diff options
Diffstat (limited to 'openpicc/os/core/include')
| -rw-r--r-- | openpicc/os/core/include/FreeRTOS.h | 114 | ||||
| -rw-r--r-- | openpicc/os/core/include/blocktim.h | 42 | ||||
| -rw-r--r-- | openpicc/os/core/include/comtest.h | 46 | ||||
| -rw-r--r-- | openpicc/os/core/include/comtest2.h | 44 | ||||
| -rw-r--r-- | openpicc/os/core/include/crhook.h | 50 | ||||
| -rw-r--r-- | openpicc/os/core/include/croutine.h | 720 | ||||
| -rw-r--r-- | openpicc/os/core/include/death.h | 42 | ||||
| -rw-r--r-- | openpicc/os/core/include/dynamic.h | 42 | ||||
| -rw-r--r-- | openpicc/os/core/include/fileIO.h | 44 | ||||
| -rw-r--r-- | openpicc/os/core/include/list.h | 272 | ||||
| -rw-r--r-- | openpicc/os/core/include/mevents.h | 42 | ||||
| -rw-r--r-- | openpicc/os/core/include/portable.h | 233 | ||||
| -rw-r--r-- | openpicc/os/core/include/print.h | 43 | ||||
| -rw-r--r-- | openpicc/os/core/include/projdefs.h | 56 | ||||
| -rw-r--r-- | openpicc/os/core/include/queue.h | 492 | ||||
| -rw-r--r-- | openpicc/os/core/include/semphr.h | 291 | ||||
| -rw-r--r-- | openpicc/os/core/include/serial.h | 116 | ||||
| -rw-r--r-- | openpicc/os/core/include/task.h | 960 |
18 files changed, 3649 insertions, 0 deletions
diff --git a/openpicc/os/core/include/FreeRTOS.h b/openpicc/os/core/include/FreeRTOS.h new file mode 100644 index 0000000..7afc084 --- /dev/null +++ b/openpicc/os/core/include/FreeRTOS.h @@ -0,0 +1,114 @@ +/* + FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + See http://www.FreeRTOS.org for documentation, latest information, license + and contact details. Please ensure to read the configuration and relevant + port sections of the online documentation. + + Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along + with commercial development and support options. + *************************************************************************** +*/ + +#ifndef INC_FREERTOS_H +#define INC_FREERTOS_H + + +/* + * Include the generic headers required for the FreeRTOS port being used. + */ +#include <stddef.h> + +/* Basic FreeRTOS definitions. */ +#include "projdefs.h" + +/* Application specific configuration options. */ +#include "FreeRTOSConfig.h" + +/* Definitions specific to the port being used. */ +#include "portable.h" + + + + + + + +/* + * Check all the required application specific macros have been defined. + * These macros are application specific and (as downloaded) are defined + * within FreeRTOSConfig.h. + */ + +#ifndef configUSE_PREEMPTION +#error Missing definition: configUSE_PREEMPTION should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef configUSE_IDLE_HOOK +#error Missing definition: configUSE_IDLE_HOOK should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef configUSE_TICK_HOOK +#error Missing definition: configUSE_TICK_HOOK should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef configUSE_CO_ROUTINES +#error Missing definition: configUSE_CO_ROUTINES should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_vTaskPrioritySet +#error Missing definition: INCLUDE_vTaskPrioritySet should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_uxTaskPriorityGet +#error Missing definition: INCLUDE_uxTaskPriorityGet should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_vTaskDelete +#error Missing definition: INCLUDE_vTaskDelete should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_vTaskCleanUpResources +#error Missing definition: INCLUDE_vTaskCleanUpResources should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_vTaskSuspend +#error Missing definition: INCLUDE_vTaskSuspend should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_vTaskDelayUntil +#error Missing definition: INCLUDE_vTaskDelayUntil should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_vTaskDelay +#error Missing definition: INCLUDE_vTaskDelay should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef configUSE_16_BIT_TICKS +#error Missing definition: configUSE_16_BIT_TICKS should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#endif diff --git a/openpicc/os/core/include/blocktim.h b/openpicc/os/core/include/blocktim.h new file mode 100644 index 0000000..a60605a --- /dev/null +++ b/openpicc/os/core/include/blocktim.h @@ -0,0 +1,42 @@ +/* + FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + See http://www.FreeRTOS.org for documentation, latest information, license + and contact details. Please ensure to read the configuration and relevant + port sections of the online documentation. + + Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along + with commercial development and support options. + *************************************************************************** +*/ + +#ifndef BLOCK_TIME_TEST_H +#define BLOCK_TIME_TEST_H + +void vCreateBlockTimeTasks (void); +portBASE_TYPE xAreBlockTimeTestTasksStillRunning (void); + +#endif diff --git a/openpicc/os/core/include/comtest.h b/openpicc/os/core/include/comtest.h new file mode 100644 index 0000000..472e138 --- /dev/null +++ b/openpicc/os/core/include/comtest.h @@ -0,0 +1,46 @@ +/* + FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + See http://www.FreeRTOS.org for documentation, latest information, license + and contact details. Please ensure to read the configuration and relevant + port sections of the online documentation. + + Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along + with commercial development and support options. + *************************************************************************** +*/ + +#ifndef COMTEST_H +#define COMTEST_H + +void vAltStartComTestTasks (unsigned portBASE_TYPE uxPriority, + unsigned portLONG ulBaudRate, + unsigned portBASE_TYPE uxLED); +void vStartComTestTasks (unsigned portBASE_TYPE uxPriority, eCOMPort ePort, + eBaud eBaudRate); +portBASE_TYPE xAreComTestTasksStillRunning (void); + +#endif diff --git a/openpicc/os/core/include/comtest2.h b/openpicc/os/core/include/comtest2.h new file mode 100644 index 0000000..1dd155d --- /dev/null +++ b/openpicc/os/core/include/comtest2.h @@ -0,0 +1,44 @@ +/* + FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + See http://www.FreeRTOS.org for documentation, latest information, license + and contact details. Please ensure to read the configuration and relevant + port sections of the online documentation. + + Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along + with commercial development and support options. + *************************************************************************** +*/ + +#ifndef COMTEST_H +#define COMTEST_H + +void vAltStartComTestTasks (unsigned portBASE_TYPE uxPriority, + unsigned portLONG ulBaudRate, + unsigned portBASE_TYPE uxLED); +portBASE_TYPE xAreComTestTasksStillRunning (void); + +#endif diff --git a/openpicc/os/core/include/crhook.h b/openpicc/os/core/include/crhook.h new file mode 100644 index 0000000..de16883 --- /dev/null +++ b/openpicc/os/core/include/crhook.h @@ -0,0 +1,50 @@ +/* + FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + See http://www.FreeRTOS.org for documentation, latest information, license + and contact details. Please ensure to read the configuration and relevant + port sections of the online documentation. + + Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along + with commercial development and support options. + *************************************************************************** +*/ + +#ifndef CRHOOK_H +#define CRHOOK_H + +/* + * Create the co-routines used to communicate wit the tick hook. + */ +void vStartHookCoRoutines (void); + +/* + * Return pdPASS or pdFAIL depending on whether an error has been detected + * or not. + */ +portBASE_TYPE xAreHookCoRoutinesStillRunning (void); + +#endif diff --git a/openpicc/os/core/include/croutine.h b/openpicc/os/core/include/croutine.h new file mode 100644 index 0000000..0394240 --- /dev/null +++ b/openpicc/os/core/include/croutine.h @@ -0,0 +1,720 @@ +/* + FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + See http://www.FreeRTOS.org for documentation, latest information, license + and contact details. Please ensure to read the configuration and relevant + port sections of the online documentation. + + Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along + with commercial development and support options. + *************************************************************************** +*/ +#ifndef CO_ROUTINE_H +#define CO_ROUTINE_H + +#include "list.h" + +/* Used to hide the implementation of the co-routine control block. The +control block structure however has to be included in the header due to +the macro implementation of the co-routine functionality. */ +typedef void *xCoRoutineHandle; + +/* Defines the prototype to which co-routine functions must conform. */ +typedef void (*crCOROUTINE_CODE) (xCoRoutineHandle, unsigned portBASE_TYPE); + +typedef struct corCoRoutineControlBlock +{ + crCOROUTINE_CODE pxCoRoutineFunction; + xListItem xGenericListItem; /*< List item used to place the CRCB in ready and blocked queues. */ + xListItem xEventListItem; /*< List item used to place the CRCB in event lists. */ + unsigned portBASE_TYPE uxPriority; /*< The priority of the co-routine in relation to other co-routines. */ + unsigned portBASE_TYPE uxIndex; /*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */ + unsigned portSHORT uxState; /*< Used internally by the co-routine implementation. */ +} corCRCB; /* Co-routine control block. Note must be identical in size down to uxPriority with tskTCB. */ + +/** + * croutine. h + *<pre> + portBASE_TYPE xCoRoutineCreate( + crCOROUTINE_CODE pxCoRoutineCode, + unsigned portBASE_TYPE uxPriority, + unsigned portBASE_TYPE uxIndex + );</pre> + * + * Create a new co-routine and add it to the list of co-routines that are + * ready to run. + * + * @param pxCoRoutineCode Pointer to the co-routine function. Co-routine + * functions require special syntax - see the co-routine section of the WEB + * documentation for more information. + * + * @param uxPriority The priority with respect to other co-routines at which + * the co-routine will run. + * + * @param uxIndex Used to distinguish between different co-routines that + * execute the same function. See the example below and the co-routine section + * of the WEB documentation for further information. + * + * @return pdPASS if the co-routine was successfully created and added to a ready + * list, otherwise an error code defined with ProjDefs.h. + * + * Example usage: + <pre> + // Co-routine to be created. + void vFlashCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex ) + { + // Variables in co-routines must be declared static if they must maintain value across a blocking call. + // This may not be necessary for const variables. + static const char cLedToFlash[ 2 ] = { 5, 6 }; + static const portTickType xTimeToDelay[ 2 ] = { 200, 400 }; + + // Must start every co-routine with a call to crSTART(); + crSTART( xHandle ); + + for( ;; ) + { + // This co-routine just delays for a fixed period, then toggles + // an LED. Two co-routines are created using this function, so + // the uxIndex parameter is used to tell the co-routine which + // LED to flash and how long to delay. This assumes xQueue has + // already been created. + vParTestToggleLED( cLedToFlash[ uxIndex ] ); + crDELAY( xHandle, uxFlashRates[ uxIndex ] ); + } + + // Must end every co-routine with a call to crEND(); + crEND(); + } + + // Function that creates two co-routines. + void vOtherFunction( void ) + { + unsigned char ucParameterToPass; + xTaskHandle xHandle; + + // Create two co-routines at priority 0. The first is given index 0 + // so (from the code above) toggles LED 5 every 200 ticks. The second + // is given index 1 so toggles LED 6 every 400 ticks. + for( uxIndex = 0; uxIndex < 2; uxIndex++ ) + { + xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex ); + } + } + </pre> + * \defgroup xCoRoutineCreate xCoRoutineCreate + * \ingroup Tasks + */ +signed portBASE_TYPE xCoRoutineCreate (crCOROUTINE_CODE pxCoRoutineCode, + unsigned portBASE_TYPE uxPriority, + unsigned portBASE_TYPE uxIndex); + + +/** + * croutine. h + *<pre> + void vCoRoutineSchedule( void );</pre> + * + * Run a co-routine. + * + * vCoRoutineSchedule() executes the highest priority co-routine that is able + * to run. The co-routine will execute until it either blocks, yields or is + * preempted by a task. Co-routines execute cooperatively so one + * co-routine cannot be preempted by another, but can be preempted by a task. + * + * If an application comprises of both tasks and co-routines then + * vCoRoutineSchedule should be called from the idle task (in an idle task + * hook). + * + * Example usage: + <pre> + // This idle task hook will schedule a co-routine each time it is called. + // The rest of the idle task will execute between co-routine calls. + void vApplicationIdleHook( void ) + { + vCoRoutineSchedule(); + } + + // Alternatively, if you do not require any other part of the idle task to + // execute, the idle task hook can call