - } - - /* Priority grouping: The interrupt controller (NVIC) allows the bits - that define each interrupt's priority to be split between bits that - define the interrupt's pre-emption priority bits and bits that define - the interrupt's sub-priority. For simplicity all bits must be defined - to be pre-emption priority bits. The following assertion will fail if - this is not the case (if some bits represent a sub-priority). - - If the application only uses CMSIS libraries for interrupt - configuration then the correct setting can be achieved on all Cortex-M - devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the - scheduler. Note however that some vendor specific peripheral libraries - assume a non-zero priority group setting, in which cases using a value - of zero will result in unpredicable behaviour. */ - configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); - } - -#endif /* configASSERT_DEFINED */ - - diff --git a/external/freertos/portable/GCC/ARM_CM4F/portmacro.h b/external/freertos/portable/GCC/ARM_CM4F/portmacro.h deleted file mode 100755 index d00592b31..000000000 --- a/external/freertos/portable/GCC/ARM_CM4F/portmacro.h +++ /dev/null @@ -1,262 +0,0 @@ -/* - FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd. - All rights reserved - - VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - - This file is part of the FreeRTOS distribution. - - FreeRTOS is free software; you can redistribute it and/or modify it under - the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. - - *************************************************************************** - >>! NOTE: The modification to the GPL is included to allow you to !<< - >>! distribute a combined work that includes FreeRTOS without being !<< - >>! obliged to provide the source code for proprietary components !<< - >>! outside of the FreeRTOS kernel. !<< - *************************************************************************** - - FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY - WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available on the following - link: http://www.freertos.org/a00114.html - - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that is more than just the market leader, it * - * is the industry's de facto standard. * - * * - * Help yourself get started quickly while simultaneously helping * - * to support the FreeRTOS project by purchasing a FreeRTOS * - * tutorial book, reference manual, or both: * - * http://www.FreeRTOS.org/Documentation * - * * - *************************************************************************** - - http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading - the FAQ page "My application does not run, what could be wrong?". Have you - defined configASSERT()? - - http://www.FreeRTOS.org/support - In return for receiving this top quality - embedded software for free we request you assist our global community by - participating in the support forum. - - http://www.FreeRTOS.org/training - Investing in training allows your team to - be as productive as possible as early as possible. Now you can receive - FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers - Ltd, and the world's leading authority on the world's leading RTOS. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool, a DOS - compatible FAT file system, and our tiny thread aware UDP/IP stack. - - http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. - Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. - - http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High - Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and commercial middleware. - - http://www.SafeRTOS.com - High Integrity Systems also provide a safety - engineered and independently SIL3 certified version for use in safety and - mission critical applications that require provable dependability. - - 1 tab == 4 spaces! -*/ - - -#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 uint32_t -#define portBASE_TYPE long - -typedef portSTACK_TYPE StackType_t; -typedef long BaseType_t; -typedef unsigned long UBaseType_t; - -#if( configUSE_16_BIT_TICKS == 1 ) - typedef uint16_t TickType_t; - #define portMAX_DELAY ( TickType_t ) 0xffff -#else - typedef uint32_t TickType_t; - #define portMAX_DELAY ( TickType_t ) 0xffffffffUL - - /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do - not need to be guarded with a critical section. */ - #define portTICK_TYPE_IS_ATOMIC 1 -#endif -/*-----------------------------------------------------------*/ - -/* Architecture specifics. */ -#define portSTACK_GROWTH ( -1 ) -#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) -#define portBYTE_ALIGNMENT 8 -/*-----------------------------------------------------------*/ - -/* Scheduler utilities. */ -#define portYIELD() \ -{ \ - /* Set a PendSV to request a context switch. */ \ - portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \ - \ - /* Barriers are normally not required but do ensure the code is completely \ - within the specified behaviour for the architecture. */ \ - __asm volatile( "dsb" ); \ - __asm volatile( "isb" ); \ -} - -#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) ) -#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) -#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD() -#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) -/*-----------------------------------------------------------*/ - -/* Critical section management. */ -extern void vPortEnterCritical( void ); -extern void vPortExitCritical( void ); -#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortRaiseBASEPRI() -#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortSetBASEPRI(x) -#define portDISABLE_INTERRUPTS() vPortRaiseBASEPRI() -#define portENABLE_INTERRUPTS() vPortSetBASEPRI(0) -#define portENTER_CRITICAL() vPortEnterCritical() -#define portEXIT_CRITICAL() vPortExitCritical() - -/*-----------------------------------------------------------*/ - -/* Task function macros as described on the FreeRTOS.org WEB site. These are -not necessary for to use this port. They are defined so the common demo files -(which build with all the ports) will build. */ -#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) -#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) -/*-----------------------------------------------------------*/ - -/* Tickless idle/low power functionality. */ -#ifndef portSUPPRESS_TICKS_AND_SLEEP - extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); - #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) -#endif -/*-----------------------------------------------------------*/ - -/* Architecture specific optimisations. */ -#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION - #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 -#endif - -#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 - - /* Generic helper function. */ - __attribute__( ( always_inline ) ) static inline uint8_t ucPortCountLeadingZeros( uint32_t ulBitmap ) - { - uint8_t ucReturn; - - __asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) ); - return ucReturn; - } - - /* Check the configuration. */ - #if( configMAX_PRIORITIES > 32 ) - #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. - #endif - - /* Store/clear the ready priorities in a bit map. */ - #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) - #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) - - /*-----------------------------------------------------------*/ - - #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - ucPortCountLeadingZeros( ( uxReadyPriorities ) ) ) - -#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ - -/*-----------------------------------------------------------*/ - -#ifdef configASSERT - void vPortValidateInterruptPriority( void ); - #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() -#endif - -/* portNOP() is not required by this port. */ -#define portNOP() - -#ifndef portFORCE_INLINE - #define portFORCE_INLINE inline __attribute__(( always_inline)) -#endif - -/*-----------------------------------------------------------*/ - -portFORCE_INLINE static void vPortRaiseBASEPRI( void ) -{ -uint32_t ulNewBASEPRI; - - __asm volatile - ( - " mov %0, %1 \n" \ - " msr basepri, %0 \n" \ - " isb \n" \ - " dsb \n" \ - :"=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) - ); -} - -/*-----------------------------------------------------------*/ - -portFORCE_INLINE static uint32_t ulPortRaiseBASEPRI( void ) -{ -uint32_t ulOriginalBASEPRI, ulNewBASEPRI; - - __asm volatile - ( - " mrs %0, basepri \n" \ - " mov %1, %2 \n" \ - " msr basepri, %1 \n" \ - " isb \n" \ - " dsb \n" \ - :"=r" (ulOriginalBASEPRI), "=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) - ); - - /* This return will not be reached but is necessary to prevent compiler - warnings. */ - return ulOriginalBASEPRI; -} -/*-----------------------------------------------------------*/ - -portFORCE_INLINE static void vPortSetBASEPRI( uint32_t ulNewMaskValue ) -{ - __asm volatile - ( - " msr basepri, %0 " :: "r" ( ulNewMaskValue ) - ); -} -/*-----------------------------------------------------------*/ - - -#ifdef __cplusplus -} -#endif - -#endif /* PORTMACRO_H */ - diff --git a/external/freertos/queue.c b/external/freertos/queue.c deleted file mode 100755 index d25cdc8d3..000000000 --- a/external/freertos/queue.c +++ /dev/null @@ -1,2612 +0,0 @@ -/* - FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd. - All rights reserved - - VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - - This file is part of the FreeRTOS distribution. - - FreeRTOS is free software; you can redistribute it and/or modify it under - the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. - - *************************************************************************** - >>! NOTE: The modification to the GPL is included to allow you to !<< - >>! distribute a combined work that includes FreeRTOS without being !<< - >>! obliged to provide the source code for proprietary components !<< - >>! outside of the FreeRTOS kernel. !<< - *************************************************************************** - - FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY - WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available on the following - link: http://www.freertos.org/a00114.html - - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that is more than just the market leader, it * - * is the industry's de facto standard. * - * * - * Help yourself get started quickly while simultaneously helping * - * to support the FreeRTOS project by purchasing a FreeRTOS * - * tutorial book, reference manual, or both: * - * http://www.FreeRTOS.org/Documentation * - * * - *************************************************************************** - - http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading - the FAQ page "My application does not run, what could be wrong?". Have you - defined configASSERT()? - - http://www.FreeRTOS.org/support - In return for receiving this top quality - embedded software for free we request you assist our global community by - participating in the support forum. - - http://www.FreeRTOS.org/training - Investing in training allows your team to - be as productive as possible as early as possible. Now you can receive - FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers - Ltd, and the world's leading authority on the world's leading RTOS. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool, a DOS - compatible FAT file system, and our tiny thread aware UDP/IP stack. - - http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. - Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. - - http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High - Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and commercial middleware. - - http://www.SafeRTOS.com - High Integrity Systems also provide a safety - engineered and independently SIL3 certified version for use in safety and - mission critical applications that require provable dependability. - - 1 tab == 4 spaces! -*/ - -#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 "queue.h" - -#if ( configUSE_CO_ROUTINES == 1 ) - #include "croutine.h" -#endif - -/* Lint e961 and e750 are suppressed as a MISRA exception justified because the -MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the -header files above, but not in this file, in order to generate the correct -privileged Vs unprivileged linkage and placement. */ -#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */ - - -/* Constants used with the xRxLock and xTxLock structure members. */ -#define queueUNLOCKED ( ( BaseType_t ) -1 ) -#define queueLOCKED_UNMODIFIED ( ( BaseType_t ) 0 ) - -/* When the Queue_t structure is used to represent a base queue its pcHead and -pcTail members are used as pointers into the queue storage area. When the -Queue_t structure is used to represent a mutex pcHead and pcTail pointers are -not necessary, and the pcHead pointer is set to NULL to indicate that the -pcTail pointer actually points to the mutex holder (if any). Map alternative -names to the pcHead and pcTail structure members to ensure the readability of -the code is maintained despite this dual use of two structure members. An -alternative implementation would be to use a union, but use of a union is -against the coding standard (although an exception to the standard has been -permitted where the dual use also significantly changes the type of the -structure member). */ -#define pxMutexHolder pcTail -#define uxQueueType pcHead -#define queueQUEUE_IS_MUTEX NULL - -/* Semaphores do not actually store or copy data, so have an item size of -zero. */ -#define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( UBaseType_t ) 0 ) -#define queueMUTEX_GIVE_BLOCK_TIME ( ( TickType_t ) 0U ) - -#if( configUSE_PREEMPTION == 0 ) - /* If the cooperative scheduler is being used then a yield should not be - performed just because a higher priority task has been woken. */ - #define queueYIELD_IF_USING_PREEMPTION() -#else - #define queueYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API() -#endif - -/* - * Definition of the queue used by the scheduler. - * Items are queued by copy, not reference. See the following link for the - * rationale: http://www.freertos.org/Embedded-RTOS-Queues.html - */ -typedef struct QueueDefinition -{ - int8_t *pcHead; /*< Points to the beginning of the queue storage area. */ - int8_t *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. */ - int8_t *pcWriteTo; /*< Points to the free next place in the storage area. */ - - union /* Use of a union is an exception to the coding standard to ensure two mutually exclusive structure members don't appear simultaneously (wasting RAM). */ - { - int8_t *pcReadFrom; /*< Points to the last place that a queued item was read from when the structure is used as a queue. */ - UBaseType_t uxRecursiveCallCount;/*< Maintains a count of the number of times a recursive mutex has been recursively 'taken' when the structure is used as a mutex. */ - } u; - - List_t xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */ - List_t xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */ - - volatile UBaseType_t uxMessagesWaiting;/*< The number of items currently in the queue. */ - UBaseType_t uxLength; /*< The length of the queue defined as the number of items it will hold, not the number of bytes. */ - UBaseType_t uxItemSize; /*< The size of each items that the queue will hold. */ - - volatile BaseType_t 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. */ - volatile BaseType_t 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 ) - UBaseType_t uxQueueNumber; - uint8_t ucQueueType; - #endif - - #if ( configUSE_QUEUE_SETS == 1 ) - struct QueueDefinition *pxQueueSetContainer; - #endif - -} xQUEUE; - -/* The old xQUEUE name is maintained above then typedefed to the new Queue_t -name below to enable the use of older kernel aware debuggers. */ -typedef xQUEUE Queue_t; - -/*-----------------------------------------------------------*/ - -/* - * 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 - { - const char *pcQueueName; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ - QueueHandle_t xHandle; - } xQueueRegistryItem; - - /* The old xQueueRegistryItem name is maintained above then typedefed to the - new xQueueRegistryItem name below to enable the use of older kernel aware - debuggers. */ - typedef xQueueRegistryItem QueueRegistryItem_t; - - /* The queue registry is simply an array of QueueRegistryItem_t structures. - The pcQueueName member of a structure being NULL is indicative of the - array position being vacant. */ - QueueRegistryItem_t xQueueRegistry[ configQUEUE_REGISTRY_SIZE ]; - -#endif /* configQUEUE_REGISTRY_SIZE */ - -/* - * 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( Queue_t * const 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 BaseType_t prvIsQueueEmpty( const Queue_t *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 BaseType_t prvIsQueueFull( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION; - -/* - * Copies an item into the queue, either at the front of the queue or the - * back of the queue. - */ -static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition ) PRIVILEGED_FUNCTION; - -/* - * Copies an item out of a queue. - */ -static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION; - -#if ( configUSE_QUEUE_SETS == 1 ) - /* - * Checks to see if a queue is a member of a queue set, and if so, notifies - * the queue set that the queue contains data. - */ - static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION; -#endif - -/*-----------------------------------------------------------*/ - -/* - * 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() -/*-----------------------------------------------------------*/ - -BaseType_t xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue ) -{ -Queue_t * const pxQueue = ( Queue_t * ) xQueue; - - configASSERT( pxQueue ); - - taskENTER_CRITICAL(); - { - pxQueue->pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize ); - pxQueue->uxMessagesWaiting = ( UBaseType_t ) 0U; - pxQueue->pcWriteTo = pxQueue->pcHead; - pxQueue->u.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - ( UBaseType_t ) 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 ) - { - queueYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - 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; -} -/*-----------------------------------------------------------*/ - -QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType ) -{ -Queue_t *pxNewQueue; -size_t xQueueSizeInBytes; -QueueHandle_t xReturn = NULL; -int8_t *pcAllocatedBuffer; - - /* Remove compiler warnings about unused parameters should - configUSE_TRACE_FACILITY not be set to 1. */ - ( void ) ucQueueType; - - configASSERT( uxQueueLength > ( UBaseType_t ) 0 ); - - if( uxItemSize == ( UBaseType_t ) 0 ) - { - /* There is not going to be a queue storage area. */ - xQueueSizeInBytes = ( size_t ) 0; - } - else - { - /* The queue is one byte longer than asked for to make wrap checking - easier/faster. */ - xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - } - - /* Allocate the new queue structure and storage area. */ - pcAllocatedBuffer = ( int8_t * ) pvPortMalloc( sizeof( Queue_t ) + xQueueSizeInBytes ); - - if( pcAllocatedBuffer != NULL ) - { - pxNewQueue = ( Queue_t * ) pcAllocatedBuffer; /*lint !e826 MISRA The buffer cannot be too small because it was dimensioned by sizeof( Queue_t ) + xQueueSizeInBytes. */ - - if( uxItemSize == ( UBaseType_t ) 0 ) - { - /* No RAM was allocated for the queue storage area, but PC head - cannot be set to NULL because NULL is used as a key to say the queue - is used as a mutex. Therefore just set pcHead to point to the queue - as a benign value that is known to be within the memory map. */ - pxNewQueue->pcHead = ( int8_t * ) pxNewQueue; - } - else - { - /* Jump past the queue structure to find the location of the queue - storage area - adding the padding bytes to get a better alignment. */ - pxNewQueue->pcHead = pcAllocatedBuffer + sizeof( Queue_t ); - } - - /* Initialise the queue members as described above where the queue type - is defined. */ - pxNewQueue->uxLength = uxQueueLength; - pxNewQueue->uxItemSize = uxItemSize; - ( void ) xQueueGenericReset( pxNewQueue, pdTRUE ); - - #if ( configUSE_TRACE_FACILITY == 1 ) - { - pxNewQueue->ucQueueType = ucQueueType; - } - #endif /* configUSE_TRACE_FACILITY */ - - #if( configUSE_QUEUE_SETS == 1 ) - { - pxNewQueue->pxQueueSetContainer = NULL; - } - #endif /* configUSE_QUEUE_SETS */ - - traceQUEUE_CREATE( pxNewQueue ); - xReturn = pxNewQueue; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - configASSERT( xReturn ); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -#if ( configUSE_MUTEXES == 1 ) - - QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType ) - { - Queue_t *pxNewQueue; - - /* Prevent compiler warnings about unused parameters if - configUSE_TRACE_FACILITY does not equal 1. */ - ( void ) ucQueueType; - - /* Allocate the new queue structure. */ - pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) ); - 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->u.