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/FreeRTOS/include/FreeRTOS.h b/gyro_board/src/usb/FreeRTOS/include/FreeRTOS.h
new file mode 100644
index 0000000..afbd505
--- /dev/null
+++ b/gyro_board/src/usb/FreeRTOS/include/FreeRTOS.h
@@ -0,0 +1,420 @@
+/*
+ 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.
+*/
+
+#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"
+
+
+/* Defines the prototype to which the application task hook function must
+conform. */
+typedef portBASE_TYPE(*pdTASK_HOOK_CODE)(void *);
+
+
+
+
+
+/*
+ * Check all the required application specific macros have been defined.
+ * These macros are application specific and (as downloaded) are defined
+ * within FreeRTOSConfig.h.
+ */
+
+#ifndef configUSE_PREEMPTION
+#error Missing definition: configUSE_PREEMPTION should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
+#endif
+
+#ifndef configUSE_IDLE_HOOK
+#error Missing definition: configUSE_IDLE_HOOK should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
+#endif
+
+#ifndef configUSE_TICK_HOOK
+#error Missing definition: configUSE_TICK_HOOK should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
+#endif
+
+#ifndef configUSE_CO_ROUTINES
+#error Missing definition: configUSE_CO_ROUTINES should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
+#endif
+
+#ifndef INCLUDE_vTaskPrioritySet
+#error Missing definition: INCLUDE_vTaskPrioritySet should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
+#endif
+
+#ifndef INCLUDE_uxTaskPriorityGet
+#error Missing definition: INCLUDE_uxTaskPriorityGet should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
+#endif
+
+#ifndef INCLUDE_vTaskDelete
+#error Missing definition: INCLUDE_vTaskDelete should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
+#endif
+
+#ifndef INCLUDE_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
+
+#ifndef configUSE_APPLICATION_TASK_TAG
+#define configUSE_APPLICATION_TASK_TAG 0
+#endif
+
+#ifndef INCLUDE_uxTaskGetStackHighWaterMark
+#define INCLUDE_uxTaskGetStackHighWaterMark 0
+#endif
+
+#ifndef configUSE_RECURSIVE_MUTEXES
+#define configUSE_RECURSIVE_MUTEXES 0
+#endif
+
+#ifndef configUSE_MUTEXES
+#define configUSE_MUTEXES 0
+#endif
+
+#ifndef configUSE_COUNTING_SEMAPHORES
+#define configUSE_COUNTING_SEMAPHORES 0
+#endif
+
+#ifndef configUSE_ALTERNATIVE_API
+#define configUSE_ALTERNATIVE_API 0
+#endif
+
+#ifndef portCRITICAL_NESTING_IN_TCB
+#define portCRITICAL_NESTING_IN_TCB 0
+#endif
+
+#ifndef configMAX_TASK_NAME_LEN
+#define configMAX_TASK_NAME_LEN 16
+#endif
+
+#ifndef configIDLE_SHOULD_YIELD
+#define configIDLE_SHOULD_YIELD 1
+#endif
+
+#if configMAX_TASK_NAME_LEN < 1
+#undef configMAX_TASK_NAME_LEN
+#define configMAX_TASK_NAME_LEN 1
+#endif
+
+#ifndef INCLUDE_xTaskResumeFromISR
+#define INCLUDE_xTaskResumeFromISR 1
+#endif
+
+#ifndef INCLUDE_xTaskGetSchedulerState
+#define INCLUDE_xTaskGetSchedulerState 0
+#endif
+
+#if ( configUSE_MUTEXES == 1 )
+/* xTaskGetCurrentTaskHandle is used by the priority inheritance mechanism
+within the mutex implementation so must be available if mutexes are used. */
+#undef INCLUDE_xTaskGetCurrentTaskHandle
+#define INCLUDE_xTaskGetCurrentTaskHandle 1
+#else
+#ifndef INCLUDE_xTaskGetCurrentTaskHandle
+#define INCLUDE_xTaskGetCurrentTaskHandle 0
+#endif
+#endif
+
+
+#ifndef portSET_INTERRUPT_MASK_FROM_ISR
+#define portSET_INTERRUPT_MASK_FROM_ISR() 0
+#endif
+
+#ifndef portCLEAR_INTERRUPT_MASK_FROM_ISR
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) uxSavedStatusValue
+#endif
+
+
+#ifndef configQUEUE_REGISTRY_SIZE
+#define configQUEUE_REGISTRY_SIZE 0
+#endif
+
+#if configQUEUE_REGISTRY_SIZE < 1
+#define configQUEUE_REGISTRY_SIZE 0
+#define vQueueAddToRegistry( xQueue, pcName )
+#define vQueueUnregisterQueue( xQueue )
+#endif
+
+
+/* Remove any unused trace macros. */
+#ifndef traceSTART
+/* Used to perform any necessary initialisation - for example, open a file
+into which trace is to be written. */
+#define traceSTART()
+#endif
+
+#ifndef traceEND
+/* Use to close a trace, for example close a file into which trace has been
+written. */
+#define traceEND()
+#endif
+
+#ifndef traceTASK_SWITCHED_IN
+/* Called after a task has been selected to run. pxCurrentTCB holds a pointer
+to the task control block of the selected task. */
+#define traceTASK_SWITCHED_IN()
+#endif
+
+#ifndef traceTASK_SWITCHED_OUT
+/* Called before a task has been selected to run. pxCurrentTCB holds a pointer
+to the task control block of the task being switched out. */
+#define traceTASK_SWITCHED_OUT()
+#endif
+
+#ifndef traceBLOCKING_ON_QUEUE_RECEIVE
+/* Task is about to block because it cannot read from a
+queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore
+upon which the read was attempted. pxCurrentTCB points to the TCB of the
+task that attempted the read. */
+#define traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue )
+#endif
+
+#ifndef traceBLOCKING_ON_QUEUE_SEND
+/* Task is about to block because it cannot write to a
+queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore
+upon which the write was attempted. pxCurrentTCB points to the TCB of the
+task that attempted the write. */
+#define traceBLOCKING_ON_QUEUE_SEND( pxQueue )
+#endif
+
+#ifndef configCHECK_FOR_STACK_OVERFLOW
+#define configCHECK_FOR_STACK_OVERFLOW 0
+#endif
+
+/* The following event macros are embedded in the kernel API calls. */
+
+#ifndef traceQUEUE_CREATE
+#define traceQUEUE_CREATE( pxNewQueue )
+#endif
+
+#ifndef traceQUEUE_CREATE_FAILED
+#define traceQUEUE_CREATE_FAILED()
+#endif
+
+#ifndef traceCREATE_MUTEX
+#define traceCREATE_MUTEX( pxNewQueue )
+#endif
+
+#ifndef traceCREATE_MUTEX_FAILED
+#define traceCREATE_MUTEX_FAILED()
+#endif
+
+#ifndef traceGIVE_MUTEX_RECURSIVE
+#define traceGIVE_MUTEX_RECURSIVE( pxMutex )
+#endif
+
+#ifndef traceGIVE_MUTEX_RECURSIVE_FAILED
+#define traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex )
+#endif
+
+#ifndef traceTAKE_MUTEX_RECURSIVE
+#define traceTAKE_MUTEX_RECURSIVE( pxMutex )
+#endif
+
+#ifndef traceCREATE_COUNTING_SEMAPHORE
+#define traceCREATE_COUNTING_SEMAPHORE()
+#endif
+
+#ifndef traceCREATE_COUNTING_SEMAPHORE_FAILED
+#define traceCREATE_COUNTING_SEMAPHORE_FAILED()
+#endif
+
+#ifndef traceQUEUE_SEND
+#define traceQUEUE_SEND( pxQueue )
+#endif
+
+#ifndef traceQUEUE_SEND_FAILED
+#define traceQUEUE_SEND_FAILED( pxQueue )
+#endif
+
+#ifndef traceQUEUE_RECEIVE
+#define traceQUEUE_RECEIVE( pxQueue )
+#endif
+
+#ifndef traceQUEUE_PEEK
+#define traceQUEUE_PEEK( pxQueue )
+#endif
+
+#ifndef traceQUEUE_RECEIVE_FAILED
+#define traceQUEUE_RECEIVE_FAILED( pxQueue )
+#endif
+
+#ifndef traceQUEUE_SEND_FROM_ISR
+#define traceQUEUE_SEND_FROM_ISR( pxQueue )
+#endif
+
+#ifndef traceQUEUE_SEND_FROM_ISR_FAILED
+#define traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue )
+#endif
+
+#ifndef traceQUEUE_RECEIVE_FROM_ISR
+#define traceQUEUE_RECEIVE_FROM_ISR( pxQueue )
+#endif
+
+#ifndef traceQUEUE_RECEIVE_FROM_ISR_FAILED
+#define traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue )
+#endif
+
+#ifndef traceQUEUE_DELETE
+#define traceQUEUE_DELETE( pxQueue )
+#endif
+
+#ifndef traceTASK_CREATE
+#define traceTASK_CREATE( pxNewTCB )
+#endif
+
+#ifndef traceTASK_CREATE_FAILED
+#define traceTASK_CREATE_FAILED( pxNewTCB )
+#endif
+
+#ifndef traceTASK_DELETE
+#define traceTASK_DELETE( pxTaskToDelete )
+#endif
+
+#ifndef traceTASK_DELAY_UNTIL
+#define traceTASK_DELAY_UNTIL()
+#endif
+
+#ifndef traceTASK_DELAY
+#define traceTASK_DELAY()
+#endif
+
+#ifndef traceTASK_PRIORITY_SET
+#define traceTASK_PRIORITY_SET( pxTask, uxNewPriority )
+#endif
+
+#ifndef traceTASK_SUSPEND
+#define traceTASK_SUSPEND( pxTaskToSuspend )
+#endif
+
+#ifndef traceTASK_RESUME
+#define traceTASK_RESUME( pxTaskToResume )
+#endif
+
+#ifndef traceTASK_RESUME_FROM_ISR
+#define traceTASK_RESUME_FROM_ISR( pxTaskToResume )
+#endif
+
+#ifndef traceTASK_INCREMENT_TICK
+#define traceTASK_INCREMENT_TICK( xTickCount )
+#endif
+
+#ifndef configGENERATE_RUN_TIME_STATS
+#define configGENERATE_RUN_TIME_STATS 0
+#endif
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+
+#ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS
+#error If configGENERATE_RUN_TIME_STATS is defined then portCONFIGURE_TIMER_FOR_RUN_TIME_STATS must also be defined. portCONFIGURE_TIMER_FOR_RUN_TIME_STATS should call a port layer function to setup a peripheral timer/counter that can then be used as the run time counter time base.
+#endif /* portCONFIGURE_TIMER_FOR_RUN_TIME_STATS */
+
+#ifndef portGET_RUN_TIME_COUNTER_VALUE
+#error If configGENERATE_RUN_TIME_STATS is defined then portGET_RUN_TIME_COUNTER_VALUE must also be defined. portGET_RUN_TIME_COUNTER_VALUE should evaluate to the counter value of the timer/counter peripheral used as the run time counter time base.
+#endif /* portGET_RUN_TIME_COUNTER_VALUE */
+
+#endif /* configGENERATE_RUN_TIME_STATS */
+
+#ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()
+#endif
+
+#ifndef configUSE_MALLOC_FAILED_HOOK
+#define configUSE_MALLOC_FAILED_HOOK 0
+#endif
+
+#ifndef portPRIVILEGE_BIT
+#define portPRIVILEGE_BIT ( ( unsigned portBASE_TYPE ) 0x00 )
+#endif
+
+#ifndef portYIELD_WITHIN_API
+#define portYIELD_WITHIN_API portYIELD
+#endif
+
+#ifndef pvPortMallocAligned
+#define pvPortMallocAligned( x, puxStackBuffer ) ( ( puxStackBuffer == NULL ) ? ( pvPortMalloc( x ) ) : ( puxStackBuffer ) )
+#endif
+
+#ifndef vPortFreeAligned
+#define vPortFreeAligned( pvBlockToFree ) vPortFree( pvBlockToFree )
+#endif
+
+#endif /* INC_FREERTOS_H */
+
diff --git a/gyro_board/src/usb/FreeRTOS/include/StackMacros.h b/gyro_board/src/usb/FreeRTOS/include/StackMacros.h
new file mode 100644
index 0000000..67d4c09
--- /dev/null
+++ b/gyro_board/src/usb/FreeRTOS/include/StackMacros.h
@@ -0,0 +1,173 @@
+/*
+ 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.
+*/
+
+#ifndef STACK_MACROS_H
+#define STACK_MACROS_H
+
+/*
+ * Call the stack overflow hook function if the stack of the task being swapped
+ * out is currently overflowed, or looks like it might have overflowed in the
+ * past.
+ *
+ * Setting configCHECK_FOR_STACK_OVERFLOW to 1 will cause the macro to check
+ * the current stack state only - comparing the current top of stack value to
+ * the stack limit. Setting configCHECK_FOR_STACK_OVERFLOW to greater than 1
+ * will also cause the last few stack bytes to be checked to ensure the value
+ * to which the bytes were set when the task was created have not been
+ * overwritten. Note this second test does not guarantee that an overflowed
+ * stack will always be recognised.
+ */
+
+/*-----------------------------------------------------------*/
+
+#if( configCHECK_FOR_STACK_OVERFLOW == 0 )
+
+/* FreeRTOSConfig.h is not set to check for stack overflows. */
+#define taskFIRST_CHECK_FOR_STACK_OVERFLOW()
+#define taskSECOND_CHECK_FOR_STACK_OVERFLOW()
+
+#endif /* configCHECK_FOR_STACK_OVERFLOW == 0 */
+/*-----------------------------------------------------------*/
+
+#if( configCHECK_FOR_STACK_OVERFLOW == 1 )
+
+/* FreeRTOSConfig.h is only set to use the first method of
+overflow checking. */
+#define taskSECOND_CHECK_FOR_STACK_OVERFLOW()
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if( ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH < 0 ) )
+
+/* Only the current stack state is to be checked. */
+#define taskFIRST_CHECK_FOR_STACK_OVERFLOW() \
+ { \
+ extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName ); \
+ \
+ /* Is the currently saved stack pointer within the stack limit? */ \
+ if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \
+ { \
+ vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
+ } \
+ }
+
+#endif /* configCHECK_FOR_STACK_OVERFLOW > 0 */
+/*-----------------------------------------------------------*/
+
+#if( ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH > 0 ) )
+
+/* Only the current stack state is to be checked. */
+#define taskFIRST_CHECK_FOR_STACK_OVERFLOW() \
+ { \
+ extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName ); \
+ \
+ /* Is the currently saved stack pointer within the stack limit? */ \
+ if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack ) \
+ { \
+ vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
+ } \
+ }
+
+#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
+/*-----------------------------------------------------------*/
+
+#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) )
+
+#define taskSECOND_CHECK_FOR_STACK_OVERFLOW() \
+ { \
+ extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName ); \
+ static const unsigned char ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
+ tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
+ tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
+ tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
+ tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \
+ \
+ \
+ /* Has the extremity of the task stack ever been written over? */ \
+ if( memcmp( ( void * ) pxCurrentTCB->pxStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \
+ { \
+ vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
+ } \
+ }
+
+#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
+/*-----------------------------------------------------------*/
+
+#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) )
+
+#define taskSECOND_CHECK_FOR_STACK_OVERFLOW() \
+ { \
+ extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName ); \
+ char *pcEndOfStack = ( char * ) pxCurrentTCB->pxEndOfStack; \
+ static const unsigned char ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
+ tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
+ tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
+ tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
+ tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \
+ \
+ \
+ pcEndOfStack -= sizeof( ucExpectedStackBytes ); \
+ \
+ /* Has the extremity of the task stack ever been written over? */ \
+ if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \
+ { \
+ vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
+ } \
+ }
+
+#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
+/*-----------------------------------------------------------*/
+
+#endif /* STACK_MACROS_H */
+
diff --git a/gyro_board/src/usb/FreeRTOS/include/croutine.h b/gyro_board/src/usb/FreeRTOS/include/croutine.h
new file mode 100644
index 0000000..bcedb26
--- /dev/null
+++ b/gyro_board/src/usb/FreeRTOS/include/croutine.h
@@ -0,0 +1,749 @@
+/*
+ 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.
+*/
+
+#ifndef INC_FREERTOS_H
+#error "#include FreeRTOS.h" must appear in source files before "#include croutine.h"
+#endif
+
+
+
+
+#ifndef CO_ROUTINE_H
+#define CO_ROUTINE_H
+
+#include "list.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ /* Used to hide the implementation of the co-routine control block. The
+ control block structure however has to be included in the header due to
+ the macro implementation of the co-routine functionality. */
+ typedef void * xCoRoutineHandle;
+
+ /* Defines the prototype to which co-routine functions must conform. */
+ typedef void (*crCOROUTINE_CODE)(xCoRoutineHandle, unsigned portBASE_TYPE);
+
+ typedef struct corCoRoutineControlBlock {
+ crCOROUTINE_CODE pxCoRoutineFunction;
+ xListItem xGenericListItem; /*< List item used to place the CRCB in ready and blocked queues. */
+ xListItem xEventListItem; /*< List item used to place the CRCB in event lists. */
+ unsigned portBASE_TYPE uxPriority; /*< The priority of the co-routine in relation to other co-routines. */
+ unsigned portBASE_TYPE uxIndex; /*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */
+ unsigned short uxState; /*< Used internally by the co-routine implementation. */
+ } corCRCB; /* Co-routine control block. Note must be identical in size down to uxPriority with tskTCB. */
+
+ /**
+ * croutine. h
+ *<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 uxFlashRates[ 2 ] = { 200, 400 };
+
+ // Must start every co-routine with a call to crSTART();
+ crSTART( xHandle );
+
+ for( ;; )
+ {
+ // This co-routine just delays for a fixed period, then toggles
+ // an LED. Two co-routines are created using this function, so
+ // the uxIndex parameter is used to tell the co-routine which
+ // LED to flash and how long to delay. This assumes xQueue has
+ // already been created.
+ vParTestToggleLED( cLedToFlash[ uxIndex ] );
+ crDELAY( xHandle, uxFlashRates[ uxIndex ] );
+ }
+
+ // Must end every co-routine with a call to crEND();
+ crEND();
+ }
+
+ // Function that creates two co-routines.
+ void vOtherFunction( void )
+ {
+ unsigned char ucParameterToPass;
+ xTaskHandle xHandle;
+
+ // Create two co-routines at priority 0. The first is given index 0
+ // so (from the code above) toggles LED 5 every 200 ticks. The second
+ // is given index 1 so toggles LED 6 every 400 ticks.
+ for( uxIndex = 0; uxIndex < 2; uxIndex++ )
+ {
+ xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
+ }
+ }
+ </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 long ulAVariable;
+
+ // Must start every co-routine with a call to crSTART();
+ crSTART( xHandle );
+
+ for( ;; )
+ {
+ // Co-routine functionality goes here.
+ }
+
+ // Must end every co-routine with a call to crEND();
+ crEND();
+ }</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 long ulAVariable;
+
+ // Must start every co-routine with a call to crSTART();
+ crSTART( xHandle );
+
+ for( ;; )
+ {
+ // Co-routine functionality goes here.
+ }
+
+ // Must end every co-routine with a call to crEND();
+ crEND();
+ }</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 )
+ {
+ char cRxedChar;
+ portBASE_TYPE xResult;
+
+ // All co-routines must start with a call to crSTART().
+ crSTART( xHandle );
+
+ for( ;; )
+ {
+ // Wait for data to become available on the queue. This assumes the
+ // queue xCommsRxQueue has already been created!
+ crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
+
+ // Was a character received?
+ if( xResult == pdPASS )
+ {
+ // Process the character here.
+ }
+ }
+
+ // All co-routines must end with a call to crEND().
+ crEND();
+ }
+
+ // An ISR that uses a queue to send characters received on a serial port to
+ // a co-routine.
+ void vUART_ISR( void )
+ {
+ char cRxedChar;
+ portBASE_TYPE xCRWokenByPost = pdFALSE;
+
+ // We loop around reading characters until there are none left in the UART.
+ while( UART_RX_REG_NOT_EMPTY() )
+ {
+ // Obtain the character from the UART.
+ cRxedChar = UART_RX_REG;
+
+ // Post the character onto a queue. xCRWokenByPost will be pdFALSE
+ // the first time around the loop. If the post causes a co-routine
+ // to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.
+ // In this manner we can ensure that if more than one co-routine is
+ // blocked on the queue only one is woken by this ISR no matter how
+ // many characters are posted to the queue.
+ xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost );
+ }
+ }</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 char cCharToTx = 'a';
+ portBASE_TYPE xResult;
+
+ // All co-routines must start with a call to crSTART().
+ crSTART( xHandle );
+
+ for( ;; )
+ {
+ // Send the next character to the queue.
+ crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult );
+
+ if( xResult == pdPASS )
+ {
+ // The character was successfully posted to the queue.
+ }
+ else
+ {
+ // Could not post the character to the queue.
+ }
+
+ // Enable the UART Tx interrupt to cause an interrupt in this
+ // hypothetical UART. The interrupt will obtain the character
+ // from the queue and send it.
+ ENABLE_RX_INTERRUPT();
+
+ // Increment to the next character then block for a fixed period.
+ // cCharToTx will maintain its value across the delay as it is
+ // declared static.
+ cCharToTx++;
+ if( cCharToTx > 'x' )
+ {
+ cCharToTx = 'a';
+ }
+ crDELAY( 100 );
+ }
+
+ // All co-routines must end with a call to crEND().
+ crEND();
+ }
+
+ // An ISR that uses a queue to receive characters to send on a UART.
+ void vUART_ISR( void )
+ {
+ char cCharToTx;
+ portBASE_TYPE xCRWokenByPost = pdFALSE;
+
+ while( UART_TX_REG_EMPTY() )
+ {
+ // Are there any characters in the queue waiting to be sent?
+ // xCRWokenByPost will automatically be set to pdTRUE if a co-routine
+ // is woken by the post - ensuring that only a single co-routine is
+ // woken no matter how many times we go around this loop.
+ if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) )
+ {
+ SEND_CHARACTER( cCharToTx );
+ }
+ }
+ }</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);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CO_ROUTINE_H */
diff --git a/gyro_board/src/usb/FreeRTOS/include/list.h b/gyro_board/src/usb/FreeRTOS/include/list.h
new file mode 100644
index 0000000..5299ec9
--- /dev/null
+++ b/gyro_board/src/usb/FreeRTOS/include/list.h
@@ -0,0 +1,303 @@
+/*
+ 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.
+*/
+
+/*
+ * 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
+ */
+
+/*
+ Changes from V4.3.1
+
+ + Included local const within listGET_OWNER_OF_NEXT_ENTRY() to assist
+ compiler with optimisation. Thanks B.R.
+*/
+
+#ifndef LIST_H
+#define LIST_H
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+ /*
+ * Definition of the only type of object that a list can contain.
+ */
+ struct xLIST_ITEM {
+ portTickType xItemValue; /*< The value being listed. In most cases this is used to sort the list in descending order. */
+ volatile struct xLIST_ITEM * pxNext; /*< Pointer to the next xListItem in the list. */
+ volatile struct xLIST_ITEM * pxPrevious;/*< Pointer to the previous xListItem in the list. */
+ void * pvOwner; /*< Pointer to the object (normally a TCB) that contains the list item. There is therefore a two way link between the object containing the list item and the list item itself. */
+ void * pvContainer; /*< Pointer to the list in which this list item is placed (if any). */
+ };
+ typedef struct xLIST_ITEM xListItem; /* For some reason lint wants this as two separate definitions. */
+
+ struct xMINI_LIST_ITEM {
+ portTickType xItemValue;
+ volatile struct xLIST_ITEM *pxNext;
+ volatile struct xLIST_ITEM *pxPrevious;
+ };
+ typedef struct xMINI_LIST_ITEM xMiniListItem;
+
+ /*
+ * Definition of the type of queue used by the scheduler.
+ */
+ typedef struct xLIST {
+ volatile unsigned portBASE_TYPE uxNumberOfItems;
+ volatile xListItem * pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to pvListGetOwnerOfNextEntry (). */
+ volatile xMiniListItem xListEnd; /*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */
+ } xList;
+
+ /*
+ * Access macro to set the owner of a list item. The owner of a list item
+ * is the object (usually a TCB) that contains the list item.
+ *
+ * \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
+ * \ingroup LinkedList
+ */
+#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner ) ( pxListItem )->pvOwner = ( void * ) pxOwner
+
+ /*
+ * Access macro to 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 ) \
+{ \
+xList * const pxConstList = pxList; \
+ /* Increment the index to the next item and return the item, ensuring */ \
+ /* we don't return the marker used at the end of the list. */ \
+ ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \
+ if( ( pxConstList )->pxIndex == ( xListItem * ) &( ( pxConstList )->xListEnd ) ) \
+ { \
+ ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \
+ } \
+ pxTCB = ( pxConstList )->pxIndex->pvOwner; \
+}
+
+
+ /*
+ * Access function to obtain the owner of the first entry in a list. Lists
+ * are normally sorted in ascending item value order.
+ *
+ * This function returns the pxOwner member of the first item in the list.
+ * The pxOwner parameter of a list item is a pointer to the object that owns
+ * the list item. In the scheduler this is normally a task control block.
+ * The pxOwner parameter effectively creates a two way link between the list
+ * item and its owner.
+ *
+ * @param pxList The list from which the owner of the head item is to be
+ * returned.
+ *
+ * \page listGET_OWNER_OF_HEAD_ENTRY listGET_OWNER_OF_HEAD_ENTRY
+ * \ingroup LinkedList
+ */
+#define listGET_OWNER_OF_HEAD_ENTRY( pxList ) ( ( pxList->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);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+
diff --git a/gyro_board/src/usb/FreeRTOS/include/mpu_wrappers.h b/gyro_board/src/usb/FreeRTOS/include/mpu_wrappers.h
new file mode 100644
index 0000000..ad8ce2d
--- /dev/null
+++ b/gyro_board/src/usb/FreeRTOS/include/mpu_wrappers.h
@@ -0,0 +1,135 @@
+/*
+ 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.
+*/
+
+#ifndef MPU_WRAPPERS_H
+#define MPU_WRAPPERS_H
+
+/* This file redefines API functions to be called through a wrapper macro, but
+only for ports that are using the MPU. */
+#ifdef portUSING_MPU_WRAPPERS
+
+/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE will be defined when this file is
+included from queue.c or task.c to prevent it from having an effect within
+those files. */
+#ifndef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+#define xTaskGenericCreate MPU_xTaskGenericCreate
+#define vTaskAllocateMPURegions MPU_vTaskAllocateMPURegions
+#define vTaskDelete MPU_vTaskDelete
+#define vTaskDelayUntil MPU_vTaskDelayUntil
+#define vTaskDelay MPU_vTaskDelay
+#define uxTaskPriorityGet MPU_uxTaskPriorityGet
+#define vTaskPrioritySet MPU_vTaskPrioritySet
+#define vTaskSuspend MPU_vTaskSuspend
+#define xTaskIsTaskSuspended MPU_xTaskIsTaskSuspended
+#define vTaskResume MPU_vTaskResume
+#define vTaskSuspendAll MPU_vTaskSuspendAll
+#define xTaskResumeAll MPU_xTaskResumeAll
+#define xTaskGetTickCount MPU_xTaskGetTickCount
+#define uxTaskGetNumberOfTasks MPU_uxTaskGetNumberOfTasks
+#define vTaskList MPU_vTaskList
+#define vTaskGetRunTimeStats MPU_vTaskGetRunTimeStats
+#define vTaskStartTrace MPU_vTaskStartTrace
+#define ulTaskEndTrace MPU_ulTaskEndTrace
+#define vTaskSetApplicationTaskTag MPU_vTaskSetApplicationTaskTag
+#define xTaskGetApplicationTaskTag MPU_xTaskGetApplicationTaskTag
+#define xTaskCallApplicationTaskHook MPU_xTaskCallApplicationTaskHook
+#define uxTaskGetStackHighWaterMark MPU_uxTaskGetStackHighWaterMark
+#define xTaskGetCurrentTaskHandle MPU_xTaskGetCurrentTaskHandle
+#define xTaskGetSchedulerState MPU_xTaskGetSchedulerState
+
+#define xQueueCreate MPU_xQueueCreate
+#define xQueueCreateMutex MPU_xQueueCreateMutex
+#define xQueueGiveMutexRecursive MPU_xQueueGiveMutexRecursive
+#define xQueueTakeMutexRecursive MPU_xQueueTakeMutexRecursive
+#define xQueueCreateCountingSemaphore MPU_xQueueCreateCountingSemaphore
+#define xQueueGenericSend MPU_xQueueGenericSend
+#define xQueueAltGenericSend MPU_xQueueAltGenericSend
+#define xQueueAltGenericReceive MPU_xQueueAltGenericReceive
+#define xQueueGenericReceive MPU_xQueueGenericReceive
+#define uxQueueMessagesWaiting MPU_uxQueueMessagesWaiting
+#define vQueueDelete MPU_vQueueDelete
+
+#define pvPortMalloc MPU_pvPortMalloc
+#define vPortFree MPU_vPortFree
+#define xPortGetFreeHeapSize MPU_xPortGetFreeHeapSize
+#define vPortInitialiseBlocks MPU_vPortInitialiseBlocks
+
+#if configQUEUE_REGISTRY_SIZE > 0
+#define vQueueAddToRegistry MPU_vQueueAddToRegistry
+#define vQueueUnregisterQueue MPU_vQueueUnregisterQueue
+#endif
+
+/* Remove the privileged function macro. */
+#define PRIVILEGED_FUNCTION
+
+#else /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
+
+/* Ensure API functions go in the privileged execution section. */
+#define PRIVILEGED_FUNCTION __attribute__((section("privileged_functions")))
+#define PRIVILEGED_DATA __attribute__((section("privileged_data")))
+//#define PRIVILEGED_DATA
+
+#endif /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
+
+#else /* portUSING_MPU_WRAPPERS */
+
+#define PRIVILEGED_FUNCTION
+#define PRIVILEGED_DATA
+#define portUSING_MPU_WRAPPERS 0
+
+#endif /* portUSING_MPU_WRAPPERS */
+
+
+#endif /* MPU_WRAPPERS_H */
+
diff --git a/gyro_board/src/usb/FreeRTOS/include/portable.h b/gyro_board/src/usb/FreeRTOS/include/portable.h
new file mode 100644
index 0000000..385be74
--- /dev/null
+++ b/gyro_board/src/usb/FreeRTOS/include/portable.h
@@ -0,0 +1,391 @@
+/*
+ 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.
+*/
+
+/*-----------------------------------------------------------
+ * Portable layer API. Each function must be defined for each port.