vCoRoutineScheduler() within an + // infinite loop. + void vApplicationIdleHook( void ) + { + for( ;; ) + { + vCoRoutineSchedule(); + } + } + </pre> + * \defgroup vCoRoutineSchedule vCoRoutineSchedule + * \ingroup Tasks + */ +void vCoRoutineSchedule (void); + +/** + * croutine. h + * <pre> + crSTART( xCoRoutineHandle xHandle );</pre> + * + * This macro MUST always be called at the start of a co-routine function. + * + * Example usage: + <pre> + // Co-routine to be created. + void vACoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex ) + { + // Variables in co-routines must be declared static if they must maintain value across a blocking call. + static portLONG ulAVariable; + + // Must start every co-routine with a call to crSTART(); + crSTART( xHandle ); + + for( ;; ) + { + // Co-routine functionality goes here. + } + + // Must end every co-routine with a call to crEND(); + crEND(); + }</pre> + * \defgroup crSTART crSTART + * \ingroup Tasks + */ +#define crSTART( pxCRCB ) switch( ( ( corCRCB * )pxCRCB )->uxState ) { case 0: + +/** + * croutine. h + * <pre> + crEND();</pre> + * + * This macro MUST always be called at the end of a co-routine function. + * + * Example usage: + <pre> + // Co-routine to be created. + void vACoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex ) + { + // Variables in co-routines must be declared static if they must maintain value across a blocking call. + static portLONG ulAVariable; + + // Must start every co-routine with a call to crSTART(); + crSTART( xHandle ); + + for( ;; ) + { + // Co-routine functionality goes here. + } + + // Must end every co-routine with a call to crEND(); + crEND(); + }</pre> + * \defgroup crSTART crSTART + * \ingroup Tasks + */ +#define crEND() } + +/* + * These macros are intended for internal use by the co-routine implementation + * only. The macros should not be used directly by application writers. + */ +#define crSET_STATE0( xHandle ) ( ( corCRCB * )xHandle)->uxState = (__LINE__ * 2); return; case (__LINE__ * 2): +#define crSET_STATE1( xHandle ) ( ( corCRCB * )xHandle)->uxState = ((__LINE__ * 2)+1); return; case ((__LINE__ * 2)+1): + +/** + * croutine. h + *<pre> + crDELAY( xCoRoutineHandle xHandle, portTickType xTicksToDelay );</pre> + * + * Delay a co-routine for a fixed period of time. + * + * crDELAY can only be called from the co-routine function itself - not + * from within a function called by the co-routine function. This is because + * co-routines do not maintain their own stack. + * + * @param xHandle The handle of the co-routine to delay. This is the xHandle + * parameter of the co-routine function. + * + * @param xTickToDelay The number of ticks that the co-routine should delay + * for. The actual amount of time this equates to is defined by + * configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant portTICK_RATE_MS + * can be used to convert ticks to milliseconds. + * + * Example usage: + <pre> + // Co-routine to be created. + void vACoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex ) + { + // Variables in co-routines must be declared static if they must maintain value across a blocking call. + // This may not be necessary for const variables. + // We are to delay for 200ms. + static const xTickType xDelayTime = 200 / portTICK_RATE_MS; + + // Must start every co-routine with a call to crSTART(); + crSTART( xHandle ); + + for( ;; ) + { + // Delay for 200ms. + crDELAY( xHandle, xDelayTime ); + + // Do something here. + } + + // Must end every co-routine with a call to crEND(); + crEND(); + }</pre> + * \defgroup crDELAY crDELAY + * \ingroup Tasks + */ +#define crDELAY( xHandle, xTicksToDelay ) \ + if( xTicksToDelay > 0 ) \ + { \ + vCoRoutineAddToDelayedList( xTicksToDelay, NULL ); \ + } \ + crSET_STATE0( xHandle ); + +/** + * <pre> + crQUEUE_SEND( + xCoRoutineHandle xHandle, + xQueueHandle pxQueue, + void *pvItemToQueue, + portTickType xTicksToWait, + portBASE_TYPE *pxResult + )</pre> + * + * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine + * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks. + * + * crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas + * xQueueSend() and xQueueReceive() can only be used from tasks. + * + * crQUEUE_SEND can only be called from the co-routine function itself - not + * from within a function called by the co-routine function. This is because + * co-routines do not maintain their own stack. + * + * See the co-routine section of the WEB documentation for information on + * passing data between tasks and co-routines and between ISR's and + * co-routines. + * + * @param xHandle The handle of the calling co-routine. This is the xHandle + * parameter of the co-routine function. + * + * @param pxQueue The handle of the queue on which the data will be posted. + * The handle is obtained as the return value when the queue is created using + * the xQueueCreate() API function. + * + * @param pvItemToQueue A pointer to the data being posted onto the queue. + * The number of bytes of each queued item is specified when the queue is + * created. This number of bytes is copied from pvItemToQueue into the queue + * itself. + * + * @param xTickToDelay The number of ticks that the co-routine should block + * to wait for space to become available on the queue, should space not be + * available immediately. The actual amount of time this equates to is defined + * by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant + * portTICK_RATE_MS can be used to convert ticks to milliseconds (see example + * below). + * + * @param pxResult The variable pointed to by pxResult will be set to pdPASS if + * data was successfully posted onto the queue, otherwise it will be set to an + * error defined within ProjDefs.h. + * + * Example usage: + <pre> + // Co-routine function that blocks for a fixed period then posts a number onto + // a queue. + static void prvCoRoutineFlashTask( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex ) + { + // Variables in co-routines must be declared static if they must maintain value across a blocking call. + static portBASE_TYPE xNumberToPost = 0; + static portBASE_TYPE xResult; + + // Co-routines must begin with a call to crSTART(). + crSTART( xHandle ); + + for( ;; ) + { + // This assumes the queue has already been created. + crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult ); + + if( xResult != pdPASS ) + { + // The message was not posted! + } + + // Increment the number to be posted onto the queue. + xNumberToPost++; + + // Delay for 100 ticks. + crDELAY( xHandle, 100 ); + } + + // Co-routines must end with a call to crEND(). + crEND(); + }</pre> + * \defgroup crQUEUE_SEND crQUEUE_SEND + * \ingroup Tasks + */ +#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \ +{ \ + *pxResult = xQueueCRSend( pxQueue, pvItemToQueue, xTicksToWait ); \ + if( *pxResult == errQUEUE_BLOCKED ) \ + { \ + crSET_STATE0( xHandle ); \ + *pxResult = xQueueCRSend( pxQueue, pvItemToQueue, 0 ); \ + } \ + if( *pxResult == errQUEUE_YIELD ) \ + { \ + crSET_STATE1( xHandle ); \ + *pxResult = pdPASS; \ + } \ +} + +/** + * croutine. h + * <pre> + crQUEUE_RECEIVE( + xCoRoutineHandle xHandle, + xQueueHandle pxQueue, + void *pvBuffer, + portTickType xTicksToWait, + portBASE_TYPE *pxResult + )</pre> + * + * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine + * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks. + * + * crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas + * xQueueSend() and xQueueReceive() can only be used from tasks. + * + * crQUEUE_RECEIVE can only be called from the co-routine function itself - not + * from within a function called by the co-routine function. This is because + * co-routines do not maintain their own stack. + * + * See the co-routine section of the WEB documentation for information on + * passing data between tasks and co-routines and between ISR's and + * co-routines. + * + * @param xHandle The handle of the calling co-routine. This is the xHandle + * parameter of the co-routine function. + * + * @param pxQueue The handle of the queue from which the data will be received. + * The handle is obtained as the return value when the queue is created using + * the xQueueCreate() API function. + * + * @param pvBuffer The buffer into which the received item is to be copied. + * The number of bytes of each queued item is specified when the queue is + * created. This number of bytes is copied into pvBuffer. + * + * @param xTickToDelay The number of ticks that the co-routine should block + * to wait for data to become available from the queue, should data not be + * available immediately. The actual amount of time this equates to is defined + * by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant + * portTICK_RATE_MS can be used to convert ticks to milliseconds (see the + * crQUEUE_SEND example). + * + * @param pxResult The variable pointed to by pxResult will be set to pdPASS if + * data was successfully retrieved from the queue, otherwise it will be set to + * an error code as defined within ProjDefs.h. + * + * Example usage: + <pre> + // A co-routine receives the number of an LED to flash from a queue. It + // blocks on the queue until the number is received. + static void prvCoRoutineFlashWorkTask( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex ) + { + // Variables in co-routines must be declared static if they must maintain value across a blocking call. + static portBASE_TYPE xResult; + static unsigned portBASE_TYPE uxLEDToFlash; + + // All co-routines must start with a call to crSTART(). + crSTART( xHandle ); + + for( ;; ) + { + // Wait for data to become available on the queue. + crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult ); + + if( xResult == pdPASS ) + { + // We received the LED to flash - flash it! + vParTestToggleLED( uxLEDToFlash ); + } + } + + crEND(); + }</pre> + * \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE + * \ingroup Tasks + */ +#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \ +{ \ + *pxResult = xQueueCRReceive( pxQueue, pvBuffer, xTicksToWait ); \ + if( *pxResult == errQUEUE_BLOCKED ) \ + { \ + crSET_STATE0( xHandle ); \ + *pxResult = xQueueCRReceive( pxQueue, pvBuffer, 0 ); \ + } \ + if( *pxResult == errQUEUE_YIELD ) \ + { \ + crSET_STATE1( xHandle ); \ + *pxResult = pdPASS; \ + } \ +} + +/** + * croutine. h + * <pre> + crQUEUE_SEND_FROM_ISR( + xQueueHandle pxQueue, + void *pvItemToQueue, + portBASE_TYPE xCoRoutinePreviouslyWoken + )</pre> + * + * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the + * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR() + * functions used by tasks. + * + * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to + * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and + * xQueueReceiveFromISR() can only be used to pass data between a task and and + * ISR. + * + * crQUEUE_SEND_FROM_ISR can only be called from an ISR to send data to a queue + * that is being used from within a co-routine. + * + * See the co-routine section of the WEB documentation for information on + * passing data between tasks and co-routines and between ISR's and + * co-routines. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param xCoRoutinePreviouslyWoken This is included so an ISR can post onto + * the same queue multiple times from a single interrupt. The first call + * should always pass in pdFALSE. Subsequent calls should pass in + * the value returned from the previous call. + * + * @return pdTRUE if a co-routine was woken by posting onto the queue. This is + * used by the ISR to determine if a context switch may be required following + * the ISR. + * + * Example usage: + <pre> + // A co-routine that blocks on a queue waiting for characters to be received. + static void vReceivingCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex ) + { + portCHAR cRxedChar; + portBASE_TYPE xResult; + + // All co-routines must start with a call to crSTART(). + crSTART( xHandle ); + + for( ;; ) + { + // Wait for data to become available on the queue. This assumes the + // queue xCommsRxQueue has already been created! + crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult ); + + // Was a character received? + if( xResult == pdPASS ) + { + // Process the character here. + } + } + + // All co-routines must end with a call to crEND(). + crEND(); + } + + // An ISR that uses a queue to send characters received on a serial port to + // a co-routine. + void vUART_ISR( void ) + { + portCHAR cRxedChar; + portBASE_TYPE xCRWokenByPost = pdFALSE; + + // We loop around reading characters until there are none left in the UART. + while( UART_RX_REG_NOT_EMPTY() ) + { + // Obtain the character from the UART. + cRxedChar = UART_RX_REG; + + // Post the character onto a queue. xCRWokenByPost will be pdFALSE + // the first time around the loop. If the post causes a co-routine + // to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE. + // In this manner we can ensure that if more than one co-routine is + // blocked on the queue only one is woken by this ISR no matter how + // many characters are posted to the queue. + xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost ); + } + }</pre> + * \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR + * \ingroup Tasks + */ +#define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) xQueueCRSendFromISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) + + +/** + * croutine. h + * <pre> + crQUEUE_SEND_FROM_ISR( + xQueueHandle pxQueue, + void *pvBuffer, + portBASE_TYPE * pxCoRoutineWoken + )</pre> + * + * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the + * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR() + * functions used by tasks. + * + * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to + * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and + * xQueueReceiveFromISR() can only be used to pass data between a task and and + * ISR. + * + * crQUEUE_RECEIVE_FROM_ISR can only be called from an ISR to receive data + * from a queue that is being used from within a co-routine (a co-routine + * posted to the queue). + * + * See the co-routine section of the WEB documentation for information on + * passing data between tasks and co-routines and between ISR's and + * co-routines. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvBuffer A pointer to a buffer into which the received item will be + * placed. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from the queue into + * pvBuffer. + * + * @param pxCoRoutineWoken A co-routine may be blocked waiting for space to become + * available on the queue. If crQUEUE_RECEIVE_FROM_ISR causes such a + * co-routine to unblock *pxCoRoutineWoken will get set to pdTRUE, otherwise + * *pxCoRoutineWoken will remain unchanged. + * + * @return pdTRUE an item was successfully received from the queue, otherwise + * pdFALSE. + * + * Example usage: + <pre> + // A co-routine that posts a character to a queue then blocks for a fixed + // period. The character is incremented each time. + static void vSendingCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex ) + { + // cChar holds its value while this co-routine is blocked and must therefore + // be declared static. + static portCHAR cCharToTx = 'a'; + portBASE_TYPE xResult; + + // All co-routines must start with a call to crSTART(). + crSTART( xHandle ); + + for( ;; ) + { + // Send the next character to the queue. + crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult ); + + if( xResult == pdPASS ) + { + // The character was successfully posted to the queue. + } + else + { + // Could not post the character to the queue. + } + + // Enable the UART Tx interrupt to cause an interrupt in this + // hypothetical UART. The interrupt will obtain the character + // from the queue and send it. + ENABLE_RX_INTERRUPT(); + + // Increment to the next character then block for a fixed period. + // cCharToTx will maintain its value across the delay as it is + // declared static. + cCharToTx++; + if( cCharToTx > 'x' ) + { + cCharToTx = 'a'; + } + crDELAY( 100 ); + } + + // All co-routines must end with a call to crEND(). + crEND(); + } + + // An ISR that uses a queue to receive characters to send on a UART. + void vUART_ISR( void ) + { + portCHAR cCharToTx; + portBASE_TYPE xCRWokenByPost = pdFALSE; + + while( UART_TX_REG_EMPTY() ) + { + // Are there any characters in the queue waiting to be sent? + // xCRWokenByPost will automatically be set to pdTRUE if a co-routine + // is woken by the post - ensuring that only a single co-routine is + // woken no matter how many times we go around this loop. + if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) ) + { + SEND_CHARACTER( cCharToTx ); + } + } + }</pre> + * \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR + * \ingroup Tasks + */ +#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) xQueueCRReceiveFromISR( pxQueue, pvBuffer, pxCoRoutineWoken ) + +/* + * This function is intended for internal use by the co-routine macros only. + * The macro nature of the co-routine implementation requires that the + * prototype appears here. The function should not be used by application + * writers. + * + * Removes the current co-routine from its ready list and places it in the + * appropriate delayed list. + */ +void vCoRoutineAddToDelayedList (portTickType xTicksToDelay, + xList * pxEventList); + +/* + * This function is intended for internal use by the queue implementation only. + * The function should not be used by application writers. + * + * Removes the highest priority co-routine from the event list and places it in + * the pending ready list. + */ +signed portBASE_TYPE xCoRoutineRemoveFromEventList (const xList * + pxEventList); + + +#endif /* CO_ROUTINE_H */ diff --git a/openpicc/os/core/include/death.h b/openpicc/os/core/include/death.h new file mode 100644 index 0000000..d5f20e0 --- /dev/null +++ b/openpicc/os/core/include/death.h @@ -0,0 +1,42 @@ +/* + FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + See http://www.FreeRTOS.org for documentation, latest information, license + and contact details. Please ensure to read the configuration and relevant + port sections of the online documentation. + + Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along + with commercial development and support options. + *************************************************************************** +*/ + +#ifndef SUICIDE_TASK_H +#define SUICIDE_TASK_H + +void vCreateSuicidalTasks (unsigned portBASE_TYPE uxPriority); +portBASE_TYPE xIsCreateTaskStillRunning (void); + +#endif diff --git a/openpicc/os/core/include/dynamic.h b/openpicc/os/core/include/dynamic.h new file mode 100644 index 0000000..5a77c07 --- /dev/null +++ b/openpicc/os/core/include/dynamic.h @@ -0,0 +1,42 @@ +/* + FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + See http://www.FreeRTOS.org for documentation, latest information, license + and contact details. Please ensure to read the configuration and relevant + port sections of the online documentation. + + Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along + with commercial development and support options. + *************************************************************************** +*/ + +#ifndef DYNAMIC_MANIPULATION_H +#define DYNAMIC_MANIPULATION_H + +void vStartDynamicPriorityTasks (void); +portBASE_TYPE xAreDynamicPriorityTasksStillRunning (void); + +#endif diff --git a/openpicc/os/core/include/fileIO.h b/openpicc/os/core/include/fileIO.h new file mode 100644 index 0000000..d1b336b --- /dev/null +++ b/openpicc/os/core/include/fileIO.h @@ -0,0 +1,44 @@ +/* + FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + See http://www.FreeRTOS.org for documentation, latest information, license + and contact details. Please ensure to read the configuration and relevant + port sections of the online documentation. + + Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along + with commercial development and support options. + *************************************************************************** +*/ + +#ifndef FILE_IO_H +#define FILE_OI_H + +void vDisplayMessage (const portCHAR * const pcMessageToPrint); +void vWriteMessageToDisk (const portCHAR * const pcMessage); +void vWriteBufferToDisk (const portCHAR * const pcBuffer, + unsigned portLONG ulBufferLength); + +#endif diff --git a/openpicc/os/core/include/list.h b/openpicc/os/core/include/list.h new file mode 100644 index 0000000..cdd6a75 --- /dev/null +++ b/openpicc/os/core/include/list.h @@ -0,0 +1,272 @@ +/* + FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + See http://www.FreeRTOS.org for documentation, latest information, license + and contact details. Please ensure to read the configuration and relevant + port sections of the online documentation. + + Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along + with commercial development and support options. + *************************************************************************** +*/ + +/* + * This is the list implementation used by the scheduler. While it is tailored + * heavily for the schedulers needs, it is also available for use by + * application code. + * + * xLists can only store pointers to xListItems. Each xListItem contains a + * numeric value (xItemValue). Most of the time the lists are sorted in + * descending item value order. + * + * Lists are created already containing one list item. The value of this + * item is the maximum possible that can be stored, it is therefore always at + * the end of the list and acts as a marker. The list member pxHead always + * points to this marker - even though it is at the tail of the list. This + * is because the tail contains a wrap back pointer to the true head of + * the list. + * + * In addition to it's value, each list item contains a pointer to the next + * item in the list (pxNext), a pointer to the list it is in (pxContainer) + * and a pointer to back to the object that contains it. These later two + * pointers are included for efficiency of list manipulation. There is + * effectively a two way link between the object containing the list item and + * the list item itself. + * + * + * \page ListIntroduction List Implementation + * \ingroup FreeRTOSIntro + */ + + +#ifndef LIST_H +#define LIST_H + +/* + * Definition of the only type of object that a list can contain. + */ +struct xLIST_ITEM +{ + portTickType xItemValue; /*< The value being listed. In most cases this is used to sort the list in descending order. */ + volatile struct xLIST_ITEM *pxNext; /*< Pointer to the next xListItem in the list. */ + volatile struct xLIST_ITEM *pxPrevious; /*< Pointer to the previous xListItem in the list. */ + void *pvOwner; /*< Pointer to the object (normally a TCB) that contains the list item. There is therefore a two way link between the object containing the list item and the list item itself. */ + void *pvContainer; /*< Pointer to the list in which this list item is placed (if any). */ +}; +typedef struct xLIST_ITEM xListItem; /* For some reason lint wants this as two separate definitions. */ + +struct xMINI_LIST_ITEM +{ + portTickType xItemValue; + volatile struct xLIST_ITEM *pxNext; + volatile struct xLIST_ITEM *pxPrevious; +}; +typedef struct xMINI_LIST_ITEM xMiniListItem; + +/* + * Definition of the type of queue used by the scheduler. + */ +typedef struct xLIST +{ + volatile unsigned portBASE_TYPE uxNumberOfItems; + volatile xListItem *pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to pvListGetOwnerOfNextEntry (). */ + volatile xMiniListItem xListEnd; /*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */ +} xList; + +/* + * Access macro to set the owner of a list item. The owner of a list item + * is the object (usually a TCB) that contains the list item. + * + * \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER + * \ingroup LinkedList + */ +#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner ) ( pxListItem )->pvOwner = ( void * ) pxOwner + +/* + * Access macro to set the value of the list item. In most cases the value is + * used to sort the list in descending order. + * + * \page listSET_LIST_ITEM_VALUE listSET_LIST_ITEM_VALUE + * \ingroup LinkedList + */ +#define listSET_LIST_ITEM_VALUE( pxListItem, xValue ) ( pxListItem )->xItemValue = xValue + +/* + * Access macro the retrieve the value of the list item. The value can + * represent anything - for example a the priority of a task, or the time at + * which a task should be unblocked. + * + * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE + * \ingroup LinkedList + */ +#define listGET_LIST_ITEM_VALUE( pxListItem ) ( ( pxListItem )->xItemValue ) + +/* + * Access macro to determine if a list contains any items. The macro will + * only have the value true if the list is empty. + * + * \page listLIST_IS_EMPTY listLIST_IS_EMPTY + * \ingroup LinkedList + */ +#define listLIST_IS_EMPTY( pxList ) ( ( pxList )->uxNumberOfItems == ( unsigned portBASE_TYPE ) 0 ) + +/* + * Access macro to return the number of items in the list. + */ +#define listCURRENT_LIST_LENGTH( pxList ) ( ( pxList )->uxNumberOfItems ) + +/* + * Access function to obtain the owner of the next entry in a list. + * + * The list member pxIndex is used to walk through a list. Calling + * listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list + * and returns that entries pxOwner parameter. Using multiple calls to this + * function it is therefore possible to move through every item contained in + * a list. + * + * The pxOwner parameter of a list item is a pointer to the object that owns + * the list item. In the scheduler this is normally a task control block. + * The pxOwner parameter effectively creates a two way link between the list + * item and its owner. + * + * @param pxList The list from which the next item owner is to be returned. + * + * \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY + * \ingroup LinkedList + */ +#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList ) \ + /* Increment the index to the next item and return the item, ensuring */ \ + /* we don't return the marker used at the end of the list. */ \ + ( pxList )->pxIndex = ( pxList )->pxIndex->pxNext; \ + if( ( pxList )->pxIndex == ( xListItem * ) &( ( pxList )->xListEnd ) ) \ + { \ + ( pxList )->pxIndex = ( pxList )->pxIndex->pxNext; \ + } \ + pxTCB = ( pxList )->pxIndex->pvOwner + + +/* + * Access function to obtain the owner of the first entry in a list. Lists + * are normally sorted in ascending item value order. + * + * This function returns the pxOwner member of the first item in the list. + * The pxOwner parameter of a list item is a pointer to the object that owns + * the list item. In the scheduler this is normally a task control block. + * The pxOwner parameter effectively creates a two way link between the list + * item and its owner. + * + * @param pxList The list from which the owner of the head item is to be + * returned. + * + * \page listGET_OWNER_OF_HEAD_ENTRY listGET_OWNER_OF_HEAD_ENTRY + * \ingroup LinkedList + */ +#define listGET_OWNER_OF_HEAD_ENTRY( pxList ) ( ( pxList->uxNumberOfItems != ( unsigned portBASE_TYPE ) 0 ) ? ( (&( pxList->xListEnd ))->pxNext->pvOwner ) : ( NULL ) ) + +/* + * Check to see if a list item is within a list. The list item maintains a + * "container" pointer that points to the list it is in. All this macro does + * is check to see if the container and the list match. + * + * @param pxList The list we want to know if the list item is within. + * @param pxListItem The list item we want to know if is in the list. + * @return pdTRUE is the list item is in the list, otherwise pdFALSE. + * pointer against + */ +#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( pxListItem )->pvContainer == ( void * ) pxList ) + +/* + * Must be called before a list is used! This initialises all the members + * of the list structure and inserts the xListEnd item into the list as a + * marker to the back of the list. + * + * @param pxList Pointer to the list being initialised. + * + * \page vListInitialise vListInitialise + * \ingroup LinkedList + */ +void vListInitialise (xList * pxList); + +/* + * Must be called before a list item is used. This sets the list container to + * null so the item does not think that it is already contained in a list. + * + * @param pxItem Pointer to the list item being initialised. + * + * \page vListInitialiseItem vListInitialiseItem + * \ingroup LinkedList + */ +void vListInitialiseItem (xListItem * pxItem); + +/* + * Insert a list item into a list. The item will be inserted into the list in + * a position determined by its item value (descending item value order). + * + * @param pxList The list into which the item is to be inserted. + * + * @param pxNewListItem The item to that is to be placed in the list. + * + * \page vListInsert vListInsert + * \ingroup LinkedList + */ +void vListInsert (xList * pxList, xListItem * pxNewListItem); + +/* + * Insert a list item into a list. The item will be inserted in a position + * such that it will be the last item within the list returned by multiple + * calls to listGET_OWNER_OF_NEXT_ENTRY. + * + * The list member pvIndex is used to walk through a list. Calling + * listGET_OWNER_OF_NEXT_ENTRY increments pvIndex to the next item in the list. + * Placing an item in a list using vListInsertEnd effectively places the item + * in the list position pointed to by pvIndex. This means that every other + * item within the list will be returned by listGET_OWNER_OF_NEXT_ENTRY before + * the pvIndex parameter again points to the item being inserted. + * + * @param pxList The list into which the item is to be inserted. + * + * @param pxNewListItem The list item to be inserted into the list. + * + * \page vListInsertEnd vListInsertEnd + * \ingroup LinkedList + */ +void vListInsertEnd (xList * pxList, xListItem * pxNewListItem); + +/* + * Remove an item from a list. The list item has a pointer to the list that + * it is in, so only the list item need be passed into the function. + * + * @param vListRemove The item to be removed. The item will remove itself from + * the list pointed to by it's pxContainer parameter. + * + * \page vListRemove vListRemove + * \ingroup LinkedList + */ +void vListRemove (xListItem * pxItemToRemove); + + + +#endif diff --git a/openpicc/os/core/include/mevents.h b/openpicc/os/core/include/mevents.h new file mode 100644 index 0000000..a4580a8 --- /dev/null +++ b/openpicc/os/core/include/mevents.h @@ -0,0 +1,42 @@ +/* + FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + See http://www.FreeRTOS.org for documentation, latest information, license + and contact details. Please ensure to read the configuration and relevant + port sections of the online documentation. + + Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along + with commercial development and support options. + *************************************************************************** +*/ + +#ifndef EVENTS_TEST_H +#define EVENTS_TEST_H + +void vStartMultiEventTasks (void); +portBASE_TYPE xAreMultiEventTasksStillRunning (void); + +#endif diff --git a/openpicc/os/core/include/portable.h b/openpicc/os/core/include/portable.h new file mode 100644 index 0000000..49d11b0 --- /dev/null +++ b/openpicc/os/core/include/portable.h @@ -0,0 +1,233 @@ +/* + FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http:www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + See http:www.FreeRTOS.org for documentation, latest information, license + and contact details. Please ensure to read the configuration and relevant + port sections of the online documentation. + + Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along + with commercial development and support options. + *************************************************************************** +*/ + +/*----------------------------------------------------------- + * Portable layer API. Each function must be defined for each port. + *----------------------------------------------------------*/ + +#ifndef PORTABLE_H +#define PORTABLE_H + +/* Include the macro file relevant to the port being used. */ + +#ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT +#include "..\..\source\portable\owatcom\16bitdos\pc\portmacro.h" +typedef void (__interrupt __far * pxISR) (); +#endif + +#ifdef OPEN_WATCOM_FLASH_LITE_186_PORT +#include "..\..\source\portable\owatcom\16bitdos\flsh186\portmacro.h" +typedef void (__interrupt __far * pxISR) (); +#endif + +#ifdef GCC_MEGA_AVR +#include "../portable/GCC/ATMega323/portmacro.h" +#endif + +#ifdef IAR_MEGA_AVR +#include "../portable/IAR/ATMega323/portmacro.h" +#endif + +#ifdef MPLAB_PIC24_PORT +#include "..\..\Source\portable\MPLAB\PIC24_dsPIC\portmacro.h" +#endif + +#ifdef MPLAB_DSPIC_PORT +#include "..\..\Source\portable\MPLAB\PIC24_dsPIC\portmacro.h" +#endif + +#ifdef MPLAB_PIC18F_PORT +#include "..\..\source\portable\MPLAB\PIC18F\portmacro.h" +#endif + +#ifdef _FEDPICC +#include "libFreeRTOS/Include/portmacro.h" +#endif + +#ifdef SDCC_CYGNAL +#include "../../Source/portable/SDCC/Cygnal/portmacro.h" +#endif + +#ifdef GCC_ARM7 +#include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h" +#endif + +#ifdef ROWLEY_LPC23xx +#include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h" +#endif + +#ifdef GCC_MSP430 +#include "../../Source/portable/GCC/MSP430F449/portmacro.h" +#endif + +#ifdef ROWLEY_MSP430 +#include "../../Source/portable/Rowley/MSP430F449/portmacro.h" +#endif + +#ifdef KEIL_ARM7 +#include "..\..\Source\portable\Keil\ARM7\portmacro.h" +#endif + +#ifdef SAM7_GCC +#include "../ARM7_AT91SAM7S/portmacro.h" +#endif + +#ifdef SAM7_IAR +#include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h" +#endif + +#ifdef LPC2000_IAR +#include "..\..\Source\portable\IAR\LPC2000\portmacro.h" +#endif + +#ifdef STR71X_IAR +#include "..\..\Source\portable\IAR\STR71x\portmacro.h" +#endif + +#ifdef STR75X_IAR +#include "..\..\Source\portable\IAR\STR75x\portmacro.h" +#endif + +#ifdef STR75X_GCC +#include "..\..\Source\portable\GCC\STR75x\portmacro.h" +#endif + +#ifdef STR91X_IAR +#include "..\..\Source\portable\IAR\STR91x\portmacro.h" +#endif + +#ifdef GCC_H8S +#include "../../Source/portable/GCC/H8S2329/portmacro.h" +#endif + +#ifdef GCC_AT91FR40008 +#include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h" +#endif + +#ifdef RVDS_ARMCM3_LM3S102 +#include "../../Source/portable/RVDS/ARM_CM3/portmacro.h" +#endif + +#ifdef GCC_ARMCM3_LM3S102 +#include "../../Source/portable/GCC/ARM_CM3/portmacro.h" +#endif + +#ifdef IAR_ARMCM3_LM +#include "../../Source/portable/IAR/ARM_CM3/portmacro.h" +#endif + +#ifdef HCS12_CODE_WARRIOR +#include "../../Source/portable/CodeWarrior/HCS12/portmacro.h" +#endif + +#ifdef MICROBLAZE_GCC +#include "../../Source/portable/GCC/MicroBlaze/portmacro.h" +#endif + +#ifdef TERN_EE +#include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h" +#endif + +#ifdef GCC_HCS12 +#include "../../Source/portable/GCC/HCS12/portmacro.h" +#endif + +#ifdef GCC_MCF5235 +#include "../../Source/portable/GCC/MCF5235/portmacro.h" +#endif + +#ifdef BCC_INDUSTRIAL_PC_PORT + /* A short file name has to be used in place of the normal + FreeRTOSConfig.h when using the Borland compiler. */ +#include "frconfig.h" +#include "..\portable\BCC\16BitDOS\PC\prtmacro.h" +typedef void (__interrupt __far * pxISR) (); +#endif + +#ifdef BCC_FLASH_LITE_186_PORT + /* A short file name has to be used in place of the normal + FreeRTOSConfig.h when using the Borland compiler. */ +#include "frconfig.h" +#include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h" +typedef void (__interrupt __far * pxISR) (); +#endif + +#if __GNUC__ && (__AVR32_UC3A0256__ || \ + __AVR32_UC3A0512__ || \ + __AVR32_UC3A1128__ || \ + __AVR32_UC3A1256__ || \ + __AVR32_UC3A1512__) +#include "portmacro.h" +#endif + +#if __ICCAVR32__ && (__AT32UC3A0256__ || \ + __AT32UC3A0512__ || \ + __AT32UC3A1128__ || \ + __AT32UC3A1256__ || \ + __AT32UC3A1512__) +#include "portmacro.h" +#endif + +/* + * Setup the stack of a new task so it is ready to be placed under the + * scheduler control. The registers have to be placed on the stack in + * the order that the port expects to find them. + */ +portSTACK_TYPE *pxPortInitialiseStack (portSTACK_TYPE * pxTopOfStack, + pdTASK_CODE pxCode, + void *pvParameters); + +/* + * Map to the memory management routines required for the port. + */ +void *pvPortMalloc (size_t xSize); +void vPortFree (void *pv); +void vPortInitialiseBlocks (void); + +/* + * Setup the hardware ready for the scheduler to take control. This generally + * sets up a tick interrupt and sets timers for the correct tick frequency. + */ +portBASE_TYPE xPortStartScheduler (void); + +/* + * Undo any hardware/ISR setup that was performed by xPortStartScheduler() so + * the hardware is left in its original condition after the scheduler stops + * executing. + */ +void vPortEndScheduler (void); + + +#endif /* PORTABLE_H */ diff --git a/openpicc/os/core/include/print.h b/openpicc/os/core/include/print.h new file mode 100644 index 0000000..d219bc4 --- /dev/null +++ b/openpicc/os/core/include/print.h @@ -0,0 +1,43 @@ +/* + FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + See http://www.FreeRTOS.org for documentation, latest information, license + and contact details. Please ensure to read the configuration and relevant + port sections of the online documentation. + + Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along + with commercial development and support options. + *************************************************************************** +*/ + +#ifndef PRINT_H +#define PRINT_H + +void vPrintInitialise (void); +void vPrintDisplayMessage (const portCHAR * const *pcMessageToSend); +const portCHAR *pcPrintGetNextMessage (portTickType xPrintRate); + +#endif diff --git a/openpicc/os/core/include/projdefs.h b/openpicc/os/core/include/projdefs.h new file mode 100644 index 0000000..3b2f1b7 --- /dev/null +++ b/openpicc/os/core/include/projdefs.h @@ -0,0 +1,56 @@ +/* + FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + See http://www.FreeRTOS.org for documentation, latest information, license + and contact details. Please ensure to read the configuration and relevant + port sections of the online documentation. + + Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along + with commercial development and support options. + *************************************************************************** +*/ + +#ifndef PROJDEFS_H +#define PROJDEFS_H + +/* Defines to prototype to which task functions must conform. */ +typedef void (*pdTASK_CODE) (void *); + +#define pdTRUE ( 1 ) +#define pdFALSE ( 0 ) + +#define pdPASS ( 1 ) +#define pdFAIL ( 0 ) +#define errQUEUE_EMPTY ( 0 ) +#define errQUEUE_FULL ( 0 ) + +/* Error definitions. */ +#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ( -1 ) +#define errNO_TASK_TO_RUN ( -2 ) +#define errQUEUE_BLOCKED ( -4 ) +#define errQUEUE_YIELD ( -5 ) + +#endif /* PROJDEFS_H */ diff --git a/openpicc/os/core/include/queue.h