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 = ( UBaseType_t ) 0U; - pxNewQueue->uxLength = ( UBaseType_t ) 1U; - pxNewQueue->uxItemSize = ( UBaseType_t ) 0U; - pxNewQueue->xRxLock = queueUNLOCKED; - pxNewQueue->xTxLock = queueUNLOCKED; - - #if ( configUSE_TRACE_FACILITY == 1 ) - { - pxNewQueue->ucQueueType = ucQueueType; - } - #endif - - #if ( configUSE_QUEUE_SETS == 1 ) - { - pxNewQueue->pxQueueSetContainer = NULL; - } - #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. */ - ( void ) xQueueGenericSend( pxNewQueue, NULL, ( TickType_t ) 0U, queueSEND_TO_BACK ); - } - else - { - traceCREATE_MUTEX_FAILED(); - } - - configASSERT( pxNewQueue ); - return pxNewQueue; - } - -#endif /* configUSE_MUTEXES */ -/*-----------------------------------------------------------*/ - -#if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) ) - - void* xQueueGetMutexHolder( QueueHandle_t xSemaphore ) - { - void *pxReturn; - - /* This function is called by xSemaphoreGetMutexHolder(), and should not - be called directly. Note: This 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( ( ( Queue_t * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX ) - { - pxReturn = ( void * ) ( ( Queue_t * ) xSemaphore )->pxMutexHolder; - } - else - { - pxReturn = NULL; - } - } - taskEXIT_CRITICAL(); - - return pxReturn; - } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */ - -#endif -/*-----------------------------------------------------------*/ - -#if ( configUSE_RECURSIVE_MUTEXES == 1 ) - - BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) - { - BaseType_t xReturn; - Queue_t * const pxMutex = ( Queue_t * ) xMutex; - - 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 == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Not a redundant cast as TaskHandle_t is a typedef. */ - { - 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->u.uxRecursiveCallCount )--; - - /* Have we unwound the call count? */ - if( pxMutex->u.uxRecursiveCallCount == ( UBaseType_t ) 0 ) - { - /* Return the mutex. This will automatically unblock any other - task that might be waiting to access the mutex. */ - ( void ) xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - xReturn = pdPASS; - } - else - { - /* The mutex cannot be given because the calling task is not the - holder. */ - xReturn = pdFAIL; - - traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex ); - } - - return xReturn; - } - -#endif /* configUSE_RECURSIVE_MUTEXES */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_RECURSIVE_MUTEXES == 1 ) - - BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait ) - { - BaseType_t xReturn; - Queue_t * const pxMutex = ( Queue_t * ) xMutex; - - configASSERT( pxMutex ); - - /* Comments regarding mutual exclusion as per those within - xQueueGiveMutexRecursive(). */ - - traceTAKE_MUTEX_RECURSIVE( pxMutex ); - - if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */ - { - ( pxMutex->u.uxRecursiveCallCount )++; - xReturn = pdPASS; - } - else - { - xReturn = xQueueGenericReceive( pxMutex, NULL, xTicksToWait, pdFALSE ); - - /* pdPASS will only be returned if the mutex was successfully - obtained. The calling task may have entered the Blocked state - before reaching here. */ - if( xReturn == pdPASS ) - { - ( pxMutex->u.uxRecursiveCallCount )++; - } - else - { - traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex ); - } - } - - return xReturn; - } - -#endif /* configUSE_RECURSIVE_MUTEXES */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_COUNTING_SEMAPHORES == 1 ) - - QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount ) - { - QueueHandle_t xHandle; - - configASSERT( uxMaxCount != 0 ); - configASSERT( uxInitialCount <= uxMaxCount ); - - xHandle = xQueueGenericCreate( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE ); - - if( xHandle != NULL ) - { - ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount; - - traceCREATE_COUNTING_SEMAPHORE(); - } - else - { - traceCREATE_COUNTING_SEMAPHORE_FAILED(); - } - - configASSERT( xHandle ); - return xHandle; - } - -#endif /* configUSE_COUNTING_SEMAPHORES */ -/*-----------------------------------------------------------*/ - -BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition ) -{ -BaseType_t xEntryTimeSet = pdFALSE, xYieldRequired; -TimeOut_t xTimeOut; -Queue_t * const pxQueue = ( Queue_t * ) xQueue; - - configASSERT( pxQueue ); - configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) ); - configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) ); - #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) - { - configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) ); - } - #endif - - - /* 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? The running task must be the - highest priority task wanting to access the queue. If the head item - in the queue is to be overwritten then it does not matter if the - queue is full. */ - if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) ) - { - traceQUEUE_SEND( pxQueue ); - xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); - - #if ( configUSE_QUEUE_SETS == 1 ) - { - if( pxQueue->pxQueueSetContainer != NULL ) - { - if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE ) - { - /* The queue is a member of a queue set, and posting - to the queue set caused a higher priority task to - unblock. A context switch is required. */ - queueYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - /* 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. */ - queueYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else if( xYieldRequired != pdFALSE ) - { - /* This path is a special case that will only get - executed if the task was holding multiple mutexes - and the mutexes were given back in an order that is - different to that in which they were taken. */ - queueYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - } - #else /* configUSE_QUEUE_SETS */ - { - /* 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. */ - queueYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else if( xYieldRequired != pdFALSE ) - { - /* This path is a special case that will only get - executed if the task was holding multiple mutexes and - the mutexes were given back in an order that is - different to that in which they were taken. */ - queueYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_QUEUE_SETS */ - - taskEXIT_CRITICAL(); - return pdPASS; - } - else - { - if( xTicksToWait == ( TickType_t ) 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; - } - else - { - /* Entry time was already set. */ - mtCOVERAGE_TEST_MARKER(); - } - } - } - 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 ) - - BaseType_t xQueueAltGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, BaseType_t xCopyPosition ) - { - BaseType_t xEntryTimeSet = pdFALSE; - TimeOut_t xTimeOut; - Queue_t * const pxQueue = ( Queue_t * ) xQueue; - - configASSERT( pxQueue ); - configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 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(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - taskEXIT_CRITICAL(); - return pdPASS; - } - else - { - if( xTicksToWait == ( TickType_t ) 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 - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - taskEXIT_CRITICAL(); - traceQUEUE_SEND_FAILED( pxQueue ); - return errQUEUE_FULL; - } - } - taskEXIT_CRITICAL(); - } - } - -#endif /* configUSE_ALTERNATIVE_API */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_ALTERNATIVE_API == 1 ) - - BaseType_t xQueueAltGenericReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait, BaseType_t xJustPeeking ) - { - BaseType_t xEntryTimeSet = pdFALSE; - TimeOut_t xTimeOut; - int8_t *pcOriginalReadPosition; - Queue_t * const pxQueue = ( Queue_t * ) xQueue; - - configASSERT( pxQueue ); - configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) ); - - for( ;; ) - { - taskENTER_CRITICAL(); - { - if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 ) - { - /* Remember our read position in case we are just peeking. */ - pcOriginalReadPosition = pxQueue->u.pcReadFrom; - - prvCopyDataFromQueue( pxQueue, pvBuffer ); - - if( xJustPeeking == pdFALSE ) - { - traceQUEUE_RECEIVE( pxQueue ); - - /* Data is actually being removed (not just peeked). */ - --( 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 = ( int8_t * ) xTaskGetCurrentTaskHandle(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif - - if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) - { - if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE ) - { - portYIELD_WITHIN_API(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - } - else - { - traceQUEUE_PEEK( pxQueue ); - - /* The data is not being removed, so reset our read - pointer. */ - pxQueue->u.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(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - taskEXIT_CRITICAL(); - return pdPASS; - } - else - { - if( xTicksToWait == ( TickType_t ) 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 ) - { - taskENTER_CRITICAL(); - { - vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder ); - } - taskEXIT_CRITICAL(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif - - vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait ); - portYIELD_WITHIN_API(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - taskEXIT_CRITICAL(); - traceQUEUE_RECEIVE_FAILED( pxQueue ); - return errQUEUE_EMPTY; - } - } - taskEXIT_CRITICAL(); - } - } - - -#endif /* configUSE_ALTERNATIVE_API */ -/*-----------------------------------------------------------*/ - -BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition ) -{ -BaseType_t xReturn; -UBaseType_t uxSavedInterruptStatus; -Queue_t * const pxQueue = ( Queue_t * ) xQueue; - - configASSERT( pxQueue ); - configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) ); - configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) ); - - /* RTOS ports that support interrupt nesting have the concept of a maximum - system call (or maximum API call) interrupt priority. Interrupts that are - above the maximum system call priority are kept permanently enabled, even - when the RTOS kernel is in a critical section, but cannot make any calls to - FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h - then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion - failure if a FreeRTOS API function is called from an interrupt that has been - assigned a priority above the configured maximum system call priority. - Only FreeRTOS functions that end in FromISR can be called from interrupts - that have been assigned a priority at or (logically) below the maximum - system call interrupt priority. FreeRTOS maintains a separate interrupt - safe API to ensure interrupt entry is as fast and as simple as possible. - More information (albeit Cortex-M specific) is provided on the following - link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */ - portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); - - /* Similar to xQueueGenericSend, except without blocking if there is no room - in the queue. Also don't directly wake a task that was blocked on a queue - read, instead 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 ) || ( xCopyPosition == queueOVERWRITE ) ) - { - traceQUEUE_SEND_FROM_ISR( pxQueue ); - - /* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a - semaphore or mutex. That means prvCopyDataToQueue() cannot result - in a task disinheriting a priority and prvCopyDataToQueue() can be - called here even though the disinherit function does not check if - the scheduler is suspended before accessing the ready lists. */ - ( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); - - /* The event list is not altered if the queue is locked. This will - be done when the queue is unlocked later. */ - if( pxQueue->xTxLock == queueUNLOCKED ) - { - #if ( configUSE_QUEUE_SETS == 1 ) - { - if( pxQueue->pxQueueSetContainer != NULL ) - { - if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE ) - { - /* The queue is a member of a queue set, and posting - to the queue set caused a higher priority task to - unblock. A context switch is required. */ - if( pxHigherPriorityTaskWoken != NULL ) - { - *pxHigherPriorityTaskWoken = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - 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 - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - } - #else /* configUSE_QUEUE_SETS */ - { - 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 - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_QUEUE_SETS */ - } - 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; -} -/*-----------------------------------------------------------*/ - -BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken ) -{ -BaseType_t xReturn; -UBaseType_t uxSavedInterruptStatus; -Queue_t * const pxQueue = ( Queue_t * ) xQueue; - - /* Similar to xQueueGenericSendFromISR() but used with semaphores where the - item size is 0. Don't directly wake a task that was blocked on a queue - read, instead 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). */ - - configASSERT( pxQueue ); - - /* xQueueGenericSendFromISR() should be used instead of xQueueGiveFromISR() - if the item size is not 0. */ - configASSERT( pxQueue->uxItemSize == 0 ); - - /* Normally a mutex would not be given from an interrupt, and doing so is - definitely wrong if there is a mutex holder as priority inheritance makes no - sense for an interrupts, only tasks. */ - configASSERT( !( ( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) && ( pxQueue->pxMutexHolder != NULL ) ) ); - - /* RTOS ports that support interrupt nesting have the concept of a maximum - system call (or maximum API call) interrupt priority. Interrupts that are - above the maximum system call priority are kept permanently enabled, even - when the RTOS kernel is in a critical section, but cannot make any calls to - FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h - then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion - failure if a FreeRTOS API function is called from an interrupt that has been - assigned a priority above the configured maximum system call priority. - Only FreeRTOS functions that end in FromISR can be called from interrupts - that have been assigned a priority at or (logically) below the maximum - system call interrupt priority. FreeRTOS maintains a separate interrupt - safe API to ensure interrupt entry is as fast and as simple as possible. - More information (albeit Cortex-M specific) is provided on the following - link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */ - portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); - - uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); - { - /* When the queue is used to implement a semaphore no data is ever - moved through the queue but it is still valid to see if the queue 'has - space'. */ - if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) - { - traceQUEUE_SEND_FROM_ISR( pxQueue ); - - /* A task can only have an inherited priority if it is a mutex - holder - and if there is a mutex holder then the mutex cannot be - given from an ISR. As this is the ISR version of the function it - can be assumed there is no mutex holder and no need to determine if - priority disinheritance is needed. Simply increase the count of - messages (semaphores) available. */ - ++( pxQueue->uxMessagesWaiting ); - - /* The event list is not altered if the queue is locked. This will - be done when the queue is unlocked later. */ - if( pxQueue->xTxLock == queueUNLOCKED ) - { - #if ( configUSE_QUEUE_SETS == 1 ) - { - if( pxQueue->pxQueueSetContainer != NULL ) - { - if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) == pdTRUE ) - { - /* The semaphore is a member of a queue set, and - posting to the queue set caused a higher priority - task to unblock. A context switch is required. */ - if( pxHigherPriorityTaskWoken != NULL ) - { - *pxHigherPriorityTaskWoken = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - 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 - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - } - #else /* configUSE_QUEUE_SETS */ - { - 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 - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_QUEUE_SETS */ - } - 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; -} -/*-----------------------------------------------------------*/ - -BaseType_t xQueueGenericReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait, const BaseType_t xJustPeeking ) -{ -BaseType_t xEntryTimeSet = pdFALSE; -TimeOut_t xTimeOut; -int8_t *pcOriginalReadPosition; -Queue_t * const pxQueue = ( Queue_t * ) xQueue; - - configASSERT( pxQueue ); - configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) ); - #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) - { - configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) ); - } - #endif - - /* 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 the calling task - must be the highest priority task wanting to access the queue. */ - if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 ) - { - /* Remember the read position in case the queue is only being - peeked. */ - pcOriginalReadPosition = pxQueue->u.pcReadFrom; - - prvCopyDataFromQueue( pxQueue, pvBuffer ); - - if( xJustPeeking == pdFALSE ) - { - traceQUEUE_RECEIVE( pxQueue ); - - /* Actually removing data, not just peeking. */ - --( 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 = ( int8_t * ) pvTaskIncrementMutexHeldCount(); /*lint !e961 Cast is not redundant as TaskHandle_t is a typedef. */ - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_MUTEXES */ - - if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) - { - if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE ) - { - queueYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - traceQUEUE_PEEK( pxQueue ); - - /* The data is not being removed, so reset the read - pointer. */ - pxQueue->u.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 ) - { - if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) - { - /* The task waiting has a higher priority than this task. */ - queueYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - taskEXIT_CRITICAL(); - return pdPASS; - } - else - { - if( xTicksToWait == ( TickType_t ) 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; - } - else - { - /* Entry time was already set. */ - mtCOVERAGE_TEST_MARKER(); - } - } - } - 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 ) - { - taskENTER_CRITICAL(); - { - vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder ); - } - taskEXIT_CRITICAL(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif - - vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait ); - prvUnlockQueue( pxQueue ); - if( xTaskResumeAll() == pdFALSE ) - { - portYIELD_WITHIN_API(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - /* Try again. */ - prvUnlockQueue( pxQueue ); - ( void ) xTaskResumeAll(); - } - } - else - { - prvUnlockQueue( pxQueue ); - ( void ) xTaskResumeAll(); - traceQUEUE_RECEIVE_FAILED( pxQueue ); - return errQUEUE_EMPTY; - } - } -} -/*-----------------------------------------------------------*/ - -BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken ) -{ -BaseType_t xReturn; -UBaseType_t uxSavedInterruptStatus; -Queue_t * const pxQueue = ( Queue_t * ) xQueue; - - configASSERT( pxQueue ); - configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) ); - - /* RTOS ports that support interrupt nesting have the concept of a maximum - system call (or maximum API call) interrupt priority. Interrupts that are - above the maximum system call priority are kept permanently enabled, even - when the RTOS kernel is in a critical section, but cannot make any calls to - FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h - then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion - failure if a FreeRTOS API function is called from an interrupt that has been - assigned a priority above the configured maximum system call priority. - Only FreeRTOS functions that end in FromISR can be called from interrupts - that have been assigned a priority at or (logically) below the maximum - system call interrupt priority. FreeRTOS maintains a separate interrupt - safe API to ensure interrupt entry is as fast and as simple as possible. - More information (albeit Cortex-M specific) is provided on the following - link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */ - portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); - - uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); - { - /* Cannot block in an ISR, so check there is data available. */ - if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 ) - { - traceQUEUE_RECEIVE_FROM_ISR( pxQueue ); - - prvCopyDataFromQueue( pxQueue, pvBuffer ); - --( pxQueue->uxMessagesWaiting ); - - /* If the queue is locked the event list will not be modified. - Instead 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 - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - 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; -} -/*-----------------------------------------------------------*/ - -BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer ) -{ -BaseType_t xReturn; -UBaseType_t uxSavedInterruptStatus; -int8_t *pcOriginalReadPosition; -Queue_t * const pxQueue = ( Queue_t * ) xQueue; - - configASSERT( pxQueue ); - configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) ); - configASSERT( pxQueue->uxItemSize != 0 ); /* Can't peek a semaphore. */ - - /* RTOS ports that support interrupt nesting have the concept of a maximum - system call (or maximum API call) interrupt priority. Interrupts that are - above the maximum system call priority are kept permanently enabled, even - when the RTOS kernel is in a critical section, but cannot make any calls to - FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h - then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion - failure if a FreeRTOS API function is called from an interrupt that has been - assigned a priority above the configured maximum system call priority. - Only FreeRTOS functions that end in FromISR can be called from interrupts - that have been assigned a priority at or (logically) below the maximum - system call interrupt priority. FreeRTOS maintains a separate interrupt - safe API to ensure interrupt entry is as fast and as simple as possible. - More information (albeit Cortex-M specific) is provided on the following - link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */ - portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); - - uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); - { - /* Cannot block in an ISR, so check there is data available. */ - if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 ) - { - traceQUEUE_PEEK_FROM_ISR( pxQueue ); - - /* Remember the read position so it can be reset as nothing is - actually being removed from the queue. */ - pcOriginalReadPosition = pxQueue->u.pcReadFrom; - prvCopyDataFromQueue( pxQueue, pvBuffer ); - pxQueue->u.pcReadFrom = pcOriginalReadPosition; - - xReturn = pdPASS; - } - else - { - xReturn = pdFAIL; - traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue ); - } - } - portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue ) -{ -UBaseType_t uxReturn; - - configASSERT( xQueue ); - - taskENTER_CRITICAL(); - { - uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting; - } - taskEXIT_CRITICAL(); - - return uxReturn; -} /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */ -/*-----------------------------------------------------------*/ - -UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue ) -{ -UBaseType_t uxReturn; -Queue_t *pxQueue; - - pxQueue = ( Queue_t * ) xQueue; - configASSERT( pxQueue ); - - taskENTER_CRITICAL(); - { - uxReturn = pxQueue->uxLength - pxQueue->uxMessagesWaiting; - } - taskEXIT_CRITICAL(); - - return uxReturn; -} /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */ -/*-----------------------------------------------------------*/ - -UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue ) -{ -UBaseType_t uxReturn; - - configASSERT( xQueue ); - - uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting; - - return uxReturn; -} /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */ -/*-----------------------------------------------------------*/ - -void vQueueDelete( QueueHandle_t xQueue ) -{ -Queue_t * const pxQueue = ( Queue_t * ) xQueue; - - configASSERT( pxQueue ); - - traceQUEUE_DELETE( pxQueue ); - #if ( configQUEUE_REGISTRY_SIZE > 0 ) - { - vQueueUnregisterQueue( pxQueue ); - } - #endif - vPortFree( pxQueue ); -} -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue ) - { - return ( ( Queue_t * ) xQueue )->uxQueueNumber; - } - -#endif /* configUSE_TRACE_FACILITY */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber ) - { - ( ( Queue_t * ) xQueue )->uxQueueNumber = uxQueueNumber; - } - -#endif /* configUSE_TRACE_FACILITY */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - uint8_t ucQueueGetQueueType( QueueHandle_t xQueue ) - { - return ( ( Queue_t * ) xQueue )->ucQueueType; - } - -#endif /* configUSE_TRACE_FACILITY */ -/*-----------------------------------------------------------*/ - -static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition ) -{ -BaseType_t xReturn = pdFALSE; - - if( pxQueue->uxItemSize == ( UBaseType_t ) 0 ) - { - #if ( configUSE_MUTEXES == 1 ) - { - if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) - { - /* The mutex is no longer being held. */ - xReturn = xTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder ); - pxQueue->pxMutexHolder = NULL; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_MUTEXES */ - } - else if( xPosition == queueSEND_TO_BACK ) - { - ( void ) memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 MISRA exception as the casts are only redundant for some ports, plus previous logic ensures a null pointer can only be passed to memcpy() if the copy size is 0. */ - pxQueue->pcWriteTo += pxQueue->uxItemSize; - if( pxQueue->pcWriteTo >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */ - { - pxQueue->pcWriteTo = pxQueue->pcHead; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - ( void ) memcpy( ( void * ) pxQueue->u.pcReadFrom, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - pxQueue->u.pcReadFrom -= pxQueue->uxItemSize; - if( pxQueue->u.