+ *----------------------------------------------------------*/
+
+#ifndef PORTABLE_H
+#define PORTABLE_H
+
+/* Include the macro file relevant to the port being used. */
+
+#ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT
+#include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h"
+typedef void (__interrupt __far *pxISR)();
+#endif
+
+#ifdef OPEN_WATCOM_FLASH_LITE_186_PORT
+#include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h"
+typedef void (__interrupt __far *pxISR)();
+#endif
+
+#ifdef GCC_MEGA_AVR
+#include "../portable/GCC/ATMega323/portmacro.h"
+#endif
+
+#ifdef IAR_MEGA_AVR
+#include "../portable/IAR/ATMega323/portmacro.h"
+#endif
+
+#ifdef MPLAB_PIC24_PORT
+#include "..\..\Source\portable\MPLAB\PIC24_dsPIC\portmacro.h"
+#endif
+
+#ifdef MPLAB_DSPIC_PORT
+#include "..\..\Source\portable\MPLAB\PIC24_dsPIC\portmacro.h"
+#endif
+
+#ifdef MPLAB_PIC18F_PORT
+#include "..\..\Source\portable\MPLAB\PIC18F\portmacro.h"
+#endif
+
+#ifdef MPLAB_PIC32MX_PORT
+#include "..\..\Source\portable\MPLAB\PIC32MX\portmacro.h"
+#endif
+
+#ifdef _FEDPICC
+#include "libFreeRTOS/Include/portmacro.h"
+#endif
+
+#ifdef SDCC_CYGNAL
+#include "../../Source/portable/SDCC/Cygnal/portmacro.h"
+#endif
+
+#ifdef GCC_ARM7
+#include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h"
+#endif
+
+#ifdef GCC_ARM7_ECLIPSE
+#include "portmacro.h"
+#endif
+
+#ifdef ROWLEY_LPC23xx
+#include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h"
+#endif
+
+#ifdef IAR_MSP430
+#include "..\..\Source\portable\IAR\MSP430\portmacro.h"
+#endif
+
+#ifdef GCC_MSP430
+#include "../../Source/portable/GCC/MSP430F449/portmacro.h"
+#endif
+
+#ifdef ROWLEY_MSP430
+#include "../../Source/portable/Rowley/MSP430F449/portmacro.h"
+#endif
+
+#ifdef ARM7_LPC21xx_KEIL_RVDS
+#include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h"
+#endif
+
+#ifdef SAM7_GCC
+#include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h"
+#endif
+
+#ifdef SAM7_IAR
+#include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h"
+#endif
+
+#ifdef SAM9XE_IAR
+#include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h"
+#endif
+
+#ifdef LPC2000_IAR
+#include "..\..\Source\portable\IAR\LPC2000\portmacro.h"
+#endif
+
+#ifdef STR71X_IAR
+#include "..\..\Source\portable\IAR\STR71x\portmacro.h"
+#endif
+
+#ifdef STR75X_IAR
+#include "..\..\Source\portable\IAR\STR75x\portmacro.h"
+#endif
+
+#ifdef STR75X_GCC
+#include "..\..\Source\portable\GCC\STR75x\portmacro.h"
+#endif
+
+#ifdef STR91X_IAR
+#include "..\..\Source\portable\IAR\STR91x\portmacro.h"
+#endif
+
+#ifdef GCC_H8S
+#include "../../Source/portable/GCC/H8S2329/portmacro.h"
+#endif
+
+#ifdef GCC_AT91FR40008
+#include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h"
+#endif
+
+#ifdef RVDS_ARMCM3_LM3S102
+#include "../../Source/portable/RVDS/ARM_CM3/portmacro.h"
+#endif
+
+#ifdef GCC_ARMCM3_LM3S102
+#include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
+#endif
+
+#ifdef GCC_ARMCM3
+#include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
+#endif
+
+#ifdef IAR_ARM_CM3
+#include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
+#endif
+
+#ifdef IAR_ARMCM3_LM
+#include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
+#endif
+
+#ifdef HCS12_CODE_WARRIOR
+#include "../../Source/portable/CodeWarrior/HCS12/portmacro.h"
+#endif
+
+#ifdef MICROBLAZE_GCC
+#include "../../Source/portable/GCC/MicroBlaze/portmacro.h"
+#endif
+
+#ifdef TERN_EE
+#include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h"
+#endif
+
+#ifdef GCC_HCS12
+#include "../../Source/portable/GCC/HCS12/portmacro.h"
+#endif
+
+#ifdef GCC_MCF5235
+#include "../../Source/portable/GCC/MCF5235/portmacro.h"
+#endif
+
+#ifdef COLDFIRE_V2_GCC
+#include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h"
+#endif
+
+#ifdef COLDFIRE_V2_CODEWARRIOR
+#include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h"
+#endif
+
+#ifdef GCC_PPC405
+#include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h"
+#endif
+
+#ifdef GCC_PPC440
+#include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h"
+#endif
+
+#ifdef _16FX_SOFTUNE
+#include "..\..\Source\portable\Softune\MB96340\portmacro.h"
+#endif
+
+#ifdef BCC_INDUSTRIAL_PC_PORT
+/* A short file name has to be used in place of the normal
+FreeRTOSConfig.h when using the Borland compiler. */
+#include "frconfig.h"
+#include "..\portable\BCC\16BitDOS\PC\prtmacro.h"
+typedef void (__interrupt __far *pxISR)();
+#endif
+
+#ifdef BCC_FLASH_LITE_186_PORT
+/* A short file name has to be used in place of the normal
+FreeRTOSConfig.h when using the Borland compiler. */
+#include "frconfig.h"
+#include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h"
+typedef void (__interrupt __far *pxISR)();
+#endif
+
+#ifdef __GNUC__
+#ifdef __AVR32_AVR32A__
+#include "portmacro.h"
+#endif
+#endif
+
+#ifdef __ICCAVR32__
+#ifdef __CORE__
+#if __CORE__ == __AVR32A__
+#include "portmacro.h"
+#endif
+#endif
+#endif
+
+#ifdef __91467D
+#include "portmacro.h"
+#endif
+
+#ifdef __96340
+#include "portmacro.h"
+#endif
+
+
+#ifdef __IAR_V850ES_Fx3__
+#include "../../Source/portable/IAR/V850ES/portmacro.h"
+#endif
+
+#ifdef __IAR_V850ES_Jx3__
+#include "../../Source/portable/IAR/V850ES/portmacro.h"
+#endif
+
+#ifdef __IAR_V850ES_Jx3_L__
+#include "../../Source/portable/IAR/V850ES/portmacro.h"
+#endif
+
+#ifdef __IAR_V850ES_Jx2__
+#include "../../Source/portable/IAR/V850ES/portmacro.h"
+#endif
+
+#ifdef __IAR_V850ES_Hx2__
+#include "../../Source/portable/IAR/V850ES/portmacro.h"
+#endif
+
+#ifdef __IAR_78K0R_Kx3__
+#include "../../Source/portable/IAR/78K0R/portmacro.h"
+#endif
+
+#ifdef __IAR_78K0R_Kx3L__
+#include "../../Source/portable/IAR/78K0R/portmacro.h"
+#endif
+
+/* Catch all to ensure portmacro.h is included in the build. Newer demos
+have the path as part of the project options, rather than as relative from
+the project location. If portENTER_CRITICAL() has not been defined then
+portmacro.h has not yet been included - as every portmacro.h provides a
+portENTER_CRITICAL() definition. Check the demo application for your demo
+to find the path to the correct portmacro.h file. */
+#ifndef portENTER_CRITICAL
+#include "portmacro.h"
+#endif
+
+#if portBYTE_ALIGNMENT == 8
+#define portBYTE_ALIGNMENT_MASK ( 0x0007 )
+#endif
+
+#if portBYTE_ALIGNMENT == 4
+#define portBYTE_ALIGNMENT_MASK ( 0x0003 )
+#endif
+
+#if portBYTE_ALIGNMENT == 2
+#define portBYTE_ALIGNMENT_MASK ( 0x0001 )
+#endif
+
+#if portBYTE_ALIGNMENT == 1
+#define portBYTE_ALIGNMENT_MASK ( 0x0000 )
+#endif
+
+#ifndef portBYTE_ALIGNMENT_MASK
+#error "Invalid portBYTE_ALIGNMENT definition"
+#endif
+
+#ifndef portNUM_CONFIGURABLE_REGIONS
+#define portNUM_CONFIGURABLE_REGIONS 1
+#endif
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "mpu_wrappers.h"
+
+ /*
+ * Setup the stack of a new task so it is ready to be placed under the
+ * scheduler control. The registers have to be placed on the stack in
+ * the order that the port expects to find them.
+ *
+ */
+#if( portUSING_MPU_WRAPPERS == 1 )
+ portSTACK_TYPE *pxPortInitialiseStack(portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters, portBASE_TYPE xRunPrivileged) PRIVILEGED_FUNCTION;
+#else
+ portSTACK_TYPE *pxPortInitialiseStack(portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters);
+#endif
+
+ /*
+ * Map to the memory management routines required for the port.
+ */
+ void *pvPortMalloc(size_t xSize) PRIVILEGED_FUNCTION;
+ void vPortFree(void *pv) PRIVILEGED_FUNCTION;
+ void vPortInitialiseBlocks(void) PRIVILEGED_FUNCTION;
+ size_t xPortGetFreeHeapSize(void) PRIVILEGED_FUNCTION;
+
+ /*
+ * Setup the hardware ready for the scheduler to take control. This generally
+ * sets up a tick interrupt and sets timers for the correct tick frequency.
+ */
+ portBASE_TYPE xPortStartScheduler(void) PRIVILEGED_FUNCTION;
+
+ /*
+ * Undo any hardware/ISR setup that was performed by xPortStartScheduler() so
+ * the hardware is left in its original condition after the scheduler stops
+ * executing.
+ */
+ void vPortEndScheduler(void) PRIVILEGED_FUNCTION;
+
+ /*
+ * The structures and methods of manipulating the MPU are contained within the
+ * port layer.
+ *
+ * Fills the xMPUSettings structure with the memory region information
+ * contained in xRegions.
+ */
+#if( portUSING_MPU_WRAPPERS == 1 )
+ struct xMEMORY_REGION;
+ void vPortStoreTaskMPUSettings(xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, portSTACK_TYPE *pxBottomOfStack, unsigned short usStackDepth) PRIVILEGED_FUNCTION;
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTABLE_H */
+
diff --git a/gyro_board/src/usb/FreeRTOS/include/projdefs.h b/gyro_board/src/usb/FreeRTOS/include/projdefs.h
new file mode 100644
index 0000000..543992d
--- /dev/null
+++ b/gyro_board/src/usb/FreeRTOS/include/projdefs.h
@@ -0,0 +1,77 @@
+/*
+ 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.
+*/
+
+#ifndef PROJDEFS_H
+#define PROJDEFS_H
+
+/* Defines the prototype to which task functions must conform. */
+typedef void (*pdTASK_CODE)(void *);
+
+#define pdTRUE ( 1 )
+#define pdFALSE ( 0 )
+
+#define pdPASS ( 1 )
+#define pdFAIL ( 0 )
+#define errQUEUE_EMPTY ( 0 )
+#define errQUEUE_FULL ( 0 )
+
+/* Error definitions. */
+#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ( -1 )
+#define errNO_TASK_TO_RUN ( -2 )
+#define errQUEUE_BLOCKED ( -4 )
+#define errQUEUE_YIELD ( -5 )
+
+#endif /* PROJDEFS_H */
+
+
+
diff --git a/gyro_board/src/usb/FreeRTOS/include/queue.h b/gyro_board/src/usb/FreeRTOS/include/queue.h
new file mode 100644
index 0000000..8d5dcba
--- /dev/null
+++ b/gyro_board/src/usb/FreeRTOS/include/queue.h
@@ -0,0 +1,1262 @@
+/*
+ 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.
+*/
+
+#ifndef INC_FREERTOS_H
+#error "#include FreeRTOS.h" must appear in source files before "#include queue.h"
+#endif
+
+
+
+
+#ifndef QUEUE_H
+#define QUEUE_H
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+
+#include "mpu_wrappers.h"
+
+
+ typedef void * xQueueHandle;
+
+
+ /* For internal use only. */
+#define queueSEND_TO_BACK ( 0 )
+#define queueSEND_TO_FRONT ( 1 )
+
+
+ /**
+ * 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
+ {
+ char ucMessageID;
+ char ucData[ 20 ];
+ };
+
+ void vATask( void *pvParameters )
+ {
+ xQueueHandle xQueue1, xQueue2;
+
+ // Create a queue capable of containing 10 unsigned long values.
+ xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
+ if( xQueue1 == 0 )
+ {
+ // Queue was not created and must not be used.
+ }
+
+ // Create a queue capable of containing 10 pointers to AMessage structures.
+ // These should be passed by pointer as they contain a lot of data.
+ xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+ if( xQueue2 == 0 )
+ {
+ // Queue was not created and must not be used.
+ }
+
+ // ... Rest of task code.
+ }
+ </pre>
+ * \defgroup xQueueCreate xQueueCreate
+ * \ingroup QueueManagement
+ */
+ xQueueHandle xQueueCreate(unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize);
+
+ /**
+ * queue. h
+ * <pre>
+ portBASE_TYPE xQueueSendToToFront(
+ xQueueHandle xQueue,
+ const void * pvItemToQueue,
+ portTickType xTicksToWait
+ );
+ * </pre>
+ *
+ * This is a macro that calls xQueueGenericSend().
+ *
+ * Post an item to the front of a queue. The item is queued by copy, not by
+ * reference. This function must not be called from an interrupt service
+ * routine. See xQueueSendFromISR () for an alternative which may be used
+ * in an ISR.
+ *
+ * @param xQueue The handle to the queue on which the item is to be posted.
+ *
+ * @param pvItemToQueue A pointer to the item that is to be placed on the
+ * queue. The size of the items the queue will hold was defined when the
+ * queue was created, so this many bytes will be copied from pvItemToQueue
+ * into the queue storage area.
+ *
+ * @param xTicksToWait The maximum amount of time the task should block
+ * waiting for space to become available on the queue, should it already
+ * be full. The call will return immediately if this is set to 0 and the
+ * queue is full. The time is defined in tick periods so the constant
+ * portTICK_RATE_MS should be used to convert to real time if this is required.
+ *
+ * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
+ *
+ * Example usage:
+ <pre>
+ struct AMessage
+ {
+ char ucMessageID;
+ char ucData[ 20 ];
+ } xMessage;
+
+ unsigned long ulVar = 10UL;
+
+ void vATask( void *pvParameters )
+ {
+ xQueueHandle xQueue1, xQueue2;
+ struct AMessage *pxMessage;
+
+ // Create a queue capable of containing 10 unsigned long values.
+ xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
+
+ // Create a queue capable of containing 10 pointers to AMessage structures.
+ // These should be passed by pointer as they contain a lot of data.
+ xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+
+ // ...
+
+ if( xQueue1 != 0 )
+ {
+ // Send an unsigned long. Wait for 10 ticks for space to become
+ // available if necessary.
+ if( xQueueSendToFront( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
+ {
+ // Failed to post the message, even after 10 ticks.
+ }
+ }
+
+ if( xQueue2 != 0 )
+ {
+ // Send a pointer to a struct AMessage object. Don't block if the
+ // queue is already full.
+ pxMessage = & xMessage;
+ xQueueSendToFront( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
+ }
+
+ // ... Rest of task code.
+ }
+ </pre>
+ * \defgroup xQueueSend xQueueSend
+ * \ingroup QueueManagement
+ */
+#define xQueueSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_FRONT )
+
+ /**
+ * queue. h
+ * <pre>
+ portBASE_TYPE xQueueSendToBack(
+ xQueueHandle xQueue,
+ const void * pvItemToQueue,
+ portTickType xTicksToWait
+ );
+ * </pre>
+ *
+ * This is a macro that calls xQueueGenericSend().
+ *
+ * Post an item to the back of a queue. The item is queued by copy, not by
+ * reference. This function must not be called from an interrupt service
+ * routine. See xQueueSendFromISR () for an alternative which may be used
+ * in an ISR.
+ *
+ * @param xQueue The handle to the queue on which the item is to be posted.
+ *
+ * @param pvItemToQueue A pointer to the item that is to be placed on the
+ * queue. The size of the items the queue will hold was defined when the
+ * queue was created, so this many bytes will be copied from pvItemToQueue
+ * into the queue storage area.
+ *
+ * @param xTicksToWait The maximum amount of time the task should block
+ * waiting for space to become available on the queue, should it already
+ * be full. The call will return immediately if this is set to 0 and the queue
+ * is full. The time is defined in tick periods so the constant
+ * portTICK_RATE_MS should be used to convert to real time if this is required.
+ *
+ * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
+ *
+ * Example usage:
+ <pre>
+ struct AMessage
+ {
+ char ucMessageID;
+ char ucData[ 20 ];
+ } xMessage;
+
+ unsigned long ulVar = 10UL;
+
+ void vATask( void *pvParameters )
+ {
+ xQueueHandle xQueue1, xQueue2;
+ struct AMessage *pxMessage;
+
+ // Create a queue capable of containing 10 unsigned long values.
+ xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
+
+ // Create a queue capable of containing 10 pointers to AMessage structures.
+ // These should be passed by pointer as they contain a lot of data.
+ xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+
+ // ...
+
+ if( xQueue1 != 0 )
+ {
+ // Send an unsigned long. Wait for 10 ticks for space to become
+ // available if necessary.
+ if( xQueueSendToBack( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
+ {
+ // Failed to post the message, even after 10 ticks.
+ }
+ }
+
+ if( xQueue2 != 0 )
+ {
+ // Send a pointer to a struct AMessage object. Don't block if the
+ // queue is already full.
+ pxMessage = & xMessage;
+ xQueueSendToBack( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
+ }
+
+ // ... Rest of task code.
+ }
+ </pre>
+ * \defgroup xQueueSend xQueueSend
+ * \ingroup QueueManagement
+ */
+#define xQueueSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK )
+
+ /**
+ * queue. h
+ * <pre>
+ portBASE_TYPE xQueueSend(
+ xQueueHandle xQueue,
+ const void * pvItemToQueue,
+ portTickType xTicksToWait
+ );
+ * </pre>
+ *
+ * This is a macro that calls xQueueGenericSend(). It is included for
+ * backward compatibility with versions of FreeRTOS.org that did not
+ * include the xQueueSendToFront() and xQueueSendToBack() macros. It is
+ * equivalent to xQueueSendToBack().
+ *
+ * Post an item on a queue. The item is queued by copy, not by reference.
+ * This function must not be called from an interrupt service routine.
+ * See xQueueSendFromISR () for an alternative which may be used in an ISR.
+ *
+ * @param xQueue The handle to the queue on which the item is to be posted.
+ *
+ * @param pvItemToQueue A pointer to the item that is to be placed on the
+ * queue. The size of the items the queue will hold was defined when the
+ * queue was created, so this many bytes will be copied from pvItemToQueue
+ * into the queue storage area.
+ *
+ * @param xTicksToWait The maximum amount of time the task should block
+ * waiting for space to become available on the queue, should it already
+ * be full. The call will return immediately if this is set to 0 and the
+ * queue is full. The time is defined in tick periods so the constant
+ * portTICK_RATE_MS should be used to convert to real time if this is required.
+ *
+ * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
+ *
+ * Example usage:
+ <pre>
+ struct AMessage
+ {
+ char ucMessageID;
+ char ucData[ 20 ];
+ } xMessage;
+
+ unsigned long ulVar = 10UL;
+
+ void vATask( void *pvParameters )
+ {
+ xQueueHandle xQueue1, xQueue2;
+ struct AMessage *pxMessage;
+
+ // Create a queue capable of containing 10 unsigned long values.
+ xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
+
+ // Create a queue capable of containing 10 pointers to AMessage structures.
+ // These should be passed by pointer as they contain a lot of data.
+ xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+
+ // ...
+
+ if( xQueue1 != 0 )
+ {
+ // Send an unsigned long. Wait for 10 ticks for space to become
+ // available if necessary.
+ if( xQueueSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
+ {
+ // Failed to post the message, even after 10 ticks.
+ }
+ }
+
+ if( xQueue2 != 0 )
+ {
+ // Send a pointer to a struct AMessage object. Don't block if the
+ // queue is already full.
+ pxMessage = & xMessage;
+ xQueueSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
+ }
+
+ // ... Rest of task code.
+ }
+ </pre>
+ * \defgroup xQueueSend xQueueSend
+ * \ingroup QueueManagement
+ */
+#define xQueueSend( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK )
+
+
+ /**
+ * queue. h
+ * <pre>
+ portBASE_TYPE xQueueGenericSend(
+ xQueueHandle xQueue,
+ const void * pvItemToQueue,
+ portTickType xTicksToWait
+ portBASE_TYPE xCopyPosition
+ );
+ * </pre>
+ *
+ * It is preferred that the macros xQueueSend(), xQueueSendToFront() and
+ * xQueueSendToBack() are used in place of calling this function directly.
+ *
+ * Post an item on a queue. The item is queued by copy, not by reference.
+ * This function must not be called from an interrupt service routine.
+ * See xQueueSendFromISR () for an alternative which may be used in an ISR.
+ *
+ * @param xQueue The handle to the queue on which the item is to be posted.
+ *
+ * @param pvItemToQueue A pointer to the item that is to be placed on the
+ * queue. The size of the items the queue will hold was defined when the
+ * queue was created, so this many bytes will be copied from pvItemToQueue
+ * into the queue storage area.
+ *
+ * @param xTicksToWait The maximum amount of time the task should block
+ * waiting for space to become available on the queue, should it already
+ * be full. The call will return immediately if this is set to 0 and the
+ * queue is full. The time is defined in tick periods so the constant
+ * portTICK_RATE_MS should be used to convert to real time if this is required.
+ *
+ * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the
+ * item at the back of the queue, or queueSEND_TO_FRONT to place the item
+ * at the front of the queue (for high priority messages).
+ *
+ * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
+ *
+ * Example usage:
+ <pre>
+ struct AMessage
+ {
+ char ucMessageID;
+ char ucData[ 20 ];
+ } xMessage;
+
+ unsigned long ulVar = 10UL;
+
+ void vATask( void *pvParameters )
+ {
+ xQueueHandle xQueue1, xQueue2;
+ struct AMessage *pxMessage;
+
+ // Create a queue capable of containing 10 unsigned long values.
+ xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
+
+ // Create a queue capable of containing 10 pointers to AMessage structures.
+ // These should be passed by pointer as they contain a lot of data.
+ xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+
+ // ...
+
+ if( xQueue1 != 0 )
+ {
+ // Send an unsigned long. Wait for 10 ticks for space to become
+ // available if necessary.
+ if( xQueueGenericSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10, queueSEND_TO_BACK ) != pdPASS )
+ {
+ // Failed to post the message, even after 10 ticks.
+ }
+ }
+
+ if( xQueue2 != 0 )
+ {
+ // Send a pointer to a struct AMessage object. Don't block if the
+ // queue is already full.
+ pxMessage = & xMessage;
+ xQueueGenericSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0, queueSEND_TO_BACK );
+ }
+
+ // ... Rest of task code.
+ }
+ </pre>
+ * \defgroup xQueueSend xQueueSend
+ * \ingroup QueueManagement
+ */
+ signed portBASE_TYPE xQueueGenericSend(xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition);
+
+ /**
+ * queue. h
+ * <pre>
+ portBASE_TYPE xQueuePeek(
+ xQueueHandle xQueue,
+ void *pvBuffer,
+ portTickType xTicksToWait
+ );</pre>
+ *
+ * This is a macro that calls the xQueueGenericReceive() function.
+ *
+ * Receive an item from a queue without removing the item from the queue.
+ * The item is received by copy so a buffer of adequate size must be
+ * provided. The number of bytes copied into the buffer was defined when
+ * the queue was created.
+ *
+ * Successfully received items remain on the queue so will be returned again
+ * by the next call, or a call to xQueueReceive().
+ *
+ * This macro must not be used in an interrupt service routine.
+ *
+ * @param pxQueue The handle to the queue from which the item is to be
+ * received.
+ *
+ * @param pvBuffer Pointer to the buffer into which the received item will
+ * be copied.
+ *
+ * @param xTicksToWait The maximum amount of time the task should block
+ * waiting for an item to receive should the queue be empty at the time
+ * of the call. The time is defined in tick periods so the constant
+ * portTICK_RATE_MS should be used to convert to real time if this is required.
+ * xQueuePeek() will return immediately if xTicksToWait is 0 and the queue
+ * is empty.
+ *
+ * @return pdTRUE if an item was successfully received from the queue,
+ * otherwise pdFALSE.
+ *
+ * Example usage:
+ <pre>
+ struct AMessage
+ {
+ char ucMessageID;
+ char ucData[ 20 ];
+ } xMessage;
+
+ xQueueHandle xQueue;
+
+ // Task to create a queue and post a value.
+ void vATask( void *pvParameters )
+ {
+ struct AMessage *pxMessage;
+
+ // Create a queue capable of containing 10 pointers to AMessage structures.
+ // These should be passed by pointer as they contain a lot of data.
+ xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
+ if( xQueue == 0 )
+ {
+ // Failed to create the queue.
+ }
+
+ // ...
+
+ // Send a pointer to a struct AMessage object. Don't block if the
+ // queue is already full.
+ pxMessage = & xMessage;
+ xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
+
+ // ... Rest of task code.
+ }
+
+ // Task to peek the data from the queue.
+ void vADifferentTask( void *pvParameters )
+ {
+ struct AMessage *pxRxedMessage;
+
+ if( xQueue != 0 )
+ {
+ // Peek a message on the created queue. Block for 10 ticks if a
+ // message is not immediately available.
+ if( xQueuePeek( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
+ {
+ // pcRxedMessage now points to the struct AMessage variable posted
+ // by vATask, but the item still remains on the queue.
+ }
+ }
+
+ // ... Rest of task code.
+ }
+ </pre>
+ * \defgroup xQueueReceive xQueueReceive
+ * \ingroup QueueManagement
+ */
+#define xQueuePeek( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( xQueue, pvBuffer, xTicksToWait, pdTRUE )
+
+ /**
+ * queue. h
+ * <pre>
+ portBASE_TYPE xQueueReceive(
+ xQueueHandle xQueue,
+ void *pvBuffer,
+ portTickType xTicksToWait
+ );</pre>
+ *
+ * This is a macro that calls the xQueueGenericReceive() function.
+ *
+ * Receive an item from a queue. The item is received by copy so a buffer of
+ * adequate size must be provided. The number of bytes copied into the buffer
+ * was defined when the queue was created.
+ *
+ * Successfully received items are removed from the queue.
+ *
+ * This function must not be used in an interrupt service routine. See
+ * xQueueReceiveFromISR for an alternative that can.
+ *
+ * @param pxQueue The handle to the queue from which the item is to be
+ * received.
+ *
+ * @param pvBuffer Pointer to the buffer into which the received item will
+ * be copied.
+ *
+ * @param xTicksToWait The maximum amount of time the task should block
+ * waiting for an item to receive should the queue be empty at the time
+ * of the call. xQueueReceive() will return immediately if xTicksToWait
+ * is zero and the queue is empty. The time is defined in tick periods so the
+ * constant portTICK_RATE_MS should be used to convert to real time if this is
+ * required.
+ *
+ * @return pdTRUE if an item was successfully received from the queue,
+ * otherwise pdFALSE.
+ *
+ * Example usage:
+ <pre>
+ struct AMessage
+ {
+ char ucMessageID;
+ char ucData[ 20 ];
+ } xMessage;
+
+ xQueueHandle xQueue;
+
+ // Task to create a queue and post a value.
+ void vATask( void *pvParameters )
+ {
+ struct AMessage *pxMessage;
+
+ // Create a queue capable of containing 10 pointers to AMessage structures.
+ // These should be passed by pointer as they contain a lot of data.
+ xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
+ if( xQueue == 0 )
+ {
+ // Failed to create the queue.
+ }
+
+ // ...
+
+ // Send a pointer to a struct AMessage object. Don't block if the
+ // queue is already full.
+ pxMessage = & xMessage;
+ xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
+
+ // ... Rest of task code.
+ }
+
+ // Task to receive from the queue.
+ void vADifferentTask( void *pvParameters )
+ {
+ struct AMessage *pxRxedMessage;
+
+ if( xQueue != 0 )
+ {
+ // Receive a message on the created queue. Block for 10 ticks if a
+ // message is not immediately available.
+ if( xQueueReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
+ {
+ // pcRxedMessage now points to the struct AMessage variable posted
+ // by vATask.
+ }
+ }
+
+ // ... Rest of task code.
+ }
+ </pre>
+ * \defgroup xQueueReceive xQueueReceive
+ * \ingroup QueueManagement
+ */
+#define xQueueReceive( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( xQueue, pvBuffer, xTicksToWait, pdFALSE )
+
+
+ /**
+ * queue. h
+ * <pre>
+ portBASE_TYPE xQueueGenericReceive(
+ xQueueHandle xQueue,
+ void *pvBuffer,
+ portTickType xTicksToWait
+ portBASE_TYPE xJustPeek
+ );</pre>
+ *
+ * It is preferred that the macro xQueueReceive() be used rather than calling
+ * this function directly.
+ *
+ * Receive an item from a queue. The item is received by copy so a buffer of
+ * adequate size must be provided. The number of bytes copied into the buffer
+ * was defined when the queue was created.
+ *
+ * This function must not be used in an interrupt service routine. See
+ * xQueueReceiveFromISR for an alternative that can.
+ *
+ * @param pxQueue The handle to the queue from which the item is to be
+ * received.
+ *
+ * @param pvBuffer Pointer to the buffer into which the received item will
+ * be copied.
+ *
+ * @param xTicksToWait The maximum amount of time the task should block
+ * waiting for an item to receive should the queue be empty at the time
+ * of the call. The time is defined in tick periods so the constant
+ * portTICK_RATE_MS should be used to convert to real time if this is required.
+ * xQueueGenericReceive() will return immediately if the queue is empty and
+ * xTicksToWait is 0.
+ *
+ * @param xJustPeek When set to true, the item received from the queue is not
+ * actually removed from the queue - meaning a subsequent call to
+ * xQueueReceive() will return the same item. When set to false, the item
+ * being received from the queue is also removed from the queue.
+ *
+ * @return pdTRUE if an item was successfully received from the queue,
+ * otherwise pdFALSE.
+ *
+ * Example usage:
+ <pre>
+ struct AMessage
+ {
+ char ucMessageID;
+ char ucData[ 20 ];
+ } xMessage;
+
+ xQueueHandle xQueue;
+
+ // Task to create a queue and post a value.
+ void vATask( void *pvParameters )
+ {
+ struct AMessage *pxMessage;
+
+ // Create a queue capable of containing 10 pointers to AMessage structures.
+ // These should be passed by pointer as they contain a lot of data.
+ xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
+ if( xQueue == 0 )
+ {
+ // Failed to create the queue.
+ }
+
+ // ...
+
+ // Send a pointer to a struct AMessage object. Don't block if the
+ // queue is already full.
+ pxMessage = & xMessage;
+ xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
+
+ // ... Rest of task code.
+ }
+
+ // Task to receive from the queue.
+ void vADifferentTask( void *pvParameters )
+ {
+ struct AMessage *pxRxedMessage;
+
+ if( xQueue != 0 )
+ {
+ // Receive a message on the created queue. Block for 10 ticks if a
+ // message is not immediately available.
+ if( xQueueGenericReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
+ {
+ // pcRxedMessage now points to the struct AMessage variable posted
+ // by vATask.
+ }
+ }
+
+ // ... Rest of task code.
+ }
+ </pre>
+ * \defgroup xQueueReceive xQueueReceive
+ * \ingroup QueueManagement
+ */
+ signed portBASE_TYPE xQueueGenericReceive(xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeek);
+
+ /**
+ * queue. h
+ * <pre>unsigned portBASE_TYPE uxQueueMessagesWaiting( const 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(const 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 xQueueSendToFrontFromISR(
+ xQueueHandle pxQueue,
+ const void *pvItemToQueue,
+ portBASE_TYPE *pxHigherPriorityTaskWoken
+ );
+ </pre>
+ *
+ * This is a macro that calls xQueueGenericSendFromISR().
+ *
+ * Post an item to the front of a queue. It is safe to use this macro from
+ * within an interrupt service routine.
+ *
+ * Items are queued by copy not reference so it is preferable to only
+ * queue small items, especially when called from an ISR. In most cases
+ * it would be preferable to store a pointer to the item being queued.
+ *
+ * @param xQueue The handle to the queue on which the item is to be posted.
+ *
+ * @param pvItemToQueue A pointer to the item that is to be placed on the
+ * queue. The size of the items the queue will hold was defined when the
+ * queue was created, so this many bytes will be copied from pvItemToQueue
+ * into the queue storage area.
+ *
+ * @param pxHigherPriorityTaskWoken xQueueSendToFrontFromISR() will set
+ * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task
+ * to unblock, and the unblocked task has a priority higher than the currently
+ * running task. If xQueueSendToFromFromISR() sets this value to pdTRUE then
+ * a context switch should be requested before the interrupt is exited.
+ *
+ * @return pdTRUE if the data was successfully sent to the queue, otherwise
+ * errQUEUE_FULL.
+ *
+ * Example usage for buffered IO (where the ISR can obtain more than one value
+ * per call):
+ <pre>
+ void vBufferISR( void )
+ {
+ char cIn;
+ portBASE_TYPE xHigherPrioritTaskWoken;
+
+ // We have not woken a task at the start of the ISR.
+ xHigherPriorityTaskWoken = pdFALSE;
+
+ // Loop until the buffer is empty.
+ do
+ {
+ // Obtain a byte from the buffer.
+ cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+
+ // Post the byte.
+ xQueueSendToFrontFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
+
+ } while( portINPUT_BYTE( BUFFER_COUNT ) );
+
+ // Now the buffer is empty we can switch context if necessary.
+ if( xHigherPriorityTaskWoken )
+ {
+ taskYIELD ();
+ }
+ }
+ </pre>
+ *
+ * \defgroup xQueueSendFromISR xQueueSendFromISR
+ * \ingroup QueueManagement
+ */
+#define xQueueSendToFrontFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken, queueSEND_TO_FRONT )
+
+
+ /**
+ * queue. h
+ * <pre>
+ portBASE_TYPE xQueueSendToBackFromISR(
+ xQueueHandle pxQueue,
+ const void *pvItemToQueue,
+ portBASE_TYPE *pxHigherPriorityTaskWoken
+ );
+ </pre>
+ *
+ * This is a macro that calls xQueueGenericSendFromISR().
+ *
+ * Post an item to the back of a queue. It is safe to use this macro from
+ * within an interrupt service routine.
+ *
+ * Items are queued by copy not reference so it is preferable to only
+ * queue small items, especially when called from an ISR. In most cases
+ * it would be preferable to store a pointer to the item being queued.
+ *
+ * @param xQueue The handle to the queue on which the item is to be posted.
+ *
+ * @param pvItemToQueue A pointer to the item that is to be placed on the
+ * queue. The size of the items the queue will hold was defined when the
+ * queue was created, so this many bytes will be copied from pvItemToQueue
+ * into the queue storage area.
+ *
+ * @param pxHigherPriorityTaskWoken xQueueSendToBackFromISR() will set
+ * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task
+ * to unblock, and the unblocked task has a priority higher than the currently
+ * running task. If xQueueSendToBackFromISR() sets this value to pdTRUE then
+ * a context switch should be requested before the interrupt is exited.
+ *
+ * @return pdTRUE if the data was successfully sent to the queue, otherwise
+ * errQUEUE_FULL.
+ *
+ * Example usage for buffered IO (where the ISR can obtain more than one value
+ * per call):
+ <pre>
+ void vBufferISR( void )
+ {
+ char cIn;
+ portBASE_TYPE xHigherPriorityTaskWoken;
+
+ // We have not woken a task at the start of the ISR.
+ xHigherPriorityTaskWoken = pdFALSE;
+
+ // Loop until the buffer is empty.
+ do
+ {
+ // Obtain a byte from the buffer.
+ cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+
+ // Post the byte.
+ xQueueSendToBackFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
+
+ } while( portINPUT_BYTE( BUFFER_COUNT ) );
+
+ // Now the buffer is empty we can switch context if necessary.