b/openpicc/os/core/include/queue.h new file mode 100644 index 0000000..e95d7b0 --- /dev/null +++ b/openpicc/os/core/include/queue.h @@ -0,0 +1,492 @@ +/* + FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + See http://www.FreeRTOS.org for documentation, latest information, license + and contact details. Please ensure to read the configuration and relevant + port sections of the online documentation. + + Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along + with commercial development and support options. + *************************************************************************** +*/ + +#ifndef QUEUE_H +#define QUEUE_H + +typedef void *xQueueHandle; + +/** + * queue. h + * <pre> + xQueueHandle xQueueCreate( + unsigned portBASE_TYPE uxQueueLength, + unsigned portBASE_TYPE uxItemSize + ); + * </pre> + * + * Creates a new queue instance. This allocates the storage required by the + * new queue and returns a handle for the queue. + * + * @param uxQueueLength The maximum number of items that the queue can contain. + * + * @param uxItemSize The number of bytes each item in the queue will require. + * Items are queued by copy, not by reference, so this is the number of bytes + * that will be copied for each posted item. Each item on the queue must be + * the same size. + * + * @return If the queue is successfully create then a handle to the newly + * created queue is returned. If the queue cannot be created then 0 is + * returned. + * + * Example usage: + <pre> + struct AMessage + { + portCHAR ucMessageID; + portCHAR ucData[ 20 ]; + }; + + void vATask( void *pvParameters ) + { + xQueueHandle xQueue1, xQueue2; + + // Create a queue capable of containing 10 unsigned long values. + xQueue1 = xQueueCreate( 10, sizeof( unsigned portLONG ) ); + if( xQueue1 == 0 ) + { + // Queue was not created and must not be used. + } + + // Create a queue capable of containing 10 pointers to AMessage structures. + // These should be passed by pointer as they contain a lot of data. + xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) ); + if( xQueue2 == 0 ) + { + // Queue was not created and must not be used. + } + + // ... Rest of task code. + } + </pre> + * \defgroup xQueueCreate xQueueCreate + * \ingroup QueueManagement + */ +xQueueHandle xQueueCreate (unsigned portBASE_TYPE uxQueueLength, + unsigned portBASE_TYPE uxItemSize); + +/** + * queue. h + * <pre> + portBASE_TYPE xQueueSend( + xQueueHandle xQueue, + const void * pvItemToQueue, + portTickType xTicksToWait + ); + * </pre> + * + * Post an item on a queue. The item is queued by copy, not by reference. + * This function must not be called from an interrupt service routine. + * See xQueueSendFromISR () for an alternative which may be used in an ISR. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for space to become available on the queue, should it already + * be full. The call will return immediately if this is set to 0. The + * time is defined in tick periods so the constant portTICK_RATE_MS + * should be used to convert to real time if this is required. + * + * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. + * + * Example usage: + <pre> + struct AMessage + { + portCHAR ucMessageID; + portCHAR ucData[ 20 ]; + } xMessage; + + unsigned portLONG ulVar = 10UL; + + void vATask( void *pvParameters ) + { + xQueueHandle xQueue1, xQueue2; + struct AMessage *pxMessage; + + // Create a queue capable of containing 10 unsigned long values. + xQueue1 = xQueueCreate( 10, sizeof( unsigned portLONG ) ); + + // Create a queue capable of containing 10 pointers to AMessage structures. + // These should be passed by pointer as they contain a lot of data. + xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) ); + + // ... + + if( xQueue1 != 0 ) + { + // Send an unsigned long. Wait for 10 ticks for space to become + // available if necessary. + if( xQueueSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS ) + { + // Failed to post the message, even after 10 ticks. + } + } + + if( xQueue2 != 0 ) + { + // Send a pointer to a struct AMessage object. Don't block if the + // queue is already full. + pxMessage = & xMessage; + xQueueSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 ); + } + + // ... Rest of task code. + } + </pre> + * \defgroup xQueueSend xQueueSend + * \ingroup QueueManagement + */ +signed portBASE_TYPE xQueueSend (xQueueHandle xQueue, + const void *pvItemToQueue, + portTickType xTicksToWait); + +/** + * queue. h + * <pre> + portBASE_TYPE xQueueReceive( + xQueueHandle xQueue, + void *pvBuffer, + portTickType xTicksToWait + );</pre> + * + * Receive an item from a queue. The item is received by copy so a buffer of + * adequate size must be provided. The number of bytes copied into the buffer + * was defined when the queue was created. + * + * This function must not be used in an interrupt service routine. See + * xQueueReceiveFromISR for an alternative that can. + * + * @param pxQueue The handle to the queue from which the item is to be + * received. + * + * @param pvBuffer Pointer to the buffer into which the received item will + * be copied. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for an item to receive should the queue be empty at the time + * of the call. The time is defined in tick periods so the constant + * portTICK_RATE_MS should be used to convert to real time if this is required. + * + * @return pdTRUE if an item was successfully received from the queue, + * otherwise pdFALSE. + * + * Example usage: + <pre> + struct AMessage + { + portCHAR ucMessageID; + portCHAR ucData[ 20 ]; + } xMessage; + + xQueueHandle xQueue; + + // Task to create a queue and post a value. + void vATask( void *pvParameters ) + { + struct AMessage *pxMessage; + + // Create a queue capable of containing 10 pointers to AMessage structures. + // These should be passed by pointer as they contain a lot of data. + xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) ); + if( xQueue == 0 ) + { + // Failed to create the queue. + } + + // ... + + // Send a pointer to a struct AMessage object. Don't block if the + // queue is already full. + pxMessage = & xMessage; + xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 ); + + // ... Rest of task code. + } + + // Task to receive from the queue. + void vADifferentTask( void *pvParameters ) + { + struct AMessage *pxRxedMessage; + + if( xQueue != 0 ) + { + // Receive a message on the created queue. Block for 10 ticks if a + // message is not immediately available. + if( xQueueReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) ) + { + // pcRxedMessage now points to the struct AMessage variable posted + // by vATask. + } + } + + // ... Rest of task code. + } + </pre> + * \defgroup xQueueReceive xQueueReceive + * \ingroup QueueManagement + */ +signed portBASE_TYPE xQueueReceive (xQueueHandle xQueue, void *pvBuffer, + portTickType xTicksToWait); + +/** + * queue. h + * <pre>unsigned portBASE_TYPE uxQueueMessagesWaiting( xQueueHandle xQueue );</pre> + * + * Return the number of messages stored in a queue. + * + * @param xQueue A handle to the queue being queried. + * + * @return The number of messages available in the queue. + * + * \page uxQueueMessagesWaiting uxQueueMessagesWaiting + * \ingroup QueueManagement + */ +unsigned portBASE_TYPE uxQueueMessagesWaiting (xQueueHandle xQueue); + +/** + * queue. h + * <pre>void vQueueDelete( xQueueHandle xQueue );</pre> + * + * Delete a queue - freeing all the memory allocated for storing of items + * placed on the queue. + * + * @param xQueue A handle to the queue to be deleted. + * + * \page vQueueDelete vQueueDelete + * \ingroup QueueManagement + */ +void vQueueDelete (xQueueHandle xQueue); + +/** + * queue. h + * <pre> + portBASE_TYPE xQueueSendFromISR( + xQueueHandle pxQueue, + const void *pvItemToQueue, + portBASE_TYPE xTaskPreviouslyWoken + ); + </pre> + * + * Post an item on a queue. It is safe to use this function from within an + * interrupt service routine. + * + * Items are queued by copy not reference so it is preferable to only + * queue small items, especially when called from an ISR. In most cases + * it would be preferable to store a pointer to the item being queued. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param cTaskPreviouslyWoken This is included so an ISR can post onto + * the same queue multiple times from a single interrupt. The first call + * should always pass in pdFALSE. Subsequent calls should pass in + * the value returned from the previous call. See the file serial .c in the + * PC port for a good example of this mechanism. + * + * @return pdTRUE if a task was woken by posting onto the queue. This is + * used by the ISR to determine if a context switch may be required following + * the ISR. + * + * Example usage for buffered IO (where the ISR can obtain more than one value + * per call): + <pre> + void vBufferISR( void ) + { + portCHAR cIn; + portBASE_TYPE xTaskWokenByPost; + + // We have not woken a task at the start of the ISR. + cTaskWokenByPost = pdFALSE; + + // Loop until the buffer is empty. + do + { + // Obtain a byte from the buffer. + cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS ); + + // Post the byte. The first time round the loop cTaskWokenByPost + // will be pdFALSE. If the queue send causes a task to wake we do + // not want the task to run until we have finished the ISR, so + // xQueueSendFromISR does not cause a context switch. Also we + // don't want subsequent posts to wake any other tasks, so we store + // the return value back into cTaskWokenByPost so xQueueSendFromISR + // knows not to wake any task the next iteration of the loop. + xTaskWokenByPost = xQueueSendFromISR( xRxQueue, &cIn, cTaskWokenByPost ); + + } while( portINPUT_BYTE( BUFFER_COUNT ) ); + + // Now the buffer is empty we can switch context if necessary. + if( cTaskWokenByPost ) + { + taskYIELD (); + } + } + </pre> + * + * \defgroup xQueueSendFromISR xQueueSendFromISR + * \ingroup QueueManagement + */ +signed portBASE_TYPE xQueueSendFromISR (xQueueHandle pxQueue, + const void *pvItemToQueue, + signed portBASE_TYPE + xTaskPreviouslyWoken); + +/** + * queue. h + * <pre> + portBASE_TYPE xQueueReceiveFromISR( + xQueueHandle pxQueue, + void *pvBuffer, + portBASE_TYPE *pxTaskWoken + ); + * </pre> + * + * Receive an item from a queue. It is safe to use this function from within an + * interrupt service routine. + * + * @param pxQueue The handle to the queue from which the item is to be + * received. + * + * @param pvBuffer Pointer to the buffer into which the received item will + * be copied. + * + * @param pxTaskWoken A task may be blocked waiting for space to become + * available on the queue. If xQueueReceiveFromISR causes such a task to + * unblock *pxTaskWoken will get set to pdTRUE, otherwise *pxTaskWoken will + * remain unchanged. + * + * @return pdTRUE if an item was successfully received from the queue, + * otherwise pdFALSE. + * + * Example usage: + <pre> + + xQueueHandle xQueue; + + // Function to create a queue and post some values. + void vAFunction( void *pvParameters ) + { + portCHAR cValueToPost; + const portTickType xBlockTime = ( portTickType )0xff; + + // Create a queue capable of containing 10 characters. + xQueue = xQueueCreate( 10, sizeof( portCHAR ) ); + if( xQueue == 0 ) + { + // Failed to create the queue. + } + + // ... + + // Post some characters that will be used within an ISR. If the queue + // is full then this task will block for xBlockTime ticks. + cValueToPost = 'a'; + xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime ); + cValueToPost = 'b'; + xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime ); + + // ... keep posting characters ... this task may block when the queue + // becomes full. + + cValueToPost = 'c'; + xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime ); + } + + // ISR that outputs all the characters received on the queue. + void vISR_Routine( void ) + { + portBASE_TYPE xTaskWokenByReceive = pdFALSE; + portCHAR cRxedChar; + + while( xQueueReceiveFromISR( xQueue, ( void * ) &cRxedChar, &xTaskWokenByReceive) ) + { + // A character was received. Output the character now. + vOutputCharacter( cRxedChar ); + + // If removing the character from the queue woke the task that was + // posting onto the queue cTaskWokenByReceive will have been set to + // pdTRUE. No matter how many times this loop iterates only one + // task will be woken. + } + + if( cTaskWokenByPost != ( portCHAR ) pdFALSE; + { + taskYIELD (); + } + } + </pre> + * \defgroup xQueueReceiveFromISR xQueueReceiveFromISR + * \ingroup QueueManagement + */ +signed portBASE_TYPE xQueueReceiveFromISR (xQueueHandle pxQueue, + void *pvBuffer, + signed portBASE_TYPE * + pxTaskWoken); + + +/* + * The functions defined above are for passing data to and from tasks. The + * functions below are the equivalents for passing data to and from + * co-rtoutines. + * + * These functions are called from the co-routine macro implementation and + * should not be