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32
.gdb_history
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@ -1,3 +1,19 @@
withExternalMhartid = false,
mhartidWidth = 0,
pipelineCsrRead = false,
pipelinedInterrupt = false,
csrOhDecoder = false,
deterministicInteruptionEntry = false,
wfiOutput = false,
exportPrivilege = false,
withPrivilegedDebug = false,
debugTriggers = 0
)
),
load
c
load
si
load load
load load
load load
@ -238,19 +254,3 @@ load
c c
n n
n n
target extended-remote :3333
dashboard -layout registers stack memory expressions variables
file Demo/Common/bin/freeRTOS_demo.elf
load
si
si
si
del
b main
c
n
n
c
c
c
:q!

156
1
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@ -1,156 +0,0 @@
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "timers.h"
#include "murax.h"
#include <cstddef>
#include <cstdio>
#define mainTIMER_PERIOD_MS (1 / portTICK_PERIOD_MS) // Ustawienie okresu timera na 1 sekundę
#define QUEUE_LENGTH 5
#define QUEUE_ITEM_SIZE sizeof(uint32_t)
extern "C" {
void vApplicationMallocFailedHook(void);
void vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName);
}
/*-----------------------------------------------------------*/
// Deklaracja funkcji dla zadania i callbacku timera
static void hungryTask(void *pvParameters);
static void timerCallback(TimerHandle_t xTimer);
// Globalna kolejka
static QueueHandle_t xQueue;
/*-----------------------------------------------------------*/
/*
#include <include/FreeRTOS/Task.hpp>
class MyTask : public FreeRTOS::Task {
public:
MyTask(const UBaseType_t priority, const char* name)
: FreeRTOS::Task(priority, configMINIMAL_STACK_SIZE, name) {}
void taskFunction() final;
};
// Task to be created.
void MyTask::taskFunction() {
for (;;) {
// Task code goes here.
}
}
// Function that creates a task.
void aFunction() {
// Create the task.
MyTask task((tskIDLE_PRIORITY + 1), "NAME");
// Check that the task was created successfully.
if (task.isValid()) {
// Start the scheduler.
FreeRTOS::Kernel::startScheduler();
}
// Task will be destroyed when the scheduler is stopped and this function
// returns.
}
*/
#include "include/Timer.hpp"
const Timer_Reg* TimeR::ptr = reinterpret_cast<const Timer_Reg*>(0xF0020040);
void print(const char*str){
while(*str){
uart_write(UART,*str);
str++;
}
}
void println(const char*str){
print(str);
uart_write(UART,'\n');
}
#include "X.hpp"
#include "SimpleOStream.hpp"
int main(void) {
// Definicja globalnego obiektu strumienia wyjściowego
SimpleOStream simpleCout;
X var {7};
//afunction();
println("hello world arty a7 v1");
xQueue = xQueueCreate(QUEUE_LENGTH, QUEUE_ITEM_SIZE); // Tworzenie kolejki
if (xQueue == NULL) {
return -1; // Błąd podczas tworzenia kolejki
}
TimerHandle_t xCheckTimer = NULL;
/*
// Inicjalizacja timera
xCheckTimer = xTimerCreate("CheckTimer",
mainTIMER_PERIOD_MS,
pdTRUE,
(void *)0,
timerCallback);
*/
// Start timera
if (xCheckTimer != NULL) {
xTimerStart(xCheckTimer, 0);
}
// Tworzenie zadania hungryTask
xTaskCreate(hungryTask, "Hungry Task", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL);
// Uruchomienie planisty
vTaskStartScheduler();
// Teoretycznie nigdy nie powinniśmy tu dotrzeć
for (;;);
return 0;
}
/*-----------------------------------------------------------*/
// Definicja funkcji callback timera
static void timerCallback(TimerHandle_t xTimer) {
uint32_t ulValueToSend = 1; // Przykładowa wartość do wysłania
xQueueSendFromISR(xQueue, &ulValueToSend, NULL);
}
// Definicja zadania
static void hungryTask(void *pvParameters) {
uint32_t ulReceivedValue;
for (;;) {
// if (xQueueReceive(xQueue, &ulReceivedValue, portMAX_DELAY) == pdPASS) {
//printf("hungry\n"); // Drukowanie, gdy odbierzemy wartość z kolejki
// }
}
}
/*-----------------------------------------------------------*/
void vApplicationMallocFailedHook(void) {
for (;;);
}
void vApplicationIdleHook(void) {
// Można tu umieścić kod wykonywany w stanie bezczynności
}
void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName) {
for (;;);
}

28
Demo/Common/FreeRTOSStreamBuf.hpp
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@ -1,28 +0,0 @@
#ifndef FREERTOSSTREAMBUF_HPP
#define FREERTOSSTREAMBUF_HPP
#include <iostream>
#include <streambuf>
#include "murax.h"
// Klasa dziedzicząca z std::streambuf, przesyłająca dane do putchar
class FreeRTOSStreamBuf : public std::streambuf {
protected:
// Ta funkcja jest wywoływana, gdy bufor jest pełny lub napotkano std::endl
virtual int overflow(int c) override {
if (c != EOF) {
//putchar(c); // Wysyłanie znaku do putchar
uart_write(UART,c);
}
return c;
}
};
// Funkcja konfiguracyjna przekierowująca std::cout do FreeRTOSStreamBuf
void redirectCoutToPutchar() {
static FreeRTOSStreamBuf freertos_streambuf; // Globalny obiekt bufora
std::cout.rdbuf(&freertos_streambuf); // Ustawienie bufora jako wyjściowego dla std::cout
}
#endif // FREERTOSSTREAMBUF_HPP

24
Demo/Common/Makefile
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@ -10,10 +10,10 @@ PRINT_ENABLE ?= yes
TARGET=riscv32-unknown-${RISCV_LIB} TARGET=riscv32-unknown-${RISCV_LIB}
GCC_PACK ?= yes GCC_PACK ?= yes
RISCV_NAME ?= riscv64-unknown-elf RISCV_NAME ?= riscv32-unknown-elf
ifeq ($(GCC_PACK),yes) ifeq ($(GCC_PACK),yes)
RISCV_PATH ?= /home/user/riscv/opt/rv32i_zicsr/ RISCV_PATH ?= /home/user/riscv/opt/rv32im/
endif endif
MABI = ilp32 MABI = ilp32
@ -33,14 +33,13 @@ INCLUDES = \
-I./include \ -I./include \
-I$(FREERTOS_SOURCE_DIR)/include \ -I$(FREERTOS_SOURCE_DIR)/include \
-I../Common/include \ -I../Common/include \
-I../Common/include/FreeRTOS \
-I$(FREERTOS_SOURCE_DIR)/portable/GCC/RISCV -I$(FREERTOS_SOURCE_DIR)/portable/GCC/RISCV
CFLAGS = \ CFLAGS = \
$(WARNINGS) $(INCLUDES) \ $(WARNINGS) $(INCLUDES) \
-fomit-frame-pointer -fno-strict-aliasing -fno-builtin \ -fomit-frame-pointer -fno-strict-aliasing -fno-builtin \
-D__gracefulExit -mcmodel=medany \ -D__gracefulExit -mcmodel=medany \
-march=$(ARCH) -mabi=$(MABI) -ggdb3 -gdwarf-3 -${OPT} -march=$(ARCH) -mabi=$(MABI) -ggdb3 -${OPT}
CXXFLAGS += -march=$(ARCH) \ CXXFLAGS += -march=$(ARCH) \
-mabi=$(MABI) \ -mabi=$(MABI) \
@ -49,8 +48,7 @@ CXXFLAGS += -march=$(ARCH) \
-MD \ -MD \
-fstrict-volatile-bitfields \ -fstrict-volatile-bitfields \
-fno-strict-aliasing \ -fno-strict-aliasing \
-fno-exceptions \ -std=c++11 \
-std=c++17 \
-ggdb3 -gdwarf-3 \ -ggdb3 -gdwarf-3 \
$(INCLUDES) $(INCLUDES)
@ -59,16 +57,11 @@ ifeq ($(PRINT_ENABLE),yes)
CXXFLAGS += -DPRINT_ENABLE CXXFLAGS += -DPRINT_ENABLE
endif endif
LDFLAGS = -g -T ../arch/link.ld \ LDFLAGS = -g -T ../arch/link.ld -nostartfiles -static -march=$(ARCH)
-nostartfiles \
-static \
-fno-exceptions \
-march=$(ARCH) -mabi=$(MABI) -ggdb3 -gdwarf-3
LIBS = -L$(RISCV_PATH)/lib/gcc/$(TARGET)/$(GCCVER) \ LIBS = -L$(RISCV_PATH)/lib/gcc/$(TARGET)/$(GCCVER) \
-L$(RISCV_PATH)/$(TARGET)/lib \ -L$(RISCV_PATH)/$(TARGET)/lib \
-fno-exceptions \ -lc -lgcc -lstdc++\
-lc -lgcc -lstdc++ -I/home/user/opt/include
RISCV_OBJCOPY = $(RISCV_PATH)/bin/$(RISCV_NAME)-objcopy RISCV_OBJCOPY = $(RISCV_PATH)/bin/$(RISCV_NAME)-objcopy
RISCV_OBJDUMP = $(RISCV_PATH)/bin/$(RISCV_NAME)-objdump RISCV_OBJDUMP = $(RISCV_PATH)/bin/$(RISCV_NAME)-objdump
@ -81,14 +74,13 @@ SRCS = $(wildcard ../arch/*.c) \
$(wildcard ../Common/*.c) \ $(wildcard ../Common/*.c) \
$(wildcard ../Common/*.cpp) \ $(wildcard ../Common/*.cpp) \
$(wildcard ../Common/*.S) \ $(wildcard ../Common/*.S) \
$(wildcard ../Common/lib/*.c) \
$(FREERTOS_SOURCE_DIR)/croutine.c \ $(FREERTOS_SOURCE_DIR)/croutine.c \
$(FREERTOS_SOURCE_DIR)/list.c \ $(FREERTOS_SOURCE_DIR)/list.c \
$(FREERTOS_SOURCE_DIR)/queue.c \ $(FREERTOS_SOURCE_DIR)/queue.c \
$(FREERTOS_SOURCE_DIR)/tasks.c \ $(FREERTOS_SOURCE_DIR)/tasks.c \
$(FREERTOS_SOURCE_DIR)/timers.c \ $(FREERTOS_SOURCE_DIR)/timers.c \
$(FREERTOS_SOURCE_DIR)/event_groups.c \ $(FREERTOS_SOURCE_DIR)/event_groups.c \
$(FREERTOS_SOURCE_DIR)/portable/MemMang/heap_3.c \ $(FREERTOS_SOURCE_DIR)/portable/MemMang/heap_2.c \
$(FREERTOS_SOURCE_DIR)/string.c \ $(FREERTOS_SOURCE_DIR)/string.c \
$(FREERTOS_SOURCE_DIR)/portable/GCC/RISCV/port.c \ $(FREERTOS_SOURCE_DIR)/portable/GCC/RISCV/port.c \
$(FREERTOS_SOURCE_DIR)/portable/GCC/RISCV/portasm.S \ $(FREERTOS_SOURCE_DIR)/portable/GCC/RISCV/portasm.S \

73
Demo/Common/SimpleOStream.hpp
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@ -1,73 +0,0 @@
#ifndef SIMPLEOSTREAM_HPP
#define SIMPLEOSTREAM_HPP
#include <cstdio> // dla putchar
class SimpleOStream {
public:
SimpleOStream& operator<<(const char* str) {
while (*str) {
putchar(*str++);
}
return *this;
}
SimpleOStream& operator<<(char c) {
putchar(c);
return *this;
}
SimpleOStream& operator<<(int num) {
char buffer[12]; // wystarczająco duży, aby pomieścić liczbę int
snprintf(buffer, sizeof(buffer), "%d", num);
return *this << buffer;
}
SimpleOStream& operator<<(unsigned int num) {
char buffer[12];
snprintf(buffer, sizeof(buffer), "%u", num);
return *this << buffer;
}
SimpleOStream& operator<<(long num) {
char buffer[20]; // wystarczająco duży, aby pomieścić liczbę long
snprintf(buffer, sizeof(buffer), "%ld", num);
return *this << buffer;
}
SimpleOStream& operator<<(unsigned long num) {
char buffer[20];
snprintf(buffer, sizeof(buffer), "%lu", num);
return *this << buffer;
}
SimpleOStream& operator<<(double num) {
char buffer[64]; // wystarczająco duży, aby pomieścić liczbę double
snprintf(buffer, sizeof(buffer), "%f", num);
return *this << buffer;
}
SimpleOStream& operator<<(void* ptr) {
char buffer[20];
snprintf(buffer, sizeof(buffer), "%p", ptr);
return *this << buffer;
}
// Użyj tego operatora do manipulacji takimi jak std::endl
SimpleOStream& operator<<(SimpleOStream& (*manip)(SimpleOStream&)) {
return manip(*this);
}
};
// Manipulator std::endl
SimpleOStream& endl(SimpleOStream& os) {
os << '\n';
fflush(stdout);
return os;
}
// Globalny obiekt dla strumienia wyjściowego
extern SimpleOStream simpleCout;
#endif // SIMPLEOSTREAM_HPP

12
Demo/Common/X.cpp
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@ -1,12 +0,0 @@
#include "X.hpp"
X::X(int i) : m{i} {
// constructor body (if needed)
}
int X::mf(int i) {
int old = m;
m = i; // set a new value
return old; // return the old value
}

16
Demo/Common/X.hpp
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@ -1,16 +0,0 @@
#ifndef X_HPP
#define X_HPP
class X {
private:
int m; // the representation (implementation) is private
public:
// the user interface is public
X(int i = 0); // constructor (initialize the data member m)
int mf(int i); // a member function
};
#endif // X_HPP

503
Demo/Common/include/FreeRTOS/EventGroups.hpp
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@ -1,503 +0,0 @@
/*
* FreeRTOS-Cpp
* Copyright (C) 2021 Jon Enz. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
* https://github.com/jonenz/FreeRTOS-Cpp
*/
#ifndef FREERTOS_EVENTGROUPS_HPP
#define FREERTOS_EVENTGROUPS_HPP
#include <bitset>
#include "FreeRTOS.h"
#include "event_groups.h"
namespace FreeRTOS {
/**
* @class EventGroupBase EventGroupBase.hpp <FreeRTOS/EventGroups.hpp>
*
* @brief Base class that provides the standard event group interface to
* FreeRTOS::EventGroup and FreeRTOS::StaticEventGroup.
*
* @note This class is not intended to be instantiated by the user. Use
* FreeRTOS::EventGroup or FreeRTOS::StaticEventGroup.
*/
class EventGroupBase {
public:
friend class EventGroup;
friend class StaticEventGroup;
EventGroupBase(const EventGroupBase&) = delete;
EventGroupBase& operator=(const EventGroupBase&) = delete;
static void* operator new(size_t, void* ptr) { return ptr; }
static void* operator new[](size_t, void* ptr) { return ptr; }
static void* operator new(size_t) = delete;
static void* operator new[](size_t) = delete;
// NOLINTNEXTLINE
using EventBits = std::bitset<((configUSE_16_BIT_TICKS == 1) ? 8 : 24)>;
/**
* EventGroups.hpp
*
* @brief Function that checks if the underlying event group handle is not
* NULL. This should be used to ensure an event group has been created
* correctly.
*
* @retval true the handle is not NULL.
* @retval false the handle is NULL.
*/
inline bool isValid() const { return (handle != NULL); }
/**
* EventGroups.hpp
*
* @brief Function that calls <tt>EventBits_t xEventGroupWaitBits( const
* EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToWaitFor, const
* BaseType_t xClearOnExit, const BaseType_t xWaitForAllBits, TickType_t
* xTicksToWait )</tt>
*
* @see <https://www.freertos.org/xEventGroupWaitBits.html>
*
* Read bits within an RTOS event group, optionally entering the Blocked state
* (with a timeout) to wait for a bit or group of bits to become set.
*
* @warning This function cannot be called from an interrupt.
*
* @param bitsToWaitFor A bitwise value that indicates the bit or bits to test
* inside the event group. bitsToWaitFor must not be set to 0.
* @param clearOnExit If clearOnExit is set to true then any bits set in the
* value passed as the bitsToWaitFor parameter will be cleared in the event
* group before wait() returns if wait() returns for any reason other than a
* timeout. The timeout value is set by the ticksToWait parameter. If
* clearOnExit is set to false then the bits set in the event group are not
* altered when the call to wait() returns.
* @param waitForAllBits waitForAllBits is used to create either a logical AND
* test (where all bits must be set) or a logical OR test (where one or more
* bits must be set) as follows: If waitForAllBits is set to true then wait()
* will return when either all the bits set in the value passed as the
* bitsToWaitFor parameter are set in the event group or the specified block
* time expires. If waitForAllBits is set to false then wait() will return
* when any of the bits set in the value passed as the bitsToWaitFor parameter
* are set in the event group or the specified block time expires.
* @param ticksToWait The maximum amount of time (specified in 'ticks') to
* wait for one/all (depending on the waitForAllBits value) of the bits
* specified by bitsToWaitFor to become set.
* @return EventBits The value of the event group at the time either the event
* bits being waited for became set, or the block time expired. The current
* value of the event bits in an event group will be different to the returned
* value if a higher priority task or interrupt changed the value of an event
* bit between the calling task leaving the Blocked state and exiting the
* wait() function. Test the return value to know which bits were set. If
* wait() returned because its timeout expired then not all the bits being
* waited for will be set. If wait() returned because the bits it was waiting
* for were set then the returned value is the event group value before any
* bits were automatically cleared because the clearOnExit parameter was set
* to true.
*
* <b>Example Usage</b>
* @include EventGroups/wait.cpp
*/
inline EventBits wait(const EventBits& bitsToWaitFor = 0,
const bool clearOnExit = false,
const bool waitForAllBits = false,
const TickType_t ticksToWait = portMAX_DELAY) const {
return EventBits(xEventGroupWaitBits(
handle, bitsToWaitFor.to_ulong(), (clearOnExit ? pdTRUE : pdFALSE),
(waitForAllBits ? pdTRUE : pdFALSE), ticksToWait));
}
/**
* EventGroups.hpp
*
* @brief Function that calls <tt>EventBits_t xEventGroupSetBits(
* EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet )</tt>
*
* @see <https://www.freertos.org/xEventGroupSetBits.html>
*
* Set bits (flags) within an RTOS event group. This function cannot be called
* from an interrupt. setFromISR() is a version that can be called from an
* interrupt.
*
* Setting bits in an event group will automatically unblock tasks that are
* blocked waiting for the bits.
*
* @param bitsToSet A bitwise value that indicates the bit or bits to set in
* the event group.
* @return EventBits The value of the event group at the time the call to
* set() returns. There are two reasons why the returned value might have the
* bits specified by the uxBitsToSet parameter cleared:
* 1. If setting a bit results in a task that was waiting for the bit leaving
* the blocked state then it is possible the bit will have been cleared
* automatically (see the clearOnExit parameter of wait()).
* 2. Any unblocked (or otherwise Ready state) task that has a priority above
* that of the task that called set() will execute and may change the event
* group value before the call to set() returns.
*
* <b>Example Usage</b>
* @include EventGroups/set.cpp
*/
inline EventBits set(const EventBits& bitsToSet) const {
return EventBits(xEventGroupSetBits(handle, bitsToSet.to_ulong()));
}
/**
* EventGroups.hpp
*
* @brief Function that calls <tt>BaseType_t xEventGroupSetBitsFromISR(
* EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t
* *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xEventGroupSetBitsFromISR.html>
*
* Set bits (flags) within an RTOS event group. A version of set() that can be
* called from an interrupt service routine (ISR).
*
* Setting bits in an event group will automatically unblock tasks that are
* blocked waiting for the bits.
*
* Setting bits in an event group is not a deterministic operation because
* there are an unknown number of tasks that may be waiting for the bit or
* bits being set. FreeRTOS does not allow non-deterministic operations to be
* performed in interrupts or from critical sections. Therefore
* xEventGroupSetBitFromISR() sends a message to the RTOS daemon task to have
* the set operation performed in the context of the daemon task - where a
* scheduler lock is used in place of a critical section.
*
* @note As mentioned in the paragraph above, setting bits from an ISR will
* defer the set operation to the RTOS daemon task (also known as the timer
* service task). The RTOS daemon task is scheduled according to its priority,
* just like any other RTOS task. Therefore, if it is essential the set
* operation completes immediately (before a task created by the application
* executes) then the priority of the RTOS daemon task must be higher than the
* priority of any application task that uses the event group. The priority of
* the RTOS daemon task is set by the configTIMER_TASK_PRIORITY definition in
* FreeRTOSConfig.h.
*
* @param higherPriorityTaskWoken As mentioned above, calling this function
* will result in a message being sent to the RTOS daemon task. If the
* priority of the daemon task is higher than the priority of the currently
* running task (the task the interrupt interrupted) then
* higherPriorityTaskWoken will be set to true by setFromISR(), indicating
* that a context switch should be requested before the interrupt exits. For
* that reason higherPriorityTaskWoken must be initialised to false. See the
* example code below.
* @param bitsToSet A bitwise value that indicates the bit or bits to set in
* the event group.
* @retval true If the message was sent to the RTOS daemon task.
* @retval false Otherwise or if the timer service queue was full
*
* <b>Example Usage</b>
* @include EventGroups/setFromISR.cpp
*/
inline bool setFromISR(bool& higherPriorityTaskWoken,
const EventBits& bitsToSet) const {
BaseType_t taskWoken = pdFALSE;
bool result = (xEventGroupSetBitsFromISR(handle, bitsToSet.to_ulong(),
&taskWoken) == pdPASS);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* EventGroups.hpp
*
* @brief Function that calls <tt>BaseType_t xEventGroupSetBitsFromISR(
* EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t
* *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xEventGroupSetBitsFromISR.html>
*
* @overload
*/
inline bool setFromISR(const EventBits& bitsToSet) const {
return (xEventGroupSetBitsFromISR(handle, bitsToSet.to_ulong(), NULL) ==
pdPASS);
}
/**
* EventGroups.hpp
*
* @brief Function that calls <tt>EventBits_t xEventGroupClearBits(
* EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear )</tt>
*
* @see <https://www.freertos.org/xEventGroupClearBits.html>
*
* Clear bits (flags) within an RTOS event group. This function cannot be
* called from an interrupt. See clearFromISR() for a version that can be
* called from an interrupt.
*
* @param bitsToClear A bitwise value that indicates the bit or bits to clear
* in the event group.
* @return EventBits The value of the event group before the specified bits
* were cleared.
*
* <b>Example Usage</b>
* @include EventGroups/clear.cpp
*/
inline EventBits clear(const EventBits& bitsToClear) const {
return EventBits(xEventGroupClearBits(handle, bitsToClear.to_ulong()));
}
/**
* EventGroups.hpp
*
* @brief Function that calls <tt>BaseType_t xEventGroupClearBitsFromISR(
* EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear )</tt>
*
* @see <https://www.freertos.org/xEventGroupClearBitsFromISR.html>
*
* A version of clear() that can be called from an interrupt. The clear
* operation is deferred to the RTOS daemon task which is also known as the
* timer service task. The priority of the daemon task is set by the
* configTIMER_TASK_PRIORITY setting in FreeRTOSConfig.h.
*
* @param bitsToClear A bitwise value that indicates the bit or bits to clear
* in the event group.
* @return true If the operation was successfully deferred to the RTOS daemon
* task.
* @return false If the timer command queue is full.
*
* <b>Example Usage</b>
* @include EventGroups/clearFromISR.cpp
*/
inline bool clearFromISR(const EventBits& bitsToClear) const {
return (xEventGroupClearBitsFromISR(handle, bitsToClear.to_ulong()) ==
pdPASS);
}
/**
* EventGroups.hpp
*
* @brief Function that calls <tt>EventBits_t xEventGroupGetBits(
* EventGroupHandle_t xEventGroup )</tt>
*
* @see <https://www.freertos.org/xEventGroupGetBits.html>
*
* Returns the current value of the event bits (event flags) in an RTOS event
* group. This function cannot be used from an interrupt. See getFromISR() for
* a version that can be used in an interrupt.
*
* @return EventBits The value of the event bits in the event group at the
* time get() was called.
*/
inline EventBits get() const { return EventBits(xEventGroupGetBits(handle)); }
/**
* EventGroups.hpp
*
* @brief Function that calls <tt>EventBits_t xEventGroupGetBitsFromISR(
* EventGroupHandle_t xEventGroup )</tt>
*
* @see <https://www.freertos.org/xEventGroupGetBitsFromISR.html>
*
* A version of get() that can be called from an interrupt.
*
* @return EventBits The value of the event bits in the event group at the
* time getFromISR() was called.
*/
inline EventBits getFromISR() const {
return EventBits(xEventGroupGetBitsFromISR(handle));
}
/**
* EventGroups.hpp
*
* @brief Function that calls <tt>EventBits_t xEventGroupSync(
* EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, const
* EventBits_t uxBitsToWaitFor, TickType_t xTicksToWait )</tt>
*
* @see <https://www.freertos.org/xEventGroupSync.html>
*
* Atomically set bits (flags) within an RTOS event group, then wait for a
* combination of bits to be set within the same event group. This
* functionality is typically used to synchronize multiple tasks (often called
* a task rendezvous), where each task has to wait for the other tasks to
* reach a synchronization point before proceeding.
*
* This function cannot be used from an interrupt.
*
* The function will return before its block time expires if the bits
* specified by the bitsToWait parameter are set, or become set within that
* time. In this case all the bits specified by bitsToWait will be
* automatically cleared before the function returns.
*
* @param bitsToSet The bit or bits to set in the event group before
* determining if (and possibly waiting for), all the bits specified by the
* bitsToWait parameter are set.
* @param bitsToWaitFor A bitwise value that indicates the bit or bits to test
* inside the event group.
* @param ticksToWait The maximum amount of time (specified in 'ticks') to
* wait for all the bits specified by the uxBitsToWaitFor parameter value to
* become set.
* @return EventBits
*
* <b>Example Usage</b>
* @include EventGroups/sync.cpp
*/
inline EventBits sync(const EventBits& bitsToSet = 0,
const EventBits& bitsToWaitFor = 0,
const TickType_t ticksToWait = portMAX_DELAY) const {
return EventBits(xEventGroupSync(handle, bitsToSet.to_ulong(),
bitsToWaitFor.to_ulong(), ticksToWait));
}
private:
/**
* EventGroups.hpp
*
* @brief Construct a new EventGroupBase object.
*
* @note Default constructor is deliberately private as this class is not
* intended to be instantiated or derived from by the user. Use
* FreeRTOS::EventGroup or FreeRTOS::StaticEventGroup.
*/
EventGroupBase() = default;
/**
* EventGroup.hpp
*
* @brief Destroy the EventGroupBase object by calling <tt>void
* vEventGroupDelete( EventGroupHandle_t xEventGroup )</tt>
*
* @see <https://www.freertos.org/vEventGroupDelete.html>
*
* Delete an event group.
*
* Tasks that are blocked on the event group being deleted will be unblocked,
* and report an event group value of 0.
*/
~EventGroupBase() { vEventGroupDelete(this->handle); };
EventGroupBase(EventGroupBase&&) noexcept = default;
EventGroupBase& operator=(EventGroupBase&&) noexcept = default;
/**
* @brief Handle used to refer to the event group when using the FreeRTOS
* interface.
*/
EventGroupHandle_t handle = NULL;
};
#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
/**
* @class EventGroup EventGroups.hpp <FreeRTOS/EventGroups.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS event group.
*
* Each event group requires a [very] small amount of RAM that is used to hold
* the event group's state. If an event group is created using this class then
* the required RAM is automatically allocated from the FreeRTOS heap. If an
* event group is created using FreeRTOS::StaticEventGroup then the RAM is
* provided by the application writer, which requires an additional parameter,
* but allows the RAM to be statically allocated at compile time. See the Static
* Vs Dynamic allocation page for more information.
*/
class EventGroup : public EventGroupBase {
public:
/**
* EventGroup.hpp
*
* @brief Construct a new EventGroup object by calling <tt>EventGroupHandle_t
* xEventGroupCreate( void )</tt>
*
* @see <https://www.freertos.org/xEventGroupCreate.html>
*
* @warning The user should call isValid() on this object to verify that the
* queue was created successfully in case the memory required to create the
* queue could not be allocated.
*
* <b>Example Usage</b>
* @include EventGroups/eventGroup.cpp
*/
EventGroup() { this->handle = xEventGroupCreate(); }
~EventGroup() = default;
EventGroup(const EventGroup&) = delete;
EventGroup& operator=(const EventGroup&) = delete;
EventGroup(EventGroup&&) noexcept = default;
EventGroup& operator=(EventGroup&&) noexcept = default;
};
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
#if (configSUPPORT_STATIC_ALLOCATION == 1)
/**
* @class StaticEventGroup EventGroups.hpp <FreeRTOS/EventGroups.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS event group.
*
* Each event group requires a [very] small amount of RAM that is used to hold
* the event group's state. If an event group is created using
* FreeRTOS::EventGroup then the required RAM is automatically allocated from
* the FreeRTOS heap. If an event group is created using this class then the RAM
* is provided by the application writer, which requires an additional
* parameter, but allows the RAM to be statically allocated at compile time. See
* the Static Vs Dynamic allocation page for more information.
*/
class StaticEventGroup : public EventGroupBase {
public:
/**
* EventGroups.hpp
*
* @brief Construct a new StaticEventGroup object by calling
* <tt>EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t
* *pxEventGroupBuffer )</tt>
*
* @see <https://www.freertos.org/xEventGroupCreateStatic.html>
*
* @warning This class contains the storage buffer for the event group, so the
* user should create this object as a global object or with the static
* storage specifier so that the object instance is not on the stack.
*
* <b>Example Usage</b>
* @include EventGroups/staticEventGroup.cpp
*/
StaticEventGroup() {
this->handle = xEventGroupCreateStatic(&staticEventGroup);
}
~StaticEventGroup() = default;
StaticEventGroup(const StaticEventGroup&) = delete;
StaticEventGroup& operator=(const StaticEventGroup&) = delete;
StaticEventGroup(StaticEventGroup&&) noexcept = default;
StaticEventGroup& operator=(StaticEventGroup&&) noexcept = default;
private:
StaticEventGroup_t staticEventGroup;
};
#endif /* configSUPPORT_STATIC_ALLOCATION */
} // namespace FreeRTOS
#endif // FREERTOS_EVENTGROUPS_HPP

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/*
* FreeRTOS-Cpp
* Copyright (C) 2021 Jon Enz. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
* https://github.com/jonenz/FreeRTOS-Cpp
*/
#ifndef FREERTOS_KERNEL_HPP
#define FREERTOS_KERNEL_HPP
#include "FreeRTOS.h"
#include "task.h"
namespace FreeRTOS {
/**
* @brief Kernel namespace that provides an interface to kernel functions.
*
*/
namespace Kernel {
enum class SchedulerState : BaseType_t {
Suspended = taskSCHEDULER_SUSPENDED,
NotStarted = taskSCHEDULER_NOT_STARTED,
Running = taskSCHEDULER_RUNNING,
};
/**
* @brief If versionNumber ends with + it represents the version in development
* after the numbered release.
*/
inline constexpr char versionNumber[] = tskKERNEL_VERSION_NUMBER;
inline constexpr BaseType_t versionMajor = tskKERNEL_VERSION_MAJOR;
inline constexpr BaseType_t versionMinor = tskKERNEL_VERSION_MINOR;
inline constexpr BaseType_t versionBuild = tskKERNEL_VERSION_BUILD;
#if (INCLUDE_xTaskGetSchedulerState == 1)
/**
* Kernel.hpp
*
* @brief Function that calls <tt>xTaskGetSchedulerState()</tt>
*
* @see <https://www.freertos.org/a00021.html#xTaskGetSchedulerState>
*
* @retval SchedulerState Returns the scheduler state as Running, NotStarted, or
* Suspended.
*/
inline SchedulerState getSchedulerState() {
return static_cast<SchedulerState>(xTaskGetSchedulerState());
}
#endif /* INCLUDE_xTaskGetSchedulerState */
/**
* Kernel.hpp
*
* @brief Function that calls <tt>uxTaskGetNumberOfTasks()</tt>
*
* @see <https://www.freertos.org/a00021.html#usTaskGetNumberOfTasks>
*
* @retval UBaseType_t 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.
*/
inline UBaseType_t getNumberOfTasks() { return uxTaskGetNumberOfTasks(); }
#if (INCLUDE_xTaskGetIdleTaskHandle == 1 && configGENERATE_RUN_TIME_STATS == 1)
/**
* Kernel.hpp
*
* @brief Function that calls <tt>xTaskGetIdleRunTimeCounter()</tt>
*
* @see <https://www.freertos.org/a00021.html#vTaskGetIdleRunTimeCounter>
*
* @retval TickType_t The run-time counter for the Idle task.
*
* This function can be used to determine how much CPU time the idle task
* receives. See the Run Time Stats page for a full description of the
* run-time-stats feature.
*
* configGENERATE_RUN_TIME_STATS and INCLUDE_xTaskGetIdleTaskHandle must both 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 timer's current count value respectively. It is recommended to
* make the timer at least 10 times the frequency of the tick count.
*/
inline TickType_t getIdleRunTimeCounter() {
return xTaskGetIdleRunTimeCounter();
}
#endif /* INCLUDE_xTaskGetIdleTaskHandle && configGENERATE_RUN_TIME_STATS*/
/**
* Kernel.hpp
*
* @brief Function that calls <tt>xTaskGetTickCount()</tt>
*
* @see <https://www.freertos.org/a00021.html#xTaskGetTickCount>
*
* @retval TickType_t The count of ticks since
* FreeRTOS::Kernel::startScheduler() was called.
*/
inline TickType_t getTickCount() { return xTaskGetTickCount(); }
/**
* Kernel.hpp
*
* @brief Function that calls <tt>xTaskGetTickCountFromISR()</tt>
*
* @see <https://www.freertos.org/a00021.html#xTaskGetTickCountFromISR>
*
* @retval TickType_t The count of ticks since
* FreeRTOS::Kernel::startScheduler() was called.
*
* This is a version of FreeRTOS::Kernel::getTickCount() that is safe to be
* called from an ISR - provided that TickType_t is the natural word size of the
* microcontroller being used or interrupt nesting is either not supported or
* not being used.
*/
inline TickType_t getTickCountFromISR() { return xTaskGetTickCountFromISR(); }
/**
*Kernel.hpp
*
* @brief Function that calls <tt>taskYIELD()</tt>
*
* @see <https://www.freertos.org/a00020.html#taskYIELD>
*
* FreeRTOS::Kernel::yield() is used to request a context switch to another
*task. However, if there are no other tasks at a higher or equal priority to
*the task that calls FreeRTOS::Kernel::yield() then the RTOS scheduler will
*simply select the task that called FreeRTOS::Kernel::yield() to run again.
*/
inline void yield() { taskYIELD(); }
/**
* Kernel.hpp
*
* @brief Function that calls <tt>taskENTER_CRITICAL()</tt>
*
* @see <https://www.freertos.org/taskENTER_CRITICAL_taskEXIT_CRITICAL.html>
*
* Function 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!
*
* <b>Example Usage</b>
* @include Kernel/enterExitCritical.cpp
*/
inline void enterCritical() { taskENTER_CRITICAL(); }
/**
* Kernel.hpp
*
* @brief Function that calls <tt>taskENTER_CRITICAL_FROM_ISR()</tt>
*
* @see
* <https://www.freertos.org/taskENTER_CRITICAL_FROM_ISR_taskEXIT_CRITICAL_FROM_ISR.html>
*
* @retval uint32_t the interrupt mask state as it was before the macro was
* called. The value returned by FreeRTOS::Kernel::enterCriticalFromISR() must
* be used as the interruptStatus parameter in the matching call to
* FreeRTOS::Kernel::exitCriticalFromISR().
*
* Function 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!
*
* <b>Example Usage</b>
* @include Kernel/enterExitCriticalFromISR.cpp
*/
inline uint32_t enterCriticalFromISR() { return taskENTER_CRITICAL_FROM_ISR(); }
/**
* Kernel.hpp
*
* @brief Function that calls <tt>taskEXIT_CRITICAL()</tt>
*
* @see <https://www.freertos.org/taskENTER_CRITICAL_taskEXIT_CRITICAL.html>
*
* Function 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!
*
* <b>Example Usage</b>
* @include Kernel/enterExitCritical.cpp
*/
inline void exitCritical() { taskEXIT_CRITICAL(); }
/**
* Kernel.hpp
*
* @brief Function that calls <tt>taskEXIT_CRITICAL_FROM_ISR()</tt>
*
* @see
* <https://www.freertos.org/taskENTER_CRITICAL_FROM_ISR_taskEXIT_CRITICAL_FROM_ISR.html>
*
* @param interruptStatus The value used as the interruptStatus parameter must
* be the value returned from the matching call to
* FreeRTOS::Kernel::enterCriticalFromISR().
*
* Function 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!
*
* <b>Example Usage</b>
* @include Kernel/enterExitCriticalFromISR.cpp
*/
inline void exitCriticalFromISR(const uint32_t interruptStatus) {
taskEXIT_CRITICAL_FROM_ISR(interruptStatus);
}
/**
* Kernel.hpp
*
* @brief Function that calls <tt>taskDISABLE_INTERRUPTS()</tt>
*
* @see <https://www.freertos.org/a00020.html#taskDISABLE_INTERRUPTS>
*
* Function to disable all maskable interrupts.
*/
inline void disableInterrupts() { taskDISABLE_INTERRUPTS(); }
/**
* Kernel.hpp
*
* @brief Function that calls <tt>taskENABLE_INTERRUPTS()</tt>
*
* @see <https://www.freertos.org/a00020.html#taskENABLE_INTERRUPTS>
*
* Function to enable microcontroller interrupts.
*/
inline void enableInterrupts() { taskENABLE_INTERRUPTS(); }
/**
* Kernel.hpp
*
* @brief Function that calls <tt>vTaskStartScheduler()</tt>
*
* @see <https://www.freertos.org/a00132.html>
*
* Starts the real time kernel tick processing. After calling the kernel has
* control over which tasks are executed and when.
*
* <b>Example Usage</b>
* @include Kernel/startScheduler.cpp
*/
inline void startScheduler() { vTaskStartScheduler(); }
/**
* Kernel.hpp
*
* @brief Function that calls <tt>vTaskEndScheduler()</tt>
*
* @see <https://www.freertos.org/a00133.html>
*
* @note At the time of writing only the x86 real mode port, which runs on a PC
* in place of DOS, implements this function.
*
* 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
* FreeRTOS::Kernel::startScheduler() was called, as if
* FreeRTOS::Kernel::startScheduler() had just returned.
*
* See the demo application file main. c in the demo/PC directory for an example
* that uses FreeRTOS::Kernel::endScheduler().
*
* FreeRTOS::Kernel::endScheduler() 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.
*
* FreeRTOS::Kernel::endScheduler() will cause all of the resources allocated by
* the kernel to be freed - but will not free resources allocated by application
* tasks.
*
* <b>Example Usage</b>
* @include Kernel/endScheduler.cpp
*/
inline void endScheduler() { vTaskEndScheduler(); }
/**
* Kernel.hpp
*
* @brief Function that calls <tt>vTaskSuspendAll()</tt>
*
* @see <https://www.freertos.org/a00134.html>
*
* Suspends the scheduler without disabling interrupts. Context switches will
* not occur while the scheduler is suspended.
*
* After calling FreeRTOS::Kernel::suspendAll() the calling task will continue
* to execute without risk of being swapped out until a call to
* FreeRTOS::Kernel::resumeAll() has been made.
*
* API functions that have the potential to cause a context switch (for example,
* FreeRTOS::Task::delayUntil(), FreeRTOS::Queue::send(), etc.) must not be
* called while the scheduler is suspended.
*
* <b>Example Usage</b>
* @include Kernel/suspendAll.cpp
*/
inline void suspendAll() { vTaskSuspendAll(); }
/**
* Kernel.hpp
*
* @brief Function that calls <tt>xTaskResumeAll()</tt>
*
* @see <https://www.freertos.org/a00135.html>
*
* Resumes scheduler activity after it was suspended by a call to
* FreeRTOS::Kernel::suspendAll().
*
* FreeRTOS::Kernel::resumeAll() only resumes the scheduler. It does not
* unsuspend tasks that were previously suspended by a call to
* FreeRTOS::Task::suspend().
*
* @retval true If resuming the scheduler caused a context switch.
* @retval false Otherwise.
*
* <b>Example Usage</b>
* @include Kernel/resumeAll.cpp
*/
inline bool resumeAll() { return (xTaskResumeAll() == pdTRUE); }
/**
* Kernel.hpp
*
* @brief Function that calls <tt>vTaskStepTick( const TickType_t xTicksToJump
* )</tt>
*
* @see <https://www.freertos.org/vTaskStepTick.html>
*
* Only available when configUSE_TICKLESS_IDLE is set to 1. If tickless mode is
* being used, or a low power mode is implemented, then the tick interrupt will
* not execute during idle periods. When this is the case, the tick count value
* maintained by the scheduler needs to be kept up to date with the actual
* execution time by being skipped forward by a time equal to the idle period.
*
* @param ticksToJump The number of RTOS ticks that have passed since the tick
* interrupt was stopped.
*/
inline void stepTick(const TickType_t ticksToJump) {
//vTaskStepTick(ticksToJump);
}
/**
* Kernel.hpp
*
* @brief Function that calls <tt>xTaskCatchUpTicks( TickType_t xTicksToCatchUp
* )</tt>
*
* @see <https://www.freertos.org/vTaskStepTick.html>
*
* This function corrects the tick count value after the application code has
* held interrupts disabled for an extended period resulting in tick interrupts
* having been missed.
*
* This function is similar to FreeRTOS::Kernel::stepTick(), however, unlike
* FreeRTOS::Kernel::stepTick(), FreeRTOS::Kernel::catchUpTicks() may move the
* tick count forward past a time at which a task should be removed from the
* blocked state. That means tasks may have to be removed from the blocked
* state as the tick count is moved.
*
* @param ticksToCatchUp The number of tick interrupts that have been missed due
* to interrupts being disabled. Its value is not computed automatically, so
* must be computed by the application writer.
*
* @retval true If moving the tick count forward resulted in a task leaving the
* blocked state and a context switch being performed.
* @retval false Otherwise.
*/
inline bool catchUpTicks(const TickType_t ticksToCatchUp) {
return (xTaskCatchUpTicks(ticksToCatchUp) == pdTRUE);
}
} // namespace Kernel
} // namespace FreeRTOS
#endif // FREERTOS_KERNEL_HPP

