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/semtest.c b/gyro_board/src/usb/CommonDemoTasks/semtest.c
new file mode 100644
index 0000000..055ed11
--- /dev/null
+++ b/gyro_board/src/usb/CommonDemoTasks/semtest.c
@@ -0,0 +1,263 @@
+/*
+ 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.
+*/
+
+/*
+ * Creates two sets of two tasks. The tasks within a set share a variable, access
+ * to which is guarded by a semaphore.
+ *
+ * Each task starts by attempting to obtain the semaphore. On obtaining a
+ * semaphore a task checks to ensure that the guarded variable has an expected
+ * value. It then clears the variable to zero before counting it back up to the
+ * expected value in increments of 1. After each increment the variable is checked
+ * to ensure it contains the value to which it was just set. When the starting
+ * value is again reached the task releases the semaphore giving the other task in
+ * the set a chance to do exactly the same thing. The starting value is high
+ * enough to ensure that a tick is likely to occur during the incrementing loop.
+ *
+ * An error is flagged if at any time during the process a shared variable is
+ * found to have a value other than that expected. Such an occurrence would
+ * suggest an error in the mutual exclusion mechanism by which access to the
+ * variable is restricted.
+ *
+ * The first set of two tasks poll their semaphore. The second set use blocking
+ * calls.
+ *
+ */
+
+
+#include <stdlib.h>
+
+/* Scheduler include files. */
+#include "FreeRTOS.h"
+#include "task.h"
+#include "semphr.h"
+
+/* Demo app include files. */
+#include "semtest.h"
+
+/* The value to which the shared variables are counted. */
+#define semtstBLOCKING_EXPECTED_VALUE ( ( unsigned long ) 0xfff )
+#define semtstNON_BLOCKING_EXPECTED_VALUE ( ( unsigned long ) 0xff )
+
+#define semtstSTACK_SIZE configMINIMAL_STACK_SIZE
+
+#define semtstNUM_TASKS ( 4 )
+
+#define semtstDELAY_FACTOR ( ( portTickType ) 10 )
+
+/* The task function as described at the top of the file. */
+static portTASK_FUNCTION_PROTO(prvSemaphoreTest, pvParameters);
+
+/* Structure used to pass parameters to each task. */
+typedef struct SEMAPHORE_PARAMETERS {
+ xSemaphoreHandle xSemaphore;
+ volatile unsigned long *pulSharedVariable;
+ portTickType xBlockTime;
+} xSemaphoreParameters;
+
+/* Variables used to check that all the tasks are still running without errors. */
+static volatile short sCheckVariables[ semtstNUM_TASKS ] = { 0 };
+static volatile short sNextCheckVariable = 0;
+
+/*-----------------------------------------------------------*/
+
+void vStartSemaphoreTasks(unsigned portBASE_TYPE uxPriority)
+{
+ xSemaphoreParameters *pxFirstSemaphoreParameters, *pxSecondSemaphoreParameters;
+ const portTickType xBlockTime = (portTickType) 100;
+
+ /* Create the structure used to pass parameters to the first two tasks. */
+ pxFirstSemaphoreParameters = (xSemaphoreParameters *) pvPortMalloc(sizeof(xSemaphoreParameters));
+
+ if (pxFirstSemaphoreParameters != NULL) {
+ /* Create the semaphore used by the first two tasks. */
+ vSemaphoreCreateBinary(pxFirstSemaphoreParameters->xSemaphore);
+
+ if (pxFirstSemaphoreParameters->xSemaphore != NULL) {
+ /* Create the variable which is to be shared by the first two tasks. */
+ pxFirstSemaphoreParameters->pulSharedVariable = (unsigned long *) pvPortMalloc(sizeof(unsigned long));
+
+ /* Initialise the share variable to the value the tasks expect. */
+ *(pxFirstSemaphoreParameters->pulSharedVariable) = semtstNON_BLOCKING_EXPECTED_VALUE;
+
+ /* The first two tasks do not block on semaphore calls. */
+ pxFirstSemaphoreParameters->xBlockTime = (portTickType) 0;
+
+ /* Spawn the first two tasks. As they poll they operate at the idle priority. */
+ xTaskCreate(prvSemaphoreTest, (signed char *) "PolSEM1", semtstSTACK_SIZE, (void *) pxFirstSemaphoreParameters, tskIDLE_PRIORITY, (xTaskHandle *) NULL);
+ xTaskCreate(prvSemaphoreTest, (signed char *) "PolSEM2", semtstSTACK_SIZE, (void *) pxFirstSemaphoreParameters, tskIDLE_PRIORITY, (xTaskHandle *) NULL);
+ }
+ }
+
+ /* Do exactly the same to create the second set of tasks, only this time
+ provide a block time for the semaphore calls. */
+ pxSecondSemaphoreParameters = (xSemaphoreParameters *) pvPortMalloc(sizeof(xSemaphoreParameters));
+ if (pxSecondSemaphoreParameters != NULL) {