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */ - { - pxQueue->u.pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - if( xPosition == queueOVERWRITE ) - { - if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 ) - { - /* An item is not being added but overwritten, so subtract - one from the recorded number of items in the queue so when - one is added again below the number of recorded items remains - correct. */ - --( pxQueue->uxMessagesWaiting ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - ++( pxQueue->uxMessagesWaiting ); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer ) -{ - if( pxQueue->uxItemSize != ( UBaseType_t ) 0 ) - { - pxQueue->u.pcReadFrom += pxQueue->uxItemSize; - if( pxQueue->u.pcReadFrom >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */ - { - pxQueue->u.pcReadFrom = pxQueue->pcHead; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 MISRA exception as the casts are only redundant for some ports. Also previous logic ensures a null pointer can only be passed to memcpy() when the count is 0. */ - } -} -/*-----------------------------------------------------------*/ - -static void prvUnlockQueue( Queue_t * const 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 ( configUSE_QUEUE_SETS == 1 ) - { - if( pxQueue->pxQueueSetContainer != NULL ) - { - if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) == pdTRUE ) - { - /* The queue is a member of a queue set, and posting to - the queue set caused a higher priority task to unblock. - A context switch is required. */ - vTaskMissedYield(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - /* Tasks that are removed from the event list will get added to - the pending ready list as the scheduler is still suspended. */ - 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. */ - vTaskMissedYield(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - break; - } - } - } - #else /* configUSE_QUEUE_SETS */ - { - /* Tasks that are removed from the event list will get added to - the pending ready list as the scheduler is still suspended. */ - 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. */ - vTaskMissedYield(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - break; - } - } - #endif /* configUSE_QUEUE_SETS */ - - --( pxQueue->xTxLock ); - } - - 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(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - --( pxQueue->xRxLock ); - } - else - { - break; - } - } - - pxQueue->xRxLock = queueUNLOCKED; - } - taskEXIT_CRITICAL(); -} -/*-----------------------------------------------------------*/ - -static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue ) -{ -BaseType_t xReturn; - - taskENTER_CRITICAL(); - { - if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 ) - { - xReturn = pdTRUE; - } - else - { - xReturn = pdFALSE; - } - } - taskEXIT_CRITICAL(); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue ) -{ -BaseType_t xReturn; - - configASSERT( xQueue ); - if( ( ( Queue_t * ) xQueue )->uxMessagesWaiting == ( UBaseType_t ) 0 ) - { - xReturn = pdTRUE; - } - else - { - xReturn = pdFALSE; - } - - return xReturn; -} /*lint !e818 xQueue could not be pointer to const because it is a typedef. */ -/*-----------------------------------------------------------*/ - -static BaseType_t prvIsQueueFull( const Queue_t *pxQueue ) -{ -BaseType_t xReturn; - - taskENTER_CRITICAL(); - { - if( pxQueue->uxMessagesWaiting == pxQueue->uxLength ) - { - xReturn = pdTRUE; - } - else - { - xReturn = pdFALSE; - } - } - taskEXIT_CRITICAL(); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue ) -{ -BaseType_t xReturn; - - configASSERT( xQueue ); - if( ( ( Queue_t * ) xQueue )->uxMessagesWaiting == ( ( Queue_t * ) xQueue )->uxLength ) - { - xReturn = pdTRUE; - } - else - { - xReturn = pdFALSE; - } - - return xReturn; -} /*lint !e818 xQueue could not be pointer to const because it is a typedef. */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_CO_ROUTINES == 1 ) - - BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait ) - { - BaseType_t xReturn; - Queue_t * const pxQueue = ( Queue_t * ) xQueue; - - /* 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 > ( TickType_t ) 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(); - - 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 - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - xReturn = errQUEUE_FULL; - } - } - portENABLE_INTERRUPTS(); - - return xReturn; - } - -#endif /* configUSE_CO_ROUTINES */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_CO_ROUTINES == 1 ) - - BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait ) - { - BaseType_t xReturn; - Queue_t * const pxQueue = ( Queue_t * ) xQueue; - - /* 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 == ( UBaseType_t ) 0 ) - { - /* There are no messages in the queue, do we want to block or just - leave with nothing? */ - if( xTicksToWait > ( TickType_t ) 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; - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - portENABLE_INTERRUPTS(); - - portDISABLE_INTERRUPTS(); - { - if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 ) - { - /* Data is available from the queue. */ - pxQueue->u.pcReadFrom += pxQueue->uxItemSize; - if( pxQueue->u.pcReadFrom >= pxQueue->pcTail ) - { - pxQueue->u.pcReadFrom = pxQueue->pcHead; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - --( pxQueue->uxMessagesWaiting ); - ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.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 - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - xReturn = pdFAIL; - } - } - portENABLE_INTERRUPTS(); - - return xReturn; - } - -#endif /* configUSE_CO_ROUTINES */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_CO_ROUTINES == 1 ) - - BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void *pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken ) - { - Queue_t * const pxQueue = ( Queue_t * ) xQueue; - - /* 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; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - return xCoRoutinePreviouslyWoken; - } - -#endif /* configUSE_CO_ROUTINES */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_CO_ROUTINES == 1 ) - - BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxCoRoutineWoken ) - { - BaseType_t xReturn; - Queue_t * const pxQueue = ( Queue_t * ) xQueue; - - /* We cannot block from an ISR, so check there is data available. If - not then just leave without doing anything. */ - if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 ) - { - /* Copy the data from the queue. */ - pxQueue->u.pcReadFrom += pxQueue->uxItemSize; - if( pxQueue->u.pcReadFrom >= pxQueue->pcTail ) - { - pxQueue->u.pcReadFrom = pxQueue->pcHead; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - --( pxQueue->uxMessagesWaiting ); - ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize ); - - if( ( *pxCoRoutineWoken ) == pdFALSE ) - { - if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE ) - { - if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) - { - *pxCoRoutineWoken = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - xReturn = pdPASS; - } - else - { - xReturn = pdFAIL; - } - - return xReturn; - } - -#endif /* configUSE_CO_ROUTINES */ -/*-----------------------------------------------------------*/ - -#if ( configQUEUE_REGISTRY_SIZE > 0 ) - - void vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcQueueName ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ - { - UBaseType_t ux; - - /* See if there is an empty space in the registry. A NULL name denotes - a free slot. */ - for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ ) - { - if( xQueueRegistry[ ux ].pcQueueName == NULL ) - { - /* Store the information on this queue. */ - xQueueRegistry[ ux ].pcQueueName = pcQueueName; - xQueueRegistry[ ux ].xHandle = xQueue; - - traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName ); - break; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - } - -#endif /* configQUEUE_REGISTRY_SIZE */ -/*-----------------------------------------------------------*/ - -#if ( configQUEUE_REGISTRY_SIZE > 0 ) - - void vQueueUnregisterQueue( QueueHandle_t xQueue ) - { - UBaseType_t ux; - - /* See if the handle of the queue being unregistered in actually in the - registry. */ - for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) 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; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */ - -#endif /* configQUEUE_REGISTRY_SIZE */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_TIMERS == 1 ) - - void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait ) - { - Queue_t * const pxQueue = ( Queue_t * ) xQueue; - - /* 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 == ( UBaseType_t ) 0U ) - { - /* There is nothing in the queue, block for the specified period. */ - vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - prvUnlockQueue( pxQueue ); - } - -#endif /* configUSE_TIMERS */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_QUEUE_SETS == 1 ) - - QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength ) - { - QueueSetHandle_t pxQueue; - - pxQueue = xQueueGenericCreate( uxEventQueueLength, sizeof( Queue_t * ), queueQUEUE_TYPE_SET ); - - return pxQueue; - } - -#endif /* configUSE_QUEUE_SETS */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_QUEUE_SETS == 1 ) - - BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) - { - BaseType_t xReturn; - - taskENTER_CRITICAL(); - { - if( ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL ) - { - /* Cannot add a queue/semaphore to more than one queue set. */ - xReturn = pdFAIL; - } - else if( ( ( Queue_t * ) xQueueOrSemaphore )->uxMessagesWaiting != ( UBaseType_t ) 0 ) - { - /* Cannot add a queue/semaphore to a queue set if there are already - items in the queue/semaphore. */ - xReturn = pdFAIL; - } - else - { - ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet; - xReturn = pdPASS; - } - } - taskEXIT_CRITICAL(); - - return xReturn; - } - -#endif /* configUSE_QUEUE_SETS */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_QUEUE_SETS == 1 ) - - BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) - { - BaseType_t xReturn; - Queue_t * const pxQueueOrSemaphore = ( Queue_t * ) xQueueOrSemaphore; - - if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet ) - { - /* The queue was not a member of the set. */ - xReturn = pdFAIL; - } - else if( pxQueueOrSemaphore->uxMessagesWaiting != ( UBaseType_t ) 0 ) - { - /* It is dangerous to remove a queue from a set when the queue is - not empty because the queue set will still hold pending events for - the queue. */ - xReturn = pdFAIL; - } - else - { - taskENTER_CRITICAL(); - { - /* The queue is no longer contained in the set. */ - pxQueueOrSemaphore->pxQueueSetContainer = NULL; - } - taskEXIT_CRITICAL(); - xReturn = pdPASS; - } - - return xReturn; - } /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */ - -#endif /* configUSE_QUEUE_SETS */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_QUEUE_SETS == 1 ) - - QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, TickType_t const xTicksToWait ) - { - QueueSetMemberHandle_t xReturn = NULL; - - ( void ) xQueueGenericReceive( ( QueueHandle_t ) xQueueSet, &xReturn, xTicksToWait, pdFALSE ); /*lint !e961 Casting from one typedef to another is not redundant. */ - return xReturn; - } - -#endif /* configUSE_QUEUE_SETS */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_QUEUE_SETS == 1 ) - - QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet ) - { - QueueSetMemberHandle_t xReturn = NULL; - - ( void ) xQueueReceiveFromISR( ( QueueHandle_t ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */ - return xReturn; - } - -#endif /* configUSE_QUEUE_SETS */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_QUEUE_SETS == 1 ) - - static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition ) - { - Queue_t *pxQueueSetContainer = pxQueue->pxQueueSetContainer; - BaseType_t xReturn = pdFALSE; - - /* This function must be called form a critical section. */ - - configASSERT( pxQueueSetContainer ); - configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength ); - - if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength ) - { - traceQUEUE_SEND( pxQueueSetContainer ); - - /* The data copied is the handle of the queue that contains data. */ - xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition ); - - if( pxQueueSetContainer->xTxLock == queueUNLOCKED ) - { - if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE ) - { - if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE ) - { - /* The task waiting has a higher priority. */ - xReturn = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - ( pxQueueSetContainer->xTxLock )++; - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - return xReturn; - } - -#endif /* configUSE_QUEUE_SETS */ - - - - - - - - - - - - diff --git a/external/freertos/tasks.c b/external/freertos/tasks.c deleted file mode 100755 index 426ee2d59..000000000 --- a/external/freertos/tasks.c +++ /dev/null @@ -1,4387 +0,0 @@ -/* - FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd. - All rights reserved - - VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - - This file is part of the FreeRTOS distribution. - - FreeRTOS is free software; you can redistribute it and/or modify it under - the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. - - *************************************************************************** - >>! NOTE: The modification to the GPL is included to allow you to !<< - >>! distribute a combined work that includes FreeRTOS without being !<< - >>! obliged to provide the source code for proprietary components !<< - >>! outside of the FreeRTOS kernel. !<< - *************************************************************************** - - FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY - WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available on the following - link: http://www.freertos.org/a00114.html - - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that is more than just the market leader, it * - * is the industry's de facto standard. * - * * - * Help yourself get started quickly while simultaneously helping * - * to support the FreeRTOS project by purchasing a FreeRTOS * - * tutorial book, reference manual, or both: * - * http://www.FreeRTOS.org/Documentation * - * * - *************************************************************************** - - http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading - the FAQ page "My application does not run, what could be wrong?". Have you - defined configASSERT()? - - http://www.FreeRTOS.org/support - In return for receiving this top quality - embedded software for free we request you assist our global community by - participating in the support forum. - - http://www.FreeRTOS.org/training - Investing in training allows your team to - be as productive as possible as early as possible. Now you can receive - FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers - Ltd, and the world's leading authority on the world's leading RTOS. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool, a DOS - compatible FAT file system, and our tiny thread aware UDP/IP stack. - - http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. - Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. - - http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High - Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and commercial middleware. - - http://www.SafeRTOS.com - High Integrity Systems also provide a safety - engineered and independently SIL3 certified version for use in safety and - mission critical applications that require provable dependability. - - 1 tab == 4 spaces! -*/ - -/* Standard includes. */ -#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 - -/* FreeRTOS includes. */ -#include "FreeRTOS.h" -#include "task.h" -#include "timers.h" -#include "StackMacros.h" - -/* Lint e961 and e750 are suppressed as a MISRA exception justified because the -MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the -header files above, but not in this file, in order to generate the correct -privileged Vs unprivileged linkage and placement. */ -#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */ - -/* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting -functions but without including stdio.h here. */ -#if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) - /* At the bottom of this file are two optional functions that can be used - to generate human readable text from the raw data generated by the - uxTaskGetSystemState() function. Note the formatting functions are provided - for convenience only, and are NOT considered part of the kernel. */ - #include -#endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */ - -/* Sanity check the configuration. */ -#if configUSE_TICKLESS_IDLE != 0 - #if INCLUDE_vTaskSuspend != 1 - #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0 - #endif /* INCLUDE_vTaskSuspend */ -#endif /* configUSE_TICKLESS_IDLE */ - -/* - * Defines the size, in words, of the stack allocated to the idle task. - */ -#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE - -#if( configUSE_PREEMPTION == 0 ) - /* If the cooperative scheduler is being used then a yield should not be - performed just because a higher priority task has been woken. */ - #define taskYIELD_IF_USING_PREEMPTION() -#else - #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API() -#endif - -/* Value that can be assigned to the eNotifyState member of the TCB. */ -typedef enum -{ - eNotWaitingNotification = 0, - eWaitingNotification, - eNotified -} eNotifyValue; - -/* - * Task control block. A task control block (TCB) is allocated for each task, - * and stores task state information, including a pointer to the task's context - * (the task's run time environment, including register values) - */ -typedef struct tskTaskControlBlock -{ - volatile StackType_t *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB 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 TCB STRUCT. */ - BaseType_t xUsingStaticallyAllocatedStack; /* Set to pdTRUE if the stack is a statically allocated array, and pdFALSE if the stack is dynamically allocated. */ - #endif - - ListItem_t xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */ - ListItem_t xEventListItem; /*< Used to reference a task from an event list. */ - UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */ - StackType_t *pxStack; /*< Points to the start of the stack. */ - char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ - - #if ( portSTACK_GROWTH > 0 ) - StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */ - #endif - - #if ( portCRITICAL_NESTING_IN_TCB == 1 ) - UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */ - #endif - - #if ( configUSE_TRACE_FACILITY == 1 ) - UBaseType_t uxTCBNumber; /*< 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. */ - UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */ - #endif - - #if ( configUSE_MUTEXES == 1 ) - UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */ - UBaseType_t uxMutexesHeld; - #endif - - #if ( configUSE_APPLICATION_TASK_TAG == 1 ) - TaskHookFunction_t pxTaskTag; - #endif - - #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) - void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ]; - #endif - - #if ( configGENERATE_RUN_TIME_STATS == 1 ) - uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */ - #endif - - #if ( configUSE_NEWLIB_REENTRANT == 1 ) - /* Allocate a Newlib reent structure that is specific to this task. - Note Newlib support has been included by popular demand, but is not - used by the FreeRTOS maintainers themselves. FreeRTOS is not - responsible for resulting newlib operation. User must be familiar with - newlib and must provide system-wide implementations of the necessary - stubs. Be warned that (at the time of writing) the current newlib design - implements a system-wide malloc() that must be provided with locks. */ - struct _reent xNewLib_reent; - #endif - - #if ( configUSE_TASK_NOTIFICATIONS == 1 ) - volatile uint32_t ulNotifiedValue; - volatile eNotifyValue eNotifyState; - #endif - -} tskTCB; - -/* The old tskTCB name is maintained above then typedefed to the new TCB_t name -below to enable the use of older kernel