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/*
* FreeRTOS-Cpp
* Copyright (C) 2021 Jon Enz. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
* https://github.com/jonenz/FreeRTOS-Cpp
*/
#ifndef FREERTOS_MESSAGEBUFFER_HPP
#define FREERTOS_MESSAGEBUFFER_HPP
#include "FreeRTOS.h"
#include "message_buffer.h"
namespace FreeRTOS {
/**
* @class MessageBufferBase MessageBuffer.hpp <FreeRTOS/MessageBuffer.hpp>
*
* @brief Base class that provides the standard message buffer interface to
* FreeRTOS::MessageBuffer and FreeRTOS::StaticMessageBuffer.
*
* @note This class is not intended to be instantiated by the user. Use
* FreeRTOS::MessageBuffer or FreeRTOS::StaticMessageBuffer.
*
* @warning Uniquely among FreeRTOS objects, the stream buffer implementation
* (so also the message buffer implementation, as message buffers are built on
* top of stream buffers) assumes there is only one task or interrupt that will
* write to the buffer (the writer), and only one task or interrupt that will
* read from the buffer (the reader). It is safe for the writer and reader to
* be different tasks or interrupts, but, unlike other FreeRTOS objects, it is
* not safe to have multiple different writers or multiple different readers. If
* there are to be multiple different writers then the application writer must
* place each call to a writing API function (such as send()) inside a critical
* section and set the send block time to 0. Likewise, if there are to be
* multiple different readers then the application writer must place each call
* to a reading API function (such as read()) inside a critical section and set
* the receive block time to 0.
*/
class MessageBufferBase {
public:
friend class MessageBuffer;
template <size_t>
friend class StaticMessageBuffer;
MessageBufferBase(const MessageBufferBase&) = delete;
MessageBufferBase& operator=(const MessageBufferBase&) = delete;
static void* operator new(size_t, void* ptr) { return ptr; }
static void* operator new[](size_t, void* ptr) { return ptr; }
static void* operator new(size_t) = delete;
static void* operator new[](size_t) = delete;
/**
* MessageBuffer.hpp
*
* @brief Function that checks if the underlying message buffer handle is not
* NULL. This should be used to ensure a message buffer has been created
* correctly.
*
* @retval true If the handle is not NULL.
* @retval false If the handle is NULL.
*/
inline bool isValid() const { return (handle != NULL); }
/**
* MessageBuffer.hpp
*
* @brief Function that calls <tt>size_t xMessageBufferSend(
* MessageBufferHandle_t xMessageBuffer, const void *pvTxData, size_t
* xDataLengthBytes, TickType_t xTicksToWait )</tt>
*
* @see <https://www.freertos.org/xMessageBufferSend.html>
*
* Sends a discrete message to the message buffer. The message can be any
* length that fits within the buffer's free space, and is copied into the
* buffer.
*
* Use send() to write to a message buffer from a task. Use sendFromISR() to
* write to a message buffer from an interrupt service routine (ISR).
*
* @param data A pointer to the message that is to be copied into the message
* buffer.
* @param length The length of the message. That is, the number of bytes to
* copy from data into the message buffer. When a message is written to the
* message buffer an additional sizeof( size_t ) bytes are also written to
* store the message's length. sizeof( size_t ) is typically 4 bytes on a
* 32-bit architecture, so on most 32-bit architecture setting length to 20
* will reduce the free space in the message buffer by 24 bytes (20 bytes of
* message data and 4 bytes to hold the message length).
* @param ticksToWait The maximum amount of time the calling task should
* remain in the Blocked state to wait for enough space to become available in
* the message buffer, should the message buffer have insufficient space when
* send() is called. The calling task will never block if ticksToWait is
* zero. The block time is specified in tick periods, so the absolute time it
* represents is dependent on the tick frequency. The macro pdMS_TO_TICKS()
* can be used to convert a time specified in milliseconds into a time
* specified in ticks. Setting ticksToWait to portMAX_DELAY will cause the
* task to wait indefinitely (without timing out), provided
* INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h. Tasks do not use any
* CPU time when they are in the Blocked state.
* @return size_t The number of bytes written to the message buffer. If the
* call to send() times out before there was enough space to write the message
* into the message buffer then zero is returned. If the call did not time
* out then length is returned.
*
* <b>Example Usage</b>
* @include MessageBuffer/send.cpp
*/
inline size_t send(const void* data, const size_t length,
const TickType_t ticksToWait = portMAX_DELAY) const {
return xMessageBufferSend(handle, data, length, ticksToWait);
}
/**
* MessageBuffer.hpp
*
* @brief Function that calls <tt>size_t xMessageBufferSendFromISR(
* MessageBufferHandle_t xMessageBuffer, const void *pvTxData, size_t
* xDataLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xMessageBufferSendFromISR.html>
*
* Interrupt safe version of the API function that sends a discrete message to
* the message buffer. The message can be any length that fits within the
* buffer's free space, and is copied into the buffer.
*
* Use send() to write to a message buffer from a task. Use sendFromISR() to
* write to a message buffer from an interrupt service routine (ISR).
*
* @param higherPriorityTaskWoken It is possible that a message buffer will
* have a task blocked on it waiting for data. Calling sendFromISR() can make
* data available, and so cause a task that was waiting for data to leave the
* Blocked state. If calling sendFromISR() causes a task to leave the Blocked
* state, and the unblocked task has a priority higher than the currently
* executing task (the task that was interrupted), then, internally,
* sendFromISR() will set higherPriorityTaskWoken to true. If sendFromISR()
* sets this value to true, then normally a context switch should be performed
* before the interrupt is exited. This will ensure that the interrupt returns
* directly to the highest priority Ready state task. higherPriorityTaskWoken
* should be set to false before it is passed into the function. See the code
* example below for an example.
* @param data A pointer to the message that is to be copied into the message
* buffer.
* @param length The length of the message. That is, the number of bytes to
* copy from data into the message buffer. When a message is written to the
* message buffer an additional sizeof( size_t ) bytes are also written to
* store the message's length. sizeof( size_t ) is typically 4 bytes on a
* 32-bit architecture, so on most 32-bit architecture setting length to 20
* will reduce the free space in the message buffer by 24 bytes (20 bytes of
* message data and 4 bytes to hold the message length).
* @return size_t The number of bytes actually written to the message buffer.
* If the message buffer didn't have enough free space for the message to be
* stored then 0 is returned, otherwise length is returned.
*
* <b>Example Usage</b>
* @include MessageBuffer/sendFromISR.cpp
*/
inline size_t sendFromISR(bool& higherPriorityTaskWoken, const void* data,
const size_t length) const {
BaseType_t taskWoken = pdFALSE;
size_t result = xMessageBufferSendFromISR(handle, data, length, &taskWoken);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* MessageBuffer.hpp
*
* @brief Function that calls <tt>size_t xMessageBufferSendFromISR(
* MessageBufferHandle_t xMessageBuffer, const void *pvTxData, size_t
* xDataLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xMessageBufferSendFromISR.html>
*
* @overload
*/
inline size_t sendFromISR(const void* data, const size_t length) const {
return xMessageBufferSendFromISR(handle, data, length, NULL);
}
/**
* MessageBuffer.hpp
*
* @brief Function that calls <tt>size_t xMessageBufferReceive(
* MessageBufferHandle_t xMessageBuffer, void *pvRxData, size_t
* xBufferLengthBytes, TickType_t xTicksToWait )</tt>
*
* @see <https://www.freertos.org/xMessageBufferReceive.html>
*
* Use receive() to read from a message buffer from a task.
* UsereceiveFromISR() to read from a message buffer from an interrupt service
* routine (ISR).
*
* @param buffer A pointer to the buffer into which the received message is to
* be copied.
* @param bufferLength The length of the buffer pointed to by the buffer
* parameter. This sets the maximum length of the message that can be
* received. If bufferLength is too small to hold the next message then the
* message will be left in the message buffer and 0 will be returned.
* @param ticksToWait The maximum amount of time the task should remain in the
* Blocked state to wait for a message, should the message buffer be empty.
* receive() will return immediately if ticksToWait is zero and the message
* buffer is empty. The block time is specified in tick periods, so the
* absolute time it represents is dependent on the tick frequency. The macro
* pdMS_TO_TICKS() can be used to convert a time specified in milliseconds
* into a time specified in ticks. Setting ticksToWait to portMAX_DELAY will
* cause the task to wait indefinitely (without timing out), provided
* INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h. Tasks do not use any
* CPU time when they are in the Blocked state.
* @return size_t The length, in bytes, of the message read from the message
* buffer, if any. If receive() times out before a message became available
* then zero is returned. If the length of the message is greater than
* bufferLength then the message will be left in the message buffer and zero
* is returned.
*
* <b>Example Usage</b>
* @include MessageBuffer/receive.cpp
*/
inline size_t receive(void* buffer, const size_t bufferLength,
const TickType_t ticksToWait = portMAX_DELAY) const {
return xMessageBufferReceive(handle, buffer, bufferLength, ticksToWait);
}
/**
* MessageBuffer.hpp
*
* @brief Function that calls <tt>size_t xMessageBufferReceiveFromISR(
* MessageBufferHandle_t xMessageBuffer, void *pvRxData, size_t
* xBufferLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xMessageBufferReceiveFromISR.html>
*
* Use receive() to read from a message buffer from a task.
* UsereceiveFromISR() to read from a message buffer from an interrupt service
* routine (ISR).
*
* @param higherPriorityTaskWoken It is possible that a message buffer will
* have a task blocked on it waiting for space to become available. Calling
* receiveFromISR() can make space available, and so cause a task that is
* waiting for space to leave the Blocked state. If calling receiveFromISR()
* causes a task to leave the Blocked state, and the unblocked task has a
* priority higher than the currently executing task (the task that was
* interrupted), then, internally, receiveFromISR() will set
* higherPriorityTaskWoken to true. If receiveFromISR() sets this value to
* true, then normally a context switch should be performed before the
* interrupt is exited. That will ensure the interrupt returns directly to the
* highest priority Ready state task. higherPriorityTaskWoken should be set
* to false before it is passed into the function. See the code example below
* for an example.
* @param buffer A pointer to the buffer into which the received message is to
* be copied.
* @param bufferLength The length of the buffer pointed to by the buffer
* parameter. This sets the maximum length of the message that can be
* received. If bufferLength is too small to hold the next message then the
* message will be left in the message buffer and 0 will be returned.
* @return size_t The length, in bytes, of the message read from the message
* buffer, if any.
*
* <b>Example Usage</b>
* @include MessageBuffer/receiveFromISR.cpp
*/
inline size_t receiveFromISR(bool& higherPriorityTaskWoken, void* buffer,
const size_t bufferLength) const {
BaseType_t taskWoken = pdFALSE;
size_t result =
xMessageBufferReceiveFromISR(handle, buffer, bufferLength, &taskWoken);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* MessageBuffer.hpp
*
* @brief Function that calls <tt>size_t xMessageBufferReceiveFromISR(
* MessageBufferHandle_t xMessageBuffer, void *pvRxData, size_t
* xBufferLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xMessageBufferReceiveFromISR.html>
*
* @overload
*/
inline size_t receiveFromISR(void* buffer, const size_t bufferLength) const {
return xMessageBufferReceiveFromISR(handle, buffer, bufferLength, NULL);
}
/**
* MessageBuffer.hpp
*
* @brief Function that calls <tt>size_t xMessageBufferSpacesAvailable(
* MessageBufferHandle_t xMessageBuffer )</tt>
*
* @see <https://www.freertos.org/xMessageBufferSpacesAvailable.html>
*
* Queries a message buffer to see how much free space it contains, which is
* equal to the amount of data that can be sent to the message buffer before
* it is full. The returned value is 4 bytes larger than the maximum message
* size that can be sent to the message buffer.
*
* @return size_t The number of bytes that can be written to the message
* buffer before the message buffer would be full. When a message is written
* to the message buffer an additional sizeof( size_t ) bytes are also written
* to store the message's length. sizeof( size_t ) is typically 4 bytes on a
* 32-bit architecture, so if spacesAvailable() returns 10, then the size of
* the largest message that can be written to the message buffer is 6 bytes.
*/
inline size_t spacesAvailable() const {
return xMessageBufferSpacesAvailable(handle);
}
/**
* MessageBuffer.hpp
*
* @brief Function that calls <tt>BaseType_t xMessageBufferReset(
* MessageBufferHandle_t xMessageBuffer )</tt>
*
* @see <https://www.freertos.org/xMessageBufferReset.html>
*
* Resets a message buffer to its initial, empty, state. Any data that was in
* the message buffer is discarded. A message buffer can only be reset if
* there are no tasks blocked waiting to either send to or receive from the
* message buffer.
*
* @retval true If the message buffer is reset.
* @retval false If there was a task blocked waiting to send to or read from
* the message buffer then the message buffer will not be reset.
*/
inline bool reset() const { return (xMessageBufferReset(handle) == pdPASS); }
/**
* MessageBuffer.hpp
*
* @brief Function that calls <tt>BaseType_t xMessageBufferIsEmpty(
* MessageBufferHandle_t xMessageBuffer )</tt>
*
* @see <https://www.freertos.org/xMessageBufferIsEmpty.html>
*
* Queries a message buffer to see if it is empty. A message buffer is empty
* if it does not contain any messages.
*
* @retval true If the message buffer is empty.
* @retval false Otherwise.
*/
inline bool isEmpty() const {
return (xMessageBufferIsEmpty(handle) == pdTRUE);
}
/**
* MessageBuffer.hpp
*
* @brief Function that calls <tt>BaseType_t xMessageBufferIsFull(
* MessageBufferHandle_t xMessageBuffer )</tt>
*
* @see <https://www.freertos.org/xMessageBufferIsFull.html>
*
* Queries a message buffer to see if it is full. A message buffer is full if
* it cannot accept any more messages, of any size, until space is made
* available by a message being removed from the message buffer.
*
* @retval true If the message buffer is full.
* @retval false Otherwise.
*/
inline bool isFull() const {
return (xMessageBufferIsFull(handle) == pdTRUE);
}
private:
MessageBufferBase() = default;
/**
* MessageBuffer.hpp
*
* @brief Destroy the MessageBufferBase object by calling <tt>void
* vMessageBufferDelete( MessageBufferHandle_t xMessageBuffer )</tt>
*
* @see <https://www.freertos.org/vMessageBufferDelete.html>
*
* Delete a queue - freeing all the memory allocated for storing of items
* placed on the queue.
*/
~MessageBufferBase() { vMessageBufferDelete(this->handle); }
MessageBufferBase(MessageBufferBase&&) noexcept = default;
MessageBufferBase& operator=(MessageBufferBase&&) noexcept = default;
MessageBufferHandle_t handle = NULL;
};
#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
/**
* @class MessageBuffer MessageBuffer.hpp <FreeRTOS/MessageBuffer.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS message
* buffer.
*
* A message buffer using dynamically allocated memory from the FreeRTOS heap.
* See FreeRTOS::StaticMessageBuffer for a version that uses statically
* allocated memory (memory that is allocated at compile time).
*/
class MessageBuffer : public MessageBufferBase {
public:
/**
* MessageBuffer.hpp
*
* @brief Construct a new MessageBuffer object by calling
* <tt>MessageBufferHandle_t xMessageBufferCreate( size_t xBufferSizeBytes
* )</tt>
*
* @see <https://www.freertos.org/xMessageBufferCreate.html>
*
* @warning The user should call isValid() on this object to verify that the
* message buffer was created successfully in case the memory required to
* create the message buffer could not be allocated.
*
* @param size The total number of bytes (not messages) the message buffer
* will be able to hold at any one time. When a message is written to the
* message buffer an additional sizeof( size_t ) bytes are also written to
* store the message's length. sizeof( size_t ) is typically 4 bytes on a
* 32-bit architecture, so on most 32-bit architectures a 10 byte message will
* take up 14 bytes of message buffer space.
*
* <b>Example Usage</b>
* @include MessageBuffer/messageBuffer.cpp
*/
explicit MessageBuffer(size_t size) {
this->handle = xMessageBufferCreate(size);
}
~MessageBuffer() = default;
MessageBuffer(const MessageBuffer&) = delete;
MessageBuffer& operator=(const MessageBuffer&) = delete;
MessageBuffer(MessageBuffer&&) noexcept = default;
MessageBuffer& operator=(MessageBuffer&&) noexcept = default;
};
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
#if (configSUPPORT_STATIC_ALLOCATION == 1)
/**
* @class StaticMessageBuffer MessageBuffer.hpp <FreeRTOS/MessageBuffer.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS message
* buffer.
*
* If a message buffer is created using this class then the RAM is provided by
* the application writer as part of the object instance and allows the RAM to
* be statically allocated at compile time.
*
* @tparam N The size, in bytes, of the storage for the message buffer.
*/
template <size_t N>
class StaticMessageBuffer : public MessageBufferBase {
public:
/**
* MessageBuffer.hpp
*
* @brief Construct a new StaticMessageBuffer object by calling
* <tt>MessageBufferHandle_t xMessageBufferCreateStatic( size_t
* xBufferSizeBytes, uint8_t *pucMessageBufferStorageArea,
* StaticMessageBuffer_t *pxStaticMessageBuffer )</tt>
*
* @see <https://www.freertos.org/xMessageBufferCreateStatic.html>
*
* @warning This class contains the storage buffer for the message buffer, so
* the user should create this object as a global object or with the static
* storage specifier so that the object instance is not on the stack.
*
* <b>Example Usage</b>
* @include MessageBuffer/staticMessageBuffer.cpp
*/
StaticMessageBuffer() : MessageBufferBase() {
this->handle = xMessageBufferCreateStatic(sizeof(storage), storage,
&staticMessageBuffer);
}
~StaticMessageBuffer() = default;
StaticMessageBuffer(const StaticMessageBuffer&) = delete;
StaticMessageBuffer& operator=(const StaticMessageBuffer&) = delete;
StaticMessageBuffer(StaticMessageBuffer&&) noexcept = default;
StaticMessageBuffer& operator=(StaticMessageBuffer&&) noexcept = default;
private:
StaticMessageBuffer_t staticMessageBuffer;
uint8_t storage[N] = {0};
};
#endif /* configSUPPORT_STATIC_ALLOCATION */
} // namespace FreeRTOS
#endif // FREERTOS_MESSAGEBUFFER_HPP

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@ -1,495 +0,0 @@
/*
* FreeRTOS-Cpp
* Copyright (C) 2021 Jon Enz. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
* https://github.com/jonenz/FreeRTOS-Cpp
*/
#ifndef FREERTOS_MUTEX_HPP
#define FREERTOS_MUTEX_HPP
#include "FreeRTOS.h"
#include "semphr.h"
namespace FreeRTOS {
/**
* @class MutexBase Mutex.hpp <FreeRTOS/Mutex.hpp>
*
* @brief Base class that provides the standard mutex interface to
* FreeRTOS::Mutex, FreeRTOS::StaticMutex, FreeRTOS::RecursiveMutex, and
* FreeRTOS::StaticRecursiveMutex.
*
* @note This class is not intended to be instantiated by the user. Use
* FreeRTOS::Mutex, FreeRTOS::StaticMutex, FreeRTOS::RecursiveMutex, and
* FreeRTOS::StaticRecursiveMutex.
*/
class MutexBase {
public:
friend class Mutex;
friend class StaticMutex;
friend class RecursiveMutexBase;
friend class RecursiveMutex;
friend class StaticRecursiveMutex;
MutexBase(const MutexBase&) = delete;
MutexBase& operator=(const MutexBase&) = delete;
static void* operator new(size_t, void* ptr) { return ptr; }
static void* operator new[](size_t, void* ptr) { return ptr; }
static void* operator new(size_t) = delete;
static void* operator new[](size_t) = delete;
/**
* Mutex.hpp
*
* @brief Function that checks if the underlying semaphore handle is not NULL.
* This should be used to ensure a semaphore has been created correctly.
*
* @retval true the handle is not NULL.
* @retval false the handle is NULL.
*/
inline bool isValid() const { return (handle != NULL); }
/**
* Mutex.hpp
*
* @brief Function that calls <tt>xSemaphoreTake( SemaphoreHandle_t
* xSemaphore, TickType_t xTicksToWait )</tt>
*
* @see <https://www.freertos.org/a00122.html>
*
* @param ticksToWait The time in ticks to wait for the mutex to become
* available. The macro portTICK_PERIOD_MS can be used to convert this to a
* real time. A block time of zero can be used to poll the mutex.
* @retval true If the mutex was locked.
* @retval false If ticksToWait expired without the mutex becoming available.
*
* <b>Example Usage</b>
* @include Mutex/lock.cpp
*/
inline bool lock(const TickType_t ticksToWait = portMAX_DELAY) const {
return (xSemaphoreTake(handle, ticksToWait) == pdTRUE);
}
/**
* Mutex.hpp
*
* @brief Function that calls <tt>xSemaphoreTakeFromISR ( SemaphoreHandle_t
* xSemaphore, signed BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xSemaphoreTakeFromISR.html>
*
* @param higherPriorityTaskWoken It is possible (although unlikely, and
* dependent on the semaphore type) that a mutex will have one or more tasks
* blocked on it waiting to give the mutex. Calling lockFromISR() will make a
* task that was blocked waiting to give the mutex leave the Blocked state. If
* calling the API function causes a task to leave the Blocked state, and the
* unblocked task has a priority equal to or higher than the currently
* executing task (the task that was interrupted), then, internally, the API
* function will set higherPriorityTaskWoken to true.
* @return true If the mutex was successfully locked.
* @return false If the mutex was not successfully locked because it was not
* available.
*/
inline bool lockFromISR(bool& higherPriorityTaskWoken) const {
BaseType_t taskWoken = pdFALSE;
bool result = (xSemaphoreTakeFromISR(handle, &taskWoken) == pdTRUE);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* Mutex.hpp
*
* @brief Function that calls <tt>xSemaphoreTakeFromISR ( SemaphoreHandle_t
* xSemaphore, signed BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xSemaphoreTakeFromISR.html>
*
* @overload
*/
inline bool lockFromISR() const {
return (xSemaphoreTakeFromISR(handle, NULL) == pdTRUE);
}
/**
* Mutex.hpp
*
* @brief Function that calls <tt>xSemaphoreGive( SemaphoreHandle_t xSemaphore
* )</tt>
*
* @see <https://www.freertos.org/a00123.html>
*
* @warning This must not be used from an ISR.
*
* @return true If the mutex was unlocked.
* @return false If an error occurred. Mutexes (semaphores) are implemented
* using queues. An error can occur if there is no space on the queue to post
* a message indicating that the mutex was not first locked correctly.
*
* <b>Example Usage</b>
* @include Mutex/unlock.cpp
*/
inline bool unlock() const { return (xSemaphoreGive(handle) == pdTRUE); }
private:
MutexBase() = default;
/**
* Mutex.hpp
*
* @brief Destroy the MutexBase object by calling <tt>void vSemaphoreDelete(
* SemaphoreHandle_t xSemaphore )</tt>
*
* @see <https://www.freertos.org/a00113.html#vSemaphoreDelete>
*
* @note Do not delete a mutex that has tasks blocked on it (tasks that are in
* the Blocked state waiting for the mutex to become available).
*/
~MutexBase() { vSemaphoreDelete(this->handle); }
MutexBase(MutexBase&&) noexcept = default;
MutexBase& operator=(MutexBase&&) noexcept = default;
/**
* @brief Handle used to refer to the semaphore when using the FreeRTOS
* interface.
*/
SemaphoreHandle_t handle = NULL;
};
/**
* @class RecursiveMutexBase Mutex.hpp <FreeRTOS/Mutex.hpp>
*
* @brief Base class that provides the recursive mutex interface to
* FreeRTOS::RecursiveMutex and FreeRTOS::StaticRecursiveMutex. This class
* exists to override the lock() and unlock() functions which require different
* underlying functions from what is used in FreeRTOS::MutexBase.
*
* @note This class is not intended to be instantiated by the user. Use
* FreeRTOS::RecursiveMutex or FreeRTOS::StaticRecursiveMutex.
*/
class RecursiveMutexBase : public MutexBase {
public:
friend class RecursiveMutex;
friend class StaticRecursiveMutex;
RecursiveMutexBase(const RecursiveMutexBase&) = delete;
RecursiveMutexBase& operator=(const RecursiveMutexBase&) = delete;
static void* operator new(size_t, void*);
static void* operator new[](size_t, void*);
static void* operator new(size_t) = delete;
static void* operator new[](size_t) = delete;
/**
* Mutex.hpp
*
* @brief Function that calls <tt>xSemaphoreTakeRecursive( SemaphoreHandle_t
* xMutex, TickType_t xTicksToWait )</tt>
*
* @see <https://www.freertos.org/xSemaphoreTakeRecursive.html>
*
* @param ticksToWait The time in ticks to wait for the mutex to become
* available. The macro portTICK_PERIOD_MS can be used to convert this to a
* real time. A block time of zero can be used to poll the mutex. If the task
* already owns the mutex then take() will return immediately no matter what
* the value of ticksToWait.
* @retval true If the mutex was locked.
* @retval false If ticksToWait expired without the mutex becoming available.
*
* <b>Example Usage</b>
* @include Mutex/recursiveLock.cpp
*/
inline bool lock(const TickType_t ticksToWait = portMAX_DELAY) const {
return (xSemaphoreTakeRecursive(handle, ticksToWait) == pdTRUE);
}
/**
* Mutex.hpp
*
* @brief Function that calls <tt>xSemaphoreGiveRecursive( SemaphoreHandle_t
* xSemaphore )</tt>
*
* @see <https://www.freertos.org/xSemaphoreGiveRecursive.html>
*
* A mutex used recursively can be locked repeatedly by the owner. The mutex
* doesn't become available again until the owner has called unlock() for each
* successful lock request. For example, if a task successfully locks the
* same mutex 5 times then the mutex will not be available to any other task
* until it has also unlocked the mutex back exactly five times.
*
* @return true If the mutex was unlocked.
* @return false Otherwise.
*
* <b>Example Usage</b>
* @include Mutex/recursiveLock.cpp
*/
inline bool unlock() const {
return (xSemaphoreGiveRecursive(handle) == pdTRUE);
}
private:
RecursiveMutexBase() = default;
~RecursiveMutexBase() = default;
RecursiveMutexBase(RecursiveMutexBase&&) noexcept = default;
RecursiveMutexBase& operator=(RecursiveMutexBase&&) noexcept = default;
};
#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
/**
* @class Mutex Mutex.hpp <FreeRTOS/Mutex.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS mutex.
*
* Each mutex require a small amount of RAM that is used to hold the mutex's
* state. If a mutex is created using FreeRTOS::Mutex then the required RAM is
* automatically allocated from the FreeRTOS heap. If a mutex is created using
* FreeRTOS::StaticMutex then the RAM is provided by the application writer and
* allows the RAM to be statically allocated at compile time. See the Static Vs
* Dynamic allocation page for more information.
*
* Mutexes and binary semaphores are very similar but have some subtle
* differences: Mutexes include a priority inheritance mechanism, binary
* semaphores do not. This makes binary semaphores the better choice for
* implementing synchronisation (between tasks or between tasks and an
* interrupt), and mutexes the better choice for implementing simple mutual
* exclusion.
*
* The priority of a task that locks a mutex will be temporarily raised if
* another task of higher priority attempts to obtain the same mutex. The task
* that owns the mutex 'inherits' the priority of the task attempting to lock
* the same mutex. This means the mutex must always be unlocked back otherwise
* the higher priority task will never be able to lock the mutex, and the lower
* priority task will never 'disinherit' the priority.
*/
class Mutex : public MutexBase {
public:
/**
* Mutex.hpp
*
* @brief Construct a new Mutex object by calling <tt>SemaphoreHandle_t
* xSemaphoreCreateMutex( void )</tt>
*
* @see <https://www.freertos.org/CreateMutex.html>
*
* @warning The user should call isValid() on this object to verify that the
* mutex was created successfully in case the memory required to create the
* queue could not be allocated.
*
* <b>Example Usage</b>
* @include Mutex/mutex.cpp
*/
Mutex() { this->handle = xSemaphoreCreateMutex(); }
~Mutex() = default;
Mutex(const Mutex&) = delete;
Mutex& operator=(const Mutex&) = delete;
Mutex(Mutex&&) noexcept = default;
Mutex& operator=(Mutex&&) noexcept = default;
};
/**
* @class RecursiveMutex Mutex.hpp <FreeRTOS/Mutex.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS recursive
* mutex.
*
* Each recursive mutex require a small amount of RAM that is used to hold the
* recursive mutex's state. If a mutex is created using FreeRTOS::RecursiveMutex
* then the required RAM is automatically allocated from the FreeRTOS heap. If a
* recursive mutex is created using FreeRTOS::StaticRecursiveMutex then the RAM
* is provided by the application writer, which requires an additional
* parameter, but allows the RAM to be statically allocated at compile time. See
* the Static Vs Dynamic allocation page for more information.
*
* Contrary to non-recursive mutexes, a task can lock a recursive mutex multiple
* times, and the recursive mutex will only be returned after the holding task
* has unlocked the mutex the same number of times it locked the mutex.
*
* Like non-recursive mutexes, recursive mutexes implement a priority
* inheritance algorithm. The priority of a task that locks a mutex will be
* temporarily raised if another task of higher priority attempts to obtain the
* same mutex. The task that owns the mutex 'inherits' the priority of the task
* attempting to lock the same mutex. This means the mutex must always be
* unlocked otherwise the higher priority task will never be able to obtain the
* mutex, and the lower priority task will never 'disinherit' the priority.
*/
class RecursiveMutex : public RecursiveMutexBase {
public:
/**
* Mutex.hpp
*
* @brief Construct a new RecursiveMutex object by calling
* <tt>SemaphoreHandle_t xSemaphoreCreateRecursiveMutex( void )</tt>
*
* @see <https://www.freertos.org/xSemaphoreCreateRecursiveMutex.html>
*
* @warning The user should call isValid() on this object to verify that the
* recursive mutex was created successfully in case the memory required to
* create the queue could not be allocated.
*
* <b>Example Usage</b>
* @include Mutex/recursiveMutex.cpp
*/
RecursiveMutex() { this->handle = xSemaphoreCreateRecursiveMutex(); }
~RecursiveMutex() = default;
RecursiveMutex(const RecursiveMutex&) = delete;
RecursiveMutex& operator=(const RecursiveMutex&) = delete;
RecursiveMutex(RecursiveMutex&&) noexcept = default;
RecursiveMutex& operator=(RecursiveMutex&&) noexcept = default;
};
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
#if (configSUPPORT_STATIC_ALLOCATION == 1)
/**
* @class StaticMutex Mutex.hpp <FreeRTOS/Mutex.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS mutex.
*
* Each mutex require a small amount of RAM that is used to hold the mutex's
* state. If a mutex is created using FreeRTOS::Mutex then the required RAM is
* automatically allocated from the FreeRTOS heap. If a mutex is created using
* FreeRTOS::StaticMutex then the RAM is provided by the application writer and
* allows the RAM to be statically allocated at compile time. See the Static Vs
* Dynamic allocation page for more information.
*
* Mutexes and binary semaphores are very similar but have some subtle
* differences: Mutexes include a priority inheritance mechanism, binary
* semaphores do not. This makes binary semaphores the better choice for
* implementing synchronisation (between tasks or between tasks and an
* interrupt), and mutexes the better choice for implementing simple mutual
* exclusion.
*
* The priority of a task that locks a mutex will be temporarily raised if
* another task of higher priority attempts to obtain the same mutex. The task
* that owns the mutex 'inherits' the priority of the task attempting to lock
* the same mutex. This means the mutex must always be unlocked back otherwise
* the higher priority task will never be able to lock the mutex, and the lower
* priority task will never 'disinherit' the priority.
*/
class StaticMutex : public MutexBase {
public:
/**
* Mutex.hpp
*
* @brief Construct a new StaticMutex object by calling
* <tt>SemaphoreHandle_t xSemaphoreCreateMutexStatic( StaticSemaphore_t
* *pxMutexBuffer )</tt>
*
* @see <https://www.freertos.org/xSemaphoreCreateMutexStatic.html>
*
* @warning This class contains the storage buffer for the mutex, so the user
* should create this object as a global object or with the static storage
* specifier so that the object instance is not on the stack.
*
* <b>Example Usage</b>
* @include Mutex/staticMutex.cpp
*/
StaticMutex() { this->handle = xSemaphoreCreateMutexStatic(&staticMutex); }
~StaticMutex() = default;
StaticMutex(const StaticMutex&) = delete;
StaticMutex& operator=(const StaticMutex&) = delete;
StaticMutex(StaticMutex&&) noexcept = default;
StaticMutex& operator=(StaticMutex&&) noexcept = default;
private:
StaticSemaphore_t staticMutex;
};
/**
* @class StaticRecursiveMutex Mutex.hpp <FreeRTOS/Mutex.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS recursive
* mutex.
*
* Each recursive mutex require a small amount of RAM that is used to hold the
* recursive mutex's state. If a mutex is created using FreeRTOS::RecursiveMutex
* then the required RAM is automatically allocated from the FreeRTOS heap. If a
* recursive mutex is created using FreeRTOS::StaticRecursiveMutex then the RAM
* is provided by the application writer, which requires an additional
* parameter, but allows the RAM to be statically allocated at compile time. See
* the Static Vs Dynamic allocation page for more information.
*
* Contrary to non-recursive mutexes, a task can lock a recursive mutex multiple
* times, and the recursive mutex will only be returned after the holding task
* has unlocked the mutex the same number of times it locked the mutex.
*
* Like non-recursive mutexes, recursive mutexes implement a priority
* inheritance algorithm. The priority of a task that locks a mutex will be
* temporarily raised if another task of higher priority attempts to obtain the
* same mutex. The task that owns the mutex 'inherits' the priority of the task
* attempting to lock the same mutex. This means the mutex must always be
* unlocked otherwise the higher priority task will never be able to obtain the
* mutex, and the lower priority task will never 'disinherit' the priority.
*/
class StaticRecursiveMutex : public RecursiveMutexBase {
public:
/**
* Mutex.hpp
*
* @brief Construct a new StaticRecursiveMutex object by calling
* <tt>SemaphoreHandle_t xSemaphoreCreateRecursiveMutexStatic(
* StaticSemaphore_t *pxMutexBuffer )</tt>
*
* @see <https://www.freertos.org/xSemaphoreCreateRecursiveMutexStatic.html>
*
* @warning This class contains the storage buffer for the recursive mutex, so
* the user should create this object as a global object or with the static
* storage specifier so that the object instance is not on the stack.
*
* <b>Example Usage</b>
* @include Mutex/staticRecursiveMutex.cpp
*/
StaticRecursiveMutex() {
this->handle = xSemaphoreCreateRecursiveMutexStatic(&staticRecursiveMutex);
}
~StaticRecursiveMutex() = default;
StaticRecursiveMutex(const StaticRecursiveMutex&) = delete;
StaticRecursiveMutex& operator=(const StaticRecursiveMutex&) = delete;
StaticRecursiveMutex(StaticRecursiveMutex&&) noexcept = default;
StaticRecursiveMutex& operator=(StaticRecursiveMutex&&) noexcept = default;
private:
StaticSemaphore_t staticRecursiveMutex;
};
#endif /* configSUPPORT_STATIC_ALLOCATION */
} // namespace FreeRTOS
#endif // FREERTOS_MUTEX_HPP