+ if( xHigherPriorityTaskWoken )
+ {
+ taskYIELD ();
+ }
+ }
+ </pre>
+ *
+ * \defgroup xQueueSendFromISR xQueueSendFromISR
+ * \ingroup QueueManagement
+ */
+#define xQueueSendToBackFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken, queueSEND_TO_BACK )
+
+ /**
+ * queue. h
+ * <pre>
+ portBASE_TYPE xQueueSendFromISR(
+ xQueueHandle pxQueue,
+ const void *pvItemToQueue,
+ portBASE_TYPE *pxHigherPriorityTaskWoken
+ );
+ </pre>
+ *
+ * This is a macro that calls xQueueGenericSendFromISR(). It is included
+ * for backward compatibility with versions of FreeRTOS.org that did not
+ * include the xQueueSendToBackFromISR() and xQueueSendToFrontFromISR()
+ * macros.
+ *
+ * Post an item to the back of a queue. It is safe to use this function from
+ * within an interrupt service routine.
+ *
+ * Items are queued by copy not reference so it is preferable to only
+ * queue small items, especially when called from an ISR. In most cases
+ * it would be preferable to store a pointer to the item being queued.
+ *
+ * @param xQueue The handle to the queue on which the item is to be posted.
+ *
+ * @param pvItemToQueue A pointer to the item that is to be placed on the
+ * queue. The size of the items the queue will hold was defined when the
+ * queue was created, so this many bytes will be copied from pvItemToQueue
+ * into the queue storage area.
+ *
+ * @param pxHigherPriorityTaskWoken xQueueSendFromISR() will set
+ * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task
+ * to unblock, and the unblocked task has a priority higher than the currently
+ * running task. If xQueueSendFromISR() sets this value to pdTRUE then
+ * a context switch should be requested before the interrupt is exited.
+ *
+ * @return pdTRUE if the data was successfully sent to the queue, otherwise
+ * errQUEUE_FULL.
+ *
+ * Example usage for buffered IO (where the ISR can obtain more than one value
+ * per call):
+ <pre>
+ void vBufferISR( void )
+ {
+ char cIn;
+ portBASE_TYPE xHigherPriorityTaskWoken;
+
+ // We have not woken a task at the start of the ISR.
+ xHigherPriorityTaskWoken = pdFALSE;
+
+ // Loop until the buffer is empty.
+ do
+ {
+ // Obtain a byte from the buffer.
+ cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+
+ // Post the byte.
+ xQueueSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
+
+ } while( portINPUT_BYTE( BUFFER_COUNT ) );
+
+ // Now the buffer is empty we can switch context if necessary.
+ if( xHigherPriorityTaskWoken )
+ {
+ // Actual macro used here is port specific.
+ taskYIELD_FROM_ISR ();
+ }
+ }
+ </pre>
+ *
+ * \defgroup xQueueSendFromISR xQueueSendFromISR
+ * \ingroup QueueManagement
+ */
+#define xQueueSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken, queueSEND_TO_BACK )
+
+ /**
+ * queue. h
+ * <pre>
+ portBASE_TYPE xQueueGenericSendFromISR(
+ xQueueHandle pxQueue,
+ const void *pvItemToQueue,
+ portBASE_TYPE *pxHigherPriorityTaskWoken,
+ portBASE_TYPE xCopyPosition
+ );
+ </pre>
+ *
+ * It is preferred that the macros xQueueSendFromISR(),
+ * xQueueSendToFrontFromISR() and xQueueSendToBackFromISR() be used in place
+ * of calling this function directly.
+ *
+ * Post an item on a queue. It is safe to use this function from within an
+ * interrupt service routine.
+ *
+ * Items are queued by copy not reference so it is preferable to only
+ * queue small items, especially when called from an ISR. In most cases
+ * it would be preferable to store a pointer to the item being queued.
+ *
+ * @param xQueue The handle to the queue on which the item is to be posted.
+ *
+ * @param pvItemToQueue A pointer to the item that is to be placed on the
+ * queue. The size of the items the queue will hold was defined when the
+ * queue was created, so this many bytes will be copied from pvItemToQueue
+ * into the queue storage area.
+ *
+ * @param pxHigherPriorityTaskWoken xQueueGenericSendFromISR() will set
+ * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task
+ * to unblock, and the unblocked task has a priority higher than the currently
+ * running task. If xQueueGenericSendFromISR() sets this value to pdTRUE then
+ * a context switch should be requested before the interrupt is exited.
+ *
+ * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the
+ * item at the back of the queue, or queueSEND_TO_FRONT to place the item
+ * at the front of the queue (for high priority messages).
+ *
+ * @return pdTRUE if the data was successfully sent to the queue, otherwise
+ * errQUEUE_FULL.
+ *
+ * Example usage for buffered IO (where the ISR can obtain more than one value
+ * per call):
+ <pre>
+ void vBufferISR( void )
+ {
+ char cIn;
+ portBASE_TYPE xHigherPriorityTaskWokenByPost;
+
+ // We have not woken a task at the start of the ISR.
+ xHigherPriorityTaskWokenByPost = pdFALSE;
+
+ // Loop until the buffer is empty.
+ do
+ {
+ // Obtain a byte from the buffer.
+ cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+
+ // Post each byte.
+ xQueueGenericSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWokenByPost, queueSEND_TO_BACK );
+
+ } while( portINPUT_BYTE( BUFFER_COUNT ) );
+
+ // Now the buffer is empty we can switch context if necessary. Note that the
+ // name of the yield function required is port specific.
+ if( xHigherPriorityTaskWokenByPost )
+ {
+ taskYIELD_YIELD_FROM_ISR();
+ }
+ }
+ </pre>
+ *
+ * \defgroup xQueueSendFromISR xQueueSendFromISR
+ * \ingroup QueueManagement
+ */
+ signed portBASE_TYPE xQueueGenericSendFromISR(xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition);
+
+ /**
+ * 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 )
+ {
+ char cValueToPost;
+ const portTickType xBlockTime = ( portTickType )0xff;
+
+ // Create a queue capable of containing 10 characters.
+ xQueue = xQueueCreate( 10, sizeof( char ) );
+ if( xQueue == 0 )
+ {
+ // Failed to create the queue.
+ }
+
+ // ...
+
+ // Post some characters that will be used within an ISR. If the queue
+ // is full then this task will block for xBlockTime ticks.
+ cValueToPost = 'a';
+ xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );
+ cValueToPost = 'b';
+ xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );
+
+ // ... keep posting characters ... this task may block when the queue
+ // becomes full.
+
+ cValueToPost = 'c';
+ xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );
+ }
+
+ // ISR that outputs all the characters received on the queue.
+ void vISR_Routine( void )
+ {
+ portBASE_TYPE xTaskWokenByReceive = pdFALSE;
+ char cRxedChar;
+
+ while( xQueueReceiveFromISR( xQueue, ( void * ) &cRxedChar, &xTaskWokenByReceive) )
+ {
+ // A character was received. Output the character now.
+ vOutputCharacter( cRxedChar );
+
+ // If removing the character from the queue woke the task that was
+ // posting onto the queue cTaskWokenByReceive will have been set to
+ // pdTRUE. No matter how many times this loop iterates only one
+ // task will be woken.
+ }
+
+ if( cTaskWokenByPost != ( char ) pdFALSE;
+ {
+ taskYIELD ();
+ }
+ }
+ </pre>
+ * \defgroup xQueueReceiveFromISR xQueueReceiveFromISR
+ * \ingroup QueueManagement
+ */
+ signed portBASE_TYPE xQueueReceiveFromISR(xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken);
+
+ /*
+ * Utilities to query queue that are safe to use from an ISR. These utilities
+ * should be used only from witin an ISR, or within a critical section.
+ */
+ signed portBASE_TYPE xQueueIsQueueEmptyFromISR(const xQueueHandle pxQueue);
+ signed portBASE_TYPE xQueueIsQueueFullFromISR(const xQueueHandle pxQueue);
+ unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR(const xQueueHandle pxQueue);
+
+
+ /*
+ * xQueueAltGenericSend() is an alternative version of xQueueGenericSend().
+ * Likewise xQueueAltGenericReceive() is an alternative version of
+ * xQueueGenericReceive().
+ *
+ * The source code that implements the alternative (Alt) API is much
+ * simpler because it executes everything from within a critical section.
+ * This is the approach taken by many other RTOSes, but FreeRTOS.org has the
+ * preferred fully featured API too. The fully featured API has more
+ * complex code that takes longer to execute, but makes much less use of
+ * critical sections. Therefore the alternative API sacrifices interrupt
+ * responsiveness to gain execution speed, whereas the fully featured API
+ * sacrifices execution speed to ensure better interrupt responsiveness.
+ */
+ signed portBASE_TYPE xQueueAltGenericSend(xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition);
+ signed portBASE_TYPE xQueueAltGenericReceive(xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking);
+#define xQueueAltSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_FRONT )
+#define xQueueAltSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK )
+#define xQueueAltReceive( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( xQueue, pvBuffer, xTicksToWait, pdFALSE )
+#define xQueueAltPeek( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( xQueue, pvBuffer, xTicksToWait, pdTRUE )
+
+ /*
+ * The functions defined above are for passing data to and from tasks. The
+ * functions below are the equivalents for passing data to and from
+ * co-routines.
+ *
+ * These functions are called from the co-routine macro implementation and
+ * should not be called directly from application code. Instead use the macro
+ * wrappers defined within croutine.h.
+ */
+ signed portBASE_TYPE xQueueCRSendFromISR(xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken);
+ signed portBASE_TYPE xQueueCRReceiveFromISR(xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken);
+ signed portBASE_TYPE xQueueCRSend(xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait);
+ signed portBASE_TYPE xQueueCRReceive(xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait);
+
+ /*
+ * For internal use only. Use xSemaphoreCreateMutex() or
+ * xSemaphoreCreateCounting() instead of calling these functions directly.
+ */
+ xQueueHandle xQueueCreateMutex(void);
+ xQueueHandle xQueueCreateCountingSemaphore(unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount);
+
+ /*
+ * For internal use only. Use xSemaphoreTakeMutexRecursive() or
+ * xSemaphoreGiveMutexRecursive() instead of calling these functions directly.
+ */
+ portBASE_TYPE xQueueTakeMutexRecursive(xQueueHandle xMutex, portTickType xBlockTime);
+ portBASE_TYPE xQueueGiveMutexRecursive(xQueueHandle xMutex);
+
+ /*
+ * The registry is provided as a means for kernel aware debuggers to
+ * locate queues, semaphores and mutexes. Call vQueueAddToRegistry() add
+ * a queue, semaphore or mutex handle to the registry if you want the handle
+ * to be available to a kernel aware debugger. If you are not using a kernel
+ * aware debugger then this function can be ignored.
+ *
+ * configQUEUE_REGISTRY_SIZE defines the maximum number of handles the
+ * registry can hold. configQUEUE_REGISTRY_SIZE must be greater than 0
+ * within FreeRTOSConfig.h for the registry to be available. Its value
+ * does not effect the number of queues, semaphores and mutexes that can be
+ * created - just the number that the registry can hold.
+ *
+ * @param xQueue The handle of the queue being added to the registry. This
+ * is the handle returned by a call to xQueueCreate(). Semaphore and mutex
+ * handles can also be passed in here.
+ *
+ * @param pcName The name to be associated with the handle. This is the
+ * name that the kernel aware debugger will display.
+ */
+#if configQUEUE_REGISTRY_SIZE > 0
+ void vQueueAddToRegistry(xQueueHandle xQueue, signed char *pcName);
+#endif
+
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* QUEUE_H */
+
diff --git a/gyro_board/src/usb/FreeRTOS/include/semphr.h b/gyro_board/src/usb/FreeRTOS/include/semphr.h
new file mode 100644
index 0000000..b941518
--- /dev/null
+++ b/gyro_board/src/usb/FreeRTOS/include/semphr.h
@@ -0,0 +1,711 @@
+/*
+ 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.
+*/
+
+#ifndef INC_FREERTOS_H
+#error "#include FreeRTOS.h" must appear in source files before "#include semphr.h"
+#endif
+
+#ifndef SEMAPHORE_H
+#define SEMAPHORE_H
+
+#include "queue.h"
+
+typedef xQueueHandle xSemaphoreHandle;
+
+#define semBINARY_SEMAPHORE_QUEUE_LENGTH ( ( unsigned char ) 1 )
+#define semSEMAPHORE_QUEUE_ITEM_LENGTH ( ( unsigned char ) 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.
+ *
+ * This type of semaphore can be used for pure synchronisation between tasks or
+ * between an interrupt and a task. The semaphore need not be given back once
+ * obtained, so one task/interrupt can continuously 'give' the semaphore while
+ * another continuously 'takes' the semaphore. For this reason this type of
+ * semaphore does not use a priority inheritance mechanism. For an alternative
+ * that does use priority inheritance see xSemaphoreCreateMutex().
+ *
+ * @param xSemaphore Handle to the created semaphore. Should be of type xSemaphoreHandle.
+ *
+ * Example usage:
+ <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 portBASE_TYPE ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH ); \
+ if( xSemaphore != NULL ) \
+ { \
+ xSemaphoreGive( xSemaphore ); \
+ } \
+ }
+
+/**
+ * semphr. h
+ * <pre>xSemaphoreTake(
+ * xSemaphoreHandle xSemaphore,
+ * portTickType xBlockTime
+ * )</pre>
+ *
+ * <i>Macro</i> to obtain a semaphore. The semaphore must have previously been
+ * created with a call to vSemaphoreCreateBinary(), xSemaphoreCreateMutex() or
+ * xSemaphoreCreateCounting().
+ *
+ * @param xSemaphore A handle to the semaphore being taken - obtained when
+ * the semaphore was created.
+ *
+ * @param xBlockTime The time in ticks to wait for the semaphore to become
+ * available. The macro portTICK_RATE_MS can be used to convert this to a
+ * real time. A block time of zero can be used to poll the semaphore. A block
+ * time of portMAX_DELAY can be used to block indefinitely (provided
+ * INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h).
+ *
+ * @return pdTRUE if the semaphore was obtained. pdFALSE
+ * if xBlockTime expired without the semaphore becoming available.
+ *
+ * Example usage:
+ <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 ) xQueueGenericReceive( ( xQueueHandle ) xSemaphore, NULL, xBlockTime, pdFALSE )
+
+/**
+ * semphr. h
+ * xSemaphoreTakeRecursive(
+ * xSemaphoreHandle xMutex,
+ * portTickType xBlockTime
+ * )
+ *
+ * <i>Macro</i> to recursively obtain, or 'take', a mutex type semaphore.
+ * The mutex must have previously been created using a call to
+ * xSemaphoreCreateRecursiveMutex();
+ *
+ * configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this
+ * macro to be available.
+ *
+ * This macro must not be used on mutexes created using xSemaphoreCreateMutex().
+ *
+ * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex
+ * doesn't become available again until the owner has called
+ * xSemaphoreGiveRecursive() for each successful 'take' request. For example,
+ * if a task successfully 'takes' the same mutex 5 times then the mutex will
+ * not be available to any other task until it has also 'given' the mutex back
+ * exactly five times.
+ *
+ * @param xMutex A handle to the mutex being obtained. This is the
+ * handle returned by xSemaphoreCreateRecursiveMutex();
+ *
+ * @param xBlockTime The time in ticks to wait for the semaphore to become
+ * available. The macro portTICK_RATE_MS can be used to convert this to a
+ * real time. A block time of zero can be used to poll the semaphore. If
+ * the task already owns the semaphore then xSemaphoreTakeRecursive() will
+ * return immediately no matter what the value of xBlockTime.
+ *
+ * @return pdTRUE if the semaphore was obtained. pdFALSE if xBlockTime
+ * expired without the semaphore becoming available.
+ *
+ * Example usage:
+ <pre>
+ xSemaphoreHandle xMutex = NULL;
+
+ // A task that creates a mutex.
+ void vATask( void * pvParameters )
+ {
+ // Create the mutex to guard a shared resource.
+ xMutex = xSemaphoreCreateRecursiveMutex();
+ }
+
+ // A task that uses the mutex.
+ void vAnotherTask( void * pvParameters )
+ {
+ // ... Do other things.
+
+ if( xMutex != NULL )
+ {
+ // See if we can obtain the mutex. If the mutex is not available
+ // wait 10 ticks to see if it becomes free.
+ if( xSemaphoreTakeRecursive( xSemaphore, ( portTickType ) 10 ) == pdTRUE )
+ {
+ // We were able to obtain the mutex and can now access the
+ // shared resource.
+
+ // ...
+ // For some reason due to the nature of the code further calls to
+ // xSemaphoreTakeRecursive() are made on the same mutex. In real
+ // code these would not be just sequential calls as this would make
+ // no sense. Instead the calls are likely to be buried inside
+ // a more complex call structure.
+ xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
+ xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
+
+ // The mutex has now been 'taken' three times, so will not be
+ // available to another task until it has also been given back
+ // three times. Again it is unlikely that real code would have
+ // these calls sequentially, but instead buried in a more complex
+ // call structure. This is just for illustrative purposes.
+ xSemaphoreGiveRecursive( xMutex );
+ xSemaphoreGiveRecursive( xMutex );
+ xSemaphoreGiveRecursive( xMutex );
+
+ // Now the mutex can be taken by other tasks.
+ }
+ else
+ {
+ // We could not obtain the mutex and can therefore not access
+ // the shared resource safely.
+ }
+ }
+ }
+ </pre>
+ * \defgroup xSemaphoreTakeRecursive xSemaphoreTakeRecursive
+ * \ingroup Semaphores
+ */
+#define xSemaphoreTakeRecursive( xMutex, xBlockTime ) xQueueTakeMutexRecursive( xMutex, xBlockTime )
+
+
+/*
+ * xSemaphoreAltTake() is an alternative version of xSemaphoreTake().
+ *
+ * The source code that implements the alternative (Alt) API is much
+ * simpler because it executes everything from within a critical section.
+ * This is the approach taken by many other RTOSes, but FreeRTOS.org has the
+ * preferred fully featured API too. The fully featured API has more
+ * complex code that takes longer to execute, but makes much less use of
+ * critical sections. Therefore the alternative API sacrifices interrupt
+ * responsiveness to gain execution speed, whereas the fully featured API
+ * sacrifices execution speed to ensure better interrupt responsiveness.
+ */
+#define xSemaphoreAltTake( xSemaphore, xBlockTime ) xQueueAltGenericReceive( ( xQueueHandle ) xSemaphore, NULL, xBlockTime, pdFALSE )
+
+/**
+ * semphr. h
+ * <pre>xSemaphoreGive( xSemaphoreHandle xSemaphore )</pre>
+ *
+ * <i>Macro</i> to release a semaphore. The semaphore must have previously been
+ * created with a call to vSemaphoreCreateBinary(), xSemaphoreCreateMutex() or
+ * xSemaphoreCreateCounting(). and obtained using sSemaphoreTake().
+ *
+ * This macro must not be used from an ISR. See xSemaphoreGiveFromISR () for
+ * an alternative which can be used from an ISR.
+ *
+ * This macro must also not be used on semaphores created using
+ * xSemaphoreCreateRecursiveMutex().
+ *
+ * @param xSemaphore A handle to the semaphore being released. This is the
+ * handle returned when the semaphore was created.
+ *
+ * @return pdTRUE if the semaphore was released. pdFALSE if an error occurred.
+ * Semaphores are implemented using queues. An error can occur if there is
+ * no space on the queue to post a message - indicating that the
+ * semaphore was not first obtained correctly.
+ *
+ * Example usage:
+ <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 ) xQueueGenericSend( ( xQueueHandle ) xSemaphore, NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
+
+/**
+ * semphr. h
+ * <pre>xSemaphoreGiveRecursive( xSemaphoreHandle xMutex )</pre>
+ *
+ * <i>Macro</i> to recursively release, or 'give', a mutex type semaphore.
+ * The mutex must have previously been created using a call to
+ * xSemaphoreCreateRecursiveMutex();
+ *
+ * configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this
+ * macro to be available.
+ *
+ * This macro must not be used on mutexes created using xSemaphoreCreateMutex().
+ *
+ * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex
+ * doesn't become available again until the owner has called
+ * xSemaphoreGiveRecursive() for each successful 'take' request. For example,
+ * if a task successfully 'takes' the same mutex 5 times then the mutex will
+ * not be available to any other task until it has also 'given' the mutex back
+ * exactly five times.
+ *
+ * @param xMutex A handle to the mutex being released, or 'given'. This is the
+ * handle returned by xSemaphoreCreateMutex();
+ *
+ * @return pdTRUE if the semaphore was given.
+ *
+ * Example usage:
+ <pre>
+ xSemaphoreHandle xMutex = NULL;
+
+ // A task that creates a mutex.
+ void vATask( void * pvParameters )
+ {
+ // Create the mutex to guard a shared resource.
+ xMutex = xSemaphoreCreateRecursiveMutex();
+ }
+
+ // A task that uses the mutex.
+ void vAnotherTask( void * pvParameters )
+ {
+ // ... Do other things.
+
+ if( xMutex != NULL )
+ {
+ // See if we can obtain the mutex. If the mutex is not available
+ // wait 10 ticks to see if it becomes free.
+ if( xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 ) == pdTRUE )
+ {
+ // We were able to obtain the mutex and can now access the
+ // shared resource.
+
+ // ...
+ // For some reason due to the nature of the code further calls to
+ // xSemaphoreTakeRecursive() are made on the same mutex. In real
+ // code these would not be just sequential calls as this would make
+ // no sense. Instead the calls are likely to be buried inside
+ // a more complex call structure.
+ xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
+ xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
+
+ // The mutex has now been 'taken' three times, so will not be
+ // available to another task until it has also been given back
+ // three times. Again it is unlikely that real code would have
+ // these calls sequentially, it would be more likely that the calls
+ // to xSemaphoreGiveRecursive() would be called as a call stack
+ // unwound. This is just for demonstrative purposes.
+ xSemaphoreGiveRecursive( xMutex );
+ xSemaphoreGiveRecursive( xMutex );
+ xSemaphoreGiveRecursive( xMutex );
+
+ // Now the mutex can be taken by other tasks.
+ }
+ else
+ {
+ // We could not obtain the mutex and can therefore not access
+ // the shared resource safely.
+ }
+ }
+ }
+ </pre>
+ * \defgroup xSemaphoreGiveRecursive xSemaphoreGiveRecursive
+ * \ingroup Semaphores
+ */
+#define xSemaphoreGiveRecursive( xMutex ) xQueueGiveMutexRecursive( xMutex )
+
+/*
+ * xSemaphoreAltGive() is an alternative version of xSemaphoreGive().
+ *
+ * The source code that implements the alternative (Alt) API is much
+ * simpler because it executes everything from within a critical section.
+ * This is the approach taken by many other RTOSes, but FreeRTOS.org has the
+ * preferred fully featured API too. The fully featured API has more
+ * complex code that takes longer to execute, but makes much less use of
+ * critical sections. Therefore the alternative API sacrifices interrupt
+ * responsiveness to gain execution speed, whereas the fully featured API
+ * sacrifices execution speed to ensure better interrupt responsiveness.
+ */
+#define xSemaphoreAltGive( xSemaphore ) xQueueAltGenericSend( ( xQueueHandle ) xSemaphore, NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
+
+/**
+ * semphr. h
+ * <pre>
+ xSemaphoreGiveFromISR(
+ xSemaphoreHandle xSemaphore,
+ signed portBASE_TYPE *pxHigherPriorityTaskWoken
+ )</pre>
+ *
+ * <i>Macro</i> to release a semaphore. The semaphore must have previously been
+ * created with a call to vSemaphoreCreateBinary() or xSemaphoreCreateCounting().
+ *
+ * Mutex type semaphores (those created using a call to xSemaphoreCreateMutex())
+ * must not be used with this macro.
+ *
+ * This macro can be used from an ISR.
+ *
+ * @param xSemaphore A handle to the semaphore being released. This is the
+ * handle returned when the semaphore was created.
+ *
+ * @param pxHigherPriorityTaskWoken xSemaphoreGiveFromISR() will set
+ * *pxHigherPriorityTaskWoken to pdTRUE if giving the semaphore caused a task
+ * to unblock, and the unblocked task has a priority higher than the currently
+ * running task. If xSemaphoreGiveFromISR() sets this value to pdTRUE then
+ * a context switch should be requested before the interrupt is exited.
+ *
+ * @return pdTRUE if the semaphore was successfully given, otherwise errQUEUE_FULL.
+ *
+ * Example usage:
+ <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 of a timer. The semaphore
+ // was created before this task was started.
+
+ // Block waiting for the semaphore to become available.
+ if( xSemaphoreTake( xSemaphore, LONG_TIME ) == pdTRUE )
+ {
+ // It is time to execute.
+
+ // ...
+
+ // We have finished our task. Return to the top of the loop where
+ // we will block on the semaphore until it is time to execute
+ // again. Note when using the semaphore for synchronisation with an
+ // ISR in this manner there is no need to 'give' the semaphore back.
+ }
+ }
+ }
+
+ // Timer ISR
+ void vTimerISR( void * pvParameters )
+ {
+ static unsigned char ucLocalTickCount = 0;
+ static signed portBASE_TYPE xHigherPriorityTaskWoken;
+
+ // A timer tick has occurred.
+
+ // ... Do other time functions.
+
+ // Is it time for vATask () to run?
+ xHigherPriorityTaskWoken = pdFALSE;
+ ucLocalTickCount++;
+ if( ucLocalTickCount >= TICKS_TO_WAIT )
+ {
+ // Unblock the task by releasing the semaphore.
+ xSemaphoreGiveFromISR( xSemaphore, &xHigherPriorityTaskWoken );
+
+ // Reset the count so we release the semaphore again in 10 ticks time.
+ ucLocalTickCount = 0;
+ }
+
+ if( xHigherPriorityTaskWoken != pdFALSE )
+ {
+ // We can force a context switch here. Context switching from an
+ // ISR uses port specific syntax. Check the demo task for your port
+ // to find the syntax required.
+ }
+ }
+ </pre>
+ * \defgroup xSemaphoreGiveFromISR xSemaphoreGiveFromISR
+ * \ingroup Semaphores
+ */
+#define xSemaphoreGiveFromISR( xSemaphore, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueueHandle ) xSemaphore, NULL, pxHigherPriorityTaskWoken, queueSEND_TO_BACK )
+
+/**
+ * semphr. h
+ * <pre>xSemaphoreHandle xSemaphoreCreateMutex( void )</pre>
+ *
+ * <i>Macro</i> that implements a mutex semaphore by using the existing queue
+ * mechanism.
+ *
+ * Mutexes created using this macro can be accessed using the xSemaphoreTake()
+ * and xSemaphoreGive() macros. The xSemaphoreTakeRecursive() and
+ * xSemaphoreGiveRecursive() macros should not be used.
+ *
+ * This type of semaphore uses a priority inheritance mechanism so a task
+ * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the
+ * semaphore it is no longer required.
+ *
+ * Mutex type semaphores cannot be used from within interrupt service routines.
+ *
+ * See vSemaphoreCreateBinary() for an alternative implementation that can be
+ * used for pure synchronisation (where one task or interrupt always 'gives' the
+ * semaphore and another always 'takes' the semaphore) and from within interrupt
+ * service routines.
+ *
+ * @return xSemaphore Handle to the created mutex semaphore. Should be of type
+ * xSemaphoreHandle.
+ *
+ * Example usage:
+ <pre>
+ xSemaphoreHandle xSemaphore;
+
+ void vATask( void * pvParameters )
+ {
+ // Semaphore cannot be used before a call to xSemaphoreCreateMutex().
+ // This is a macro so pass the variable in directly.
+ xSemaphore = xSemaphoreCreateMutex();
+
+ if( xSemaphore != NULL )
+ {
+ // The semaphore was created successfully.
+ // The semaphore can now be used.
+ }
+ }
+ </pre>
+ * \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex
+ * \ingroup Semaphores
+ */
+#define xSemaphoreCreateMutex() xQueueCreateMutex()
+
+
+/**
+ * semphr. h
+ * <pre>xSemaphoreHandle xSemaphoreCreateRecursiveMutex( void )</pre>
+ *
+ * <i>Macro</i> that implements a recursive mutex by using the existing queue
+ * mechanism.
+ *
+ * Mutexes created using this macro can be accessed using the
+ * xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() macros. The
+ * xSemaphoreTake() and xSemaphoreGive() macros should not be used.
+ *
+ * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex
+ * doesn't become available again until the owner has called
+ * xSemaphoreGiveRecursive() for each successful 'take' request. For example,
+ * if a task successfully 'takes' the same mutex 5 times then the mutex will
+ * not be available to any other task until it has also 'given' the mutex back
+ * exactly five times.
+ *
+ * This type of semaphore uses a priority inheritance mechanism so a task
+ * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the
+ * semaphore it is no longer required.
+ *
+ * Mutex type semaphores cannot be used from within interrupt service routines.
+ *
+ * See vSemaphoreCreateBinary() for an alternative implementation that can be
+ * used for pure synchronisation (where one task or interrupt always 'gives' the
+ * semaphore and another always 'takes' the semaphore) and from within interrupt
+ * service routines.
+ *
+ * @return xSemaphore Handle to the created mutex semaphore. Should be of type
+ * xSemaphoreHandle.
+ *
+ * Example usage:
+ <pre>
+ xSemaphoreHandle xSemaphore;
+
+ void vATask( void * pvParameters )
+ {
+ // Semaphore cannot be used before a call to xSemaphoreCreateMutex().
+ // This is a macro so pass the variable in directly.
+ xSemaphore = xSemaphoreCreateRecursiveMutex();
+
+ if( xSemaphore != NULL )
+ {
+ // The semaphore was created successfully.
+ // The semaphore can now be used.
+ }
+ }
+ </pre>
+ * \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex
+ * \ingroup Semaphores
+ */
+#define xSemaphoreCreateRecursiveMutex() xQueueCreateMutex()
+
+/**
+ * semphr. h
+ * <pre>xSemaphoreHandle xSemaphoreCreateCounting( unsigned portBASE_TYPE uxMaxCount, unsigned portBASE_TYPE uxInitialCount )</pre>
+ *
+ * <i>Macro</i> that creates a counting semaphore by using the existing
+ * queue mechanism.
+ *
+ * Counting semaphores are typically used for two things:
+ *
+ * 1) Counting events.
+ *
+ * In this usage scenario an event handler will 'give' a semaphore each time
+ * an event occurs (incrementing the semaphore count value), and a handler
+ * task will 'take' a semaphore each time it processes an event
+ * (decrementing the semaphore count value). The count value is therefore
+ * the difference between the number of events that have occurred and the
+ * number that have been processed. In this case it is desirable for the
+ * initial count value to be zero.
+ *
+ * 2) Resource management.
+ *
+ * In this usage scenario the count value indicates the number of resources
+ * available. To obtain control of a resource a task must first obtain a
+ * semaphore - decrementing the semaphore count value. When the count value
+ * reaches zero there are no free resources. When a task finishes with the
+ * resource it 'gives' the semaphore back - incrementing the semaphore count
+ * value. In this case it is desirable for the initial count value to be
+ * equal to the maximum count value, indicating that all resources are free.
+ *
+ * @param uxMaxCount The maximum count value that can be reached. When the
+ * semaphore reaches this value it can no longer be 'given'.
+ *
+ * @param uxInitialCount The count value assigned to the semaphore when it is
+ * created.
+ *
+ * @return Handle to the created semaphore. Null if the semaphore could not be
+ * created.
+ *
+ * Example usage:
+ <pre>
+ xSemaphoreHandle xSemaphore;
+
+ void vATask( void * pvParameters )
+ {
+ xSemaphoreHandle xSemaphore = NULL;
+
+ // Semaphore cannot be used before a call to xSemaphoreCreateCounting().
+ // The max value to which the semaphore can count should be 10, and the
+ // initial value assigned to the count should be 0.
+ xSemaphore = xSemaphoreCreateCounting( 10, 0 );
+
+ if( xSemaphore != NULL )
+ {
+ // The semaphore was created successfully.
+ // The semaphore can now be used.
+ }
+ }
+ </pre>
+ * \defgroup xSemaphoreCreateCounting xSemaphoreCreateCounting
+ * \ingroup Semaphores
+ */
+#define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount ) xQueueCreateCountingSemaphore( uxMaxCount, uxInitialCount )
+
+
+#endif /* SEMAPHORE_H */
+
+
diff --git a/gyro_board/src/usb/FreeRTOS/include/task.h b/gyro_board/src/usb/FreeRTOS/include/task.h
new file mode 100644
index 0000000..a8d8a62
--- /dev/null
+++ b/gyro_board/src/usb/FreeRTOS/include/task.h
@@ -0,0 +1,1261 @@
+/*
+ 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.
+*/
+
+
+#ifndef INC_FREERTOS_H
+#error "#include FreeRTOS.h" must appear in source files before "#include task.h"
+#endif
+
+
+
+#ifndef TASK_H
+#define TASK_H
+
+#include "portable.h"
+#include "list.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ /*-----------------------------------------------------------
+ * MACROS AND DEFINITIONS
+ *----------------------------------------------------------*/
+
+#define tskKERNEL_VERSION_NUMBER "V6.0.4"
+
+ /**
+ * task. h
+ *
+ * Type by which tasks are referenced. For example, a call to xTaskCreate
+ * returns (via a pointer parameter) an xTaskHandle variable that can then
+ * be used as a parameter to vTaskDelete to delete the task.
+ *
+ * \page xTaskHandle xTaskHandle
+ * \ingroup Tasks
+ */
+ typedef void * xTaskHandle;
+
+ /*
+ * Used internally only.
+ */
+ typedef struct xTIME_OUT {
+ portBASE_TYPE xOverflowCount;
+ portTickType xTimeOnEntering;
+ } xTimeOutType;
+
+ /*
+ * Defines the memory ranges allocated to the task when an MPU is used.
