copied over all of the custom pcb stuff and switched connectors + added PWM headers to the power board
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4029 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/gyro_board/src/usb/CommonDemoTasks/recmutex.c b/gyro_board/src/usb/CommonDemoTasks/recmutex.c
new file mode 100644
index 0000000..9d163d8
--- /dev/null
+++ b/gyro_board/src/usb/CommonDemoTasks/recmutex.c
@@ -0,0 +1,334 @@
+/*
+ FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.
+
+ ***************************************************************************
+ * *
+ * If you are: *
+ * *
+ * + New to FreeRTOS, *
+ * + Wanting to learn FreeRTOS or multitasking in general quickly *
+ * + Looking for basic training, *
+ * + Wanting to improve your FreeRTOS skills and productivity *
+ * *
+ * then take a look at the FreeRTOS eBook *
+ * *
+ * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
+ * http://www.FreeRTOS.org/Documentation *
+ * *
+ * A pdf reference manual is also available. Both are usually delivered *
+ * to your inbox within 20 minutes to two hours when purchased between 8am *
+ * and 8pm GMT (although please allow up to 24 hours in case of *
+ * exceptional circumstances). Thank you for your support! *
+ * *
+ ***************************************************************************
+
+ This file is part of the FreeRTOS distribution.
+
+ FreeRTOS is free software; you can redistribute it and/or modify it under
+ the terms of the GNU General Public License (version 2) as published by the
+ Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
+ ***NOTE*** The exception to the GPL is included to allow you to distribute
+ a combined work that includes FreeRTOS without being obliged to provide the
+ source code for proprietary components outside of the FreeRTOS kernel.
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details. You should have received a copy of the GNU General Public
+ License and the FreeRTOS license exception along with FreeRTOS; if not it
+ can be viewed here: http://www.freertos.org/a00114.html and also obtained
+ by writing to Richard Barry, contact details for whom are available on the
+ FreeRTOS WEB site.
+
+ 1 tab == 4 spaces!
+
+ http://www.FreeRTOS.org - Documentation, latest information, license and
+ contact details.
+
+ http://www.SafeRTOS.com - A version that is certified for use in safety
+ critical systems.
+
+ http://www.OpenRTOS.com - Commercial support, development, porting,
+ licensing and training services.
+*/
+
+/*
+ The tasks defined on this page demonstrate the use of recursive mutexes.
+
+ For recursive mutex functionality the created mutex should be created using
+ xSemaphoreCreateRecursiveMutex(), then be manipulated
+ using the xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() API
+ functions.
+
+ This demo creates three tasks all of which access the same recursive mutex:
+
+ prvRecursiveMutexControllingTask() has the highest priority so executes
+ first and grabs the mutex. It then performs some recursive accesses -
+ between each of which it sleeps for a short period to let the lower
+ priority tasks execute. When it has completed its demo functionality
+ it gives the mutex back before suspending itself.
+
+ prvRecursiveMutexBlockingTask() attempts to access the mutex by performing
+ a blocking 'take'. The blocking task has a lower priority than the
+ controlling task so by the time it executes the mutex has already been
+ taken by the controlling task, causing the blocking task to block. It
+ does not unblock until the controlling task has given the mutex back,
+ and it does not actually run until the controlling task has suspended
+ itself (due to the relative priorities). When it eventually does obtain
+ the mutex all it does is give the mutex back prior to also suspending
+ itself. At this point both the controlling task and the blocking task are
+ suspended.
+
+ prvRecursiveMutexPollingTask() runs at the idle priority. It spins round
+ a tight loop attempting to obtain the mutex with a non-blocking call. As
+ the lowest priority task it will not successfully obtain the mutex until
+ both the controlling and blocking tasks are suspended. Once it eventually
+ does obtain the mutex it first unsuspends both the controlling task and
+ blocking task prior to giving the mutex back - resulting in the polling
+ task temporarily inheriting the controlling tasks priority.