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@ -1,737 +0,0 @@
/*
* FreeRTOS-Cpp
* Copyright (C) 2021 Jon Enz. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
* https://github.com/jonenz/FreeRTOS-Cpp
*/
#ifndef FREERTOS_QUEUE_HPP
#define FREERTOS_QUEUE_HPP
#include <optional>
#include "FreeRTOS.h"
#include "queue.h"
namespace FreeRTOS {
/**
* @class QueueBase Queue.hpp <FreeRTOS/Queue.hpp>
*
* @brief Base class that provides the standard queue interface to
* FreeRTOS::Queue and FreeRTOS::StaticQueue.
*
* @note This class is not intended to be instantiated by the user. Use
* FreeRTOS::Queue or FreeRTOS::StaticQueue.
*
* @tparam T Type to be stored in the queue.
*/
template <class T>
class QueueBase {
public:
template <class>
friend class Queue;
template <class, UBaseType_t>
friend class StaticQueue;
QueueBase(const QueueBase&) = delete;
QueueBase& operator=(const QueueBase&) = delete;
static void* operator new(size_t, void* ptr) { return ptr; }
static void* operator new[](size_t, void* ptr) { return ptr; }
static void* operator new(size_t) = delete;
static void* operator new[](size_t) = delete;
/**
* Queue.hpp
*
* @brief Function that checks if the underlying queue handle is not NULL.
* This should be used to ensure a queue has been created correctly.
*
* @retval true the handle is not NULL.
* @retval false the handle is NULL.
*/
inline bool isValid() const { return (handle != NULL); }
/**
* Queue.hpp
*
* @brief Function that calls <tt>xQueueSendToBack( xQueue, pvItemToQueue,
* xTicksToWait )</tt>
*
* @see <https://www.freertos.org/a00117.html>
*
* 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 FreeRTOS::Queue::sendToBackFromISR() for an alternative which
* may be used in an ISR.
*
* @param item A reference to the item that is to be placed on the queue.
* @param ticksToWait 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_PERIOD_MS should
* be used to convert to real time if this is required.
* @retval true if the item was successfully posted.
* @retval false otherwise.
*
* <b>Example Usage</b>
* @include Queue/sendToBack.cpp
*/
inline bool sendToBack(const T& item,
const TickType_t ticksToWait = portMAX_DELAY) const {
return (xQueueSendToBack(handle, &item, ticksToWait) == pdTRUE);
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>xQueueSendToBackFromISR( xQueue,
* pvItemToQueue, pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xQueueSendToBackFromISR.html>
*
* @param higherPriorityTaskWoken A reference that will be set to true if
* sending to the queue caused a task to unblock, and the unblocked task has a
* priority higher than the currently running task.
* @param item A reference to the item that is to be placed on the queue.
* @retval true if the item was successfully posted
* @retval false otherwise.
*
* <b>Example Usage</b>
* @include Queue/sendToBackFromISR.cpp
*/
inline bool sendToBackFromISR(bool& higherPriorityTaskWoken,
const T& item) const {
BaseType_t taskWoken = pdFALSE;
bool result =
(xQueueSendToBackFromISR(handle, &item, &taskWoken) == pdPASS);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>xQueueSendToBackFromISR( xQueue,
* pvItemToQueue, pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xQueueSendToBackFromISR.html>
*
* @overload
*/
inline bool sendToBackFromISR(const T& item) const {
return (xQueueSendToBackFromISR(handle, &item, NULL) == pdPASS);
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>xQueueSendToFront( xQueue, pvItemToQueue,
* xTicksToWait )</tt>
*
* @see <https://www.freertos.org/xQueueSendToFront.html>
*
* @param item A reference to the item that is to be placed on the queue.
* @param ticksToWait 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_PERIOD_MS should
* be used to convert to real time if this is required.
* @retval true if the item was successfully posted.
* @retval false otherwise.
*
* <b>Example Usage</b>
* @include Queue/sendToFront.cpp
*/
inline bool sendToFront(const T& item,
const TickType_t ticksToWait = portMAX_DELAY) const {
return (xQueueSendToFront(handle, &item, ticksToWait) == pdTRUE);
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>xQueueSendToFrontFromISR( xQueue,
* pvItemToQueue, pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xQueueSendToFrontFromISR.html>
*
* @param higherPriorityTaskWoken A reference that will be set to true if
* sending to the queue caused a task to unblock, and the unblocked task has a
* priority higher than the currently running task.
* @param item A reference to the item that is to be placed on the queue.
* @retval true if the item was successfully posted
* @retval false otherwise.
*
* <b>Example Usage</b>
* @include Queue/sendToFrontFromISR.cpp
*/
inline bool sendToFrontFromISR(bool& higherPriorityTaskWoken,
const T& item) const {
BaseType_t taskWoken = pdFALSE;
bool result =
(xQueueSendToFrontFromISR(handle, &item, &taskWoken) == pdPASS);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>xQueueSendToFrontFromISR( xQueue,
* pvItemToQueue, pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xQueueSendToFrontFromISR.html>
*
* @overload
*/
inline bool sendToFrontFromISR(const T& item) const {
return (xQueueSendToFrontFromISR(handle, &item, NULL) == pdPASS);
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>BaseType_t xQueueReceive( QueueHandle_t
* xQueue, void *pvBuffer, TickType_t xTicksToWait )</tt>
*
* @see <https://www.freertos.org/a00118.html>
*
* Receive an item from a queue. This function must not be used in an
* interrupt service routine. See receiveFromISR() for an alternative that
* can.
*
* @param ticksToWait 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.
* Setting ticksToWait to 0 will cause the function to return immediately if
* the queue is empty. The time is defined in tick periods so the constant
* portTICK_PERIOD_MS should be used to convert to real time if this is
* required.
* @return std::optional<T> Object from the queue. User should check that the
* value is present.
*
* <b>Example Usage</b>
* @include Queue/receive.cpp
*/
inline std::optional<T> receive(
const TickType_t ticksToWait = portMAX_DELAY) const {
T buffer;
return (xQueueReceive(handle, &buffer, ticksToWait) == pdTRUE)
? std::optional<T>(buffer)
: std::nullopt;
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>BaseType_t xQueueReceiveFromISR(
* QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxHigherPriorityTaskWoken
* )</tt>
*
* @see <https://www.freertos.org/a00120.html>
*
* Receive an item from a queue. It is safe to use this function from within
* an interrupt service routine.
*
* @param higherPriorityTaskWoken A reference that will be set to true if
* sending to the queue caused a task to unblock, and the unblocked task has a
* priority higher than the currently running task.
* @return std::optional<T> Object from the queue. User should check that the
* value is present.
*
* <b>Example Usage</b>
* @include Queue/receiveFromISR.cpp
*/
inline std::optional<T> receiveFromISR(bool& higherPriorityTaskWoken) const {
T buffer;
BaseType_t taskWoken = pdFALSE;
bool result = (xQueueReceiveFromISR(handle, &buffer, &taskWoken) == pdTRUE);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result ? std::optional<T>(buffer) : std::nullopt;
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>BaseType_t xQueueReceiveFromISR(
* QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxHigherPriorityTaskWoken
* )</tt>
*
* @see <https://www.freertos.org/a00120.html>
*
* @overload
*/
inline std::optional<T> receiveFromISR() const {
T buffer;
return (xQueueReceiveFromISR(handle, &buffer, NULL) == pdTRUE)
? std::optional<T>(buffer)
: std::nullopt;
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>UBaseType_t uxQueueMessagesWaiting(
* QueueHandle_t xQueue )</tt>
*
* @see <https://www.freertos.org/a00018.html#ucQueueMessagesWaiting>
*
* Return the number of messages stored in a queue.
*
* @retval UBaseType_t The number of messages available in the queue.
*/
inline UBaseType_t messagesWaiting() const {
return uxQueueMessagesWaiting(handle);
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>UBaseType_t uxQueueMessagesWaitingFromISR(
* QueueHandle_t xQueue )</tt>
*
* @see <https://www.freertos.org/a00018.html#ucQueueMessagesWaitingFromISR>
*
* A version of messagesWaiting() that can be called from an ISR. Return the
* number of messages stored in a queue.
*
* @retval UBaseType_t The number of messages available in the queue.
*/
inline UBaseType_t messagesWaitingFromISR() const {
return uxQueueMessagesWaitingFromISR(handle);
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>UBaseType_t uxQueueSpacesAvailable(
* QueueHandle_t xQueue )</tt>
*
* @see <https://www.freertos.org/a00018.html#uxQueueSpacesAvailable>
*
* Return the number of free spaces in a queue.
*
* @retval UBaseType_t The number of free spaces available in the queue.
*/
inline UBaseType_t spacesAvailable() const {
return uxQueueSpacesAvailable(handle);
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>BaseType_t xQueueReset( QueueHandle_t xQueue
* )</tt>
*
* @see <https://www.freertos.org/a00018.html#xQueueReset>
*
* Resets a queue to its original empty state.
*/
inline void reset() const { xQueueReset(handle); }
/**
* Queue.hpp
*
* @brief Function that calls <tt>BaseType_t xQueueOverwrite( QueueHandle_t
* xQueue, const void * pvItemToQueue )</tt>
*
* @see <https://www.freertos.org/xQueueOverwrite.html>
*
* Only for use with queues that have a length of one - so the queue is either
* empty or full.
*
* Post an item on a queue. If the queue is already full then overwrite the
* value held in the queue. The item is queued by copy, not by reference.
*
* This function must not be called from an interrupt service routine. See
* overwriteFromISR() for an alternative which may be used in an ISR.
*
* @param item A reference to the item that is to be placed on the queue.
*
* <b>Example Usage</b>
* @include Queue/overwrite.cpp
*/
inline void overwrite(const T& item) const { xQueueOverwrite(handle, &item); }
/**
* Queue.hpp
*
* @brief Function that calls <tt>BaseType_t xQueueOverwriteFromISR(
* QueueHandle_t xQueue, const void * pvItemToQueue, BaseType_t
* *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xQueueOverwriteFromISR.html>
*
* A version of overwrite() that can be used in an interrupt service routine
* (ISR).
*
* Only for use with queues that can hold a single item - so the queue is
* either empty or full.
*
* Post an item on a queue. If the queue is already full then overwrite the
* value held in the queue. The item is queued by copy, not by reference.
*
* @param higherPriorityTaskWoken A reference that will be set to true if
* sending to the queue caused a task to unblock, and the unblocked task has a
* priority higher than the currently running task.
* @param item A reference to the item that is to be placed on the queue.
*
* <b>Example Usage</b>
* @include Queue/overwriteFromISR.cpp
*/
inline void overwriteFromISR(bool& higherPriorityTaskWoken,
const T& item) const {
BaseType_t taskWoken = pdFALSE;
xQueueOverwriteFromISR(handle, &item, &taskWoken);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>BaseType_t xQueueOverwriteFromISR(
* QueueHandle_t xQueue, const void * pvItemToQueue, BaseType_t
* *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xQueueOverwriteFromISR.html>
*
* @overload
*/
inline void overwriteFromISR(const T& item) const {
xQueueOverwriteFromISR(handle, &item, NULL);
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>BaseType_t xQueuePeek( QueueHandle_t xQueue,
* void * const pvBuffer, TickType_t xTicksToWait )</tt>
*
* @see <https://www.freertos.org/xQueuePeek.html>
*
* Receive an item from a queue without removing the item from the queue.
*
* Successfully received items remain on the queue so will be returned again
* by the next call, or a call to receive().
*
* This function must not be used in an interrupt service routine. See
* peekFromISR() for an alternative that can be called from an interrupt
* service routine.
*
* @param ticksToWait 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.
* Setting ticksToWait to 0 will cause the function to return immediately if
* the queue is empty. The time is defined in tick periods so the constant
* portTICK_PERIOD_MS should be used to convert to real time if this is
* required.
* @return std::optional<T> Object from the queue. User should check that the
* value is present.
*
* <b>Example Usage</b>
* @include Queue/peek.cpp
*/
inline std::optional<T> peek(
const TickType_t ticksToWait = portMAX_DELAY) const {
T buffer;
return (xQueuePeek(handle, &buffer, ticksToWait) == pdTRUE)
? std::optional<T>(buffer)
: std::nullopt;
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>BaseType_t xQueuePeekFromISR( QueueHandle_t
* xQueue, void *pvBuffer )</tt>
*
* @see <https://www.freertos.org/xQueuePeekFromISR.html>
*
* A version of peek() that can be called from an interrupt service routine
* (ISR).
*
* Receive an item from a queue without removing the item from the queue.
*
* Successfully received items remain on the queue so will be returned again
* by the next call, or a call to receive().
*
* @return std::optional<T> Object from the queue. User should check that the
* value is present.
*/
inline std::optional<T> peekFromISR() const {
T buffer;
return (xQueuePeekFromISR(handle, &buffer) == pdTRUE)
? std::optional<T>(buffer)
: std::nullopt;
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>void vQueueAddToRegistry( QueueHandle_t
* xQueue, char *pcQueueName )</tt>
*
* @see <https://www.freertos.org/vQueueAddToRegistry.html>
*
* The registry is provided as a means for kernel aware debuggers to locate
* queues, semaphores and mutexes. Call addToRegistry() 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.
*
* If addToRegistry() is called more than once for the same queue, the
* registry will store the name parameter from the most recent call to
* addToRegistry().
*
* @param name The name to be associated with the handle. This is the name
* that the kernel aware debugger will display. The queue registry only
* stores a pointer to the string - so the string must be persistent (global
* or preferably in ROM/Flash), not on the stack.
*/
inline void addToRegistry(const char* name) const {
vQueueAddToRegistry(handle, name);
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>void vQueueUnregisterQueue( QueueHandle_t
* xQueue )</tt>
*
* @see <https://www.freertos.org/vQueueUnregisterQueue.html>
*
* The registry is provided as a means for kernel aware debuggers to locate
* queues, semaphores and mutexes. Call addToRegistry() add a queue,
* semaphore or mutex handle to the registry if you want the handle to be
* available to a kernel aware debugger, and unregister() to remove the queue,
* semaphore or mutex from the register. If you are not using a kernel aware
* debugger then this function can be ignored.
*/
inline void unregister() const { vQueueUnregisterQueue(handle); }
/**
* Queue.hpp
*
* @brief Function that calls <tt>const char *pcQueueGetName( QueueHandle_t
* xQueue )</tt>
*
* @see <https://www.freertos.org/pcQueueGetName.html>
*
* The queue registry is provided as a means for kernel aware debuggers to
* locate queues, semaphores and mutexes. Call getName() to look up and return
* the name of a queue in the queue registry from the queue's handle.
*
* @return If the queue referenced by the queue is in the queue registry, then
* the text name of the queue is returned, otherwise NULL is returned.
*/
inline const char* getName() const { return pcQueueGetName(handle); }
/**
* Queue.hpp
*
* @brief Function that calls <tt>BaseType_t xQueueIsQueueFullFromISR( const
* QueueHandle_t xQueue )</tt>
*
* @see <https://www.freertos.org/a00018.html#xQueueIsQueueFullFromISR>
*
* Queries a queue to determine if the queue is empty. This function should
* only be used in an ISR.
*
* @return true if the queue is full.
* @return false if the queue is not full.
*/
inline bool isFullFromISR() const {
return (xQueueIsQueueFullFromISR(handle) == pdTRUE);
}
/**
* Queue.hpp
*
* @brief Function that calls <tt>BaseType_t xQueueIsQueueEmptyFromISR( const
* QueueHandle_t xQueue )</tt>
*
* @see <https://www.freertos.org/a00018.html#xQueueIsQueueEmptyFromISR>
*
* Queries a queue to determine if the queue is empty. This function should
* only be used in an ISR.
*
* @retval true if the queue is empty.
* @retval false if the queue is not empty.
*/
inline bool isEmptyFromISR() const {
return (xQueueIsQueueEmptyFromISR(handle) == pdTRUE);
}
private:
/**
* Queue.hpp
*
* @brief Construct a new QueueBase object.
*
* @note Default constructor is deliberately private as this class is not
* intended to be instantiated or derived from by the user. Use
* FreeRTOS::Queue or FreeRTOS::StaticQueue.
*/
QueueBase() = default;
/**
* Queue.hpp
*
* @brief Destroy the QueueBase object by calling <tt>void vQueueDelete(
* QueueHandle_t xQueue )</tt>
*
* @see <https://www.freertos.org/a00018.html#vQueueDelete>
*
* Delete a queue - freeing all the memory allocated for storing of items
* placed on the queue.
*/
~QueueBase() { vQueueDelete(this->handle); }
QueueBase(QueueBase&&) noexcept = default;
QueueBase& operator=(QueueBase&&) noexcept = default;
/**
* @brief Handle used to refer to the queue when using the FreeRTOS interface.
*/
QueueHandle_t handle = NULL;
};
#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
/**
* @class Queue Queue.hpp <FreeRTOS/Queue.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS queue.
*
* Each queue requires RAM that is used to hold the queue state, and to hold the
* items that are contained in the queue (the queue storage area). If a queue is
* created using this class then the required RAM is automatically allocated
* from the FreeRTOS heap.
*
* @tparam T Type to be stored in the queue.
*/
template <class T>
class Queue : public QueueBase<T> {
public:
/**
* Queue.hpp
*
* @brief Construct a new Queue object by calling <tt>QueueHandle_t
* xQueueCreate( UBaseType_t uxQueueLength, UBaseType_t uxItemSize )</tt>
*
* @see <https://www.freertos.org/a00116.html>
*
* @warning The user should call isValid() on this object to verify that the
* queue was created successfully in case the memory required to create the
* queue could not be allocated.
*
* @param length The maximum number of items the queue can hold at any one
* time.
*
* <b>Example Usage</b>
* @include Queue/queue.cpp
*/
explicit Queue(const UBaseType_t length) {
this->handle = xQueueCreate(length, sizeof(T));
}
~Queue() = default;
Queue(const Queue&) = delete;
Queue& operator=(const Queue&) = delete;
Queue(Queue&&) noexcept = default;
Queue& operator=(Queue&&) noexcept = default;
};
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
#if (configSUPPORT_STATIC_ALLOCATION == 1)
/**
* @class StaticQueue Queue.hpp <FreeRTOS/Queue.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS queue.
*
* If a queue is created using this class then the RAM is provided by the
* application writer as part of the object instance and allows the RAM to be
* statically allocated at compile time.
*
* @tparam T Type to be stored in the queue.
* @tparam N The maximum number of items the queue can hold at any one time.
*/
template <class T, UBaseType_t N>
class StaticQueue : public QueueBase<T> {
public:
/**
* Queue.hpp
*
* @brief Construct a new StaticQueue object by calling
* <tt>QueueHandle_t xQueueCreateStatic( UBaseType_t uxQueueLength,
* UBaseType_t uxItemSize, uint8_t *pucQueueStorageBuffer, StaticQueue_t
* *pxQueueBuffer )</tt>
*
* @see <https://www.freertos.org/xQueueCreateStatic.html>
*
* @warning This class contains the storage buffer for the queue, so the user
* should create this object as a global object or with the static storage
* specifier so that the object instance is not on the stack.
*
* <b>Example Usage</b>
* @include Queue/staticQueue.cpp
*/
StaticQueue() {
this->handle = xQueueCreateStatic(N, sizeof(T), storage, &staticQueue);
}
~StaticQueue() = default;
StaticQueue(const StaticQueue&) = delete;
StaticQueue& operator=(const StaticQueue&) = delete;
StaticQueue(StaticQueue&&) noexcept = default;
StaticQueue& operator=(StaticQueue&&) noexcept = default;
private:
StaticQueue_t staticQueue;
uint8_t storage[N * sizeof(T)];
};
#endif /* configSUPPORT_STATIC_ALLOCATION */
} // namespace FreeRTOS
#endif // FREERTOS_QUEUE_HPP

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@ -1,523 +0,0 @@
/*
* FreeRTOS-Cpp
* Copyright (C) 2021 Jon Enz. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
* https://github.com/jonenz/FreeRTOS-Cpp
*/
#ifndef FREERTOS_SEMAPHORE_HPP
#define FREERTOS_SEMAPHORE_HPP
#include "FreeRTOS.h"
#include "semphr.h"
namespace FreeRTOS {
/**
* @class SemaphoreBase Semaphore.hpp <FreeRTOS/Semaphore.hpp>
*
* @brief Base class that provides the standard semaphore interface to
* FreeRTOS::BinarySemaphore, FreeRTOS::StaticBinarySemaphore,
* FreeRTOS::CountingSemaphore, and FreeRTOS::StaticCountingSemaphore.
*
* @note This class is not intended to be instantiated by the user. Use
* FreeRTOS::BinarySemaphore, FreeRTOS::StaticBinarySemaphore,
* FreeRTOS::CountingSemaphore, or FreeRTOS::StaticCountingSemaphore.
*/
class SemaphoreBase {
public:
friend class BinarySemaphore;
friend class StaticBinarySemaphore;
friend class CountingSemaphore;
friend class StaticCountingSemaphore;
SemaphoreBase(const SemaphoreBase&) = delete;
SemaphoreBase& operator=(const SemaphoreBase&) = delete;
static void* operator new(size_t, void* ptr) { return ptr; }
static void* operator new[](size_t, void* ptr) { return ptr; }
static void* operator new(size_t) = delete;
static void* operator new[](size_t) = delete;
/**
* Semaphore.hpp
*
* @brief Function that checks if the underlying semaphore handle is not NULL.
* This should be used to ensure a semaphore has been created correctly.
*
* @retval true the handle is not NULL.
* @retval false the handle is NULL.
*/
inline bool isValid() const { return (handle != NULL); }
/**
* Semaphore.hpp
*
* @brief Function that calls <tt>UBaseType_t uxSemaphoreGetCount(
* SemaphoreHandle_t xSemaphore )</tt>
*
* @see <https://www.freertos.org/uxSemaphoreGetCount.html>
*
* Returns the count of a semaphore.
*
* @return UBaseType_t If the semaphore is a counting semaphore then the
* semaphores current count value is returned. If the semaphore is a binary
* semaphore then 1 is returned if the semaphore is available, and 0 is
* returned if the semaphore is not available.
*/
inline UBaseType_t getCount() const { return uxSemaphoreGetCount(handle); }
/**
* Semaphore.hpp
*
* @brief Function that calls <tt>xSemaphoreTake( SemaphoreHandle_t
* xSemaphore, TickType_t xTicksToWait )</tt>
*
* @see <https://www.freertos.org/a00122.html>
*
* Function to obtain a semaphore.
*
* This macro must not be called from an ISR. takeFromISR() can be used to
* take a semaphore from within an interrupt if required, although this would
* not be a normal operation. Semaphores use queues as their underlying
* mechanism, so functions are to some extent interoperable.
*
* @param ticksToWait The time in ticks to wait for the semaphore to become
* available. The macro portTICK_PERIOD_MS can be used to convert this to a
* real time. A block time of zero can be used to poll the semaphore.
* @retval true If the semaphore was obtained.
* @retval false If xTicksToWait expired without the semaphore becoming
* available.
*
* <b>Example Usage</b>
* @include Semaphore/take.cpp
*/
inline bool take(const TickType_t ticksToWait = portMAX_DELAY) const {
return (xSemaphoreTake(handle, ticksToWait) == pdTRUE);
}
/**
* Semaphore.hpp
*
* @brief Function that calls <tt>xSemaphoreTakeFromISR( SemaphoreHandle_t
* xSemaphore, signed BaseType_t *pxHigherPriorityTaskWoken)</tt>
*
* @see <https://www.freertos.org/xSemaphoreTakeFromISR.html>
*
* A version of take() that can be called from an ISR. Unlike take(),
* takeFromISR() does not permit a block time to be specified.
*
* @param higherPriorityTaskWoken It is possible (although unlikely, and
* dependent on the semaphore type) that a semaphore will have one or more
* tasks blocked on it waiting to give the semaphore. Calling takeFromISR()
* will make a task that was blocked waiting to give the semaphore leave the
* Blocked state. If calling the API function causes a task to leave the
* Blocked state, and the unblocked task has a priority equal to or higher
* than the currently executing task (the task that was interrupted), then,
* internally, the API function will set higherPriorityTaskWoken to true. If
* takeFromISR() sets higherPriorityTaskWoken to true, then a context switch
* should be performed before the interrupt is exited. This will ensure that
* the interrupt returns directly to the highest priority Ready state task.
* The mechanism is identical to that used in the FreeRTOS::receiveFromISR()
* function, and readers are referred to the FreeRTOS::receiveFromISR()
* documentation for further explanation.
* @retval true If the semaphore was successfully taken.
* @retval false If the semaphore was not successfully taken because it was
* not available.
*/
inline bool takeFromISR(bool& higherPriorityTaskWoken) const {
BaseType_t taskWoken = pdFALSE;
bool result = (xSemaphoreTakeFromISR(handle, &taskWoken) == pdTRUE);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* Semaphore.hpp
*
* @brief Function that calls <tt>xSemaphoreTakeFromISR( SemaphoreHandle_t
* xSemaphore, signed BaseType_t *pxHigherPriorityTaskWoken)</tt>
*
* @see <https://www.freertos.org/xSemaphoreTakeFromISR.html>
*
* @overload
*/
inline bool takeFromISR() const {
return (xSemaphoreTakeFromISR(handle, NULL) == pdTRUE);
}
/**
* Semaphore.hpp
*
* @brief Function that calls <tt>xSemaphoreGive( SemaphoreHandle_t xSemaphore
* )</tt>
*
* @see <https://www.freertos.org/a00123.html>
*
* Function to release a semaphore.
*
* This must not be used from an ISR. See giveFromISR() for an alternative
* which can be used from an ISR.
*
* @retval true If the semaphore was released.
* @retval false 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.
*
* <b>Example Usage</b>
* @include Semaphore/give.cpp
*/
inline bool give() const { return (xSemaphoreGive(handle) == pdTRUE); }
/**
* Semaphore.hpp
*
* @brief Function that calls <tt>xSemaphoreGiveFromISR( SemaphoreHandle_t
* xSemaphore, signed BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/a00124.html>
*
* Function to release a semaphore.
*
* This macro can be used from an ISR.
*
* @param higherPriorityTaskWoken giveFromISR() will set
* higherPriorityTaskWoken to true if giving the semaphore caused a task to
* unblock, and the unblocked task has a priority higher than the currently
* running task. If giveFromISR() sets this value to true then a context
* switch should be requested before the interrupt is exited.
* @retval true If the semaphore was successfully given.
* @retval false Otherwise.
*
* <b>Example Usage</b>
* @include Semaphore/giveFromISR.cpp
*/
inline bool giveFromISR(bool& higherPriorityTaskWoken) const {
BaseType_t taskWoken = pdFALSE;
bool result = (xSemaphoreGiveFromISR(handle, &taskWoken) == pdTRUE);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* Semaphore.hpp
*
* @brief Function that calls <tt>xSemaphoreGiveFromISR( SemaphoreHandle_t
* xSemaphore, signed BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/a00124.html>
*
* @overload
*/
inline bool giveFromISR() const {
return (xSemaphoreGiveFromISR(handle, NULL) == pdTRUE);
}
private:
SemaphoreBase() = default;
/**
* Semaphore.hpp
*
* @brief Destroy the SemaphoreBase object by calling <tt>void
* vSemaphoreDelete( SemaphoreHandle_t xSemaphore )</tt>
*
* @see <https://www.freertos.org/a00113.html#vSemaphoreDelete>
*
* @note Do not delete a semaphore that has tasks blocked on it (tasks that
* are in the Blocked state waiting for the semaphore to become available).
*/
~SemaphoreBase() { vSemaphoreDelete(this->handle); }
SemaphoreBase(SemaphoreBase&&) noexcept = default;
SemaphoreBase& operator=(SemaphoreBase&&) noexcept = default;
/**
* @brief Handle used to refer to the semaphore when using the FreeRTOS
* interface.
*/
SemaphoreHandle_t handle = NULL;
};
#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
/**
* @class BinarySemaphore Semaphore.hpp <FreeRTOS/Semaphore.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS binary
* semaphore.
*
* Each binary semaphore require a small amount of RAM that is used to hold the
* semaphore's state. If a binary semaphore is created using
* FreeRTOS::BinarySemaphore then the required RAM is automatically allocated
* from the FreeRTOS heap. If a binary semaphore is created using
* FreeRTOS::StaticBinarySemaphore then the RAM is provided by the application
* writer as part of the class and allows the RAM to be statically allocated at
* compile time. See the Static Vs Dynamic allocation page for more information.
*
* The semaphore is created in the 'empty' state, meaning the semaphore must
* first be given using the give() API function before it can subsequently be
* taken (obtained) using the take() function.
*
* Binary semaphores and mutexes are very similar but have some subtle
* differences: Mutexes include a priority inheritance mechanism, binary
* semaphores do not. This makes binary semaphores the better choice for
* implementing synchronisation (between tasks or between tasks and an
* interrupt), and mutexes the better choice for implementing simple mutual
* exclusion.
*
* A binary semaphore need not be given back once obtained, so task
* synchronisation can be implemented by one task/interrupt continuously
* 'giving' the semaphore while another continuously 'takes' the semaphore. This
* is demonstrated by the sample code on the giveFromISR() documentation page.
* Note the same functionality can often be achieved in a more efficient way
* using a direct to task notification.
*
* The priority of a task that 'takes' a mutex can potentially be raised if
* another task of higher priority attempts to obtain the same mutex. The task
* that owns the mutex 'inherits' the priority of the task attempting to 'take'
* the same mutex. This means the mutex must always be 'given' back - otherwise
* the higher priority task will never be able to obtain the mutex, and the
* lower priority task will never 'disinherit' the priority. An example of a
* mutex being used to implement mutual exclusion is provided on the take()
* documentation page.
*/
class BinarySemaphore : public SemaphoreBase {
public:
/**
* Semaphore.hpp
*
* @brief Construct a new BinarySemaphore object by calling
* <tt>SemaphoreHandle_t xSemaphoreCreateBinary( void )</tt>
*
* @see <https://www.freertos.org/xSemaphoreCreateBinary.html>
*
* @warning The user should call isValid() on this object to verify that the
* binary semaphore was created successfully in case the memory required to
* create the queue could not be allocated.
*
* <b>Example Usage</b>
* @include Semaphore/binarySemaphore.cpp
*/
BinarySemaphore() { this->handle = xSemaphoreCreateBinary(); }
~BinarySemaphore() = default;
BinarySemaphore(const BinarySemaphore&) = delete;
BinarySemaphore& operator=(const BinarySemaphore&) = delete;
BinarySemaphore(BinarySemaphore&&) noexcept = default;
BinarySemaphore& operator=(BinarySemaphore&&) noexcept = default;
};
/**
* @class CountingSemaphore Semaphore.hpp <FreeRTOS/Semaphore.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS counting
* semaphore.
*
* Each counting semaphore require a small amount of RAM that is used to hold
* the semaphore's state. If a counting semaphore is created using
* FreeRTOS::CountingSemaphore then the required RAM is automatically allocated
* from the FreeRTOS heap. If a counting semaphore is created using
* FreeRTOS::StaticCountingSemaphore then the RAM is provided by the application
* writer as part of the class and allows the RAM to be statically allocated at
* compile time. See the Static Vs Dynamic allocation page for more information.
*
* Counting semaphores are typically used for two things:
* 1. <b>Counting Events:</b>
* 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. Note the same functionality can often be achieved in a more efficient
* way using a direct to task notification.
*
* 2. <b>Resource Management:</b>
* 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.
*/
class CountingSemaphore : public SemaphoreBase {
public:
/**
* Semaphore.hpp
*
* @brief Construct a new CountingSemaphore by calling
* <tt>SemaphoreHandle_t xSemaphoreCreateCounting( UBaseType_t uxMaxCount,
* UBaseType_t uxInitialCount)</tt>
*
* @warning The user should call isValid() on this object to verify that the
* binary semaphore was created successfully in case the memory required to
* create the queue could not be allocated.
*
* @param maxCount The maximum count value that can be reached. When the
* semaphore reaches this value it can no longer be 'given'.
* @param initialCount The count value assigned to the semaphore when
* it is created.
*/
explicit CountingSemaphore(const UBaseType_t maxCount,
const UBaseType_t initialCount = 0) {
this->handle = xSemaphoreCreateCounting(maxCount, initialCount);
}
~CountingSemaphore() = default;
CountingSemaphore(const CountingSemaphore&) = delete;
CountingSemaphore& operator=(const CountingSemaphore&) = delete;
CountingSemaphore(CountingSemaphore&&) noexcept = default;
CountingSemaphore& operator=(CountingSemaphore&&) noexcept = default;
};
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
#if (configSUPPORT_STATIC_ALLOCATION == 1)
/**
* @class StaticBinarySemaphore Semaphore.hpp <FreeRTOS/Semaphore.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS binary
* semaphore.
*
* Each binary semaphore require a small amount of RAM that is used to hold the
* semaphore's state. If a binary semaphore is created using
* FreeRTOS::BinarySemaphore then the required RAM is automatically allocated
* from the FreeRTOS heap. If a binary semaphore is created using
* FreeRTOS::StaticBinarySemaphore then the RAM is provided by the application
* writer as part of the class and allows the RAM to be statically allocated at
* compile time. See the Static Vs Dynamic allocation page for more information.
*
* The semaphore is created in the 'empty' state, meaning the semaphore must
* first be given using the give() API function before it can subsequently be
* taken (obtained) using the take() function.
*
* Binary semaphores and mutexes are very similar but have some subtle
* differences: Mutexes include a priority inheritance mechanism, binary
* semaphores do not. This makes binary semaphores the better choice for
* implementing synchronisation (between tasks or between tasks and an
* interrupt), and mutexes the better choice for implementing simple mutual
* exclusion.
*
* A binary semaphore need not be given back once obtained, so task
* synchronisation can be implemented by one task/interrupt continuously
* 'giving' the semaphore while another continuously 'takes' the semaphore. This
* is demonstrated by the sample code on the giveFromISR() documentation page.
* Note the same functionality can often be achieved in a more efficient way
* using a direct to task notification.
*
* The priority of a task that 'takes' a mutex can potentially be raised if
* another task of higher priority attempts to obtain the same mutex. The task
* that owns the mutex 'inherits' the priority of the task attempting to 'take'
* the same mutex. This means the mutex must always be 'given' back - otherwise
* the higher priority task will never be able to obtain the mutex, and the
* lower priority task will never 'disinherit' the priority. An example of a
* mutex being used to implement mutual exclusion is provided on the take()
* documentation page.
*/
class StaticBinarySemaphore : public SemaphoreBase {
public:
/**
* Semaphore.hpp
*
* @brief Construct a new StaticBinarySemaphore object by calling
* <tt>SemaphoreHandle_t xSemaphoreCreateBinaryStatic( StaticSemaphore_t
* *pxSemaphoreBuffer )</tt>
*
* @see <https://www.freertos.org/xSemaphoreCreateBinaryStatic.html>
*
* @warning This class contains the storage buffer for the binary semaphore,
* so the user should create this object as a global object or with the static
* storage specifier so that the object instance is not on the stack.
*
* <b>Example Usage</b>
* @include Semaphore/staticBinarySemaphore.cpp
*/
StaticBinarySemaphore() {
this->handle = xSemaphoreCreateBinaryStatic(&staticBinarySemaphore);
}
~StaticBinarySemaphore() = default;
StaticBinarySemaphore(const StaticBinarySemaphore&) = delete;
StaticBinarySemaphore& operator=(const StaticBinarySemaphore&) = delete;
StaticBinarySemaphore(StaticBinarySemaphore&&) noexcept = default;
StaticBinarySemaphore& operator=(StaticBinarySemaphore&&) noexcept = default;
private:
StaticSemaphore_t staticBinarySemaphore;
};
class StaticCountingSemaphore : public SemaphoreBase {
public:
/**
* @brief Construct a new StaticCountingSemaphore object by calling
* <tt>SemaphoreHandle_t xSemaphoreCreateCountingStatic( UBaseType_t
* uxMaxCount, UBaseType_t uxInitialCount, StaticSemaphore_t
* *pxSemaphoreBuffer )</tt>
*
* @see <https://www.freertos.org/xSemaphoreCreateCountingStatic.html>
*
* @warning This class contains the storage buffer for the counting semaphore,
* so the user should create this object as a global object or with the static
* storage specifier so that the object instance is not on the stack.
*
* @param maxCount The maximum count value that can be reached. When the
* semaphore reaches this value it can no longer be 'given'.
* @param initialCount The count value assigned to the semaphore when it is
* created.
*
* <b>Example Usage</b>
* @include Semaphore/staticCountingSemaphore.cpp
*/
explicit StaticCountingSemaphore(const UBaseType_t maxCount,
const UBaseType_t initialCount = 0) {
this->handle = xSemaphoreCreateCountingStatic(maxCount, initialCount,
&staticCountingSemaphore);
}
~StaticCountingSemaphore() = default;
StaticCountingSemaphore(const StaticCountingSemaphore&) = delete;
StaticCountingSemaphore& operator=(const StaticCountingSemaphore&) = delete;
StaticCountingSemaphore(StaticCountingSemaphore&&) noexcept = default;
StaticCountingSemaphore& operator=(StaticCountingSemaphore&&) noexcept =
default;
private:
StaticSemaphore_t staticCountingSemaphore;
};
#endif /* configSUPPORT_STATIC_ALLOCATION */
} // namespace FreeRTOS
#endif // FREERTOS_SEMAPHORE_HPP