+ */
+ typedef struct xMEMORY_REGION {
+ void *pvBaseAddress;
+ unsigned long ulLengthInBytes;
+ unsigned long ulParameters;
+ } xMemoryRegion;
+
+ /*
+ * Parameters required to create an MPU protected task.
+ */
+ typedef struct xTASK_PARAMTERS {
+ pdTASK_CODE pvTaskCode;
+ const signed char * const pcName;
+ unsigned short usStackDepth;
+ void *pvParameters;
+ unsigned portBASE_TYPE uxPriority;
+ portSTACK_TYPE *puxStackBuffer;
+ xMemoryRegion xRegions[ portNUM_CONFIGURABLE_REGIONS ];
+ } xTaskParameters;
+
+ /*
+ * Defines the priority used by the idle task. This must not be modified.
+ *
+ * \ingroup TaskUtils
+ */
+#define tskIDLE_PRIORITY ( ( unsigned portBASE_TYPE ) 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()
+
+ /* Definitions returned by xTaskGetSchedulerState(). */
+#define taskSCHEDULER_NOT_STARTED 0
+#define taskSCHEDULER_RUNNING 1
+#define taskSCHEDULER_SUSPENDED 2
+
+ /*-----------------------------------------------------------
+ * TASK CREATION API
+ *----------------------------------------------------------*/
+
+ /**
+ * task. h
+ *<pre>
+ portBASE_TYPE xTaskCreate(
+ pdTASK_CODE pvTaskCode,
+ const char * const pcName,
+ unsigned short 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.
+ *
+ * xTaskCreate() can only be used to create a task that has unrestricted
+ * access to the entire microcontroller memory map. Systems that include MPU
+ * support can alternatively create an MPU constrained task using
+ * xTaskCreateRestricted().
+ *
+ * @param pvTaskCode Pointer to the task entry function. Tasks
+ * must be implemented to never return (i.e. continuous loop).
+ *
+ * @param pcName A descriptive name for the task. This is mainly used to
+ * facilitate debugging. Max length defined by tskMAX_TASK_NAME_LEN - default
+ * is 16.
+ *
+ * @param usStackDepth The size of the task stack specified as the number of
+ * variables the stack can hold - not the number of bytes. For example, if
+ * the stack is 16 bits wide and usStackDepth is defined as 100, 200 bytes
+ * will be allocated for stack storage.
+ *
+ * @param pvParameters Pointer that will be used as the parameter for the task
+ * being created.
+ *
+ * @param uxPriority The priority at which the task should run. Systems that
+ * include MPU support can optionally create tasks in a privileged (system)
+ * mode by setting bit portPRIVILEGE_BIT of the priority parameter. For
+ * example, to create a privileged task at priority 2 the uxPriority parameter
+ * should be set to ( 2 | portPRIVILEGE_BIT ).
+ *
+ * @param pvCreatedTask Used to pass back a handle by which the created task
+ * can be referenced.
+ *
+ * @return pdPASS if the task was successfully created and added to a ready
+ * list, otherwise an error code defined in the file errors. h
+ *
+ * Example usage:
+ <pre>
+ // Task to be created.
+ void vTaskCode( void * pvParameters )
+ {
+ for( ;; )
+ {
+ // Task code goes here.
+ }
+ }
+
+ // Function that creates a task.
+ void vOtherFunction( void )
+ {
+ static unsigned char ucParameterToPass;
+ xTaskHandle xHandle;
+
+ // Create the task, storing the handle. Note that the passed parameter ucParameterToPass
+ // must exist for the lifetime of the task, so in this case is declared static. If it was just an
+ // an automatic stack variable it might no longer exist, or at least have been corrupted, by the time
+ // the new task attempts to access it.
+ xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );
+
+ // Use the handle to delete the task.
+ vTaskDelete( xHandle );
+ }
+ </pre>
+ * \defgroup xTaskCreate xTaskCreate
+ * \ingroup Tasks
+ */
+#define xTaskCreate( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask ) xTaskGenericCreate( ( pvTaskCode ), ( pcName ), ( usStackDepth ), ( pvParameters ), ( uxPriority ), ( pxCreatedTask ), ( NULL ), ( NULL ) )
+
+ /**
+ * task. h
+ *<pre>
+ portBASE_TYPE xTaskCreateRestricted( xTaskParameters *pxTaskDefinition, xTaskHandle *pxCreatedTask );</pre>
+ *
+ * xTaskCreateRestricted() should only be used in systems that include an MPU
+ * implementation.
+ *
+ * Create a new task and add it to the list of tasks that are ready to run.
+ * The function parameters define the memory regions and associated access
+ * permissions allocated to the task.
+ *
+ * @param pxTaskDefinition Pointer to a structure that contains a member
+ * for each of the normal xTaskCreate() parameters (see the xTaskCreate() API
+ * documentation) plus an optional stack buffer and the memory region
+ * definitions.
+ *
+ * @param pxCreatedTask Used to pass back a handle by which the created task
+ * can be referenced.
+ *
+ * @return pdPASS if the task was successfully created and added to a ready
+ * list, otherwise an error code defined in the file errors. h
+ *
+ * Example usage:
+ <pre>
+ // Create an xTaskParameters structure that defines the task to be created.
+ static const xTaskParameters xCheckTaskParameters =
+ {
+ vATask, // pvTaskCode - the function that implements the task.
+ "ATask", // pcName - just a text name for the task to assist debugging.
+ 100, // usStackDepth - the stack size DEFINED IN WORDS.
+ NULL, // pvParameters - passed into the task function as the function parameters.
+ ( 1UL | portPRIVILEGE_BIT ),// uxPriority - task priority, set the portPRIVILEGE_BIT if the task should run in a privileged state.
+ cStackBuffer,// puxStackBuffer - the buffer to be used as the task stack.
+
+ // xRegions - Allocate up to three separate memory regions for access by
+ // the task, with appropriate access permissions. Different processors have
+ // different memory alignment requirements - refer to the FreeRTOS documentation
+ // for full information.
+ {
+ // Base address Length Parameters
+ { cReadWriteArray, 32, portMPU_REGION_READ_WRITE },
+ { cReadOnlyArray, 32, portMPU_REGION_READ_ONLY },
+ { cPrivilegedOnlyAccessArray, 128, portMPU_REGION_PRIVILEGED_READ_WRITE }
+ }
+ };
+
+ int main( void )
+ {
+ xTaskHandle xHandle;
+
+ // Create a task from the const structure defined above. The task handle
+ // is requested (the second parameter is not NULL) but in this case just for
+ // demonstration purposes as its not actually used.
+ xTaskCreateRestricted( &xRegTest1Parameters, &xHandle );
+
+ // Start the scheduler.
+ vTaskStartScheduler();
+
+ // Will only get here if there was insufficient memory to create the idle
+ // task.
+ for( ;; );
+ }
+ </pre>
+ * \defgroup xTaskCreateRestricted xTaskCreateRestricted
+ * \ingroup Tasks
+ */
+#define xTaskCreateRestricted( x, pxCreatedTask ) xTaskGenericCreate( ((x)->pvTaskCode), ((x)->pcName), ((x)->usStackDepth), ((x)->pvParameters), ((x)->uxPriority), (pxCreatedTask), ((x)->puxStackBuffer), ((x)->xRegions) )
+
+ /**
+ * task. h
+ *<pre>
+ void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxRegions );</pre>
+ *
+ * Memory regions are assigned to a restricted task when the task is created by
+ * a call to xTaskCreateRestricted(). These regions can be redefined using
+ * vTaskAllocateMPURegions().
+ *
+ * @param xTask The handle of the task being updated.
+ *
+ * @param xRegions A pointer to an xMemoryRegion structure that contains the
+ * new memory region definitions.
+ *
+ * Example usage:
+ <pre>
+ // Define an array of xMemoryRegion structures that configures an MPU region
+ // allowing read/write access for 1024 bytes starting at the beginning of the
+ // ucOneKByte array. The other two of the maximum 3 definable regions are
+ // unused so set to zero.
+ static const xMemoryRegion xAltRegions[ portNUM_CONFIGURABLE_REGIONS ] =
+ {
+ // Base address Length Parameters
+ { ucOneKByte, 1024, portMPU_REGION_READ_WRITE },
+ { 0, 0, 0 },
+ { 0, 0, 0 }
+ };
+
+ void vATask( void *pvParameters )
+ {
+ // This task was created such that it has access to certain regions of
+ // memory as defined by the MPU configuration. At some point it is
+ // desired that these MPU regions are replaced with that defined in the
+ // xAltRegions const struct above. Use a call to vTaskAllocateMPURegions()
+ // for this purpose. NULL is used as the task handle to indicate that this
+ // function should modify the MPU regions of the calling task.
+ vTaskAllocateMPURegions( NULL, xAltRegions );
+
+ // Now the task can continue its function, but from this point on can only
+ // access its stack and the ucOneKByte array (unless any other statically
+ // defined or shared regions have been declared elsewhere).
+ }
+ </pre>
+ * \defgroup xTaskCreateRestricted xTaskCreateRestricted
+ * \ingroup Tasks
+ */
+ void vTaskAllocateMPURegions(xTaskHandle xTask, const xMemoryRegion * const pxRegions) PRIVILEGED_FUNCTION;
+
+ /**
+ * 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) PRIVILEGED_FUNCTION;
+
+
+ /*-----------------------------------------------------------
+ * 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.
+ *
+ *
+ * vTaskDelay() specifies a time at which the task wishes to unblock relative to
+ * the time at which vTaskDelay() is called. For example, specifying a block
+ * period of 100 ticks will cause the task to unblock 100 ticks after
+ * vTaskDelay() is called. vTaskDelay() does not therefore provide a good method
+ * of controlling the frequency of a cyclical task as the path taken through the
+ * code, as well as other task and interrupt activity, will effect the frequency
+ * at which vTaskDelay() gets called and therefore the time at which the task
+ * next executes. See vTaskDelayUntil() for an alternative API function designed
+ * to facilitate fixed frequency execution. It does this by specifying an
+ * absolute time (rather than a relative time) at which the calling task should
+ * unblock.
+ *
+ * @param xTicksToDelay The amount of time, in tick periods, that
+ * the calling task should block.
+ *
+ * Example usage:
+
+ void vTaskFunction( void * pvParameters )
+ {
+ void vTaskFunction( void * pvParameters )
+ {
+ // Block for 500ms.
+ const portTickType xDelay = 500 / portTICK_RATE_MS;
+
+ for( ;; )
+ {
+ // Simply toggle the LED every 500ms, blocking between each toggle.
+ vToggleLED();
+ vTaskDelay( xDelay );
+ }
+ }
+
+ * \defgroup vTaskDelay vTaskDelay
+ * \ingroup TaskCtrl
+ */
+ void vTaskDelay(portTickType xTicksToDelay) PRIVILEGED_FUNCTION;
+
+ /**
+ * task. h
+ * <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 * const pxPreviousWakeTime, portTickType xTimeIncrement) PRIVILEGED_FUNCTION;
+
+ /**
+ * 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) PRIVILEGED_FUNCTION;
+
+ /**
+ * 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) PRIVILEGED_FUNCTION;
+
+ /**
+ * 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) PRIVILEGED_FUNCTION;
+
+ /**
+ * 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) PRIVILEGED_FUNCTION;
+
+ /**
+ * 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) PRIVILEGED_FUNCTION;
+
+ /*-----------------------------------------------------------
+ * 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) PRIVILEGED_FUNCTION;
+
+ /**
+ * 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) PRIVILEGED_FUNCTION;
+
+ /**
+ * 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.
+ *
+ * API functions that have the potential to cause a context switch (for example,
+ * vTaskDelayUntil(), xQueueSend(), etc.) must not be called while the scheduler
+ * is suspended.
+ *
+ * Example usage:
+ <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) PRIVILEGED_FUNCTION;
+
+ /**
+ * task. h
+ * <pre>char 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) PRIVILEGED_FUNCTION;
+
+ /**
+ * task. h
+ * <pre>signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask );</pre>
+ *
+ * Utility task that simply returns pdTRUE if the task referenced by xTask is
+ * currently in the Suspended state, or pdFALSE if the task referenced by xTask
+ * is in any other state.
+ *
+ */
+ signed portBASE_TYPE xTaskIsTaskSuspended(xTaskHandle xTask) PRIVILEGED_FUNCTION;
+
+ /*-----------------------------------------------------------
+ * TASK UTILITIES
+ *----------------------------------------------------------*/
+
+ /**
+ * task. h
+ * <PRE>volatile portTickType xTaskGetTickCount( void );</PRE>
+ *
+ * @return The count of ticks since vTaskStartScheduler was called.
+ *
+ * \page xTaskGetTickCount xTaskGetTickCount
+ * \ingroup TaskUtils
+ */
+ portTickType xTaskGetTickCount(void) PRIVILEGED_FUNCTION;
+
+ /**
+ * task. h
+ * <PRE>unsigned short 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) PRIVILEGED_FUNCTION;
+
+ /**
+ * task. h
+ * <PRE>void vTaskList( char *pcWriteBuffer );</PRE>
+ *
+ * configUSE_TRACE_FACILITY must be defined as 1 for this function to be
+ * available. See the configuration section for more information.
+ *
+ * NOTE: This function will disable interrupts for its duration. It is
+ * not intended for normal application runtime use but as a debug aid.
+ *
+ * Lists all the current tasks, along with their current state and stack
+ * usage high water mark.
+ *
+ * Tasks are reported as blocked ('B'), ready ('R'), deleted ('D') or
+ * suspended ('S').
+ *
+ * @param pcWriteBuffer A buffer into which the above mentioned details
+ * will be written, in ascii form. This buffer is assumed to be large
+ * enough to contain the generated report. Approximately 40 bytes per
+ * task should be sufficient.
+ *
+ * \page vTaskList vTaskList
+ * \ingroup TaskUtils
+ */
+ void vTaskList(signed char *pcWriteBuffer) PRIVILEGED_FUNCTION;
+
+ /**
+ * task. h
+ * <PRE>void vTaskGetRunTimeStats( char *pcWriteBuffer );</PRE>
+ *
+ * configGENERATE_RUN_TIME_STATS must be defined as 1 for this function
+ * to be available. The application must also then provide definitions
+ * for portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and
+ * portGET_RUN_TIME_COUNTER_VALUE to configure a peripheral timer/counter
+ * and return the timers current count value respectively. The counter
+ * should be at least 10 times the frequency of the tick count.
+ *
+ * NOTE: This function will disable interrupts for its duration. It is
+ * not intended for normal application runtime use but as a debug aid.
+ *
+ * Setting configGENERATE_RUN_TIME_STATS to 1 will result in a total
+ * accumulated execution time being stored for each task. The resolution
+ * of the accumulated time value depends on the frequency of the timer
+ * configured by the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro.
+ * Calling vTaskGetRunTimeStats() writes the total execution time of each
+ * task into a buffer, both as an absolute count value and as a percentage
+ * of the total system execution time.
+ *
+ * @param pcWriteBuffer A buffer into which the execution times will be
+ * written, in ascii form. This buffer is assumed to be large enough to
+ * contain the generated report. Approximately 40 bytes per task should
+ * be sufficient.
+ *
+ * \page vTaskGetRunTimeStats vTaskGetRunTimeStats
+ * \ingroup TaskUtils
+ */
+ void vTaskGetRunTimeStats(signed char *pcWriteBuffer) PRIVILEGED_FUNCTION;
+
+ /**
+ * task. h
+ * <PRE>void vTaskStartTrace( char * 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 char * pcBuffer, unsigned long ulBufferSize) PRIVILEGED_FUNCTION;
+
+ /**
+ * task. h
+ * <PRE>unsigned long 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 long ulTaskEndTrace(void) PRIVILEGED_FUNCTION;
+
+ /**
+ * task.h
+ * <PRE>unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask );</PRE>
+ *
+ * INCLUDE_uxTaskGetStackHighWaterMark must be set to 1 in FreeRTOSConfig.h for
+ * this function to be available.
+ *
+ * Returns the high water mark of the stack associated with xTask. That is,
+ * the minimum free stack space there has been (in bytes) since the task
+ * started. The smaller the returned number the closer the task has come
+ * to overflowing its stack.
+ *
+ * @param xTask Handle of the task associated with the stack to be checked.
+ * Set xTask to NULL to check the stack of the calling task.
+ *
+ * @return The smallest amount of free stack space there has been (in bytes)
+ * since the task referenced by xTask was created.
+ */
+ unsigned portBASE_TYPE uxTaskGetStackHighWaterMark(xTaskHandle xTask) PRIVILEGED_FUNCTION;
+
+ /**
+ * task.h
+ * <pre>void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction );</pre>
+ *
+ * Sets pxHookFunction to be the task hook function used by the task xTask.
+ * Passing xTask as NULL has the effect of setting the calling tasks hook
+ * function.
+ */
+ void vTaskSetApplicationTaskTag(xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction) PRIVILEGED_FUNCTION;
+
+ /**
+ * task.h
+ * <pre>void xTaskGetApplicationTaskTag( xTaskHandle xTask );</pre>
+ *
+ * Returns the pxHookFunction value assigned to the task xTask.
+ */
+ pdTASK_HOOK_CODE xTaskGetApplicationTaskTag(xTaskHandle xTask) PRIVILEGED_FUNCTION;
+
+ /**
+ * task.h
+ * <pre>portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction );</pre>
+ *
+ * Calls the hook function associated with xTask. Passing xTask as NULL has
+ * the effect of calling the Running tasks (the calling task) hook function.
+ *
+ * pvParameter is passed to the hook function for the task to interpret as it
+ * wants.
+ */
+ portBASE_TYPE xTaskCallApplicationTaskHook(xTaskHandle xTask, void *pvParameter) PRIVILEGED_FUNCTION;
+
+
+ /*-----------------------------------------------------------
+ * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
+ *----------------------------------------------------------*/
+
+ /*
+ * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY
+ * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS
+ * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
+ *
+ * Called from the real time kernel tick (either preemptive or cooperative),
+ * this increments the tick count and checks if any tasks that are blocked
+ * for a finite period required removing from a blocked list and placing on
+ * a ready list.
+ */
+ void vTaskIncrementTick(void) PRIVILEGED_FUNCTION;
+
+ /*
+ * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN
+ * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
+ *
+ * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED.
+ *
+ * Removes the calling task from the ready list and places it both
+ * on the list of tasks waiting for a particular event, and the
+ * list of delayed tasks. The task will be removed from both lists
+ * and replaced on the ready list should either the event occur (and
+ * there be no higher priority tasks waiting on the same event) or
+ * the delay period expires.
+ *
+ * @param pxEventList The list containing tasks that are blocked waiting
+ * for the event to occur.
+ *
+ * @param xTicksToWait The maximum amount of time that the task should wait
+ * for the event to occur. This is specified in kernel ticks,the constant
+ * portTICK_RATE_MS can be used to convert kernel ticks into a real time
+ * period.
+ */
+ void vTaskPlaceOnEventList(const xList * const pxEventList, portTickType xTicksToWait) PRIVILEGED_FUNCTION;
+
+ /*
+ * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN
+ * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
+ *
+ * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED.
+ *
+ * Removes a task from both the specified event list and the list of blocked
+ * tasks, and places it on a ready queue.
+ *
+ * xTaskRemoveFromEventList () will be called if either an event occurs to
+ * unblock a task, or the block timeout period expires.
+ *
+ * @return pdTRUE if the task being removed has a higher priority than the task
+ * making the call, otherwise pdFALSE.
+ */
+ signed portBASE_TYPE xTaskRemoveFromEventList(const xList * const pxEventList) PRIVILEGED_FUNCTION;
+
+ /*
+ * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS 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) PRIVILEGED_FUNCTION;
+
+ /*
+ * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY
+ * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS
+ * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
+ *
+ * Sets the pointer to the current TCB to the TCB of the highest priority task
+ * that is ready to run.
+ */
+ void vTaskSwitchContext(void) PRIVILEGED_FUNCTION;
+
+ /*
+ * Return the handle of the calling task.
+ */
+ xTaskHandle xTaskGetCurrentTaskHandle(void) PRIVILEGED_FUNCTION;
+
+ /*
+ * Capture the current time status for future reference.
+ */
+ void vTaskSetTimeOutState(xTimeOutType * const pxTimeOut) PRIVILEGED_FUNCTION;
+
+ /*
+ * Compare the time status now with that previously captured to see if the
+ * timeout has expired.
+ */
+ portBASE_TYPE xTaskCheckForTimeOut(xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait) PRIVILEGED_FUNCTION;
+
+ /*
+ * Shortcut used by the queue implementation to prevent unnecessary call to
+ * taskYIELD();
+ */
+ void vTaskMissedYield(void) PRIVILEGED_FUNCTION;
+
+ /*
+ * Returns the scheduler state as taskSCHEDULER_RUNNING,
+ * taskSCHEDULER_NOT_STARTED or taskSCHEDULER_SUSPENDED.
+ */
+ portBASE_TYPE xTaskGetSchedulerState(void) PRIVILEGED_FUNCTION;
+
+ /*
+ * Raises the priority of the mutex holder to that of the calling task should
+ * the mutex holder have a priority less than the calling task.
+ */
+ void vTaskPriorityInherit(xTaskHandle * const pxMutexHolder) PRIVILEGED_FUNCTION;
+
+ /*
+ * Set the priority of a task back to its proper priority in the case that it
+ * inherited a higher priority while it was holding a semaphore.
+ */
+ void vTaskPriorityDisinherit(xTaskHandle * const pxMutexHolder) PRIVILEGED_FUNCTION;
+
+ /*
+ * Generic version of the task creation function which is in turn called by the
+ * xTaskCreate() and xTaskCreateRestricted() macros.
+ */
+ signed portBASE_TYPE xTaskGenericCreate(pdTASK_CODE pvTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions) PRIVILEGED_FUNCTION;
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* TASK_H */
+
+
+
diff --git a/gyro_board/src/usb/FreeRTOS/list.c b/gyro_board/src/usb/FreeRTOS/list.c
new file mode 100644
index 0000000..0b88791
--- /dev/null
+++ b/gyro_board/src/usb/FreeRTOS/list.c
@@ -0,0 +1,186 @@
+/*
+ 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.
+*/
+
+
+#include <stdlib.h>
+#include "FreeRTOS.h"
+#include "list.h"
+
+/*-----------------------------------------------------------
+ * PUBLIC LIST API documented in list.h
+ *----------------------------------------------------------*/
+
+void vListInitialise(xList *pxList)
+{
+ /* The list structure contains a list item which is used to mark the
+ end of the list. To initialise the list the list end is inserted
+ as the only list entry. */
+ pxList->pxIndex = (xListItem *) & (pxList->xListEnd);
+
+ /* The list end value is the highest possible value in the list to
+ ensure it remains at the end of the list. */
+ pxList->xListEnd.xItemValue = portMAX_DELAY;
+
+ /* The list end next and previous pointers point to itself so we know
+ when the list is empty. */
+ pxList->xListEnd.pxNext = (xListItem *) & (pxList->xListEnd);
+ pxList->xListEnd.pxPrevious = (xListItem *) & (pxList->xListEnd);
+
+ pxList->uxNumberOfItems = 0;
+}
+/*-----------------------------------------------------------*/
+
+void vListInitialiseItem(xListItem *pxItem)
+{
+ /* Make sure the list item is not recorded as being on a list. */
+ pxItem->pvContainer = NULL;
+}
+/*-----------------------------------------------------------*/
+
+void vListInsertEnd(xList *pxList, xListItem *pxNewListItem)
+{
+ volatile xListItem * pxIndex;
+
+ /* Insert a new list item into pxList, but rather than sort the list,
+ makes the new list item the last item to be removed by a call to
+ pvListGetOwnerOfNextEntry. This means it has to be the item pointed to by
+ the pxIndex member. */
+ pxIndex = pxList->pxIndex;
+
+ pxNewListItem->pxNext = pxIndex->pxNext;
+ pxNewListItem->pxPrevious = pxList->pxIndex;
+ pxIndex->pxNext->pxPrevious = (volatile xListItem *) pxNewListItem;
+ pxIndex->pxNext = (volatile xListItem *) pxNewListItem;
+ pxList->pxIndex = (volatile xListItem *) pxNewListItem;
+
+ /* Remember which list the item is in. */
+ pxNewListItem->pvContainer = (void *) pxList;
+
+ (pxList->uxNumberOfItems)++;
+}
+/*-----------------------------------------------------------*/
+
+void vListInsert(xList *pxList, xListItem *pxNewListItem)
+{
+ volatile xListItem *pxIterator;
+ portTickType xValueOfInsertion;
+
+ /* Insert the new list item into the list, sorted in ulListItem order. */
+ xValueOfInsertion = pxNewListItem->xItemValue;
+
+ /* If the list already contains a list item with the same item value then
+ the new list item should be placed after it. This ensures that TCB's which
+ are stored in ready lists (all of which have the same ulListItem value)
+ get an equal share of the CPU. However, if the xItemValue is the same as
+ the back marker the iteration loop below will not end. This means we need
+ to guard against this by checking the value first and modifying the
+ algorithm slightly if necessary. */
+ if (xValueOfInsertion == portMAX_DELAY) {
+ pxIterator = pxList->xListEnd.pxPrevious;
+ } else {
+ /* *** NOTE ***********************************************************
+ If you find your application is crashing here then likely causes are:
+ 1) Stack overflow -
+ see http://www.freertos.org/Stacks-and-stack-overflow-checking.html
+ 2) Incorrect interrupt priority assignment, especially on Cortex M3
+ parts where numerically high priority values denote low actual
+ interrupt priories, which can seem counter intuitive. See
+ configMAX_SYSCALL_INTERRUPT_PRIORITY on http://www.freertos.org/a00110.html
+ 3) Calling an API function from within a critical section or when
+ the scheduler is suspended.
+ 4) Using a queue or semaphore before it has been initialised or
+ before the scheduler has been started (are interrupts firing
+ before vTaskStartScheduler() has been called?).
+ See http://www.freertos.org/FAQHelp.html for more tips.
+ **********************************************************************/
+
+ for (pxIterator = (xListItem *) & (pxList->xListEnd); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext) {
+ /* There is nothing to do here, we are just iterating to the
+ wanted insertion position. */
+ }
+ }
+
+ pxNewListItem->pxNext = pxIterator->pxNext;
+ pxNewListItem->pxNext->pxPrevious = (volatile xListItem *) pxNewListItem;
+ pxNewListItem->pxPrevious = pxIterator;
+ pxIterator->pxNext = (volatile xListItem *) pxNewListItem;
+
+ /* Remember which list the item is in. This allows fast removal of the
+ item later. */
+ pxNewListItem->pvContainer = (void *) pxList;
+
+ (pxList->uxNumberOfItems)++;
+}
+/*-----------------------------------------------------------*/
+
+void vListRemove(xListItem *pxItemToRemove)
+{
+ xList * pxList;
+
+ pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious;
+ pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext;
+
+ /* The list item knows which list it is in. Obtain the list from the list
+ item. */
+ pxList = (xList *) pxItemToRemove->pvContainer;
+
+ /* Make sure the index is left pointing to a valid item. */
+ if (pxList->pxIndex == pxItemToRemove) {
+ pxList->pxIndex = pxItemToRemove->pxPrevious;
+ }
+
+ pxItemToRemove->pvContainer = NULL;
+ (pxList->uxNumberOfItems)--;
+}
+/*-----------------------------------------------------------*/
+
diff --git a/gyro_board/src/usb/FreeRTOS/portable/GCC/ARM_CM3/port.c b/gyro_board/src/usb/FreeRTOS/portable/GCC/ARM_CM3/port.c
new file mode 100644
index 0000000..fb55c72
--- /dev/null
+++ b/gyro_board/src/usb/FreeRTOS/portable/GCC/ARM_CM3/port.c
@@ -0,0 +1,280 @@
+/*
+ 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.
+*/
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the ARM CM3 port.
+ *----------------------------------------------------------*/
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* For backward compatibility, ensure configKERNEL_INTERRUPT_PRIORITY is
+defined. The value should also ensure backward compatibility.
+FreeRTOS.org versions prior to V4.4.0 did not include this definition. */
+#ifndef configKERNEL_INTERRUPT_PRIORITY
+#define configKERNEL_INTERRUPT_PRIORITY 255
+#endif
+
+/* Constants required to manipulate the NVIC. */
+#define portNVIC_SYSTICK_CTRL ( ( volatile unsigned long *) 0xe000e010 )
+#define portNVIC_SYSTICK_LOAD ( ( volatile unsigned long *) 0xe000e014 )
+#define portNVIC_INT_CTRL ( ( volatile unsigned long *) 0xe000ed04 )
+#define portNVIC_SYSPRI2 ( ( volatile unsigned long *) 0xe000ed20 )
+#define portNVIC_SYSTICK_CLK 0x00000004
+#define portNVIC_SYSTICK_INT 0x00000002
+#define portNVIC_SYSTICK_ENABLE 0x00000001
+#define portNVIC_PENDSVSET 0x10000000
+#define portNVIC_PENDSV_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16 )
+#define portNVIC_SYSTICK_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24 )
+
+/* Constants required to set up the initial stack. */
+#define portINITIAL_XPSR ( 0x01000000 )
+
+/* The priority used by the kernel is assigned to a variable to make access
+from inline assembler easier. */
+const unsigned long ulKernelPriority = configKERNEL_INTERRUPT_PRIORITY;
+
+/* Each task maintains its own interrupt status in the critical nesting
+variable. */
+static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
+
+/*
+ * Setup the timer to generate the tick interrupts.
+ */
+static void prvSetupTimerInterrupt(void);
+
+/*
+ * Exception handlers.
+ */
+void xPortPendSVHandler(void) __attribute__((naked));
+void xPortSysTickHandler(void);
+void vPortSVCHandler(void) __attribute__((naked));
+
+/*
+ * Start first task is a separate function so it can be tested in isolation.
+ */
+void vPortStartFirstTask(void) __attribute__((naked));
+
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+portSTACK_TYPE *pxPortInitialiseStack(portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters)
+{
+ /* Simulate the stack frame as it would be created by a context switch
+ interrupt. */
+ pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
+ *pxTopOfStack = portINITIAL_XPSR; /* xPSR */
+ pxTopOfStack--;
+ *pxTopOfStack = (portSTACK_TYPE) pxCode; /* PC */
+ pxTopOfStack--;
+ *pxTopOfStack = 0; /* LR */
+ pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
+ *pxTopOfStack = (portSTACK_TYPE) pvParameters; /* R0 */
+ pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */
+
+ return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+void vPortSVCHandler(void)
+{
+ __asm volatile(
+ " ldr r3, pxCurrentTCBConst2 \n" /* Restore the context. */
+ " ldr r1, [r3] \n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
+ " ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */
+ " ldmia r0!, {r4-r11} \n" /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */
+ " msr psp, r0 \n" /* Restore the task stack pointer. */
+ " mov r0, #0 \n"
+ " msr basepri, r0 \n"
+ " orr r14, #0xd \n"
+ " bx r14 \n"
+ " \n"
+ " .align 2 \n"
+ "pxCurrentTCBConst2: .word pxCurrentTCB \n"
+ );
+}
+/*-----------------------------------------------------------*/
+
+void vPortStartFirstTask(void)
+{
+ __asm volatile(
+ " ldr r0, =0xE000ED08 \n" /* Use the NVIC offset register to locate the stack. */
+ " ldr r0, [r0] \n"
+ " ldr r0, [r0] \n"
+ " msr msp, r0 \n" /* Set the msp back to the start of the stack. */
+ " svc 0 \n" /* System call to start first task. */
+ );
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+portBASE_TYPE xPortStartScheduler(void)
+{
+ /* Make PendSV, CallSV and SysTick the same priroity as the kernel. */
+ *(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;
+ *(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;
+
+ /* Start the timer that generates the tick ISR. Interrupts are disabled
+ here already. */
+ prvSetupTimerInterrupt();
+
+ /* Initialise the critical nesting count ready for the first task. */
+ uxCriticalNesting = 0;
+
+ /* Start the first task. */
+ vPortStartFirstTask();
+
+ /* Should not get here! */
+ return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler(void)
+{
+ /* It is unlikely that the CM3 port will require this function as there
+ is nothing to return to. */
+}
+/*-----------------------------------------------------------*/
+
+void vPortYieldFromISR(void)
+{
+ /* Set a PendSV to request a context switch. */
+ *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnterCritical(void)
+{
+ portDISABLE_INTERRUPTS();
+ uxCriticalNesting++;
+}
+/*-----------------------------------------------------------*/
+
+void vPortExitCritical(void)
+{
+ uxCriticalNesting--;
+ if (uxCriticalNesting == 0) {
+ portENABLE_INTERRUPTS();
+ }
+}
+/*-----------------------------------------------------------*/
+
+void xPortPendSVHandler(void)
+{
+ /* This is a naked function. */
+
+ __asm volatile
+ (
+ " mrs r0, psp \n"
+ " \n"
+ " ldr r3, pxCurrentTCBConst \n" /* Get the location of the current TCB. */
+ " ldr r2, [r3] \n"
+ " \n"
+ " stmdb r0!, {r4-r11} \n" /* Save the remaining registers. */
+ " str r0, [r2] \n" /* Save the new top of stack into the first member of the TCB. */
+ " \n"
+ " stmdb sp!, {r3, r14} \n"
+ " mov r0, %0 \n"
+ " msr basepri, r0 \n"
+ " bl vTaskSwitchContext \n"
+ " mov r0, #0 \n"
+ " msr basepri, r0 \n"
+ " ldmia sp!, {r3, r14} \n"
+ " \n" /* Restore the context, including the critical nesting count. */
+ " ldr r1, [r3] \n"
+ " ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */
+ " ldmia r0!, {r4-r11} \n" /* Pop the registers. */
+ " msr psp, r0 \n"
+ " bx r14 \n"
+ " \n"
+ " .align 2 \n"
+ "pxCurrentTCBConst: .word pxCurrentTCB \n"
+ ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY)
+ );
+}
+/*-----------------------------------------------------------*/
+
+void xPortSysTickHandler(void)
+{
+ unsigned long ulDummy;
+
+ /* If using preemption, also force a context switch. */
+#if configUSE_PREEMPTION == 1
+ *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
+#endif
+
+ ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
+ {
+ vTaskIncrementTick();
+ }
+ portCLEAR_INTERRUPT_MASK_FROM_ISR(ulDummy);
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Setup the systick timer to generate the tick interrupts at the required
+ * frequency.