+*/
+
+/* Scheduler include files. */
+#include "FreeRTOS.h"
+#include "task.h"
+#include "semphr.h"
+
+/* Demo app include files. */
+#include "recmutex.h"
+
+/* Priorities assigned to the three tasks. */
+#define recmuCONTROLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
+#define recmuBLOCKING_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
+#define recmuPOLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 0 )
+
+/* The recursive call depth. */
+#define recmuMAX_COUNT ( 10 )
+
+/* Misc. */
+#define recmuSHORT_DELAY ( 20 / portTICK_RATE_MS )
+#define recmuNO_DELAY ( ( portTickType ) 0 )
+#define recmuTWO_TICK_DELAY ( ( portTickType ) 2 )
+
+/* The three tasks as described at the top of this file. */
+static void prvRecursiveMutexControllingTask(void *pvParameters);
+static void prvRecursiveMutexBlockingTask(void *pvParameters);
+static void prvRecursiveMutexPollingTask(void *pvParameters);
+
+/* The mutex used by the demo. */
+static xSemaphoreHandle xMutex;
+
+/* Variables used to detect and latch errors. */
+static volatile portBASE_TYPE xErrorOccurred = pdFALSE, xControllingIsSuspended = pdFALSE, xBlockingIsSuspended = pdFALSE;
+static volatile unsigned portBASE_TYPE uxControllingCycles = 0, uxBlockingCycles, uxPollingCycles = 0;
+
+/* Handles of the two higher priority tasks, required so they can be resumed
+(unsuspended). */
+static xTaskHandle xControllingTaskHandle, xBlockingTaskHandle;
+
+/*-----------------------------------------------------------*/
+
+void vStartRecursiveMutexTasks(void)
+{
+ /* Just creates the mutex and the three tasks. */
+
+ xMutex = xSemaphoreCreateRecursiveMutex();
+
+ /* vQueueAddToRegistry() adds the mutex to the registry, if one is
+ in use. The registry is provided as a means for kernel aware
+ debuggers to locate mutex and has no purpose if a kernel aware debugger
+ is not being used. The call to vQueueAddToRegistry() will be removed
+ by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
+ defined to be less than 1. */
+ vQueueAddToRegistry((xQueueHandle) xMutex, (signed portCHAR *) "Recursive_Mutex");
+
+
+ if (xMutex != NULL) {
+ xTaskCreate(prvRecursiveMutexControllingTask, (signed portCHAR *) "Rec1", configMINIMAL_STACK_SIZE, NULL, recmuCONTROLLING_TASK_PRIORITY, &xControllingTaskHandle);
+ xTaskCreate(prvRecursiveMutexBlockingTask, (signed portCHAR *) "Rec2", configMINIMAL_STACK_SIZE, NULL, recmuBLOCKING_TASK_PRIORITY, &xBlockingTaskHandle);
+ xTaskCreate(prvRecursiveMutexPollingTask, (signed portCHAR *) "Rec3", configMINIMAL_STACK_SIZE, NULL, recmuPOLLING_TASK_PRIORITY, NULL);
+ }
+}
+/*-----------------------------------------------------------*/
+
+static void prvRecursiveMutexControllingTask(void *pvParameters)
+{
+ unsigned portBASE_TYPE ux;
+
+ /* Just to remove compiler warning. */
+ (void) pvParameters;
+
+ for (;;) {
+ /* Should not be able to 'give' the mutex, as we have not yet 'taken'
+ it. */
+ if (xSemaphoreGiveRecursive(xMutex) == pdPASS) {
+ xErrorOccurred = pdTRUE;
+ }
+
+ for (ux = 0; ux < recmuMAX_COUNT; ux++) {
+ /* We should now be able to take the mutex as many times as
+ we like. A one tick delay is used so the polling task will
+ inherit our priority on all but the first cycle of this task.
+ If we did not block attempting to receive the mutex then no
+ priority inheritance would occur. */
+ if (xSemaphoreTakeRecursive(xMutex, recmuTWO_TICK_DELAY) != pdPASS) {
+ xErrorOccurred = pdTRUE;
+ }
+
+ /* Ensure the other task attempting to access the mutex (and the
+ other demo tasks) are able to execute. */
+ vTaskDelay(recmuSHORT_DELAY);
+ }
+
+ /* For each time we took the mutex, give it back. */
+ for (ux = 0; ux < recmuMAX_COUNT; ux++) {
+ /* Ensure the other task attempting to access the mutex (and the
+ other demo tasks) are able to execute. */
+ vTaskDelay(recmuSHORT_DELAY);
+
+ /* We should now be able to give the mutex as many times as we
+ took it. */
+ if (xSemaphoreGiveRecursive(xMutex) != pdPASS) {
+ xErrorOccurred = pdTRUE;
+ }
+ }
+
+ /* Having given it back the same number of times as it was taken, we