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/*
* FreeRTOS-Cpp
* Copyright (C) 2021 Jon Enz. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
* https://github.com/jonenz/FreeRTOS-Cpp
*/
#ifndef FREERTOS_STREAMBUFFER_HPP
#define FREERTOS_STREAMBUFFER_HPP
#include "FreeRTOS.h"
#include "stream_buffer.h"
namespace FreeRTOS {
/**
* @class StreamBufferBase StreamBuffer.hpp <FreeRTOS/StreamBuffer.hpp>
*
* @brief Base class that provides the standard stream buffer interface to
* FreeRTOS::StreamBuffer and FreeRTOS::StaticStreamBuffer.
*
* @note This class is not intended to be instantiated by the user. Use
* FreeRTOS::StreamBuffer or FreeRTOS::StaticStreamBuffer.
*
* @warning Uniquely among FreeRTOS objects, the stream buffer implementation
* (so also the message buffer implementation, as message buffers are built on
* top of stream buffers) assumes there is only one task or interrupt that will
* write to the buffer (the writer), and only one task or interrupt that will
* read from the buffer (the reader). It is safe for the writer and reader to
* be different tasks or interrupts, but, unlike other FreeRTOS objects, it is
* not safe to have multiple different writers or multiple different readers. If
* there are to be multiple different writers then the application writer must
* place each call to a writing API function (such as send()) inside a critical
* section and set the send block time to 0. Likewise, if there are to be
* multiple different readers then the application writer must place each call
* to a reading API function (such as read()) inside a critical section and set
* the receive block time to 0.
*/
class StreamBufferBase {
public:
friend class StreamBuffer;
template <size_t>
friend class StaticStreamBuffer;
StreamBufferBase(const StreamBufferBase&) = delete;
StreamBufferBase& operator=(const StreamBufferBase&) = delete;
static void* operator new(size_t, void* ptr) { return ptr; }
static void* operator new[](size_t, void* ptr) { return ptr; }
static void* operator new(size_t) = delete;
static void* operator new[](size_t) = delete;
/**
* StreamBuffer.hpp
*
* @brief Function that checks if the underlying stream buffer handle is not
* NULL. This should be used to ensure a stream buffer has been created
* correctly.
*
* @retval true If the handle is not NULL.
* @retval false If the handle is NULL.
*/
inline bool isValid() const { return (handle != NULL); }
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>size_t xStreamBufferSend(
* StreamBufferHandle_t xStreamBuffer, const void *pvTxData, size_t
* xDataLengthBytes, TickType_t xTicksToWait )</tt>
*
* @see <https://www.freertos.org/xStreamBufferSend.html>
*
* Sends bytes to a stream buffer. The bytes are copied into the stream
* buffer.
*
* Use send() to write to a stream buffer from a task. Use sendFromISR() to
* write to a stream buffer from an interrupt service routine (ISR).
*
* @param data A pointer to the buffer that holds the bytes to be copied into
* the stream buffer.
* @param length The maximum number of bytes to copy from data into the stream
* buffer.
* @param ticksToWait The maximum amount of time the task should remain in the
* Blocked state to wait for enough space to become available in the stream
* buffer, should the stream buffer contain too little space to hold the
* another length bytes. The block time is specified in tick periods, so the
* absolute time it represents is dependent on the tick frequency. The macro
* pdMS_TO_TICKS() can be used to convert a time specified in milliseconds
* into a time specified in ticks. Setting ticksToWait to portMAX_DELAY will
* cause the task to wait indefinitely (without timing out), provided
* INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h. If a task times out
* before it can write all length into the buffer it will still write as many
* bytes as possible. A task does not use any CPU time when it is in the
* blocked state.
* @return size_t The number of bytes written to the stream buffer. If a task
* times out before it can write all length into the buffer it will still
* write as many bytes as possible.
*
* <b>Example Usage</b>
* @include StreamBuffer/send.cpp
*/
inline size_t send(const void* data, const size_t length,
const TickType_t ticksToWait = portMAX_DELAY) const {
return xStreamBufferSend(handle, data, length, ticksToWait);
}
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>size_t xStreamBufferSendFromISR(
* StreamBufferHandle_t xStreamBuffer, const void *pvTxData, size_t
* xDataLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xStreamBufferSendFromISR.html>
*
* Interrupt safe version of the API function that sends a stream of bytes to
* the stream buffer.
*
* Use send() to write to a stream buffer from a task. Use sendFromISR() to
* write to a stream buffer from an interrupt service routine (ISR).
*
* @param higherPriorityTaskWoken It is possible that a stream buffer will
* have a task blocked on it waiting for data. Calling sendFromISR() can make
* data available, and so cause a task that was waiting for data to leave the
* Blocked state. If calling sendFromISR() causes a task to leave the Blocked
* state, and the unblocked task has a priority higher than the currently
* executing task (the task that was interrupted), then, internally,
* sendFromISR() will set higherPriorityTaskWoken to true. If sendFromISR()
* sets this value to true, then normally a context switch should be performed
* before the interrupt is exited. This will ensure that the interrupt
* returns directly to the highest priority Ready state task.
* higherPriorityTaskWoken should be set to false before it is passed into the
* function. See the example code below for an example.
* @param data A pointer to the buffer that holds the bytes to be copied into
* the stream buffer.
* @param length The maximum number of bytes to copy from data into the stream
* buffer.
* @return size_t The number of bytes written to the stream buffer. If a task
* times out before it can write all length into the buffer it will still
* write as many bytes as possible.
*
* <b>Example Usage</b>
* @include StreamBuffer/sendFromISR.cpp
*/
inline size_t sendFromISR(bool& higherPriorityTaskWoken, const void* data,
const size_t length) const {
BaseType_t taskWoken = pdFALSE;
size_t result = xStreamBufferSendFromISR(handle, data, length, &taskWoken);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>size_t xStreamBufferSendFromISR(
* StreamBufferHandle_t xStreamBuffer, const void *pvTxData, size_t
* xDataLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xStreamBufferSendFromISR.html>
*
* @overload
*/
inline size_t sendFromISR(const void* data, const size_t length) const {
return xStreamBufferSendFromISR(handle, data, length, NULL);
}
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>size_t xStreamBufferReceive(
* StreamBufferHandle_t xStreamBuffer, void *pvRxData, size_t
* xBufferLengthBytes, TickType_t xTicksToWait )</tt>
*
* @see <https://www.freertos.org/xStreamBufferReceive.html>
*
* Receives bytes from a stream buffer.
*
* Use receive() to read from a stream buffer from a task. Use
* receiveFromISR() to read from a stream buffer from an interrupt service
* routine (ISR).
*
* @param buffer A pointer to the buffer into which the received bytes will be
* copied.
* @param bufferLength The length of the buffer pointed to by the data
* parameter. This sets the maximum number of bytes to receive in one call.
* receive() will return as many bytes as possible up to a maximum set by
* length.
* @param ticksToWait The maximum amount of time the task should remain in the
* Blocked state to wait for data to become available if the stream buffer is
* empty. receive() will return immediately if ticksToWait is zero. The block
* time is specified in tick periods, so the absolute time it represents is
* dependent on the tick frequency. The macro pdMS_TO_TICKS() can be used to
* convert a time specified in milliseconds into a time specified in ticks.
* Setting ticksToWait to portMAX_DELAY will cause the task to wait
* indefinitely (without timing out), provided INCLUDE_vTaskSuspend is set to
* 1 in FreeRTOSConfig.h. A task does not use any CPU time when it is in the
* Blocked state.
* @return size_t The number of bytes read from the stream buffer. This will
* be the number of bytes available up to a maximum of length.
*
* <b>Example Usage</b>
* @include StreamBuffer/receive.cpp
*/
inline size_t receive(void* buffer, const size_t bufferLength,
const TickType_t ticksToWait = portMAX_DELAY) const {
return xStreamBufferReceive(handle, buffer, bufferLength, ticksToWait);
}
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>size_t xStreamBufferReceiveFromISR(
* StreamBufferHandle_t xStreamBuffer, void *pvRxData, size_t
* xBufferLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xStreamBufferReceiveFromISR.html>
*
* An interrupt safe version of the API function that receives bytes from a
* stream buffer.
*
* Use receive() to read from a stream buffer from a task. Use
* receiveFromISR() to read from a stream buffer from an interrupt service
* routine (ISR).
*
* @param higherPriorityTaskWoken It is possible that a stream buffer will
* have a task blocked on it waiting for space to become available. Calling
* receiveFromISR() can make space available, and so cause a task that is
* waiting for space to leave the Blocked state. If calling receiveFromISR()
* causes a task to leave the Blocked state, and the unblocked task has a
* priority higher than the currently executing task (the task that was
* interrupted), then, internally, receiveFromISR() will set
* higherPriorityTaskWoken to true. If receiveFromISR() sets this value to
* true, then normally a context switch should be performed before the
* interrupt is exited. That will ensure the interrupt returns directly to the
* highest priority Ready state task. higherPriorityTaskWoken should be set to
* false before it is passed into the function. See the code example below for
* an example.
* @param buffer A pointer to the buffer into which the received bytes will be
* copied.
* @param bufferLength The length of the buffer pointed to by the buffer
* parameter. This sets the maximum number of bytes to receive in one call.
* receive() will return as many bytes as possible up to a maximum set by
* length.
* @return size_t The number of bytes read from the stream buffer, if any.
*
* <b>Example Usage</b>
* @include StreamBuffer/receiveFromISR.cpp
*/
inline size_t receiveFromISR(bool& higherPriorityTaskWoken, void* buffer,
const size_t bufferLength) const {
BaseType_t taskWoken = pdFALSE;
size_t result =
xStreamBufferReceiveFromISR(handle, buffer, bufferLength, &taskWoken);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>size_t xStreamBufferReceiveFromISR(
* StreamBufferHandle_t xStreamBuffer, void *pvRxData, size_t
* xBufferLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/xStreamBufferReceiveFromISR.html>
*
* @overload
*/
inline size_t receiveFromISR(void* buffer, const size_t bufferLength) const {
return xStreamBufferReceiveFromISR(handle, buffer, bufferLength, NULL);
}
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>size_t xStreamBufferBytesAvailable(
* StreamBufferHandle_t xStreamBuffer )</tt>
*
* @see <https://www.freertos.org/xStreamBufferBytesAvailable.html>
*
* Queries the stream buffer to see how much data it contains, which is equal
* to the number of bytes that can be read from the stream buffer before the
* stream buffer would be empty.
*
* @return size_t The number of bytes that can be read from the stream buffer
* before the stream buffer would be empty.
*/
inline size_t bytesAvailable() const {
return xStreamBufferBytesAvailable(handle);
}
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>size_t xStreamBufferSpacesAvailable(
* StreamBufferHandle_t xStreamBuffer )</tt>
*
* @see <https://www.freertos.org/xStreamBufferSpacesAvailable.html>
*
* Queries a stream buffer to see how much free space it contains, which is
* equal to the amount of data that can be sent to the stream buffer before it
* is full.
*
* @return size_t The number of bytes that can be written to the stream buffer
* before the stream buffer would be full.
*/
inline size_t spacesAvailable() const {
return xStreamBufferSpacesAvailable(handle);
}
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>BaseType_t xStreamBufferSetTriggerLevel(
* StreamBufferHandle_t xStreamBuffer, size_t xTriggerLevel )</tt>
*
* @see <https://www.freertos.org/xStreamBufferSetTriggerLevel.html>
*
* A stream buffer's trigger level is the number of bytes that must be in the
* stream buffer before a task that is blocked on the stream buffer to wait
* for data is moved out of the blocked state. For example, if a task is
* blocked on a read of an empty stream buffer that has a trigger level of 1
* then the task will be unblocked when a single byte is written to the buffer
* or the task's block time expires. As another example, if a task is blocked
* on a read of an empty stream buffer that has a trigger level of 10 then the
* task will not be unblocked until the stream buffer contains at least 10
* bytes or the task's block time expires. If a reading task's block time
* expires before the trigger level is reached then the task will still
* receive however many bytes are actually available. Setting a trigger level
* of 0 will result in a trigger level of 1 being used. It is not valid to
* specify a trigger level that is greater than the buffer size.
*
* @param triggerLevel The new trigger level for the stream buffer.
* @retval true If triggerLevel was less than or equal to the stream buffer's
* length then the trigger level was updated.
* @retval false Otherwise.
*/
inline bool setTriggerLevel(const size_t triggerLevel = 0) const {
return (xStreamBufferSetTriggerLevel(handle, triggerLevel) == pdTRUE);
}
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>BaseType_t xStreamBufferReset(
* StreamBufferHandle_t xStreamBuffer )</tt>
*
* @see <https://www.freertos.org/xStreamBufferReset.html>
*
* Resets a stream buffer to its initial, empty, state. Any data that was in
* the stream buffer is discarded. A stream buffer can only be reset if there
* are no tasks blocked waiting to either send to or receive from the stream
* buffer.
*
* @return true If the stream buffer is reset.
* @return false If there was a task blocked waiting to send to or read from
* the stream buffer then the stream buffer was not reset.
*/
inline bool reset() const { return (xStreamBufferReset(handle) == pdPASS); }
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>BaseType_t xStreamBufferIsEmpty(
* StreamBufferHandle_t xStreamBuffer )</tt>
*
* @see <https://www.freertos.org/xStreamBufferIsEmpty.html>
*
* Queries a stream buffer to see if it is empty. A stream buffer is empty if
* it does not contain any data.
*
* @return true If the stream buffer is empty.
* @return false Otherwise.
*/
inline bool isEmpty() const {
return (xStreamBufferIsEmpty(handle) == pdTRUE);
}
/**
* StreamBuffer.hpp
*
* @brief Function that calls <tt>BaseType_t xStreamBufferIsFull(
* StreamBufferHandle_t xStreamBuffer )</tt>
*
* @see <https://www.freertos.org/xStreamBufferIsFull.html>
*
* Queries a stream buffer to see if it is full. A stream buffer is full if it
* does not have any free space, and therefore cannot accept any more data.
*
* @return true If the stream buffer is full.
* @return false Otherwise.
*/
inline bool isFull() const { return (xStreamBufferIsFull(handle) == pdTRUE); }
private:
StreamBufferBase() = default;
/**
* StreamBuffer.hpp
*
* @brief Destroy the StreamBufferBase object by calling
* <tt>void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer )</tt>
*
* @see <https://www.freertos.org/vStreamBufferDelete.html>
*
* Deletes a stream buffer and free the allocated memory.
*/
~StreamBufferBase() { vStreamBufferDelete(this->handle); }
StreamBufferBase(StreamBufferBase&&) noexcept = default;
StreamBufferBase& operator=(StreamBufferBase&&) noexcept = default;
StreamBufferHandle_t handle = NULL;
};
#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
/**
* @class StreamBuffer StreamBuffer.hpp <FreeRTOS/StreamBuffer.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS stream buffer.
*
* A stream buffer using dynamically allocated memory from the FreeRTOS heap.
* See FreeRTOS::StaticStreamBuffer for a version that uses statically allocated
* memory (memory that is allocated at compile time).
*/
class StreamBuffer : public StreamBufferBase {
public:
/**
* StreamBuffer.hpp
*
* @brief Construct a new StreamBuffer object by calling
* <tt>StreamBufferHandle_t xStreamBufferCreate( size_t xBufferSizeBytes,
* size_t xTriggerLevelBytes )</tt>
*
* @see <https://www.freertos.org/xStreamBufferCreate.html>
*
* @warning The user should call isValid() on this object to verify that the
* stream buffer was created successfully in case the memory required to
* create the message buffer could not be allocated.
*
* @param size The total number of bytes the stream buffer will be able to
* hold at any one time.
* @param triggerLevel The number of bytes that must be in the stream
* buffer before a task that is blocked on the stream buffer to wait for data
* is moved out of the blocked state. For example, if a task is blocked on a
* read of an empty stream buffer that has a trigger level of 1 then the task
* will be unblocked when a single byte is written to the buffer or the task's
* block time expires. As another example, if a task is blocked on a read of
* an empty stream buffer that has a trigger level of 10 then the task will
* not be unblocked until the stream buffer contains at least 10 bytes or the
* task's block time expires. If a reading task's block time expires before
* the trigger level is reached then the task will still receive however many
* bytes are actually available. Setting a trigger level of 0 will result in a
* trigger level of 1 being used. It is not valid to specify a trigger level
* that is greater than the buffer size.
*
* <b>Example Usage</b>
* @include StreamBuffer/streamBuffer.cpp
*/
explicit StreamBuffer(const size_t size, const size_t triggerLevel = 0) {
this->handle = xStreamBufferCreate(size, triggerLevel);
}
~StreamBuffer() = default;
StreamBuffer(const StreamBuffer&) = delete;
StreamBuffer& operator=(const StreamBuffer&) = delete;
StreamBuffer(StreamBuffer&&) noexcept = default;
StreamBuffer& operator=(StreamBuffer&&) noexcept = default;
};
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
#if (configSUPPORT_STATIC_ALLOCATION == 1)
/**
* @class StaticStreamBuffer StreamBuffer.hpp <FreeRTOS/StreamBuffer.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS stream buffer.
*
* If a stream buffer is created using this class then the RAM is provided by
* the application writer as part of the object instance and allows the RAM to
* be statically allocated at compile time.
*
* @tparam N The size, in bytes, of the storage buffer for the stream buffer.
*/
template <size_t N>
class StaticStreamBuffer : public StreamBufferBase {
public:
/**
* StreamBuffer.hpp
*
* @brief Construct a new StaticStreamBuffer object by calling
* <tt>StreamBufferHandle_t xStreamBufferCreateStatic( size_t
* xBufferSizeBytes, size_t xTriggerLevelBytes, uint8_t
* *pucStreamBufferStorageArea, StaticStreamBuffer_t *pxStaticStreamBuffer
* )</tt>
*
* @see <https://www.freertos.org/xStreamBufferCreateStatic.html>
*
* @param triggerLevel The number of bytes that must be in the stream
* buffer before a task that is blocked on the stream buffer to wait for data
* is moved out of the blocked state. For example, if a task is blocked on a
* read of an empty stream buffer that has a trigger level of 1 then the task
* will be unblocked when a single byte is written to the buffer or the task's
* block time expires. As another example, if a task is blocked on a read of
* an empty stream buffer that has a trigger level of 10 then the task will
* not be unblocked until the stream buffer contains at least 10 bytes or the
* task's block time expires. If a reading task's block time expires before
* the trigger level is reached then the task will still receive however many
* bytes are actually available. Setting a trigger level of 0 will result in a
* trigger level of 1 being used. It is not valid to specify a trigger level
* that is greater than the buffer size.
*
* <b>Example Usage</b>
* @include StreamBuffer/staticStreamBuffer.cpp
*/
explicit StaticStreamBuffer(const size_t triggerLevel = 0) {
this->handle = xStreamBufferCreateStatic(sizeof(storage), triggerLevel,
storage, &staticStreamBuffer);
}
~StaticStreamBuffer() = default;
StaticStreamBuffer(const StaticStreamBuffer&) = delete;
StaticStreamBuffer& operator=(const StaticStreamBuffer&) = delete;
StaticStreamBuffer(StaticStreamBuffer&&) noexcept = default;
StaticStreamBuffer& operator=(StaticStreamBuffer&&) noexcept = default;
private:
StaticStreamBuffer_t staticStreamBuffer;
uint8_t storage[N];
};
#endif /* configSUPPORT_STATIC_ALLOCATION */
} // namespace FreeRTOS
#endif // FREERTOS_STREAMBUFFER_HPP

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/*
* FreeRTOS-Cpp
* Copyright (C) 2021 Jon Enz. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
* https://github.com/jonenz/FreeRTOS-Cpp
*/
#ifndef FREERTOS_TIMER_HPP
#define FREERTOS_TIMER_HPP
#include "FreeRTOS.h"
#include "timers.h"
/**
* @brief C function that is used to interface this class with the FreeRTOS
* kernel.
*
* @note This function should not be called or referenced by the user.
*
* @param task Pointer to an instance of FreeRTOS::TimerBase.
*/
void callTimerFunction(TimerHandle_t timer);
namespace FreeRTOS {
/**
* @class TimerBase Timer.hpp <FreeRTOS/Timer.hpp>
*
* @brief Base class that provides the standard task interface to
* FreeRTOS::Timer and FreeRTOS::StaticTimer.
*
* @note This class is not intended to be instantiated or derived from by the
* user. Use FreeRTOS::Timer or FreeRTOS::StaticTimer as a base class for a user
* implemented task.
*/
class TimerBase {
public:
friend class Timer;
friend class StaticTimer;
TimerBase(const TimerBase&) = delete;
TimerBase& operator=(const TimerBase&) = delete;
static void* operator new(size_t, void* ptr) { return ptr; }
static void* operator new[](size_t, void* ptr) { return ptr; }
static void* operator new(size_t) = delete;
static void* operator new[](size_t) = delete;
/**
* Timer.hpp
*
* @brief Function that acts as the entry point of the timer instance.
*
* @note This function is only public so that it can be accessed by the C
* interface function <tt>callTimerFunction()</tt> and should not be called or
* referenced by the user.
*/
virtual inline void timerEntry() final { timerFunction(); }
/**
* Timer.hpp
*
* @brief Function that checks the value of the timer handle. This function
* should be called to ensure the timer was created successfully.
*
* @return true If the timer was created successfully.
* @return false If the timer was not created successfully due to insufficient
* memory.
*/
inline bool isValid() const { return (handle != NULL); }
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerIsTimerActive(
* TimerHandle_t xTimer )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerIsTimerActive.html>
*
* Queries a software timer to see if it is active or dormant.
*
* A timer will be dormant if:
* -# It has been created but not started, or
* -# It is an expired one-shot timer that has not been restarted.
*
* @note Timers are created in the dormant state. The start(), reset(),
* startFromISR(), resetFromISR(), changePeriod() and changePeriodFromISR()
* API functions can all be used to transition a timer into the active state.
*
* @return false If the timer is dormant.
* @return true Otherwise.
*
* <b>Example Usage</b>
* @include Timer/isActive.cpp
*/
inline bool isActive() const {
return (xTimerIsTimerActive(handle) != pdFALSE);
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerStart( TimerHandle_t
* xTimer, TickType_t xBlockTime )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerStart.html>
*
* start() starts a timer. If the timer had already been started and was
* already in the active state, then start() has equivalent functionality to
* the reset() API function.
*
* Starting a timer ensures the timer is in the active state. If the timer is
* not stopped, deleted, or reset in the mean time, timerFunction() will get
* called 'n 'ticks after start() was called, where 'n' is the timers defined
* period.
*
* It is valid to call start() before the RTOS scheduler has been started, but
* when this is done the timer will not actually start until the RTOS
* scheduler is started, and the timers expiry time will be relative to when
* the RTOS scheduler is started, not relative to when start() was called.
*
* @param blockTime Specifies the time, in ticks, that the calling task should
* be held in the Blocked state to wait for the start command to be
* successfully sent to the timer command queue, should the queue already be
* full when start() was called. blockTime is ignored if start() is called
* before the RTOS scheduler is started.
* @return true If the command was successfully sent to the timer command
* queue. When the command is actually processed will depend on the priority
* of the timer service/daemon task relative to other tasks in the system,
* although the timers expiry time is relative to when start() is actually
* called. The timer service/daemon task priority is set by the
* configTIMER_TASK_PRIORITY configuration constant.
* @return false If the start command could not be sent to the timer command
* queue even after blockTime ticks had passed.
*
* <b>Example Usage</b>
* @include Timer/timer.cpp
*/
inline bool start(const TickType_t blockTime = 0) const {
return (xTimerStart(handle, blockTime) == pdPASS);
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerStartFromISR( TimerHandle_t
* xTimer, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerStartFromISR.html>
*
* A version of start() that can be called from an interrupt service routine.
*
* @param higherPriorityTaskWoken The timer service/daemon task spends most of
* its time in the Blocked state, waiting for messages to arrive on the timer
* command queue. Calling startFromISR() writes a message to the timer command
* queue, so has the potential to transition the timer service/daemon task out
* of the Blocked state. If calling startFromISR() causes the timer
* service/daemon task to leave the Blocked state, and the timer service/
* daemon task has a priority equal to or greater than the currently executing
* task (the task that was interrupted), then higherPriorityTaskWoken will get
* set to true internally within the startFromISR() function. If
* startFromISR() sets this value to true, then a context switch should be
* performed before the interrupt exits.
* @return true If the command was successfully sent to the timer command
* queue. When the command is actually processed will depend on the priority
* of the timer service/daemon task relative to other tasks in the system,
* although the timers expiry time is relative to when startFromISR() is
* actually called. The timer service/daemon task priority is set by the
* configTIMER_TASK_PRIORITY configuration constant.
* @return false If the start command could not be sent to the timer command
* queue.
*
* <b>Example Usage</b>
* @include Timer/startFromISR.cpp
*/
inline bool startFromISR(bool& higherPriorityTaskWoken) const {
BaseType_t taskWoken = pdFALSE;
bool result = (xTimerStartFromISR(handle, &taskWoken) == pdPASS);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerStartFromISR( TimerHandle_t
* xTimer, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerStartFromISR.html>
*
* @overload
*/
inline bool startFromISR() const {
return (xTimerStartFromISR(handle, NULL) == pdPASS);
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerStop( TimerHandle_t xTimer,
* TickType_t xBlockTime )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerStop.html>
*
* stop() stops a timer that was previously started using either of the
* start(), reset(), startFromISR(), resetFromISR(), changePeriod() and
* changePeriodFromISR() API functions.
*
* Stopping a timer ensures the timer is not in the active state.
*
* @param blockTime Specifies the time, in ticks, that the calling task should
* be held in the Blocked state to wait for the stop command to be
* successfully sent to the timer command queue, should the queue already be
* full when stop() was called. blockTime is ignored if stop() is called
* before the RTOS scheduler is started.
* @return true If the command was successfully sent to the timer command
* queue. When the command is actually processed will depend on the priority
* of the timer service/daemon task relative to other tasks in the system. The
* timer service/daemon task priority is set by the configTIMER_TASK_PRIORITY
* configuration constant.
* @return false If the stop command could not be sent to the timer command
* queue even after blockTime ticks had passed.
*
* <b>Example Usage</b>
* @include Timer/timer.cpp
*/
inline bool stop(const TickType_t blockTime = 0) const {
return (xTimerStop(handle, blockTime) == pdPASS);
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerStopFromISR( TimerHandle_t
* xTimer, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerStopFromISR.html>
*
* A version of stop() that can be called from an interrupt service routine.
*
* @param higherPriorityTaskWoken The timer service/daemon task spends most of
* its time in the Blocked state, waiting for messages to arrive on the timer
* command queue. Calling stopFromISR() writes a message to the timer command
* queue, so has the potential to transition the timer service/daemon task out
* of the Blocked state. If calling stopFromISR() causes the timer
* service/daemon task to leave the Blocked state, and the timer service/
* daemon task has a priority equal to or greater than the currently executing
* task (the task that was interrupted), then higherPriorityTaskWoken will get
* set to true internally within the stopFromISR() function. If stopFromISR()
* sets this value to true, then a context switch should be performed before
* the interrupt exits.
* @return true If the command was successfully sent to the timer command
* queue. When the command is actually processed will depend on the priority
* of the timer service/daemon task relative to other tasks in the system. The
* timer service/daemon task priority is set by the configTIMER_TASK_PRIORITY
* configuration constant.
* @return false If the start command could not be sent to the timer command
* queue.
*
* <b>Example Usage</b>
* @include Timer/stopFromISR.cpp
*/
inline bool stopFromISR(bool& higherPriorityTaskWoken) const {
BaseType_t taskWoken = pdFALSE;
bool result = (xTimerStopFromISR(handle, &taskWoken) == pdPASS);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerStopFromISR( TimerHandle_t
* xTimer, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerStopFromISR.html>
*
* @overload
*/
inline bool stopFromISR() const {
return (xTimerStopFromISR(handle, NULL) == pdPASS);
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerChangePeriod( TimerHandle_t
* xTimer, TickType_t xNewPeriod, TickType_t xBlockTime )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerChangePeriod.html>
*
* changePeriod() changes the period of a timer.
*
* changePeriod() can be called to change the period of an active or dormant
* state timer. Changing the period of a dormant timers will also start the
* timer.
*
* @param newPeriod The new period for timer. Timer periods are specified in
* tick periods, so the constant portTICK_PERIOD_MS can be used to convert a
* time that has been specified in milliseconds. For example, if the timer
* must expire after 100 ticks, then newPeriod should be set to 100.
* Alternatively, if the timer must expire after 500ms, then newPeriod can be
* set to ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less
* than or equal to 1000.
* @param blockTime Specifies the time, in ticks, that the calling task should
* be held in the Blocked state to wait for the change period command to be
* successfully sent to the timer command queue, should the queue already be
* full when changePeriod() was called. blockTime is ignored if changePeriod()
* is called before the RTOS scheduler is started.
* @return true If the command was successfully sent to the timer command
* queue. When the command is actually processed will depend on the priority
* of the timer service/daemon task relative to other tasks in the system. The
* timer service/daemon task priority is set by the configTIMER_TASK_PRIORITY
* configuration constant.
* @return false If the change period command could not be sent to the timer
* command queue even after blockTime ticks had passed.
*
* <b>Example Usage</b>
* @include Timer/changePeriod.cpp
*/
inline bool changePeriod(const TickType_t newPeriod,
const TickType_t blockTime = 0) const {
return (xTimerChangePeriod(handle, newPeriod, blockTime) == pdPASS);
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerChangePeriodFromISR(
* TimerHandle_t xTimer, TickType_t xNewPeriod, BaseType_t
* *pxHigherPriorityTaskWoken )</tt>
*
* @see
* <https://www.freertos.org/FreeRTOS-timers-xTimerChangePeriodFromISR.html>
*
* A version of changePeriod() that can be called from an interrupt service
* routine.
*
* @param newPeriod The new period for timer. Timer periods are specified in
* tick periods, so the constant portTICK_PERIOD_MS can be used to convert a
* time that has been specified in milliseconds. For example, if the timer
* must expire after 100 ticks, then newPeriod should be set to 100.
* Alternatively, if the timer must expire after 500ms, then newPeriod can be
* set to ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less
* than or equal to 1000.
* @param higherPriorityTaskWoken The timer service/daemon task spends most of
* its time in the Blocked state, waiting for messages to arrive on the timer
* command queue. Calling changePeriodFromISR() writes a message to the timer
* command queue, so has the potential to transition the timer service/ daemon
* task out of the Blocked state. If calling changePeriodFromISR() causes the
* timer service/daemon task to leave the Blocked state, and the timer
* service/daemon task has a priority equal to or greater than the currently
* executing task (the task that was interrupted), then
* higherPriorityTaskWoken will get set to true internally within the
* changePeriodFromISR() function. If changePeriodFromISR() sets this value to
* true, then a context switch should be performed before the interrupt exits.
* @return true If the command was successfully sent to the timer command
* queue. When the command is actually processed will depend on the priority
* of the timer service/daemon task relative to other tasks in the system. The
* timer service/daemon task priority is set by the configTIMER_TASK_PRIORITY
* configuration constant.
* @return false If the change period command could not be sent to the timer
* command queue.
*
* <b>Example Usage</b>
* @include Timer/changePeriodFromISR.cpp
*/
inline bool changePeriodFromISR(bool& higherPriorityTaskWoken,
const TickType_t newPeriod) const {
BaseType_t taskWoken = pdFALSE;
bool result =
(xTimerChangePeriodFromISR(handle, newPeriod, &taskWoken) == pdPASS);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerChangePeriodFromISR(
* TimerHandle_t xTimer, TickType_t xNewPeriod, BaseType_t
* *pxHigherPriorityTaskWoken )</tt>
*
* @see
* <https://www.freertos.org/FreeRTOS-timers-xTimerChangePeriodFromISR.html>
*
* @overload
*/
inline bool changePeriodFromISR(const TickType_t newPeriod) const {
return (xTimerChangePeriodFromISR(handle, newPeriod, NULL) == pdPASS);
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerDelete( TimerHandle_t
* xTimer, TickType_t xBlockTime )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerDelete.html>
*
* deleteTimer() deletes a timer from the FreeRTOS timer task.
*
* @note This function is also called in the destructor of the timer using the
* deleteBlockTime specified when the object was created. This function
* should be used when the user wants to delete the timer from the FreeRTOS
* timer task without destroying the timer object or with a different block
* time than what was specified in the constructor.
*
* @param blockTime Specifies the time, in ticks, that the calling task should
* be held in the Blocked state to wait for the delete command to be
* successfully sent to the timer command queue, should the queue already be
* full when deleteTimer() was called. blockTime is ignored if deleteTimer()
* is called before the RTOS scheduler is started.
* @return true If the command was successfully sent to the timer command
* queue. When the command is actually processed will depend on the priority
* of the timer service/daemon task relative to other tasks in the system. The
* timer service/daemon task priority is set by the configTIMER_TASK_PRIORITY
* configuration constant.
* @return false If the delete command could not be sent to the timer command
* queue even after blockTime ticks had passed.
*
* <b>Example Usage</b>
* @include Timer/changePeriod.cpp
*/
inline bool deleteTimer(const TickType_t blockTime = 0) {
if (xTimerDelete(handle, blockTime) == pdPASS) {
handle = NULL;
return true;
}
return false;
}
/**
* Timer.hpp
*
* @brief Function that calls <tt> BaseType_t xTimerReset( TimerHandle_t
* xTimer, TickType_t xBlockTime )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerReset.html>
*
* reset() re-starts a timer. If the timer had already been started and was
* already in the active state, then reset() will cause the timer to
* re-evaluate its expiry time so that it is relative to when reset() was
* called. If the timer was in the dormant state then reset() has equivalent
* functionality to the start() API function.
*
* Resetting a timer ensures the timer is in the active state. If the timer
* is not stopped, deleted, or reset in the mean time, the callback function
* associated with the timer will get called 'n' ticks after reset() was
* called, where 'n' is the timers defined period.
*
* It is valid to call reset() before the RTOS scheduler has been started, but
* when this is done the timer will not actually start until the RTOS
* scheduler is started, and the timers expiry time will be relative to when
* the RTOS scheduler is started, not relative to when reset() was called.
*
* @param blockTime Specifies the time, in ticks, that the calling task should
* be held in the Blocked state to wait for the reset command to be
* successfully sent to the timer command queue, should the queue already be
* full when reset() was called. blockTime is ignored if reset() is called
* before the RTOS scheduler is started.
* @return true If the command was successfully sent to the timer command
* queue. When the command is actually processed will depend on the priority
* of the timer service/daemon task relative to other tasks in the system,
* although the timers expiry time is relative to when reset() is actually
* called. The timer service/daemon task priority is set by the
* configTIMER_TASK_PRIORITY configuration constant.
* @return false If the reset command could not be sent to the timer command
* queue even after blockTime ticks had passed.
*
* <b>Example Usage</b>
* @include Timer/reset.cpp
*/
inline bool reset(const TickType_t blockTime = 0) const {
return (xTimerReset(handle, blockTime) == pdPASS);
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerResetFromISR( TimerHandle_t
* xTimer, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerResetFromISR.html>
*
* A version of reset() that can be called from an interrupt service routine.
*
* @param higherPriorityTaskWoken The timer service/daemon task spends most of
* its time in the Blocked state, waiting for messages to arrive on the timer
* command queue. Calling resetFromISR() writes a message to the timer command
* queue, so has the potential to transition the timer service/daemon task out
* of the Blocked state. If calling resetFromISR() causes the timer
* service/daemon task to leave the Blocked state, and the timer
* service/daemon task has a priority equal to or greater than the currently
* executing task (the task that was interrupted), then
* higherPriorityTaskWoken will get set to true internally within the
* resetFromISR() function. If resetFromISR() sets this value to true, then a
* context switch should be performed before the interrupt exits.
* @return true If the command was successfully sent to the timer command
* queue. When the command is actually processed will depend on the priority
* of the timer service/daemon task relative to other tasks in the system,
* although the timers expiry time is relative to when resetFromISR() is
* actually called. The timer service/daemon task priority is set by the
* configTIMER_TASK_PRIORITY configuration constant.
* @return false If the change period command could not be sent to the timer
* command queue.
*
* <b>Example Usage</b>
* @include Timer/resetFromISR.cpp
*/
inline bool resetFromISR(bool& higherPriorityTaskWoken) const {
BaseType_t taskWoken = pdFALSE;
bool result = (xTimerResetFromISR(handle, &taskWoken) == pdPASS);
if (taskWoken == pdTRUE) {
higherPriorityTaskWoken = true;
}
return result;
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>BaseType_t xTimerResetFromISR( TimerHandle_t
* xTimer, BaseType_t *pxHigherPriorityTaskWoken )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerResetFromISR.html>
*
* @overload
*/
inline bool resetFromISR() const {
return (xTimerResetFromISR(handle, NULL) == pdPASS);
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>void vTimerSetReloadMode( TimerHandle_t
* xTimer, const UBaseType_t uxAutoReload )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-Timers-vTimerSetReloadMode.html>
*
* Updates the 'mode' of a software timer to be either an auto reload timer or
* a one-shot timer.
*
* An auto reload timer resets itself each time it expires, causing the timer
* to expire (and therefore execute its callback) periodically.
*
* A one shot timer does not automatically reset itself, so will only expire
* (and therefore execute its callback) once unless it is manually restarted.
*
* @param autoReload Set autoReload to true to set the timer into auto reload
* mode, or false to set the timer into one shot mode.
*/
inline void setReloadMode(const bool autoReload) const {
vTimerSetReloadMode(handle, (autoReload ? pdTRUE : pdFALSE));
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>const char * pcTimerGetName( TimerHandle_t
* xTimer )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-pcTimerGetName.html>
*
* Returns the human readable text name of a software timer.
*
* Text names are assigned to timers in the constructor.
*
* @return const char* A pointer to the text name of the timer as a standard
* NULL terminated C string.
*
* <b>Example Usage</b>
* @include Timer/getName.cpp
*/
inline const char* getName() const { return pcTimerGetName(handle); }
/**
* Timer.hpp
*
* @brief Function that calls <tt>TickType_t xTimerGetPeriod( TimerHandle_t
* xTimer )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerGetPeriod.html>
*
* Returns the period of a software timer. The period is specified in ticks.
*
* The period of a timer is initially set using the period parameter of the
* constructor. It can then be changed using the changePeriod() and
* changePeriodFromISR() API functions.
*
* @return TickType_t The period of the timer, in ticks.
*
* <b>Example Usage</b>
* @include Timer/getPeriod.cpp
*/
inline TickType_t getPeriod() const { return xTimerGetPeriod(handle); }
/**
* Timer.hpp
*
* @brief Function that calls <tt>TickType_t xTimerGetExpiryTime(
* TimerHandle_t xTimer )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerGetExpiryTime.html>
*
* Returns the time at which the software timer will expire, which is the time
* at which the timer's callback function will execute.
*
* If the value returned by getExpiryTime() is less than the current time then
* the timer will expire after the tick count has overflowed and wrapped back
* to 0. Overflows are handled in the RTOS implementation itself, so a timer's
* callback function will execute at the correct time whether it is before or
* after the tick count overflows.
*
* @return TickType_t If the timer is active, then the time at which the timer
* will next expire is returned (which may be after the current tick count has
* overflowed, see the notes above). If the timer is not active then the
* return value is undefined.
*
* <b>Example Usage</b>
* @include Timer/getExpiryTime.cpp
*/
inline TickType_t getExpiryTime() const {
return xTimerGetExpiryTime(handle);
}
/**
* Timer.hpp
*
* @brief Function that calls <tt>UBaseType_t uxTimerGetReloadMode(
* TimerHandle_t xTimer )</tt>
*
* @see <https://www.freertos.org/uxTimerGetReloadMode.html>
*
* Queries the 'mode' of the software timer.
*
* The mode can be either an auto-reloaded timer, which automatically resets
* itself each time it expires, or a one-shot timer, which will expire only
* once unless it is manually restarted.
*
* @return true If the timer is an auto-reload timer.
* @return false Otherwise.
*/
inline bool getReloadMode() const {
return (uxTimerGetReloadMode(handle) == pdTRUE);
}
/**
* Timer.hpp
*
* @brief Set the delete block time. This value is used when the destructor
* calls deleteTimer().
*
* @param deleteBlockTime Delete block time to be set in ticks.
*/
inline void setDeleteBlockTime(const TickType_t deleteBlockTime = 0) {
this->deleteBlockTime = deleteBlockTime;
}
/**
* Timer.hpp
*
* @brief Set the delete block time. This value is used when the destructor
* calls deleteTimer().
*
* @return TickType_t Delete block time in ticks.
*/
inline TickType_t getDeleteBlockTime() const { return deleteBlockTime; }
protected:
/**
* Timer.hpp
*
* @brief Abstraction function that acts as the entry point of the timer
* callback for the user.
*/
virtual void timerFunction() = 0;
private:
/**
* Timer.hpp
*
* @brief Construct a new TimerBase object. This default constructor is
* deliberately private as this class is not intended to be instantiated or
* derived from by the user. Use FreeRTOS::Timer or FreeRTOS::StaticTimer as
* a base class for creating a task.
*
* @param deleteBlockTime Set the delete block time. This value is used when
* the destructor calls deleteTimer().
*/
explicit TimerBase(const TickType_t deleteBlockTime = 0)
: deleteBlockTime(deleteBlockTime) {}
/**
* Timer.hpp
*
* @brief Destroy the TimerBase object.
*
* @note This destructor will check that the timer is still valid and has not
* already been deleted by deleteTimer() before calling the function. If the
* timer is still valid the destructor will call deleteTimer() and block for
* up to the amount of time specified by deleteBlockTime.
*/
~TimerBase() {
if (isValid()) {
deleteTimer(getDeleteBlockTime());
}
}
TimerBase(TimerBase&&) noexcept = default;
TimerBase& operator=(TimerBase&&) noexcept = default;
TimerHandle_t handle = NULL;
TickType_t deleteBlockTime;
};
#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
/**
* Timer Timer.hpp <FreeRTOS/Timer.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS timer.
*
* Each software timer requires a small amount of RAM that is used to hold the
* timer's state. If a timer is created using this class then this RAM is
* automatically allocated from the FreeRTOS heap. If a software timer is
* created using FreeRTOS::StaticTimer() then the RAM is included in the object
* so it can be statically allocated at compile time. See the Static Vs Dynamic
* allocation page for more information.
*
* @note This class is not intended to be instantiated by the user. The user
* should create a class that derives from this class and implement
* timerFunction().
*/
class Timer : public TimerBase {
public:
Timer(const Timer&) = delete;
Timer& operator=(const Timer&) = delete;
protected:
/**
* Timer.hpp
*
* @brief Construct a new Timer object by calling <tt>TimerHandle_t
* xTimerCreate( const char * const pcTimerName, const TickType_t
* xTimerPeriod, const UBaseType_t uxAutoReload, void * const pvTimerID,
* TimerCallbackFunction_t pxCallbackFunction )</tt>
*
* @see <https://www.freertos.org/FreeRTOS-timers-xTimerCreate.html>
*
* @warning The user should call isValid() on this object to verify that the
* timer was created successfully in case the memory required to create the
* timer could not be allocated.
*
* @note Timers are created in the dormant state. The start(), reset(),
* startFromISR(), resetFromISR(), changePeriod() and changePeriodFromISR()
* API functions can all be used to transition a timer into the active state.
*
* @note When calling <tt>xTimerCreate</tt> the constructor passes the
* <tt>this</tt> pointer as the pvTimerID argument. This pointer is used so
* that the interface function callTimerFunction() can invoke timerFunction()
* for this instance of the class.
*
* @param period The period of the timer. The period is specified in ticks,
* and the macro pdMS_TO_TICKS() can be used to convert a time specified in
* milliseconds to a time specified in ticks. For example, if the timer must
* expire after 100 ticks, then simply set period to 100. Alternatively, if
* the timer must expire after 500ms, then set period to pdMS_TO_TICKS( 500 ).
* pdMS_TO_TICKS() can only be used if configTICK_RATE_HZ is less than or
* equal to 1000. The timer period must be greater than 0.
* @param autoReload If autoReload is set to true, then the timer will expire
* repeatedly with a frequency set by the period parameter. If autoReload is
* set to false, then the timer will be a one-shot and enter the dormant state
* after it expires.
* @param name A human readable text name that is assigned to the timer. This
* is done purely to assist debugging. The RTOS kernel itself only ever
* references a timer by its handle, and never by its name.
* @param deleteBlockTime Specifies the time, in ticks, that the calling task
* should be held in the Blocked state to wait for the delete command to be
* successfully sent to the timer command queue, should the queue already be
* full when the destructor is called. deleteBlockTime is ignored if the
* destructor is called before the RTOS scheduler is started or if the timer
* has already been deleted by deleteTimer() before the destructor is called.
* This value can be updated by calling setDeleteBlockTime().
*
* <b>Example Usage</b>
* @include Timer/timer.cpp
*/
explicit Timer(const TickType_t period, const bool autoReload = false,
const char* name = "", const TickType_t deleteBlockTime = 0)
: TimerBase(deleteBlockTime) {
this->handle = xTimerCreate(name, period, (autoReload ? pdTRUE : pdFALSE),
this, callTimerFunction);
}
~Timer() = default;
Timer(Timer&&) noexcept = default;
Timer& operator=(Timer&&) noexcept = default;
};
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
#if (configSUPPORT_STATIC_ALLOCATION == 1)
/**
* Timer Timer.hpp <FreeRTOS/Timer.hpp>
*
* @brief Class that encapsulates the functionality of a FreeRTOS timer.
*
* Each software timer requires a small amount of RAM that is used to hold the
* timer's state. If a timer is created using FreeRTOS::Timer() then this RAM is
* automatically allocated from the FreeRTOS heap. If a software timer is
* created this class then the RAM is included in the object so it can be
* statically allocated at compile time. See the Static Vs Dynamic allocation
* page for more information.
*
* @note This class is not intended to be instantiated by the user. The user
* should create a class that derives from this class and implement
* timerFunction().
*
* @warning This class contains the timer data structure, so any instance of
* this class or class derived from this class should be persistent (not
* declared on the stack of another function).
*/
class StaticTimer : public TimerBase {
public:
StaticTimer(const StaticTimer&) = delete;
StaticTimer& operator=(const StaticTimer&) = delete;
protected:
/**
* Timer.hpp
*
* @brief Construct a new StaticTimer object by calling <tt>TimerHandle_t
* xTimerCreateStatic( const char * const pcTimerName, const TickType_t
* xTimerPeriod, const UBaseType_t uxAutoReload, void * const pvTimerID,
* TimerCallbackFunction_t pxCallbackFunction StaticTimer_t *pxTimerBuffer
* )</tt>
*
* @see <https://www.freertos.org/xTimerCreateStatic.html>
*
* @note When calling <tt>xTimerCreateStatic</tt> the constructor passes the
* <tt>this</tt> pointer as the pvTimerID argument. This pointer is used so
* that the interface function callTimerFunction() can invoke timerFunction()
* for this instance of the class.
*
* @note Timers are created in the dormant state. The start(), reset(),
* startFromISR(), resetFromISR(), changePeriod() and changePeriodFromISR()
* API functions can all be used to transition a timer into the active state.
*
* @param period The period of the timer. The period is specified in ticks,
* and the macro pdMS_TO_TICKS() can be used to convert a time specified in
* milliseconds to a time specified in ticks. For example, if the timer must
* expire after 100 ticks, then simply set period to 100. Alternatively, if
* the timer must expire after 500ms, then set period to pdMS_TO_TICKS( 500 ).
* pdMS_TO_TICKS() can only be used if configTICK_RATE_HZ is less than or
* equal to 1000. The timer period must be greater than 0.
* @param autoReload If autoReload is set to true, then the timer will expire
* repeatedly with a frequency set by the period parameter. If autoReload is
* set to false, then the timer will be a one-shot and enter the dormant state
* after it expires.
* @param name A human readable text name that is assigned to the timer. This
* is done purely to assist debugging. The RTOS kernel itself only ever
* references a timer by its handle, and never by its name.
* @param deleteBlockTime Specifies the time, in ticks, that the calling task
* should be held in the Blocked state to wait for the delete command to be
* successfully sent to the timer command queue, should the queue already be
* full when the destructor is called. deleteBlockTime is ignored if the
* destructor is called before the RTOS scheduler is started or if the timer
* has already been deleted by deleteTimer() before the destructor is called.
* This value can be updated by calling setDeleteBlockTime().
*
* <b>Example Usage</b>
* @include Timer/staticTimer.cpp
*/
explicit StaticTimer(const TickType_t period, const bool autoReload = false,
const char* name = "",
const TickType_t deleteBlockTime = 0)
: TimerBase(deleteBlockTime) {
this->handle =
xTimerCreateStatic(name, period, (autoReload ? pdTRUE : pdFALSE), this,
callTimerFunction, &staticTimer);
}
~StaticTimer() = default;
StaticTimer(StaticTimer&&) noexcept = default;
StaticTimer& operator=(StaticTimer&&) noexcept = default;
private:
StaticTimer_t staticTimer;
};
#endif /* configSUPPORT_STATIC_ALLOCATION */
} // namespace FreeRTOS
inline void callTimerFunction(TimerHandle_t timer) {
static_cast<FreeRTOS::TimerBase*>(pvTimerGetTimerID(timer))->timerEntry();
}
#endif // FREERTOS_TIMER_HPP