+ */
+void prvSetupTimerInterrupt(void)
+{
+ /* Configure SysTick to interrupt at the requested rate. */
+ *(portNVIC_SYSTICK_LOAD) = (configCPU_CLOCK_HZ / configTICK_RATE_HZ) - 1UL;
+ *(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
+}
+/*-----------------------------------------------------------*/
+
diff --git a/gyro_board/src/usb/FreeRTOS/portable/GCC/ARM_CM3/portmacro.h b/gyro_board/src/usb/FreeRTOS/portable/GCC/ARM_CM3/portmacro.h
new file mode 100644
index 0000000..35c57ac
--- /dev/null
+++ b/gyro_board/src/usb/FreeRTOS/portable/GCC/ARM_CM3/portmacro.h
@@ -0,0 +1,157 @@
+/*
+ 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.
+*/
+
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ /*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+ /* Type definitions. */
+#define portCHAR char
+#define portFLOAT float
+#define portDOUBLE double
+#define portLONG long
+#define portSHORT short
+#define portSTACK_TYPE unsigned portLONG
+#define portBASE_TYPE long
+
+#if( configUSE_16_BIT_TICKS == 1 )
+ typedef unsigned portSHORT portTickType;
+#define portMAX_DELAY ( portTickType ) 0xffff
+#else
+ typedef unsigned portLONG portTickType;
+#define portMAX_DELAY ( portTickType ) 0xffffffff
+#endif
+ /*-----------------------------------------------------------*/
+
+ /* Architecture specifics. */
+#define portSTACK_GROWTH ( -1 )
+#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT 8
+ /*-----------------------------------------------------------*/
+
+
+ /* Scheduler utilities. */
+ extern void vPortYieldFromISR(void);
+
+#define portYIELD() vPortYieldFromISR()
+
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYieldFromISR()
+ /*-----------------------------------------------------------*/
+
+
+ /* Critical section management. */
+
+ /*
+ * Set basepri to portMAX_SYSCALL_INTERRUPT_PRIORITY without effecting other
+ * registers. r0 is clobbered.
+ */
+#define portSET_INTERRUPT_MASK() \
+ __asm volatile \
+ ( \
+ " mov r0, %0 \n" \
+ " msr basepri, r0 \n" \
+ ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY):"r0" \
+ )
+
+ /*
+ * Set basepri back to 0 without effective other registers.
+ * r0 is clobbered.
+ */
+#define portCLEAR_INTERRUPT_MASK() \
+ __asm volatile \
+ ( \
+ " mov r0, #0 \n" \
+ " msr basepri, r0 \n" \
+ :::"r0" \
+ )
+
+#define portSET_INTERRUPT_MASK_FROM_ISR() 0;portSET_INTERRUPT_MASK()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) portCLEAR_INTERRUPT_MASK();(void)x
+
+
+ extern void vPortEnterCritical(void);
+ extern void vPortExitCritical(void);
+
+#define portDISABLE_INTERRUPTS() portSET_INTERRUPT_MASK()
+#define portENABLE_INTERRUPTS() portCLEAR_INTERRUPT_MASK()
+#define portENTER_CRITICAL() vPortEnterCritical()
+#define portEXIT_CRITICAL() vPortExitCritical()
+ /*-----------------------------------------------------------*/
+
+ /* Task function macros as described on the FreeRTOS.org WEB site. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+
+#define portNOP()
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */
+
diff --git a/gyro_board/src/usb/FreeRTOS/portable/MemMang/heap_1.c b/gyro_board/src/usb/FreeRTOS/portable/MemMang/heap_1.c
new file mode 100644
index 0000000..5ccda33
--- /dev/null
+++ b/gyro_board/src/usb/FreeRTOS/portable/MemMang/heap_1.c
@@ -0,0 +1,152 @@
+/*
+ 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 simplest possible implementation of pvPortMalloc(). Note that this
+ * implementation does NOT allow allocated memory to be freed again.
+ *
+ * See heap_2.c and heap_3.c for alternative implementations, and the memory
+ * management pages of http://www.FreeRTOS.org for more information.
+ */
+#include <stdlib.h>
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+all the API functions to use the MPU wrappers. That should only be done when
+task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/* Allocate the memory for the heap. The struct is used to force byte
+alignment without using any non-portable code. */
+static union xRTOS_HEAP
+{
+ #if portBYTE_ALIGNMENT == 8
+ volatile portDOUBLE dDummy;
+ #else
+ volatile unsigned long ulDummy;
+ #endif
+ unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
+} xHeap;
+
+static size_t xNextFreeByte = ( size_t ) 0;
+/*-----------------------------------------------------------*/
+
+void *pvPortMalloc( size_t xWantedSize )
+{
+void *pvReturn = NULL;
+
+ /* Ensure that blocks are always aligned to the required number of bytes. */
+ #if portBYTE_ALIGNMENT != 1
+ if( xWantedSize & portBYTE_ALIGNMENT_MASK )
+ {
+ /* Byte alignment required. */
+ xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
+ }
+ #endif
+
+ vTaskSuspendAll();
+ {
+ /* Check there is enough room left for the allocation. */
+ if( ( ( xNextFreeByte + xWantedSize ) < configTOTAL_HEAP_SIZE ) &&
+ ( ( xNextFreeByte + xWantedSize ) > xNextFreeByte ) )/* Check for overflow. */
+ {
+ /* Return the next free byte then increment the index past this
+ block. */
+ pvReturn = &( xHeap.ucHeap[ xNextFreeByte ] );
+ xNextFreeByte += xWantedSize;
+ }
+ }
+ xTaskResumeAll();
+
+ #if( configUSE_MALLOC_FAILED_HOOK == 1 )
+ {
+ if( pvReturn == NULL )
+ {
+ extern void vApplicationMallocFailedHook( void );
+ vApplicationMallocFailedHook();
+ }
+ }
+ #endif
+
+ return pvReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vPortFree( void *pv )
+{
+ /* Memory cannot be freed using this scheme. See heap_2.c and heap_3.c
+ for alternative implementations, and the memory management pages of
+ http://www.FreeRTOS.org for more information. */
+ ( void ) pv;
+}
+/*-----------------------------------------------------------*/
+
+void vPortInitialiseBlocks( void )
+{
+ /* Only required when static memory is not cleared. */
+ xNextFreeByte = ( size_t ) 0;
+}
+/*-----------------------------------------------------------*/
+
+size_t xPortGetFreeHeapSize( void )
+{
+ return ( configTOTAL_HEAP_SIZE - xNextFreeByte );
+}
+
+
+
diff --git a/gyro_board/src/usb/FreeRTOS/portable/MemMang/heap_2.c b/gyro_board/src/usb/FreeRTOS/portable/MemMang/heap_2.c
new file mode 100644
index 0000000..77e13b8
--- /dev/null
+++ b/gyro_board/src/usb/FreeRTOS/portable/MemMang/heap_2.c
@@ -0,0 +1,278 @@
+/*
+ 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.
+*/
+
+/*
+ * A sample implementation of pvPortMalloc() and vPortFree() that permits
+ * allocated blocks to be freed, but does not combine adjacent free blocks
+ * into a single larger block.
+ *
+ * See heap_1.c and heap_3.c for alternative implementations, and the memory
+ * management pages of http://www.FreeRTOS.org for more information.
+ */
+#include <stdlib.h>
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+all the API functions to use the MPU wrappers. That should only be done when
+task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/* Allocate the memory for the heap. The struct is used to force byte
+alignment without using any non-portable code. */
+static union xRTOS_HEAP
+{
+ #if portBYTE_ALIGNMENT == 8
+ volatile portDOUBLE dDummy;
+ #else
+ volatile unsigned long ulDummy;
+ #endif
+ unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
+} xHeap;
+
+/* Define the linked list structure. This is used to link free blocks in order
+of their size. */
+typedef struct A_BLOCK_LINK
+{
+ struct A_BLOCK_LINK *pxNextFreeBlock; /*<< The next free block in the list. */
+ size_t xBlockSize; /*<< The size of the free block. */
+} xBlockLink;
+
+
+static const unsigned short heapSTRUCT_SIZE = ( sizeof( xBlockLink ) + portBYTE_ALIGNMENT - ( sizeof( xBlockLink ) % portBYTE_ALIGNMENT ) );
+#define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( heapSTRUCT_SIZE * 2 ) )
+
+/* Create a couple of list links to mark the start and end of the list. */
+static xBlockLink xStart, xEnd;
+
+/* Keeps track of the number of free bytes remaining, but says nothing about
+fragmentation. */
+static size_t xFreeBytesRemaining = configTOTAL_HEAP_SIZE;
+
+/* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */
+
+/*
+ * Insert a block into the list of free blocks - which is ordered by size of
+ * the block. Small blocks at the start of the list and large blocks at the end
+ * of the list.
+ */
+#define prvInsertBlockIntoFreeList( pxBlockToInsert ) \
+{ \
+xBlockLink *pxIterator; \
+size_t xBlockSize; \
+ \
+ xBlockSize = pxBlockToInsert->xBlockSize; \
+ \
+ /* Iterate through the list until a block is found that has a larger size */ \
+ /* than the block we are inserting. */ \
+ for( pxIterator = &xStart; pxIterator->pxNextFreeBlock->xBlockSize < xBlockSize; pxIterator = pxIterator->pxNextFreeBlock ) \
+ { \
+ /* There is nothing to do here - just iterate to the correct position. */ \
+ } \
+ \
+ /* Update the list to include the block being inserted in the correct */ \
+ /* position. */ \
+ pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock; \
+ pxIterator->pxNextFreeBlock = pxBlockToInsert; \
+}
+/*-----------------------------------------------------------*/
+
+#define prvHeapInit() \
+{ \
+xBlockLink *pxFirstFreeBlock; \
+ \
+ /* xStart is used to hold a pointer to the first item in the list of free */ \
+ /* blocks. The void cast is used to prevent compiler warnings. */ \
+ xStart.pxNextFreeBlock = ( void * ) xHeap.ucHeap; \
+ xStart.xBlockSize = ( size_t ) 0; \
+ \
+ /* xEnd is used to mark the end of the list of free blocks. */ \
+ xEnd.xBlockSize = configTOTAL_HEAP_SIZE; \
+ xEnd.pxNextFreeBlock = NULL; \
+ \
+ /* To start with there is a single free block that is sized to take up the \
+ entire heap space. */ \
+ pxFirstFreeBlock = ( void * ) xHeap.ucHeap; \
+ pxFirstFreeBlock->xBlockSize = configTOTAL_HEAP_SIZE; \
+ pxFirstFreeBlock->pxNextFreeBlock = &xEnd; \
+}
+/*-----------------------------------------------------------*/
+
+void *pvPortMalloc( size_t xWantedSize )
+{
+xBlockLink *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
+static portBASE_TYPE xHeapHasBeenInitialised = pdFALSE;
+void *pvReturn = NULL;
+
+ vTaskSuspendAll();
+ {
+ /* If this is the first call to malloc then the heap will require
+ initialisation to setup the list of free blocks. */
+ if( xHeapHasBeenInitialised == pdFALSE )
+ {
+ prvHeapInit();
+ xHeapHasBeenInitialised = pdTRUE;
+ }
+
+ /* The wanted size is increased so it can contain a xBlockLink
+ structure in addition to the requested amount of bytes. */
+ if( xWantedSize > 0 )
+ {
+ xWantedSize += heapSTRUCT_SIZE;
+
+ /* Ensure that blocks are always aligned to the required number of bytes. */
+ if( xWantedSize & portBYTE_ALIGNMENT_MASK )
+ {
+ /* Byte alignment required. */
+ xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
+ }
+ }
+
+ if( ( xWantedSize > 0 ) && ( xWantedSize < configTOTAL_HEAP_SIZE ) )
+ {
+ /* Blocks are stored in byte order - traverse the list from the start
+ (smallest) block until one of adequate size is found. */
+ pxPreviousBlock = &xStart;
+ pxBlock = xStart.pxNextFreeBlock;
+ while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock ) )
+ {
+ pxPreviousBlock = pxBlock;
+ pxBlock = pxBlock->pxNextFreeBlock;
+ }
+
+ /* If we found the end marker then a block of adequate size was not found. */
+ if( pxBlock != &xEnd )
+ {
+ /* Return the memory space - jumping over the xBlockLink structure
+ at its start. */
+ pvReturn = ( void * ) ( ( ( unsigned char * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE );
+
+ /* This block is being returned for use so must be taken our of the
+ list of free blocks. */
+ pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
+
+ /* If the block is larger than required it can be split into two. */
+ if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
+ {
+ /* This block is to be split into two. Create a new block
+ following the number of bytes requested. The void cast is
+ used to prevent byte alignment warnings from the compiler. */
+ pxNewBlockLink = ( void * ) ( ( ( unsigned char * ) pxBlock ) + xWantedSize );
+
+ /* Calculate the sizes of two blocks split from the single
+ block. */
+ pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
+ pxBlock->xBlockSize = xWantedSize;
+
+ /* Insert the new block into the list of free blocks. */
+ prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
+ }
+
+ xFreeBytesRemaining -= xWantedSize;
+ }
+ }
+ }
+ xTaskResumeAll();
+
+ #if( configUSE_MALLOC_FAILED_HOOK == 1 )
+ {
+ if( pvReturn == NULL )
+ {
+ extern void vApplicationMallocFailedHook( void );
+ vApplicationMallocFailedHook();
+ }
+ }
+ #endif
+
+ return pvReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vPortFree( void *pv )
+{
+unsigned char *puc = ( unsigned char * ) pv;
+xBlockLink *pxLink;
+
+ if( pv )
+ {
+ /* The memory being freed will have an xBlockLink structure immediately
+ before it. */
+ puc -= heapSTRUCT_SIZE;
+
+ /* This casting is to keep the compiler from issuing warnings. */
+ pxLink = ( void * ) puc;
+
+ vTaskSuspendAll();
+ {
+ /* Add this block to the list of free blocks. */
+ prvInsertBlockIntoFreeList( ( ( xBlockLink * ) pxLink ) );
+ xFreeBytesRemaining += pxLink->xBlockSize;
+ }
+ xTaskResumeAll();
+ }
+}
+/*-----------------------------------------------------------*/
+
+size_t xPortGetFreeHeapSize( void )
+{
+ return xFreeBytesRemaining;
+}
+/*-----------------------------------------------------------*/
+
+void vPortInitialiseBlocks( void )
+{
+ /* This just exists to keep the linker quiet. */
+}
diff --git a/gyro_board/src/usb/FreeRTOS/portable/MemMang/heap_3.c b/gyro_board/src/usb/FreeRTOS/portable/MemMang/heap_3.c
new file mode 100644
index 0000000..643f750
--- /dev/null
+++ b/gyro_board/src/usb/FreeRTOS/portable/MemMang/heap_3.c
@@ -0,0 +1,117 @@
+/*
+ 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.
+*/
+
+
+/*
+ * Implementation of pvPortMalloc() and vPortFree() that relies on the
+ * compilers own malloc() and free() implementations.
+ *
+ * This file can only be used if the linker is configured to to generate
+ * a heap memory area.
+ *
+ * See heap_2.c and heap_1.c for alternative implementations, and the memory
+ * management pages of http://www.FreeRTOS.org for more information.
+ */
+
+#include <stdlib.h>
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+all the API functions to use the MPU wrappers. That should only be done when
+task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/*-----------------------------------------------------------*/
+
+void *pvPortMalloc( size_t xWantedSize )
+{
+void *pvReturn;
+
+ vTaskSuspendAll();
+ {
+ pvReturn = malloc( xWantedSize );
+ }
+ xTaskResumeAll();
+
+ #if( configUSE_MALLOC_FAILED_HOOK == 1 )
+ {
+ if( pvReturn == NULL )
+ {
+ extern void vApplicationMallocFailedHook( void );
+ vApplicationMallocFailedHook();
+ }
+ }
+ #endif
+
+ return pvReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vPortFree( void *pv )
+{
+ if( pv )
+ {
+ vTaskSuspendAll();
+ {
+ free( pv );
+ }
+ xTaskResumeAll();
+ }
+}
+
+
+
diff --git a/gyro_board/src/usb/FreeRTOS/queue.c b/gyro_board/src/usb/FreeRTOS/queue.c
new file mode 100644
index 0000000..acd6119
--- /dev/null
+++ b/gyro_board/src/usb/FreeRTOS/queue.c
@@ -0,0 +1,1302 @@
+/*
+ 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.
+*/
+
+#include <stdlib.h>
+#include <string.h>
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+all the API functions to use the MPU wrappers. That should only be done when
+task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "croutine.h"
+
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/*-----------------------------------------------------------
+ * PUBLIC LIST API documented in list.h
+ *----------------------------------------------------------*/
+
+/* Constants used with the cRxLock and cTxLock structure members. */
+#define queueUNLOCKED ( ( signed portBASE_TYPE ) -1 )
+#define queueLOCKED_UNMODIFIED ( ( signed portBASE_TYPE ) 0 )
+
+#define queueERRONEOUS_UNBLOCK ( -1 )
+
+/* For internal use only. */
+#define queueSEND_TO_BACK ( 0 )
+#define queueSEND_TO_FRONT ( 1 )
+
+/* Effectively make a union out of the xQUEUE structure. */
+#define pxMutexHolder pcTail
+#define uxQueueType pcHead
+#define uxRecursiveCallCount pcReadFrom
+#define queueQUEUE_IS_MUTEX NULL
+
+/* Semaphores do not actually store or copy data, so have an items size of
+zero. */
+#define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( 0 )
+#define queueDONT_BLOCK ( ( portTickType ) 0 )
+#define queueMUTEX_GIVE_BLOCK_TIME ( ( portTickType ) 0 )
+
+/*
+ * Definition of the queue used by the scheduler.
+ * Items are queued by copy, not reference.
+ */
+typedef struct QueueDefinition {
+ signed char *pcHead; /*< Points to the beginning of the queue storage area. */
+ signed char *pcTail; /*< Points to the byte at the end of the queue storage area. Once more byte is allocated than necessary to store the queue items, this is used as a marker. */
+
+ signed char *pcWriteTo; /*< Points to the free next place in the storage area. */
+ signed char *pcReadFrom; /*< Points to the last place that a queued item was read from. */
+
+ xList xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */
+ xList xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */
+
+ volatile unsigned portBASE_TYPE uxMessagesWaiting;/*< The number of items currently in the queue. */
+ unsigned portBASE_TYPE uxLength; /*< The length of the queue defined as the number of items it will hold, not the number of bytes. */
+ unsigned portBASE_TYPE uxItemSize; /*< The size of each items that the queue will hold. */
+
+ signed portBASE_TYPE xRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
+ signed portBASE_TYPE xTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
+
+} xQUEUE;
+/*-----------------------------------------------------------*/
+
+/*
+ * Inside this file xQueueHandle is a pointer to a xQUEUE structure.
+ * To keep the definition private the API header file defines it as a
+ * pointer to void.
+ */
+typedef xQUEUE * xQueueHandle;
+
+/*
+ * Prototypes for public functions are included here so we don't have to
+ * include the API header file (as it defines xQueueHandle differently). These
+ * functions are documented in the API header file.
+ */
+xQueueHandle xQueueCreate(unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize) PRIVILEGED_FUNCTION;
+signed portBASE_TYPE xQueueGenericSend(xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition) PRIVILEGED_FUNCTION;
+unsigned portBASE_TYPE uxQueueMessagesWaiting(const xQueueHandle pxQueue) PRIVILEGED_FUNCTION;
+void vQueueDelete(xQueueHandle xQueue) PRIVILEGED_FUNCTION;
+signed portBASE_TYPE xQueueGenericSendFromISR(xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition) PRIVILEGED_FUNCTION;
+signed portBASE_TYPE xQueueGenericReceive(xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking) PRIVILEGED_FUNCTION;
+signed portBASE_TYPE xQueueReceiveFromISR(xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken) PRIVILEGED_FUNCTION;
+xQueueHandle xQueueCreateMutex(void) PRIVILEGED_FUNCTION;
+xQueueHandle xQueueCreateCountingSemaphore(unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount) PRIVILEGED_FUNCTION;
+portBASE_TYPE xQueueTakeMutexRecursive(xQueueHandle xMutex, portTickType xBlockTime) PRIVILEGED_FUNCTION;
+portBASE_TYPE xQueueGiveMutexRecursive(xQueueHandle xMutex) PRIVILEGED_FUNCTION;
+signed portBASE_TYPE xQueueAltGenericSend(xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition) PRIVILEGED_FUNCTION;
+signed portBASE_TYPE xQueueAltGenericReceive(xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking) PRIVILEGED_FUNCTION;
+signed portBASE_TYPE xQueueIsQueueEmptyFromISR(const xQueueHandle pxQueue) PRIVILEGED_FUNCTION;
+signed portBASE_TYPE xQueueIsQueueFullFromISR(const xQueueHandle pxQueue) PRIVILEGED_FUNCTION;
+unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR(const xQueueHandle pxQueue) PRIVILEGED_FUNCTION;
+
+/*
+ * Co-routine queue functions differ from task queue functions. Co-routines are
+ * an optional component.
+ */
+#if configUSE_CO_ROUTINES == 1
+signed portBASE_TYPE xQueueCRSendFromISR(xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken) PRIVILEGED_FUNCTION;
+signed portBASE_TYPE xQueueCRReceiveFromISR(xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken) PRIVILEGED_FUNCTION;
+signed portBASE_TYPE xQueueCRSend(xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait) PRIVILEGED_FUNCTION;
+signed portBASE_TYPE xQueueCRReceive(xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait) PRIVILEGED_FUNCTION;
+#endif
+
+/*
+ * The queue registry is just a means for kernel aware debuggers to locate
+ * queue structures. It has no other purpose so is an optional component.
+ */
+#if configQUEUE_REGISTRY_SIZE > 0
+
+/* The type stored within the queue registry array. This allows a name
+to be assigned to each queue making kernel aware debugging a little
+more user friendly. */
+typedef struct QUEUE_REGISTRY_ITEM {
+ signed char *pcQueueName;
+ xQueueHandle xHandle;
+} xQueueRegistryItem;
+
+/* The queue registry is simply an array of xQueueRegistryItem structures.
+The pcQueueName member of a structure being NULL is indicative of the
+array position being vacant. */
+xQueueRegistryItem xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
+
+/* Removes a queue from the registry by simply setting the pcQueueName
+member to NULL. */
+static void vQueueUnregisterQueue(xQueueHandle xQueue) PRIVILEGED_FUNCTION;
+void vQueueAddToRegistry(xQueueHandle xQueue, signed char *pcQueueName) PRIVILEGED_FUNCTION;
+#endif
+
+/*
+ * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not
+ * prevent an ISR from adding or removing items to the queue, but does prevent
+ * an ISR from removing tasks from the queue event lists. If an ISR finds a
+ * queue is locked it will instead increment the appropriate queue lock count
+ * to indicate that a task may require unblocking. When the queue in unlocked
+ * these lock counts are inspected, and the appropriate action taken.
+ */
+static void prvUnlockQueue(xQueueHandle pxQueue) PRIVILEGED_FUNCTION;
+
+/*
+ * Uses a critical section to determine if there is any data in a queue.
+ *
+ * @return pdTRUE if the queue contains no items, otherwise pdFALSE.
+ */
+static signed portBASE_TYPE prvIsQueueEmpty(const xQueueHandle pxQueue) PRIVILEGED_FUNCTION;
+
+/*
+ * Uses a critical section to determine if there is any space in a queue.
+ *
+ * @return pdTRUE if there is no space, otherwise pdFALSE;
+ */
+static signed portBASE_TYPE prvIsQueueFull(const xQueueHandle pxQueue) PRIVILEGED_FUNCTION;
+
+/*
+ * Copies an item into the queue, either at the front of the queue or the
+ * back of the queue.
+ */
+static void prvCopyDataToQueue(xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition) PRIVILEGED_FUNCTION;
+
+/*
+ * Copies an item out of a queue.
+ */
+static void prvCopyDataFromQueue(xQUEUE * const pxQueue, const void *pvBuffer) PRIVILEGED_FUNCTION;
+/*-----------------------------------------------------------*/
+
+/*
+ * Macro to mark a queue as locked. Locking a queue prevents an ISR from
+ * accessing the queue event lists.