aware debuggers. */ -typedef tskTCB TCB_t; - -/* - * Some kernel aware debuggers require the data the debugger needs access to to - * be global, rather than file scope. - */ -#ifdef portREMOVE_STATIC_QUALIFIER - #define static -#endif - -/*lint -e956 A manual analysis and inspection has been used to determine which -static variables must be declared volatile. */ - -PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL; - -/* Lists for ready and blocked tasks. --------------------*/ -PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */ -PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */ -PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */ -PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */ -PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */ -PRIVILEGED_DATA static List_t xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */ - -#if ( INCLUDE_vTaskDelete == 1 ) - - PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */ - PRIVILEGED_DATA static volatile UBaseType_t uxTasksDeleted = ( UBaseType_t ) 0U; - -#endif - -#if ( INCLUDE_vTaskSuspend == 1 ) - - PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */ - -#endif - -#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) - - PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */ - -#endif - -/* Other file private variables. --------------------------------*/ -PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U; -PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U; -PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY; -PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE; -PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U; -PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE; -PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0; -PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U; -PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = portMAX_DELAY; - -/* Context switches are held pending while the scheduler is suspended. Also, -interrupts must not manipulate the xGenericListItem of a TCB, or any of the -lists the xGenericListItem can be referenced from, if the scheduler is suspended. -If an interrupt needs to unblock a task while the scheduler is suspended then it -moves the task's event list item into the xPendingReadyList, ready for the -kernel to move the task from the pending ready list into the real ready list -when the scheduler is unsuspended. The pending ready list itself can only be -accessed from a critical section. */ -PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE; - -#if ( configGENERATE_RUN_TIME_STATS == 1 ) - - PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */ - PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */ - -#endif - -/*lint +e956 */ - -/* 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 ( 'B' ) -#define tskREADY_CHAR ( 'R' ) -#define tskDELETED_CHAR ( 'D' ) -#define tskSUSPENDED_CHAR ( 'S' ) - -/*-----------------------------------------------------------*/ - -#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 ) - - /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is - performed in a generic way that is not optimised to any particular - microcontroller architecture. */ - - /* uxTopReadyPriority holds the priority of the highest priority ready - state task. */ - #define taskRECORD_READY_PRIORITY( uxPriority ) \ - { \ - if( ( uxPriority ) > uxTopReadyPriority ) \ - { \ - uxTopReadyPriority = ( uxPriority ); \ - } \ - } /* taskRECORD_READY_PRIORITY */ - - /*-----------------------------------------------------------*/ - - #define taskSELECT_HIGHEST_PRIORITY_TASK() \ - { \ - /* Find the highest priority queue that contains ready tasks. */ \ - while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \ - { \ - configASSERT( uxTopReadyPriority ); \ - --uxTopReadyPriority; \ - } \ - \ - /* listGET_OWNER_OF_NEXT_ENTRY indexes 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 ] ) ); \ - } /* taskSELECT_HIGHEST_PRIORITY_TASK */ - - /*-----------------------------------------------------------*/ - - /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as - they are only required when a port optimised method of task selection is - being used. */ - #define taskRESET_READY_PRIORITY( uxPriority ) - #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority ) - -#else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ - - /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is - performed in a way that is tailored to the particular microcontroller - architecture being used. */ - - /* A port optimised version is provided. Call the port defined macros. */ - #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority ) - - /*-----------------------------------------------------------*/ - - #define taskSELECT_HIGHEST_PRIORITY_TASK() \ - { \ - UBaseType_t uxTopPriority; \ - \ - /* Find the highest priority queue that contains ready tasks. */ \ - portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \ - configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \ - listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \ - } /* taskSELECT_HIGHEST_PRIORITY_TASK() */ - - /*-----------------------------------------------------------*/ - - /* A port optimised version is provided, call it only if the TCB being reset - is being referenced from a ready list. If it is referenced from a delayed - or suspended list then it won't be in a ready list. */ - #define taskRESET_READY_PRIORITY( uxPriority ) \ - { \ - if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \ - { \ - portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \ - } \ - } - -#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ - -/*-----------------------------------------------------------*/ - -/* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick -count overflows. */ -#define taskSWITCH_DELAYED_LISTS() \ -{ \ - List_t *pxTemp; \ - \ - /* The delayed tasks list should be empty when the lists are switched. */ \ - configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \ - \ - pxTemp = pxDelayedTaskList; \ - pxDelayedTaskList = pxOverflowDelayedTaskList; \ - pxOverflowDelayedTaskList = pxTemp; \ - xNumOfOverflows++; \ - prvResetNextTaskUnblockTime(); \ -} - -/*-----------------------------------------------------------*/ - -/* - * Place the task represented by pxTCB into the appropriate ready list for - * the task. It is inserted at the end of the list. - */ -#define prvAddTaskToReadyList( pxTCB ) \ - traceMOVED_TASK_TO_READY_STATE( pxTCB ); \ - taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \ - vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) ) -/*-----------------------------------------------------------*/ - -/* - * Several functions take an TaskHandle_t 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 ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) ) - -/* The item value of the event list item is normally used to hold the priority -of the task to which it belongs (coded to allow it to be held in reverse -priority order). However, it is occasionally borrowed for other purposes. It -is important its value is not updated due to a task priority change while it is -being used for another purpose. The following bit definition is used to inform -the scheduler that the value should not be changed - in which case it is the -responsibility of whichever module is using the value to ensure it gets set back -to its original value when it is released. */ -#if configUSE_16_BIT_TICKS == 1 - #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U -#else - #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL -#endif - -/* Callback function prototypes. --------------------------*/ -#if configCHECK_FOR_STACK_OVERFLOW > 0 - extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName ); -#endif - -#if configUSE_TICK_HOOK > 0 - extern void vApplicationTickHook( void ); -#endif - -/* File private functions. --------------------------------*/ - -/* - * Utility to ready a TCB for a given task. Mainly just copies the parameters - * into the TCB structure. - */ -static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ - -/** - * 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. - */ -#if ( INCLUDE_vTaskSuspend == 1 ) - static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION; -#endif /* INCLUDE_vTaskSuspend */ - -/* - * 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( TCB_t *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( const TickType_t xTimeToWake ) PRIVILEGED_FUNCTION; - -/* - * Allocates memory from the heap for a TCB and associated stack. Checks the - * allocation was successful. - */ -static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer ) PRIVILEGED_FUNCTION; - -/* - * Fills an TaskStatus_t structure with information on each task that is - * referenced from the pxList list (which may be a ready list, a delayed list, - * a suspended list, etc.). - * - * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM - * NORMAL APPLICATION CODE. - */ -#if ( configUSE_TRACE_FACILITY == 1 ) - - static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) 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 uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION; - -#endif - -/* - * Return the amount of time, in ticks, that will pass before the kernel will - * next move a task from the Blocked state to the Running state. - * - * This conditional compilation should use inequality to 0, not equality to 1. - * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user - * defined low power mode implementations require configUSE_TICKLESS_IDLE to be - * set to a value other than 1. - */ -#if ( configUSE_TICKLESS_IDLE != 0 ) - - static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION; - -#endif - -/* - * Set xNextTaskUnblockTime to the time at which the next Blocked state task - * will exit the Blocked state. - */ -static void prvResetNextTaskUnblockTime( void ); - -#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) - - /* - * Helper function used to pad task names with spaces when printing out - * human readable tables of task information. - */ - static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ); - -#endif -/*-----------------------------------------------------------*/ - -BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ -{ -BaseType_t xReturn; -TCB_t * pxNewTCB; -StackType_t *pxTopOfStack; - - configASSERT( pxTaskCode ); - configASSERT( ( ( uxPriority & ( UBaseType_t ) ( ~portPRIVILEGE_BIT ) ) < ( UBaseType_t ) 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 ) - { - #if( portUSING_MPU_WRAPPERS == 1 ) - /* Should the task be created in privileged mode? */ - BaseType_t xRunPrivileged; - if( ( uxPriority & portPRIVILEGE_BIT ) != 0U ) - { - xRunPrivileged = pdTRUE; - } - else - { - xRunPrivileged = pdFALSE; - } - uxPriority &= ~portPRIVILEGE_BIT; - - if( puxStackBuffer != NULL ) - { - /* The application provided its own stack. Note this so no - attempt is made to delete the stack should that task be - deleted. */ - pxNewTCB->xUsingStaticallyAllocatedStack = pdTRUE; - } - else - { - /* The stack was allocated dynamically. Note this so it can be - deleted again if the task is deleted. */ - pxNewTCB->xUsingStaticallyAllocatedStack = pdFALSE; - } - #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 vice 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 - ( uint16_t ) 1 ); - pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */ - - /* Check the alignment of the calculated top of stack is correct. */ - configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) ); - } - #else /* portSTACK_GROWTH */ - { - pxTopOfStack = pxNewTCB->pxStack; - - /* Check the alignment of the stack buffer is correct. */ - configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) 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 /* portSTACK_GROWTH */ - - /* 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 /* portUSING_MPU_WRAPPERS */ - { - pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters ); - } - #endif /* portUSING_MPU_WRAPPERS */ - - 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 = ( TaskHandle_t ) pxNewTCB; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Ensure interrupts don't access the task lists while they are being - updated. */ - 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 == ( UBaseType_t ) 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 - { - mtCOVERAGE_TEST_MARKER(); - } - } - 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; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - uxTaskNumber++; - - #if ( configUSE_TRACE_FACILITY == 1 ) - { - /* Add a counter into the TCB for tracing only. */ - pxNewTCB->uxTCBNumber = uxTaskNumber; - } - #endif /* configUSE_TRACE_FACILITY */ - traceTASK_CREATE( pxNewTCB ); - - prvAddTaskToReadyList( pxNewTCB ); - - xReturn = pdPASS; - portSETUP_TCB( 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 ) - { - taskYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - return xReturn; -} -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskDelete == 1 ) - - void vTaskDelete( TaskHandle_t xTaskToDelete ) - { - TCB_t *pxTCB; - - taskENTER_CRITICAL(); - { - /* If null is passed in here then it is the calling task that is - being deleted. */ - pxTCB = prvGetTCBFromHandle( xTaskToDelete ); - - /* 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. */ - if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) - { - taskRESET_READY_PRIORITY( pxTCB->uxPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Is the task waiting on an event also? */ - if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) - { - ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - vListInsertEnd( &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 it is the currently running task that has just - been deleted. */ - if( xSchedulerRunning != pdFALSE ) - { - if( pxTCB == pxCurrentTCB ) - { - configASSERT( uxSchedulerSuspended == 0 ); - - /* The pre-delete hook is primarily for the Windows simulator, - in which Windows specific clean up operations are performed, - after which it is not possible to yield away from this task - - hence xYieldPending is used to latch that a context switch is - required. */ - portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending ); - portYIELD_WITHIN_API(); - } - else - { - /* Reset the next expected unblock time in case it referred to - the task that has just been deleted. */ - taskENTER_CRITICAL(); - { - prvResetNextTaskUnblockTime(); - } - taskEXIT_CRITICAL(); - } - } - } - -#endif /* INCLUDE_vTaskDelete */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskDelayUntil == 1 ) - - void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement ) - { - TickType_t xTimeToWake; - BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE; - - configASSERT( pxPreviousWakeTime ); - configASSERT( ( xTimeIncrement > 0U ) ); - configASSERT( uxSchedulerSuspended == 0 ); - - vTaskSuspendAll(); - { - /* Minor optimisation. The tick count cannot change in this - block. */ - const TickType_t xConstTickCount = xTickCount; - - /* Generate the tick time at which the task wants to wake. */ - xTimeToWake = *pxPreviousWakeTime + xTimeIncrement; - - if( xConstTickCount < *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 > xConstTickCount ) ) - { - xShouldDelay = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - 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 > xConstTickCount ) ) - { - xShouldDelay = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - /* Update the wake time ready for the next call. */ - *pxPreviousWakeTime = xTimeToWake; - - if( xShouldDelay != pdFALSE ) - { - traceTASK_DELAY_UNTIL(); - - /* Remove the task from the ready list before adding it to the - blocked list as the same list item is used for both lists. */ - if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) - { - /* The current task must be in a ready list, so there is - no need to check, and the port reset macro can be called - directly. */ - portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - prvAddCurrentTaskToDelayedList( xTimeToWake ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - 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(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* INCLUDE_vTaskDelayUntil */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskDelay == 1 ) - - void vTaskDelay( const TickType_t xTicksToDelay ) - { - TickType_t xTimeToWake; - BaseType_t xAlreadyYielded = pdFALSE; - - - /* A delay time of zero just forces a reschedule. */ - if( xTicksToDelay > ( TickType_t ) 0U ) - { - configASSERT( uxSchedulerSuspended == 0 ); - 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. */ - if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) - { - /* The current task must be in a ready list, so there is - no need to check, and the port reset macro can be called - directly. */ - portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - prvAddCurrentTaskToDelayedList( xTimeToWake ); - } - xAlreadyYielded = xTaskResumeAll(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Force a reschedule if xTaskResumeAll has not already done so, we may - have put ourselves to sleep. */ - if( xAlreadyYielded == pdFALSE ) - { - portYIELD_WITHIN_API(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* INCLUDE_vTaskDelay */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_eTaskGetState == 1 ) - - eTaskState eTaskGetState( TaskHandle_t xTask ) - { - eTaskState eReturn; - List_t *pxStateList; - const TCB_t * const pxTCB = ( TCB_t * ) xTask; - - configASSERT( pxTCB ); - - if( pxTCB == pxCurrentTCB ) - { - /* The task calling this function is querying its own state. */ - eReturn = eRunning; - } - else - { - taskENTER_CRITICAL(); - { - pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) ); - } - taskEXIT_CRITICAL(); - - if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) ) - { - /* The task being queried is referenced from one of the Blocked - lists. */ - eReturn = eBlocked; - } - - #if ( INCLUDE_vTaskSuspend == 1 ) - else if( pxStateList == &xSuspendedTaskList ) - { - /* The task being queried is referenced from the suspended - list. Is it genuinely suspended or is it block - indefinitely? */ - if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ) - { - eReturn = eSuspended; - } - else - { - eReturn = eBlocked; - } - } - #endif - - #if ( INCLUDE_vTaskDelete == 1 ) - else if( pxStateList == &xTasksWaitingTermination ) - { - /* The task being queried is referenced from the deleted - tasks list. */ - eReturn = eDeleted; - } - #endif - - else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */ - { - /* If the task is not in any other state, it must be in the - Ready (including pending ready) state. */ - eReturn = eReady; - } - } - - return eReturn; - } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */ - -#endif /* INCLUDE_eTaskGetState */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_uxTaskPriorityGet == 1 ) - - UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask ) - { - TCB_t *pxTCB; - UBaseType_t uxReturn; - - taskENTER_CRITICAL(); - { - /* If null is passed in here then we are changing the - priority of the calling function. */ - pxTCB = prvGetTCBFromHandle( xTask ); - uxReturn = pxTCB->uxPriority; - } - taskEXIT_CRITICAL(); - - return uxReturn; - } - -#endif /* INCLUDE_uxTaskPriorityGet */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_uxTaskPriorityGet == 1 ) - - UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask ) - { - TCB_t *pxTCB; - UBaseType_t uxReturn, uxSavedInterruptState; - - /* RTOS ports that support interrupt nesting have the concept of a - maximum system call (or maximum API call) interrupt priority. - Interrupts that are above the maximum system call priority are keep - permanently enabled, even when the RTOS kernel is in a critical section, - but cannot make any calls to FreeRTOS API functions. If configASSERT() - is defined in FreeRTOSConfig.h then - portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion - failure if a FreeRTOS API function is called from an interrupt that has - been assigned a priority above the configured maximum system call - priority. Only FreeRTOS functions that end in FromISR can be called - from interrupts that have been assigned a priority at or (logically) - below the maximum system call interrupt priority. FreeRTOS maintains a - separate interrupt safe API to ensure interrupt entry is as fast and as - simple as possible. More information (albeit Cortex-M specific) is - provided on the following link: - http://www.freertos.org/RTOS-Cortex-M3-M4.html */ - portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); - - uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR(); - { - /* If null is passed in here then it is the priority of the calling - task that is being queried. */ - pxTCB = prvGetTCBFromHandle( xTask ); - uxReturn = pxTCB->uxPriority; - } - portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState ); - - return uxReturn; - } - -#endif /* INCLUDE_uxTaskPriorityGet */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskPrioritySet == 1 ) - - void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority ) - { - TCB_t *pxTCB; - UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry; - BaseType_t xYieldRequired = pdFALSE; - - configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) ); - - /* Ensure the new priority is valid. */ - if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES ) - { - uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - taskENTER_CRITICAL(); - { - /* If null is passed in here then it is the priority of the calling - task that is being changed. */ - pxTCB = prvGetTCBFromHandle( xTask ); - - traceTASK_PRIORITY_SET( pxTCB, uxNewPriority ); - - #if ( configUSE_MUTEXES == 1 ) - { - uxCurrentBasePriority = pxTCB->uxBasePriority; - } - #else - { - uxCurrentBasePriority = pxTCB->uxPriority; - } - #endif - - if( uxCurrentBasePriority != uxNewPriority ) - { - /* The priority change may have readied a task of higher - priority than the calling task. */ - if( uxNewPriority > uxCurrentBasePriority ) - { - if( pxTCB != pxCurrentTCB ) - { - /* The priority of a task other than the currently - running task is being raised. Is the priority being - raised above that of the running task? */ - if( uxNewPriority >= pxCurrentTCB->uxPriority ) - { - xYieldRequired = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - /* The priority of the running task is being raised, - but the running task must already be the highest - priority task able to run so no yield is required. */ - } - } - else if( pxTCB == pxCurrentTCB ) - { - /* Setting the priority of the running task down means - there may now be another task of higher priority that - is ready to execute. */ - xYieldRequired = pdTRUE; - } - else - { - /* Setting the priority of any other task down does not - require a yield as the running task must be above the - new priority of the task being modified. */ - } - - /* Remember the ready list the task might be referenced from - before its uxPriority member is changed so the - taskRESET_READY_PRIORITY() macro can function correctly. */ - uxPriorityUsedOnEntry = pxTCB->uxPriority; - - #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; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* The base priority gets set whatever. */ - pxTCB->uxBasePriority = uxNewPriority; - } - #else - { - pxTCB->uxPriority = uxNewPriority; - } - #endif - - /* Only reset the event list item value if the value is not - being used for anything else. */ - if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL ) - { - listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* 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 list appropriate to its new priority. */ - if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE ) - { - /* 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. */ - if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) - { - /* It is known that the task is in its ready list so - there is no need to check again and the port level - reset macro can be called directly. */ - portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - prvAddTaskToReadyList( pxTCB ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - if( xYieldRequired == pdTRUE ) - { - taskYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Remove compiler warning about unused variables when the port - optimised task selection is not being used. */ - ( void ) uxPriorityUsedOnEntry; - } - } - taskEXIT_CRITICAL(); - } - -#endif /* INCLUDE_vTaskPrioritySet */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskSuspend == 1 ) - - void vTaskSuspend( TaskHandle_t xTaskToSuspend ) - { - TCB_t *pxTCB; - - taskENTER_CRITICAL(); - { - /* If null is passed in here then it is the running task that is - being suspended. */ - pxTCB = prvGetTCBFromHandle( xTaskToSuspend ); - - traceTASK_SUSPEND( pxTCB ); - - /* Remove task from the ready/delayed list and place in the - suspended list. */ - if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) - { - taskRESET_READY_PRIORITY( pxTCB->uxPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Is the task waiting on an event also? */ - if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) - { - ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ); - } - taskEXIT_CRITICAL(); - - if( pxTCB == pxCurrentTCB ) - { - if( xSchedulerRunning != pdFALSE ) - { - /* The current task has just been suspended. */ - configASSERT( uxSchedulerSuspended == 0 ); - 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(); - } - } - } - else - { - if( xSchedulerRunning != pdFALSE ) - { - /* A task other than the currently running task was suspended, - reset the next expected unblock time in case it referred to the - task that is now in the Suspended state. */ - taskENTER_CRITICAL(); - { - prvResetNextTaskUnblockTime(); - } - taskEXIT_CRITICAL(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - } - -#endif /* INCLUDE_vTaskSuspend */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskSuspend == 1 ) - - static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) - { - BaseType_t xReturn = pdFALSE; - const TCB_t * const pxTCB = ( TCB_t * ) xTask; - - /* Accesses xPendingReadyList so must be called from a critical - section. */ - - /* It does not make sense to check if the calling task is suspended. */ - configASSERT( xTask ); - - /* Is the task being resumed 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 ) ) == pdFALSE ) - { - /* Is it in the suspended list because it is in the Suspended - state, or because is is blocked with no timeout? */ - if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) - { - xReturn = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - return xReturn; - } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */ - -#endif /* INCLUDE_vTaskSuspend */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskSuspend == 1 ) - - void vTaskResume( TaskHandle_t xTaskToResume ) - { - TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume; - - /* It does not make sense to resume the calling task. */ - configASSERT( xTaskToResume ); - - /* The parameter cannot be NULL as it is impossible to resume the - currently executing task. */ - if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) ) - { - taskENTER_CRITICAL(); - { - if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE ) - { - traceTASK_RESUME( pxTCB ); - - /* As we are in a critical section we can access the ready - lists even if the scheduler is suspended. */ - ( void ) uxListRemove( &( pxTCB->xGenericListItem ) ); - prvAddTaskToReadyList( 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. */ - taskYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - taskEXIT_CRITICAL(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* INCLUDE_vTaskSuspend */ - -/*-----------------------------------------------------------*/ - -#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) - - BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume ) - { - BaseType_t xYieldRequired = pdFALSE; - TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume; - UBaseType_t uxSavedInterruptStatus; - - configASSERT( xTaskToResume ); - - /* RTOS ports that support interrupt nesting have the concept of a - maximum system call (or maximum API call) interrupt priority. - Interrupts that are above the maximum system call priority are keep - permanently enabled, even when the RTOS kernel is in a critical section, - but cannot make any calls to FreeRTOS API functions. If configASSERT() - is defined in FreeRTOSConfig.h then - portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion - failure if a FreeRTOS API function is called from an interrupt that has - been assigned a priority above the configured maximum system call - priority. Only FreeRTOS functions that end in FromISR can be called - from interrupts that have been assigned a priority at or (logically) - below the maximum system call interrupt priority. FreeRTOS maintains a - separate interrupt safe API to ensure interrupt entry is as fast and as - simple as possible. More information (albeit Cortex-M specific) is - provided on the following link: - http://www.freertos.org/RTOS-Cortex-M3-M4.html */ - portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); - - uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); - { - if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE ) - { - traceTASK_RESUME_FROM_ISR( pxTCB ); - - /* Check the ready lists can be accessed. */ - if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) - { - /* Ready lists can be accessed so move the task from the - suspended list to the ready list directly. */ - if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) - { - xYieldRequired = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - ( void ) uxListRemove( &( pxTCB->xGenericListItem ) ); - prvAddTaskToReadyList( pxTCB ); - } - else - { - /* The delayed or ready lists cannot be accessed so the task - is held in the pending ready list until the scheduler is - unsuspended. */ - vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); - - return xYieldRequired; - } - -#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */ -/*-----------------------------------------------------------*/ - -void vTaskStartScheduler( void ) -{ -BaseType_t 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, "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ - } - #else - { - /* Create the idle task without storing its handle. */ - xReturn = xTaskCreate( prvIdleTask, "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ - } - #endif /* INCLUDE_xTaskGetIdleTaskHandle */ - - #if ( configUSE_TIMERS == 1 ) - { - if( xReturn == pdPASS ) - { - xReturn = xTimerCreateTimerTask(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_TIMERS */ - - 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. */ - portDISABLE_INTERRUPTS(); - - #if ( configUSE_NEWLIB_REENTRANT == 1 ) - { - /* Switch Newlib's _impure_ptr variable to point to the _reent - structure specific to the task that will run first. */ - _impure_ptr = &( pxCurrentTCB->xNewLib_reent ); - } - #endif /* configUSE_NEWLIB_REENTRANT */ - - xSchedulerRunning = pdTRUE; - xTickCount = ( TickType_t ) 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(). */ - } - } - else - { - /* This line will only be reached if the kernel could not be started, - because there was not enough FreeRTOS heap to create the idle task - or the timer task. */ - 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 - BaseType_t. Please read Richard Barry's reply in the following link to a - post in the FreeRTOS support forum before reporting this as a bug! - - http://goo.gl/wu4acr */ - ++uxSchedulerSuspended; -} -/*----------------------------------------------------------*/ - -#if ( configUSE_TICKLESS_IDLE != 0 ) - - static TickType_t prvGetExpectedIdleTime( void ) - { - TickType_t xReturn; - - if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY ) - { - xReturn = 0; - } - else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 ) - { - /* There are other idle priority tasks in the ready state. If - time slicing is used then the very next tick interrupt must be - processed. */ - xReturn = 0; - } - else - { - xReturn = xNextTaskUnblockTime - xTickCount; - } - - return xReturn; - } - -#endif /* configUSE_TICKLESS_IDLE */ -/*----------------------------------------------------------*/ - -BaseType_t xTaskResumeAll( void ) -{ -TCB_t *pxTCB; -BaseType_t 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 == ( UBaseType_t ) pdFALSE ) - { - if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U ) - { - /* Move any readied tasks from the pending list into the - appropriate ready list. */ - while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE ) - { - pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); - ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); - ( void ) uxListRemove( &( pxTCB->xGenericListItem ) ); - prvAddTaskToReadyList( pxTCB ); - - /* If the moved task has a priority higher than the current - task then a yield must be performed. */ - if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) - { - xYieldPending = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - /* 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( uxPendedTicks > ( UBaseType_t ) 0U ) - { - while( uxPendedTicks > ( UBaseType_t ) 0U ) - { - if( xTaskIncrementTick() != pdFALSE ) - { - xYieldPending = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - --uxPendedTicks; - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - if( xYieldPending == pdTRUE ) - { - #if( configUSE_PREEMPTION != 0 ) - { - xAlreadyYielded = pdTRUE; - } - #endif - taskYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - taskEXIT_CRITICAL(); - - return xAlreadyYielded; -} -/*-----------------------------------------------------------*/ - -TickType_t xTaskGetTickCount( void ) -{ -TickType_t xTicks; - - /* Critical section required if running on a 16 bit processor. */ - portTICK_TYPE_ENTER_CRITICAL(); - { - xTicks = xTickCount; - } - portTICK_TYPE_EXIT_CRITICAL(); - - return xTicks; -} -/*-----------------------------------------------------------*/ - -TickType_t xTaskGetTickCountFromISR( void ) -{ -TickType_t xReturn; -UBaseType_t uxSavedInterruptStatus; - - /* RTOS ports that support interrupt nesting have the concept of a maximum - system call (or maximum API call) interrupt priority. Interrupts that are - above the maximum system call priority are kept permanently enabled, even - when the RTOS kernel is in a critical section, but cannot make any calls to - FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h - then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion - failure if a FreeRTOS API function is called from an interrupt that has been - assigned a priority above the configured maximum system call priority. - Only FreeRTOS functions that end in FromISR can be called from interrupts - that have been assigned a priority at or (logically) below the maximum - system call interrupt priority. FreeRTOS maintains a separate interrupt - safe API to ensure interrupt entry is as fast and as simple as possible. - More information (albeit Cortex-M specific) is provided on the following - link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */ - portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); - - uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR(); - { - xReturn = xTickCount; - } - portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -UBaseType_t uxTaskGetNumberOfTasks( void ) -{ - /* A critical section is not required because the variables are of type - BaseType_t. */ - return uxCurrentNumberOfTasks; -} -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_pcTaskGetTaskName == 1 ) - - char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ - { - TCB_t *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 /* INCLUDE_pcTaskGetTaskName */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime ) - { - UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES; - - vTaskSuspendAll(); - { - /* Is there a space in the array for each task in the system? */ - if( uxArraySize >= uxCurrentNumberOfTasks ) - { - /* Fill in an TaskStatus_t structure with information on each - task in the Ready state. */ - do - { - uxQueue--; - uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady ); - - } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - - /* Fill in an TaskStatus_t structure with information on each - task in the Blocked state. */ - uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked ); - uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked ); - - #if( INCLUDE_vTaskDelete == 1 ) - { - /* Fill in an TaskStatus_t structure with information on - each task that has been deleted but not yet cleaned up. */ - uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted ); - } - #endif - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - /* Fill in an TaskStatus_t structure with information on - each task in the Suspended state. */ - uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended ); - } - #endif - - #if ( configGENERATE_RUN_TIME_STATS == 1) - { - if( pulTotalRunTime != NULL ) - { - #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE - portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) ); - #else - *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE(); - #endif - } - } - #else - { - if( pulTotalRunTime != NULL ) - { - *pulTotalRunTime = 0; - } - } - #endif - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - ( void ) xTaskResumeAll(); - - return uxTask; - } - -#endif /* configUSE_TRACE_FACILITY */ -/*----------------------------------------------------------*/ - -#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) - - TaskHandle_t xTaskGetIdleTaskHandle( void ) - { - /* If xTaskGetIdleTaskHandle() is called before the scheduler has been - started, then xIdleTaskHandle will be NULL. */ - configASSERT( ( xIdleTaskHandle != NULL ) ); - return xIdleTaskHandle; - } - -#endif /* INCLUDE_xTaskGetIdleTaskHandle */ -/*----------------------------------------------------------*/ - -/* This conditional compilation should use inequality to 0, not equality to 1. -This is to ensure vTaskStepTick() is available when user defined low power mode -implementations require configUSE_TICKLESS_IDLE to be set to a value other than -1. */ -#if ( configUSE_TICKLESS_IDLE != 0 ) - - void vTaskStepTick( const TickType_t xTicksToJump ) - { - /* Correct the tick count value after a period during which the tick - was suppressed. Note this does *not* call the tick hook function for - each stepped tick. */ - configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime ); - xTickCount += xTicksToJump; - traceINCREASE_TICK_COUNT( xTicksToJump ); - } - -#endif /* configUSE_TICKLESS_IDLE */ -/*----------------------------------------------------------*/ - -BaseType_t xTaskIncrementTick( void ) -{ -TCB_t * pxTCB; -TickType_t xItemValue; -BaseType_t xSwitchRequired = pdFALSE; - - /* 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. */ - traceTASK_INCREMENT_TICK( xTickCount ); - if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) - { - /* Increment the RTOS tick, switching the delayed and overflowed - delayed lists if it wraps to 0. */ - ++xTickCount; - - { - /* Minor optimisation. The tick count cannot change in this - block. */ - const TickType_t xConstTickCount = xTickCount; - - if( xConstTickCount == ( TickType_t ) 0U ) - { - taskSWITCH_DELAYED_LISTS(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* See if this tick has made a timeout expire. Tasks are stored in - the queue in the order of their wake time - meaning once one task - has been found whose block time has not expired there is no need to - look any further down the list. */ - if( xConstTickCount >= 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 must - be removed from the Blocked state. */ - pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); - xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); - - if( xConstTickCount < 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 must be removed from the Blocked - state - so record the item value in - xNextTaskUnblockTime. */ - xNextTaskUnblockTime = xItemValue; - break; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* It is time to remove the item from the Blocked state. */ - ( void ) uxListRemove( &( pxTCB->xGenericListItem ) ); - - /* Is the task waiting on an event also? If so remove - it from the event list. */ - if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) - { - ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Place the unblocked task into the appropriate ready - list. */ - prvAddTaskToReadyList( pxTCB ); - - /* A task being unblocked cannot cause an immediate - context switch if preemption is turned off. */ - #if ( configUSE_PREEMPTION == 1 ) - { - /* Preemption is on, but a context switch should - only be performed if the unblocked task has a - priority that is equal to or higher than the - currently executing task. */ - if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) - { - xSwitchRequired = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_PREEMPTION */ - } - } - } - } - - /* Tasks of equal priority to the currently running task will share - processing time (time slice) if preemption is on, and the application - writer has not explicitly turned time slicing off. */ - #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) - { - if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 ) - { - xSwitchRequired = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */ - - #if ( configUSE_TICK_HOOK == 1 ) - { - /* Guard against the tick hook being called when the pended tick - count is being unwound (when the scheduler is being unlocked). */ - if( uxPendedTicks == ( UBaseType_t ) 0U ) - { - vApplicationTickHook(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_TICK_HOOK */ - } - else - { - ++uxPendedTicks; - - /* The tick hook gets called at regular intervals, even if the - scheduler is locked. */ - #if ( configUSE_TICK_HOOK == 1 ) - { - vApplicationTickHook(); - } - #endif - } - - #if ( configUSE_PREEMPTION == 1 ) - { - if( xYieldPending != pdFALSE ) - { - xSwitchRequired = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_PREEMPTION */ - - return xSwitchRequired; -} -/*-----------------------------------------------------------*/ - -#if ( configUSE_APPLICATION_TASK_TAG == 1 ) - - void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction ) - { - TCB_t *xTCB; - - /* If xTask is NULL then it is the task hook of the calling task that is - getting set. */ - if( xTask == NULL ) - { - xTCB = ( TCB_t * ) pxCurrentTCB; - } - else - { - xTCB = ( TCB_t * ) 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 /* configUSE_APPLICATION_TASK_TAG */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_APPLICATION_TASK_TAG == 1 ) - - TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask ) - { - TCB_t *xTCB; - TaskHookFunction_t xReturn; - - /* If xTask is NULL then we are setting our own task hook. */ - if( xTask == NULL ) - { - xTCB = ( TCB_t * ) pxCurrentTCB; - } - else - { - xTCB = ( TCB_t * ) 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 /* configUSE_APPLICATION_TASK_TAG */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_APPLICATION_TASK_TAG == 1 ) - - BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter ) - { - TCB_t *xTCB; - BaseType_t xReturn; - - /* If xTask is NULL then we are calling our own task hook. */ - if( xTask == NULL ) - { - xTCB = ( TCB_t * ) pxCurrentTCB; - } - else - { - xTCB = ( TCB_t * ) xTask; - } - - if( xTCB->pxTaskTag != NULL ) - { - xReturn = xTCB->pxTaskTag( pvParameter ); - } - else - { - xReturn = pdFAIL; - } - - return xReturn; - } - -#endif /* configUSE_APPLICATION_TASK_TAG */ -/*-----------------------------------------------------------*/ - -void vTaskSwitchContext( void ) -{ - if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE ) - { - /* The scheduler is currently suspended - do not allow a context - switch. */ - xYieldPending = pdTRUE; - } - else - { - xYieldPending = pdFALSE; - traceTASK_SWITCHED_OUT(); - - #if ( configGENERATE_RUN_TIME_STATS == 1 ) - { - #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE - portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime ); - #else - ulTotalRunTime = 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. The guard against negative values is to protect - against suspect run time stat counter implementations - which - are provided by the application, not the kernel. */ - if( ulTotalRunTime > ulTaskSwitchedInTime ) - { - pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - ulTaskSwitchedInTime = ulTotalRunTime; - } - #endif /* configGENERATE_RUN_TIME_STATS */ - - /* Check for stack overflow, if configured. */ - taskFIRST_CHECK_FOR_STACK_OVERFLOW(); - taskSECOND_CHECK_FOR_STACK_OVERFLOW(); - - /* Select a new task to run using either the generic C or port - optimised asm code. */ - taskSELECT_HIGHEST_PRIORITY_TASK(); - traceTASK_SWITCHED_IN(); - - #if ( configUSE_NEWLIB_REENTRANT == 1 ) - { - /* Switch Newlib's _impure_ptr variable to point to the _reent - structure specific