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#ifndef TIMER_HPP
#define TIMER_HPP
#include <cstdint>
#include "murax.h"
// Klasa TimeR
class TimeR {
public:
static inline uint32_t readValue() {
return ptr->VALUE;
}
private:
static const Timer_Reg* ptr;
};
#endif // TIMER_HPP

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/*
Copyright (c) 2009-2017 Dave Gamble and cJSON contributors
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#ifndef cJSON__h
#define cJSON__h
#ifdef __cplusplus
extern "C"
{
#endif
#if !defined(__WINDOWS__) && (defined(WIN32) || defined(WIN64) || defined(_MSC_VER) || defined(_WIN32))
#define __WINDOWS__
#endif
#ifdef __WINDOWS__
/* When compiling for windows, we specify a specific calling convention to avoid issues where we are being called from a project with a different default calling convention. For windows you have 3 define options:
CJSON_HIDE_SYMBOLS - Define this in the case where you don't want to ever dllexport symbols
CJSON_EXPORT_SYMBOLS - Define this on library build when you want to dllexport symbols (default)
CJSON_IMPORT_SYMBOLS - Define this if you want to dllimport symbol
For *nix builds that support visibility attribute, you can define similar behavior by
setting default visibility to hidden by adding
-fvisibility=hidden (for gcc)
or
-xldscope=hidden (for sun cc)
to CFLAGS
then using the CJSON_API_VISIBILITY flag to "export" the same symbols the way CJSON_EXPORT_SYMBOLS does
*/
#define CJSON_CDECL __cdecl
#define CJSON_STDCALL __stdcall
/* export symbols by default, this is necessary for copy pasting the C and header file */
#if !defined(CJSON_HIDE_SYMBOLS) && !defined(CJSON_IMPORT_SYMBOLS) && !defined(CJSON_EXPORT_SYMBOLS)
#define CJSON_EXPORT_SYMBOLS
#endif
#if defined(CJSON_HIDE_SYMBOLS)
#define CJSON_PUBLIC(type) type CJSON_STDCALL
#elif defined(CJSON_EXPORT_SYMBOLS)
#define CJSON_PUBLIC(type) __declspec(dllexport) type CJSON_STDCALL
#elif defined(CJSON_IMPORT_SYMBOLS)
#define CJSON_PUBLIC(type) __declspec(dllimport) type CJSON_STDCALL
#endif
#else /* !__WINDOWS__ */
#define CJSON_CDECL
#define CJSON_STDCALL
#if (defined(__GNUC__) || defined(__SUNPRO_CC) || defined (__SUNPRO_C)) && defined(CJSON_API_VISIBILITY)
#define CJSON_PUBLIC(type) __attribute__((visibility("default"))) type
#else
#define CJSON_PUBLIC(type) type
#endif
#endif
/* project version */
#define CJSON_VERSION_MAJOR 1
#define CJSON_VERSION_MINOR 7
#define CJSON_VERSION_PATCH 18
#include <stddef.h>
/* cJSON Types: */
#define cJSON_Invalid (0)
#define cJSON_False (1 << 0)
#define cJSON_True (1 << 1)
#define cJSON_NULL (1 << 2)
#define cJSON_Number (1 << 3)
#define cJSON_String (1 << 4)
#define cJSON_Array (1 << 5)
#define cJSON_Object (1 << 6)
#define cJSON_Raw (1 << 7) /* raw json */
#define cJSON_IsReference 256
#define cJSON_StringIsConst 512
/* The cJSON structure: */
typedef struct cJSON
{
/* next/prev allow you to walk array/object chains. Alternatively, use GetArraySize/GetArrayItem/GetObjectItem */
struct cJSON *next;
struct cJSON *prev;
/* An array or object item will have a child pointer pointing to a chain of the items in the array/object. */
struct cJSON *child;
/* The type of the item, as above. */
int type;
/* The item's string, if type==cJSON_String and type == cJSON_Raw */
char *valuestring;
/* writing to valueint is DEPRECATED, use cJSON_SetNumberValue instead */
int valueint;
/* The item's number, if type==cJSON_Number */
double valuedouble;
/* The item's name string, if this item is the child of, or is in the list of subitems of an object. */
char *string;
} cJSON;
typedef struct cJSON_Hooks
{
/* malloc/free are CDECL on Windows regardless of the default calling convention of the compiler, so ensure the hooks allow passing those functions directly. */
void *(CJSON_CDECL *malloc_fn)(size_t sz);
void (CJSON_CDECL *free_fn)(void *ptr);
} cJSON_Hooks;
typedef int cJSON_bool;
/* Limits how deeply nested arrays/objects can be before cJSON rejects to parse them.
* This is to prevent stack overflows. */
#ifndef CJSON_NESTING_LIMIT
#define CJSON_NESTING_LIMIT 1000
#endif
/* returns the version of cJSON as a string */
CJSON_PUBLIC(const char*) cJSON_Version(void);
/* Supply malloc, realloc and free functions to cJSON */
CJSON_PUBLIC(void) cJSON_InitHooks(cJSON_Hooks* hooks);
/* Memory Management: the caller is always responsible to free the results from all variants of cJSON_Parse (with cJSON_Delete) and cJSON_Print (with stdlib free, cJSON_Hooks.free_fn, or cJSON_free as appropriate). The exception is cJSON_PrintPreallocated, where the caller has full responsibility of the buffer. */
/* Supply a block of JSON, and this returns a cJSON object you can interrogate. */
CJSON_PUBLIC(cJSON *) cJSON_Parse(const char *value);
CJSON_PUBLIC(cJSON *) cJSON_ParseWithLength(const char *value, size_t buffer_length);
/* ParseWithOpts allows you to require (and check) that the JSON is null terminated, and to retrieve the pointer to the final byte parsed. */
/* If you supply a ptr in return_parse_end and parsing fails, then return_parse_end will contain a pointer to the error so will match cJSON_GetErrorPtr(). */
CJSON_PUBLIC(cJSON *) cJSON_ParseWithOpts(const char *value, const char **return_parse_end, cJSON_bool require_null_terminated);
CJSON_PUBLIC(cJSON *) cJSON_ParseWithLengthOpts(const char *value, size_t buffer_length, const char **return_parse_end, cJSON_bool require_null_terminated);
/* Render a cJSON entity to text for transfer/storage. */
CJSON_PUBLIC(char *) cJSON_Print(const cJSON *item);
/* Render a cJSON entity to text for transfer/storage without any formatting. */
CJSON_PUBLIC(char *) cJSON_PrintUnformatted(const cJSON *item);
/* Render a cJSON entity to text using a buffered strategy. prebuffer is a guess at the final size. guessing well reduces reallocation. fmt=0 gives unformatted, =1 gives formatted */
CJSON_PUBLIC(char *) cJSON_PrintBuffered(const cJSON *item, int prebuffer, cJSON_bool fmt);
/* Render a cJSON entity to text using a buffer already allocated in memory with given length. Returns 1 on success and 0 on failure. */
/* NOTE: cJSON is not always 100% accurate in estimating how much memory it will use, so to be safe allocate 5 bytes more than you actually need */
CJSON_PUBLIC(cJSON_bool) cJSON_PrintPreallocated(cJSON *item, char *buffer, const int length, const cJSON_bool format);
/* Delete a cJSON entity and all subentities. */
CJSON_PUBLIC(void) cJSON_Delete(cJSON *item);
/* Returns the number of items in an array (or object). */
CJSON_PUBLIC(int) cJSON_GetArraySize(const cJSON *array);
/* Retrieve item number "index" from array "array". Returns NULL if unsuccessful. */
CJSON_PUBLIC(cJSON *) cJSON_GetArrayItem(const cJSON *array, int index);
/* Get item "string" from object. Case insensitive. */
CJSON_PUBLIC(cJSON *) cJSON_GetObjectItem(const cJSON * const object, const char * const string);
CJSON_PUBLIC(cJSON *) cJSON_GetObjectItemCaseSensitive(const cJSON * const object, const char * const string);
CJSON_PUBLIC(cJSON_bool) cJSON_HasObjectItem(const cJSON *object, const char *string);
/* For analysing failed parses. This returns a pointer to the parse error. You'll probably need to look a few chars back to make sense of it. Defined when cJSON_Parse() returns 0. 0 when cJSON_Parse() succeeds. */
CJSON_PUBLIC(const char *) cJSON_GetErrorPtr(void);
/* Check item type and return its value */
CJSON_PUBLIC(char *) cJSON_GetStringValue(const cJSON * const item);
CJSON_PUBLIC(double) cJSON_GetNumberValue(const cJSON * const item);
/* These functions check the type of an item */
CJSON_PUBLIC(cJSON_bool) cJSON_IsInvalid(const cJSON * const item);
CJSON_PUBLIC(cJSON_bool) cJSON_IsFalse(const cJSON * const item);
CJSON_PUBLIC(cJSON_bool) cJSON_IsTrue(const cJSON * const item);
CJSON_PUBLIC(cJSON_bool) cJSON_IsBool(const cJSON * const item);
CJSON_PUBLIC(cJSON_bool) cJSON_IsNull(const cJSON * const item);
CJSON_PUBLIC(cJSON_bool) cJSON_IsNumber(const cJSON * const item);
CJSON_PUBLIC(cJSON_bool) cJSON_IsString(const cJSON * const item);
CJSON_PUBLIC(cJSON_bool) cJSON_IsArray(const cJSON * const item);
CJSON_PUBLIC(cJSON_bool) cJSON_IsObject(const cJSON * const item);
CJSON_PUBLIC(cJSON_bool) cJSON_IsRaw(const cJSON * const item);
/* These calls create a cJSON item of the appropriate type. */
CJSON_PUBLIC(cJSON *) cJSON_CreateNull(void);
CJSON_PUBLIC(cJSON *) cJSON_CreateTrue(void);
CJSON_PUBLIC(cJSON *) cJSON_CreateFalse(void);
CJSON_PUBLIC(cJSON *) cJSON_CreateBool(cJSON_bool boolean);
CJSON_PUBLIC(cJSON *) cJSON_CreateNumber(double num);
CJSON_PUBLIC(cJSON *) cJSON_CreateString(const char *string);
/* raw json */
CJSON_PUBLIC(cJSON *) cJSON_CreateRaw(const char *raw);
CJSON_PUBLIC(cJSON *) cJSON_CreateArray(void);
CJSON_PUBLIC(cJSON *) cJSON_CreateObject(void);
/* Create a string where valuestring references a string so
* it will not be freed by cJSON_Delete */
CJSON_PUBLIC(cJSON *) cJSON_CreateStringReference(const char *string);
/* Create an object/array that only references it's elements so
* they will not be freed by cJSON_Delete */
CJSON_PUBLIC(cJSON *) cJSON_CreateObjectReference(const cJSON *child);
CJSON_PUBLIC(cJSON *) cJSON_CreateArrayReference(const cJSON *child);
/* These utilities create an Array of count items.
* The parameter count cannot be greater than the number of elements in the number array, otherwise array access will be out of bounds.*/
CJSON_PUBLIC(cJSON *) cJSON_CreateIntArray(const int *numbers, int count);
CJSON_PUBLIC(cJSON *) cJSON_CreateFloatArray(const float *numbers, int count);
CJSON_PUBLIC(cJSON *) cJSON_CreateDoubleArray(const double *numbers, int count);
CJSON_PUBLIC(cJSON *) cJSON_CreateStringArray(const char *const *strings, int count);
/* Append item to the specified array/object. */
CJSON_PUBLIC(cJSON_bool) cJSON_AddItemToArray(cJSON *array, cJSON *item);
CJSON_PUBLIC(cJSON_bool) cJSON_AddItemToObject(cJSON *object, const char *string, cJSON *item);
/* Use this when string is definitely const (i.e. a literal, or as good as), and will definitely survive the cJSON object.
* WARNING: When this function was used, make sure to always check that (item->type & cJSON_StringIsConst) is zero before
* writing to `item->string` */
CJSON_PUBLIC(cJSON_bool) cJSON_AddItemToObjectCS(cJSON *object, const char *string, cJSON *item);
/* Append reference to item to the specified array/object. Use this when you want to add an existing cJSON to a new cJSON, but don't want to corrupt your existing cJSON. */
CJSON_PUBLIC(cJSON_bool) cJSON_AddItemReferenceToArray(cJSON *array, cJSON *item);
CJSON_PUBLIC(cJSON_bool) cJSON_AddItemReferenceToObject(cJSON *object, const char *string, cJSON *item);
/* Remove/Detach items from Arrays/Objects. */
CJSON_PUBLIC(cJSON *) cJSON_DetachItemViaPointer(cJSON *parent, cJSON * const item);
CJSON_PUBLIC(cJSON *) cJSON_DetachItemFromArray(cJSON *array, int which);
CJSON_PUBLIC(void) cJSON_DeleteItemFromArray(cJSON *array, int which);
CJSON_PUBLIC(cJSON *) cJSON_DetachItemFromObject(cJSON *object, const char *string);
CJSON_PUBLIC(cJSON *) cJSON_DetachItemFromObjectCaseSensitive(cJSON *object, const char *string);
CJSON_PUBLIC(void) cJSON_DeleteItemFromObject(cJSON *object, const char *string);
CJSON_PUBLIC(void) cJSON_DeleteItemFromObjectCaseSensitive(cJSON *object, const char *string);
/* Update array items. */
CJSON_PUBLIC(cJSON_bool) cJSON_InsertItemInArray(cJSON *array, int which, cJSON *newitem); /* Shifts pre-existing items to the right. */
CJSON_PUBLIC(cJSON_bool) cJSON_ReplaceItemViaPointer(cJSON * const parent, cJSON * const item, cJSON * replacement);
CJSON_PUBLIC(cJSON_bool) cJSON_ReplaceItemInArray(cJSON *array, int which, cJSON *newitem);
CJSON_PUBLIC(cJSON_bool) cJSON_ReplaceItemInObject(cJSON *object,const char *string,cJSON *newitem);
CJSON_PUBLIC(cJSON_bool) cJSON_ReplaceItemInObjectCaseSensitive(cJSON *object,const char *string,cJSON *newitem);
/* Duplicate a cJSON item */
CJSON_PUBLIC(cJSON *) cJSON_Duplicate(const cJSON *item, cJSON_bool recurse);
/* Duplicate will create a new, identical cJSON item to the one you pass, in new memory that will
* need to be released. With recurse!=0, it will duplicate any children connected to the item.
* The item->next and ->prev pointers are always zero on return from Duplicate. */
/* Recursively compare two cJSON items for equality. If either a or b is NULL or invalid, they will be considered unequal.
* case_sensitive determines if object keys are treated case sensitive (1) or case insensitive (0) */
CJSON_PUBLIC(cJSON_bool) cJSON_Compare(const cJSON * const a, const cJSON * const b, const cJSON_bool case_sensitive);
/* Minify a strings, remove blank characters(such as ' ', '\t', '\r', '\n') from strings.
* The input pointer json cannot point to a read-only address area, such as a string constant,
* but should point to a readable and writable address area. */
CJSON_PUBLIC(void) cJSON_Minify(char *json);
/* Helper functions for creating and adding items to an object at the same time.
* They return the added item or NULL on failure. */
CJSON_PUBLIC(cJSON*) cJSON_AddNullToObject(cJSON * const object, const char * const name);
CJSON_PUBLIC(cJSON*) cJSON_AddTrueToObject(cJSON * const object, const char * const name);
CJSON_PUBLIC(cJSON*) cJSON_AddFalseToObject(cJSON * const object, const char * const name);
CJSON_PUBLIC(cJSON*) cJSON_AddBoolToObject(cJSON * const object, const char * const name, const cJSON_bool boolean);
CJSON_PUBLIC(cJSON*) cJSON_AddNumberToObject(cJSON * const object, const char * const name, const double number);
CJSON_PUBLIC(cJSON*) cJSON_AddStringToObject(cJSON * const object, const char * const name, const char * const string);
CJSON_PUBLIC(cJSON*) cJSON_AddRawToObject(cJSON * const object, const char * const name, const char * const raw);
CJSON_PUBLIC(cJSON*) cJSON_AddObjectToObject(cJSON * const object, const char * const name);
CJSON_PUBLIC(cJSON*) cJSON_AddArrayToObject(cJSON * const object, const char * const name);
/* When assigning an integer value, it needs to be propagated to valuedouble too. */
#define cJSON_SetIntValue(object, number) ((object) ? (object)->valueint = (object)->valuedouble = (number) : (number))
/* helper for the cJSON_SetNumberValue macro */
CJSON_PUBLIC(double) cJSON_SetNumberHelper(cJSON *object, double number);
#define cJSON_SetNumberValue(object, number) ((object != NULL) ? cJSON_SetNumberHelper(object, (double)number) : (number))
/* Change the valuestring of a cJSON_String object, only takes effect when type of object is cJSON_String */
CJSON_PUBLIC(char*) cJSON_SetValuestring(cJSON *object, const char *valuestring);
/* If the object is not a boolean type this does nothing and returns cJSON_Invalid else it returns the new type*/
#define cJSON_SetBoolValue(object, boolValue) ( \
(object != NULL && ((object)->type & (cJSON_False|cJSON_True))) ? \
(object)->type=((object)->type &(~(cJSON_False|cJSON_True)))|((boolValue)?cJSON_True:cJSON_False) : \
cJSON_Invalid\
)
/* Macro for iterating over an array or object */
#define cJSON_ArrayForEach(element, array) for(element = (array != NULL) ? (array)->child : NULL; element != NULL; element = element->next)
/* malloc/free objects using the malloc/free functions that have been set with cJSON_InitHooks */
CJSON_PUBLIC(void *) cJSON_malloc(size_t size);
CJSON_PUBLIC(void) cJSON_free(void *object);
#ifdef __cplusplus
}
#endif
#endif

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/*
Copyright (c) 2009-2017 Dave Gamble and cJSON contributors
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#ifndef cJSON_Utils__h
#define cJSON_Utils__h
#ifdef __cplusplus
extern "C"
{
#endif
#include "cJSON.h"
/* Implement RFC6901 (https://tools.ietf.org/html/rfc6901) JSON Pointer spec. */
CJSON_PUBLIC(cJSON *) cJSONUtils_GetPointer(cJSON * const object, const char *pointer);
CJSON_PUBLIC(cJSON *) cJSONUtils_GetPointerCaseSensitive(cJSON * const object, const char *pointer);
/* Implement RFC6902 (https://tools.ietf.org/html/rfc6902) JSON Patch spec. */
/* NOTE: This modifies objects in 'from' and 'to' by sorting the elements by their key */
CJSON_PUBLIC(cJSON *) cJSONUtils_GeneratePatches(cJSON * const from, cJSON * const to);
CJSON_PUBLIC(cJSON *) cJSONUtils_GeneratePatchesCaseSensitive(cJSON * const from, cJSON * const to);
/* Utility for generating patch array entries. */
CJSON_PUBLIC(void) cJSONUtils_AddPatchToArray(cJSON * const array, const char * const operation, const char * const path, const cJSON * const value);
/* Returns 0 for success. */
CJSON_PUBLIC(int) cJSONUtils_ApplyPatches(cJSON * const object, const cJSON * const patches);
CJSON_PUBLIC(int) cJSONUtils_ApplyPatchesCaseSensitive(cJSON * const object, const cJSON * const patches);
/*
// Note that ApplyPatches is NOT atomic on failure. To implement an atomic ApplyPatches, use:
//int cJSONUtils_AtomicApplyPatches(cJSON **object, cJSON *patches)
//{
// cJSON *modme = cJSON_Duplicate(*object, 1);
// int error = cJSONUtils_ApplyPatches(modme, patches);
// if (!error)
// {
// cJSON_Delete(*object);
// *object = modme;
// }
// else
// {
// cJSON_Delete(modme);
// }
//
// return error;
//}
// Code not added to library since this strategy is a LOT slower.
*/
/* Implement RFC7386 (https://tools.ietf.org/html/rfc7396) JSON Merge Patch spec. */
/* target will be modified by patch. return value is new ptr for target. */
CJSON_PUBLIC(cJSON *) cJSONUtils_MergePatch(cJSON *target, const cJSON * const patch);
CJSON_PUBLIC(cJSON *) cJSONUtils_MergePatchCaseSensitive(cJSON *target, const cJSON * const patch);
/* generates a patch to move from -> to */
/* NOTE: This modifies objects in 'from' and 'to' by sorting the elements by their key */
CJSON_PUBLIC(cJSON *) cJSONUtils_GenerateMergePatch(cJSON * const from, cJSON * const to);
CJSON_PUBLIC(cJSON *) cJSONUtils_GenerateMergePatchCaseSensitive(cJSON * const from, cJSON * const to);
/* Given a root object and a target object, construct a pointer from one to the other. */
CJSON_PUBLIC(char *) cJSONUtils_FindPointerFromObjectTo(const cJSON * const object, const cJSON * const target);
/* Sorts the members of the object into alphabetical order. */
CJSON_PUBLIC(void) cJSONUtils_SortObject(cJSON * const object);
CJSON_PUBLIC(void) cJSONUtils_SortObjectCaseSensitive(cJSON * const object);
#ifdef __cplusplus
}
#endif
#endif

142
Demo/Common/main.cpp
View File

@ -5,9 +5,9 @@
#include "murax.h" #include "murax.h"
#include <cstddef> #include <cstddef>
#include <cstdio>
#include "lib/cJSON.h" #include <initializer_list>
#include <cstdio>
#define mainTIMER_PERIOD_MS (1 / portTICK_PERIOD_MS) // Ustawienie okresu timera na 1 sekundę #define mainTIMER_PERIOD_MS (1 / portTICK_PERIOD_MS) // Ustawienie okresu timera na 1 sekundę
#define QUEUE_LENGTH 5 #define QUEUE_LENGTH 5
@ -16,42 +16,6 @@
extern "C" { extern "C" {
void vApplicationMallocFailedHook(void); void vApplicationMallocFailedHook(void);
void vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName); void vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName);
extern char _heap_start []; // Początek sterty
extern char _heap_end []; // Koniec sterty
extern int errno;
static char *current_heap_end = (char *) _heap_start;
#define ENOMEM 12
void *_sbrk(intptr_t increment) {
char *prev_heap_end;
if ((current_heap_end + increment) > (char *)_heap_end) {
// Brak wystarczającej pamięci
errno = ENOMEM;
return (void *)-1;
}
prev_heap_end = current_heap_end;
current_heap_end += increment;
return (void *)prev_heap_end;
}
}
void print(const char*str){
while(*str){
uart_write(UART,*str);
str++;
}
}
void println(const char*str){
print(str);
uart_write(UART,'\n');
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -65,63 +29,59 @@ static QueueHandle_t xQueue;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#include <include/FreeRTOS/Task.hpp>
class MyTask : public FreeRTOS::Task { // Modern C++ aproach
public: // ---
MyTask(const UBaseType_t priority, const char* name) class TimeR {
: FreeRTOS::Task(priority, configMINIMAL_STACK_SIZE, name) {}
void taskFunction() final; public:
static inline uint32_t readValue() {
return ptr->VALUE;
}
private:
static const Timer_Reg* ptr ;
}; };
// Task to be created.
void MyTask::taskFunction() {
cJSON *root = cJSON_CreateObject();
cJSON_AddStringToObject(root, "sensor", "gps");
cJSON_AddNumberToObject(root, "time", 1351824120);
cJSON *data = cJSON_CreateObject();
cJSON_AddItemToObject(root, "data", data);
cJSON_AddNumberToObject(data, "lat", 48.756080);
cJSON_AddNumberToObject(data, "lon", 2.302038);
char *jsonString = cJSON_Print(root);
println (jsonString);
std::string result(jsonString);
cJSON_Delete(root);
free(jsonString);
for (;;) {
println("Delay 10ms");
vTaskDelay(pdMS_TO_TICKS(10));
// Task code goes here.
}
}
#include "include/Timer.hpp"
const Timer_Reg* TimeR::ptr = reinterpret_cast<const Timer_Reg*>(0xF0020040); const Timer_Reg* TimeR::ptr = reinterpret_cast<const Timer_Reg*>(0xF0020040);
#include "X.hpp"
#include "SimpleOStream.hpp" void test (std::initializer_list<int> vals) {
int buffer[50];
for (auto p = vals.begin(); p != vals.end(); ++p) {
int * i = buffer;
*i++ = *p;
// sprintf(buffer, "%d\n", *p);
// printf("%s", buffer);
}
}
#include <vector>
int main(void) { int main(void) {
// Definicja globalnego obiektu strumienia wyjściowego std::vector<int> numbers;
SimpleOStream simpleCout;
// Dodawanie elementów do wektora
for (int i = 0; i < 10; ++i) {
numbers.push_back(i);
}
X var {7}; // Wypisywanie elementów wektora
char buffer[100];
sprintf(buffer, "Elements in the vector: ");
println("hello world arty a7 v1"); for (int number : numbers) {
sprintf(buffer, "%d ", number);
}
sprintf(buffer, "\n");
test({1,2,3,4,5});
xQueue = xQueueCreate(QUEUE_LENGTH, QUEUE_ITEM_SIZE); // Tworzenie kolejki xQueue = xQueueCreate(QUEUE_LENGTH, QUEUE_ITEM_SIZE); // Tworzenie kolejki
if (xQueue == NULL) { if (xQueue == NULL) {
return -1; // Błąd podczas tworzenia kolejki return -1; // Błąd podczas tworzenia kolejki
@ -146,15 +106,6 @@ SimpleOStream simpleCout;
// Tworzenie zadania hungryTask // Tworzenie zadania hungryTask
xTaskCreate(hungryTask, "Hungry Task", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL); xTaskCreate(hungryTask, "Hungry Task", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL);
// Create the task.
MyTask task((tskIDLE_PRIORITY + 1), "NAME");
/*
// Check that the task was created successfully.
if (task.isValid()) {
FreeRTOS::Kernel::startScheduler();
}
*/
// Uruchomienie planisty // Uruchomienie planisty
vTaskStartScheduler(); vTaskStartScheduler();
@ -175,12 +126,7 @@ static void timerCallback(TimerHandle_t xTimer) {
static void hungryTask(void *pvParameters) { static void hungryTask(void *pvParameters) {
uint32_t ulReceivedValue; uint32_t ulReceivedValue;
for (;;) { for (;;) {
// if (xQueueReceive(xQueue, &ulReceivedValue, portMAX_DELAY) == pdPASS) {
println("Delay 10ms");
vTaskDelay(pdMS_TO_TICKS(10));
// if (xQueueReceive(xQueue, &ulReceivedValue, portMAX_DELAY) == pdPASS) {
//printf("hungry\n"); // Drukowanie, gdy odbierzemy wartość z kolejki //printf("hungry\n"); // Drukowanie, gdy odbierzemy wartość z kolejki
// } // }
} }

8
Demo/arch/link.ld
View File

@ -72,15 +72,15 @@
OUTPUT_ARCH( "riscv" ) OUTPUT_ARCH( "riscv" )
_HEAP_SIZE = DEFINED(_HEAP_SIZE) ? _HEAP_SIZE : 0xb0000; _STACK_SIZE = DEFINED(_STACK_SIZE) ? _STACK_SIZE : 0x10000;
_STACK_SIZE = DEFINED(_STACK_SIZE) ? _STACK_SIZE : 0x20000; _HEAP_SIZE = DEFINED(_HEAP_SIZE) ? _HEAP_SIZE : 0x10000;
/***************************************************************************** /*****************************************************************************
* Define memory layout * Define memory layout
****************************************************************************/ ****************************************************************************/
MEMORY { MEMORY {
imem : ORIGIN = 0x80000000, LENGTH = 1024K imem : ORIGIN = 0x80000000, LENGTH = 0x00080000
dmem : ORIGIN = 0x80100000, LENGTH = 1024K dmem : ORIGIN = 0x80080000, LENGTH = 0x00060000
} }
/* Specify the default entry point to the program */ /* Specify the default entry point to the program */

BIN
Source/.tasks.c.swp
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Binary file not shown.