called directly from application code. Instead use the macro + * wrappers defined within croutine.h. + */ +signed portBASE_TYPE xQueueCRSendFromISR (xQueueHandle pxQueue, + const void *pvItemToQueue, + signed portBASE_TYPE + xCoRoutinePreviouslyWoken); +signed portBASE_TYPE xQueueCRReceiveFromISR (xQueueHandle pxQueue, + void *pvBuffer, + signed portBASE_TYPE * + pxTaskWoken); +signed portBASE_TYPE xQueueCRSend (xQueueHandle pxQueue, + const void *pvItemToQueue, + portTickType xTicksToWait); +signed portBASE_TYPE xQueueCRReceive (xQueueHandle pxQueue, void *pvBuffer, + portTickType xTicksToWait); + +#endif diff --git a/openpicc/os/core/include/semphr.h b/openpicc/os/core/include/semphr.h new file mode 100644 index 0000000..acdd022 --- /dev/null +++ b/openpicc/os/core/include/semphr.h @@ -0,0 +1,291 @@ +/* + FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + See http://www.FreeRTOS.org for documentation, latest information, license + and contact details. Please ensure to read the configuration and relevant + port sections of the online documentation. + + Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along + with commercial development and support options. + *************************************************************************** +*/ + +#include "queue.h" + +#ifndef SEMAPHORE_H +#define SEMAPHORE_H + +typedef xQueueHandle xSemaphoreHandle; + +#define semBINARY_SEMAPHORE_QUEUE_LENGTH ( ( unsigned portCHAR ) 1 ) +#define semSEMAPHORE_QUEUE_ITEM_LENGTH ( ( unsigned portCHAR ) 0 ) +#define semGIVE_BLOCK_TIME ( ( portTickType ) 0 ) + + +/** + * semphr. h + * <pre>vSemaphoreCreateBinary( xSemaphoreHandle xSemaphore )</pre> + * + * <i>Macro</i> that implements a semaphore by using the existing queue mechanism. + * The queue length is 1 as this is a binary semaphore. The data size is 0 + * as we don't want to actually store any data - we just want to know if the + * queue is empty or full. + * + * @param xSemaphore Handle to the created semaphore. Should be of type xSemaphoreHandle. + * + * Example usage: + <pre> + xSemaphoreHandle xSemaphore; + + void vATask( void * pvParameters ) + { + // Semaphore cannot be used before a call to vSemaphoreCreateBinary (). + // This is a macro so pass the variable in directly. + vSemaphoreCreateBinary( xSemaphore ); + + if( xSemaphore != NULL ) + { + // The semaphore was created successfully. + // The semaphore can now be used. + } + } + </pre> + * \defgroup vSemaphoreCreateBinary vSemaphoreCreateBinary + * \ingroup Semaphores + */ +#define vSemaphoreCreateBinary( xSemaphore ) { \ + xSemaphore = xQueueCreate( ( unsigned portCHAR ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH ); \ + if( xSemaphore != NULL ) \ + { \ + xSemaphoreGive( xSemaphore ); \ + } \ + } + +/** + * semphr. h + * xSemaphoreTake( + * xSemaphoreHandle xSemaphore, + * portTickType xBlockTime + * )</pre> + * + * <i>Macro</i> to obtain a semaphore. The semaphore must of been created using + * vSemaphoreCreateBinary (). + * + * @param xSemaphore A handle to the semaphore being obtained. This is the + * handle returned by vSemaphoreCreateBinary (); + * + * @param xBlockTime The time in ticks to wait for the semaphore to become + * available. The macro portTICK_RATE_MS can be used to convert this to a + * real time. A block time of zero can be used to poll the semaphore. + * + * @return pdTRUE if the semaphore was obtained. pdFALSE if xBlockTime + * expired without the semaphore becoming available. + * + * Example usage: + <pre> + xSemaphoreHandle xSemaphore = NULL; + + // A task that creates a semaphore. + void vATask( void * pvParameters ) + { + // Create the semaphore to guard a shared resource. + vSemaphoreCreateBinary( xSemaphore ); + } + + // A task that uses the semaphore. + void vAnotherTask( void * pvParameters ) + { + // ... Do other things. + + if( xSemaphore != NULL ) + { + // See if we can obtain the semaphore. If the semaphore is not available + // wait 10 ticks to see if it becomes free. + if( xSemaphoreTake( xSemaphore, ( portTickType ) 10 ) == pdTRUE ) + { + // We were able to obtain the semaphore and can now access the + // shared resource. + + // ... + + // We have finished accessing the shared resource. Release the + // semaphore. + xSemaphoreGive( xSemaphore ); + } + else + { + // We could not obtain the semaphore and can therefore not access + // the shared resource safely. + } + } + } + </pre> + * \defgroup xSemaphoreTake xSemaphoreTake + * \ingroup Semaphores + */ +#define xSemaphoreTake( xSemaphore, xBlockTime ) xQueueReceive( ( xQueueHandle ) xSemaphore, NULL, xBlockTime ) + +/** + * semphr. h + * <pre>xSemaphoreGive( xSemaphoreHandle xSemaphore )</pre> + * + * <i>Macro</i> to release a semaphore. The semaphore must of been created using + * vSemaphoreCreateBinary (), and obtained using sSemaphoreTake (). + * + * This must not be used from an ISR. See xSemaphoreGiveFromISR () for + * an alternative which can be used from an ISR. + * + * @param xSemaphore A handle to the semaphore being released. This is the + * handle returned by vSemaphoreCreateBinary (); + * + * @return pdTRUE if the semaphore was released. pdFALSE if an error occurred. + * Semaphores are implemented using queues. An error can occur if there is + * no space on the queue to post a message - indicating that the + * semaphore was not first obtained correctly. + * + * Example usage: + <pre> + xSemaphoreHandle xSemaphore = NULL; + + void vATask( void * pvParameters ) + { + // Create the semaphore to guard a shared resource. + vSemaphoreCreateBinary( xSemaphore ); + + if( xSemaphore != NULL ) + { + if( xSemaphoreGive( xSemaphore ) != pdTRUE ) + { + // We would expect this call to fail because we cannot give + // a semaphore without first "taking" it! + } + + // Obtain the semaphore - don't block if the semaphore is not + // immediately available. + if( xSemaphoreTake( xSemaphore, ( portTickType ) 0 ) ) + { + // We now have the semaphore and can access the shared resource. + + // ... + + // We have finished accessing the shared resource so can free the + // semaphore. + if( xSemaphoreGive( xSemaphore ) != pdTRUE ) + { + // We would not expect this call to fail because we must have + // obtained the semaphore to get here. + } + } + } + } + </pre> + * \defgroup xSemaphoreGive xSemaphoreGive + * \ingroup Semaphores + */ +#define xSemaphoreGive( xSemaphore ) xQueueSend( ( xQueueHandle ) xSemaphore, NULL, semGIVE_BLOCK_TIME ) + +/** + * semphr. h + * <pre> + xSemaphoreGiveFromISR( + xSemaphoreHandle xSemaphore, + portSHORT sTaskPreviouslyWoken + )</pre> + * + * <i>Macro</i> to release a semaphore. The semaphore must of been created using + * vSemaphoreCreateBinary (), and obtained using xSemaphoreTake (). + * + * This macro can be used from an ISR. + * + * @param xSemaphore A handle to the semaphore being released. This is the + * handle returned by vSemaphoreCreateBinary (); + * + * @param sTaskPreviouslyWoken This is included so an ISR can make multiple calls + * to xSemaphoreGiveFromISR () from a single interrupt. The first call + * should always pass in pdFALSE. Subsequent calls should pass in + * the value returned from the previous call. See the file serial .c in the + * PC port for a good example of using xSemaphoreGiveFromISR (). + * + * @return pdTRUE if a task was woken by releasing the semaphore. This is + * used by the ISR to determine if a context switch may be required following + * the ISR. + * + * Example usage: + <pre> + #define LONG_TIME 0xffff + #define TICKS_TO_WAIT 10 + xSemaphoreHandle xSemaphore = NULL; + + // Repetitive task. + void vATask( void * pvParameters ) + { + for( ;; ) + { + // We want this task to run every 10 ticks or a timer. The semaphore + // was created before this task was started + + // Block waiting for the semaphore to become available. + if( xSemaphoreTake( xSemaphore, LONG_TIME ) == pdTRUE ) + { + // It is time to execute. + + // ... + + // We have finished our task. Return to the top of the loop where + // we will block on the semaphore until it is time to execute + // again. + } + } + } + + // Timer ISR + void vTimerISR( void * pvParameters ) + { + static unsigned portCHAR ucLocalTickCount = 0; + + // A timer tick has occurred. + + // ... Do other time functions. + + // Is it time for vATask () to run? + ucLocalTickCount++; + if( ucLocalTickCount >= TICKS_TO_WAIT ) + { + // Unblock the task by releasing the semaphore. + xSemaphoreGive( xSemaphore ); + + // Reset the count so we release the semaphore again in 10 ticks time. + ucLocalTickCount = 0; + } + } + </pre> + * \defgroup xSemaphoreGiveFromISR xSemaphoreGiveFromISR + * \ingroup Semaphores + */ +#define xSemaphoreGiveFromISR( xSemaphore, xTaskPreviouslyWoken ) xQueueSendFromISR( ( xQueueHandle ) xSemaphore, NULL, xTaskPreviouslyWoken ) + + +#endif diff --git a/openpicc/os/core/include/serial.h b/openpicc/os/core/include/serial.h new file mode 100644 index 0000000..58c7a5f --- /dev/null +++ b/openpicc/os/core/include/serial.h @@ -0,0 +1,116 @@ +/* + FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + See http://www.FreeRTOS.org for documentation, latest information, license + and contact details. Please ensure to read the configuration and relevant + port sections of the online documentation. + + Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along + with commercial development and support options. + *************************************************************************** +*/ + +#ifndef SERIAL_COMMS_H +#define SERIAL_COMMS_H + +typedef void *xComPortHandle; + +typedef enum +{ + serCOM1, + serCOM2, + serCOM3, + serCOM4, + serCOM5, + serCOM6, + serCOM7, + serCOM8 +} eCOMPort; + +typedef enum +{ + serNO_PARITY, + serODD_PARITY, + serEVEN_PARITY, + serMARK_PARITY, + serSPACE_PARITY +} eParity; + +typedef enum +{ + serSTOP_1, + serSTOP_2 +} eStopBits; + +typedef enum +{ + serBITS_5, + serBITS_6, + serBITS_7, + serBITS_8 +} eDataBits; + +typedef enum +{ + ser50, + ser75, + ser110, + ser134, + ser150, + ser200, + ser300, + ser600, + ser1200, + ser1800, + ser2400, + ser4800, + ser9600, + ser19200, + ser38400, + ser57600, + ser115200 +} eBaud; + +xComPortHandle xSerialPortInitMinimal (unsigned portLONG ulWantedBaud, + unsigned portBASE_TYPE uxQueueLength); +xComPortHandle xSerialPortInit (eCOMPort ePort, eBaud eWantedBaud, + eParity eWantedParity, + eDataBits eWantedDataBits, + eStopBits eWantedStopBits, + unsigned portBASE_TYPE uxBufferLength); +void vSerialPutString (xComPortHandle pxPort, + const signed portCHAR * const pcString, + unsigned portSHORT usStringLength); +signed portBASE_TYPE xSerialGetChar (xComPortHandle pxPort, + signed portCHAR * pcRxedChar, + portTickType xBlockTime); +signed portBASE_TYPE xSerialPutChar (xComPortHandle pxPort, + signed portCHAR cOutChar, + portTickType xBlockTime); +portBASE_TYPE xSerialWaitForSemaphore (xComPortHandle xPort); +void vSerialClose (xComPortHandle xPort); + +#endif diff --git a/openpicc/os/core/include/task.h b/openpicc/os/core/include/task.h new file mode 100644 index 0000000..3d01c53 --- /dev/null +++ b/openpicc/os/core/include/task.h @@ -0,0 +1,960 @@ +/* + FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + See http://www.FreeRTOS.org for documentation, latest information, license + and contact details. Please ensure to read the configuration and relevant + port sections of the online documentation. + + Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along + with commercial development and support options. + *************************************************************************** +*/ + +#ifndef TASK_H +#define TASK_H + +#include "portable.h" +#include "list.h" + +/*----------------------------------------------------------- + * MACROS AND DEFINITIONS + *----------------------------------------------------------*/ + +#define tskKERNEL_VERSION_NUMBER "V4.2.1" + +/** + * task. h + * + * Type by which tasks are referenced. For example, a call to xTaskCreate + * returns (via a pointer parameter) an xTaskHandle variable that can then + * be used as a parameter to vTaskDelete to delete the task. + * + * \page xTaskHandle xTaskHandle + * \ingroup Tasks + */ +typedef void *xTaskHandle; + +/* + * Used internally only. + */ +typedef struct xTIME_OUT +{ + portBASE_TYPE xOverflowCount; + portTickType xTimeOnEntering; +} xTimeOutType; + +/* + * Defines the priority used by the idle task. This must not be modified. + * + * \ingroup TaskUtils + */ +#define tskIDLE_PRIORITY ( ( unsigned portBASE_TYPE ) 0 ) + +/** + * task. h + * + * Macro for forcing a context switch. + * + * \page taskYIELD taskYIELD + * \ingroup SchedulerControl + */ +#define taskYIELD() portYIELD() + +/** + * task. h + * + * Macro to mark the start of a critical code region. Preemptive context + * switches cannot occur when in a critical region. + * + * NOTE: This may alter the stack (depending on the portable implementation) + * so must be used with care! + * + * \page taskENTER_CRITICAL taskENTER_CRITICAL + * \ingroup