to this task. */ - _impure_ptr = &( pxCurrentTCB->xNewLib_reent ); - } - #endif /* configUSE_NEWLIB_REENTRANT */ - } -} -/*-----------------------------------------------------------*/ - -void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait ) -{ -TickType_t xTimeToWake; - - configASSERT( pxEventList ); - - /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE - SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */ - - /* 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. The queue that contains the event - list is locked, preventing simultaneous access from interrupts. */ - vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) ); - - /* The task must be removed from from the ready list before it is added to - the blocked list as the same list item is used for both lists. Exclusive - access to the ready lists guaranteed because the scheduler is locked. */ - if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) - { - /* The current task must be in a ready list, so there is no need to - check, and the port reset macro can be called directly. */ - portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - if( xTicksToWait == portMAX_DELAY ) - { - /* Add the task to the suspended task list instead of a delayed task - list to ensure the task is not woken by a timing event. It will - block indefinitely. */ - vListInsertEnd( &xSuspendedTaskList, &( 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, the - scheduler will handle it. */ - xTimeToWake = xTickCount + xTicksToWait; - prvAddCurrentTaskToDelayedList( xTimeToWake ); - } - } - #else /* INCLUDE_vTaskSuspend */ - { - /* Calculate the time at which the task should be woken if the event does - not occur. This may overflow but this doesn't matter, the scheduler - will handle it. */ - xTimeToWake = xTickCount + xTicksToWait; - prvAddCurrentTaskToDelayedList( xTimeToWake ); - } - #endif /* INCLUDE_vTaskSuspend */ -} -/*-----------------------------------------------------------*/ - -void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait ) -{ -TickType_t xTimeToWake; - - configASSERT( pxEventList ); - - /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by - the event groups implementation. */ - configASSERT( uxSchedulerSuspended != 0 ); - - /* Store the item value in the event list item. It is safe to access the - event list item here as interrupts won't access the event list item of a - task that is not in the Blocked state. */ - listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE ); - - /* Place the event list item of the TCB at the end of the appropriate event - list. It is safe to access the event list here because it is part of an - event group implementation - and interrupts don't access event groups - directly (instead they access them indirectly by pending function calls to - the task level). */ - vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) ); - - /* The task must be removed from the ready list before it is added to the - blocked list. Exclusive access can be assured to the ready list as the - scheduler is locked. */ - if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) - { - /* The current task must be in a ready list, so there is no need to - check, and the port reset macro can be called directly. */ - portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - if( xTicksToWait == portMAX_DELAY ) - { - /* Add the task to the suspended task list instead of a delayed task - list to ensure it is not woken by a timing event. It will block - indefinitely. */ - vListInsertEnd( &xSuspendedTaskList, &( 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, the - kernel will manage it correctly. */ - xTimeToWake = xTickCount + xTicksToWait; - prvAddCurrentTaskToDelayedList( xTimeToWake ); - } - } - #else /* INCLUDE_vTaskSuspend */ - { - /* Calculate the time at which the task should be woken if the event does - not occur. This may overflow but this doesn't matter, the kernel - will manage it correctly. */ - xTimeToWake = xTickCount + xTicksToWait; - prvAddCurrentTaskToDelayedList( xTimeToWake ); - } - #endif /* INCLUDE_vTaskSuspend */ -} -/*-----------------------------------------------------------*/ - -#if configUSE_TIMERS == 1 - - void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait ) - { - TickType_t 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 with the scheduler suspended. */ - - - /* 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( pxEventList, &( 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 with the scheduler locked so interrupts will not - access the lists at the same time. */ - if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) - { - /* The current task must be in a ready list, so there is no need to - check, and the port reset macro can be called directly. */ - portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* 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; - - traceTASK_DELAY_UNTIL(); - prvAddCurrentTaskToDelayedList( xTimeToWake ); - } - -#endif /* configUSE_TIMERS */ -/*-----------------------------------------------------------*/ - -BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList ) -{ -TCB_t *pxUnblockedTCB; -BaseType_t xReturn; - - /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be - called from a critical section within an ISR. */ - - /* The event list is sorted in priority order, so the first in the list can - be removed as it is known to be the highest priority. 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 exclusive access to the event list is guaranteed here. - - This function assumes that a check has already been made to ensure that - pxEventList is not empty. */ - pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); - configASSERT( pxUnblockedTCB ); - ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) ); - - if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) - { - ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) ); - prvAddTaskToReadyList( pxUnblockedTCB ); - } - else - { - /* The delayed and ready lists cannot be accessed, so hold this task - pending until the scheduler is resumed. */ - vListInsertEnd( &( 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; - - /* Mark that a yield is pending in case the user is not using the - "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */ - xYieldPending = pdTRUE; - } - else - { - xReturn = pdFALSE; - } - - #if( configUSE_TICKLESS_IDLE == 1 ) - { - /* If a task is blocked on a kernel object then xNextTaskUnblockTime - might be set to the blocked task's time out time. If the task is - unblocked for a reason other than a timeout xNextTaskUnblockTime is - normally left unchanged, because it is automatically get reset to a new - value when the tick count equals xNextTaskUnblockTime. However if - tickless idling is used it might be more important to enter sleep mode - at the earliest possible time - so reset xNextTaskUnblockTime here to - ensure it is updated at the earliest possible time. */ - prvResetNextTaskUnblockTime(); - } - #endif - - return xReturn; -} -/*-----------------------------------------------------------*/ - -BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue ) -{ -TCB_t *pxUnblockedTCB; -BaseType_t xReturn; - - /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by - the event flags implementation. */ - configASSERT( uxSchedulerSuspended != pdFALSE ); - - /* Store the new item value in the event list. */ - listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE ); - - /* Remove the event list form the event flag. Interrupts do not access - event flags. */ - pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem ); - configASSERT( pxUnblockedTCB ); - ( void ) uxListRemove( pxEventListItem ); - - /* Remove the task from the delayed list and add it to the ready list. The - scheduler is suspended so interrupts will not be accessing the ready - lists. */ - ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) ); - prvAddTaskToReadyList( pxUnblockedTCB ); - - 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; - - /* Mark that a yield is pending in case the user is not using the - "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */ - xYieldPending = pdTRUE; - } - else - { - xReturn = pdFALSE; - } - - return xReturn; -} -/*-----------------------------------------------------------*/ - -void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) -{ - configASSERT( pxTimeOut ); - pxTimeOut->xOverflowCount = xNumOfOverflows; - pxTimeOut->xTimeOnEntering = xTickCount; -} -/*-----------------------------------------------------------*/ - -BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait ) -{ -BaseType_t xReturn; - - configASSERT( pxTimeOut ); - configASSERT( pxTicksToWait ); - - taskENTER_CRITICAL(); - { - /* Minor optimisation. The tick count cannot change in this block. */ - const TickType_t xConstTickCount = xTickCount; - - #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 ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */ - { - /* 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( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait ) - { - /* Not a genuine timeout. Adjust parameters for time remaining. */ - *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering ); - vTaskSetTimeOutState( pxTimeOut ); - xReturn = pdFALSE; - } - else - { - xReturn = pdTRUE; - } - } - taskEXIT_CRITICAL(); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -void vTaskMissedYield( void ) -{ - xYieldPending = pdTRUE; -} -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask ) - { - UBaseType_t uxReturn; - TCB_t *pxTCB; - - if( xTask != NULL ) - { - pxTCB = ( TCB_t * ) xTask; - uxReturn = pxTCB->uxTaskNumber; - } - else - { - uxReturn = 0U; - } - - return uxReturn; - } - -#endif /* configUSE_TRACE_FACILITY */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle ) - { - TCB_t *pxTCB; - - if( xTask != NULL ) - { - pxTCB = ( TCB_t * ) xTask; - pxTCB->uxTaskNumber = uxHandle; - } - } - -#endif /* configUSE_TRACE_FACILITY */ - -/* - * ----------------------------------------------------------- - * 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 /* configUSE_PREEMPTION */ - - #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 ] ) ) > ( UBaseType_t ) 1 ) - { - taskYIELD(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */ - - #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 /* configUSE_IDLE_HOOK */ - - /* This conditional compilation should use inequality to 0, not equality - to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when - user defined low power mode implementations require - configUSE_TICKLESS_IDLE to be set to a value other than 1. */ - #if ( configUSE_TICKLESS_IDLE != 0 ) - { - TickType_t xExpectedIdleTime; - - /* It is not desirable to suspend then resume the scheduler on - each iteration of the idle task. Therefore, a preliminary - test of the expected idle time is performed without the - scheduler suspended. The result here is not necessarily - valid. */ - xExpectedIdleTime = prvGetExpectedIdleTime(); - - if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP ) - { - vTaskSuspendAll(); - { - /* Now the scheduler is suspended, the expected idle - time can be sampled again, and this time its value can - be used. */ - configASSERT( xNextTaskUnblockTime >= xTickCount ); - xExpectedIdleTime = prvGetExpectedIdleTime(); - - if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP ) - { - traceLOW_POWER_IDLE_BEGIN(); - portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ); - traceLOW_POWER_IDLE_END(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - ( void ) xTaskResumeAll(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_TICKLESS_IDLE */ - } -} -/*-----------------------------------------------------------*/ - -#if configUSE_TICKLESS_IDLE != 0 - - eSleepModeStatus eTaskConfirmSleepModeStatus( void ) - { - eSleepModeStatus eReturn = eStandardSleep; - - if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 ) - { - /* A task was made ready while the scheduler was suspended. */ - eReturn = eAbortSleep; - } - else if( xYieldPending != pdFALSE ) - { - /* A yield was pended while the scheduler was suspended. */ - eReturn = eAbortSleep; - } - else - { - #if configUSE_TIMERS == 0 - { - /* The idle task exists in addition to the application tasks. */ - const UBaseType_t uxNonApplicationTasks = 1; - - /* If timers are not being used and all the tasks are in the - suspended list (which might mean they have an infinite block - time rather than actually being suspended) then it is safe to - turn all clocks off and just wait for external interrupts. */ - if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) ) - { - eReturn = eNoTasksWaitingTimeout; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_TIMERS */ - } - - return eReturn; - } -#endif /* configUSE_TICKLESS_IDLE */ -/*-----------------------------------------------------------*/ - -static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ -{ -UBaseType_t x; - - /* Store the task name in the TCB. */ - for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ ) - { - pxTCB->pcTaskName[ x ] = pcName[ x ]; - - /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than - configMAX_TASK_NAME_LEN characters just in case the memory after the - string is not accessible (extremely unlikely). */ - if( pcName[ x ] == 0x00 ) - { - break; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - /* Ensure the name string is terminated in the case that the string length - was greater or equal to configMAX_TASK_NAME_LEN. */ - pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\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 >= ( UBaseType_t ) configMAX_PRIORITIES ) - { - uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - pxTCB->uxPriority = uxPriority; - #if ( configUSE_MUTEXES == 1 ) - { - pxTCB->uxBasePriority = uxPriority; - pxTCB->uxMutexesHeld = 0; - } - #endif /* configUSE_MUTEXES */ - - vListInitialiseItem( &( pxTCB->xGenericListItem ) ); - vListInitialiseItem( &( pxTCB->xEventListItem ) ); - - /* Set the pxTCB as a link back from the ListItem_t. 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 ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB ); - - #if ( portCRITICAL_NESTING_IN_TCB == 1 ) - { - pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U; - } - #endif /* portCRITICAL_NESTING_IN_TCB */ - - #if ( configUSE_APPLICATION_TASK_TAG == 1 ) - { - pxTCB->pxTaskTag = NULL; - } - #endif /* configUSE_APPLICATION_TASK_TAG */ - - #if ( configGENERATE_RUN_TIME_STATS == 1 ) - { - pxTCB->ulRunTimeCounter = 0UL; - } - #endif /* configGENERATE_RUN_TIME_STATS */ - - #if ( portUSING_MPU_WRAPPERS == 1 ) - { - vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth ); - } - #else /* portUSING_MPU_WRAPPERS */ - { - ( void ) xRegions; - ( void ) usStackDepth; - } - #endif /* portUSING_MPU_WRAPPERS */ - - #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) - { - for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ ) - { - pxTCB->pvThreadLocalStoragePointers[ x ] = NULL; - } - } - #endif - - #if ( configUSE_TASK_NOTIFICATIONS == 1 ) - { - pxTCB->ulNotifiedValue = 0; - pxTCB->eNotifyState = eNotWaitingNotification; - } - #endif - - #if ( configUSE_NEWLIB_REENTRANT == 1 ) - { - /* Initialise this task's Newlib reent structure. */ - _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) ); - } - #endif /* configUSE_NEWLIB_REENTRANT */ -} -/*-----------------------------------------------------------*/ - -#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) - - void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue ) - { - TCB_t *pxTCB; - - if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS ) - { - pxTCB = prvGetTCBFromHandle( xTaskToSet ); - pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue; - } - } - -#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */ -/*-----------------------------------------------------------*/ - -#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) - - void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex ) - { - void *pvReturn = NULL; - TCB_t *pxTCB; - - if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS ) - { - pxTCB = prvGetTCBFromHandle( xTaskToQuery ); - pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ]; - } - else - { - pvReturn = NULL; - } - - return pvReturn; - } - -#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */ -/*-----------------------------------------------------------*/ - -#if ( portUSING_MPU_WRAPPERS == 1 ) - - void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions ) - { - TCB_t *pxTCB; - - /* If null is passed in here then we are deleting ourselves. */ - pxTCB = prvGetTCBFromHandle( xTaskToModify ); - - vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 ); - } - -#endif /* portUSING_MPU_WRAPPERS */ -/*-----------------------------------------------------------*/ - -static void prvInitialiseTaskLists( void ) -{ -UBaseType_t uxPriority; - - for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ ) - { - vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) ); - } - - vListInitialise( &xDelayedTaskList1 ); - vListInitialise( &xDelayedTaskList2 ); - vListInitialise( &xPendingReadyList ); - - #if ( INCLUDE_vTaskDelete == 1 ) - { - vListInitialise( &xTasksWaitingTermination ); - } - #endif /* INCLUDE_vTaskDelete */ - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - vListInitialise( &xSuspendedTaskList ); - } - #endif /* INCLUDE_vTaskSuspend */ - - /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList - using list2. */ - pxDelayedTaskList = &xDelayedTaskList1; - pxOverflowDelayedTaskList = &xDelayedTaskList2; -} -/*-----------------------------------------------------------*/ - -static void prvCheckTasksWaitingTermination( void ) -{ - #if ( INCLUDE_vTaskDelete == 1 ) - { - BaseType_t xListIsEmpty; - - /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called - too often in the idle task. */ - while( uxTasksDeleted > ( UBaseType_t ) 0U ) - { - vTaskSuspendAll(); - { - xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination ); - } - ( void ) xTaskResumeAll(); - - if( xListIsEmpty == pdFALSE ) - { - TCB_t *pxTCB; - - taskENTER_CRITICAL(); - { - pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); - ( void ) uxListRemove( &( pxTCB->xGenericListItem ) ); - --uxCurrentNumberOfTasks; - --uxTasksDeleted; - } - taskEXIT_CRITICAL(); - - prvDeleteTCB( pxTCB ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - } - #endif /* vTaskDelete */ -} -/*-----------------------------------------------------------*/ - -static void prvAddCurrentTaskToDelayedList( const TickType_t 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( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) ); - } - else - { - /* The wake time has not overflowed, so the current block list is used. */ - vListInsert( pxDelayedTaskList, &( 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; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } -} -/*-----------------------------------------------------------*/ - -static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer ) -{ -TCB_t *pxNewTCB; - - /* If the stack grows down then allocate the stack then the TCB so the stack - does not grow into the TCB. Likewise if the stack grows up then allocate - the TCB then the stack. */ - #if( portSTACK_GROWTH > 0 ) - { - /* Allocate space for the TCB. Where the memory comes from depends on - the implementation of the port malloc function. */ - pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); - - 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 = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - - if( pxNewTCB->pxStack == NULL ) - { - /* Could not allocate the stack. Delete the allocated TCB. */ - vPortFree( pxNewTCB ); - pxNewTCB = NULL; - } - } - } - #else /* portSTACK_GROWTH */ - { - StackType_t *pxStack; - - /* Allocate space for the stack used by the task being created. */ - pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - - if( pxStack != NULL ) - { - /* Allocate space for the TCB. Where the memory comes from depends - on the implementation of the port malloc function. */ - pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); - - if( pxNewTCB != NULL ) - { - /* Store the stack location in the TCB. */ - pxNewTCB->pxStack = pxStack; - } - else - { - /* The stack cannot be used as the TCB was not created. Free it - again. */ - vPortFree( pxStack ); - } - } - else - { - pxNewTCB = NULL; - } - } - #endif /* portSTACK_GROWTH */ - - if( pxNewTCB != NULL ) - { - /* Avoid dependency on memset() if it is not required. */ - #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) - { - /* Just to help debugging. */ - ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) ); - } - #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */ - } - - return pxNewTCB; -} -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) - { - volatile TCB_t *pxNextTCB, *pxFirstTCB; - UBaseType_t uxTask = 0; - - if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 ) - { - listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); - - /* Populate an TaskStatus_t structure within the - pxTaskStatusArray array for each task that is referenced from - pxList. See the definition of TaskStatus_t in task.h for the - meaning of each TaskStatus_t structure member. */ - do - { - listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); - - pxTaskStatusArray[ uxTask ].xHandle = ( TaskHandle_t ) pxNextTCB; - pxTaskStatusArray[ uxTask ].pcTaskName = ( const char * ) &( pxNextTCB->pcTaskName [ 0 ] ); - pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber; - pxTaskStatusArray[ uxTask ].eCurrentState = eState; - pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority; - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - /* If the task is in the suspended list then there is a chance - it is actually just blocked indefinitely - so really it should - be reported as being in the Blocked state. */ - if( eState == eSuspended ) - { - if( listLIST_ITEM_CONTAINER( &( pxNextTCB->xEventListItem ) ) != NULL ) - { - pxTaskStatusArray[ uxTask ].eCurrentState = eBlocked; - } - } - } - #endif /* INCLUDE_vTaskSuspend */ - - #if ( configUSE_MUTEXES == 1 ) - { - pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority; - } - #else - { - pxTaskStatusArray[ uxTask ].uxBasePriority = 0; - } - #endif - - #if ( configGENERATE_RUN_TIME_STATS == 1 ) - { - pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter; - } - #else - { - pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0; - } - #endif - - #if ( portSTACK_GROWTH > 0 ) - { - pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxEndOfStack ); - } - #else - { - pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxStack ); - } - #endif - - uxTask++; - - } while( pxNextTCB != pxFirstTCB ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - return uxTask; - } - -#endif /* configUSE_TRACE_FACILITY */ -/*-----------------------------------------------------------*/ - -#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) - - static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) - { - uint32_t ulCount = 0U; - - while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE ) - { - pucStackByte -= portSTACK_GROWTH; - ulCount++; - } - - ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */ - - return ( uint16_t ) ulCount; - } - -#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) - - UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) - { - TCB_t *pxTCB; - uint8_t *pucEndOfStack; - UBaseType_t uxReturn; - - pxTCB = prvGetTCBFromHandle( xTask ); - - #if portSTACK_GROWTH < 0 - { - pucEndOfStack = ( uint8_t * ) pxTCB->pxStack; - } - #else - { - pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack; - } - #endif - - uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack ); - - return uxReturn; - } - -#endif /* INCLUDE_uxTaskGetStackHighWaterMark */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskDelete == 1 ) - - static void prvDeleteTCB( TCB_t *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. */ - #if ( configUSE_NEWLIB_REENTRANT == 1 ) - { - _reclaim_reent( &( pxTCB->xNewLib_reent ) ); - } - #endif /* configUSE_NEWLIB_REENTRANT */ - - #if( portUSING_MPU_WRAPPERS == 1 ) - { - /* Only free the stack if it was allocated dynamically in the first - place. */ - if( pxTCB->xUsingStaticallyAllocatedStack == pdFALSE ) - { - vPortFreeAligned( pxTCB->pxStack ); - } - } - #else - { - vPortFreeAligned( pxTCB->pxStack ); - } - #endif - - vPortFree( pxTCB ); - } - -#endif /* INCLUDE_vTaskDelete */ -/*-----------------------------------------------------------*/ - -static void prvResetNextTaskUnblockTime( void ) -{ -TCB_t *pxTCB; - - 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 ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); - xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) ); - } -} -/*-----------------------------------------------------------*/ - -#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) - - TaskHandle_t xTaskGetCurrentTaskHandle( void ) - { - TaskHandle_t 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 /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */ -/*-----------------------------------------------------------*/ - -#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) - - BaseType_t xTaskGetSchedulerState( void ) - { - BaseType_t xReturn; - - if( xSchedulerRunning == pdFALSE ) - { - xReturn = taskSCHEDULER_NOT_STARTED; - } - else - { - if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) - { - xReturn = taskSCHEDULER_RUNNING; - } - else - { - xReturn = taskSCHEDULER_SUSPENDED; - } - } - - return xReturn; - } - -#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_MUTEXES == 1 ) - - void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder ) - { - TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder; - - /* If the mutex was given back by an interrupt while the queue was - locked then the mutex holder might now be NULL. */ - if( pxMutexHolder != NULL ) - { - /* If the holder of the mutex has a priority below the priority of - the task attempting to obtain the mutex then it will temporarily - inherit the priority of the task attempting to obtain the mutex. */ - if( pxTCB->uxPriority < pxCurrentTCB->uxPriority ) - { - /* Adjust the mutex holder state to account for its new - priority. Only reset the event list item value if the value is - not being used for anything else. */ - if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL ) - { - listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* If the task being modified is in the ready state it will need - to be moved into a new list. */ - if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE ) - { - if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) - { - taskRESET_READY_PRIORITY( pxTCB->uxPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Inherit the priority before being moved into the new list. */ - pxTCB->uxPriority = pxCurrentTCB->uxPriority; - prvAddTaskToReadyList( pxTCB ); - } - else - { - /* Just inherit the priority. */ - pxTCB->uxPriority = pxCurrentTCB->uxPriority; - } - - traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* configUSE_MUTEXES */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_MUTEXES == 1 ) - - BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) - { - TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder; - BaseType_t xReturn = pdFALSE; - - if( pxMutexHolder != NULL ) - { - /* A task can only have an inherited priority if it holds the mutex. - If the mutex is held by a task then it cannot be given from an - interrupt, and if a mutex is given by the holding task then it must - be the running state task. */ - configASSERT( pxTCB == pxCurrentTCB ); - - configASSERT( pxTCB->uxMutexesHeld ); - ( pxTCB->uxMutexesHeld )--; - - /* Has the holder of the mutex inherited the priority of another - task? */ - if( pxTCB->uxPriority != pxTCB->uxBasePriority ) - { - /* Only disinherit if no other mutexes are held. */ - if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 ) - { - /* A task can only have an inherited priority if it holds - the mutex. If the mutex is held by a task then it cannot be - given from an interrupt, and if a mutex is given by the - holding task then it must be the running state task. Remove - the holding task from the ready list. */ - if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) - { - taskRESET_READY_PRIORITY( pxTCB->uxPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Disinherit the priority before adding the task into the - new ready list. */ - traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority ); - pxTCB->uxPriority = pxTCB->uxBasePriority; - - /* Reset the event list item value. It cannot be in use for - any other purpose if this task is running, and it must be - running to give back the mutex. */ - listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - prvAddTaskToReadyList( pxTCB ); - - /* Return true to indicate that a context switch is required. - This is only actually required in the corner case whereby - multiple mutexes were held and the mutexes were given back - in an order different to that in which they were taken. - If a context switch did not occur when the first mutex was - returned, even if a task was waiting on it, then a context - switch should occur when the last mutex is returned whether - a task is waiting on it or not. */ - xReturn = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - return xReturn; - } - -#endif /* configUSE_MUTEXES */ -/*-----------------------------------------------------------*/ - -#if ( portCRITICAL_NESTING_IN_TCB == 1 ) - - void vTaskEnterCritical( void ) - { - portDISABLE_INTERRUPTS(); - - if( xSchedulerRunning != pdFALSE ) - { - ( pxCurrentTCB->uxCriticalNesting )++; - - /* This is not the interrupt safe version of the enter critical - function so assert() if it is being called from an interrupt - context. Only API functions that end in "FromISR" can be used in an - interrupt. Only assert if the critical nesting count is 1 to - protect against recursive calls if the assert function also uses a - critical section. */ - if( pxCurrentTCB->uxCriticalNesting == 1 ) - { - portASSERT_IF_IN_ISR(); - } - - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* portCRITICAL_NESTING_IN_TCB */ -/*-----------------------------------------------------------*/ - -#if ( portCRITICAL_NESTING_IN_TCB == 1 ) - - void vTaskExitCritical( void ) - { - if( xSchedulerRunning != pdFALSE ) - { - if( pxCurrentTCB->uxCriticalNesting > 0U ) - { - ( pxCurrentTCB->uxCriticalNesting )--; - - if( pxCurrentTCB->uxCriticalNesting == 0U ) - { - portENABLE_INTERRUPTS(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* portCRITICAL_NESTING_IN_TCB */ -/*-----------------------------------------------------------*/ - -#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) - - static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) - { - BaseType_t x; - - /* Start by copying the entire string. */ - strcpy( pcBuffer, pcTaskName ); - - /* Pad the end of the string with spaces to ensure columns line up when - printed out. */ - for( x = strlen( pcBuffer ); x < ( configMAX_TASK_NAME_LEN - 1 ); x++ ) - { - pcBuffer[ x ] = ' '; - } - - /* Terminate. */ - pcBuffer[ x ] = 0x00; - - /* Return the new end of string. */ - return &( pcBuffer[ x ] ); - } - -#endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */ -/*-----------------------------------------------------------*/ - -#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) - - void vTaskList( char * pcWriteBuffer ) - { - TaskStatus_t *pxTaskStatusArray; - volatile UBaseType_t uxArraySize, x; - char cStatus; - - /* - * PLEASE NOTE: - * - * This function is provided for convenience only, and is used by many - * of the demo applications. Do not consider it to be part of the - * scheduler. - * - * vTaskList() calls uxTaskGetSystemState(), then formats part of the - * uxTaskGetSystemState() output into a human readable table that - * displays task names, states and stack usage. - * - * vTaskList() has a dependency on the sprintf() C library function that - * might bloat the code size, use a lot of stack, and provide different - * results on different platforms. An alternative, tiny, third party, - * and limited functionality implementation of sprintf() is provided in - * many of the FreeRTOS/Demo sub-directories in a file called - * printf-stdarg.c (note printf-stdarg.c does not provide a full - * snprintf() implementation!). - * - * It is recommended that production systems call uxTaskGetSystemState() - * directly to get access to raw stats data, rather than indirectly - * through a call to vTaskList(). - */ - - - /* Make sure the write buffer does not contain a string. */ - *pcWriteBuffer = 0x00; - - /* Take a snapshot of the number of tasks in case it changes while this - function is executing. */ - uxArraySize = uxCurrentNumberOfTasks; - - /* Allocate an array index for each task. */ - pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); - - if( pxTaskStatusArray != NULL ) - { - /* Generate the (binary) data. */ - uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL ); - - /* Create a human readable table from the binary data. */ - for( x = 0; x < uxArraySize; x++ ) - { - switch( pxTaskStatusArray[ x ].eCurrentState ) - { - case eReady: cStatus = tskREADY_CHAR; - break; - - case eBlocked: cStatus = tskBLOCKED_CHAR; - break; - - case eSuspended: cStatus = tskSUSPENDED_CHAR; - break; - - case eDeleted: cStatus = tskDELETED_CHAR; - break; - - default: /* Should not get here, but it is included - to prevent static checking errors. */ - cStatus = 0x00; - break; - } - - /* Write the task name to the string, padding with spaces so it - can be printed in tabular form more easily. */ - pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName ); - - /* Write the rest of the string. */ - sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); - pcWriteBuffer += strlen( pcWriteBuffer ); - } - - /* Free the array again. */ - vPortFree( pxTaskStatusArray ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */ -/*----------------------------------------------------------*/ - -#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) - - void vTaskGetRunTimeStats( char *pcWriteBuffer ) - { - TaskStatus_t *pxTaskStatusArray; - volatile UBaseType_t uxArraySize, x; - uint32_t ulTotalTime, ulStatsAsPercentage; - - #if( configUSE_TRACE_FACILITY != 1 ) - { - #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats(). - } - #endif - - /* - * PLEASE NOTE: - * - * This function is provided for convenience only, and is used by many - * of the demo applications. Do not consider it to be part of the - * scheduler. - * - * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part - * of the uxTaskGetSystemState() output into a human readable table that - * displays the amount of time each task has spent in the Running state - * in both absolute and percentage terms. - * - * vTaskGetRunTimeStats() has a dependency on the sprintf() C library - * function that might bloat the code size, use a lot of stack, and - * provide different results on different platforms. An alternative, - * tiny, third party, and limited functionality implementation of - * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in - * a file called printf-stdarg.c (note printf-stdarg.c does not provide - * a full snprintf() implementation!). - * - * It is recommended that production systems call uxTaskGetSystemState() - * directly to get access to raw stats data, rather than indirectly - * through a call to vTaskGetRunTimeStats(). - */ - - /* Make sure the write buffer does not contain a string. */ - *pcWriteBuffer = 0x00; - - /* Take a snapshot of the number of tasks in case it changes while this - function is executing. */ - uxArraySize = uxCurrentNumberOfTasks; - - /* Allocate an array index for each task. */ - pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); - - if( pxTaskStatusArray != NULL ) - { - /* Generate the (binary) data. */ - uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime ); - - /* For percentage calculations. */ - ulTotalTime /= 100UL; - - /* Avoid divide by zero errors. */ - if( ulTotalTime > 0 ) - { - /* Create a human readable table from the binary data. */ - for( x = 0; x < uxArraySize; x++ ) - { - /* What percentage of the total run time has the task used? - This will always be rounded down to the nearest integer. - ulTotalRunTimeDiv100 has already been divided by 100. */ - ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime; - - /* Write the task name to the string, padding with - spaces so it can be printed in tabular form more - easily. */ - pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName ); - - if( ulStatsAsPercentage > 0UL ) - { - #ifdef portLU_PRINTF_SPECIFIER_REQUIRED - { - sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage ); - } - #else - { - /* sizeof( int ) == sizeof( long ) so a smaller - printf() library can be used. */ - sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].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( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter ); - } - #else - { - /* sizeof( int ) == sizeof( long ) so a smaller - printf() library can be used. */ - sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); - } - #endif - } - - pcWriteBuffer += strlen( pcWriteBuffer ); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Free the array again. */ - vPortFree( pxTaskStatusArray ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */ -/*-----------------------------------------------------------*/ - -TickType_t uxTaskResetEventItemValue( void ) -{ -TickType_t uxReturn; - - uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) ); - - /* Reset the event list item to its normal value - so it can be used with - queues and semaphores. */ - listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - - return uxReturn; -} -/*-----------------------------------------------------------*/ - -#if ( configUSE_MUTEXES == 1 ) - - void *pvTaskIncrementMutexHeldCount( void ) - { - /* If xSemaphoreCreateMutex() is called before any tasks have been created - then pxCurrentTCB will be NULL. */ - if( pxCurrentTCB != NULL ) - { - ( pxCurrentTCB->uxMutexesHeld )++; - } - - return pxCurrentTCB; - } - -#endif /* configUSE_MUTEXES */ -/*-----------------------------------------------------------*/ - -#if( configUSE_TASK_NOTIFICATIONS == 1 ) - - uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait ) - { - TickType_t xTimeToWake; - uint32_t ulReturn; - - taskENTER_CRITICAL(); - { - /* Only block if the notification count is not already non-zero. */ - if( pxCurrentTCB->ulNotifiedValue == 0UL ) - { - /* Mark this task as waiting for a notification. */ - pxCurrentTCB->eNotifyState = eWaitingNotification; - - if( xTicksToWait > ( TickType_t ) 0 ) - { - /* The task is going to block. First it must be removed - from the ready list. */ - if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) - { - /* The current task must be in a ready list, so there is - no need to check, and the port reset macro can be called - directly. */ - portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - if( xTicksToWait == portMAX_DELAY ) - { - /* Add the task to the suspended task list instead - of a delayed task list to ensure the task is not - woken by a timing event. It will block - indefinitely. */ - vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) ); - } - else - { - /* Calculate the time at which the task should be - woken if no notification events occur. This may - overflow but this doesn't matter, the scheduler will - handle it. */ - xTimeToWake = xTickCount + xTicksToWait; - prvAddCurrentTaskToDelayedList( xTimeToWake ); - } - } - #else /* INCLUDE_vTaskSuspend */ - { - /* Calculate the time at which the task should be - woken if the event does not occur. This may - overflow but this doesn't matter, the scheduler will - handle it. */ - xTimeToWake = xTickCount + xTicksToWait; - prvAddCurrentTaskToDelayedList( xTimeToWake ); - } - #endif /* INCLUDE_vTaskSuspend */ - - /* All ports are written to allow a yield in a critical - section (some will yield immediately, others wait until the - critical section exits) - but it is not something that - application code should ever do. */ - portYIELD_WITHIN_API(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - taskEXIT_CRITICAL(); - - taskENTER_CRITICAL(); - { - ulReturn = pxCurrentTCB->ulNotifiedValue; - - if( ulReturn != 0UL ) - { - if( xClearCountOnExit != pdFALSE ) - { - pxCurrentTCB->ulNotifiedValue = 0UL; - } - else - { - ( pxCurrentTCB->ulNotifiedValue )--; - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - pxCurrentTCB->eNotifyState = eNotWaitingNotification; - } - taskEXIT_CRITICAL(); - - return ulReturn; - } - -#endif /* configUSE_TASK_NOTIFICATIONS */ -/*-----------------------------------------------------------*/ - -#if( configUSE_TASK_NOTIFICATIONS == 1 ) - - BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait ) - { - TickType_t xTimeToWake; - BaseType_t xReturn; - - taskENTER_CRITICAL(); - { - /* Only block if a notification is not already pending. */ - if( pxCurrentTCB->eNotifyState != eNotified ) - { - /* Clear bits in the task's notification value as bits may get - set by the notifying task or interrupt. This can be used to - clear the value to zero. */ - pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry; - - /* Mark this task as waiting for a notification. */ - pxCurrentTCB->eNotifyState = eWaitingNotification; - - if( xTicksToWait > ( TickType_t ) 0 ) - { - /* The task is going to block. First it must be removed - from the ready list. */ - if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) - { - /* The current task must be in a ready list, so there is - no need to check, and the port reset macro can be called - directly. */ - portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - if( xTicksToWait == portMAX_DELAY ) - { - /* Add the task to the suspended task list instead - of a delayed task list to ensure the task is not - woken by a timing event. It will block - indefinitely. */ - vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) ); - } - else - { - /* Calculate the time at which the task should be - woken if no notification events occur. This may - overflow but this doesn't matter, the scheduler will - handle it. */ - xTimeToWake = xTickCount + xTicksToWait; - prvAddCurrentTaskToDelayedList( xTimeToWake ); - } - } - #else /* INCLUDE_vTaskSuspend */ - { - /* Calculate the time at which the task should be - woken if the event does not occur. This may - overflow but this doesn't matter, the scheduler will - handle it. */ - xTimeToWake = xTickCount + xTicksToWait; - prvAddCurrentTaskToDelayedList( xTimeToWake ); - } - #endif /* INCLUDE_vTaskSuspend */ - - /* All ports are written to allow a yield in a critical - section (some will yield immediately, others wait until the - critical section exits) - but it is not something that - application code should ever do. */ - portYIELD_WITHIN_API(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - taskEXIT_CRITICAL(); - - taskENTER_CRITICAL(); - { - if( pulNotificationValue != NULL ) - { - /* Output the current notification value, which may or may not - have changed. */ - *pulNotificationValue = pxCurrentTCB->ulNotifiedValue; - } - - /* If eNotifyValue is set then either the task never entered the - blocked state (because a notification was already pending) or the - task unblocked because of a notification. Otherwise the task - unblocked because of a timeout. */ - if( pxCurrentTCB->eNotifyState == eWaitingNotification ) - { - /* A notification was not received. */ - xReturn = pdFALSE; - } - else - { - /* A notification was already pending or a notification was - received while the task was waiting. */ - pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit; - xReturn = pdTRUE; - } - - pxCurrentTCB->eNotifyState = eNotWaitingNotification; - } - taskEXIT_CRITICAL(); - - return xReturn; - } - -#endif /* configUSE_TASK_NOTIFICATIONS */ -/*-----------------------------------------------------------*/ - -#if( configUSE_TASK_NOTIFICATIONS == 1 ) - - BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue ) - { - TCB_t * pxTCB; - eNotifyValue eOriginalNotifyState; - BaseType_t xReturn = pdPASS; - - configASSERT( xTaskToNotify ); - pxTCB = ( TCB_t * ) xTaskToNotify; - - taskENTER_CRITICAL(); - { - if( pulPreviousNotificationValue != NULL ) - { - *pulPreviousNotificationValue = pxTCB->ulNotifiedValue; - } - - eOriginalNotifyState = pxTCB->eNotifyState; - - pxTCB->eNotifyState = eNotified; - - switch( eAction ) - { - case eSetBits : - pxTCB->ulNotifiedValue |= ulValue; - break; - - case eIncrement : - ( pxTCB->ulNotifiedValue )++; - break; - - case eSetValueWithOverwrite : - pxTCB->ulNotifiedValue = ulValue; - break; - - case eSetValueWithoutOverwrite : - if( eOriginalNotifyState != eNotified ) - { - pxTCB->ulNotifiedValue = ulValue; - } - else - { - /* The value could not be written to the task. */ - xReturn = pdFAIL; - } - break; - - case eNoAction: - /* The task is being notified without its notify value being - updated. */ - break; - } - - - /* If the task is