+ */
+#define prvLockQueue( pxQueue ) \
+{ \
+ taskENTER_CRITICAL(); \
+ { \
+ if( pxQueue->xRxLock == queueUNLOCKED ) \
+ { \
+ pxQueue->xRxLock = queueLOCKED_UNMODIFIED; \
+ } \
+ if( pxQueue->xTxLock == queueUNLOCKED ) \
+ { \
+ pxQueue->xTxLock = queueLOCKED_UNMODIFIED; \
+ } \
+ } \
+ taskEXIT_CRITICAL(); \
+}
+/*-----------------------------------------------------------*/
+
+
+/*-----------------------------------------------------------
+ * PUBLIC QUEUE MANAGEMENT API documented in queue.h
+ *----------------------------------------------------------*/
+
+xQueueHandle xQueueCreate(unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize)
+{
+ xQUEUE *pxNewQueue;
+ size_t xQueueSizeInBytes;
+
+ /* Allocate the new queue structure. */
+ if (uxQueueLength > (unsigned portBASE_TYPE) 0) {
+ pxNewQueue = (xQUEUE *) pvPortMalloc(sizeof(xQUEUE));
+ if (pxNewQueue != NULL) {
+ /* Create the list of pointers to queue items. The queue is one byte
+ longer than asked for to make wrap checking easier/faster. */
+ xQueueSizeInBytes = (size_t)(uxQueueLength * uxItemSize) + (size_t) 1;
+
+ pxNewQueue->pcHead = (signed char *) pvPortMalloc(xQueueSizeInBytes);
+ if (pxNewQueue->pcHead != NULL) {
+ /* Initialise the queue members as described above where the
+ queue type is defined. */
+ pxNewQueue->pcTail = pxNewQueue->pcHead + (uxQueueLength * uxItemSize);
+ pxNewQueue->uxMessagesWaiting = 0;
+ pxNewQueue->pcWriteTo = pxNewQueue->pcHead;
+ pxNewQueue->pcReadFrom = pxNewQueue->pcHead + ((uxQueueLength - 1) * uxItemSize);
+ pxNewQueue->uxLength = uxQueueLength;
+ pxNewQueue->uxItemSize = uxItemSize;
+ pxNewQueue->xRxLock = queueUNLOCKED;
+ pxNewQueue->xTxLock = queueUNLOCKED;
+
+ /* Likewise ensure the event queues start with the correct state. */
+ vListInitialise(&(pxNewQueue->xTasksWaitingToSend));
+ vListInitialise(&(pxNewQueue->xTasksWaitingToReceive));
+
+ traceQUEUE_CREATE(pxNewQueue);
+ return pxNewQueue;
+ } else {
+ traceQUEUE_CREATE_FAILED();
+ vPortFree(pxNewQueue);
+ }
+ }
+ }
+
+ /* Will only reach here if we could not allocate enough memory or no memory
+ was required. */
+ return NULL;
+}
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MUTEXES == 1 )
+
+xQueueHandle xQueueCreateMutex(void)
+{
+ xQUEUE *pxNewQueue;
+
+ /* Allocate the new queue structure. */
+ pxNewQueue = (xQUEUE *) pvPortMalloc(sizeof(xQUEUE));
+ if (pxNewQueue != NULL) {
+ /* Information required for priority inheritance. */
+ pxNewQueue->pxMutexHolder = NULL;
+ pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
+
+ /* Queues used as a mutex no data is actually copied into or out
+ of the queue. */
+ pxNewQueue->pcWriteTo = NULL;
+ pxNewQueue->pcReadFrom = NULL;
+
+ /* Each mutex has a length of 1 (like a binary semaphore) and
+ an item size of 0 as nothing is actually copied into or out
+ of the mutex. */
+ pxNewQueue->uxMessagesWaiting = 0;
+ pxNewQueue->uxLength = 1;
+ pxNewQueue->uxItemSize = 0;
+ pxNewQueue->xRxLock = queueUNLOCKED;
+ pxNewQueue->xTxLock = queueUNLOCKED;
+
+ /* Ensure the event queues start with the correct state. */
+ vListInitialise(&(pxNewQueue->xTasksWaitingToSend));
+ vListInitialise(&(pxNewQueue->xTasksWaitingToReceive));
+
+ /* Start with the semaphore in the expected state. */
+ xQueueGenericSend(pxNewQueue, NULL, 0, queueSEND_TO_BACK);
+
+ traceCREATE_MUTEX(pxNewQueue);
+ } else {
+ traceCREATE_MUTEX_FAILED();
+ }
+
+ return pxNewQueue;
+}
+
+#endif /* configUSE_MUTEXES */
+/*-----------------------------------------------------------*/
+
+#if configUSE_RECURSIVE_MUTEXES == 1
+
+portBASE_TYPE xQueueGiveMutexRecursive(xQueueHandle pxMutex)
+{
+ portBASE_TYPE xReturn;
+
+ /* If this is the task that holds the mutex then pxMutexHolder will not
+ change outside of this task. If this task does not hold the mutex then
+ pxMutexHolder can never coincidentally equal the tasks handle, and as
+ this is the only condition we are interested in it does not matter if
+ pxMutexHolder is accessed simultaneously by another task. Therefore no
+ mutual exclusion is required to test the pxMutexHolder variable. */
+ if (pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle()) {
+ traceGIVE_MUTEX_RECURSIVE(pxMutex);
+
+ /* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to
+ the task handle, therefore no underflow check is required. Also,
+ uxRecursiveCallCount is only modified by the mutex holder, and as
+ there can only be one, no mutual exclusion is required to modify the
+ uxRecursiveCallCount member. */
+ (pxMutex->uxRecursiveCallCount)--;
+
+ /* Have we unwound the call count? */
+ if (pxMutex->uxRecursiveCallCount == 0) {
+ /* Return the mutex. This will automatically unblock any other
+ task that might be waiting to access the mutex. */
+ xQueueGenericSend(pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK);
+ }
+
+ xReturn = pdPASS;
+ } else {
+ /* We cannot give the mutex because we are not the holder. */
+ xReturn = pdFAIL;
+
+ traceGIVE_MUTEX_RECURSIVE_FAILED(pxMutex);
+ }
+
+ return xReturn;
+}
+
+#endif /* configUSE_RECURSIVE_MUTEXES */
+/*-----------------------------------------------------------*/
+
+#if configUSE_RECURSIVE_MUTEXES == 1
+
+portBASE_TYPE xQueueTakeMutexRecursive(xQueueHandle pxMutex, portTickType xBlockTime)
+{
+ portBASE_TYPE xReturn;
+
+ /* Comments regarding mutual exclusion as per those within
+ xQueueGiveMutexRecursive(). */
+
+ traceTAKE_MUTEX_RECURSIVE(pxMutex);
+
+ if (pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle()) {
+ (pxMutex->uxRecursiveCallCount)++;
+ xReturn = pdPASS;
+ } else {
+ xReturn = xQueueGenericReceive(pxMutex, NULL, xBlockTime, pdFALSE);
+
+ /* pdPASS will only be returned if we successfully obtained the mutex,
+ we may have blocked to reach here. */
+ if (xReturn == pdPASS) {
+ (pxMutex->uxRecursiveCallCount)++;
+ }
+ }
+
+ return xReturn;
+}
+
+#endif /* configUSE_RECURSIVE_MUTEXES */
+/*-----------------------------------------------------------*/
+
+#if configUSE_COUNTING_SEMAPHORES == 1
+
+xQueueHandle xQueueCreateCountingSemaphore(unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount)
+{
+ xQueueHandle pxHandle;
+
+ pxHandle = xQueueCreate((unsigned portBASE_TYPE) uxCountValue, queueSEMAPHORE_QUEUE_ITEM_LENGTH);
+
+ if (pxHandle != NULL) {
+ pxHandle->uxMessagesWaiting = uxInitialCount;
+
+ traceCREATE_COUNTING_SEMAPHORE();
+ } else {
+ traceCREATE_COUNTING_SEMAPHORE_FAILED();
+ }
+
+ return pxHandle;
+}
+
+#endif /* configUSE_COUNTING_SEMAPHORES */
+/*-----------------------------------------------------------*/
+
+signed portBASE_TYPE xQueueGenericSend(xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition)
+{
+ signed portBASE_TYPE xEntryTimeSet = pdFALSE;
+ xTimeOutType xTimeOut;
+
+ /* This function relaxes the coding standard somewhat to allow return
+ statements within the function itself. This is done in the interest
+ of execution time efficiency. */
+ for (;;) {
+ taskENTER_CRITICAL();
+ {
+ /* Is there room on the queue now? To be running we must be
+ the highest priority task wanting to access the queue. */
+ if (pxQueue->uxMessagesWaiting < pxQueue->uxLength) {
+ traceQUEUE_SEND(pxQueue);
+ prvCopyDataToQueue(pxQueue, pvItemToQueue, xCopyPosition);
+
+ /* If there was a task waiting for data to arrive on the
+ queue then unblock it now. */
+ if (listLIST_IS_EMPTY(&(pxQueue->xTasksWaitingToReceive)) == pdFALSE) {
+ if (xTaskRemoveFromEventList(&(pxQueue->xTasksWaitingToReceive)) == pdTRUE) {
+ /* The unblocked task has a priority higher than
+ our own so yield immediately. Yes it is ok to do
+ this from within the critical section - the kernel
+ takes care of that. */
+ portYIELD_WITHIN_API();
+ }
+ }
+
+ taskEXIT_CRITICAL();
+
+ /* Return to the original privilege level before exiting the
+ function. */
+ return pdPASS;
+ } else {
+ if (xTicksToWait == (portTickType) 0) {
+ /* The queue was full and no block time is specified (or
+ the block time has expired) so leave now. */
+ taskEXIT_CRITICAL();
+
+ /* Return to the original privilege level before exiting
+ the function. */
+ traceQUEUE_SEND_FAILED(pxQueue);
+ return errQUEUE_FULL;
+ } else if (xEntryTimeSet == pdFALSE) {
+ /* The queue was full and a block time was specified so
+ configure the timeout structure. */
+ vTaskSetTimeOutState(&xTimeOut);
+ xEntryTimeSet = pdTRUE;
+ }
+ }
+ }
+ taskEXIT_CRITICAL();
+
+ /* Interrupts and other tasks can send to and receive from the queue
+ now the critical section has been exited. */
+
+ vTaskSuspendAll();
+ prvLockQueue(pxQueue);
+
+ /* Update the timeout state to see if it has expired yet. */
+ if (xTaskCheckForTimeOut(&xTimeOut, &xTicksToWait) == pdFALSE) {
+ if (prvIsQueueFull(pxQueue)) {
+ traceBLOCKING_ON_QUEUE_SEND(pxQueue);
+ vTaskPlaceOnEventList(&(pxQueue->xTasksWaitingToSend), xTicksToWait);
+
+ /* Unlocking the queue means queue events can effect the
+ event list. It is possible that interrupts occurring now
+ remove this task from the event list again - but as the
+ scheduler is suspended the task will go onto the pending
+ ready last instead of the actual ready list. */
+ prvUnlockQueue(pxQueue);
+
+ /* Resuming the scheduler will move tasks from the pending
+ ready list into the ready list - so it is feasible that this
+ task is already in a ready list before it yields - in which
+ case the yield will not cause a context switch unless there
+ is also a higher priority task in the pending ready list. */
+ if (!xTaskResumeAll()) {
+ portYIELD_WITHIN_API();
+ }
+ } else {
+ /* Try again. */
+ prvUnlockQueue(pxQueue);
+ (void) xTaskResumeAll();
+ }
+ } else {
+ /* The timeout has expired. */
+ prvUnlockQueue(pxQueue);
+ (void) xTaskResumeAll();
+
+ /* Return to the original privilege level before exiting the
+ function. */
+ traceQUEUE_SEND_FAILED(pxQueue);
+ return errQUEUE_FULL;
+ }
+ }
+}
+/*-----------------------------------------------------------*/
+
+#if configUSE_ALTERNATIVE_API == 1
+
+signed portBASE_TYPE xQueueAltGenericSend(xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition)
+{
+ signed portBASE_TYPE xEntryTimeSet = pdFALSE;
+ xTimeOutType xTimeOut;
+
+ for (;;) {
+ taskENTER_CRITICAL();
+ {
+ /* Is there room on the queue now? To be running we must be
+ the highest priority task wanting to access the queue. */
+ if (pxQueue->uxMessagesWaiting < pxQueue->uxLength) {
+ traceQUEUE_SEND(pxQueue);
+ prvCopyDataToQueue(pxQueue, pvItemToQueue, xCopyPosition);
+
+ /* If there was a task waiting for data to arrive on the
+ queue then unblock it now. */
+ if (listLIST_IS_EMPTY(&(pxQueue->xTasksWaitingToReceive)) == pdFALSE) {
+ if (xTaskRemoveFromEventList(&(pxQueue->xTasksWaitingToReceive)) == pdTRUE) {
+ /* The unblocked task has a priority higher than
+ our own so yield immediately. */
+ portYIELD_WITHIN_API();
+ }
+ }
+
+ taskEXIT_CRITICAL();
+ return pdPASS;
+ } else {
+ if (xTicksToWait == (portTickType) 0) {
+ taskEXIT_CRITICAL();
+ return errQUEUE_FULL;
+ } else if (xEntryTimeSet == pdFALSE) {
+ vTaskSetTimeOutState(&xTimeOut);
+ xEntryTimeSet = pdTRUE;
+ }
+ }
+ }
+ taskEXIT_CRITICAL();
+
+ taskENTER_CRITICAL();
+ {
+ if (xTaskCheckForTimeOut(&xTimeOut, &xTicksToWait) == pdFALSE) {
+ if (prvIsQueueFull(pxQueue)) {
+ traceBLOCKING_ON_QUEUE_SEND(pxQueue);
+ vTaskPlaceOnEventList(&(pxQueue->xTasksWaitingToSend), xTicksToWait);
+ portYIELD_WITHIN_API();
+ }
+ } else {
+ taskEXIT_CRITICAL();
+ traceQUEUE_SEND_FAILED(pxQueue);
+ return errQUEUE_FULL;
+ }
+ }
+ taskEXIT_CRITICAL();
+ }
+}
+
+#endif /* configUSE_ALTERNATIVE_API */
+/*-----------------------------------------------------------*/
+
+#if configUSE_ALTERNATIVE_API == 1
+
+signed portBASE_TYPE xQueueAltGenericReceive(xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking)
+{
+ signed portBASE_TYPE xEntryTimeSet = pdFALSE;
+ xTimeOutType xTimeOut;
+ signed char *pcOriginalReadPosition;
+
+ for (;;) {
+ taskENTER_CRITICAL();
+ {
+ if (pxQueue->uxMessagesWaiting > (unsigned portBASE_TYPE) 0) {
+ /* Remember our read position in case we are just peeking. */
+ pcOriginalReadPosition = pxQueue->pcReadFrom;
+
+ prvCopyDataFromQueue(pxQueue, pvBuffer);
+
+ if (xJustPeeking == pdFALSE) {
+ traceQUEUE_RECEIVE(pxQueue);
+
+ /* We are actually removing data. */
+ --(pxQueue->uxMessagesWaiting);
+
+#if ( configUSE_MUTEXES == 1 )
+ {
+ if (pxQueue->uxQueueType == queueQUEUE_IS_MUTEX) {
+ /* Record the information required to implement
+ priority inheritance should it become necessary. */
+ pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle();
+ }
+ }
+#endif
+
+ if (listLIST_IS_EMPTY(&(pxQueue->xTasksWaitingToSend)) == pdFALSE) {
+ if (xTaskRemoveFromEventList(&(pxQueue->xTasksWaitingToSend)) == pdTRUE) {
+ portYIELD_WITHIN_API();
+ }
+ }
+ } else {
+ traceQUEUE_PEEK(pxQueue);
+
+ /* We are not removing the data, so reset our read
+ pointer. */
+ pxQueue->pcReadFrom = pcOriginalReadPosition;
+
+ /* The data is being left in the queue, so see if there are
+ any other tasks waiting for the data. */
+ if (!listLIST_IS_EMPTY(&(pxQueue->xTasksWaitingToReceive))) {
+ /* Tasks that are removed from the event list will get added to
+ the pending ready list as the scheduler is still suspended. */
+ if (xTaskRemoveFromEventList(&(pxQueue->xTasksWaitingToReceive)) != pdFALSE) {
+ /* The task waiting has a higher priority than this task. */
+ portYIELD_WITHIN_API();
+ }
+ }
+
+ }
+
+ taskEXIT_CRITICAL();
+ return pdPASS;
+ } else {
+ if (xTicksToWait == (portTickType) 0) {
+ taskEXIT_CRITICAL();
+ traceQUEUE_RECEIVE_FAILED(pxQueue);
+ return errQUEUE_EMPTY;
+ } else if (xEntryTimeSet == pdFALSE) {
+ vTaskSetTimeOutState(&xTimeOut);
+ xEntryTimeSet = pdTRUE;
+ }
+ }
+ }
+ taskEXIT_CRITICAL();
+
+ taskENTER_CRITICAL();
+ {
+ if (xTaskCheckForTimeOut(&xTimeOut, &xTicksToWait) == pdFALSE) {
+ if (prvIsQueueEmpty(pxQueue)) {
+ traceBLOCKING_ON_QUEUE_RECEIVE(pxQueue);
+
+#if ( configUSE_MUTEXES == 1 )
+ {
+ if (pxQueue->uxQueueType == queueQUEUE_IS_MUTEX) {
+ portENTER_CRITICAL();
+ vTaskPriorityInherit((void *) pxQueue->pxMutexHolder);
+ portEXIT_CRITICAL();
+ }
+ }
+#endif
+
+ vTaskPlaceOnEventList(&(pxQueue->xTasksWaitingToReceive), xTicksToWait);
+ portYIELD_WITHIN_API();
+ }
+ } else {
+ taskEXIT_CRITICAL();
+ traceQUEUE_RECEIVE_FAILED(pxQueue);
+ return errQUEUE_EMPTY;
+ }
+ }
+ taskEXIT_CRITICAL();
+ }
+}
+
+
+#endif /* configUSE_ALTERNATIVE_API */
+/*-----------------------------------------------------------*/
+
+signed portBASE_TYPE xQueueGenericSendFromISR(xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition)
+{
+ signed portBASE_TYPE xReturn;
+ unsigned portBASE_TYPE uxSavedInterruptStatus;
+
+ /* Similar to xQueueGenericSend, except we don't block if there is no room
+ in the queue. Also we don't directly wake a task that was blocked on a
+ queue read, instead we return a flag to say whether a context switch is
+ required or not (i.e. has a task with a higher priority than us been woken
+ by this post). */
+ uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+ {
+ if (pxQueue->uxMessagesWaiting < pxQueue->uxLength) {
+ traceQUEUE_SEND_FROM_ISR(pxQueue);
+
+ prvCopyDataToQueue(pxQueue, pvItemToQueue, xCopyPosition);
+
+ /* If the queue is locked we do not alter the event list. This will
+ be done when the queue is unlocked later. */
+ if (pxQueue->xTxLock == queueUNLOCKED) {
+ if (!listLIST_IS_EMPTY(&(pxQueue->xTasksWaitingToReceive))) {
+ if (xTaskRemoveFromEventList(&(pxQueue->xTasksWaitingToReceive)) != pdFALSE) {
+ /* The task waiting has a higher priority so record that a
+ context switch is required. */
+ *pxHigherPriorityTaskWoken = pdTRUE;
+ }
+ }
+ } else {
+ /* Increment the lock count so the task that unlocks the queue
+ knows that data was posted while it was locked. */
+ ++(pxQueue->xTxLock);
+ }
+
+ xReturn = pdPASS;
+ } else {
+ traceQUEUE_SEND_FROM_ISR_FAILED(pxQueue);
+ xReturn = errQUEUE_FULL;
+ }
+ }
+ portCLEAR_INTERRUPT_MASK_FROM_ISR(uxSavedInterruptStatus);
+
+ return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+signed portBASE_TYPE xQueueGenericReceive(xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking)
+{
+ signed portBASE_TYPE xEntryTimeSet = pdFALSE;
+ xTimeOutType xTimeOut;
+ signed char *pcOriginalReadPosition;
+
+ /* This function relaxes the coding standard somewhat to allow return
+ statements within the function itself. This is done in the interest
+ of execution time efficiency. */
+
+ for (;;) {
+ taskENTER_CRITICAL();
+ {
+ /* Is there data in the queue now? To be running we must be
+ the highest priority task wanting to access the queue. */
+ if (pxQueue->uxMessagesWaiting > (unsigned portBASE_TYPE) 0) {
+ /* Remember our read position in case we are just peeking. */
+ pcOriginalReadPosition = pxQueue->pcReadFrom;
+
+ prvCopyDataFromQueue(pxQueue, pvBuffer);
+
+ if (xJustPeeking == pdFALSE) {
+ traceQUEUE_RECEIVE(pxQueue);
+
+ /* We are actually removing data. */
+ --(pxQueue->uxMessagesWaiting);
+
+#if ( configUSE_MUTEXES == 1 )
+ {
+ if (pxQueue->uxQueueType == queueQUEUE_IS_MUTEX) {
+ /* Record the information required to implement
+ priority inheritance should it become necessary. */
+ pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle();
+ }
+ }
+#endif
+
+ if (listLIST_IS_EMPTY(&(pxQueue->xTasksWaitingToSend)) == pdFALSE) {
+ if (xTaskRemoveFromEventList(&(pxQueue->xTasksWaitingToSend)) == pdTRUE) {
+ portYIELD_WITHIN_API();
+ }
+ }
+ } else {
+ traceQUEUE_PEEK(pxQueue);
+
+ /* We are not removing the data, so reset our read
+ pointer. */
+ pxQueue->pcReadFrom = pcOriginalReadPosition;
+
+ /* The data is being left in the queue, so see if there are
+ any other tasks waiting for the data. */
+ if (!listLIST_IS_EMPTY(&(pxQueue->xTasksWaitingToReceive))) {
+ /* Tasks that are removed from the event list will get added to
+ the pending ready list as the scheduler is still suspended. */
+ if (xTaskRemoveFromEventList(&(pxQueue->xTasksWaitingToReceive)) != pdFALSE) {
+ /* The task waiting has a higher priority than this task. */
+ portYIELD_WITHIN_API();
+ }
+ }
+
+ }
+
+ taskEXIT_CRITICAL();
+ return pdPASS;
+ } else {
+ if (xTicksToWait == (portTickType) 0) {
+ /* The queue was empty and no block time is specified (or
+ the block time has expired) so leave now. */
+ taskEXIT_CRITICAL();
+ traceQUEUE_RECEIVE_FAILED(pxQueue);
+ return errQUEUE_EMPTY;
+ } else if (xEntryTimeSet == pdFALSE) {
+ /* The queue was empty and a block time was specified so
+ configure the timeout structure. */
+ vTaskSetTimeOutState(&xTimeOut);
+ xEntryTimeSet = pdTRUE;
+ }
+ }
+ }
+ taskEXIT_CRITICAL();
+
+ /* Interrupts and other tasks can send to and receive from the queue
+ now the critical section has been exited. */
+
+ vTaskSuspendAll();
+ prvLockQueue(pxQueue);
+
+ /* Update the timeout state to see if it has expired yet. */
+ if (xTaskCheckForTimeOut(&xTimeOut, &xTicksToWait) == pdFALSE) {
+ if (prvIsQueueEmpty(pxQueue)) {
+ traceBLOCKING_ON_QUEUE_RECEIVE(pxQueue);
+
+#if ( configUSE_MUTEXES == 1 )
+ {
+ if (pxQueue->uxQueueType == queueQUEUE_IS_MUTEX) {
+ portENTER_CRITICAL();
+ {
+ vTaskPriorityInherit((void *) pxQueue->pxMutexHolder);
+ }
+ portEXIT_CRITICAL();
+ }
+ }
+#endif
+
+ vTaskPlaceOnEventList(&(pxQueue->xTasksWaitingToReceive), xTicksToWait);
+ prvUnlockQueue(pxQueue);
+ if (!xTaskResumeAll()) {
+ portYIELD_WITHIN_API();
+ }
+ } else {
+ /* Try again. */
+ prvUnlockQueue(pxQueue);
+ (void) xTaskResumeAll();
+ }
+ } else {
+ prvUnlockQueue(pxQueue);
+ (void) xTaskResumeAll();
+ traceQUEUE_RECEIVE_FAILED(pxQueue);
+ return errQUEUE_EMPTY;
+ }
+ }
+}
+/*-----------------------------------------------------------*/
+
+signed portBASE_TYPE xQueueReceiveFromISR(xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken)
+{
+ signed portBASE_TYPE xReturn;
+ unsigned portBASE_TYPE uxSavedInterruptStatus;
+
+ uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+ {
+ /* We cannot block from an ISR, so check there is data available. */
+ if (pxQueue->uxMessagesWaiting > (unsigned portBASE_TYPE) 0) {
+ traceQUEUE_RECEIVE_FROM_ISR(pxQueue);
+
+ prvCopyDataFromQueue(pxQueue, pvBuffer);
+ --(pxQueue->uxMessagesWaiting);
+
+ /* If the queue is locked we will not modify the event list. Instead
+ we update the lock count so the task that unlocks the queue will know
+ that an ISR has removed data while the queue was locked. */
+ if (pxQueue->xRxLock == queueUNLOCKED) {
+ if (!listLIST_IS_EMPTY(&(pxQueue->xTasksWaitingToSend))) {
+ if (xTaskRemoveFromEventList(&(pxQueue->xTasksWaitingToSend)) != pdFALSE) {
+ /* The task waiting has a higher priority than us so
+ force a context switch. */
+ *pxTaskWoken = pdTRUE;
+ }
+ }
+ } else {
+ /* Increment the lock count so the task that unlocks the queue
+ knows that data was removed while it was locked. */
+ ++(pxQueue->xRxLock);
+ }
+
+ xReturn = pdPASS;
+ } else {
+ xReturn = pdFAIL;
+ traceQUEUE_RECEIVE_FROM_ISR_FAILED(pxQueue);
+ }
+ }
+ portCLEAR_INTERRUPT_MASK_FROM_ISR(uxSavedInterruptStatus);
+
+ return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+unsigned portBASE_TYPE uxQueueMessagesWaiting(const xQueueHandle pxQueue)
+{
+ unsigned portBASE_TYPE uxReturn;
+
+ taskENTER_CRITICAL();
+ uxReturn = pxQueue->uxMessagesWaiting;
+ taskEXIT_CRITICAL();
+
+ return uxReturn;
+}
+/*-----------------------------------------------------------*/
+
+unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR(const xQueueHandle pxQueue)
+{
+ unsigned portBASE_TYPE uxReturn;
+
+ uxReturn = pxQueue->uxMessagesWaiting;
+
+ return uxReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vQueueDelete(xQueueHandle pxQueue)
+{
+ traceQUEUE_DELETE(pxQueue);
+ vQueueUnregisterQueue(pxQueue);
+ vPortFree(pxQueue->pcHead);
+ vPortFree(pxQueue);
+}
+/*-----------------------------------------------------------*/
+
+static void prvCopyDataToQueue(xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition)
+{
+ if (pxQueue->uxItemSize == (unsigned portBASE_TYPE) 0) {
+#if ( configUSE_MUTEXES == 1 )
+ {
+ if (pxQueue->uxQueueType == queueQUEUE_IS_MUTEX) {
+ /* The mutex is no longer being held. */
+ vTaskPriorityDisinherit((void *) pxQueue->pxMutexHolder);
+ pxQueue->pxMutexHolder = NULL;
+ }
+ }
+#endif
+ } else if (xPosition == queueSEND_TO_BACK) {
+ memcpy((void *) pxQueue->pcWriteTo, pvItemToQueue, (unsigned) pxQueue->uxItemSize);
+ pxQueue->pcWriteTo += pxQueue->uxItemSize;
+ if (pxQueue->pcWriteTo >= pxQueue->pcTail) {
+ pxQueue->pcWriteTo = pxQueue->pcHead;
+ }
+ } else {
+ memcpy((void *) pxQueue->pcReadFrom, pvItemToQueue, (unsigned) pxQueue->uxItemSize);
+ pxQueue->pcReadFrom -= pxQueue->uxItemSize;
+ if (pxQueue->pcReadFrom < pxQueue->pcHead) {
+ pxQueue->pcReadFrom = (pxQueue->pcTail - pxQueue->uxItemSize);
+ }
+ }
+
+ ++(pxQueue->uxMessagesWaiting);
+}
+/*-----------------------------------------------------------*/
+
+static void prvCopyDataFromQueue(xQUEUE * const pxQueue, const void *pvBuffer)
+{
+ if (pxQueue->uxQueueType != queueQUEUE_IS_MUTEX) {
+ pxQueue->pcReadFrom += pxQueue->uxItemSize;
+ if (pxQueue->pcReadFrom >= pxQueue->pcTail) {
+ pxQueue->pcReadFrom = pxQueue->pcHead;
+ }
+ memcpy((void *) pvBuffer, (void *) pxQueue->pcReadFrom, (unsigned) pxQueue->uxItemSize);
+ }
+}
+/*-----------------------------------------------------------*/
+
+static void prvUnlockQueue(xQueueHandle pxQueue)
+{
+ /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
+
+ /* The lock counts contains the number of extra data items placed or
+ removed from the queue while the queue was locked. When a queue is
+ locked items can be added or removed, but the event lists cannot be
+ updated. */
+ taskENTER_CRITICAL();
+ {
+ /* See if data was added to the queue while it was locked. */
+ while (pxQueue->xTxLock > queueLOCKED_UNMODIFIED) {
+ /* Data was posted while the queue was locked. Are any tasks
+ blocked waiting for data to become available? */
+ if (!listLIST_IS_EMPTY(&(pxQueue->xTasksWaitingToReceive))) {
+ /* Tasks that are removed from the event list will get added to
+ the pending ready list as the scheduler is still suspended. */
+ if (xTaskRemoveFromEventList(&(pxQueue->xTasksWaitingToReceive)) != pdFALSE) {
+ /* The task waiting has a higher priority so record that a
+ context switch is required. */
+ vTaskMissedYield();
+ }
+
+ --(pxQueue->xTxLock);
+ } else {
+ break;
+ }
+ }
+
+ pxQueue->xTxLock = queueUNLOCKED;
+ }
+ taskEXIT_CRITICAL();
+
+ /* Do the same for the Rx lock. */
+ taskENTER_CRITICAL();
+ {
+ while (pxQueue->xRxLock > queueLOCKED_UNMODIFIED) {
+ if (!listLIST_IS_EMPTY(&(pxQueue->xTasksWaitingToSend))) {
+ if (xTaskRemoveFromEventList(&(pxQueue->xTasksWaitingToSend)) != pdFALSE) {
+ vTaskMissedYield();
+ }
+
+ --(pxQueue->xRxLock);
+ } else {
+ break;
+ }
+ }
+
+ pxQueue->xRxLock = queueUNLOCKED;
+ }
+ taskEXIT_CRITICAL();
+}
+/*-----------------------------------------------------------*/
+
+static signed portBASE_TYPE prvIsQueueEmpty(const xQueueHandle pxQueue)
+{
+ signed portBASE_TYPE xReturn;
+
+ taskENTER_CRITICAL();
+ xReturn = (pxQueue->uxMessagesWaiting == (unsigned portBASE_TYPE) 0);
+ taskEXIT_CRITICAL();
+
+ return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+signed portBASE_TYPE xQueueIsQueueEmptyFromISR(const xQueueHandle pxQueue)
+{
+ signed portBASE_TYPE xReturn;
+
+ xReturn = (pxQueue->uxMessagesWaiting == (unsigned portBASE_TYPE) 0);
+
+ return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+static signed portBASE_TYPE prvIsQueueFull(const xQueueHandle pxQueue)
+{
+ signed portBASE_TYPE xReturn;
+
+ taskENTER_CRITICAL();
+ xReturn = (pxQueue->uxMessagesWaiting == pxQueue->uxLength);
+ taskEXIT_CRITICAL();
+
+ return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+signed portBASE_TYPE xQueueIsQueueFullFromISR(const xQueueHandle pxQueue)
+{
+ signed portBASE_TYPE xReturn;
+
+ xReturn = (pxQueue->uxMessagesWaiting == pxQueue->uxLength);
+
+ return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+#if configUSE_CO_ROUTINES == 1
+signed portBASE_TYPE xQueueCRSend(xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait)
+{
+ signed portBASE_TYPE xReturn;
+
+ /* If the queue is already full we may have to block. A critical section
+ is required to prevent an interrupt removing something from the queue
+ between the check to see if the queue is full and blocking on the queue. */
+ portDISABLE_INTERRUPTS();
+ {
+ if (prvIsQueueFull(pxQueue)) {
+ /* The queue is full - do we want to block or just leave without
+ posting? */
+ if (xTicksToWait > (portTickType) 0) {
+ /* As this is called from a coroutine we cannot block directly, but
+ return indicating that we need to block. */
+ vCoRoutineAddToDelayedList(xTicksToWait, &(pxQueue->xTasksWaitingToSend));
+ portENABLE_INTERRUPTS();
+ return errQUEUE_BLOCKED;
+ } else {
+ portENABLE_INTERRUPTS();
+ return errQUEUE_FULL;
+ }
+ }
+ }
+ portENABLE_INTERRUPTS();
+
+ portNOP();
+
+ portDISABLE_INTERRUPTS();
+ {
+ if (pxQueue->uxMessagesWaiting < pxQueue->uxLength) {
+ /* There is room in the queue, copy the data into the queue. */
+ prvCopyDataToQueue(pxQueue, pvItemToQueue, queueSEND_TO_BACK);
+ xReturn = pdPASS;
+
+ /* Were any co-routines waiting for data to become available? */
+ if (!listLIST_IS_EMPTY(&(pxQueue->xTasksWaitingToReceive))) {
+ /* In this instance the co-routine could be placed directly
+ into the ready list as we are within a critical section.
+ Instead the same pending ready list mechanism is used as if
+ the event were caused from within an interrupt. */
+ if (xCoRoutineRemoveFromEventList(&(pxQueue->xTasksWaitingToReceive)) != pdFALSE) {
+ /* The co-routine waiting has a higher priority so record
+ that a yield might be appropriate. */
+ xReturn = errQUEUE_YIELD;
+ }
+ }
+ } else {
+ xReturn = errQUEUE_FULL;
+ }
+ }
+ portENABLE_INTERRUPTS();
+
+ return xReturn;
+}
+#endif
+/*-----------------------------------------------------------*/
+
+#if configUSE_CO_ROUTINES == 1
+signed portBASE_TYPE xQueueCRReceive(xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait)
+{
+ signed portBASE_TYPE xReturn;
+
+ /* If the queue is already empty we may have to block. A critical section
+ is required to prevent an interrupt adding something to the queue
+ between the check to see if the queue is empty and blocking on the queue. */
+ portDISABLE_INTERRUPTS();
+ {
+ if (pxQueue->uxMessagesWaiting == (unsigned portBASE_TYPE) 0) {
+ /* There are no messages in the queue, do we want to block or just
+ leave with nothing? */
+ if (xTicksToWait > (portTickType) 0) {
+ /* As this is a co-routine we cannot block directly, but return
+ indicating that we need to block. */
+ vCoRoutineAddToDelayedList(xTicksToWait, &(pxQueue->xTasksWaitingToReceive));
+ portENABLE_INTERRUPTS();
+ return errQUEUE_BLOCKED;
+ } else {
+ portENABLE_INTERRUPTS();
+ return errQUEUE_FULL;
+ }
+ }
+ }
+ portENABLE_INTERRUPTS();
+
+ portNOP();
+
+ portDISABLE_INTERRUPTS();
+ {
+ if (pxQueue->uxMessagesWaiting > (unsigned portBASE_TYPE) 0) {
+ /* Data is available from the queue. */
+ pxQueue->pcReadFrom += pxQueue->uxItemSize;
+ if (pxQueue->pcReadFrom >= pxQueue->pcTail) {
+ pxQueue->pcReadFrom = pxQueue->pcHead;
+ }
+ --(pxQueue->uxMessagesWaiting);
+ memcpy((void *) pvBuffer, (void *) pxQueue->pcReadFrom, (unsigned) pxQueue->uxItemSize);
+
+ xReturn = pdPASS;
+
+ /* Were any co-routines waiting for space to become available? */
+ if (!listLIST_IS_EMPTY(&(pxQueue->xTasksWaitingToSend))) {
+ /* In this instance the co-routine could be placed directly
+ into the ready list as we are within a critical section.
+ Instead the same pending ready list mechanism is used as if
+ the event were caused from within an interrupt. */
+ if (xCoRoutineRemoveFromEventList(&(pxQueue->xTasksWaitingToSend)) != pdFALSE) {
+ xReturn = errQUEUE_YIELD;
+ }
+ }
+ } else {
+ xReturn = pdFAIL;
+ }
+ }
+ portENABLE_INTERRUPTS();
+
+ return xReturn;
+}
+#endif
+/*-----------------------------------------------------------*/
+
+
+
+#if configUSE_CO_ROUTINES == 1
+signed portBASE_TYPE xQueueCRSendFromISR(xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken)
+{
+ /* Cannot block within an ISR so if there is no space on the queue then
+ exit without doing anything. */
+ if (pxQueue->uxMessagesWaiting < pxQueue->uxLength) {
+ prvCopyDataToQueue(pxQueue, pvItemToQueue, queueSEND_TO_BACK);
+
+ /* We only want to wake one co-routine per ISR, so check that a
+ co-routine has not already been woken. */
+ if (!xCoRoutinePreviouslyWoken) {
+ if (!listLIST_IS_EMPTY(&(pxQueue->xTasksWaitingToReceive))) {
+ if (xCoRoutineRemoveFromEventList(&(pxQueue->xTasksWaitingToReceive)) != pdFALSE) {
+ return pdTRUE;
+ }
+ }
+ }
+ }
+
+ return xCoRoutinePreviouslyWoken;
+}
+#endif
+/*-----------------------------------------------------------*/
+
+#if configUSE_CO_ROUTINES == 1
+signed portBASE_TYPE xQueueCRReceiveFromISR(xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxCoRoutineWoken)
+{
+ signed portBASE_TYPE xReturn;
+
+ /* We cannot block from an ISR, so check there is data available. If
+ not then just leave without doing anything. */
+ if (pxQueue->uxMessagesWaiting > (unsigned portBASE_TYPE) 0) {
+ /* Copy the data from the queue. */
+ pxQueue->pcReadFrom += pxQueue->uxItemSize;
+ if (pxQueue->pcReadFrom >= pxQueue->pcTail) {
+ pxQueue->pcReadFrom = pxQueue->pcHead;
+ }
+ --(pxQueue->uxMessagesWaiting);
+ memcpy((void *) pvBuffer, (void *) pxQueue->pcReadFrom, (unsigned) pxQueue->uxItemSize);
+
+ if (!(*pxCoRoutineWoken)) {
+ if (!listLIST_IS_EMPTY(&(pxQueue->xTasksWaitingToSend))) {
+ if (xCoRoutineRemoveFromEventList(&(pxQueue->xTasksWaitingToSend)) != pdFALSE) {
+ *pxCoRoutineWoken = pdTRUE;
+ }
+ }
+ }
+
+ xReturn = pdPASS;
+ } else {
+ xReturn = pdFAIL;
+ }
+
+ return xReturn;
+}
+#endif
+/*-----------------------------------------------------------*/
+
+#if configQUEUE_REGISTRY_SIZE > 0
+
+void vQueueAddToRegistry(xQueueHandle xQueue, signed char *pcQueueName)
+{
+ unsigned portBASE_TYPE ux;
+
+ /* See if there is an empty space in the registry. A NULL name denotes
+ a free slot. */
+ for (ux = 0; ux < configQUEUE_REGISTRY_SIZE; ux++) {
+ if (xQueueRegistry[ ux ].pcQueueName == NULL) {
+ /* Store the information on this queue. */
+ xQueueRegistry[ ux ].pcQueueName = pcQueueName;
+ xQueueRegistry[ ux ].xHandle = xQueue;
+ break;
+ }
+ }
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if configQUEUE_REGISTRY_SIZE > 0
+
+static void vQueueUnregisterQueue(xQueueHandle xQueue)
+{
+ unsigned portBASE_TYPE ux;
+
+ /* See if the handle of the queue being unregistered in actually in the
+ registry. */
+ for (ux = 0; ux < configQUEUE_REGISTRY_SIZE; ux++) {
+ if (xQueueRegistry[ ux ].xHandle == xQueue) {
+ /* Set the name to NULL to show that this slot if free again. */
+ xQueueRegistry[ ux ].pcQueueName = NULL;
+ break;
+ }
+ }
+
+}
+
+#endif
+
diff --git a/gyro_board/src/usb/FreeRTOS/tasks.c b/gyro_board/src/usb/FreeRTOS/tasks.c
new file mode 100644
index 0000000..22587a4
--- /dev/null
+++ b/gyro_board/src/usb/FreeRTOS/tasks.c
@@ -0,0 +1,2150 @@
+/*
+ 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.
+*/
+
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+all the API functions to use the MPU wrappers. That should only be done when
+task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "StackMacros.h"
+
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/*
+ * Macro to define the amount of stack available to the idle task.
+ */
+#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
+
+/*
+ * Task control block. A task control block (TCB) is allocated to each task,
+ * and stores the context of the task.
+ */
+typedef struct tskTaskControlBlock {
+ volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE STRUCT. */
+
+#if ( portUSING_MPU_WRAPPERS == 1 )
+ xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE STRUCT. */
+#endif
+
+ xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
+ xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
+ unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
+ portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
+ signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
+
+#if ( portSTACK_GROWTH > 0 )
+ portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
+#endif
+
+#if ( portCRITICAL_NESTING_IN_TCB == 1 )
+ unsigned portBASE_TYPE uxCriticalNesting;
+#endif
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+ unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
+#endif
+
+#if ( configUSE_MUTEXES == 1 )
+ unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
+#endif
+
+#if ( configUSE_APPLICATION_TASK_TAG == 1 )
+ pdTASK_HOOK_CODE pxTaskTag;
+#endif
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+ unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
+#endif
+
+} tskTCB;
+
+
+/*
+ * Some kernel aware debuggers require data to be viewed to be global, rather
+ * than file scope.