+ should no longer be the mutex owner, so the next give sh ould fail. */
+ if (xSemaphoreGiveRecursive(xMutex) == pdPASS) {
+ xErrorOccurred = pdTRUE;
+ }
+
+ /* Keep count of the number of cycles this task has performed so a
+ stall can be detected. */
+ uxControllingCycles++;
+
+ /* Suspend ourselves to the blocking task can execute. */
+ xControllingIsSuspended = pdTRUE;
+ vTaskSuspend(NULL);
+ xControllingIsSuspended = pdFALSE;
+ }
+}
+/*-----------------------------------------------------------*/
+
+static void prvRecursiveMutexBlockingTask(void *pvParameters)
+{
+ /* Just to remove compiler warning. */
+ (void) pvParameters;
+
+ for (;;) {
+ /* Attempt to obtain the mutex. We should block until the
+ controlling task has given up the mutex, and not actually execute
+ past this call until the controlling task is suspended. */
+ if (xSemaphoreTakeRecursive(xMutex, portMAX_DELAY) == pdPASS) {
+ if (xControllingIsSuspended != pdTRUE) {
+ /* Did not expect to execute until the controlling task was
+ suspended. */
+ xErrorOccurred = pdTRUE;
+ } else {
+ /* Give the mutex back before suspending ourselves to allow
+ the polling task to obtain the mutex. */
+ if (xSemaphoreGiveRecursive(xMutex) != pdPASS) {
+ xErrorOccurred = pdTRUE;
+ }
+
+ xBlockingIsSuspended = pdTRUE;
+ vTaskSuspend(NULL);
+ xBlockingIsSuspended = pdFALSE;
+ }
+ } else {
+ /* We should not leave the xSemaphoreTakeRecursive() function
+ until the mutex was obtained. */
+ xErrorOccurred = pdTRUE;
+ }
+
+ /* The controlling and blocking tasks should be in lock step. */
+ if (uxControllingCycles != (uxBlockingCycles + 1)) {
+ xErrorOccurred = pdTRUE;
+ }
+
+ /* Keep count of the number of cycles this task has performed so a
+ stall can be detected. */
+ uxBlockingCycles++;
+ }
+}
+/*-----------------------------------------------------------*/
+
+static void prvRecursiveMutexPollingTask(void *pvParameters)
+{
+ /* Just to remove compiler warning. */
+ (void) pvParameters;
+
+ for (;;) {
+ /* Keep attempting to obtain the mutex. We should only obtain it when
+ the blocking task has suspended itself. */
+ if (xSemaphoreTakeRecursive(xMutex, recmuNO_DELAY) == pdPASS) {
+ /* Is the blocking task suspended? */
+ if (xBlockingIsSuspended != pdTRUE) {
+ xErrorOccurred = pdTRUE;
+ } else {
+ /* Keep count of the number of cycles this task has performed so
+ a stall can be detected. */
+ uxPollingCycles++;
+
+ /* We can resume the other tasks here even though they have a
+ higher priority than the polling task. When they execute they
+ will attempt to obtain the mutex but fail because the polling
+ task is still the mutex holder. The polling task (this task)
+ will then inherit the higher priority. */
+ vTaskResume(xBlockingTaskHandle);
+ vTaskResume(xControllingTaskHandle);
+
+ /* Release the mutex, disinheriting the higher priority again. */
+ if (xSemaphoreGiveRecursive(xMutex) != pdPASS) {
+ xErrorOccurred = pdTRUE;
+ }
+ }
+ }
+
+#if configUSE_PREEMPTION == 0
+ {
+ taskYIELD();
+ }
+#endif
+ }
+}
+/*-----------------------------------------------------------*/
+
+/* This is called to check that all the created tasks are still running. */
+portBASE_TYPE xAreRecursiveMutexTasksStillRunning(void)
+{
+ portBASE_TYPE xReturn;
+ static unsigned portBASE_TYPE uxLastControllingCycles = 0, uxLastBlockingCycles = 0, uxLastPollingCycles = 0;
+
+ /* Is the controlling task still cycling? */
+ if (uxLastControllingCycles == uxControllingCycles) {
+ xErrorOccurred = pdTRUE;
+ } else {
+ uxLastControllingCycles = uxControllingCycles;
+ }
+
+ /* Is the blocking task still cycling? */
+ if (uxLastBlockingCycles == uxBlockingCycles) {
+ xErrorOccurred = pdTRUE;
+ } else {
+ uxLastBlockingCycles = uxBlockingCycles;
+ }
+
+ /* Is the polling task still cycling? */
+ if (uxLastPollingCycles == uxPollingCycles) {
+ xErrorOccurred = pdTRUE;
+ } else {
+ uxLastPollingCycles = uxPollingCycles;
+ }
+
+ if (xErrorOccurred == pdTRUE) {
+ xReturn = pdFAIL;
+ } else {
+ xReturn = pdTRUE;
+ }
+
+ return xReturn;
+}
+
+
+
+