SchedulerControl + */ +#define taskENTER_CRITICAL() portENTER_CRITICAL() + +/** + * task. h + * + * Macro to mark the end of a critical code region. Preemptive context + * switches cannot occur when in a critical region. + * + * NOTE: This may alter the stack (depending on the portable implementation) + * so must be used with care! + * + * \page taskEXIT_CRITICAL taskEXIT_CRITICAL + * \ingroup SchedulerControl + */ +#define taskEXIT_CRITICAL() portEXIT_CRITICAL() + +/** + * task. h + * + * Macro to disable all maskable interrupts. + * + * \page taskDISABLE_INTERRUPTS taskDISABLE_INTERRUPTS + * \ingroup SchedulerControl + */ +#define taskDISABLE_INTERRUPTS() portDISABLE_INTERRUPTS() + +/** + * task. h + * + * Macro to enable microcontroller interrupts. + * + * \page taskENABLE_INTERRUPTS taskENABLE_INTERRUPTS + * \ingroup SchedulerControl + */ +#define taskENABLE_INTERRUPTS() portENABLE_INTERRUPTS() + + +/*----------------------------------------------------------- + * TASK CREATION API + *----------------------------------------------------------*/ + +/** + * task. h + *<pre> + portBASE_TYPE xTaskCreate( + pdTASK_CODE pvTaskCode, + const portCHAR * const pcName, + unsigned portSHORT usStackDepth, + void *pvParameters, + unsigned portBASE_TYPE uxPriority, + xTaskHandle *pvCreatedTask + );</pre> + * + * Create a new task and add it to the list of tasks that are ready to run. + * + * @param pvTaskCode Pointer to the task entry function. Tasks + * must be implemented to never return (i.e. continuous loop). + * + * @param pcName A descriptive name for the task. This is mainly used to + * facilitate debugging. Max length defined by tskMAX_TASK_NAME_LEN - default + * is 16. + * + * @param usStackDepth The size of the task stack specified as the number of + * variables the stack can hold - not the number of bytes. For example, if + * the stack is 16 bits wide and usStackDepth is defined as 100, 200 bytes + * will be allocated for stack storage. + * + * @param pvParameters Pointer that will be used as the parameter for the task + * being created. + * + * @param uxPriority The priority at which the task should run. + * + * @param pvCreatedTask Used to pass back a handle by which the created task + * can be referenced. + * + * @return pdPASS if the task was successfully created and added to a ready + * list, otherwise an error code defined in the file errors. h + * + * Example usage: + <pre> + // Task to be created. + void vTaskCode( void * pvParameters ) + { + for( ;; ) + { + // Task code goes here. + } + } + + // Function that creates a task. + void vOtherFunction( void ) + { + unsigned char ucParameterToPass; + xTaskHandle xHandle; + + // Create the task, storing the handle. + xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle ); + + // Use the handle to delete the task. + vTaskDelete( xHandle ); + } + </pre> + * \defgroup xTaskCreate xTaskCreate + * \ingroup Tasks + */ +signed portBASE_TYPE xTaskCreate (pdTASK_CODE pvTaskCode, + const signed portCHAR * const pcName, + unsigned portSHORT usStackDepth, + void *pvParameters, + unsigned portBASE_TYPE uxPriority, + xTaskHandle * pvCreatedTask); + +/** + * task. h + * <pre>void vTaskDelete( xTaskHandle pxTask );</pre> + * + * INCLUDE_vTaskDelete must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Remove a task from the RTOS real time kernels management. The task being + * deleted will be removed from all ready, blocked, suspended and event lists. + * + * NOTE: The idle task is responsible for freeing the kernel allocated + * memory from tasks that have been deleted. It is therefore important that + * the idle task is not starved of microcontroller processing time if your + * application makes any calls to vTaskDelete (). Memory allocated by the + * task code is not automatically freed, and should be freed before the task + * is deleted. + * + * See the demo application file death.c for sample code that utilises + * vTaskDelete (). + * + * @param pxTask The handle of the task to be deleted. Passing NULL will + * cause the calling task to be deleted. + * + * Example usage: + <pre> + void vOtherFunction( void ) + { + xTaskHandle xHandle; + + // Create the task, storing the handle. + xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle ); + + // Use the handle to delete the task. + vTaskDelete( xHandle ); + } + </pre> + * \defgroup vTaskDelete vTaskDelete + * \ingroup Tasks + */ +void vTaskDelete (xTaskHandle pxTask); + + +/*----------------------------------------------------------- + * TASK CONTROL API + *----------------------------------------------------------*/ + +/** + * task. h + * <pre>void vTaskDelay( portTickType xTicksToDelay );</pre> + * + * Delay a task for a given number of ticks. The actual time that the + * task remains blocked depends on the tick rate. The constant + * portTICK_RATE_MS can be used to calculate real time from the tick + * rate - with the resolution of one tick period. + * + * INCLUDE_vTaskDelay must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * @param xTicksToDelay The amount of time, in tick periods, that + * the calling task should block. + * + * Example usage: + <pre> + // Wait 10 ticks before performing an action. + // NOTE: + // This is for demonstration only and would be better achieved + // using vTaskDelayUntil (). + void vTaskFunction( void * pvParameters ) + { + portTickType xDelay, xNextTime; + + // Calc the time at which we want to perform the action + // next. + xNextTime = xTaskGetTickCount () + ( portTickType ) 10; + + for( ;; ) + { + xDelay = xNextTime - xTaskGetTickCount (); + xNextTime += ( portTickType ) 10; + + // Guard against overflow + if( xDelay <= ( portTickType ) 10 ) + { + vTaskDelay( xDelay ); + } + + // Perform action here. + } + } + </pre> + * \defgroup vTaskDelay vTaskDelay + * \ingroup TaskCtrl + */ +void vTaskDelay (portTickType xTicksToDelay); + +/** + * task. h + * <pre>void vTaskDelayUntil( portTickType *pxPreviousWakeTime, portTickType xTimeIncrement );</pre> + * + * INCLUDE_vTaskDelayUntil must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Delay a task until a specified time. This function can be used by cyclical + * tasks to ensure a constant execution frequency. + * + * This function differs from vTaskDelay () in one important aspect: vTaskDelay () will + * cause a task to block for the specified number of ticks from the time vTaskDelay () is + * called. It is therefore difficult to use vTaskDelay () by itself to generate a fixed + * execution frequency as the time between a task starting to execute and that task + * calling vTaskDelay () may not be fixed [the task may take a different path though the + * code between calls, or may get interrupted or preempted a different number of times + * each time it executes]. + * + * Whereas vTaskDelay () specifies a wake time relative to the time at which the function + * is called, vTaskDelayUntil () specifies the absolute (exact) time at which it wishes to + * unblock. + * + * The constant portTICK_RATE_MS can be used to calculate real time from the tick + * rate - with the resolution of one tick period. + * + * @param pxPreviousWakeTime Pointer to a variable that holds the time at which the + * task was last unblocked. The variable must be initialised with the current time + * prior to its first use (see the example below). Following this the variable is + * automatically updated within vTaskDelayUntil (). + * + * @param xTimeIncrement The cycle time period. The task will be unblocked at + * time *pxPreviousWakeTime + xTimeIncrement. Calling vTaskDelayUntil with the + * same xTimeIncrement parameter value will cause the task to execute with + * a fixed interface period. + * + * Example usage: + <pre> + // Perform an action every 10 ticks. + void vTaskFunction( void * pvParameters ) + { + portTickType xLastWakeTime; + const portTickType xFrequency = 10; + + // Initialise the xLastWakeTime variable with the current time. + xLastWakeTime = xTaskGetTickCount (); + for( ;; ) + { + // Wait for the next cycle. + vTaskDelayUntil( &xLastWakeTime, xFrequency ); + + // Perform action here. + } + } + </pre> + * \defgroup vTaskDelayUntil vTaskDelayUntil + * \ingroup TaskCtrl + */ +void vTaskDelayUntil (portTickType * pxPreviousWakeTime, + portTickType xTimeIncrement); + +/** + * task. h + * <pre>unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask );</pre> + * + * INCLUDE_xTaskPriorityGet must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Obtain the priority of any task. + * + * @param pxTask Handle of the task to be queried. Passing a NULL + * handle results in the priority of the calling task being returned. + * + * @return The priority of pxTask. + * + * Example usage: + <pre> + void vAFunction( void ) + { + xTaskHandle xHandle; + + // Create a task, storing the handle. + xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle ); + + // ... + + // Use the handle to obtain the priority of the created task. + // It was created with tskIDLE_PRIORITY, but may have changed + // it itself. + if( uxTaskPriorityGet( xHandle ) != tskIDLE_PRIORITY ) + { + // The task has changed it's priority. + } + + // ... + + // Is our priority higher than the created task? + if( uxTaskPriorityGet( xHandle ) < uxTaskPriorityGet( NULL ) ) + { + // Our priority (obtained using NULL handle) is higher. + } + } + </pre> + * \defgroup uxTaskPriorityGet uxTaskPriorityGet + * \ingroup TaskCtrl + */ +unsigned portBASE_TYPE uxTaskPriorityGet (xTaskHandle pxTask); + +/** + * task. h + * <pre>void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority );</pre> + * + * INCLUDE_vTaskPrioritySet must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Set the priority of any task. + * + * A context switch will occur before the function returns if the priority + * being set is higher than the currently executing task. + * + * @param pxTask Handle to the task for which the priority is being set. + * Passing a NULL handle results in the priority of the calling task being set. + * + * @param uxNewPriority The priority to which the task will be set. + * + * Example usage: + <pre> + void vAFunction( void ) + { + xTaskHandle xHandle; + + // Create a task, storing the handle. + xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle ); + + // ... + + // Use the handle to raise the priority of the created task. + vTaskPrioritySet( xHandle, tskIDLE_PRIORITY + 1 ); + + // ... + + // Use a NULL handle to raise our priority to the same value. + vTaskPrioritySet( NULL, tskIDLE_PRIORITY + 1 ); + } + </pre> + * \defgroup vTaskPrioritySet vTaskPrioritySet + * \ingroup TaskCtrl + */ +void vTaskPrioritySet (xTaskHandle pxTask, + unsigned portBASE_TYPE uxNewPriority); + +/** + * task. h + * <pre>void vTaskSuspend( xTaskHandle pxTaskToSuspend );</pre> + * + * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Suspend any task. When suspended a task will never get any microcontroller + * processing time, no matter what its priority. + * + * Calls to vTaskSuspend are not accumulative - + * i.e. calling vTaskSuspend () twice on the same task still only requires one + * call to vTaskResume () to ready the suspended task. + * + * @param pxTaskToSuspend Handle to the task being suspended. Passing a NULL + * handle will cause the calling task to be suspended. + * + * Example usage: + <pre> + void vAFunction( void ) + { + xTaskHandle xHandle; + + // Create a task, storing the handle. + xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle ); + + // ... + + // Use the handle to suspend the created task. + vTaskSuspend( xHandle ); + + // ... + + // The created task will not run during this period, unless + // another task calls vTaskResume( xHandle ). + + //... + + + // Suspend ourselves. + vTaskSuspend( NULL ); + + // We cannot get here unless another task calls vTaskResume + // with our handle as the parameter. + } + </pre> + * \defgroup vTaskSuspend vTaskSuspend + * \ingroup TaskCtrl + */ +void vTaskSuspend (xTaskHandle pxTaskToSuspend); + +/** + * task. h + * <pre>void vTaskResume( xTaskHandle pxTaskToResume );</pre> + * + * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Resumes a suspended task. + * + * A task that has been suspended by one of more calls to vTaskSuspend () + * will be made available for running again by a single call to + * vTaskResume (). + * + * @param pxTaskToResume Handle to the task being readied. + * + * Example usage: + <pre> + void vAFunction( void ) + { + xTaskHandle xHandle; + + // Create a task, storing the handle. + xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle ); + + // ... + + // Use the handle to suspend the created task. + vTaskSuspend( xHandle ); + + // ... + + // The created task will not run during this period, unless + // another task calls vTaskResume( xHandle ). + + //... + + + // Resume the suspended task ourselves. + vTaskResume( xHandle ); + + // The created task will once again get microcontroller processing + // time in accordance with it priority within the