+ */
+#ifdef portREMOVE_STATIC_QUALIFIER
+#define static
+#endif
+
+/*lint -e956 */
+PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
+
+/* Lists for ready and blocked tasks. --------------------*/
+
+PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
+PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
+PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
+PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
+PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
+PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */
+
+#if ( INCLUDE_vTaskDelete == 1 )
+
+PRIVILEGED_DATA static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
+PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = (unsigned portBASE_TYPE) 0;
+
+#endif
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+
+PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
+
+#endif
+
+/* File private variables. --------------------------------*/
+PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = (unsigned portBASE_TYPE) 0;
+PRIVILEGED_DATA static volatile portTickType xTickCount = (portTickType) 0;
+PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
+PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
+PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
+PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = (unsigned portBASE_TYPE) pdFALSE;
+PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = (unsigned portBASE_TYPE) 0;
+PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = (portBASE_TYPE) pdFALSE;
+PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = (portBASE_TYPE) 0;
+PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = (unsigned portBASE_TYPE) 0;
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+
+PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
+PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
+static void prvGenerateRunTimeStatsForTasksInList(const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime) PRIVILEGED_FUNCTION;
+
+#endif
+
+/* Debugging and trace facilities private variables and macros. ------------*/
+
+/*
+ * The value used to fill the stack of a task when the task is created. This
+ * is used purely for checking the high water mark for tasks.
+ */
+#define tskSTACK_FILL_BYTE ( 0xa5 )
+
+/*
+ * Macros used by vListTask to indicate which state a task is in.
+ */
+#define tskBLOCKED_CHAR ( ( signed char ) 'B' )
+#define tskREADY_CHAR ( ( signed char ) 'R' )
+#define tskDELETED_CHAR ( ( signed char ) 'D' )
+#define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
+
+/*
+ * Macros and private variables used by the trace facility.
+ */
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+#define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned long ) ( sizeof( unsigned long ) + sizeof( unsigned long ) ) )
+PRIVILEGED_DATA static volatile signed char * volatile pcTraceBuffer;
+PRIVILEGED_DATA static signed char *pcTraceBufferStart;
+PRIVILEGED_DATA static signed char *pcTraceBufferEnd;
+PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE;
+static unsigned portBASE_TYPE uxPreviousTask = 255;
+PRIVILEGED_DATA static char pcStatusString[ 50 ];
+
+#endif
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Macro that writes a trace of scheduler activity to a buffer. This trace
+ * shows which task is running when and is very useful as a debugging tool.
+ * As this macro is called each context switch it is a good idea to undefine
+ * it if not using the facility.
+ */
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+#define vWriteTraceToBuffer() \
+ { \
+ if( xTracing ) \
+ { \
+ if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
+ { \
+ if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
+ { \
+ uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
+ *( unsigned long * ) pcTraceBuffer = ( unsigned long ) xTickCount; \
+ pcTraceBuffer += sizeof( unsigned long ); \
+ *( unsigned long * ) pcTraceBuffer = ( unsigned long ) uxPreviousTask; \
+ pcTraceBuffer += sizeof( unsigned long ); \
+ } \
+ else \
+ { \
+ xTracing = pdFALSE; \
+ } \
+ } \
+ } \
+ }
+
+#else
+
+#define vWriteTraceToBuffer()
+
+#endif
+/*-----------------------------------------------------------*/
+
+/*
+ * Place the task represented by pxTCB into the appropriate ready queue for
+ * the task. It is inserted at the end of the list. One quirk of this is
+ * that if the task being inserted is at the same priority as the currently
+ * executing task, then it will only be rescheduled after the currently
+ * executing task has been rescheduled.
+ */
+#define prvAddTaskToReadyQueue( pxTCB ) \
+{ \
+ if( pxTCB->uxPriority > uxTopReadyPriority ) \
+ { \
+ uxTopReadyPriority = pxTCB->uxPriority; \
+ } \
+ vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Macro that looks at the list of tasks that are currently delayed to see if
+ * any require waking.
+ *
+ * Tasks are stored in the queue in the order of their wake time - meaning
+ * once one tasks has been found whose timer has not expired we need not look
+ * any further down the list.
+ */
+#define prvCheckDelayedTasks() \
+{ \
+register tskTCB *pxTCB; \
+ \
+ while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \
+ { \
+ if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \
+ { \
+ break; \
+ } \
+ vListRemove( &( pxTCB->xGenericListItem ) ); \
+ /* Is the task waiting on an event also? */ \
+ if( pxTCB->xEventListItem.pvContainer ) \
+ { \
+ vListRemove( &( pxTCB->xEventListItem ) ); \
+ } \
+ prvAddTaskToReadyQueue( pxTCB ); \
+ } \
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Several functions take an xTaskHandle parameter that can optionally be NULL,
+ * where NULL is used to indicate that the handle of the currently executing
+ * task should be used in place of the parameter. This macro simply checks to
+ * see if the parameter is NULL and returns a pointer to the appropriate TCB.
+ */
+#define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
+
+
+/* File private functions. --------------------------------*/
+
+/*
+ * Utility to ready a TCB for a given task. Mainly just copies the parameters
+ * into the TCB structure.
+ */
+static void prvInitialiseTCBVariables(tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth) PRIVILEGED_FUNCTION;
+
+/*
+ * Utility to ready all the lists used by the scheduler. This is called
+ * automatically upon the creation of the first task.
+ */
+static void prvInitialiseTaskLists(void) PRIVILEGED_FUNCTION;
+
+/*
+ * The idle task, which as all tasks is implemented as a never ending loop.
+ * The idle task is automatically created and added to the ready lists upon
+ * creation of the first user task.
+ *
+ * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
+ * language extensions. The equivalent prototype for this function is:
+ *
+ * void prvIdleTask( void *pvParameters );
+ *
+ */
+static portTASK_FUNCTION_PROTO(prvIdleTask, pvParameters);
+
+/*
+ * Utility to free all memory allocated by the scheduler to hold a TCB,
+ * including the stack pointed to by the TCB.
+ *
+ * This does not free memory allocated by the task itself (i.e. memory
+ * allocated by calls to pvPortMalloc from within the tasks application code).
+ */
+#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
+
+static void prvDeleteTCB(tskTCB *pxTCB) PRIVILEGED_FUNCTION;
+
+#endif
+
+/*
+ * Used only by the idle task. This checks to see if anything has been placed
+ * in the list of tasks waiting to be deleted. If so the task is cleaned up
+ * and its TCB deleted.
+ */
+static void prvCheckTasksWaitingTermination(void) PRIVILEGED_FUNCTION;
+
+/*
+ * Allocates memory from the heap for a TCB and associated stack. Checks the
+ * allocation was successful.
+ */
+static tskTCB *prvAllocateTCBAndStack(unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer) PRIVILEGED_FUNCTION;
+
+/*
+ * Called from vTaskList. vListTasks details all the tasks currently under
+ * control of the scheduler. The tasks may be in one of a number of lists.
+ * prvListTaskWithinSingleList accepts a list and details the tasks from
+ * within just that list.
+ *
+ * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
+ * NORMAL APPLICATION CODE.
+ */
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+static void prvListTaskWithinSingleList(const signed char *pcWriteBuffer, xList *pxList, signed char cStatus) PRIVILEGED_FUNCTION;
+
+#endif
+
+/*
+ * When a task is created, the stack of the task is filled with a known value.
+ * This function determines the 'high water mark' of the task stack by
+ * determining how much of the stack remains at the original preset value.
+ */
+#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
+
+static unsigned short usTaskCheckFreeStackSpace(const unsigned char * pucStackByte) PRIVILEGED_FUNCTION;
+
+#endif
+
+
+/*lint +e956 */
+
+
+
+/*-----------------------------------------------------------
+ * TASK CREATION API documented in task.h
+ *----------------------------------------------------------*/
+
+signed portBASE_TYPE xTaskGenericCreate(pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions)
+{
+ signed portBASE_TYPE xReturn;
+ tskTCB * pxNewTCB;
+
+ /* Allocate the memory required by the TCB and stack for the new task,
+ checking that the allocation was successful. */
+ pxNewTCB = prvAllocateTCBAndStack(usStackDepth, puxStackBuffer);
+
+ if (pxNewTCB != NULL) {
+ portSTACK_TYPE *pxTopOfStack;
+
+#if( portUSING_MPU_WRAPPERS == 1 )
+ /* Should the task be created in privileged mode? */
+ portBASE_TYPE xRunPrivileged;
+ if ((uxPriority & portPRIVILEGE_BIT) != 0x00) {
+ xRunPrivileged = pdTRUE;
+ } else {
+ xRunPrivileged = pdFALSE;
+ }
+ uxPriority &= ~portPRIVILEGE_BIT;
+#endif /* portUSING_MPU_WRAPPERS == 1 */
+
+ /* Calculate the top of stack address. This depends on whether the
+ stack grows from high memory to low (as per the 80x86) or visa versa.
+ portSTACK_GROWTH is used to make the result positive or negative as
+ required by the port. */
+#if( portSTACK_GROWTH < 0 )
+ {
+ pxTopOfStack = pxNewTCB->pxStack + (usStackDepth - 1);
+ pxTopOfStack = (portSTACK_TYPE *)(((unsigned long) pxTopOfStack) & ((unsigned long) ~portBYTE_ALIGNMENT_MASK));
+ }
+#else
+ {
+ pxTopOfStack = pxNewTCB->pxStack;
+
+ /* If we want to use stack checking on architectures that use
+ a positive stack growth direction then we also need to store the
+ other extreme of the stack space. */
+ pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + (usStackDepth - 1);
+ }
+#endif
+
+ /* Setup the newly allocated TCB with the initial state of the task. */
+ prvInitialiseTCBVariables(pxNewTCB, pcName, uxPriority, xRegions, usStackDepth);
+
+ /* Initialize the TCB stack to look as if the task was already running,
+ but had been interrupted by the scheduler. The return address is set
+ to the start of the task function. Once the stack has been initialised
+ the top of stack variable is updated. */
+#if( portUSING_MPU_WRAPPERS == 1 )
+ {
+ pxNewTCB->pxTopOfStack = pxPortInitialiseStack(pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged);
+ }
+#else
+ {
+ pxNewTCB->pxTopOfStack = pxPortInitialiseStack(pxTopOfStack, pxTaskCode, pvParameters);
+ }
+#endif
+
+ /* We are going to manipulate the task queues to add this task to a
+ ready list, so must make sure no interrupts occur. */
+ portENTER_CRITICAL();
+ {
+ uxCurrentNumberOfTasks++;
+ if (uxCurrentNumberOfTasks == (unsigned portBASE_TYPE) 1) {
+ /* As this is the first task it must also be the current task. */
+ pxCurrentTCB = pxNewTCB;
+
+ /* This is the first task to be created so do the preliminary
+ initialisation required. We will not recover if this call
+ fails, but we will report the failure. */
+ prvInitialiseTaskLists();
+ } else {
+ /* If the scheduler is not already running, make this task the
+ current task if it is the highest priority task to be created
+ so far. */
+ if (xSchedulerRunning == pdFALSE) {
+ if (pxCurrentTCB->uxPriority <= uxPriority) {
+ pxCurrentTCB = pxNewTCB;
+ }
+ }
+ }
+
+ /* Remember the top priority to make context switching faster. Use
+ the priority in pxNewTCB as this has been capped to a valid value. */
+ if (pxNewTCB->uxPriority > uxTopUsedPriority) {
+ uxTopUsedPriority = pxNewTCB->uxPriority;
+ }
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+ {
+ /* Add a counter into the TCB for tracing only. */
+ pxNewTCB->uxTCBNumber = uxTaskNumber;
+ }
+#endif
+ uxTaskNumber++;
+
+ prvAddTaskToReadyQueue(pxNewTCB);
+
+ xReturn = pdPASS;
+ traceTASK_CREATE(pxNewTCB);
+ }
+ portEXIT_CRITICAL();
+ } else {
+ xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
+ traceTASK_CREATE_FAILED(pxNewTCB);
+ }
+
+ if (xReturn == pdPASS) {
+ if ((void *) pxCreatedTask != NULL) {
+ /* Pass the TCB out - in an anonymous way. The calling function/
+ task can use this as a handle to delete the task later if
+ required.*/
+ *pxCreatedTask = (xTaskHandle) pxNewTCB;
+ }
+
+ if (xSchedulerRunning != pdFALSE) {
+ /* If the created task is of a higher priority than the current task
+ then it should run now. */
+ if (pxCurrentTCB->uxPriority < uxPriority) {
+ portYIELD_WITHIN_API();
+ }
+ }
+ }
+
+ return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskDelete == 1 )
+
+void vTaskDelete(xTaskHandle pxTaskToDelete)
+{
+ tskTCB *pxTCB;
+
+ portENTER_CRITICAL();
+ {
+ /* Ensure a yield is performed if the current task is being
+ deleted. */
+ if (pxTaskToDelete == pxCurrentTCB) {
+ pxTaskToDelete = NULL;
+ }
+
+ /* If null is passed in here then we are deleting ourselves. */
+ pxTCB = prvGetTCBFromHandle(pxTaskToDelete);
+
+ /* Remove task from the ready list and place in the termination list.
+ This will stop the task from be scheduled. The idle task will check
+ the termination list and free up any memory allocated by the
+ scheduler for the TCB and stack. */
+ vListRemove(&(pxTCB->xGenericListItem));
+
+ /* Is the task waiting on an event also? */
+ if (pxTCB->xEventListItem.pvContainer) {
+ vListRemove(&(pxTCB->xEventListItem));
+ }
+
+ vListInsertEnd((xList *) &xTasksWaitingTermination, &(pxTCB->xGenericListItem));
+
+ /* Increment the ucTasksDeleted variable so the idle task knows
+ there is a task that has been deleted and that it should therefore
+ check the xTasksWaitingTermination list. */
+ ++uxTasksDeleted;
+
+ /* Increment the uxTaskNumberVariable also so kernel aware debuggers
+ can detect that the task lists need re-generating. */
+ uxTaskNumber++;
+
+ traceTASK_DELETE(pxTCB);
+ }
+ portEXIT_CRITICAL();
+
+ /* Force a reschedule if we have just deleted the current task. */
+ if (xSchedulerRunning != pdFALSE) {
+ if ((void *) pxTaskToDelete == NULL) {
+ portYIELD_WITHIN_API();
+ }
+ }
+}
+
+#endif
+
+
+
+
+
+
+/*-----------------------------------------------------------
+ * TASK CONTROL API documented in task.h
+ *----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskDelayUntil == 1 )
+
+void vTaskDelayUntil(portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement)
+{
+ portTickType xTimeToWake;
+ portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
+
+ vTaskSuspendAll();
+ {
+ /* Generate the tick time at which the task wants to wake. */
+ xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
+
+ if (xTickCount < *pxPreviousWakeTime) {
+ /* The tick count has overflowed since this function was
+ lasted called. In this case the only time we should ever
+ actually delay is if the wake time has also overflowed,
+ and the wake time is greater than the tick time. When this
+ is the case it is as if neither time had overflowed. */
+ if ((xTimeToWake < *pxPreviousWakeTime) && (xTimeToWake > xTickCount)) {
+ xShouldDelay = pdTRUE;
+ }
+ } else {
+ /* The tick time has not overflowed. In this case we will
+ delay if either the wake time has overflowed, and/or the
+ tick time is less than the wake time. */
+ if ((xTimeToWake < *pxPreviousWakeTime) || (xTimeToWake > xTickCount)) {
+ xShouldDelay = pdTRUE;
+ }
+ }
+
+ /* Update the wake time ready for the next call. */
+ *pxPreviousWakeTime = xTimeToWake;
+
+ if (xShouldDelay) {
+ traceTASK_DELAY_UNTIL();
+
+ /* We must remove ourselves from the ready list before adding
+ ourselves to the blocked list as the same list item is used for
+ both lists. */
+ vListRemove((xListItem *) &(pxCurrentTCB->xGenericListItem));
+
+ /* The list item will be inserted in wake time order. */
+ listSET_LIST_ITEM_VALUE(&(pxCurrentTCB->xGenericListItem), xTimeToWake);
+
+ if (xTimeToWake < xTickCount) {
+ /* Wake time has overflowed. Place this item in the
+ overflow list. */
+ vListInsert((xList *) pxOverflowDelayedTaskList, (xListItem *) &(pxCurrentTCB->xGenericListItem));
+ } else {
+ /* The wake time has not overflowed, so we can use the
+ current block list. */
+ vListInsert((xList *) pxDelayedTaskList, (xListItem *) &(pxCurrentTCB->xGenericListItem));
+ }
+ }
+ }
+ xAlreadyYielded = xTaskResumeAll();
+
+ /* Force a reschedule if xTaskResumeAll has not already done so, we may
+ have put ourselves to sleep. */
+ if (!xAlreadyYielded) {
+ portYIELD_WITHIN_API();
+ }
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskDelay == 1 )
+
+void vTaskDelay(portTickType xTicksToDelay)
+{
+ portTickType xTimeToWake;
+ signed portBASE_TYPE xAlreadyYielded = pdFALSE;
+
+ /* A delay time of zero just forces a reschedule. */
+ if (xTicksToDelay > (portTickType) 0) {
+ vTaskSuspendAll();
+ {
+ traceTASK_DELAY();
+
+ /* A task that is removed from the event list while the
+ scheduler is suspended will not get placed in the ready
+ list or removed from the blocked list until the scheduler
+ is resumed.
+
+ This task cannot be in an event list as it is the currently
+ executing task. */
+
+ /* Calculate the time to wake - this may overflow but this is
+ not a problem. */
+ xTimeToWake = xTickCount + xTicksToDelay;
+
+ /* We must remove ourselves from the ready list before adding
+ ourselves to the blocked list as the same list item is used for
+ both lists. */
+ vListRemove((xListItem *) &(pxCurrentTCB->xGenericListItem));
+
+ /* The list item will be inserted in wake time order. */
+ listSET_LIST_ITEM_VALUE(&(pxCurrentTCB->xGenericListItem), xTimeToWake);
+
+ if (xTimeToWake < xTickCount) {
+ /* Wake time has overflowed. Place this item in the
+ overflow list. */
+ vListInsert((xList *) pxOverflowDelayedTaskList, (xListItem *) &(pxCurrentTCB->xGenericListItem));
+ } else {
+ /* The wake time has not overflowed, so we can use the
+ current block list. */
+ vListInsert((xList *) pxDelayedTaskList, (xListItem *) &(pxCurrentTCB->xGenericListItem));
+ }
+ }
+ xAlreadyYielded = xTaskResumeAll();
+ }
+
+ /* Force a reschedule if xTaskResumeAll has not already done so, we may
+ have put ourselves to sleep. */
+ if (!xAlreadyYielded) {
+ portYIELD_WITHIN_API();
+ }
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_uxTaskPriorityGet == 1 )
+
+unsigned portBASE_TYPE uxTaskPriorityGet(xTaskHandle pxTask)
+{
+ tskTCB *pxTCB;
+ unsigned portBASE_TYPE uxReturn;
+
+ portENTER_CRITICAL();
+ {
+ /* If null is passed in here then we are changing the
+ priority of the calling function. */
+ pxTCB = prvGetTCBFromHandle(pxTask);
+ uxReturn = pxTCB->uxPriority;
+ }
+ portEXIT_CRITICAL();
+
+ return uxReturn;
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskPrioritySet == 1 )
+
+void vTaskPrioritySet(xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority)
+{
+ tskTCB *pxTCB;
+ unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
+
+ /* Ensure the new priority is valid. */
+ if (uxNewPriority >= configMAX_PRIORITIES) {
+ uxNewPriority = configMAX_PRIORITIES - 1;
+ }
+
+ portENTER_CRITICAL();
+ {
+ if (pxTask == pxCurrentTCB) {
+ pxTask = NULL;
+ }
+
+ /* If null is passed in here then we are changing the
+ priority of the calling function. */
+ pxTCB = prvGetTCBFromHandle(pxTask);
+
+ traceTASK_PRIORITY_SET(pxTask, uxNewPriority);
+
+#if ( configUSE_MUTEXES == 1 )
+ {
+ uxCurrentPriority = pxTCB->uxBasePriority;
+ }
+#else
+ {
+ uxCurrentPriority = pxTCB->uxPriority;
+ }
+#endif
+
+ if (uxCurrentPriority != uxNewPriority) {
+ /* The priority change may have readied a task of higher
+ priority than the calling task. */
+ if (uxNewPriority > uxCurrentPriority) {
+ if (pxTask != NULL) {
+ /* The priority of another task is being raised. If we
+ were raising the priority of the currently running task
+ there would be no need to switch as it must have already
+ been the highest priority task. */
+ xYieldRequired = pdTRUE;
+ }
+ } else if (pxTask == NULL) {
+ /* Setting our own priority down means there may now be another
+ task of higher priority that is ready to execute. */
+ xYieldRequired = pdTRUE;
+ }
+
+
+
+#if ( configUSE_MUTEXES == 1 )
+ {
+ /* Only change the priority being used if the task is not
+ currently using an inherited priority. */
+ if (pxTCB->uxBasePriority == pxTCB->uxPriority) {
+ pxTCB->uxPriority = uxNewPriority;
+ }
+
+ /* The base priority gets set whatever. */
+ pxTCB->uxBasePriority = uxNewPriority;
+ }
+#else
+ {
+ pxTCB->uxPriority = uxNewPriority;
+ }
+#endif
+
+ listSET_LIST_ITEM_VALUE(&(pxTCB->xEventListItem), (configMAX_PRIORITIES - (portTickType) uxNewPriority));
+
+ /* If the task is in the blocked or suspended list we need do
+ nothing more than change it's priority variable. However, if
+ the task is in a ready list it needs to be removed and placed
+ in the queue appropriate to its new priority. */
+ if (listIS_CONTAINED_WITHIN(&(pxReadyTasksLists[ uxCurrentPriority ]), &(pxTCB->xGenericListItem))) {
+ /* The task is currently in its ready list - remove before adding
+ it to it's new ready list. As we are in a critical section we
+ can do this even if the scheduler is suspended. */
+ vListRemove(&(pxTCB->xGenericListItem));
+ prvAddTaskToReadyQueue(pxTCB);
+ }
+
+ if (xYieldRequired == pdTRUE) {
+ portYIELD_WITHIN_API();
+ }
+ }
+ }
+ portEXIT_CRITICAL();
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+
+void vTaskSuspend(xTaskHandle pxTaskToSuspend)
+{
+ tskTCB *pxTCB;
+
+ portENTER_CRITICAL();
+ {
+ /* Ensure a yield is performed if the current task is being
+ suspended. */
+ if (pxTaskToSuspend == pxCurrentTCB) {
+ pxTaskToSuspend = NULL;
+ }
+
+ /* If null is passed in here then we are suspending ourselves. */
+ pxTCB = prvGetTCBFromHandle(pxTaskToSuspend);
+
+ traceTASK_SUSPEND(pxTCB);
+
+ /* Remove task from the ready/delayed list and place in the suspended list. */
+ vListRemove(&(pxTCB->xGenericListItem));
+
+ /* Is the task waiting on an event also? */
+ if (pxTCB->xEventListItem.pvContainer) {
+ vListRemove(&(pxTCB->xEventListItem));
+ }
+
+ vListInsertEnd((xList *) &xSuspendedTaskList, &(pxTCB->xGenericListItem));
+ }
+ portEXIT_CRITICAL();
+
+ /* We may have just suspended the current task. */
+ if ((void *) pxTaskToSuspend == NULL) {
+ portYIELD_WITHIN_API();
+ }
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+
+signed portBASE_TYPE xTaskIsTaskSuspended(xTaskHandle xTask)
+{
+ portBASE_TYPE xReturn = pdFALSE;
+ const tskTCB * const pxTCB = (tskTCB *) xTask;
+
+ /* Is the task we are attempting to resume actually in the
+ suspended list? */
+ if (listIS_CONTAINED_WITHIN(&xSuspendedTaskList, &(pxTCB->xGenericListItem)) != pdFALSE) {
+ /* Has the task already been resumed from within an ISR? */
+ if (listIS_CONTAINED_WITHIN(&xPendingReadyList, &(pxTCB->xEventListItem)) != pdTRUE) {
+ /* Is it in the suspended list because it is in the
+ Suspended state? It is possible to be in the suspended
+ list because it is blocked on a task with no timeout
+ specified. */
+ if (listIS_CONTAINED_WITHIN(NULL, &(pxTCB->xEventListItem)) == pdTRUE) {
+ xReturn = pdTRUE;
+ }
+ }
+ }
+
+ return xReturn;
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+
+void vTaskResume(xTaskHandle pxTaskToResume)
+{
+ tskTCB *pxTCB;
+
+ /* Remove the task from whichever list it is currently in, and place
+ it in the ready list. */
+ pxTCB = (tskTCB *) pxTaskToResume;
+
+ /* The parameter cannot be NULL as it is impossible to resume the
+ currently executing task. */
+ if ((pxTCB != NULL) && (pxTCB != pxCurrentTCB)) {
+ portENTER_CRITICAL();
+ {
+ if (xTaskIsTaskSuspended(pxTCB) == pdTRUE) {
+ traceTASK_RESUME(pxTCB);
+
+ /* As we are in a critical section we can access the ready
+ lists even if the scheduler is suspended. */
+ vListRemove(&(pxTCB->xGenericListItem));
+ prvAddTaskToReadyQueue(pxTCB);
+
+ /* We may have just resumed a higher priority task. */
+ if (pxTCB->uxPriority >= pxCurrentTCB->uxPriority) {
+ /* This yield may not cause the task just resumed to run, but
+ will leave the lists in the correct state for the next yield. */
+ portYIELD_WITHIN_API();
+ }
+ }
+ }
+ portEXIT_CRITICAL();
+ }
+}
+
+#endif
+
+/*-----------------------------------------------------------*/
+
+#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
+
+portBASE_TYPE xTaskResumeFromISR(xTaskHandle pxTaskToResume)
+{
+ portBASE_TYPE xYieldRequired = pdFALSE;
+ tskTCB *pxTCB;
+
+ pxTCB = (tskTCB *) pxTaskToResume;
+
+ if (xTaskIsTaskSuspended(pxTCB) == pdTRUE) {
+ traceTASK_RESUME_FROM_ISR(pxTCB);
+
+ if (uxSchedulerSuspended == (unsigned portBASE_TYPE) pdFALSE) {
+ xYieldRequired = (pxTCB->uxPriority >= pxCurrentTCB->uxPriority);
+ vListRemove(&(pxTCB->xGenericListItem));
+ prvAddTaskToReadyQueue(pxTCB);
+ } else {
+ /* We cannot access the delayed or ready lists, so will hold this
+ task pending until the scheduler is resumed, at which point a
+ yield will be performed if necessary. */
+ vListInsertEnd((xList *) &(xPendingReadyList), &(pxTCB->xEventListItem));
+ }
+ }
+
+ return xYieldRequired;
+}
+
+#endif
+
+
+
+
+/*-----------------------------------------------------------
+ * PUBLIC SCHEDULER CONTROL documented in task.h
+ *----------------------------------------------------------*/
+
+
+void vTaskStartScheduler(void)
+{
+ portBASE_TYPE xReturn;
+
+ /* Add the idle task at the lowest priority. */
+ xReturn = xTaskCreate(prvIdleTask, (signed char *) "IDLE", tskIDLE_STACK_SIZE, (void *) NULL, (tskIDLE_PRIORITY | portPRIVILEGE_BIT), (xTaskHandle *) NULL);
+
+ if (xReturn == pdPASS) {
+ /* Interrupts are turned off here, to ensure a tick does not occur
+ before or during the call to xPortStartScheduler(). The stacks of
+ the created tasks contain a status word with interrupts switched on
+ so interrupts will automatically get re-enabled when the first task
+ starts to run.
+
+ STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
+ DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
+ portDISABLE_INTERRUPTS();
+
+ xSchedulerRunning = pdTRUE;
+ xTickCount = (portTickType) 0;
+
+ /* If configGENERATE_RUN_TIME_STATS is defined then the following
+ macro must be defined to configure the timer/counter used to generate
+ the run time counter time base. */
+ portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
+
+ /* Setting up the timer tick is hardware specific and thus in the
+ portable interface. */
+ if (xPortStartScheduler()) {
+ /* Should not reach here as if the scheduler is running the
+ function will not return. */
+ } else {
+ /* Should only reach here if a task calls xTaskEndScheduler(). */
+ }
+ }
+}
+/*-----------------------------------------------------------*/
+
+void vTaskEndScheduler(void)
+{
+ /* Stop the scheduler interrupts and call the portable scheduler end
+ routine so the original ISRs can be restored if necessary. The port
+ layer must ensure interrupts enable bit is left in the correct state. */
+ portDISABLE_INTERRUPTS();
+ xSchedulerRunning = pdFALSE;
+ vPortEndScheduler();
+}
+/*----------------------------------------------------------*/
+
+void vTaskSuspendAll(void)
+{
+ /* A critical section is not required as the variable is of type
+ portBASE_TYPE. */
+ ++uxSchedulerSuspended;
+}
+/*----------------------------------------------------------*/
+
+signed portBASE_TYPE xTaskResumeAll(void)
+{
+ register tskTCB *pxTCB;
+ signed portBASE_TYPE xAlreadyYielded = pdFALSE;
+
+ /* It is possible that an ISR caused a task to be removed from an event
+ list while the scheduler was suspended. If this was the case then the
+ removed task will have been added to the xPendingReadyList. Once the
+ scheduler has been resumed it is safe to move all the pending ready
+ tasks from this list into their appropriate ready list. */
+ portENTER_CRITICAL();
+ {
+ --uxSchedulerSuspended;
+
+ if (uxSchedulerSuspended == (unsigned portBASE_TYPE) pdFALSE) {
+ if (uxCurrentNumberOfTasks > (unsigned portBASE_TYPE) 0) {
+ portBASE_TYPE xYieldRequired = pdFALSE;
+
+ /* Move any readied tasks from the pending list into the
+ appropriate ready list. */
+ while ((pxTCB = (tskTCB *) listGET_OWNER_OF_HEAD_ENTRY(((xList *) & xPendingReadyList))) != NULL) {
+ vListRemove(&(pxTCB->xEventListItem));
+ vListRemove(&(pxTCB->xGenericListItem));
+ prvAddTaskToReadyQueue(pxTCB);
+
+ /* If we have moved a task that has a priority higher than
+ the current task then we should yield. */
+ if (pxTCB->uxPriority >= pxCurrentTCB->uxPriority) {
+ xYieldRequired = pdTRUE;
+ }
+ }
+
+ /* If any ticks occurred while the scheduler was suspended then
+ they should be processed now. This ensures the tick count does not
+ slip, and that any delayed tasks are resumed at the correct time. */
+ if (uxMissedTicks > (unsigned portBASE_TYPE) 0) {
+ while (uxMissedTicks > (unsigned portBASE_TYPE) 0) {
+ vTaskIncrementTick();
+ --uxMissedTicks;
+ }
+
+ /* As we have processed some ticks it is appropriate to yield
+ to ensure the highest priority task that is ready to run is
+ the task actually running. */
+#if configUSE_PREEMPTION == 1
+ {
+ xYieldRequired = pdTRUE;
+ }
+#endif
+ }
+
+ if ((xYieldRequired == pdTRUE) || (xMissedYield == pdTRUE)) {
+ xAlreadyYielded = pdTRUE;
+ xMissedYield = pdFALSE;
+ portYIELD_WITHIN_API();
+ }
+ }
+ }
+ }
+ portEXIT_CRITICAL();
+
+ return xAlreadyYielded;
+}
+
+
+
+
+
+
+/*-----------------------------------------------------------
+ * PUBLIC TASK UTILITIES documented in task.h
+ *----------------------------------------------------------*/
+
+
+
+portTickType xTaskGetTickCount(void)
+{
+ portTickType xTicks;
+
+ /* Critical section required if running on a 16 bit processor. */
+ portENTER_CRITICAL();
+ {
+ xTicks = xTickCount;
+ }
+ portEXIT_CRITICAL();
+
+ return xTicks;
+}
+/*-----------------------------------------------------------*/
+
+unsigned portBASE_TYPE uxTaskGetNumberOfTasks(void)
+{
+ /* A critical section is not required because the variables are of type
+ portBASE_TYPE. */
+ return uxCurrentNumberOfTasks;
+}
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+void vTaskList(signed char *pcWriteBuffer)
+{
+ unsigned portBASE_TYPE uxQueue;
+
+ /* This is a VERY costly function that should be used for debug only.
+ It leaves interrupts disabled for a LONG time. */
+
+ vTaskSuspendAll();
+ {
+ /* Run through all the lists that could potentially contain a TCB and
+ report the task name, state and stack high water mark. */
+
+ pcWriteBuffer[ 0 ] = (signed char) 0x00;
+ strcat((char *) pcWriteBuffer, (const char *) "\r\n");
+
+ uxQueue = uxTopUsedPriority + 1;
+
+ do {
+ uxQueue--;
+
+ if (!listLIST_IS_EMPTY(&(pxReadyTasksLists[ uxQueue ]))) {
+ prvListTaskWithinSingleList(pcWriteBuffer, (xList *) &(pxReadyTasksLists[ uxQueue ]), tskREADY_CHAR);
+ }
+ } while (uxQueue > (unsigned short) tskIDLE_PRIORITY);
+
+ if (!listLIST_IS_EMPTY(pxDelayedTaskList)) {
+ prvListTaskWithinSingleList(pcWriteBuffer, (xList *) pxDelayedTaskList, tskBLOCKED_CHAR);
+ }
+
+ if (!listLIST_IS_EMPTY(pxOverflowDelayedTaskList)) {
+ prvListTaskWithinSingleList(pcWriteBuffer, (xList *) pxOverflowDelayedTaskList, tskBLOCKED_CHAR);
+ }
+
+#if( INCLUDE_vTaskDelete == 1 )
+ {
+ if (!listLIST_IS_EMPTY(&xTasksWaitingTermination)) {
+ prvListTaskWithinSingleList(pcWriteBuffer, (xList *) &xTasksWaitingTermination, tskDELETED_CHAR);
+ }
+ }
+#endif
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+ {
+ if (!listLIST_IS_EMPTY(&xSuspendedTaskList)) {
+ prvListTaskWithinSingleList(pcWriteBuffer, (xList *) &xSuspendedTaskList, tskSUSPENDED_CHAR);
+ }
+ }
+#endif
+ }
+ xTaskResumeAll();
+}
+
+#endif
+/*----------------------------------------------------------*/
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+
+void vTaskGetRunTimeStats(signed char *pcWriteBuffer)
+{
+ unsigned portBASE_TYPE uxQueue;
+ unsigned long ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
+
+ /* This is a VERY costly function that should be used for debug only.