800
Source/croutine.c
View File

@ -1,405 +1,395 @@
/* /*
* FreeRTOS Kernel <DEVELOPMENT BRANCH> FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved. All rights reserved
*
* SPDX-License-Identifier: MIT VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of This file is part of the FreeRTOS distribution.
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to FreeRTOS is free software; you can redistribute it and/or modify it under
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the terms of the GNU General Public License (version 2) as published by the
* the Software, and to permit persons to whom the Software is furnished to do so, Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
* subject to the following conditions:
* ***************************************************************************
* The above copyright notice and this permission notice shall be included in all >>! NOTE: The modification to the GPL is included to allow you to !<<
* copies or substantial portions of the Software. >>! distribute a combined work that includes FreeRTOS without being !<<
* >>! obliged to provide the source code for proprietary components !<<
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR >>! outside of the FreeRTOS kernel. !<<
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS ***************************************************************************
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. FOR A PARTICULAR PURPOSE. Full license text is available on the following
* link: http://www.freertos.org/a00114.html
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS ***************************************************************************
* * *
*/ * FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
#include "FreeRTOS.h" * platform software that is more than just the market leader, it *
#include "task.h" * is the industry's de facto standard. *
#include "croutine.h" * *
* Help yourself get started quickly while simultaneously helping *
/* Remove the whole file if co-routines are not being used. */ * to support the FreeRTOS project by purchasing a FreeRTOS *
#if ( configUSE_CO_ROUTINES != 0 ) * tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
/* * *
* Some kernel aware debuggers require data to be viewed to be global, rather ***************************************************************************
* than file scope.
*/ http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
#ifdef portREMOVE_STATIC_QUALIFIER the FAQ page "My application does not run, what could be wrong?". Have you
#define static defined configASSERT()?
#endif
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
/* Lists for ready and blocked co-routines. --------------------*/ participating in the support forum.
static List_t pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ]; /**< Prioritised ready co-routines. */
static List_t xDelayedCoRoutineList1; /**< Delayed co-routines. */ http://www.FreeRTOS.org/training - Investing in training allows your team to
static List_t xDelayedCoRoutineList2; /**< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */ be as productive as possible as early as possible. Now you can receive
static List_t * pxDelayedCoRoutineList = NULL; /**< Points to the delayed co-routine list currently being used. */ FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
static List_t * pxOverflowDelayedCoRoutineList = NULL; /**< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */ Ltd, and the world's leading authority on the world's leading RTOS.
static List_t xPendingReadyCoRoutineList; /**< Holds co-routines that have been readied by an external event. They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
/* Other file private variables. --------------------------------*/ including FreeRTOS+Trace - an indispensable productivity tool, a DOS
CRCB_t * pxCurrentCoRoutine = NULL; compatible FAT file system, and our tiny thread aware UDP/IP stack.
static UBaseType_t uxTopCoRoutineReadyPriority = ( UBaseType_t ) 0U;
static TickType_t xCoRoutineTickCount = ( TickType_t ) 0U; http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
static TickType_t xLastTickCount = ( TickType_t ) 0U; Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
static TickType_t xPassedTicks = ( TickType_t ) 0U;
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
/* The initial state of the co-routine when it is created. */ Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
#define corINITIAL_STATE ( 0 ) licenses offer ticketed support, indemnification and commercial middleware.
/* http://www.SafeRTOS.com - High Integrity Systems also provide a safety
* Place the co-routine represented by pxCRCB into the appropriate ready queue engineered and independently SIL3 certified version for use in safety and
* for the priority. It is inserted at the end of the list. mission critical applications that require provable dependability.
*
* This macro accesses the co-routine ready lists and therefore must not be 1 tab == 4 spaces!
* used from within an ISR. */
*/
#define prvAddCoRoutineToReadyQueue( pxCRCB ) \ #include "FreeRTOS.h"
do { \ #include "task.h"
if( ( pxCRCB )->uxPriority > uxTopCoRoutineReadyPriority ) \ #include "croutine.h"
{ \
uxTopCoRoutineReadyPriority = ( pxCRCB )->uxPriority; \ /* Remove the whole file is co-routines are not being used. */
} \ #if( configUSE_CO_ROUTINES != 0 )
vListInsertEnd( ( List_t * ) &( pxReadyCoRoutineLists[ ( pxCRCB )->uxPriority ] ), &( ( pxCRCB )->xGenericListItem ) ); \
} while( 0 ) /*
* Some kernel aware debuggers require data to be viewed to be global, rather
/* * than file scope.
* Utility to ready all the lists used by the scheduler. This is called */
* automatically upon the creation of the first co-routine. #ifdef portREMOVE_STATIC_QUALIFIER
*/ #define static
static void prvInitialiseCoRoutineLists( void ); #endif
/*
* Co-routines that are readied by an interrupt cannot be placed directly into /* Lists for ready and blocked co-routines. --------------------*/
* the ready lists (there is no mutual exclusion). Instead they are placed in static List_t pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ]; /*< Prioritised ready co-routines. */
* in the pending ready list in order that they can later be moved to the ready static List_t xDelayedCoRoutineList1; /*< Delayed co-routines. */
* list by the co-routine scheduler. static List_t xDelayedCoRoutineList2; /*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */
*/ static List_t * pxDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used. */
static void prvCheckPendingReadyList( void ); static List_t * pxOverflowDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */
static List_t xPendingReadyCoRoutineList; /*< Holds co-routines that have been readied by an external event. They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */
/*
* Macro that looks at the list of co-routines that are currently delayed to /* Other file private variables. --------------------------------*/
* see if any require waking. CRCB_t * pxCurrentCoRoutine = NULL;
* static UBaseType_t uxTopCoRoutineReadyPriority = 0;
* Co-routines are stored in the queue in the order of their wake time - static TickType_t xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks = 0;
* meaning once one co-routine has been found whose timer has not expired
* we need not look any further down the list. /* The initial state of the co-routine when it is created. */
*/ #define corINITIAL_STATE ( 0 )
static void prvCheckDelayedList( void );
/*
/*-----------------------------------------------------------*/ * Place the co-routine represented by pxCRCB into the appropriate ready queue
* for the priority. It is inserted at the end of the list.
BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, *
UBaseType_t uxPriority, * This macro accesses the co-routine ready lists and therefore must not be
UBaseType_t uxIndex ) * used from within an ISR.
{ */
BaseType_t xReturn; #define prvAddCoRoutineToReadyQueue( pxCRCB ) \
CRCB_t * pxCoRoutine; { \
if( pxCRCB->uxPriority > uxTopCoRoutineReadyPriority ) \
traceENTER_xCoRoutineCreate( pxCoRoutineCode, uxPriority, uxIndex ); { \
uxTopCoRoutineReadyPriority = pxCRCB->uxPriority; \
/* Allocate the memory that will store the co-routine control block. */ } \
/* MISRA Ref 11.5.1 [Malloc memory assignment] */ vListInsertEnd( ( List_t * ) &( pxReadyCoRoutineLists[ pxCRCB->uxPriority ] ), &( pxCRCB->xGenericListItem ) ); \
/* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */ }
/* coverity[misra_c_2012_rule_11_5_violation] */
pxCoRoutine = ( CRCB_t * ) pvPortMalloc( sizeof( CRCB_t ) ); /*
* Utility to ready all the lists used by the scheduler. This is called
if( pxCoRoutine ) * automatically upon the creation of the first co-routine.
{ */
/* If pxCurrentCoRoutine is NULL then this is the first co-routine to static void prvInitialiseCoRoutineLists( void );
* be created and the co-routine data structures need initialising. */
if( pxCurrentCoRoutine == NULL ) /*
{ * Co-routines that are readied by an interrupt cannot be placed directly into
pxCurrentCoRoutine = pxCoRoutine; * the ready lists (there is no mutual exclusion). Instead they are placed in
prvInitialiseCoRoutineLists(); * in the pending ready list in order that they can later be moved to the ready
} * list by the co-routine scheduler.
*/
/* Check the priority is within limits. */ static void prvCheckPendingReadyList( void );
if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES )
{ /*
uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1; * Macro that looks at the list of co-routines that are currently delayed to
} * see if any require waking.
*
/* Fill out the co-routine control block from the function parameters. */ * Co-routines are stored in the queue in the order of their wake time -
pxCoRoutine->uxState = corINITIAL_STATE; * meaning once one co-routine has been found whose timer has not expired
pxCoRoutine->uxPriority = uxPriority; * we need not look any further down the list.
pxCoRoutine->uxIndex = uxIndex; */
pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode; static void prvCheckDelayedList( void );
/* Initialise all the other co-routine control block parameters. */ /*-----------------------------------------------------------*/
vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) );
vListInitialiseItem( &( pxCoRoutine->xEventListItem ) ); BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPriority, UBaseType_t uxIndex )
{
/* Set the co-routine control block as a link back from the ListItem_t. BaseType_t xReturn;
* This is so we can get back to the containing CRCB from a generic item CRCB_t *pxCoRoutine;
* in a list. */
listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine ); /* Allocate the memory that will store the co-routine control block. */
listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine ); pxCoRoutine = ( CRCB_t * ) pvPortMalloc( sizeof( CRCB_t ) );
if( pxCoRoutine )
/* Event lists are always in priority order. */ {
listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), ( ( TickType_t ) configMAX_CO_ROUTINE_PRIORITIES - ( TickType_t ) uxPriority ) ); /* If pxCurrentCoRoutine is NULL then this is the first co-routine to
be created and the co-routine data structures need initialising. */
/* Now the co-routine has been initialised it can be added to the ready if( pxCurrentCoRoutine == NULL )
* list at the correct priority. */ {
prvAddCoRoutineToReadyQueue( pxCoRoutine ); pxCurrentCoRoutine = pxCoRoutine;
prvInitialiseCoRoutineLists();
xReturn = pdPASS; }
}
else /* Check the priority is within limits. */
{ if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES )
xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; {
} uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1;
}
traceRETURN_xCoRoutineCreate( xReturn );
/* Fill out the co-routine control block from the function parameters. */
return xReturn; pxCoRoutine->uxState = corINITIAL_STATE;
} pxCoRoutine->uxPriority = uxPriority;
/*-----------------------------------------------------------*/ pxCoRoutine->uxIndex = uxIndex;
pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode;
void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay,
List_t * pxEventList ) /* Initialise all the other co-routine control block parameters. */
{ vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) );
TickType_t xTimeToWake; vListInitialiseItem( &( pxCoRoutine->xEventListItem ) );
traceENTER_vCoRoutineAddToDelayedList( xTicksToDelay, pxEventList ); /* Set the co-routine control block as a link back from the ListItem_t.
This is so we can get back to the containing CRCB from a generic item
/* Calculate the time to wake - this may overflow but this is in a list. */
* not a problem. */ listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine );
xTimeToWake = xCoRoutineTickCount + xTicksToDelay; listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine );
/* We must remove ourselves from the ready list before adding /* Event lists are always in priority order. */
* ourselves to the blocked list as the same list item is used for listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), ( ( TickType_t ) configMAX_CO_ROUTINE_PRIORITIES - ( TickType_t ) uxPriority ) );
* both lists. */
( void ) uxListRemove( ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) ); /* Now the co-routine has been initialised it can be added to the ready
list at the correct priority. */
/* The list item will be inserted in wake time order. */ prvAddCoRoutineToReadyQueue( pxCoRoutine );
listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake );
xReturn = pdPASS;
if( xTimeToWake < xCoRoutineTickCount ) }
{ else
/* Wake time has overflowed. Place this item in the {
* overflow list. */ xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
vListInsert( ( List_t * ) pxOverflowDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) ); }
}
else return xReturn;
{ }
/* The wake time has not overflowed, so we can use the /*-----------------------------------------------------------*/
* current block list. */
vListInsert( ( List_t * ) pxDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) ); void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList )
} {
TickType_t xTimeToWake;
if( pxEventList )
{ /* Calculate the time to wake - this may overflow but this is
/* Also add the co-routine to an event list. If this is done then the not a problem. */
* function must be called with interrupts disabled. */ xTimeToWake = xCoRoutineTickCount + xTicksToDelay;
vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) );
} /* We must remove ourselves from the ready list before adding
ourselves to the blocked list as the same list item is used for
traceRETURN_vCoRoutineAddToDelayedList(); both lists. */
} ( void ) uxListRemove( ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
/*-----------------------------------------------------------*/
/* The list item will be inserted in wake time order. */
static void prvCheckPendingReadyList( void ) listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake );
{
/* Are there any co-routines waiting to get moved to the ready list? These if( xTimeToWake < xCoRoutineTickCount )
* are co-routines that have been readied by an ISR. The ISR cannot access {
* the ready lists itself. */ /* Wake time has overflowed. Place this item in the
while( listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) == pdFALSE ) overflow list. */
{ vListInsert( ( List_t * ) pxOverflowDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
CRCB_t * pxUnblockedCRCB; }
else
/* The pending ready list can be accessed by an ISR. */ {
portDISABLE_INTERRUPTS(); /* The wake time has not overflowed, so we can use the
{ current block list. */
pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyCoRoutineList ) ); vListInsert( ( List_t * ) pxDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) ); }
}
portENABLE_INTERRUPTS(); if( pxEventList )
{
( void ) uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) ); /* Also add the co-routine to an event list. If this is done then the
prvAddCoRoutineToReadyQueue( pxUnblockedCRCB ); function must be called with interrupts disabled. */
} vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) );
} }
/*-----------------------------------------------------------*/ }
/*-----------------------------------------------------------*/
static void prvCheckDelayedList( void )
{ static void prvCheckPendingReadyList( void )
CRCB_t * pxCRCB; {
/* Are there any co-routines waiting to get moved to the ready list? These
xPassedTicks = xTaskGetTickCount() - xLastTickCount; are co-routines that have been readied by an ISR. The ISR cannot access
the ready lists itself. */
while( xPassedTicks ) while( listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) == pdFALSE )
{ {
xCoRoutineTickCount++; CRCB_t *pxUnblockedCRCB;
xPassedTicks--;
/* The pending ready list can be accessed by an ISR. */
/* If the tick count has overflowed we need to swap the ready lists. */ portDISABLE_INTERRUPTS();
if( xCoRoutineTickCount == 0 ) {
{ pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyCoRoutineList) );
List_t * pxTemp; ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
}
/* Tick count has overflowed so we need to swap the delay lists. If there are portENABLE_INTERRUPTS();
* any items in pxDelayedCoRoutineList here then there is an error! */
pxTemp = pxDelayedCoRoutineList; ( void ) uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) );
pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList; prvAddCoRoutineToReadyQueue( pxUnblockedCRCB );
pxOverflowDelayedCoRoutineList = pxTemp; }
} }
/*-----------------------------------------------------------*/
/* See if this tick has made a timeout expire. */
while( listLIST_IS_EMPTY( pxDelayedCoRoutineList ) == pdFALSE ) static void prvCheckDelayedList( void )
{ {
pxCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList ); CRCB_t *pxCRCB;
if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) ) xPassedTicks = xTaskGetTickCount() - xLastTickCount;
{ while( xPassedTicks )
/* Timeout not yet expired. */ {
break; xCoRoutineTickCount++;
} xPassedTicks--;
portDISABLE_INTERRUPTS(); /* If the tick count has overflowed we need to swap the ready lists. */
{ if( xCoRoutineTickCount == 0 )
/* The event could have occurred just before this critical {
* section. If this is the case then the generic list item will List_t * pxTemp;
* have been moved to the pending ready list and the following
* line is still valid. Also the pvContainer parameter will have /* Tick count has overflowed so we need to swap the delay lists. If there are
* been set to NULL so the following lines are also valid. */ any items in pxDelayedCoRoutineList here then there is an error! */
( void ) uxListRemove( &( pxCRCB->xGenericListItem ) ); pxTemp = pxDelayedCoRoutineList;
pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList;
/* Is the co-routine waiting on an event also? */ pxOverflowDelayedCoRoutineList = pxTemp;
if( pxCRCB->xEventListItem.pxContainer ) }
{
( void ) uxListRemove( &( pxCRCB->xEventListItem ) ); /* See if this tick has made a timeout expire. */
} while( listLIST_IS_EMPTY( pxDelayedCoRoutineList ) == pdFALSE )
} {
portENABLE_INTERRUPTS(); pxCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList );
prvAddCoRoutineToReadyQueue( pxCRCB ); if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) )
} {
} /* Timeout not yet expired. */
break;
xLastTickCount = xCoRoutineTickCount; }
}
/*-----------------------------------------------------------*/ portDISABLE_INTERRUPTS();
{
void vCoRoutineSchedule( void ) /* The event could have occurred just before this critical
{ section. If this is the case then the generic list item will
traceENTER_vCoRoutineSchedule(); have been moved to the pending ready list and the following
line is still valid. Also the pvContainer parameter will have
/* Only run a co-routine after prvInitialiseCoRoutineLists() has been been set to NULL so the following lines are also valid. */
* called. prvInitialiseCoRoutineLists() is called automatically when a ( void ) uxListRemove( &( pxCRCB->xGenericListItem ) );
* co-routine is created. */
if( pxDelayedCoRoutineList != NULL ) /* Is the co-routine waiting on an event also? */
{ if( pxCRCB->xEventListItem.pvContainer )
/* See if any co-routines readied by events need moving to the ready lists. */ {
prvCheckPendingReadyList(); ( void ) uxListRemove( &( pxCRCB->xEventListItem ) );
}
/* See if any delayed co-routines have timed out. */ }
prvCheckDelayedList(); portENABLE_INTERRUPTS();
/* Find the highest priority queue that contains ready co-routines. */ prvAddCoRoutineToReadyQueue( pxCRCB );
while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) ) }
{ }
if( uxTopCoRoutineReadyPriority == 0 )
{ xLastTickCount = xCoRoutineTickCount;
/* No more co-routines to check. */ }
return; /*-----------------------------------------------------------*/
}
void vCoRoutineSchedule( void )
--uxTopCoRoutineReadyPriority; {
} /* See if any co-routines readied by events need moving to the ready lists. */
prvCheckPendingReadyList();
/* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines
* of the same priority get an equal share of the processor time. */ /* See if any delayed co-routines have timed out. */
listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ); prvCheckDelayedList();
/* Call the co-routine. */ /* Find the highest priority queue that contains ready co-routines. */
( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex ); while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) )
} {
if( uxTopCoRoutineReadyPriority == 0 )
traceRETURN_vCoRoutineSchedule(); {
} /* No more co-routines to check. */
/*-----------------------------------------------------------*/ return;
}
static void prvInitialiseCoRoutineLists( void ) --uxTopCoRoutineReadyPriority;
{ }
UBaseType_t uxPriority;
/* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines
for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ ) of the same priority get an equal share of the processor time. */
{ listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) );
vListInitialise( ( List_t * ) &( pxReadyCoRoutineLists[ uxPriority ] ) );
} /* Call the co-routine. */
( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex );
vListInitialise( ( List_t * ) &xDelayedCoRoutineList1 );
vListInitialise( ( List_t * ) &xDelayedCoRoutineList2 ); return;
vListInitialise( ( List_t * ) &xPendingReadyCoRoutineList ); }
/*-----------------------------------------------------------*/
/* Start with pxDelayedCoRoutineList using list1 and the
* pxOverflowDelayedCoRoutineList using list2. */ static void prvInitialiseCoRoutineLists( void )
pxDelayedCoRoutineList = &xDelayedCoRoutineList1; {
pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2; UBaseType_t uxPriority;
}
/*-----------------------------------------------------------*/ for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ )
{
BaseType_t xCoRoutineRemoveFromEventList( const List_t * pxEventList ) vListInitialise( ( List_t * ) &( pxReadyCoRoutineLists[ uxPriority ] ) );
{ }
CRCB_t * pxUnblockedCRCB;
BaseType_t xReturn; vListInitialise( ( List_t * ) &xDelayedCoRoutineList1 );
vListInitialise( ( List_t * ) &xDelayedCoRoutineList2 );
traceENTER_xCoRoutineRemoveFromEventList( pxEventList ); vListInitialise( ( List_t * ) &xPendingReadyCoRoutineList );
/* This function is called from within an interrupt. It can only access /* Start with pxDelayedCoRoutineList using list1 and the
* event lists and the pending ready list. This function assumes that a pxOverflowDelayedCoRoutineList using list2. */
* check has already been made to ensure pxEventList is not empty. */ pxDelayedCoRoutineList = &xDelayedCoRoutineList1;
pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2;
( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) ); }
vListInsertEnd( ( List_t * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) ); /*-----------------------------------------------------------*/
if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority ) BaseType_t xCoRoutineRemoveFromEventList( const List_t *pxEventList )
{ {
xReturn = pdTRUE; CRCB_t *pxUnblockedCRCB;
} BaseType_t xReturn;
else
{ /* This function is called from within an interrupt. It can only access
xReturn = pdFALSE; event lists and the pending ready list. This function assumes that a
} check has already been made to ensure pxEventList is not empty. */
pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
traceRETURN_xCoRoutineRemoveFromEventList( xReturn ); ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
vListInsertEnd( ( List_t * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) );
return xReturn;
} if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority )
/*-----------------------------------------------------------*/ {
xReturn = pdTRUE;
/* }
* Reset state in this file. This state is normally initialized at start up. else
* This function must be called by the application before restarting the {
* scheduler. xReturn = pdFALSE;
*/ }
void vCoRoutineResetState( void )
{ return xReturn;
/* Lists for ready and blocked co-routines. */ }
pxDelayedCoRoutineList = NULL;
pxOverflowDelayedCoRoutineList = NULL; #endif /* configUSE_CO_ROUTINES == 0 */
/* Other file private variables. */
pxCurrentCoRoutine = NULL;
uxTopCoRoutineReadyPriority = ( UBaseType_t ) 0U;
xCoRoutineTickCount = ( TickType_t ) 0U;
xLastTickCount = ( TickType_t ) 0U;
xPassedTicks = ( TickType_t ) 0U;
}
/*-----------------------------------------------------------*/
#endif /* configUSE_CO_ROUTINES == 0 */

1567
Source/event_groups.c
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15
Source/include/CMakeLists.txt
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@ -1,15 +0,0 @@
# FreeRTOS internal cmake file. Do not use it in user top-level project
add_library(freertos_kernel_include INTERFACE)
target_include_directories(freertos_kernel_include
INTERFACE
.
# Note: DEPRECATED but still supported, may be removed in a future release.
$<$<NOT:$<TARGET_EXISTS:freertos_config>>:${FREERTOS_CONFIG_FILE_DIRECTORY}>
)
target_link_libraries(freertos_kernel_include
INTERFACE
$<$<TARGET_EXISTS:freertos_config>:freertos_config>
)

4176
Source/include/FreeRTOS.h
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205
Source/include/StackMacros.h
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@ -1,34 +1,171 @@
/* /*
* FreeRTOS Kernel <DEVELOPMENT BRANCH> FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved. All rights reserved
*
* SPDX-License-Identifier: MIT VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of This file is part of the FreeRTOS distribution.
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to FreeRTOS is free software; you can redistribute it and/or modify it under
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the terms of the GNU General Public License (version 2) as published by the
* the Software, and to permit persons to whom the Software is furnished to do so, Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
* subject to the following conditions:
* ***************************************************************************
* The above copyright notice and this permission notice shall be included in all >>! NOTE: The modification to the GPL is included to allow you to !<<
* copies or substantial portions of the Software. >>! distribute a combined work that includes FreeRTOS without being !<<
* >>! obliged to provide the source code for proprietary components !<<
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR >>! outside of the FreeRTOS kernel. !<<
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS ***************************************************************************
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. FOR A PARTICULAR PURPOSE. Full license text is available on the following
* link: http://www.freertos.org/a00114.html
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS ***************************************************************************
* * *
*/ * FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
#ifndef _MSC_VER /* Visual Studio doesn't support #warning. */ * is the industry's de facto standard. *
#warning The name of this file has changed to stack_macros.h. Please update your code accordingly. This source file (which has the original name) will be removed in a future release. * *
#endif * Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
#include "stack_macros.h" * tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#ifndef 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 == 1 ) && ( portSTACK_GROWTH < 0 ) )
/* Only the current stack state is to be checked. */
#define taskCHECK_FOR_STACK_OVERFLOW() \
{ \
/* Is the currently saved stack pointer within the stack limit? */ \
if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \
{ \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
} \
}
#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
/*-----------------------------------------------------------*/
#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH > 0 ) )
/* Only the current stack state is to be checked. */
#define taskCHECK_FOR_STACK_OVERFLOW() \
{ \
\
/* Is the currently saved stack pointer within the stack limit? */ \
if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack ) \
{ \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
} \
}
#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
/*-----------------------------------------------------------*/
#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) )
#define taskCHECK_FOR_STACK_OVERFLOW() \
{ \
const uint32_t * const pulStack = ( uint32_t * ) pxCurrentTCB->pxStack; \
const uint32_t ulCheckValue = ( uint32_t ) 0xa5a5a5a5; \
\
if( ( pulStack[ 0 ] != ulCheckValue ) || \
( pulStack[ 1 ] != ulCheckValue ) || \
( pulStack[ 2 ] != ulCheckValue ) || \
( pulStack[ 3 ] != ulCheckValue ) ) \
{ \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
} \
}
#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
/*-----------------------------------------------------------*/
#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) )
#define taskCHECK_FOR_STACK_OVERFLOW() \
{ \
int8_t *pcEndOfStack = ( int8_t * ) pxCurrentTCB->pxEndOfStack; \
static const uint8_t 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( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
} \
}
#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
/*-----------------------------------------------------------*/
/* Remove stack overflow macro if not being used. */
#ifndef taskCHECK_FOR_STACK_OVERFLOW
#define taskCHECK_FOR_STACK_OVERFLOW()
#endif
#endif /* STACK_MACROS_H */

427
Source/include/atomic.h
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@ -1,427 +0,0 @@
/*
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/**
* @file atomic.h
* @brief FreeRTOS atomic operation support.
*
* This file implements atomic functions by disabling interrupts globally.
* Implementations with architecture specific atomic instructions can be
* provided under each compiler directory.
*
* The atomic interface can be used in FreeRTOS tasks on all FreeRTOS ports. It
* can also be used in Interrupt Service Routines (ISRs) on FreeRTOS ports that
* support nested interrupts (i.e. portHAS_NESTED_INTERRUPTS is set to 1). The
* atomic interface must not be used in ISRs on FreeRTOS ports that do not
* support nested interrupts (i.e. portHAS_NESTED_INTERRUPTS is set to 0)
* because ISRs on these ports cannot be interrupted and therefore, do not need
* atomics in ISRs.
*/
#ifndef ATOMIC_H
#define ATOMIC_H
#ifndef INC_FREERTOS_H
#error "include FreeRTOS.h must appear in source files before include atomic.h"
#endif
/* Standard includes. */
#include <stdint.h>
/* *INDENT-OFF* */
#ifdef __cplusplus
extern "C" {
#endif
/* *INDENT-ON* */
/*
* Port specific definitions -- entering/exiting critical section.
* Refer template -- ./lib/FreeRTOS/portable/Compiler/Arch/portmacro.h
*
* Every call to ATOMIC_EXIT_CRITICAL() must be closely paired with
* ATOMIC_ENTER_CRITICAL().
*
*/
#if ( portHAS_NESTED_INTERRUPTS == 1 )
/* Nested interrupt scheme is supported in this port. */
#define ATOMIC_ENTER_CRITICAL() \
UBaseType_t uxCriticalSectionType = portSET_INTERRUPT_MASK_FROM_ISR()
#define ATOMIC_EXIT_CRITICAL() \
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxCriticalSectionType )
#else
/* Nested interrupt scheme is NOT supported in this port. */
#define ATOMIC_ENTER_CRITICAL() portENTER_CRITICAL()
#define ATOMIC_EXIT_CRITICAL() portEXIT_CRITICAL()
#endif /* portSET_INTERRUPT_MASK_FROM_ISR() */
/*
* Port specific definition -- "always inline".
* Inline is compiler specific, and may not always get inlined depending on your
* optimization level. Also, inline is considered as performance optimization
* for atomic. Thus, if portFORCE_INLINE is not provided by portmacro.h,
* instead of resulting error, simply define it away.
*/
#ifndef portFORCE_INLINE
#define portFORCE_INLINE
#endif
#define ATOMIC_COMPARE_AND_SWAP_SUCCESS 0x1U /**< Compare and swap succeeded, swapped. */
#define ATOMIC_COMPARE_AND_SWAP_FAILURE 0x0U /**< Compare and swap failed, did not swap. */
/*----------------------------- Swap && CAS ------------------------------*/
/**
* Atomic compare-and-swap
*
* @brief Performs an atomic compare-and-swap operation on the specified values.
*
* @param[in, out] pulDestination Pointer to memory location from where value is
* to be loaded and checked.
* @param[in] ulExchange If condition meets, write this value to memory.
* @param[in] ulComparand Swap condition.
*
* @return Unsigned integer of value 1 or 0. 1 for swapped, 0 for not swapped.
*
* @note This function only swaps *pulDestination with ulExchange, if previous
* *pulDestination value equals ulComparand.
*/
static portFORCE_INLINE uint32_t Atomic_CompareAndSwap_u32( uint32_t volatile * pulDestination,
uint32_t ulExchange,
uint32_t ulComparand )
{
uint32_t ulReturnValue;
ATOMIC_ENTER_CRITICAL();
{
if( *pulDestination == ulComparand )
{
*pulDestination = ulExchange;
ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS;
}
else
{
ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE;
}
}
ATOMIC_EXIT_CRITICAL();
return ulReturnValue;
}
/*-----------------------------------------------------------*/
/**
* Atomic swap (pointers)
*
* @brief Atomically sets the address pointed to by *ppvDestination to the value
* of *pvExchange.
*
* @param[in, out] ppvDestination Pointer to memory location from where a pointer
* value is to be loaded and written back to.
* @param[in] pvExchange Pointer value to be written to *ppvDestination.
*
* @return The initial value of *ppvDestination.
*/
static portFORCE_INLINE void * Atomic_SwapPointers_p32( void * volatile * ppvDestination,
void * pvExchange )
{
void * pReturnValue;
ATOMIC_ENTER_CRITICAL();
{
pReturnValue = *ppvDestination;
*ppvDestination = pvExchange;
}
ATOMIC_EXIT_CRITICAL();
return pReturnValue;
}
/*-----------------------------------------------------------*/
/**
* Atomic compare-and-swap (pointers)
*
* @brief Performs an atomic compare-and-swap operation on the specified pointer
* values.
*
* @param[in, out] ppvDestination Pointer to memory location from where a pointer
* value is to be loaded and checked.
* @param[in] pvExchange If condition meets, write this value to memory.
* @param[in] pvComparand Swap condition.
*
* @return Unsigned integer of value 1 or 0. 1 for swapped, 0 for not swapped.
*
* @note This function only swaps *ppvDestination with pvExchange, if previous
* *ppvDestination value equals pvComparand.
*/
static portFORCE_INLINE uint32_t Atomic_CompareAndSwapPointers_p32( void * volatile * ppvDestination,
void * pvExchange,
void * pvComparand )
{
uint32_t ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE;
ATOMIC_ENTER_CRITICAL();
{
if( *ppvDestination == pvComparand )
{
*ppvDestination = pvExchange;
ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS;
}
}
ATOMIC_EXIT_CRITICAL();
return ulReturnValue;
}
/*----------------------------- Arithmetic ------------------------------*/
/**
* Atomic add
*
* @brief Atomically adds count to the value of the specified pointer points to.
*
* @param[in,out] pulAddend Pointer to memory location from where value is to be
* loaded and written back to.
* @param[in] ulCount Value to be added to *pulAddend.
*
* @return previous *pulAddend value.
*/
static portFORCE_INLINE uint32_t Atomic_Add_u32( uint32_t volatile * pulAddend,
uint32_t ulCount )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulAddend;
*pulAddend += ulCount;
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/*-----------------------------------------------------------*/
/**
* Atomic subtract
*
* @brief Atomically subtracts count from the value of the specified pointer
* pointers to.
*
* @param[in,out] pulAddend Pointer to memory location from where value is to be
* loaded and written back to.
* @param[in] ulCount Value to be subtract from *pulAddend.
*
* @return previous *pulAddend value.
*/
static portFORCE_INLINE uint32_t Atomic_Subtract_u32( uint32_t volatile * pulAddend,
uint32_t ulCount )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulAddend;
*pulAddend -= ulCount;
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/*-----------------------------------------------------------*/
/**
* Atomic increment
*
* @brief Atomically increments the value of the specified pointer points to.
*
* @param[in,out] pulAddend Pointer to memory location from where value is to be
* loaded and written back to.
*
* @return *pulAddend value before increment.
*/
static portFORCE_INLINE uint32_t Atomic_Increment_u32( uint32_t volatile * pulAddend )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulAddend;
*pulAddend += 1;
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/*-----------------------------------------------------------*/
/**
* Atomic decrement
*
* @brief Atomically decrements the value of the specified pointer points to
*
* @param[in,out] pulAddend Pointer to memory location from where value is to be
* loaded and written back to.
*
* @return *pulAddend value before decrement.
*/
static portFORCE_INLINE uint32_t Atomic_Decrement_u32( uint32_t volatile * pulAddend )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulAddend;
*pulAddend -= 1;
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/*----------------------------- Bitwise Logical ------------------------------*/
/**
* Atomic OR
*
* @brief Performs an atomic OR operation on the specified values.
*
* @param [in, out] pulDestination Pointer to memory location from where value is
* to be loaded and written back to.
* @param [in] ulValue Value to be ORed with *pulDestination.
*
* @return The original value of *pulDestination.
*/
static portFORCE_INLINE uint32_t Atomic_OR_u32( uint32_t volatile * pulDestination,
uint32_t ulValue )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulDestination;
*pulDestination |= ulValue;
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/*-----------------------------------------------------------*/
/**
* Atomic AND
*
* @brief Performs an atomic AND operation on the specified values.
*
* @param [in, out] pulDestination Pointer to memory location from where value is
* to be loaded and written back to.
* @param [in] ulValue Value to be ANDed with *pulDestination.
*
* @return The original value of *pulDestination.
*/
static portFORCE_INLINE uint32_t Atomic_AND_u32( uint32_t volatile * pulDestination,
uint32_t ulValue )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulDestination;
*pulDestination &= ulValue;
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/*-----------------------------------------------------------*/
/**
* Atomic NAND
*
* @brief Performs an atomic NAND operation on the specified values.
*
* @param [in, out] pulDestination Pointer to memory location from where value is
* to be loaded and written back to.
* @param [in] ulValue Value to be NANDed with *pulDestination.
*
* @return The original value of *pulDestination.
*/
static portFORCE_INLINE uint32_t Atomic_NAND_u32( uint32_t volatile * pulDestination,
uint32_t ulValue )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulDestination;
*pulDestination = ~( ulCurrent & ulValue );
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/*-----------------------------------------------------------*/
/**
* Atomic XOR
*
* @brief Performs an atomic XOR operation on the specified values.
*
* @param [in, out] pulDestination Pointer to memory location from where value is
* to be loaded and written back to.
* @param [in] ulValue Value to be XORed with *pulDestination.
*
* @return The original value of *pulDestination.
*/
static portFORCE_INLINE uint32_t Atomic_XOR_u32( uint32_t volatile * pulDestination,
uint32_t ulValue )
{
uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL();
{
ulCurrent = *pulDestination;
*pulDestination ^= ulValue;
}
ATOMIC_EXIT_CRITICAL();
return ulCurrent;
}
/* *INDENT-OFF* */
#ifdef __cplusplus
}
#endif
/* *INDENT-ON* */
#endif /* ATOMIC_H */