system. + } + </pre> + * \defgroup vTaskResume vTaskResume + * \ingroup TaskCtrl + */ +void vTaskResume (xTaskHandle pxTaskToResume); + +/** + * task. h + * <pre>void xTaskResumeFromISR( xTaskHandle pxTaskToResume );</pre> + * + * INCLUDE_xTaskResumeFromISR must be defined as 1 for this function to be + * available. See the configuration section for more information. + * + * An implementation of vTaskResume() that can be called from within an ISR. + * + * A task that has been suspended by one of more calls to vTaskSuspend () + * will be made available for running again by a single call to + * xTaskResumeFromISR (). + * + * @param pxTaskToResume Handle to the task being readied. + * + * \defgroup vTaskResumeFromISR vTaskResumeFromISR + * \ingroup TaskCtrl + */ +portBASE_TYPE xTaskResumeFromISR (xTaskHandle pxTaskToResume); + +/*----------------------------------------------------------- + * SCHEDULER CONTROL + *----------------------------------------------------------*/ + +/** + * task. h + * <pre>void vTaskStartScheduler( void );</pre> + * + * Starts the real time kernel tick processing. After calling the kernel + * has control over which tasks are executed and when. This function + * does not return until an executing task calls vTaskEndScheduler (). + * + * At least one task should be created via a call to xTaskCreate () + * before calling vTaskStartScheduler (). The idle task is created + * automatically when the first application task is created. + * + * See the demo application file main.c for an example of creating + * tasks and starting the kernel. + * + * Example usage: + <pre> + void vAFunction( void ) + { + // Create at least one task before starting the kernel. + xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); + + // Start the real time kernel with preemption. + vTaskStartScheduler (); + + // Will not get here unless a task calls vTaskEndScheduler () + } + </pre> + * + * \defgroup vTaskStartScheduler vTaskStartScheduler + * \ingroup SchedulerControl + */ +void vTaskStartScheduler (void); + +/** + * task. h + * <pre>void vTaskEndScheduler( void );</pre> + * + * Stops the real time kernel tick. All created tasks will be automatically + * deleted and multitasking (either preemptive or cooperative) will + * stop. Execution then resumes from the point where vTaskStartScheduler () + * was called, as if vTaskStartScheduler () had just returned. + * + * See the demo application file main. c in the demo/PC directory for an + * example that uses vTaskEndScheduler (). + * + * vTaskEndScheduler () requires an exit function to be defined within the + * portable layer (see vPortEndScheduler () in port. c for the PC port). This + * performs hardware specific operations such as stopping the kernel tick. + * + * vTaskEndScheduler () will cause all of the resources allocated by the + * kernel to be freed - but will not free resources allocated by application + * tasks. + * + * Example usage: + <pre> + void vTaskCode( void * pvParameters ) + { + for( ;; ) + { + // Task code goes here. + + // At some point we want to end the real time kernel processing + // so call ... + vTaskEndScheduler (); + } + } + + void vAFunction( void ) + { + // Create at least one task before starting the kernel. + xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); + + // Start the real time kernel with preemption. + vTaskStartScheduler (); + + // Will only get here when the vTaskCode () task has called + // vTaskEndScheduler (). When we get here we are back to single task + // execution. + } + </pre> + * + * \defgroup vTaskEndScheduler vTaskEndScheduler + * \ingroup SchedulerControl + */ +void vTaskEndScheduler (void); + +/** + * task. h + * <pre>void vTaskSuspendAll( void );</pre> + * + * Suspends all real time kernel activity while keeping interrupts (including the + * kernel tick) enabled. + * + * After calling vTaskSuspendAll () the calling task will continue to execute + * without risk of being swapped out until a call to xTaskResumeAll () has been + * made. + * + * Example usage: + <pre> + void vTask1( void * pvParameters ) + { + for( ;; ) + { + // Task code goes here. + + // ... + + // At some point the task wants to perform a long operation during + // which it does not want to get swapped out. It cannot use + // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the + // operation may cause interrupts to be missed - including the + // ticks. + + // Prevent the real time kernel swapping out the task. + vTaskSuspendAll (); + + // Perform the operation here. There is no need to use critical + // sections as we have all the microcontroller processing time. + // During this time interrupts will still operate and the kernel + // tick count will be maintained. + + // ... + + // The operation is complete. Restart the kernel. + xTaskResumeAll (); + } + } + </pre> + * \defgroup vTaskSuspendAll vTaskSuspendAll + * \ingroup SchedulerControl + */ +void vTaskSuspendAll (void); + +/** + * task. h + * <pre>portCHAR xTaskResumeAll( void );</pre> + * + * Resumes real time kernel activity following a call to vTaskSuspendAll (). + * After a call to vTaskSuspendAll () the kernel will take control of which + * task is executing at any time. + * + * @return If resuming the scheduler caused a context switch then pdTRUE is + * returned, otherwise pdFALSE is returned. + * + * Example usage: + <pre> + void vTask1( void * pvParameters ) + { + for( ;; ) + { + // Task code goes here. + + // ... + + // At some point the task wants to perform a long operation during + // which it does not want to get swapped out. It cannot use + // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the + // operation may cause interrupts to be missed - including the + // ticks. + + // Prevent the real time kernel swapping out the task. + vTaskSuspendAll (); + + // Perform the operation here. There is no need to use critical + // sections as we have all the microcontroller processing time. + // During this time interrupts will still operate and the real + // time kernel tick count will be maintained. + + // ... + + // The operation is complete. Restart the kernel. We want to force + // a context switch - but there is no point if resuming the scheduler + // caused a context switch already. + if( !xTaskResumeAll () ) + { + taskYIELD (); + } + } + } + </pre> + * \defgroup xTaskResumeAll xTaskResumeAll + * \ingroup SchedulerControl + */ +signed portBASE_TYPE xTaskResumeAll (void); + + +/*----------------------------------------------------------- + * TASK UTILITIES + *----------------------------------------------------------*/ + +/** + * task. h + * <PRE>volatile portTickType xTaskGetTickCount( void );</PRE> + * + * @return The count of ticks since vTaskStartScheduler was called. + * + * \page xTaskGetTickCount xTaskGetTickCount + * \ingroup TaskUtils + */ +portTickType xTaskGetTickCount (void); + +/** + * task. h + * <PRE>unsigned portSHORT uxTaskGetNumberOfTasks( void );</PRE> + * + * @return The number of tasks that the real time kernel is currently managing. + * This includes all ready, blocked and suspended tasks. A task that + * has been deleted but not yet freed by the idle task will also be + * included in the count. + * + * \page uxTaskGetNumberOfTasks uxTaskGetNumberOfTasks + * \ingroup TaskUtils + */ +unsigned portBASE_TYPE uxTaskGetNumberOfTasks (void); + +/** + * task. h + * <PRE>void vTaskList( portCHAR *pcWriteBuffer );</PRE> + * + * configUSE_TRACE_FACILITY, INCLUDE_vTaskDelete and INCLUDE_vTaskSuspend + * must all be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * NOTE: This function will disable interrupts for its duration. It is + * not intended for normal application runtime use but as a debug aid. + * + * Lists all the current tasks, along with their current state and stack + * usage high water mark. + * + * Tasks are reported as blocked ('B'), ready ('R'), deleted ('D') or + * suspended ('S'). + * + * @param pcWriteBuffer A buffer into which the above mentioned details + * will be written, in ascii form. This buffer is assumed to be large + * enough to contain the generated report. Approximately 40 bytes per + * task should be sufficient. + * + * \page vTaskList vTaskList + * \ingroup TaskUtils + */ +void vTaskList (signed portCHAR * pcWriteBuffer); + +/** + * task. h + * <PRE>void vTaskStartTrace( portCHAR * pcBuffer, unsigned portBASE_TYPE uxBufferSize );</PRE> + * + * Starts a real time kernel activity trace. The trace logs the identity of + * which task is running when. + * + * The trace file is stored in binary format. A separate DOS utility called + * convtrce.exe is used to convert this into a tab delimited text file which + * can be viewed and plotted in a spread sheet. + * + * @param pcBuffer The buffer into which the trace will be written. + * + * @param ulBufferSize The size of pcBuffer in bytes. The trace will continue + * until either the buffer in full, or ulTaskEndTrace () is called. + * + * \page vTaskStartTrace vTaskStartTrace + * \ingroup TaskUtils + */ +void vTaskStartTrace (signed portCHAR * pcBuffer, + unsigned portLONG ulBufferSize); + +/** + * task. h + * <PRE>unsigned portLONG ulTaskEndTrace( void );</PRE> + * + * Stops a kernel activity trace. See vTaskStartTrace (). + * + * @return The number of bytes that have been written into the trace buffer. + * + * \page usTaskEndTrace usTaskEndTrace + * \ingroup TaskUtils + */ +unsigned portLONG ulTaskEndTrace (void); + + +/*----------------------------------------------------------- + * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES + *----------------------------------------------------------*/ + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY + * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS + * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * Called from the real time kernel tick (either preemptive or cooperative), + * this increments the tick count and checks if any tasks that are blocked + * for a finite period required removing from a blocked list and placing on + * a ready list. + */ +inline void vTaskIncrementTick (void); + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN + * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED. + * + * Removes the calling task from the ready list and places it both + * on the list of tasks waiting for a particular event, and the + * list of delayed tasks. The task will be removed from both lists + * and replaced on the ready list should either the event occur (and + * there be no higher priority tasks waiting on the same event) or + * the delay period expires. + * + * @param pxEventList The list containing tasks that are blocked waiting + * for the event to occur. + * + * @param xTicksToWait The maximum amount of time that the task should wait + * for the event to occur. This is specified in kernel ticks,the constant + * portTICK_RATE_MS can be used to convert kernel ticks into a real time + * period. + */ +void vTaskPlaceOnEventList (xList * pxEventList, portTickType xTicksToWait); + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN + * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED. + * + * Removes a task from both the specified event list and the list of blocked + * tasks, and places it on a ready queue. + * + * xTaskRemoveFromEventList () will be called if either an event occurs to + * unblock a task, or the block timeout period expires. + * + * @return pdTRUE if the task being removed has a higher priority than the task + * making the call, otherwise pdFALSE. + */ +signed portBASE_TYPE xTaskRemoveFromEventList (const xList * pxEventList); + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN + * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * INCLUDE_vTaskCleanUpResources and INCLUDE_vTaskSuspend must be defined as 1 + * for this function to be available. + * See the configuration section for more information. + * + * Empties the ready and delayed queues of task control blocks, freeing the + * memory allocated for the task control block and task stacks as it goes. + */ +void vTaskCleanUpResources (void); + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY + * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS + * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * Sets the pointer to the current TCB to the TCB of the highest priority task + * that is ready to run. + */ +inline void vTaskSwitchContext (void); + +/* + * Return the handle of the calling task. + */ +xTaskHandle xTaskGetCurrentTaskHandle (void); + +/* + * Capture the current time status for future reference. + */ +void vTaskSetTimeOutState (xTimeOutType * pxTimeOut); + +/* + * Compare the time status now with that previously captured to see if the + * timeout has expired. + */ +portBASE_TYPE xTaskCheckForTimeOut (xTimeOutType * pxTimeOut, + portTickType * pxTicksToWait); + +/* + * Shortcut used by the queue implementation to prevent unnecessary call to + * taskYIELD(); + */ +void vTaskMissedYield (void); + +#endif /* TASK_H */ |