+ vSemaphoreCreateBinary(pxSecondSemaphoreParameters->xSemaphore);
+
+ if (pxSecondSemaphoreParameters->xSemaphore != NULL) {
+ pxSecondSemaphoreParameters->pulSharedVariable = (unsigned long *) pvPortMalloc(sizeof(unsigned long));
+ *(pxSecondSemaphoreParameters->pulSharedVariable) = semtstBLOCKING_EXPECTED_VALUE;
+ pxSecondSemaphoreParameters->xBlockTime = xBlockTime / portTICK_RATE_MS;
+
+ xTaskCreate(prvSemaphoreTest, (signed char *) "BlkSEM1", semtstSTACK_SIZE, (void *) pxSecondSemaphoreParameters, uxPriority, (xTaskHandle *) NULL);
+ xTaskCreate(prvSemaphoreTest, (signed char *) "BlkSEM2", semtstSTACK_SIZE, (void *) pxSecondSemaphoreParameters, uxPriority, (xTaskHandle *) NULL);
+ }
+ }
+
+ /* vQueueAddToRegistry() adds the semaphore to the registry, if one is
+ in use. The registry is provided as a means for kernel aware
+ debuggers to locate semaphores 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) pxFirstSemaphoreParameters->xSemaphore, (signed char *) "Counting_Sem_1");
+ vQueueAddToRegistry((xQueueHandle) pxSecondSemaphoreParameters->xSemaphore, (signed char *) "Counting_Sem_2");
+}
+/*-----------------------------------------------------------*/
+
+static portTASK_FUNCTION(prvSemaphoreTest, pvParameters)
+{
+ xSemaphoreParameters *pxParameters;
+ volatile unsigned long *pulSharedVariable, ulExpectedValue;
+ unsigned long ulCounter;
+ short sError = pdFALSE, sCheckVariableToUse;
+
+ /* See which check variable to use. sNextCheckVariable is not semaphore
+ protected! */
+ portENTER_CRITICAL();
+ sCheckVariableToUse = sNextCheckVariable;
+ sNextCheckVariable++;
+ portEXIT_CRITICAL();
+
+ /* A structure is passed in as the parameter. This contains the shared
+ variable being guarded. */
+ pxParameters = (xSemaphoreParameters *) pvParameters;
+ pulSharedVariable = pxParameters->pulSharedVariable;
+
+ /* If we are blocking we use a much higher count to ensure loads of context
+ switches occur during the count. */
+ if (pxParameters->xBlockTime > (portTickType) 0) {
+ ulExpectedValue = semtstBLOCKING_EXPECTED_VALUE;
+ } else {
+ ulExpectedValue = semtstNON_BLOCKING_EXPECTED_VALUE;
+ }
+
+ for (;;) {
+ /* Try to obtain the semaphore. */
+ if (xSemaphoreTake(pxParameters->xSemaphore, pxParameters->xBlockTime) == pdPASS) {
+ /* We have the semaphore and so expect any other tasks using the
+ shared variable to have left it in the state we expect to find
+ it. */
+ if (*pulSharedVariable != ulExpectedValue) {
+ sError = pdTRUE;
+ }
+
+ /* Clear the variable, then count it back up to the expected value
+ before releasing the semaphore. Would expect a context switch or
+ two during this time. */
+ for (ulCounter = (unsigned long) 0; ulCounter <= ulExpectedValue; ulCounter++) {
+ *pulSharedVariable = ulCounter;
+ if (*pulSharedVariable != ulCounter) {
+ sError = pdTRUE;
+ }
+ }
+
+ /* Release the semaphore, and if no errors have occurred increment the check
+ variable. */
+ if (xSemaphoreGive(pxParameters->xSemaphore) == pdFALSE) {
+ sError = pdTRUE;
+ }
+
+ if (sError == pdFALSE) {
+ if (sCheckVariableToUse < semtstNUM_TASKS) {
+ (sCheckVariables[ sCheckVariableToUse ])++;
+ }
+ }
+
+ /* If we have a block time then we are running at a priority higher
+ than the idle priority. This task takes a long time to complete
+ a cycle (deliberately so to test the guarding) so will be starving
+ out lower priority tasks. Block for some time to allow give lower
+ priority tasks some processor time. */
+ vTaskDelay(pxParameters->xBlockTime * semtstDELAY_FACTOR);
+ } else {
+ if (pxParameters->xBlockTime == (portTickType) 0) {
+ /* We have not got the semaphore yet, so no point using the
+ processor. We are not blocking when attempting to obtain the
+ semaphore. */
+ taskYIELD();
+ }
+ }
+ }
+}
+/*-----------------------------------------------------------*/
+
+/* This is called to check that all the created tasks are still running. */
+portBASE_TYPE xAreSemaphoreTasksStillRunning(void)
+{
+ static short sLastCheckVariables[ semtstNUM_TASKS ] = { 0 };
+ portBASE_TYPE xTask, xReturn = pdTRUE;
+
+ for (xTask = 0; xTask < semtstNUM_TASKS; xTask++) {
+ if (sLastCheckVariables[ xTask ] == sCheckVariables[ xTask ]) {
+ xReturn = pdFALSE;
+ }
+
+ sLastCheckVariables[ xTask ] = sCheckVariables[ xTask ];
+ }
+
+ return xReturn;
+}
+
+