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Source/include/croutine.h
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602
Source/include/deprecated_definitions.h
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@ -1,281 +1,321 @@
/* /*
* FreeRTOS Kernel <DEVELOPMENT BRANCH> FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved. All rights reserved
*
* SPDX-License-Identifier: MIT VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of This file is part of the FreeRTOS distribution.
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to FreeRTOS is free software; you can redistribute it and/or modify it under
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the terms of the GNU General Public License (version 2) as published by the
* the Software, and to permit persons to whom the Software is furnished to do so, Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
* subject to the following conditions:
* ***************************************************************************
* The above copyright notice and this permission notice shall be included in all >>! NOTE: The modification to the GPL is included to allow you to !<<
* copies or substantial portions of the Software. >>! distribute a combined work that includes FreeRTOS without being !<<
* >>! obliged to provide the source code for proprietary components !<<
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR >>! outside of the FreeRTOS kernel. !<<
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS ***************************************************************************
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. FOR A PARTICULAR PURPOSE. Full license text is available on the following
* link: http://www.freertos.org/a00114.html
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS ***************************************************************************
* * *
*/ * FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
#ifndef DEPRECATED_DEFINITIONS_H * platform software that is more than just the market leader, it *
#define DEPRECATED_DEFINITIONS_H * is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
/* Each FreeRTOS port has a unique portmacro.h header file. Originally a * to support the FreeRTOS project by purchasing a FreeRTOS *
* pre-processor definition was used to ensure the pre-processor found the correct * tutorial book, reference manual, or both: *
* portmacro.h file for the port being used. That scheme was deprecated in favour * http://www.FreeRTOS.org/Documentation *
* of setting the compiler's include path such that it found the correct * *
* portmacro.h file - removing the need for the constant and allowing the ***************************************************************************
* portmacro.h file to be located anywhere in relation to the port being used. The
* definitions below remain in the code for backward compatibility only. New http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
* projects should not use them. */ the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
#ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT
#include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h" http://www.FreeRTOS.org/support - In return for receiving this top quality
typedef void ( __interrupt __far * pxISR )(); embedded software for free we request you assist our global community by
#endif participating in the support forum.
#ifdef OPEN_WATCOM_FLASH_LITE_186_PORT http://www.FreeRTOS.org/training - Investing in training allows your team to
#include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h" be as productive as possible as early as possible. Now you can receive
typedef void ( __interrupt __far * pxISR )(); FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
#endif Ltd, and the world's leading authority on the world's leading RTOS.
#ifdef GCC_MEGA_AVR http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
#include "../portable/GCC/ATMega323/portmacro.h" including FreeRTOS+Trace - an indispensable productivity tool, a DOS
#endif compatible FAT file system, and our tiny thread aware UDP/IP stack.
#ifdef IAR_MEGA_AVR http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
#include "../portable/IAR/ATMega323/portmacro.h" Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
#endif
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
#ifdef MPLAB_PIC24_PORT Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
#include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h" licenses offer ticketed support, indemnification and commercial middleware.
#endif
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
#ifdef MPLAB_DSPIC_PORT engineered and independently SIL3 certified version for use in safety and
#include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h" mission critical applications that require provable dependability.
#endif
1 tab == 4 spaces!
#ifdef MPLAB_PIC18F_PORT */
#include "../../Source/portable/MPLAB/PIC18F/portmacro.h"
#endif #ifndef DEPRECATED_DEFINITIONS_H
#define DEPRECATED_DEFINITIONS_H
#ifdef MPLAB_PIC32MX_PORT
#include "../../Source/portable/MPLAB/PIC32MX/portmacro.h"
#endif /* Each FreeRTOS port has a unique portmacro.h header file. Originally a
pre-processor definition was used to ensure the pre-processor found the correct
#ifdef _FEDPICC portmacro.h file for the port being used. That scheme was deprecated in favour
#include "libFreeRTOS/Include/portmacro.h" of setting the compiler's include path such that it found the correct
#endif portmacro.h file - removing the need for the constant and allowing the
portmacro.h file to be located anywhere in relation to the port being used. The
#ifdef SDCC_CYGNAL definitions below remain in the code for backward compatibility only. New
#include "../../Source/portable/SDCC/Cygnal/portmacro.h" projects should not use them. */
#endif
#ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT
#ifdef GCC_ARM7 #include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h"
#include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h" typedef void ( __interrupt __far *pxISR )();
#endif #endif
#ifdef GCC_ARM7_ECLIPSE #ifdef OPEN_WATCOM_FLASH_LITE_186_PORT
#include "portmacro.h" #include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h"
#endif typedef void ( __interrupt __far *pxISR )();
#endif
#ifdef ROWLEY_LPC23xx
#include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h" #ifdef GCC_MEGA_AVR
#endif #include "../portable/GCC/ATMega323/portmacro.h"
#endif
#ifdef IAR_MSP430
#include "..\..\Source\portable\IAR\MSP430\portmacro.h" #ifdef IAR_MEGA_AVR
#endif #include "../portable/IAR/ATMega323/portmacro.h"
#endif
#ifdef GCC_MSP430
#include "../../Source/portable/GCC/MSP430F449/portmacro.h" #ifdef MPLAB_PIC24_PORT
#endif #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
#endif
#ifdef ROWLEY_MSP430
#include "../../Source/portable/Rowley/MSP430F449/portmacro.h" #ifdef MPLAB_DSPIC_PORT
#endif #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
#endif
#ifdef ARM7_LPC21xx_KEIL_RVDS
#include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h" #ifdef MPLAB_PIC18F_PORT
#endif #include "../../Source/portable/MPLAB/PIC18F/portmacro.h"
#endif
#ifdef SAM7_GCC
#include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h" #ifdef MPLAB_PIC32MX_PORT
#endif #include "../../Source/portable/MPLAB/PIC32MX/portmacro.h"
#endif
#ifdef SAM7_IAR
#include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h" #ifdef _FEDPICC
#endif #include "libFreeRTOS/Include/portmacro.h"
#endif
#ifdef SAM9XE_IAR
#include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h" #ifdef SDCC_CYGNAL
#endif #include "../../Source/portable/SDCC/Cygnal/portmacro.h"
#endif
#ifdef LPC2000_IAR
#include "..\..\Source\portable\IAR\LPC2000\portmacro.h" #ifdef GCC_ARM7
#endif #include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h"
#endif
#ifdef STR71X_IAR
#include "..\..\Source\portable\IAR\STR71x\portmacro.h" #ifdef GCC_ARM7_ECLIPSE
#endif #include "portmacro.h"
#endif
#ifdef STR75X_IAR
#include "..\..\Source\portable\IAR\STR75x\portmacro.h" #ifdef ROWLEY_LPC23xx
#endif #include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h"
#endif
#ifdef STR75X_GCC
#include "..\..\Source\portable\GCC\STR75x\portmacro.h" #ifdef IAR_MSP430
#endif #include "..\..\Source\portable\IAR\MSP430\portmacro.h"
#endif
#ifdef STR91X_IAR
#include "..\..\Source\portable\IAR\STR91x\portmacro.h" #ifdef GCC_MSP430
#endif #include "../../Source/portable/GCC/MSP430F449/portmacro.h"
#endif
#ifdef GCC_H8S
#include "../../Source/portable/GCC/H8S2329/portmacro.h" #ifdef ROWLEY_MSP430
#endif #include "../../Source/portable/Rowley/MSP430F449/portmacro.h"
#endif
#ifdef GCC_AT91FR40008
#include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h" #ifdef ARM7_LPC21xx_KEIL_RVDS
#endif #include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h"
#endif
#ifdef RVDS_ARMCM3_LM3S102
#include "../../Source/portable/RVDS/ARM_CM3/portmacro.h" #ifdef SAM7_GCC
#endif #include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h"
#endif
#ifdef GCC_ARMCM3_LM3S102
#include "../../Source/portable/GCC/ARM_CM3/portmacro.h" #ifdef SAM7_IAR
#endif #include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h"
#endif
#ifdef GCC_ARMCM3
#include "../../Source/portable/GCC/ARM_CM3/portmacro.h" #ifdef SAM9XE_IAR
#endif #include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h"
#endif
#ifdef IAR_ARM_CM3
#include "../../Source/portable/IAR/ARM_CM3/portmacro.h" #ifdef LPC2000_IAR
#endif #include "..\..\Source\portable\IAR\LPC2000\portmacro.h"
#endif
#ifdef IAR_ARMCM3_LM
#include "../../Source/portable/IAR/ARM_CM3/portmacro.h" #ifdef STR71X_IAR
#endif #include "..\..\Source\portable\IAR\STR71x\portmacro.h"
#endif
#ifdef HCS12_CODE_WARRIOR
#include "../../Source/portable/CodeWarrior/HCS12/portmacro.h" #ifdef STR75X_IAR
#endif #include "..\..\Source\portable\IAR\STR75x\portmacro.h"
#endif
#ifdef MICROBLAZE_GCC
#include "../../Source/portable/GCC/MicroBlaze/portmacro.h" #ifdef STR75X_GCC
#endif #include "..\..\Source\portable\GCC\STR75x\portmacro.h"
#endif
#ifdef TERN_EE
#include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h" #ifdef STR91X_IAR
#endif #include "..\..\Source\portable\IAR\STR91x\portmacro.h"
#endif
#ifdef GCC_HCS12
#include "../../Source/portable/GCC/HCS12/portmacro.h" #ifdef GCC_H8S
#endif #include "../../Source/portable/GCC/H8S2329/portmacro.h"
#endif
#ifdef GCC_MCF5235
#include "../../Source/portable/GCC/MCF5235/portmacro.h" #ifdef GCC_AT91FR40008
#endif #include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h"
#endif
#ifdef COLDFIRE_V2_GCC
#include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h" #ifdef RVDS_ARMCM3_LM3S102
#endif #include "../../Source/portable/RVDS/ARM_CM3/portmacro.h"
#endif
#ifdef COLDFIRE_V2_CODEWARRIOR
#include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h" #ifdef GCC_ARMCM3_LM3S102
#endif #include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
#endif
#ifdef GCC_PPC405
#include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h" #ifdef GCC_ARMCM3
#endif #include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
#endif
#ifdef GCC_PPC440
#include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h" #ifdef IAR_ARM_CM3
#endif #include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
#endif
#ifdef _16FX_SOFTUNE
#include "..\..\Source\portable\Softune\MB96340\portmacro.h" #ifdef IAR_ARMCM3_LM
#endif #include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
#endif
#ifdef BCC_INDUSTRIAL_PC_PORT
#ifdef HCS12_CODE_WARRIOR
/* A short file name has to be used in place of the normal #include "../../Source/portable/CodeWarrior/HCS12/portmacro.h"
* FreeRTOSConfig.h when using the Borland compiler. */ #endif
#include "frconfig.h"
#include "..\portable\BCC\16BitDOS\PC\prtmacro.h" #ifdef MICROBLAZE_GCC
typedef void ( __interrupt __far * pxISR )(); #include "../../Source/portable/GCC/MicroBlaze/portmacro.h"
#endif #endif
#ifdef BCC_FLASH_LITE_186_PORT #ifdef TERN_EE
#include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h"
/* A short file name has to be used in place of the normal #endif
* FreeRTOSConfig.h when using the Borland compiler. */
#include "frconfig.h" #ifdef GCC_HCS12
#include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h" #include "../../Source/portable/GCC/HCS12/portmacro.h"
typedef void ( __interrupt __far * pxISR )(); #endif
#endif
#ifdef GCC_MCF5235
#ifdef __GNUC__ #include "../../Source/portable/GCC/MCF5235/portmacro.h"
#ifdef __AVR32_AVR32A__ #endif
#include "portmacro.h"
#endif #ifdef COLDFIRE_V2_GCC
#endif #include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h"
#endif
#ifdef __ICCAVR32__
#ifdef __CORE__ #ifdef COLDFIRE_V2_CODEWARRIOR
#if __CORE__ == __AVR32A__ #include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h"
#include "portmacro.h" #endif
#endif
#endif #ifdef GCC_PPC405
#endif #include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h"
#endif
#ifdef __91467D
#include "portmacro.h" #ifdef GCC_PPC440
#endif #include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h"
#endif
#ifdef __96340
#include "portmacro.h" #ifdef _16FX_SOFTUNE
#endif #include "..\..\Source\portable\Softune\MB96340\portmacro.h"
#endif
#ifdef __IAR_V850ES_Fx3__ #ifdef BCC_INDUSTRIAL_PC_PORT
#include "../../Source/portable/IAR/V850ES/portmacro.h" /* A short file name has to be used in place of the normal
#endif FreeRTOSConfig.h when using the Borland compiler. */
#include "frconfig.h"
#ifdef __IAR_V850ES_Jx3__ #include "..\portable\BCC\16BitDOS\PC\prtmacro.h"
#include "../../Source/portable/IAR/V850ES/portmacro.h" typedef void ( __interrupt __far *pxISR )();
#endif #endif
#ifdef __IAR_V850ES_Jx3_L__ #ifdef BCC_FLASH_LITE_186_PORT
#include "../../Source/portable/IAR/V850ES/portmacro.h" /* A short file name has to be used in place of the normal
#endif FreeRTOSConfig.h when using the Borland compiler. */
#include "frconfig.h"
#ifdef __IAR_V850ES_Jx2__ #include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h"
#include "../../Source/portable/IAR/V850ES/portmacro.h" typedef void ( __interrupt __far *pxISR )();
#endif #endif
#ifdef __IAR_V850ES_Hx2__ #ifdef __GNUC__
#include "../../Source/portable/IAR/V850ES/portmacro.h" #ifdef __AVR32_AVR32A__
#endif #include "portmacro.h"
#endif
#ifdef __IAR_78K0R_Kx3__ #endif
#include "../../Source/portable/IAR/78K0R/portmacro.h"
#endif #ifdef __ICCAVR32__
#ifdef __CORE__
#ifdef __IAR_78K0R_Kx3L__ #if __CORE__ == __AVR32A__
#include "../../Source/portable/IAR/78K0R/portmacro.h" #include "portmacro.h"
#endif #endif
#endif
#endif /* DEPRECATED_DEFINITIONS_H */ #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
#endif /* DEPRECATED_DEFINITIONS_H */

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Source/include/event_groups.h
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Source/include/list.h
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@ -1,511 +1,453 @@
/* /*
* FreeRTOS Kernel <DEVELOPMENT BRANCH> FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved. All rights reserved
*
* SPDX-License-Identifier: MIT VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of This file is part of the FreeRTOS distribution.
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to FreeRTOS is free software; you can redistribute it and/or modify it under
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the terms of the GNU General Public License (version 2) as published by the
* the Software, and to permit persons to whom the Software is furnished to do so, Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
* subject to the following conditions:
* ***************************************************************************
* The above copyright notice and this permission notice shall be included in all >>! NOTE: The modification to the GPL is included to allow you to !<<
* copies or substantial portions of the Software. >>! distribute a combined work that includes FreeRTOS without being !<<
* >>! obliged to provide the source code for proprietary components !<<
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR >>! outside of the FreeRTOS kernel. !<<
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS ***************************************************************************
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. FOR A PARTICULAR PURPOSE. Full license text is available on the following
* link: http://www.freertos.org/a00114.html
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS ***************************************************************************
* * *
*/ * FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
/* * platform software that is more than just the market leader, it *
* This is the list implementation used by the scheduler. While it is tailored * is the industry's de facto standard. *
* heavily for the schedulers needs, it is also available for use by * *
* application code. * Help yourself get started quickly while simultaneously helping *
* * to support the FreeRTOS project by purchasing a FreeRTOS *
* list_ts can only store pointers to list_item_ts. Each ListItem_t contains a * tutorial book, reference manual, or both: *
* numeric value (xItemValue). Most of the time the lists are sorted in * http://www.FreeRTOS.org/Documentation *
* ascending 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 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
* the end of the list and acts as a marker. The list member pxHead always the FAQ page "My application does not run, what could be wrong?". Have you
* points to this marker - even though it is at the tail of the list. This defined configASSERT()?
* is because the tail contains a wrap back pointer to the true head of
* the list. http://www.FreeRTOS.org/support - In return for receiving this top quality
* embedded software for free we request you assist our global community by
* In addition to it's value, each list item contains a pointer to the next participating in the support forum.
* 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 http://www.FreeRTOS.org/training - Investing in training allows your team to
* pointers are included for efficiency of list manipulation. There is be as productive as possible as early as possible. Now you can receive
* effectively a two way link between the object containing the list item and FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
* the list item itself. Ltd, and the world's leading authority on the world's leading RTOS.
*
* http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
* \page ListIntroduction List Implementation including FreeRTOS+Trace - an indispensable productivity tool, a DOS
* \ingroup FreeRTOSIntro compatible FAT file system, and our tiny thread aware UDP/IP stack.
*/
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
#ifndef LIST_H
#define LIST_H http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
#ifndef INC_FREERTOS_H licenses offer ticketed support, indemnification and commercial middleware.
#error "FreeRTOS.h must be included before list.h"
#endif http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
/* mission critical applications that require provable dependability.
* The list structure members are modified from within interrupts, and therefore
* by rights should be declared volatile. However, they are only modified in a 1 tab == 4 spaces!
* functionally atomic way (within critical sections of with the scheduler */
* suspended) and are either passed by reference into a function or indexed via
* a volatile variable. Therefore, in all use cases tested so far, the volatile /*
* qualifier can be omitted in order to provide a moderate performance * This is the list implementation used by the scheduler. While it is tailored
* improvement without adversely affecting functional behaviour. The assembly * heavily for the schedulers needs, it is also available for use by
* instructions generated by the IAR, ARM and GCC compilers when the respective * application code.
* compiler's options were set for maximum optimisation has been inspected and *
* deemed to be as intended. That said, as compiler technology advances, and * list_ts can only store pointers to list_item_ts. Each ListItem_t contains a
* especially if aggressive cross module optimisation is used (a use case that * numeric value (xItemValue). Most of the time the lists are sorted in
* has not been exercised to any great extend) then it is feasible that the * descending item value order.
* volatile qualifier will be needed for correct optimisation. It is expected *
* that a compiler removing essential code because, without the volatile * Lists are created already containing one list item. The value of this
* qualifier on the list structure members and with aggressive cross module * item is the maximum possible that can be stored, it is therefore always at
* optimisation, the compiler deemed the code unnecessary will result in * the end of the list and acts as a marker. The list member pxHead always
* complete and obvious failure of the scheduler. If this is ever experienced * points to this marker - even though it is at the tail of the list. This
* then the volatile qualifier can be inserted in the relevant places within the * is because the tail contains a wrap back pointer to the true head of
* list structures by simply defining configLIST_VOLATILE to volatile in * the list.
* FreeRTOSConfig.h (as per the example at the bottom of this comment block). *
* If configLIST_VOLATILE is not defined then the preprocessor directives below * In addition to it's value, each list item contains a pointer to the next
* will simply #define configLIST_VOLATILE away completely. * 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
* To use volatile list structure members then add the following line to * pointers are included for efficiency of list manipulation. There is
* FreeRTOSConfig.h (without the quotes): * effectively a two way link between the object containing the list item and
* "#define configLIST_VOLATILE volatile" * the list item itself.
*/ *
#ifndef configLIST_VOLATILE *
#define configLIST_VOLATILE * \page ListIntroduction List Implementation
#endif /* configSUPPORT_CROSS_MODULE_OPTIMISATION */ * \ingroup FreeRTOSIntro
*/
/* *INDENT-OFF* */
#ifdef __cplusplus #ifndef INC_FREERTOS_H
extern "C" { #error FreeRTOS.h must be included before list.h
#endif #endif
/* *INDENT-ON* */
#ifndef LIST_H
/* Macros that can be used to place known values within the list structures, #define LIST_H
* then check that the known values do not get corrupted during the execution of
* the application. These may catch the list data structures being overwritten in /*
* memory. They will not catch data errors caused by incorrect configuration or * The list structure members are modified from within interrupts, and therefore
* use of FreeRTOS.*/ * by rights should be declared volatile. However, they are only modified in a
#if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 ) * functionally atomic way (within critical sections of with the scheduler
/* Define the macros to do nothing. */ * suspended) and are either passed by reference into a function or indexed via
#define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE * a volatile variable. Therefore, in all use cases tested so far, the volatile
#define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE * qualifier can be omitted in order to provide a moderate performance
#define listFIRST_LIST_INTEGRITY_CHECK_VALUE * improvement without adversely affecting functional behaviour. The assembly
#define listSECOND_LIST_INTEGRITY_CHECK_VALUE * instructions generated by the IAR, ARM and GCC compilers when the respective
#define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) * compiler's options were set for maximum optimisation has been inspected and
#define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) * deemed to be as intended. That said, as compiler technology advances, and
#define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) * especially if aggressive cross module optimisation is used (a use case that
#define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) * has not been exercised to any great extend) then it is feasible that the
#define listTEST_LIST_ITEM_INTEGRITY( pxItem ) * volatile qualifier will be needed for correct optimisation. It is expected
#define listTEST_LIST_INTEGRITY( pxList ) * that a compiler removing essential code because, without the volatile
#else /* if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 ) */ * qualifier on the list structure members and with aggressive cross module
/* Define macros that add new members into the list structures. */ * optimisation, the compiler deemed the code unnecessary will result in
#define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue1; * complete and obvious failure of the scheduler. If this is ever experienced
#define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue2; * then the volatile qualifier can be inserted in the relevant places within the
#define listFIRST_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue1; * list structures by simply defining configLIST_VOLATILE to volatile in
#define listSECOND_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue2; * FreeRTOSConfig.h (as per the example at the bottom of this comment block).
* If configLIST_VOLATILE is not defined then the preprocessor directives below
/* Define macros that set the new structure members to known values. */ * will simply #define configLIST_VOLATILE away completely.
#define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue1 = pdINTEGRITY_CHECK_VALUE *
#define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue2 = pdINTEGRITY_CHECK_VALUE * To use volatile list structure members then add the following line to
#define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) ( pxList )->xListIntegrityValue1 = pdINTEGRITY_CHECK_VALUE * FreeRTOSConfig.h (without the quotes):
#define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) ( pxList )->xListIntegrityValue2 = pdINTEGRITY_CHECK_VALUE * "#define configLIST_VOLATILE volatile"
*/
/* Define macros that will assert if one of the structure members does not #ifndef configLIST_VOLATILE
* contain its expected value. */ #define configLIST_VOLATILE
#define listTEST_LIST_ITEM_INTEGRITY( pxItem ) configASSERT( ( ( pxItem )->xListItemIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxItem )->xListItemIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) ) #endif /* configSUPPORT_CROSS_MODULE_OPTIMISATION */
#define listTEST_LIST_INTEGRITY( pxList ) configASSERT( ( ( pxList )->xListIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxList )->xListIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
#endif /* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES */ #ifdef __cplusplus
extern "C" {
#endif
/*
* Definition of the only type of object that a list can contain. /* Macros that can be used to place known values within the list structures,
*/ then check that the known values do not get corrupted during the execution of
struct xLIST; the application. These may catch the list data structures being overwritten in
struct xLIST_ITEM memory. They will not catch data errors caused by incorrect configuration or
{ use of FreeRTOS.*/
listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ #if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 )
configLIST_VOLATILE TickType_t xItemValue; /**< The value being listed. In most cases this is used to sort the list in ascending order. */ /* Define the macros to do nothing. */
struct xLIST_ITEM * configLIST_VOLATILE pxNext; /**< Pointer to the next ListItem_t in the list. */ #define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE
struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; /**< Pointer to the previous ListItem_t in the list. */ #define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE
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. */ #define listFIRST_LIST_INTEGRITY_CHECK_VALUE
struct xLIST * configLIST_VOLATILE pxContainer; /**< Pointer to the list in which this list item is placed (if any). */ #define listSECOND_LIST_INTEGRITY_CHECK_VALUE
listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE /**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ #define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )
}; #define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )
typedef struct xLIST_ITEM ListItem_t; #define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList )
#define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList )
#if ( configUSE_MINI_LIST_ITEM == 1 ) #define listTEST_LIST_ITEM_INTEGRITY( pxItem )
struct xMINI_LIST_ITEM #define listTEST_LIST_INTEGRITY( pxList )
{ #else
listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ /* Define macros that add new members into the list structures. */
configLIST_VOLATILE TickType_t xItemValue; #define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue1;
struct xLIST_ITEM * configLIST_VOLATILE pxNext; #define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue2;
struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; #define listFIRST_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue1;
}; #define listSECOND_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue2;
typedef struct xMINI_LIST_ITEM MiniListItem_t;
#else /* Define macros that set the new structure members to known values. */
typedef struct xLIST_ITEM MiniListItem_t; #define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue1 = pdINTEGRITY_CHECK_VALUE
#endif #define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue2 = pdINTEGRITY_CHECK_VALUE
#define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) ( pxList )->xListIntegrityValue1 = pdINTEGRITY_CHECK_VALUE
/* #define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) ( pxList )->xListIntegrityValue2 = pdINTEGRITY_CHECK_VALUE
* Definition of the type of queue used by the scheduler.
*/ /* Define macros that will assert if one of the structure members does not
typedef struct xLIST contain its expected value. */
{ #define listTEST_LIST_ITEM_INTEGRITY( pxItem ) configASSERT( ( ( pxItem )->xListItemIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxItem )->xListItemIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
listFIRST_LIST_INTEGRITY_CHECK_VALUE /**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ #define listTEST_LIST_INTEGRITY( pxList ) configASSERT( ( ( pxList )->xListIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxList )->xListIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
configLIST_VOLATILE UBaseType_t uxNumberOfItems; #endif /* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES */
ListItem_t * configLIST_VOLATILE pxIndex; /**< Used to walk through the list. Points to the last item returned by a call to listGET_OWNER_OF_NEXT_ENTRY (). */
MiniListItem_t 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. */
listSECOND_LIST_INTEGRITY_CHECK_VALUE /**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ /*
} List_t; * Definition of the only type of object that a list can contain.
*/
/* struct xLIST_ITEM
* 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. listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
* configLIST_VOLATILE TickType_t xItemValue; /*< The value being listed. In most cases this is used to sort the list in descending order. */
* \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER struct xLIST_ITEM * configLIST_VOLATILE pxNext; /*< Pointer to the next ListItem_t in the list. */
* \ingroup LinkedList struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; /*< Pointer to the previous ListItem_t 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. */
#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner ) ( ( pxListItem )->pvOwner = ( void * ) ( pxOwner ) ) void * configLIST_VOLATILE pvContainer; /*< Pointer to the list in which this list item is placed (if any). */
listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
/* };
* Access macro to get the owner of a list item. The owner of a list item typedef struct xLIST_ITEM ListItem_t; /* For some reason lint wants this as two separate definitions. */
* is the object (usually a TCB) that contains the list item.
* struct xMINI_LIST_ITEM
* \page listGET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER {
* \ingroup LinkedList listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
*/ configLIST_VOLATILE TickType_t xItemValue;
#define listGET_LIST_ITEM_OWNER( pxListItem ) ( ( pxListItem )->pvOwner ) struct xLIST_ITEM * configLIST_VOLATILE pxNext;
struct xLIST_ITEM * configLIST_VOLATILE pxPrevious;
/* };
* Access macro to set the value of the list item. In most cases the value is typedef struct xMINI_LIST_ITEM MiniListItem_t;
* used to sort the list in ascending order.
* /*
* \page listSET_LIST_ITEM_VALUE listSET_LIST_ITEM_VALUE * Definition of the type of queue used by the scheduler.
* \ingroup LinkedList */
*/ typedef struct xLIST
#define listSET_LIST_ITEM_VALUE( pxListItem, xValue ) ( ( pxListItem )->xItemValue = ( xValue ) ) {
listFIRST_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
/* configLIST_VOLATILE UBaseType_t uxNumberOfItems;
* Access macro to retrieve the value of the list item. The value can ListItem_t * configLIST_VOLATILE pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to listGET_OWNER_OF_NEXT_ENTRY (). */
* represent anything - for example the priority of a task, or the time at MiniListItem_t 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. */
* which a task should be unblocked. listSECOND_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
* } List_t;
* \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
* \ingroup LinkedList /*
*/ * Access macro to set the owner of a list item. The owner of a list item
#define listGET_LIST_ITEM_VALUE( pxListItem ) ( ( pxListItem )->xItemValue ) * is the object (usually a TCB) that contains the list item.
*
/* * \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
* Access macro to retrieve the value of the list item at the head of a given * \ingroup LinkedList
* list. */
* #define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner ) ( ( pxListItem )->pvOwner = ( void * ) ( pxOwner ) )
* \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
* \ingroup LinkedList /*
*/ * Access macro to get the owner of a list item. The owner of a list item
#define listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext->xItemValue ) * is the object (usually a TCB) that contains the list item.
*
/* * \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
* Return the list item at the head of the list. * \ingroup LinkedList
* */
* \page listGET_HEAD_ENTRY listGET_HEAD_ENTRY #define listGET_LIST_ITEM_OWNER( pxListItem ) ( ( pxListItem )->pvOwner )
* \ingroup LinkedList
*/ /*
#define listGET_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext ) * Access macro to set the value of the list item. In most cases the value is
* used to sort the list in descending order.
/* *
* Return the next list item. * \page listSET_LIST_ITEM_VALUE listSET_LIST_ITEM_VALUE
* * \ingroup LinkedList
* \page listGET_NEXT listGET_NEXT */
* \ingroup LinkedList #define listSET_LIST_ITEM_VALUE( pxListItem, xValue ) ( ( pxListItem )->xItemValue = ( xValue ) )
*/
#define listGET_NEXT( pxListItem ) ( ( pxListItem )->pxNext ) /*
* Access macro to retrieve the value of the list item. The value can
/* * represent anything - for example the priority of a task, or the time at
* Return the list item that marks the end of the list * which a task should be unblocked.
* *
* \page listGET_END_MARKER listGET_END_MARKER * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
* \ingroup LinkedList * \ingroup LinkedList
*/ */
#define listGET_END_MARKER( pxList ) ( ( ListItem_t const * ) ( &( ( pxList )->xListEnd ) ) ) #define listGET_LIST_ITEM_VALUE( pxListItem ) ( ( pxListItem )->xItemValue )
/* /*
* Access macro to determine if a list contains any items. The macro will * Access macro to retrieve the value of the list item at the head of a given
* only have the value true if the list is empty. * list.
* *
* \page listLIST_IS_EMPTY listLIST_IS_EMPTY * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
* \ingroup LinkedList * \ingroup LinkedList
*/ */
#define listLIST_IS_EMPTY( pxList ) ( ( ( pxList )->uxNumberOfItems == ( UBaseType_t ) 0 ) ? pdTRUE : pdFALSE ) #define listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext->xItemValue )
/* /*
* Access macro to return the number of items in the list. * Return the list item at the head of the list.
*/ *
#define listCURRENT_LIST_LENGTH( pxList ) ( ( pxList )->uxNumberOfItems ) * \page listGET_HEAD_ENTRY listGET_HEAD_ENTRY
* \ingroup LinkedList
/* */
* Access function to obtain the owner of the next entry in a list. #define listGET_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext )
*
* 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 * Return the list item at the head of the list.
* and returns that entry's pxOwner parameter. Using multiple calls to this *
* function it is therefore possible to move through every item contained in * \page listGET_NEXT listGET_NEXT
* a list. * \ingroup LinkedList
* */
* The pxOwner parameter of a list item is a pointer to the object that owns #define listGET_NEXT( pxListItem ) ( ( pxListItem )->pxNext )
* 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. * Return the list item that marks the end of the list
* *
* @param pxTCB pxTCB is set to the address of the owner of the next list item. * \page listGET_END_MARKER listGET_END_MARKER
* @param pxList The list from which the next item owner is to be returned. * \ingroup LinkedList
* */
* \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY #define listGET_END_MARKER( pxList ) ( ( ListItem_t const * ) ( &( ( pxList )->xListEnd ) ) )
* \ingroup LinkedList
*/ /*
#if ( configNUMBER_OF_CORES == 1 ) * Access macro to determine if a list contains any items. The macro will
#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList ) \ * only have the value true if the list is empty.
do { \ *
List_t * const pxConstList = ( pxList ); \ * \page listLIST_IS_EMPTY listLIST_IS_EMPTY
/* Increment the index to the next item and return the item, ensuring */ \ * \ingroup LinkedList
/* we don't return the marker used at the end of the list. */ \ */
( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \ #define listLIST_IS_EMPTY( pxList ) ( ( BaseType_t ) ( ( pxList )->uxNumberOfItems == ( UBaseType_t ) 0 ) )
if( ( void * ) ( pxConstList )->pxIndex == ( void * ) &( ( pxConstList )->xListEnd ) ) \
{ \ /*
( pxConstList )->pxIndex = ( pxConstList )->xListEnd.pxNext; \ * Access macro to return the number of items in the list.
} \ */
( pxTCB ) = ( pxConstList )->pxIndex->pvOwner; \ #define listCURRENT_LIST_LENGTH( pxList ) ( ( pxList )->uxNumberOfItems )
} while( 0 )
#else /* #if ( configNUMBER_OF_CORES == 1 ) */ /*
* Access function to obtain the owner of the next entry in a list.
/* This function is not required in SMP. FreeRTOS SMP scheduler doesn't use *
* pxIndex and it should always point to the xListEnd. Not defining this macro * The list member pxIndex is used to walk through a list. Calling
* here to prevent updating pxIndex. * listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list
*/ * and returns that entry's pxOwner parameter. Using multiple calls to this
#endif /* #if ( configNUMBER_OF_CORES == 1 ) */ * function it is therefore possible to move through every item contained in
* a list.
/* *
* Version of uxListRemove() that does not return a value. Provided as a slight * The pxOwner parameter of a list item is a pointer to the object that owns
* optimisation for xTaskIncrementTick() by being inline. * 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
* Remove an item from a list. The list item has a pointer to the list that * item and its owner.
* it is in, so only the list item need be passed into the function. *
* * @param pxTCB pxTCB is set to the address of the owner of the next list item.
* @param uxListRemove The item to be removed. The item will remove itself from * @param pxList The list from which the next item owner is to be returned.
* the list pointed to by it's pxContainer parameter. *
* * \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY
* @return The number of items that remain in the list after the list item has * \ingroup LinkedList
* been removed. */
* #define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList ) \
* \page listREMOVE_ITEM listREMOVE_ITEM { \
* \ingroup LinkedList List_t * const pxConstList = ( pxList ); \
*/ /* Increment the index to the next item and return the item, ensuring */ \
#define listREMOVE_ITEM( pxItemToRemove ) \ /* we don't return the marker used at the end of the list. */ \
do { \ ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \
/* The list item knows which list it is in. Obtain the list from the list \ if( ( void * ) ( pxConstList )->pxIndex == ( void * ) &( ( pxConstList )->xListEnd ) ) \
* item. */ \ { \
List_t * const pxList = ( pxItemToRemove )->pxContainer; \ ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \
\ } \
( pxItemToRemove )->pxNext->pxPrevious = ( pxItemToRemove )->pxPrevious; \ ( pxTCB ) = ( pxConstList )->pxIndex->pvOwner; \
( pxItemToRemove )->pxPrevious->pxNext = ( pxItemToRemove )->pxNext; \ }
/* Make sure the index is left pointing to a valid item. */ \
if( pxList->pxIndex == ( pxItemToRemove ) ) \
{ \ /*
pxList->pxIndex = ( pxItemToRemove )->pxPrevious; \ * Access function to obtain the owner of the first entry in a list. Lists
} \ * are normally sorted in ascending item value order.
\ *
( pxItemToRemove )->pxContainer = NULL; \ * This function returns the pxOwner member of the first item in the list.
( ( pxList )->uxNumberOfItems ) = ( UBaseType_t ) ( ( ( pxList )->uxNumberOfItems ) - 1U ); \ * The pxOwner parameter of a list item is a pointer to the object that owns
} while( 0 ) * 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.
* Inline version of vListInsertEnd() to provide slight optimisation for *
* xTaskIncrementTick(). * @param pxList The list from which the owner of the head item is to be
* * returned.
* 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 * \page listGET_OWNER_OF_HEAD_ENTRY listGET_OWNER_OF_HEAD_ENTRY
* calls to listGET_OWNER_OF_NEXT_ENTRY. * \ingroup LinkedList
* */
* The list member pxIndex is used to walk through a list. Calling #define listGET_OWNER_OF_HEAD_ENTRY( pxList ) ( (&( ( pxList )->xListEnd ))->pxNext->pvOwner )
* listGET_OWNER_OF_NEXT_ENTRY increments pxIndex 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 pxIndex. This means that every other * Check to see if a list item is within a list. The list item maintains a
* item within the list will be returned by listGET_OWNER_OF_NEXT_ENTRY before * "container" pointer that points to the list it is in. All this macro does
* the pxIndex parameter again points to the item being inserted. * is check to see if the container and the list match.
* *
* @param pxList The list into which the item is to be inserted. * @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.
* @param pxNewListItem The list item to be inserted into the list. * @return pdTRUE if the list item is in the list, otherwise pdFALSE.
* */
* \page listINSERT_END listINSERT_END #define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( BaseType_t ) ( ( pxListItem )->pvContainer == ( void * ) ( pxList ) ) )
* \ingroup LinkedList
*/ /*
#define listINSERT_END( pxList, pxNewListItem ) \ * Return the list a list item is contained within (referenced from).
do { \ *
ListItem_t * const pxIndex = ( pxList )->pxIndex; \ * @param pxListItem The list item being queried.
\ * @return A pointer to the List_t object that references the pxListItem
/* Only effective when configASSERT() is also defined, these tests may catch \ */
* the list data structures being overwritten in memory. They will not catch \ #define listLIST_ITEM_CONTAINER( pxListItem ) ( ( pxListItem )->pvContainer )
* data errors caused by incorrect configuration or use of FreeRTOS. */ \
listTEST_LIST_INTEGRITY( ( pxList ) ); \ /*
listTEST_LIST_ITEM_INTEGRITY( ( pxNewListItem ) ); \ * This provides a crude means of knowing if a list has been initialised, as
\ * pxList->xListEnd.xItemValue is set to portMAX_DELAY by the vListInitialise()
/* Insert a new list item into ( pxList ), but rather than sort the list, \ * function.
* makes the new list item the last item to be removed by a call to \ */
* listGET_OWNER_OF_NEXT_ENTRY(). */ \ #define listLIST_IS_INITIALISED( pxList ) ( ( pxList )->xListEnd.xItemValue == portMAX_DELAY )
( pxNewListItem )->pxNext = pxIndex; \
( pxNewListItem )->pxPrevious = pxIndex->pxPrevious; \ /*
\ * Must be called before a list is used! This initialises all the members
pxIndex->pxPrevious->pxNext = ( pxNewListItem ); \ * of the list structure and inserts the xListEnd item into the list as a
pxIndex->pxPrevious = ( pxNewListItem ); \ * marker to the back of the list.
\ *
/* Remember which list the item is in. */ \ * @param pxList Pointer to the list being initialised.
( pxNewListItem )->pxContainer = ( pxList ); \ *
\ * \page vListInitialise vListInitialise
( ( pxList )->uxNumberOfItems ) = ( UBaseType_t ) ( ( ( pxList )->uxNumberOfItems ) + 1U ); \ * \ingroup LinkedList
} while( 0 ) */
void vListInitialise( List_t * const pxList ) PRIVILEGED_FUNCTION;
/*
* Access function to obtain the owner of the first entry in a list. Lists /*
* are normally sorted in ascending item value order. * 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.
* 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 * @param pxItem Pointer to the list item being initialised.
* 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 * \page vListInitialiseItem vListInitialiseItem
* item and its owner. * \ingroup LinkedList
* */
* @param pxList The list from which the owner of the head item is to be void vListInitialiseItem( ListItem_t * const pxItem ) PRIVILEGED_FUNCTION;
* returned.
* /*
* \page listGET_OWNER_OF_HEAD_ENTRY listGET_OWNER_OF_HEAD_ENTRY * Insert a list item into a list. The item will be inserted into the list in
* \ingroup LinkedList * a position determined by its item value (descending item value order).
*/ *
#define listGET_OWNER_OF_HEAD_ENTRY( pxList ) ( ( &( ( pxList )->xListEnd ) )->pxNext->pvOwner ) * @param pxList The list into which the item is to be inserted.
*
/* * @param pxNewListItem The item that is to be placed in the list.
* 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 * \page vListInsert vListInsert
* is check to see if the container and the list match. * \ingroup LinkedList
* */
* @param pxList The list we want to know if the list item is within. void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION;
* @param pxListItem The list item we want to know if is in the list.
* @return pdTRUE if the list item is in the list, otherwise pdFALSE. /*
*/ * Insert a list item into a list. The item will be inserted in a position
#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( ( pxListItem )->pxContainer == ( pxList ) ) ? ( pdTRUE ) : ( pdFALSE ) ) * such that it will be the last item within the list returned by multiple
* calls to listGET_OWNER_OF_NEXT_ENTRY.
/* *
* Return the list a list item is contained within (referenced from). * 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.
* @param pxListItem The list item being queried. * Placing an item in a list using vListInsertEnd effectively places the item
* @return A pointer to the List_t object that references the pxListItem * 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
#define listLIST_ITEM_CONTAINER( pxListItem ) ( ( pxListItem )->pxContainer ) * the pvIndex parameter again points to the item being inserted.
*
/* * @param pxList The list into which the item is to be inserted.
* This provides a crude means of knowing if a list has been initialised, as *
* pxList->xListEnd.xItemValue is set to portMAX_DELAY by the vListInitialise() * @param pxNewListItem The list item to be inserted into the list.
* function. *
*/ * \page vListInsertEnd vListInsertEnd
#define listLIST_IS_INITIALISED( pxList ) ( ( pxList )->xListEnd.xItemValue == portMAX_DELAY ) * \ingroup LinkedList
*/
/* void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION;
* 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. * 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 pxList Pointer to the list being initialised. *
* * @param uxListRemove The item to be removed. The item will remove itself from
* \page vListInitialise vListInitialise * the list pointed to by it's pxContainer parameter.
* \ingroup LinkedList *
*/ * @return The number of items that remain in the list after the list item has
void vListInitialise( List_t * const pxList ) PRIVILEGED_FUNCTION; * been removed.
*
/* * \page uxListRemove uxListRemove
* Must be called before a list item is used. This sets the list container to * \ingroup LinkedList
* null so the item does not think that it is already contained in a list. */
* UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ) PRIVILEGED_FUNCTION;
* @param pxItem Pointer to the list item being initialised.
* #ifdef __cplusplus
* \page vListInitialiseItem vListInitialiseItem }
* \ingroup LinkedList #endif
*/
void vListInitialiseItem( ListItem_t * const pxItem ) PRIVILEGED_FUNCTION; #endif
/*
* Insert a list item into a list. The item will be inserted into the list in
* a position determined by its item value (ascending item value order).
*
* @param pxList The list into which the item is to be inserted.
*
* @param pxNewListItem The item that is to be placed in the list.
*
* \page vListInsert vListInsert
* \ingroup LinkedList
*/
void vListInsert( List_t * const pxList,
ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION;
/*
* 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 pxIndex is used to walk through a list. Calling
* listGET_OWNER_OF_NEXT_ENTRY increments pxIndex 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 pxIndex. This means that every other
* item within the list will be returned by listGET_OWNER_OF_NEXT_ENTRY before
* the pxIndex 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( List_t * const pxList,
ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION;
/*
* 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 uxListRemove The item to be removed. The item will remove itself from
* the list pointed to by it's pxContainer parameter.
*
* @return The number of items that remain in the list after the list item has
* been removed.
*
* \page uxListRemove uxListRemove
* \ingroup LinkedList
*/
UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ) PRIVILEGED_FUNCTION;
/* *INDENT-OFF* */
#ifdef __cplusplus
}
#endif
/* *INDENT-ON* */
#endif /* ifndef LIST_H */