+ It leaves interrupts disabled for a LONG time. */
+
+ vTaskSuspendAll();
+ {
+ /* Run through all the lists that could potentially contain a TCB,
+ generating a table of run timer percentages in the provided
+ buffer. */
+
+ pcWriteBuffer[ 0 ] = (signed char) 0x00;
+ strcat((char *) pcWriteBuffer, (const char *) "\r\n");
+
+ uxQueue = uxTopUsedPriority + 1;
+
+ do {
+ uxQueue--;
+
+ if (!listLIST_IS_EMPTY(&(pxReadyTasksLists[ uxQueue ]))) {
+ prvGenerateRunTimeStatsForTasksInList(pcWriteBuffer, (xList *) &(pxReadyTasksLists[ uxQueue ]), ulTotalRunTime);
+ }
+ } while (uxQueue > (unsigned short) tskIDLE_PRIORITY);
+
+ if (!listLIST_IS_EMPTY(pxDelayedTaskList)) {
+ prvGenerateRunTimeStatsForTasksInList(pcWriteBuffer, (xList *) pxDelayedTaskList, ulTotalRunTime);
+ }
+
+ if (!listLIST_IS_EMPTY(pxOverflowDelayedTaskList)) {
+ prvGenerateRunTimeStatsForTasksInList(pcWriteBuffer, (xList *) pxOverflowDelayedTaskList, ulTotalRunTime);
+ }
+
+#if ( INCLUDE_vTaskDelete == 1 )
+ {
+ if (!listLIST_IS_EMPTY(&xTasksWaitingTermination)) {
+ prvGenerateRunTimeStatsForTasksInList(pcWriteBuffer, (xList *) &xTasksWaitingTermination, ulTotalRunTime);
+ }
+ }
+#endif
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+ {
+ if (!listLIST_IS_EMPTY(&xSuspendedTaskList)) {
+ prvGenerateRunTimeStatsForTasksInList(pcWriteBuffer, (xList *) &xSuspendedTaskList, ulTotalRunTime);
+ }
+ }
+#endif
+ }
+ xTaskResumeAll();
+}
+
+#endif
+/*----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+void vTaskStartTrace(signed char * pcBuffer, unsigned long ulBufferSize)
+{
+ portENTER_CRITICAL();
+ {
+ pcTraceBuffer = (signed char *)pcBuffer;
+ pcTraceBufferStart = pcBuffer;
+ pcTraceBufferEnd = pcBuffer + (ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE);
+ xTracing = pdTRUE;
+ }
+ portEXIT_CRITICAL();
+}
+
+#endif
+/*----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+unsigned long ulTaskEndTrace(void)
+{
+ unsigned long ulBufferLength;
+
+ portENTER_CRITICAL();
+ xTracing = pdFALSE;
+ portEXIT_CRITICAL();
+
+ ulBufferLength = (unsigned long)(pcTraceBuffer - pcTraceBufferStart);
+
+ return ulBufferLength;
+}
+
+#endif
+
+
+
+/*-----------------------------------------------------------
+ * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
+ * documented in task.h
+ *----------------------------------------------------------*/
+
+
+void vTaskIncrementTick(void)
+{
+ /* Called by the portable layer each time a tick interrupt occurs.
+ Increments the tick then checks to see if the new tick value will cause any
+ tasks to be unblocked. */
+ if (uxSchedulerSuspended == (unsigned portBASE_TYPE) pdFALSE) {
+ ++xTickCount;
+ if (xTickCount == (portTickType) 0) {
+ xList *pxTemp;
+
+ /* Tick count has overflowed so we need to swap the delay lists.
+ If there are any items in pxDelayedTaskList here then there is
+ an error! */
+ pxTemp = pxDelayedTaskList;
+ pxDelayedTaskList = pxOverflowDelayedTaskList;
+ pxOverflowDelayedTaskList = pxTemp;
+ xNumOfOverflows++;
+ }
+
+ /* See if this tick has made a timeout expire. */
+ prvCheckDelayedTasks();
+ } else {
+ ++uxMissedTicks;
+
+ /* The tick hook gets called at regular intervals, even if the
+ scheduler is locked. */
+#if ( configUSE_TICK_HOOK == 1 )
+ {
+ extern void vApplicationTickHook(void);
+
+ vApplicationTickHook();
+ }
+#endif
+ }
+
+#if ( configUSE_TICK_HOOK == 1 )
+ {
+ extern void vApplicationTickHook(void);
+
+ /* Guard against the tick hook being called when the missed tick
+ count is being unwound (when the scheduler is being unlocked. */
+ if (uxMissedTicks == 0) {
+ vApplicationTickHook();
+ }
+ }
+#endif
+
+ traceTASK_INCREMENT_TICK(xTickCount);
+}
+/*-----------------------------------------------------------*/
+
+#if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
+
+void vTaskCleanUpResources(void)
+{
+ unsigned short usQueue;
+ volatile tskTCB *pxTCB;
+
+ usQueue = (unsigned short) uxTopUsedPriority + (unsigned short) 1;
+
+ /* Remove any TCB's from the ready queues. */
+ do {
+ usQueue--;
+
+ while (!listLIST_IS_EMPTY(&(pxReadyTasksLists[ usQueue ]))) {
+ listGET_OWNER_OF_NEXT_ENTRY(pxTCB, &(pxReadyTasksLists[ usQueue ]));
+ vListRemove((xListItem *) &(pxTCB->xGenericListItem));
+
+ prvDeleteTCB((tskTCB *) pxTCB);
+ }
+ } while (usQueue > (unsigned short) tskIDLE_PRIORITY);
+
+ /* Remove any TCB's from the delayed queue. */
+ while (!listLIST_IS_EMPTY(&xDelayedTaskList1)) {
+ listGET_OWNER_OF_NEXT_ENTRY(pxTCB, &xDelayedTaskList1);
+ vListRemove((xListItem *) &(pxTCB->xGenericListItem));
+
+ prvDeleteTCB((tskTCB *) pxTCB);
+ }
+
+ /* Remove any TCB's from the overflow delayed queue. */
+ while (!listLIST_IS_EMPTY(&xDelayedTaskList2)) {
+ listGET_OWNER_OF_NEXT_ENTRY(pxTCB, &xDelayedTaskList2);
+ vListRemove((xListItem *) &(pxTCB->xGenericListItem));
+
+ prvDeleteTCB((tskTCB *) pxTCB);
+ }
+
+ while (!listLIST_IS_EMPTY(&xSuspendedTaskList)) {
+ listGET_OWNER_OF_NEXT_ENTRY(pxTCB, &xSuspendedTaskList);
+ vListRemove((xListItem *) &(pxTCB->xGenericListItem));
+
+ prvDeleteTCB((tskTCB *) pxTCB);
+ }
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_APPLICATION_TASK_TAG == 1 )
+
+void vTaskSetApplicationTaskTag(xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue)
+{
+ tskTCB *xTCB;
+
+ /* If xTask is NULL then we are setting our own task hook. */
+ if (xTask == NULL) {
+ xTCB = (tskTCB *) pxCurrentTCB;
+ } else {
+ xTCB = (tskTCB *) xTask;
+ }
+
+ /* Save the hook function in the TCB. A critical section is required as
+ the value can be accessed from an interrupt. */
+ portENTER_CRITICAL();
+ xTCB->pxTaskTag = pxTagValue;
+ portEXIT_CRITICAL();
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_APPLICATION_TASK_TAG == 1 )
+
+pdTASK_HOOK_CODE xTaskGetApplicationTaskTag(xTaskHandle xTask)
+{
+ tskTCB *xTCB;
+ pdTASK_HOOK_CODE xReturn;
+
+ /* If xTask is NULL then we are setting our own task hook. */
+ if (xTask == NULL) {
+ xTCB = (tskTCB *) pxCurrentTCB;
+ } else {
+ xTCB = (tskTCB *) xTask;
+ }
+
+ /* Save the hook function in the TCB. A critical section is required as
+ the value can be accessed from an interrupt. */
+ portENTER_CRITICAL();
+ xReturn = xTCB->pxTaskTag;
+ portEXIT_CRITICAL();
+
+ return xReturn;
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_APPLICATION_TASK_TAG == 1 )
+
+portBASE_TYPE xTaskCallApplicationTaskHook(xTaskHandle xTask, void *pvParameter)
+{
+ tskTCB *xTCB;
+ portBASE_TYPE xReturn;
+
+ /* If xTask is NULL then we are calling our own task hook. */
+ if (xTask == NULL) {
+ xTCB = (tskTCB *) pxCurrentTCB;
+ } else {
+ xTCB = (tskTCB *) xTask;
+ }
+
+ if (xTCB->pxTaskTag != NULL) {
+ xReturn = xTCB->pxTaskTag(pvParameter);
+ } else {
+ xReturn = pdFAIL;
+ }
+
+ return xReturn;
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+void vTaskSwitchContext(void)
+{
+ if (uxSchedulerSuspended != (unsigned portBASE_TYPE) pdFALSE) {
+ /* The scheduler is currently suspended - do not allow a context
+ switch. */
+ xMissedYield = pdTRUE;
+ return;
+ }
+
+ traceTASK_SWITCHED_OUT();
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+ {
+ unsigned long ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
+
+ /* Add the amount of time the task has been running to the accumulated
+ time so far. The time the task started running was stored in
+ ulTaskSwitchedInTime. Note that there is no overflow protection here
+ so count values are only valid until the timer overflows. Generally
+ this will be about 1 hour assuming a 1uS timer increment. */
+ pxCurrentTCB->ulRunTimeCounter += (ulTempCounter - ulTaskSwitchedInTime);
+ ulTaskSwitchedInTime = ulTempCounter;
+ }
+#endif
+
+ taskFIRST_CHECK_FOR_STACK_OVERFLOW();
+ taskSECOND_CHECK_FOR_STACK_OVERFLOW();
+
+ /* Find the highest priority queue that contains ready tasks. */
+ while (listLIST_IS_EMPTY(&(pxReadyTasksLists[ uxTopReadyPriority ]))) {
+ --uxTopReadyPriority;
+ }
+
+ /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
+ same priority get an equal share of the processor time. */
+ listGET_OWNER_OF_NEXT_ENTRY(pxCurrentTCB, &(pxReadyTasksLists[ uxTopReadyPriority ]));
+
+ traceTASK_SWITCHED_IN();
+ vWriteTraceToBuffer();
+}
+/*-----------------------------------------------------------*/
+
+void vTaskPlaceOnEventList(const xList * const pxEventList, portTickType xTicksToWait)
+{
+ portTickType xTimeToWake;
+
+ /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
+ SCHEDULER SUSPENDED. */
+
+ /* Place the event list item of the TCB in the appropriate event list.
+ This is placed in the list in priority order so the highest priority task
+ is the first to be woken by the event. */
+ vListInsert((xList *) pxEventList, (xListItem *) &(pxCurrentTCB->xEventListItem));
+
+ /* We must remove ourselves from the ready list before adding ourselves
+ to the blocked list as the same list item is used for both lists. We have
+ exclusive access to the ready lists as the scheduler is locked. */
+ vListRemove((xListItem *) &(pxCurrentTCB->xGenericListItem));
+
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+ {
+ if (xTicksToWait == portMAX_DELAY) {
+ /* Add ourselves to the suspended task list instead of a delayed task
+ list to ensure we are not woken by a timing event. We will block
+ indefinitely. */
+ vListInsertEnd((xList *) &xSuspendedTaskList, (xListItem *) &(pxCurrentTCB->xGenericListItem));
+ } else {
+ /* Calculate the time at which the task should be woken if the event does
+ not occur. This may overflow but this doesn't matter. */
+ xTimeToWake = xTickCount + xTicksToWait;
+
+ listSET_LIST_ITEM_VALUE(&(pxCurrentTCB->xGenericListItem), xTimeToWake);
+
+ if (xTimeToWake < xTickCount) {
+ /* Wake time has overflowed. Place this item in the overflow list. */
+ vListInsert((xList *) pxOverflowDelayedTaskList, (xListItem *) &(pxCurrentTCB->xGenericListItem));
+ } else {
+ /* The wake time has not overflowed, so we can use the current block list. */
+ vListInsert((xList *) pxDelayedTaskList, (xListItem *) &(pxCurrentTCB->xGenericListItem));
+ }
+ }
+ }
+#else
+ {
+ /* Calculate the time at which the task should be woken if the event does
+ not occur. This may overflow but this doesn't matter. */
+ xTimeToWake = xTickCount + xTicksToWait;
+
+ listSET_LIST_ITEM_VALUE(&(pxCurrentTCB->xGenericListItem), xTimeToWake);
+
+ if (xTimeToWake < xTickCount) {
+ /* Wake time has overflowed. Place this item in the overflow list. */
+ vListInsert((xList *) pxOverflowDelayedTaskList, (xListItem *) &(pxCurrentTCB->xGenericListItem));
+ } else {
+ /* The wake time has not overflowed, so we can use the current block list. */
+ vListInsert((xList *) pxDelayedTaskList, (xListItem *) &(pxCurrentTCB->xGenericListItem));
+ }
+ }
+#endif
+}
+/*-----------------------------------------------------------*/
+
+signed portBASE_TYPE xTaskRemoveFromEventList(const xList * const pxEventList)
+{
+ tskTCB *pxUnblockedTCB;
+ portBASE_TYPE xReturn;
+
+ /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
+ SCHEDULER SUSPENDED. It can also be called from within an ISR. */
+
+ /* The event list is sorted in priority order, so we can remove the
+ first in the list, remove the TCB from the delayed list, and add
+ it to the ready list.
+
+ If an event is for a queue that is locked then this function will never
+ get called - the lock count on the queue will get modified instead. This
+ means we can always expect exclusive access to the event list here. */
+ pxUnblockedTCB = (tskTCB *) listGET_OWNER_OF_HEAD_ENTRY(pxEventList);
+ vListRemove(&(pxUnblockedTCB->xEventListItem));
+
+ if (uxSchedulerSuspended == (unsigned portBASE_TYPE) pdFALSE) {
+ vListRemove(&(pxUnblockedTCB->xGenericListItem));
+ prvAddTaskToReadyQueue(pxUnblockedTCB);
+ } else {
+ /* We cannot access the delayed or ready lists, so will hold this
+ task pending until the scheduler is resumed. */
+ vListInsertEnd((xList *) &(xPendingReadyList), &(pxUnblockedTCB->xEventListItem));
+ }
+
+ if (pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority) {
+ /* Return true if the task removed from the event list has
+ a higher priority than the calling task. This allows
+ the calling task to know if it should force a context
+ switch now. */
+ xReturn = pdTRUE;
+ } else {
+ xReturn = pdFALSE;
+ }
+
+ return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vTaskSetTimeOutState(xTimeOutType * const pxTimeOut)
+{
+ pxTimeOut->xOverflowCount = xNumOfOverflows;
+ pxTimeOut->xTimeOnEntering = xTickCount;
+}
+/*-----------------------------------------------------------*/
+
+portBASE_TYPE xTaskCheckForTimeOut(xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait)
+{
+ portBASE_TYPE xReturn;
+
+ portENTER_CRITICAL();
+ {
+#if ( INCLUDE_vTaskSuspend == 1 )
+ /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
+ the maximum block time then the task should block indefinitely, and
+ therefore never time out. */
+ if (*pxTicksToWait == portMAX_DELAY) {
+ xReturn = pdFALSE;
+ } else /* We are not blocking indefinitely, perform the checks below. */
+#endif
+
+ if ((xNumOfOverflows != pxTimeOut->xOverflowCount) && ((portTickType) xTickCount >= (portTickType) pxTimeOut->xTimeOnEntering)) {
+ /* The tick count is greater than the time at which vTaskSetTimeout()
+ was called, but has also overflowed since vTaskSetTimeOut() was called.
+ It must have wrapped all the way around and gone past us again. This
+ passed since vTaskSetTimeout() was called. */
+ xReturn = pdTRUE;
+ } else if (((portTickType)((portTickType) xTickCount - (portTickType) pxTimeOut->xTimeOnEntering)) < (portTickType) *pxTicksToWait) {
+ /* Not a genuine timeout. Adjust parameters for time remaining. */
+ *pxTicksToWait -= ((portTickType) xTickCount - (portTickType) pxTimeOut->xTimeOnEntering);
+ vTaskSetTimeOutState(pxTimeOut);
+ xReturn = pdFALSE;
+ } else {
+ xReturn = pdTRUE;
+ }
+ }
+ portEXIT_CRITICAL();
+
+ return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vTaskMissedYield(void)
+{
+ xMissedYield = pdTRUE;
+}
+
+/*
+ * -----------------------------------------------------------
+ * The Idle task.
+ * ----------------------------------------------------------
+ *
+ * The portTASK_FUNCTION() macro is used to allow port/compiler specific
+ * language extensions. The equivalent prototype for this function is:
+ *
+ * void prvIdleTask( void *pvParameters );
+ *
+ */
+static portTASK_FUNCTION(prvIdleTask, pvParameters)
+{
+ /* Stop warnings. */
+ (void) pvParameters;
+
+ for (;;) {
+ /* See if any tasks have been deleted. */
+ prvCheckTasksWaitingTermination();
+
+#if ( configUSE_PREEMPTION == 0 )
+ {
+ /* If we are not using preemption we keep forcing a task switch to
+ see if any other task has become available. If we are using
+ preemption we don't need to do this as any task becoming available
+ will automatically get the processor anyway. */
+ taskYIELD();
+ }
+#endif
+
+#if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
+ {
+ /* When using preemption tasks of equal priority will be
+ timesliced. If a task that is sharing the idle priority is ready
+ to run then the idle task should yield before the end of the
+ timeslice.
+
+ A critical region is not required here as we are just reading from
+ the list, and an occasional incorrect value will not matter. If
+ the ready list at the idle priority contains more than one task
+ then a task other than the idle task is ready to execute. */
+ if (listCURRENT_LIST_LENGTH(&(pxReadyTasksLists[ tskIDLE_PRIORITY ])) > (unsigned portBASE_TYPE) 1) {
+ taskYIELD();
+ }
+ }
+#endif
+
+#if ( configUSE_IDLE_HOOK == 1 )
+ {
+ extern void vApplicationIdleHook(void);
+
+ /* Call the user defined function from within the idle task. This
+ allows the application designer to add background functionality
+ without the overhead of a separate task.
+ NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
+ CALL A FUNCTION THAT MIGHT BLOCK. */
+ vApplicationIdleHook();
+ }
+#endif
+ }
+} /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
+
+
+
+
+
+
+
+/*-----------------------------------------------------------
+ * File private functions documented at the top of the file.
+ *----------------------------------------------------------*/
+
+
+
+static void prvInitialiseTCBVariables(tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth)
+{
+ /* Store the function name in the TCB. */
+#if configMAX_TASK_NAME_LEN > 1
+ {
+ /* Don't bring strncpy into the build unnecessarily. */
+ strncpy((char *) pxTCB->pcTaskName, (const char *) pcName, (unsigned short) configMAX_TASK_NAME_LEN);
+ }
+#endif
+ pxTCB->pcTaskName[(unsigned short) configMAX_TASK_NAME_LEN - (unsigned short) 1 ] = '\0';
+
+ /* This is used as an array index so must ensure it's not too large. First
+ remove the privilege bit if one is present. */
+ if (uxPriority >= configMAX_PRIORITIES) {
+ uxPriority = configMAX_PRIORITIES - 1;
+ }
+
+ pxTCB->uxPriority = uxPriority;
+#if ( configUSE_MUTEXES == 1 )
+ {
+ pxTCB->uxBasePriority = uxPriority;
+ }
+#endif
+
+ vListInitialiseItem(&(pxTCB->xGenericListItem));
+ vListInitialiseItem(&(pxTCB->xEventListItem));
+
+ /* Set the pxTCB as a link back from the xListItem. This is so we can get
+ back to the containing TCB from a generic item in a list. */
+ listSET_LIST_ITEM_OWNER(&(pxTCB->xGenericListItem), pxTCB);
+
+ /* Event lists are always in priority order. */
+ listSET_LIST_ITEM_VALUE(&(pxTCB->xEventListItem), configMAX_PRIORITIES - (portTickType) uxPriority);
+ listSET_LIST_ITEM_OWNER(&(pxTCB->xEventListItem), pxTCB);
+
+#if ( portCRITICAL_NESTING_IN_TCB == 1 )
+ {
+ pxTCB->uxCriticalNesting = (unsigned portBASE_TYPE) 0;
+ }
+#endif
+
+#if ( configUSE_APPLICATION_TASK_TAG == 1 )
+ {
+ pxTCB->pxTaskTag = NULL;
+ }
+#endif
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+ {
+ pxTCB->ulRunTimeCounter = 0UL;
+ }
+#endif
+
+#if ( portUSING_MPU_WRAPPERS == 1 )
+ {
+ vPortStoreTaskMPUSettings(&(pxTCB->xMPUSettings), xRegions, pxTCB->pxStack, usStackDepth);
+ }
+#else
+ {
+ (void) xRegions;
+ (void) usStackDepth;
+ }
+#endif
+}
+/*-----------------------------------------------------------*/
+
+#if ( portUSING_MPU_WRAPPERS == 1 )
+
+void vTaskAllocateMPURegions(xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions)
+{
+ tskTCB *pxTCB;
+
+ if (xTaskToModify == pxCurrentTCB) {
+ xTaskToModify = NULL;
+ }
+
+ /* If null is passed in here then we are deleting ourselves. */
+ pxTCB = prvGetTCBFromHandle(xTaskToModify);
+
+ vPortStoreTaskMPUSettings(&(pxTCB->xMPUSettings), xRegions, NULL, 0);
+}
+/*-----------------------------------------------------------*/
+#endif
+
+static void prvInitialiseTaskLists(void)
+{
+ unsigned portBASE_TYPE uxPriority;
+
+ for (uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++) {
+ vListInitialise((xList *) &(pxReadyTasksLists[ uxPriority ]));
+ }
+
+ vListInitialise((xList *) &xDelayedTaskList1);
+ vListInitialise((xList *) &xDelayedTaskList2);
+ vListInitialise((xList *) &xPendingReadyList);
+
+#if ( INCLUDE_vTaskDelete == 1 )
+ {
+ vListInitialise((xList *) &xTasksWaitingTermination);
+ }
+#endif
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+ {
+ vListInitialise((xList *) &xSuspendedTaskList);
+ }
+#endif
+
+ /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
+ using list2. */
+ pxDelayedTaskList = &xDelayedTaskList1;
+ pxOverflowDelayedTaskList = &xDelayedTaskList2;
+}
+/*-----------------------------------------------------------*/
+
+static void prvCheckTasksWaitingTermination(void)
+{
+#if ( INCLUDE_vTaskDelete == 1 )
+ {
+ portBASE_TYPE xListIsEmpty;
+
+ /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
+ too often in the idle task. */
+ if (uxTasksDeleted > (unsigned portBASE_TYPE) 0) {
+ vTaskSuspendAll();
+ xListIsEmpty = listLIST_IS_EMPTY(&xTasksWaitingTermination);
+ xTaskResumeAll();
+
+ if (!xListIsEmpty) {
+ tskTCB *pxTCB;
+
+ portENTER_CRITICAL();
+ {
+ pxTCB = (tskTCB *) listGET_OWNER_OF_HEAD_ENTRY(((xList *) & xTasksWaitingTermination));
+ vListRemove(&(pxTCB->xGenericListItem));
+ --uxCurrentNumberOfTasks;
+ --uxTasksDeleted;
+ }
+ portEXIT_CRITICAL();
+
+ prvDeleteTCB(pxTCB);
+ }
+ }
+ }
+#endif
+}
+/*-----------------------------------------------------------*/
+
+static tskTCB *prvAllocateTCBAndStack(unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer)
+{
+ tskTCB *pxNewTCB;
+
+ /* Allocate space for the TCB. Where the memory comes from depends on
+ the implementation of the port malloc function. */
+ pxNewTCB = (tskTCB *) pvPortMalloc(sizeof(tskTCB));
+
+ if (pxNewTCB != NULL) {
+ /* Allocate space for the stack used by the task being created.
+ The base of the stack memory stored in the TCB so the task can
+ be deleted later if required. */
+ pxNewTCB->pxStack = (portSTACK_TYPE *) pvPortMallocAligned((((size_t)usStackDepth) * sizeof(portSTACK_TYPE)), puxStackBuffer);
+
+ if (pxNewTCB->pxStack == NULL) {
+ /* Could not allocate the stack. Delete the allocated TCB. */
+ vPortFree(pxNewTCB);
+ pxNewTCB = NULL;
+ } else {
+ /* Just to help debugging. */
+ memset(pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof(portSTACK_TYPE));
+ }
+ }
+
+ return pxNewTCB;
+}
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+static void prvListTaskWithinSingleList(const signed char *pcWriteBuffer, xList *pxList, signed char cStatus)
+{
+ volatile tskTCB *pxNextTCB, *pxFirstTCB;
+ unsigned short usStackRemaining;
+
+ /* Write the details of all the TCB's in pxList into the buffer. */
+ listGET_OWNER_OF_NEXT_ENTRY(pxFirstTCB, pxList);
+ do {
+ listGET_OWNER_OF_NEXT_ENTRY(pxNextTCB, pxList);
+#if ( portSTACK_GROWTH > 0 )
+ {
+ usStackRemaining = usTaskCheckFreeStackSpace((unsigned char *) pxNextTCB->pxEndOfStack);
+ }
+#else
+ {
+ usStackRemaining = usTaskCheckFreeStackSpace((unsigned char *) pxNextTCB->pxStack);
+ }
+#endif
+
+ sprintf(pcStatusString, (char *) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, (unsigned int) pxNextTCB->uxPriority, usStackRemaining, (unsigned int) pxNextTCB->uxTCBNumber);
+ strcat((char *) pcWriteBuffer, (char *) pcStatusString);
+
+ } while (pxNextTCB != pxFirstTCB);
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+
+static void prvGenerateRunTimeStatsForTasksInList(const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime)
+{
+ volatile tskTCB *pxNextTCB, *pxFirstTCB;
+ unsigned long ulStatsAsPercentage;
+
+ /* Write the run time stats of all the TCB's in pxList into the buffer. */
+ listGET_OWNER_OF_NEXT_ENTRY(pxFirstTCB, pxList);
+ do {
+ /* Get next TCB in from the list. */
+ listGET_OWNER_OF_NEXT_ENTRY(pxNextTCB, pxList);
+
+ /* Divide by zero check. */
+ if (ulTotalRunTime > 0UL) {
+ /* Has the task run at all? */
+ if (pxNextTCB->ulRunTimeCounter == 0) {
+ /* The task has used no CPU time at all. */
+ sprintf(pcStatsString, (char *) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName);
+ } else {
+ /* What percentage of the total run time as the task used?
+ This will always be rounded down to the nearest integer. */
+ ulStatsAsPercentage = (100UL * pxNextTCB->ulRunTimeCounter) / ulTotalRunTime;
+
+ if (ulStatsAsPercentage > 0UL) {
+ sprintf(pcStatsString, (char *) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, (unsigned int) pxNextTCB->ulRunTimeCounter, (unsigned int) ulStatsAsPercentage);
+ } else {
+ /* If the percentage is zero here then the task has
+ consumed less than 1% of the total run time. */
+ sprintf(pcStatsString, (char *) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, (unsigned int) pxNextTCB->ulRunTimeCounter);
+ }
+ }
+
+ strcat((char *) pcWriteBuffer, (char *) pcStatsString);
+ }
+
+ } while (pxNextTCB != pxFirstTCB);
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
+
+static unsigned short usTaskCheckFreeStackSpace(const unsigned char * pucStackByte)
+{
+ register unsigned short usCount = 0;
+
+ while (*pucStackByte == tskSTACK_FILL_BYTE) {
+ pucStackByte -= portSTACK_GROWTH;
+ usCount++;
+ }
+
+ usCount /= sizeof(portSTACK_TYPE);
+
+ return usCount;
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
+
+unsigned portBASE_TYPE uxTaskGetStackHighWaterMark(xTaskHandle xTask)
+{
+ tskTCB *pxTCB;
+ unsigned char *pcEndOfStack;
+ unsigned portBASE_TYPE uxReturn;
+
+ pxTCB = prvGetTCBFromHandle(xTask);
+
+#if portSTACK_GROWTH < 0
+ {
+ pcEndOfStack = (unsigned char *) pxTCB->pxStack;
+ }
+#else
+ {
+ pcEndOfStack = (unsigned char *) pxTCB->pxEndOfStack;
+ }
+#endif
+
+ uxReturn = (unsigned portBASE_TYPE) usTaskCheckFreeStackSpace(pcEndOfStack);
+
+ return uxReturn;
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
+
+static void prvDeleteTCB(tskTCB *pxTCB)
+{
+ /* Free up the memory allocated by the scheduler for the task. It is up to
+ the task to free any memory allocated at the application level. */
+ vPortFreeAligned(pxTCB->pxStack);
+ vPortFree(pxTCB);
+}
+
+#endif
+
+
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
+
+xTaskHandle xTaskGetCurrentTaskHandle(void)
+{
+ xTaskHandle xReturn;
+
+ /* A critical section is not required as this is not called from
+ an interrupt and the current TCB will always be the same for any
+ individual execution thread. */
+ xReturn = pxCurrentTCB;
+
+ return xReturn;
+}
+
+#endif
+
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_xTaskGetSchedulerState == 1 )
+
+portBASE_TYPE xTaskGetSchedulerState(void)
+{
+ portBASE_TYPE xReturn;
+
+ if (xSchedulerRunning == pdFALSE) {
+ xReturn = taskSCHEDULER_NOT_STARTED;
+ } else {
+ if (uxSchedulerSuspended == (unsigned portBASE_TYPE) pdFALSE) {
+ xReturn = taskSCHEDULER_RUNNING;
+ } else {
+ xReturn = taskSCHEDULER_SUSPENDED;
+ }
+ }
+
+ return xReturn;
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MUTEXES == 1 )
+
+void vTaskPriorityInherit(xTaskHandle * const pxMutexHolder)
+{
+ tskTCB * const pxTCB = (tskTCB *) pxMutexHolder;
+
+ if (pxTCB->uxPriority < pxCurrentTCB->uxPriority) {
+ /* Adjust the mutex holder state to account for its new priority. */
+ listSET_LIST_ITEM_VALUE(&(pxTCB->xEventListItem), configMAX_PRIORITIES - (portTickType) pxCurrentTCB->uxPriority);
+
+ /* If the task being modified is in the ready state it will need to
+ be moved in to a new list. */
+ if (listIS_CONTAINED_WITHIN(&(pxReadyTasksLists[ pxTCB->uxPriority ]), &(pxTCB->xGenericListItem))) {
+ vListRemove(&(pxTCB->xGenericListItem));
+
+ /* Inherit the priority before being moved into the new list. */
+ pxTCB->uxPriority = pxCurrentTCB->uxPriority;
+ prvAddTaskToReadyQueue(pxTCB);
+ } else {
+ /* Just inherit the priority. */
+ pxTCB->uxPriority = pxCurrentTCB->uxPriority;
+ }
+ }
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MUTEXES == 1 )
+
+void vTaskPriorityDisinherit(xTaskHandle * const pxMutexHolder)
+{
+ tskTCB * const pxTCB = (tskTCB *) pxMutexHolder;
+
+ if (pxMutexHolder != NULL) {
+ if (pxTCB->uxPriority != pxTCB->uxBasePriority) {
+ /* We must be the running task to be able to give the mutex back.
+ Remove ourselves from the ready list we currently appear in. */
+ vListRemove(&(pxTCB->xGenericListItem));
+
+ /* Disinherit the priority before adding ourselves into the new
+ ready list. */
+ pxTCB->uxPriority = pxTCB->uxBasePriority;
+ listSET_LIST_ITEM_VALUE(&(pxTCB->xEventListItem), configMAX_PRIORITIES - (portTickType) pxTCB->uxPriority);
+ prvAddTaskToReadyQueue(pxTCB);
+ }
+ }
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( portCRITICAL_NESTING_IN_TCB == 1 )
+
+void vTaskEnterCritical(void)
+{
+ portDISABLE_INTERRUPTS();
+
+ if (xSchedulerRunning != pdFALSE) {
+ pxCurrentTCB->uxCriticalNesting++;
+ }
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( portCRITICAL_NESTING_IN_TCB == 1 )
+
+void vTaskExitCritical(void)
+{
+ if (xSchedulerRunning != pdFALSE) {
+ if (pxCurrentTCB->uxCriticalNesting > 0) {
+ pxCurrentTCB->uxCriticalNesting--;
+
+ if (pxCurrentTCB->uxCriticalNesting == 0) {
+ portENABLE_INTERRUPTS();
+ }
+ }
+ }
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+
+
+