in the blocked state specifically to wait for a - notification then unblock it now. */ - if( eOriginalNotifyState == eWaitingNotification ) - { - ( void ) uxListRemove( &( pxTCB->xGenericListItem ) ); - prvAddTaskToReadyList( pxTCB ); - - /* The task should not have been on an event list. */ - configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ); - - if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) - { - /* The notified task has a priority above the currently - executing task so a yield is required. */ - taskYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - taskEXIT_CRITICAL(); - - return xReturn; - } - -#endif /* configUSE_TASK_NOTIFICATIONS */ -/*-----------------------------------------------------------*/ - -#if( configUSE_TASK_NOTIFICATIONS == 1 ) - - BaseType_t xTaskNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken ) - { - TCB_t * pxTCB; - eNotifyValue eOriginalNotifyState; - BaseType_t xReturn = pdPASS; - UBaseType_t uxSavedInterruptStatus; - - configASSERT( xTaskToNotify ); - - /* RTOS ports that support interrupt nesting have the concept of a - maximum system call (or maximum API call) interrupt priority. - Interrupts that are above the maximum system call priority are keep - permanently enabled, even when the RTOS kernel is in a critical section, - but cannot make any calls to FreeRTOS API functions. If configASSERT() - is defined in FreeRTOSConfig.h then - portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion - failure if a FreeRTOS API function is called from an interrupt that has - been assigned a priority above the configured maximum system call - priority. Only FreeRTOS functions that end in FromISR can be called - from interrupts that have been assigned a priority at or (logically) - below the maximum system call interrupt priority. FreeRTOS maintains a - separate interrupt safe API to ensure interrupt entry is as fast and as - simple as possible. More information (albeit Cortex-M specific) is - provided on the following link: - http://www.freertos.org/RTOS-Cortex-M3-M4.html */ - portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); - - pxTCB = ( TCB_t * ) xTaskToNotify; - - uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); - { - eOriginalNotifyState = pxTCB->eNotifyState; - - pxTCB->eNotifyState = eNotified; - - switch( eAction ) - { - case eSetBits : - pxTCB->ulNotifiedValue |= ulValue; - break; - - case eIncrement : - ( pxTCB->ulNotifiedValue )++; - break; - - case eSetValueWithOverwrite : - pxTCB->ulNotifiedValue = ulValue; - break; - - case eSetValueWithoutOverwrite : - if( eOriginalNotifyState != eNotified ) - { - pxTCB->ulNotifiedValue = ulValue; - } - else - { - /* The value could not be written to the task. */ - xReturn = pdFAIL; - } - break; - - case eNoAction : - /* The task is being notified without its notify value being - updated. */ - break; - } - - - /* If the task is in the blocked state specifically to wait for a - notification then unblock it now. */ - if( eOriginalNotifyState == eWaitingNotification ) - { - /* The task should not have been on an event list. */ - configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ); - - if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) - { - ( void ) uxListRemove( &( pxTCB->xGenericListItem ) ); - prvAddTaskToReadyList( pxTCB ); - } - else - { - /* The delayed and ready lists cannot be accessed, so hold - this task pending until the scheduler is resumed. */ - vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); - } - - if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) - { - /* The notified task has a priority above the currently - executing task so a yield is required. */ - if( pxHigherPriorityTaskWoken != NULL ) - { - *pxHigherPriorityTaskWoken = pdTRUE; - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - } - portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); - - return xReturn; - } - -#endif /* configUSE_TASK_NOTIFICATIONS */ -/*-----------------------------------------------------------*/ - -#if( configUSE_TASK_NOTIFICATIONS == 1 ) - - void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken ) - { - TCB_t * pxTCB; - eNotifyValue eOriginalNotifyState; - UBaseType_t uxSavedInterruptStatus; - - configASSERT( xTaskToNotify ); - - /* RTOS ports that support interrupt nesting have the concept of a - maximum system call (or maximum API call) interrupt priority. - Interrupts that are above the maximum system call priority are keep - permanently enabled, even when the RTOS kernel is in a critical section, - but cannot make any calls to FreeRTOS API functions. If configASSERT() - is defined in FreeRTOSConfig.h then - portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion - failure if a FreeRTOS API function is called from an interrupt that has - been assigned a priority above the configured maximum system call - priority. Only FreeRTOS functions that end in FromISR can be called - from interrupts that have been assigned a priority at or (logically) - below the maximum system call interrupt priority. FreeRTOS maintains a - separate interrupt safe API to ensure interrupt entry is as fast and as - simple as possible. More information (albeit Cortex-M specific) is - provided on the following link: - http://www.freertos.org/RTOS-Cortex-M3-M4.html */ - portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); - - pxTCB = ( TCB_t * ) xTaskToNotify; - - uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); - { - eOriginalNotifyState = pxTCB->eNotifyState; - pxTCB->eNotifyState = eNotified; - - /* 'Giving' is equivalent to incrementing a count in a counting - semaphore. */ - ( pxTCB->ulNotifiedValue )++; - - /* If the task is in the blocked state specifically to wait for a - notification then unblock it now. */ - if( eOriginalNotifyState == eWaitingNotification ) - { - /* The task should not have been on an event list. */ - configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ); - - if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) - { - ( void ) uxListRemove( &( pxTCB->xGenericListItem ) ); - prvAddTaskToReadyList( pxTCB ); - } - else - { - /* The delayed and ready lists cannot be accessed, so hold - this task pending until the scheduler is resumed. */ - vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); - } - - if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) - { - /* The notified task has a priority above the currently - executing task so a yield is required. */ - if( pxHigherPriorityTaskWoken != NULL ) - { - *pxHigherPriorityTaskWoken = pdTRUE; - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - } - portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); - } - -#endif /* configUSE_TASK_NOTIFICATIONS */ - -/*-----------------------------------------------------------*/ - - -#ifdef FREERTOS_MODULE_TEST - #include "tasks_test_access_functions.h" -#endif - diff --git a/fonts/Makefile b/fonts/Makefile deleted file mode 100644 index ce8ea83e9..000000000 --- a/fonts/Makefile +++ /dev/null @@ -1,17 +0,0 @@ -FREETYPE_PATH := /usr/local/Cellar/freetype/2.5.5 -LIBPNG_PATH = /usr/local/Cellar/libpng/1.6.17 -#LIBPNG_PATH is optional, PNGs won't be generated - -CC := clang -CFLAGS := -I$(FREETYPE_PATH)/include/freetype2 -LDFLAGS := -L$(FREETYPE_PATH)/lib -lfreetype -ifdef LIBPNG_PATH -CFLAGS += -I$(LIBPNG_PATH)/include -DGENERATE_PNG=1 -LDFLAGS += -L$(LIBPNG_PATH)/lib -lpng -endif - -default: - $(CC) $(CFLAGS) $(LDFLAGS) rasterizer.c -o rasterizer - -clean: - rm rasterizer diff --git a/fonts/rasterizer.c b/fonts/rasterizer.c deleted file mode 100644 index 26c15336f..000000000 --- a/fonts/rasterizer.c +++ /dev/null @@ -1,229 +0,0 @@ -/* example1.c */ -/* */ -/* This small program shows how to print a rotated string with the */ -/* FreeType 2 library. */ - -/* - * Usage: rasterizer font_name glyph_width glyph_height - * -> Generates a .png image with the font rasterized - * -> Generates a .c file with the content of the font - */ - -#include -#include -#include - -#include -#include FT_FREETYPE_H - -#define ENSURE(action, description...) { if (!(action)) { fprintf(stderr, "Error: "); fprintf(stderr, description); fprintf(stderr, "\n"); exit(-1);}} - -// Pixel format is RGB888 - -typedef struct { - unsigned char red; - unsigned char green; - unsigned char blue; -} pixel_t; - -typedef struct { - pixel_t * pixels; - int width; - int height; -} image_t; - -#ifdef GENERATE_PNG -#include -void writeImageToPNGFile(image_t * image, char * filename); -#endif - -#define CHARACTER_RANGE_START 0x20 -#define CHARACTER_RANGE_END 0x7E - -#define GRID_WIDTH 19 -#define GRID_HEIGHT 5 - -#if (GRID_WIDTH*GRID_HEIGHT < (CHARACTER_RANGE_END-CHARACTER_RANGE_START+1)) -#error Grid too small. Consider increasing GRID_WIDTH or GRID_HEIGHT -#endif - - -void drawGlyphInImage(FT_Bitmap * glyphBitmap, image_t * image, int x, int y); - -int main(int argc, char * argv[]) { - FT_Library library; - FT_Face face; - image_t bitmap_image; - - if (argc != 4) { - fprintf(stderr, "Usage: %s font_file glyph_width glyph_height\n", argv[0]); - fprintf(stderr, " font_file: Path of the font file to load\n"); - fprintf(stderr, " glyph_width: Width of bitmap glyphs, in pixels\n"); - fprintf(stderr, " glyph_height: Height of bitmap glyphs, in pixels\n"); - exit(1); - } - - char * font_file = argv[1]; - int requested_glyph_width = atoi(argv[2]); - int requested_glyph_height = atoi(argv[3]); - - ENSURE(!FT_Init_FreeType(&library), "Initializing library"); - - // 0 means we're picking the first face in the provided file - ENSURE(!FT_New_Face(library, font_file, 0, &face), "Loading font file %s", font_file); - - ENSURE(!FT_Set_Pixel_Sizes(face, requested_glyph_width, requested_glyph_height), "Setting face pixel size to %dx%d", requested_glyph_width, requested_glyph_height); - - int maxHeight = 0; - int maxWidth = 0; - int minTop = requested_glyph_height; - for (unsigned char character = CHARACTER_RANGE_START; character <= CHARACTER_RANGE_END; character++) { - ENSURE(!FT_Load_Char(face, character, FT_LOAD_RENDER), "Loading character 0x%02x", character); - int top = requested_glyph_height - face->glyph->bitmap_top; - int height = top + face->glyph->bitmap.rows; - int width = face->glyph->bitmap.width; - if (top < minTop) { - minTop = top; - } - if (height > maxHeight) { - maxHeight = height; - } - if (width > maxWidth) { - maxWidth = width; - } - } - - int glyph_width = maxWidth; - int glyph_height = maxHeight-minTop; - printf("Actual glyph size = %dx%d\n", glyph_width, glyph_height); - - int grid_size = 1; - - bitmap_image.width = GRID_WIDTH*glyph_width+(GRID_WIDTH-1)*grid_size; - bitmap_image.height = GRID_HEIGHT*glyph_height+(GRID_HEIGHT-1)*grid_size; - bitmap_image.pixels = malloc(sizeof(pixel_t)*bitmap_image.width*bitmap_image.height); - ENSURE(bitmap_image.pixels != NULL, "Allocating bitmap image of size %dx%d at %ld bytes per pixel", bitmap_image.width, bitmap_image.height, sizeof(pixel_t)); - - // Draw the grid and the background - for (int i = 0; i= glyph_width || j%(glyph_height+grid_size) >= glyph_height) { - pixel = (pixel_t){.red = 0xFF, .green = 0, .blue = 0}; - } - *(bitmap_image.pixels + j*bitmap_image.width + i) = pixel; - } - } - - - - // We're doing the ASCII table, so characters from 0 to 255 inclusive - for (unsigned char character = CHARACTER_RANGE_START; character <= CHARACTER_RANGE_END; character++) { - int x = (character-CHARACTER_RANGE_START)%(GRID_WIDTH); - int y = (character-CHARACTER_RANGE_START)/(GRID_WIDTH); - // FT_LOAD_RENDER: Render the glyph upon load - ENSURE(!FT_Load_Char(face, character, FT_LOAD_RENDER), "Loading character 0x%02x", character); - //printf("Advances = %dx%d\n", face->glyph->bitmap_left, face->glyph->bitmap_top); - drawGlyphInImage(&face->glyph->bitmap, - &bitmap_image, - x*(glyph_width+grid_size) /* + face->glyph->bitmap_left*/, - y*(glyph_height+grid_size) + requested_glyph_height - face->glyph->bitmap_top - minTop);// + glyph_height - face->glyph->bitmap_top - maxHeight); - } - -#if GENERATE_PNG - writeImageToPNGFile(&bitmap_image, "out.png"); -#endif - - FILE * headerFile = fopen("out.h", "w"); - fprintf(headerFile, "/* Auto-generated by rasterizer */\n\n"); - fprintf(headerFile, "#define BITMAP_FONT_FIRST_CHARACTER 0x%2x\n", CHARACTER_RANGE_START); - fprintf(headerFile, "#define BITMAP_FONT_LAST_CHARACTER 0x%2x\n\n", CHARACTER_RANGE_END); - fprintf(headerFile, "#define BITMAP_FONT_CHARACTER_WIDTH %d\n", glyph_width); - fprintf(headerFile, "#define BITMAP_FONT_CHARACTER_HEIGHT %d\n\n", glyph_height); - fprintf(headerFile, "extern unsigned char bitmapFont[%d][%d][%d];\n", CHARACTER_RANGE_END-CHARACTER_RANGE_START+1, glyph_height, glyph_width); - fclose(headerFile); - - FILE * sourceFile = fopen("out.c", "w"); - fprintf(sourceFile, "/* Auto-generated by rasterizer */\n\n"); - fprintf(sourceFile, "unsigned char bitmapFont[%d][%d][%d] = {\n", CHARACTER_RANGE_END-CHARACTER_RANGE_START+1, glyph_height, glyph_width); - for (unsigned char character = CHARACTER_RANGE_START; character <= CHARACTER_RANGE_END; character++) { - fprintf(sourceFile, " {\n"); - int characterX = ((character-CHARACTER_RANGE_START)%GRID_WIDTH * (glyph_width+grid_size)); - int characterY = ((character-CHARACTER_RANGE_START)/GRID_WIDTH * (glyph_height+grid_size)); - for (int y = 0; y < glyph_height; y++) { - fprintf(sourceFile, " {"); - for (int x = 0; x < glyph_width; x++) { - pixel_t * pixel = (bitmap_image.pixels + (y+characterY)*bitmap_image.width + (x+characterX)); - fprintf(sourceFile, "0x%02x", pixel->green); - if (x+1 < glyph_width) { - fprintf(sourceFile, ", "); - } - } - fprintf(sourceFile, "}"); - if (y+1 < glyph_height) { - fprintf(sourceFile, ","); - } - fprintf(sourceFile, "\n"); - } - fprintf(sourceFile, " }"); - if (character+1 <= CHARACTER_RANGE_END) { - fprintf(sourceFile, ","); - } - fprintf(sourceFile, "\n"); - } - - fprintf(sourceFile, "};\n"); - fclose(sourceFile); - - free(bitmap_image.pixels); - - return 0; -} - -void drawGlyphInImage(FT_Bitmap * glyphBitmap, image_t * image, int x, int y) { - // printf("Drawing glyph. Size is %dx%d, pitch is %d\n", glyphBitmap->width, glyphBitmap->rows, glyphBitmap->pitch); - ENSURE(glyphBitmap->pixel_mode == FT_PIXEL_MODE_GRAY, "Checking glyph is in FT_PIXEL_MODE_GRAY"); - for (int j=0;jrows;j++) { - for (int i=0;iwidth;i++) { - uint8_t glyphPixel = *(glyphBitmap->buffer + j*glyphBitmap->pitch + i); - pixel_t * currentPixelPointer = (image->pixels + (y+j)*image->width + (x+i)); - *currentPixelPointer = (pixel_t){.red = (0xFF-glyphPixel), .green = (0xFF-glyphPixel), .blue = (0xFF-glyphPixel)}; // Alpha blending - } - } -} - -#if GENERATE_PNG - -void writeImageToPNGFile(image_t * image, char * filename) { - FILE * file = fopen(filename, "wb"); // Write in binary mode - ENSURE(file != NULL, "Opening file %s", filename); - - png_structp png = png_create_write_struct(PNG_LIBPNG_VER_STRING, NULL, NULL, NULL); - ENSURE(png != NULL, "Allocating PNG write structure"); - - png_infop info = png_create_info_struct(png); - ENSURE(info != NULL, "Allocating info structure"); - - png_init_io(png, file); - - png_set_IHDR(png, info, - image->width, image->height, - 8, // Number of bits per channel - PNG_COLOR_TYPE_RGB, - PNG_INTERLACE_NONE, - PNG_COMPRESSION_TYPE_DEFAULT, - PNG_FILTER_TYPE_DEFAULT); - - png_write_info(png, info); - - for (int j=0;jheight;j++) { - png_write_row(png, (png_bytep)(image->pixels+j*image->width)); - } - - png_write_end(png, NULL); - - png_free_data(png, info, PNG_FREE_ALL, -1); // -1 = all items - png_destroy_write_struct(&png, (png_infopp)NULL); - fclose(file); -} -#endif diff --git a/ion/drivers/fx92kbd/fx92kbd.c b/ion/drivers/fx92kbd/fx92kbd.c deleted file mode 100644 index 0c2a9b07d..000000000 --- a/ion/drivers/fx92kbd/fx92kbd.c +++ /dev/null @@ -1,47 +0,0 @@ -#include "fx92kbd.h" - -#define FX92_KBD_NUM_ROWS 8 -#define FX92_KBD_NUM_COLUMNS 8 - -void fx92kbd_initialize(fx92kbd_t * controller) { - controller->row_write(0); - //TODO: assert uint8_t can hold NUM_ROWS and NUM_COLUMNS -} - -//FIXME! -static void delay(int usec) { - for (int i=0; irow_write(1 << i); - delay(10000); - uint8_t column = controller->column_read(); - if (column != 0) { - // At least one key is pressed in row 'i'. Let's figure out which. - for (int j=0; j - -/* This is the FX9DKBD driver. - * - * This keyboard is actually a matrix of 50 keys that are connected over GPIOs. - * - * This matrix is laid out in a typicall row/columns fasion. By writing a given - * value to the "rows", one can figure out which "columns" had a key pressed and - * therefore deduce which keys are down and which are up. - * - * This driver expects a function that will write a value to the "columns" GPIOs - * and another to read the value of the "row" GPIOs. - * - * In the current incarnation, the wires are numbered 0 to 15, 0 being the blue - * wire. Here are how they are wired: - * Wire 0 = ON button - * Rows: Wires 4, 5, 8, 9, 11, 12 and 14. Those pins are written to. - * Columns: Wires 1, 2, 3, 6, 7, 10, 13 and 15. Those pins are read from. - */ - -typedef struct { - void (*row_write)(uint8_t row); - uint8_t (*column_read)(); -} fx92kbd_t; - -typedef enum { - FX92_KEY_CUBE = 1, - FX92_KEY_DOWN = 2, - FX92_KEY_SQUARE = 4, - FX92_KEY_LEFT = 5, - FX92_KEY_OPTN = 6, - FX92_KEY_TAN = 8, - FX92_KEY_COS = 9, - FX92_KEY_SIN = 10, - FX92_KEY_ZERO = 11, - FX92_KEY_EUCLID = 12, - FX92_KEY_FRAC = 13, - FX92_KEY_SIMP = 14, - FX92_KEY_DIVISION = 17, - FX92_KEY_MULTIPLICATION = 18, - FX92_KEY_REP = 19, - FX92_KEY_FIVE = 20, - FX92_KEY_SIX = 21, - FX92_KEY_FOUR = 22, - FX92_KEY_AC = 25, - FX92_KEY_SUPPR = 26, - FX92_KEY_x10x = 27, - FX92_KEY_EIGHT = 28, - FX92_KEY_NINE = 29, - FX92_KEY_SEVEN = 30, - FX92_KEY_MENU = 33, - FX92_KEY_RIGHT = 34, - FX92_KEY_ALPHA = 36, - FX92_KEY_UP = 37, - FX92_KEY_SECOND = 38, - FX92_KEY_MINUS = 41, - FX92_KEY_PLUS = 42, - FX92_KEY_EXE = 43, - FX92_KEY_TWO = 44, - FX92_KEY_THREE = 45, - FX92_KEY_ONE = 46, - FX92_KEY_M_PLUS = 48, - FX92_KEY_S_D = 49, - FX92_KEY_PAREN_RIGHT = 50, - FX92_KEY_COMMA = 51, - FX92_KEY_DMS = 52, - FX92_KEY_PAREN_LEFT = 53, - FX92_KEY_STO = 54, - FX92_KEY_LN = 56, - FX92_KEY_LOG = 57, - FX92_KEY_X = 58, - FX92_KEY_Y = 60, - FX92_KEY_EQUAL = 61, - FX92_KEY_CALC = 62, - FX92_KEY_EXPONENT = 0, - FX92_KEY_NONE = 0, -} fx92kbd_key_t; - -void fx92kbd_initialize(fx92kbd_t * controller); -fx92kbd_key_t fx92kbd_getkey(fx92kbd_t * controller); - -#endif diff --git a/ion/drivers/ili9341/ili9341.c b/ion/drivers/ili9341/ili9341.c deleted file mode 100644 index 8cc73d618..000000000 --- a/ion/drivers/ili9341/ili9341.c +++ /dev/null @@ -1,134 +0,0 @@ -#include "ili9341.h" - -enum { - COMMAND_MODE = 0, - DATA_MODE = 1, - DELAY_MODE = 2 -}; - -enum { - NOP = 0x00, // No operation - SWRESET = 0x01, // Software reset - RDDIDIF = 0x04, // Read display identification information - RDDST = 0x09, // Read display status - RDDPM = 0x0A, // Read display power mode - SLPOUT = 0x11, // Sleep out - DISPOFF = 0x28, // Display off - DISPON = 0x29, // Display on - RAMWR = 0x2C, // Memory write - MADCTL = 0x36, // Memory access control - PIXSET = 0x3A, // Pixel format set - IFMODE = 0xB0, // RGB interface signal control - FRMCTR1 = 0xB1, // Frame rate control in normal/full-color mode - IFCTL = 0xF6 // Interface control -}; - -#define IFMODE_EPL (1<<0) -#define IFMODE_DPL (1<<1) -#define IFMODE_HSPL (1<<2) -#define IFMODE_VSPL (1<<3) -#define IFMODE_RCM_DE (2<<5) -// DE mode: Valid data is determined by the DE signal -#define IFMODE_RCM_SYNC (3<<5) -// Sync mode: In sync mode, DE signal is ignored -#define IFMODE_BYPASS (1<<7) - - -#define MADCTL_MH (1<<2) -#define MADCTL_BGR (1<<3) -#define MADCTL_ML (1<<4) -#define MADCTL_MV (1<<5) -#define MADCTL_MX (1<<6) -#define MADCTL_MY (1<<7) - -typedef struct { - char mode; - char payload; -} instruction_t; - -#define COMMAND(c) (instruction_t){.mode = (char)COMMAND_MODE, .payload = (char)c} -#define DATA(d) (instruction_t){.mode = (char)DATA_MODE, .payload = (char)d} -#define DELAY(m) (instruction_t){.mode = (char)DELAY_MODE, .payload = (char)m} - -static instruction_t initialisation_sequence[] = { - COMMAND(SWRESET), DELAY(5), // Software reset, then wait 5ms - COMMAND(DISPOFF), - - // FIXME: Ad-hoc skipping extended registers, we're not using it - - // Pixel format: 16bpp, both on RGB and SPI - COMMAND(PIXSET), DATA(0x55), - - /* FIXME: Useless: extended - // Framerate: - COMMAND(FRMCTR1), DATA(0x00), DATA(0x1B), - */ - - // Gamma //TODO - - /* RGB Interface mode - * DE is on "high enable" - * DOTCLK polarity: data fetched at rising time - * HSYNC polarity: low-level sync clock - * VSYNC polarity: low-level sync clock - * RCM: valid data is determined by DE signal */ - COMMAND(IFMODE), DATA(IFMODE_BYPASS | IFMODE_RCM_DE), - - - /* Interface control - * DM(1): RGB interface mode - * RM(1): RGB interface for writing to GRAM - * RIM(0): 16/18bits RGB interface (1 transfer/pixel) */ - COMMAND(IFCTL), DATA(0x01), DATA(0x00), DATA(0x06), - - /* Memory access control */ - COMMAND(MADCTL), DATA(MADCTL_MX), - - // Sleep out, requires a 100ms delay - COMMAND(SLPOUT), DELAY(100), - - // Display on, requires a 20ms delay - COMMAND(DISPON), DELAY(20) -}; - -void perform_instruction(ili9341_t * c, instruction_t * instruction) { - if (instruction->mode == DELAY_MODE) { - // FIXME: Should sleep instruction->payload miliseconds - for (int i = 0; i < 800*instruction->payload; i++) { - } - } else { - c->data_command_pin_write(instruction->mode); - c->spi_write(&instruction->payload, 1); - } -} - -void ili9341_initialize(ili9341_t * c) { - // Falling edge on CSX - c->chip_select_pin_write(0); - - // Send all the initialisation_sequence - size_t init_sequence_length = sizeof(initialisation_sequence)/sizeof(initialisation_sequence[0]); - for (int i=0; idata_command_pin_write(DATA_MODE); - - char buffer[256]; - for (int i = 0;i<256;i++) { - buffer[i] = i; - } - for (int i = 0; i<(320*240*2)/256; i++) { - c->spi_write(buffer, 256); - } -#endif -} - -void ili9341_set_gamma(ili9341_t * c) { -} diff --git a/ion/drivers/ili9341/ili9341.h b/ion/drivers/ili9341/ili9341.h deleted file mode 100644 index acf3c709d..000000000 --- a/ion/drivers/ili9341/ili9341.h +++ /dev/null @@ -1,19 +0,0 @@ -#ifndef PLATFORM_ILI9341_H -#define PLATFORM_ILI9341_H 1 - -#include -#include - -/* This is the ILI9341 driver - * - * It just needs to be pointed to a "write" function - */ -typedef struct { - void (*chip_select_pin_write)(bool pin_state); - void (*data_command_pin_write)(bool pin_state); - void (*spi_write)(char * data, size_t size); -} ili9341_t; - -void ili9341_initialize(ili9341_t * controller); -void ili9341_set_gamma(ili9341_t * controller); -#endif