967
Source/include/message_buffer.h
View File

@ -1,967 +0,0 @@
/*
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* Message buffers build functionality on top of FreeRTOS stream buffers.
* Whereas stream buffers are used to send a continuous stream of data from one
* task or interrupt to another, message buffers are used to send variable
* length discrete messages from one task or interrupt to another. Their
* implementation is light weight, making them particularly suited for interrupt
* to task and core to core communication scenarios.
*
* ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
* implementation (so also the message buffer implementation, as message buffers
* are built on top of stream buffers) assumes there is only one task or
* interrupt that will write to the buffer (the writer), and only one task or
* interrupt that will read from the buffer (the reader). It is safe for the
* writer and reader to be different tasks or interrupts, but, unlike other
* FreeRTOS objects, it is not safe to have multiple different writers or
* multiple different readers. If there are to be multiple different writers
* then the application writer must place each call to a writing API function
* (such as xMessageBufferSend()) inside a critical section and set the send
* block time to 0. Likewise, if there are to be multiple different readers
* then the application writer must place each call to a reading API function
* (such as xMessageBufferRead()) inside a critical section and set the receive
* timeout to 0.
*
* Message buffers hold variable length messages. To enable that, when a
* message is written to the message buffer an additional sizeof( size_t ) bytes
* are also written to store the message's length (that happens internally, with
* the API function). sizeof( size_t ) is typically 4 bytes on a 32-bit
* architecture, so writing a 10 byte message to a message buffer on a 32-bit
* architecture will actually reduce the available space in the message buffer
* by 14 bytes (10 byte are used by the message, and 4 bytes to hold the length
* of the message).
*/
#ifndef FREERTOS_MESSAGE_BUFFER_H
#define FREERTOS_MESSAGE_BUFFER_H
#ifndef INC_FREERTOS_H
#error "include FreeRTOS.h must appear in source files before include message_buffer.h"
#endif
/* Message buffers are built onto of stream buffers. */
#include "stream_buffer.h"
/* *INDENT-OFF* */
#if defined( __cplusplus )
extern "C" {
#endif
/* *INDENT-ON* */
/**
* Type by which message buffers are referenced. For example, a call to
* xMessageBufferCreate() returns an MessageBufferHandle_t variable that can
* then be used as a parameter to xMessageBufferSend(), xMessageBufferReceive(),
* etc. Message buffer is essentially built as a stream buffer hence its handle
* is also set to same type as a stream buffer handle.
*/
typedef StreamBufferHandle_t MessageBufferHandle_t;
/*-----------------------------------------------------------*/
/**
* message_buffer.h
*
* @code{c}
* MessageBufferHandle_t xMessageBufferCreate( size_t xBufferSizeBytes );
* @endcode
*
* Creates a new message buffer using dynamically allocated memory. See
* xMessageBufferCreateStatic() for a version that uses statically allocated
* memory (memory that is allocated at compile time).
*
* configSUPPORT_DYNAMIC_ALLOCATION must be set to 1 or left undefined in
* FreeRTOSConfig.h for xMessageBufferCreate() to be available.
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferCreate() to be available.
*
* @param xBufferSizeBytes The total number of bytes (not messages) the message
* buffer will be able to hold at any one time. When a message is written to
* the message buffer an additional sizeof( size_t ) bytes are also written to
* store the message's length. sizeof( size_t ) is typically 4 bytes on a
* 32-bit architecture, so on most 32-bit architectures a 10 byte message will
* take up 14 bytes of message buffer space.
*
* @param pxSendCompletedCallback Callback invoked when a send operation to the
* message buffer is complete. If the parameter is NULL or xMessageBufferCreate()
* is called without the parameter, then it will use the default implementation
* provided by sbSEND_COMPLETED macro. To enable the callback,
* configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
*
* @param pxReceiveCompletedCallback Callback invoked when a receive operation from
* the message buffer is complete. If the parameter is NULL or xMessageBufferCreate()
* is called without the parameter, it will use the default implementation provided
* by sbRECEIVE_COMPLETED macro. To enable the callback,
* configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
*
* @return If NULL is returned, then the message buffer cannot be created
* because there is insufficient heap memory available for FreeRTOS to allocate
* the message buffer data structures and storage area. A non-NULL value being
* returned indicates that the message buffer has been created successfully -
* the returned value should be stored as the handle to the created message
* buffer.
*
* Example use:
* @code{c}
*
* void vAFunction( void )
* {
* MessageBufferHandle_t xMessageBuffer;
* const size_t xMessageBufferSizeBytes = 100;
*
* // Create a message buffer that can hold 100 bytes. The memory used to hold
* // both the message buffer structure and the messages themselves is allocated
* // dynamically. Each message added to the buffer consumes an additional 4
* // bytes which are used to hold the length of the message.
* xMessageBuffer = xMessageBufferCreate( xMessageBufferSizeBytes );
*
* if( xMessageBuffer == NULL )
* {
* // There was not enough heap memory space available to create the
* // message buffer.
* }
* else
* {
* // The message buffer was created successfully and can now be used.
* }
*
* @endcode
* \defgroup xMessageBufferCreate xMessageBufferCreate
* \ingroup MessageBufferManagement
*/
#define xMessageBufferCreate( xBufferSizeBytes ) \
xStreamBufferGenericCreate( ( xBufferSizeBytes ), ( size_t ) 0, sbTYPE_MESSAGE_BUFFER, NULL, NULL )
#if ( configUSE_SB_COMPLETED_CALLBACK == 1 )
#define xMessageBufferCreateWithCallback( xBufferSizeBytes, pxSendCompletedCallback, pxReceiveCompletedCallback ) \
xStreamBufferGenericCreate( ( xBufferSizeBytes ), ( size_t ) 0, sbTYPE_MESSAGE_BUFFER, ( pxSendCompletedCallback ), ( pxReceiveCompletedCallback ) )
#endif
/**
* message_buffer.h
*
* @code{c}
* MessageBufferHandle_t xMessageBufferCreateStatic( size_t xBufferSizeBytes,
* uint8_t *pucMessageBufferStorageArea,
* StaticMessageBuffer_t *pxStaticMessageBuffer );
* @endcode
* Creates a new message buffer using statically allocated memory. See
* xMessageBufferCreate() for a version that uses dynamically allocated memory.
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferCreateStatic() to be available.
*
* @param xBufferSizeBytes The size, in bytes, of the buffer pointed to by the
* pucMessageBufferStorageArea parameter. When a message is written to the
* message buffer an additional sizeof( size_t ) bytes are also written to store
* the message's length. sizeof( size_t ) is typically 4 bytes on a 32-bit
* architecture, so on most 32-bit architecture a 10 byte message will take up
* 14 bytes of message buffer space. The maximum number of bytes that can be
* stored in the message buffer is actually (xBufferSizeBytes - 1).
*
* @param pucMessageBufferStorageArea Must point to a uint8_t array that is at
* least xBufferSizeBytes big. This is the array to which messages are
* copied when they are written to the message buffer.
*
* @param pxStaticMessageBuffer Must point to a variable of type
* StaticMessageBuffer_t, which will be used to hold the message buffer's data
* structure.
*
* @param pxSendCompletedCallback Callback invoked when a new message is sent to the message buffer.
* If the parameter is NULL or xMessageBufferCreate() is called without the parameter, then it will use the default
* implementation provided by sbSEND_COMPLETED macro. To enable the callback,
* configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
*
* @param pxReceiveCompletedCallback Callback invoked when a message is read from a
* message buffer. If the parameter is NULL or xMessageBufferCreate() is called without the parameter, it will
* use the default implementation provided by sbRECEIVE_COMPLETED macro. To enable the callback,
* configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
*
* @return If the message buffer is created successfully then a handle to the
* created message buffer is returned. If either pucMessageBufferStorageArea or
* pxStaticmessageBuffer are NULL then NULL is returned.
*
* Example use:
* @code{c}
*
* // Used to dimension the array used to hold the messages. The available space
* // will actually be one less than this, so 999.
#define STORAGE_SIZE_BYTES 1000
*
* // Defines the memory that will actually hold the messages within the message
* // buffer.
* static uint8_t ucStorageBuffer[ STORAGE_SIZE_BYTES ];
*
* // The variable used to hold the message buffer structure.
* StaticMessageBuffer_t xMessageBufferStruct;
*
* void MyFunction( void )
* {
* MessageBufferHandle_t xMessageBuffer;
*
* xMessageBuffer = xMessageBufferCreateStatic( sizeof( ucStorageBuffer ),
* ucStorageBuffer,
* &xMessageBufferStruct );
*
* // As neither the pucMessageBufferStorageArea or pxStaticMessageBuffer
* // parameters were NULL, xMessageBuffer will not be NULL, and can be used to
* // reference the created message buffer in other message buffer API calls.
*
* // Other code that uses the message buffer can go here.
* }
*
* @endcode
* \defgroup xMessageBufferCreateStatic xMessageBufferCreateStatic
* \ingroup MessageBufferManagement
*/
#define xMessageBufferCreateStatic( xBufferSizeBytes, pucMessageBufferStorageArea, pxStaticMessageBuffer ) \
xStreamBufferGenericCreateStatic( ( xBufferSizeBytes ), 0, sbTYPE_MESSAGE_BUFFER, ( pucMessageBufferStorageArea ), ( pxStaticMessageBuffer ), NULL, NULL )
#if ( configUSE_SB_COMPLETED_CALLBACK == 1 )
#define xMessageBufferCreateStaticWithCallback( xBufferSizeBytes, pucMessageBufferStorageArea, pxStaticMessageBuffer, pxSendCompletedCallback, pxReceiveCompletedCallback ) \
xStreamBufferGenericCreateStatic( ( xBufferSizeBytes ), 0, sbTYPE_MESSAGE_BUFFER, ( pucMessageBufferStorageArea ), ( pxStaticMessageBuffer ), ( pxSendCompletedCallback ), ( pxReceiveCompletedCallback ) )
#endif
/**
* message_buffer.h
*
* @code{c}
* BaseType_t xMessageBufferGetStaticBuffers( MessageBufferHandle_t xMessageBuffer,
* uint8_t ** ppucMessageBufferStorageArea,
* StaticMessageBuffer_t ** ppxStaticMessageBuffer );
* @endcode
*
* Retrieve pointers to a statically created message buffer's data structure
* buffer and storage area buffer. These are the same buffers that are supplied
* at the time of creation.
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferGetStaticBuffers() to be available.
*
* @param xMessageBuffer The message buffer for which to retrieve the buffers.
*
* @param ppucMessageBufferStorageArea Used to return a pointer to the
* message buffer's storage area buffer.
*
* @param ppxStaticMessageBuffer Used to return a pointer to the message
* buffer's data structure buffer.
*
* @return pdTRUE if buffers were retrieved, pdFALSE otherwise..
*
* \defgroup xMessageBufferGetStaticBuffers xMessageBufferGetStaticBuffers
* \ingroup MessageBufferManagement
*/
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
#define xMessageBufferGetStaticBuffers( xMessageBuffer, ppucMessageBufferStorageArea, ppxStaticMessageBuffer ) \
xStreamBufferGetStaticBuffers( ( xMessageBuffer ), ( ppucMessageBufferStorageArea ), ( ppxStaticMessageBuffer ) )
#endif /* configSUPPORT_STATIC_ALLOCATION */
/**
* message_buffer.h
*
* @code{c}
* size_t xMessageBufferSend( MessageBufferHandle_t xMessageBuffer,
* const void *pvTxData,
* size_t xDataLengthBytes,
* TickType_t xTicksToWait );
* @endcode
*
* Sends a discrete message to the message buffer. The message can be any
* length that fits within the buffer's free space, and is copied into the
* buffer.
*
* ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
* implementation (so also the message buffer implementation, as message buffers
* are built on top of stream buffers) assumes there is only one task or
* interrupt that will write to the buffer (the writer), and only one task or
* interrupt that will read from the buffer (the reader). It is safe for the
* writer and reader to be different tasks or interrupts, but, unlike other
* FreeRTOS objects, it is not safe to have multiple different writers or
* multiple different readers. If there are to be multiple different writers
* then the application writer must place each call to a writing API function
* (such as xMessageBufferSend()) inside a critical section and set the send
* block time to 0. Likewise, if there are to be multiple different readers
* then the application writer must place each call to a reading API function
* (such as xMessageBufferRead()) inside a critical section and set the receive
* block time to 0.
*
* Use xMessageBufferSend() to write to a message buffer from a task. Use
* xMessageBufferSendFromISR() to write to a message buffer from an interrupt
* service routine (ISR).
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferSend() to be available.
*
* @param xMessageBuffer The handle of the message buffer to which a message is
* being sent.
*
* @param pvTxData A pointer to the message that is to be copied into the
* message buffer.
*
* @param xDataLengthBytes The length of the message. That is, the number of
* bytes to copy from pvTxData into the message buffer. When a message is
* written to the message buffer an additional sizeof( size_t ) bytes are also
* written to store the message's length. sizeof( size_t ) is typically 4 bytes
* on a 32-bit architecture, so on most 32-bit architecture setting
* xDataLengthBytes to 20 will reduce the free space in the message buffer by 24
* bytes (20 bytes of message data and 4 bytes to hold the message length).
*
* @param xTicksToWait The maximum amount of time the calling task should remain
* in the Blocked state to wait for enough space to become available in the
* message buffer, should the message buffer have insufficient space when
* xMessageBufferSend() is called. The calling task will never block if
* xTicksToWait is zero. The block time is specified in tick periods, so the
* absolute time it represents is dependent on the tick frequency. The macro
* pdMS_TO_TICKS() can be used to convert a time specified in milliseconds into
* a time specified in ticks. Setting xTicksToWait to portMAX_DELAY will cause
* the task to wait indefinitely (without timing out), provided
* INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h. Tasks do not use any
* CPU time when they are in the Blocked state.
*
* @return The number of bytes written to the message buffer. If the call to
* xMessageBufferSend() times out before there was enough space to write the
* message into the message buffer then zero is returned. If the call did not
* time out then xDataLengthBytes is returned.
*
* Example use:
* @code{c}
* void vAFunction( MessageBufferHandle_t xMessageBuffer )
* {
* size_t xBytesSent;
* uint8_t ucArrayToSend[] = { 0, 1, 2, 3 };
* char *pcStringToSend = "String to send";
* const TickType_t x100ms = pdMS_TO_TICKS( 100 );
*
* // Send an array to the message buffer, blocking for a maximum of 100ms to
* // wait for enough space to be available in the message buffer.
* xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) ucArrayToSend, sizeof( ucArrayToSend ), x100ms );
*
* if( xBytesSent != sizeof( ucArrayToSend ) )
* {
* // The call to xMessageBufferSend() times out before there was enough
* // space in the buffer for the data to be written.
* }
*
* // Send the string to the message buffer. Return immediately if there is
* // not enough space in the buffer.
* xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) pcStringToSend, strlen( pcStringToSend ), 0 );
*
* if( xBytesSent != strlen( pcStringToSend ) )
* {
* // The string could not be added to the message buffer because there was
* // not enough free space in the buffer.
* }
* }
* @endcode
* \defgroup xMessageBufferSend xMessageBufferSend
* \ingroup MessageBufferManagement
*/
#define xMessageBufferSend( xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait ) \
xStreamBufferSend( ( xMessageBuffer ), ( pvTxData ), ( xDataLengthBytes ), ( xTicksToWait ) )
/**
* message_buffer.h
*
* @code{c}
* size_t xMessageBufferSendFromISR( MessageBufferHandle_t xMessageBuffer,
* const void *pvTxData,
* size_t xDataLengthBytes,
* BaseType_t *pxHigherPriorityTaskWoken );
* @endcode
*
* Interrupt safe version of the API function that sends a discrete message to
* the message buffer. The message can be any length that fits within the
* buffer's free space, and is copied into the buffer.
*
* ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
* implementation (so also the message buffer implementation, as message buffers
* are built on top of stream buffers) assumes there is only one task or
* interrupt that will write to the buffer (the writer), and only one task or
* interrupt that will read from the buffer (the reader). It is safe for the
* writer and reader to be different tasks or interrupts, but, unlike other
* FreeRTOS objects, it is not safe to have multiple different writers or
* multiple different readers. If there are to be multiple different writers
* then the application writer must place each call to a writing API function
* (such as xMessageBufferSend()) inside a critical section and set the send
* block time to 0. Likewise, if there are to be multiple different readers
* then the application writer must place each call to a reading API function
* (such as xMessageBufferRead()) inside a critical section and set the receive
* block time to 0.
*
* Use xMessageBufferSend() to write to a message buffer from a task. Use
* xMessageBufferSendFromISR() to write to a message buffer from an interrupt
* service routine (ISR).
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferSendFromISR() to be available.
*
* @param xMessageBuffer The handle of the message buffer to which a message is
* being sent.
*
* @param pvTxData A pointer to the message that is to be copied into the
* message buffer.
*
* @param xDataLengthBytes The length of the message. That is, the number of
* bytes to copy from pvTxData into the message buffer. When a message is
* written to the message buffer an additional sizeof( size_t ) bytes are also
* written to store the message's length. sizeof( size_t ) is typically 4 bytes
* on a 32-bit architecture, so on most 32-bit architecture setting
* xDataLengthBytes to 20 will reduce the free space in the message buffer by 24
* bytes (20 bytes of message data and 4 bytes to hold the message length).
*
* @param pxHigherPriorityTaskWoken It is possible that a message buffer will
* have a task blocked on it waiting for data. Calling
* xMessageBufferSendFromISR() can make data available, and so cause a task that
* was waiting for data to leave the Blocked state. If calling
* xMessageBufferSendFromISR() causes a task to leave the Blocked state, and the
* unblocked task has a priority higher than the currently executing task (the
* task that was interrupted), then, internally, xMessageBufferSendFromISR()
* will set *pxHigherPriorityTaskWoken to pdTRUE. If
* xMessageBufferSendFromISR() sets this value to pdTRUE, then normally a
* context switch should be performed before the interrupt is exited. This will
* ensure that the interrupt returns directly to the highest priority Ready
* state task. *pxHigherPriorityTaskWoken should be set to pdFALSE before it
* is passed into the function. See the code example below for an example.
*
* @return The number of bytes actually written to the message buffer. If the
* message buffer didn't have enough free space for the message to be stored
* then 0 is returned, otherwise xDataLengthBytes is returned.
*
* Example use:
* @code{c}
* // A message buffer that has already been created.
* MessageBufferHandle_t xMessageBuffer;
*
* void vAnInterruptServiceRoutine( void )
* {
* size_t xBytesSent;
* char *pcStringToSend = "String to send";
* BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
*
* // Attempt to send the string to the message buffer.
* xBytesSent = xMessageBufferSendFromISR( xMessageBuffer,
* ( void * ) pcStringToSend,
* strlen( pcStringToSend ),
* &xHigherPriorityTaskWoken );
*
* if( xBytesSent != strlen( pcStringToSend ) )
* {
* // The string could not be added to the message buffer because there was
* // not enough free space in the buffer.
* }
*
* // If xHigherPriorityTaskWoken was set to pdTRUE inside
* // xMessageBufferSendFromISR() then a task that has a priority above the
* // priority of the currently executing task was unblocked and a context
* // switch should be performed to ensure the ISR returns to the unblocked
* // task. In most FreeRTOS ports this is done by simply passing
* // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
* // variables value, and perform the context switch if necessary. Check the
* // documentation for the port in use for port specific instructions.
* portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
* }
* @endcode
* \defgroup xMessageBufferSendFromISR xMessageBufferSendFromISR
* \ingroup MessageBufferManagement
*/
#define xMessageBufferSendFromISR( xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken ) \
xStreamBufferSendFromISR( ( xMessageBuffer ), ( pvTxData ), ( xDataLengthBytes ), ( pxHigherPriorityTaskWoken ) )
/**
* message_buffer.h
*
* @code{c}
* size_t xMessageBufferReceive( MessageBufferHandle_t xMessageBuffer,
* void *pvRxData,
* size_t xBufferLengthBytes,
* TickType_t xTicksToWait );
* @endcode
*
* Receives a discrete message from a message buffer. Messages can be of
* variable length and are copied out of the buffer.
*
* ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
* implementation (so also the message buffer implementation, as message buffers
* are built on top of stream buffers) assumes there is only one task or
* interrupt that will write to the buffer (the writer), and only one task or
* interrupt that will read from the buffer (the reader). It is safe for the
* writer and reader to be different tasks or interrupts, but, unlike other
* FreeRTOS objects, it is not safe to have multiple different writers or
* multiple different readers. If there are to be multiple different writers
* then the application writer must place each call to a writing API function
* (such as xMessageBufferSend()) inside a critical section and set the send
* block time to 0. Likewise, if there are to be multiple different readers
* then the application writer must place each call to a reading API function
* (such as xMessageBufferRead()) inside a critical section and set the receive
* block time to 0.
*
* Use xMessageBufferReceive() to read from a message buffer from a task. Use
* xMessageBufferReceiveFromISR() to read from a message buffer from an
* interrupt service routine (ISR).
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferReceive() to be available.
*
* @param xMessageBuffer The handle of the message buffer from which a message
* is being received.
*
* @param pvRxData A pointer to the buffer into which the received message is
* to be copied.
*
* @param xBufferLengthBytes The length of the buffer pointed to by the pvRxData
* parameter. This sets the maximum length of the message that can be received.
* If xBufferLengthBytes is too small to hold the next message then the message
* will be left in the message buffer and 0 will be returned.
*
* @param xTicksToWait The maximum amount of time the task should remain in the
* Blocked state to wait for a message, should the message buffer be empty.
* xMessageBufferReceive() will return immediately if xTicksToWait is zero and
* the message buffer is empty. The block time is specified in tick periods, so
* the absolute time it represents is dependent on the tick frequency. The
* macro pdMS_TO_TICKS() can be used to convert a time specified in milliseconds
* into a time specified in ticks. Setting xTicksToWait to portMAX_DELAY will
* cause the task to wait indefinitely (without timing out), provided
* INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h. Tasks do not use any
* CPU time when they are in the Blocked state.
*
* @return The length, in bytes, of the message read from the message buffer, if
* any. If xMessageBufferReceive() times out before a message became available
* then zero is returned. If the length of the message is greater than
* xBufferLengthBytes then the message will be left in the message buffer and
* zero is returned.
*
* Example use:
* @code{c}
* void vAFunction( MessageBuffer_t xMessageBuffer )
* {
* uint8_t ucRxData[ 20 ];
* size_t xReceivedBytes;
* const TickType_t xBlockTime = pdMS_TO_TICKS( 20 );
*
* // Receive the next message from the message buffer. Wait in the Blocked
* // state (so not using any CPU processing time) for a maximum of 100ms for
* // a message to become available.
* xReceivedBytes = xMessageBufferReceive( xMessageBuffer,
* ( void * ) ucRxData,
* sizeof( ucRxData ),
* xBlockTime );
*
* if( xReceivedBytes > 0 )
* {
* // A ucRxData contains a message that is xReceivedBytes long. Process
* // the message here....
* }
* }
* @endcode
* \defgroup xMessageBufferReceive xMessageBufferReceive
* \ingroup MessageBufferManagement
*/
#define xMessageBufferReceive( xMessageBuffer, pvRxData, xBufferLengthBytes, xTicksToWait ) \
xStreamBufferReceive( ( xMessageBuffer ), ( pvRxData ), ( xBufferLengthBytes ), ( xTicksToWait ) )
/**
* message_buffer.h
*
* @code{c}
* size_t xMessageBufferReceiveFromISR( MessageBufferHandle_t xMessageBuffer,
* void *pvRxData,
* size_t xBufferLengthBytes,
* BaseType_t *pxHigherPriorityTaskWoken );
* @endcode
*
* An interrupt safe version of the API function that receives a discrete
* message from a message buffer. Messages can be of variable length and are
* copied out of the buffer.
*
* ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
* implementation (so also the message buffer implementation, as message buffers
* are built on top of stream buffers) assumes there is only one task or
* interrupt that will write to the buffer (the writer), and only one task or
* interrupt that will read from the buffer (the reader). It is safe for the
* writer and reader to be different tasks or interrupts, but, unlike other
* FreeRTOS objects, it is not safe to have multiple different writers or
* multiple different readers. If there are to be multiple different writers
* then the application writer must place each call to a writing API function
* (such as xMessageBufferSend()) inside a critical section and set the send
* block time to 0. Likewise, if there are to be multiple different readers
* then the application writer must place each call to a reading API function
* (such as xMessageBufferRead()) inside a critical section and set the receive
* block time to 0.
*
* Use xMessageBufferReceive() to read from a message buffer from a task. Use
* xMessageBufferReceiveFromISR() to read from a message buffer from an
* interrupt service routine (ISR).
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferReceiveFromISR() to be available.
*
* @param xMessageBuffer The handle of the message buffer from which a message
* is being received.
*
* @param pvRxData A pointer to the buffer into which the received message is
* to be copied.
*
* @param xBufferLengthBytes The length of the buffer pointed to by the pvRxData
* parameter. This sets the maximum length of the message that can be received.
* If xBufferLengthBytes is too small to hold the next message then the message
* will be left in the message buffer and 0 will be returned.
*
* @param pxHigherPriorityTaskWoken It is possible that a message buffer will
* have a task blocked on it waiting for space to become available. Calling
* xMessageBufferReceiveFromISR() can make space available, and so cause a task
* that is waiting for space to leave the Blocked state. If calling
* xMessageBufferReceiveFromISR() causes a task to leave the Blocked state, and
* the unblocked task has a priority higher than the currently executing task
* (the task that was interrupted), then, internally,
* xMessageBufferReceiveFromISR() will set *pxHigherPriorityTaskWoken to pdTRUE.
* If xMessageBufferReceiveFromISR() sets this value to pdTRUE, then normally a
* context switch should be performed before the interrupt is exited. That will
* ensure the interrupt returns directly to the highest priority Ready state
* task. *pxHigherPriorityTaskWoken should be set to pdFALSE before it is
* passed into the function. See the code example below for an example.
*
* @return The length, in bytes, of the message read from the message buffer, if
* any.
*
* Example use:
* @code{c}
* // A message buffer that has already been created.
* MessageBuffer_t xMessageBuffer;
*
* void vAnInterruptServiceRoutine( void )
* {
* uint8_t ucRxData[ 20 ];
* size_t xReceivedBytes;
* BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
*
* // Receive the next message from the message buffer.
* xReceivedBytes = xMessageBufferReceiveFromISR( xMessageBuffer,
* ( void * ) ucRxData,
* sizeof( ucRxData ),
* &xHigherPriorityTaskWoken );
*
* if( xReceivedBytes > 0 )
* {
* // A ucRxData contains a message that is xReceivedBytes long. Process
* // the message here....
* }
*
* // If xHigherPriorityTaskWoken was set to pdTRUE inside
* // xMessageBufferReceiveFromISR() then a task that has a priority above the
* // priority of the currently executing task was unblocked and a context
* // switch should be performed to ensure the ISR returns to the unblocked
* // task. In most FreeRTOS ports this is done by simply passing
* // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
* // variables value, and perform the context switch if necessary. Check the
* // documentation for the port in use for port specific instructions.
* portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
* }
* @endcode
* \defgroup xMessageBufferReceiveFromISR xMessageBufferReceiveFromISR
* \ingroup MessageBufferManagement
*/
#define xMessageBufferReceiveFromISR( xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken ) \
xStreamBufferReceiveFromISR( ( xMessageBuffer ), ( pvRxData ), ( xBufferLengthBytes ), ( pxHigherPriorityTaskWoken ) )
/**
* message_buffer.h
*
* @code{c}
* void vMessageBufferDelete( MessageBufferHandle_t xMessageBuffer );
* @endcode
*
* Deletes a message buffer that was previously created using a call to
* xMessageBufferCreate() or xMessageBufferCreateStatic(). If the message
* buffer was created using dynamic memory (that is, by xMessageBufferCreate()),
* then the allocated memory is freed.
*
* A message buffer handle must not be used after the message buffer has been
* deleted.
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* vMessageBufferDelete() to be available.
*
* @param xMessageBuffer The handle of the message buffer to be deleted.
*
*/
#define vMessageBufferDelete( xMessageBuffer ) \
vStreamBufferDelete( xMessageBuffer )
/**
* message_buffer.h
* @code{c}
* BaseType_t xMessageBufferIsFull( MessageBufferHandle_t xMessageBuffer );
* @endcode
*
* Tests to see if a message buffer is full. A message buffer is full if it
* cannot accept any more messages, of any size, until space is made available
* by a message being removed from the message buffer.
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferIsFull() to be available.
*
* @param xMessageBuffer The handle of the message buffer being queried.
*
* @return If the message buffer referenced by xMessageBuffer is full then
* pdTRUE is returned. Otherwise pdFALSE is returned.
*/
#define xMessageBufferIsFull( xMessageBuffer ) \
xStreamBufferIsFull( xMessageBuffer )
/**
* message_buffer.h
* @code{c}
* BaseType_t xMessageBufferIsEmpty( MessageBufferHandle_t xMessageBuffer );
* @endcode
*
* Tests to see if a message buffer is empty (does not contain any messages).
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferIsEmpty() to be available.
*
* @param xMessageBuffer The handle of the message buffer being queried.
*
* @return If the message buffer referenced by xMessageBuffer is empty then
* pdTRUE is returned. Otherwise pdFALSE is returned.
*
*/
#define xMessageBufferIsEmpty( xMessageBuffer ) \
xStreamBufferIsEmpty( xMessageBuffer )
/**
* message_buffer.h
* @code{c}
* BaseType_t xMessageBufferReset( MessageBufferHandle_t xMessageBuffer );
* @endcode
*
* Resets a message buffer to its initial empty state, discarding any message it
* contained.
*
* A message buffer can only be reset if there are no tasks blocked on it.
*
* Use xMessageBufferReset() to reset a message buffer from a task.
* Use xMessageBufferResetFromISR() to reset a message buffer from an
* interrupt service routine (ISR).
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferReset() to be available.
*
* @param xMessageBuffer The handle of the message buffer being reset.
*
* @return If the message buffer was reset then pdPASS is returned. If the
* message buffer could not be reset because either there was a task blocked on
* the message queue to wait for space to become available, or to wait for a
* a message to be available, then pdFAIL is returned.
*
* \defgroup xMessageBufferReset xMessageBufferReset
* \ingroup MessageBufferManagement
*/
#define xMessageBufferReset( xMessageBuffer ) \
xStreamBufferReset( xMessageBuffer )
/**
* message_buffer.h
* @code{c}
* BaseType_t xMessageBufferResetFromISR( MessageBufferHandle_t xMessageBuffer );
* @endcode
*
* An interrupt safe version of the API function that resets the message buffer.
* Resets a message buffer to its initial empty state, discarding any message it
* contained.
*
* A message buffer can only be reset if there are no tasks blocked on it.
*
* Use xMessageBufferReset() to reset a message buffer from a task.
* Use xMessageBufferResetFromISR() to reset a message buffer from an
* interrupt service routine (ISR).
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferResetFromISR() to be available.
*
* @param xMessageBuffer The handle of the message buffer being reset.
*
* @return If the message buffer was reset then pdPASS is returned. If the
* message buffer could not be reset because either there was a task blocked on
* the message queue to wait for space to become available, or to wait for a
* a message to be available, then pdFAIL is returned.
*
* \defgroup xMessageBufferResetFromISR xMessageBufferResetFromISR
* \ingroup MessageBufferManagement
*/
#define xMessageBufferResetFromISR( xMessageBuffer ) \
xStreamBufferResetFromISR( xMessageBuffer )
/**
* message_buffer.h
* @code{c}
* size_t xMessageBufferSpaceAvailable( MessageBufferHandle_t xMessageBuffer );
* @endcode
* Returns the number of bytes of free space in the message buffer.
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferSpaceAvailable() to be available.
*
* @param xMessageBuffer The handle of the message buffer being queried.
*
* @return The number of bytes that can be written to the message buffer before
* the message buffer would be full. When a message is written to the message
* buffer an additional sizeof( size_t ) bytes are also written to store the
* message's length. sizeof( size_t ) is typically 4 bytes on a 32-bit
* architecture, so if xMessageBufferSpacesAvailable() returns 10, then the size
* of the largest message that can be written to the message buffer is 6 bytes.
*
* \defgroup xMessageBufferSpaceAvailable xMessageBufferSpaceAvailable
* \ingroup MessageBufferManagement
*/
#define xMessageBufferSpaceAvailable( xMessageBuffer ) \
xStreamBufferSpacesAvailable( xMessageBuffer )
#define xMessageBufferSpacesAvailable( xMessageBuffer ) \
xStreamBufferSpacesAvailable( xMessageBuffer ) /* Corrects typo in original macro name. */
/**
* message_buffer.h
* @code{c}
* size_t xMessageBufferNextLengthBytes( MessageBufferHandle_t xMessageBuffer );
* @endcode
* Returns the length (in bytes) of the next message in a message buffer.
* Useful if xMessageBufferReceive() returned 0 because the size of the buffer
* passed into xMessageBufferReceive() was too small to hold the next message.
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferNextLengthBytes() to be available.
*
* @param xMessageBuffer The handle of the message buffer being queried.
*
* @return The length (in bytes) of the next message in the message buffer, or 0
* if the message buffer is empty.
*
* \defgroup xMessageBufferNextLengthBytes xMessageBufferNextLengthBytes
* \ingroup MessageBufferManagement
*/
#define xMessageBufferNextLengthBytes( xMessageBuffer ) \
xStreamBufferNextMessageLengthBytes( xMessageBuffer )
/**
* message_buffer.h
*
* @code{c}
* BaseType_t xMessageBufferSendCompletedFromISR( MessageBufferHandle_t xMessageBuffer, BaseType_t *pxHigherPriorityTaskWoken );
* @endcode
*
* For advanced users only.
*
* The sbSEND_COMPLETED() macro is called from within the FreeRTOS APIs when
* data is sent to a message buffer or stream buffer. If there was a task that
* was blocked on the message or stream buffer waiting for data to arrive then
* the sbSEND_COMPLETED() macro sends a notification to the task to remove it
* from the Blocked state. xMessageBufferSendCompletedFromISR() does the same
* thing. It is provided to enable application writers to implement their own
* version of sbSEND_COMPLETED(), and MUST NOT BE USED AT ANY OTHER TIME.
*
* See the example implemented in FreeRTOS/Demo/Minimal/MessageBufferAMP.c for
* additional information.
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferSendCompletedFromISR() to be available.
*
* @param xMessageBuffer The handle of the stream buffer to which data was
* written.
*
* @param pxHigherPriorityTaskWoken *pxHigherPriorityTaskWoken should be
* initialised to pdFALSE before it is passed into
* xMessageBufferSendCompletedFromISR(). If calling
* xMessageBufferSendCompletedFromISR() removes a task from the Blocked state,
* and the task has a priority above the priority of the currently running task,
* then *pxHigherPriorityTaskWoken will get set to pdTRUE indicating that a
* context switch should be performed before exiting the ISR.
*
* @return If a task was removed from the Blocked state then pdTRUE is returned.
* Otherwise pdFALSE is returned.
*
* \defgroup xMessageBufferSendCompletedFromISR xMessageBufferSendCompletedFromISR
* \ingroup StreamBufferManagement
*/
#define xMessageBufferSendCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) \
xStreamBufferSendCompletedFromISR( ( xMessageBuffer ), ( pxHigherPriorityTaskWoken ) )
/**
* message_buffer.h
*
* @code{c}
* BaseType_t xMessageBufferReceiveCompletedFromISR( MessageBufferHandle_t xMessageBuffer, BaseType_t *pxHigherPriorityTaskWoken );
* @endcode
*
* For advanced users only.
*
* The sbRECEIVE_COMPLETED() macro is called from within the FreeRTOS APIs when
* data is read out of a message buffer or stream buffer. If there was a task
* that was blocked on the message or stream buffer waiting for data to arrive
* then the sbRECEIVE_COMPLETED() macro sends a notification to the task to
* remove it from the Blocked state. xMessageBufferReceiveCompletedFromISR()
* does the same thing. It is provided to enable application writers to
* implement their own version of sbRECEIVE_COMPLETED(), and MUST NOT BE USED AT
* ANY OTHER TIME.
*
* See the example implemented in FreeRTOS/Demo/Minimal/MessageBufferAMP.c for
* additional information.
*
* configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
* xMessageBufferReceiveCompletedFromISR() to be available.
*
* @param xMessageBuffer The handle of the stream buffer from which data was
* read.
*
* @param pxHigherPriorityTaskWoken *pxHigherPriorityTaskWoken should be
* initialised to pdFALSE before it is passed into
* xMessageBufferReceiveCompletedFromISR(). If calling
* xMessageBufferReceiveCompletedFromISR() removes a task from the Blocked state,
* and the task has a priority above the priority of the currently running task,
* then *pxHigherPriorityTaskWoken will get set to pdTRUE indicating that a
* context switch should be performed before exiting the ISR.
*
* @return If a task was removed from the Blocked state then pdTRUE is returned.
* Otherwise pdFALSE is returned.
*
* \defgroup xMessageBufferReceiveCompletedFromISR xMessageBufferReceiveCompletedFromISR
* \ingroup StreamBufferManagement
*/
#define xMessageBufferReceiveCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) \
xStreamBufferReceiveCompletedFromISR( ( xMessageBuffer ), ( pxHigherPriorityTaskWoken ) )
/* *INDENT-OFF* */
#if defined( __cplusplus )
} /* extern "C" */
#endif
/* *INDENT-ON* */
#endif /* !defined( FREERTOS_MESSAGE_BUFFER_H ) */

389
Source/include/mpu_prototypes.h
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@ -1,389 +0,0 @@
/*
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* When the MPU is used the standard (non MPU) API functions are mapped to
* equivalents that start "MPU_", the prototypes for which are defined in this
* header files. This will cause the application code to call the MPU_ version
* which wraps the non-MPU version with privilege promoting then demoting code,
* so the kernel code always runs will full privileges.
*/
#ifndef MPU_PROTOTYPES_H
#define MPU_PROTOTYPES_H
typedef struct xTaskGenericNotifyParams
{
TaskHandle_t xTaskToNotify;
UBaseType_t uxIndexToNotify;
uint32_t ulValue;
eNotifyAction eAction;
uint32_t * pulPreviousNotificationValue;
} xTaskGenericNotifyParams_t;
typedef struct xTaskGenericNotifyWaitParams
{
UBaseType_t uxIndexToWaitOn;
uint32_t ulBitsToClearOnEntry;
uint32_t ulBitsToClearOnExit;
uint32_t * pulNotificationValue;
TickType_t xTicksToWait;
} xTaskGenericNotifyWaitParams_t;
typedef struct xTimerGenericCommandFromTaskParams
{
TimerHandle_t xTimer;
BaseType_t xCommandID;
TickType_t xOptionalValue;
BaseType_t * pxHigherPriorityTaskWoken;
TickType_t xTicksToWait;
} xTimerGenericCommandFromTaskParams_t;
typedef struct xEventGroupWaitBitsParams
{
EventGroupHandle_t xEventGroup;
EventBits_t uxBitsToWaitFor;
BaseType_t xClearOnExit;
BaseType_t xWaitForAllBits;
TickType_t xTicksToWait;
} xEventGroupWaitBitsParams_t;
/* MPU versions of task.h API functions. */
void MPU_vTaskDelay( const TickType_t xTicksToDelay ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
const TickType_t xTimeIncrement ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskAbortDelay( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTaskPriorityGet( const TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
eTaskState MPU_eTaskGetState( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskGetInfo( TaskHandle_t xTask,
TaskStatus_t * pxTaskStatus,
BaseType_t xGetFreeStackSpace,
eTaskState eState ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskSuspend( TaskHandle_t xTaskToSuspend ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskResume( TaskHandle_t xTaskToResume ) FREERTOS_SYSTEM_CALL;
TickType_t MPU_xTaskGetTickCount( void ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTaskGetNumberOfTasks( void ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
configSTACK_DEPTH_TYPE MPU_uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskSetApplicationTaskTag( TaskHandle_t xTask,
TaskHookFunction_t pxHookFunction ) FREERTOS_SYSTEM_CALL;
TaskHookFunction_t MPU_xTaskGetApplicationTaskTag( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet,
BaseType_t xIndex,
void * pvValue ) FREERTOS_SYSTEM_CALL;
void * MPU_pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery,
BaseType_t xIndex ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xTaskGetIdleTaskHandle( void ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray,
const UBaseType_t uxArraySize,
configRUN_TIME_COUNTER_TYPE * const pulTotalRunTime ) FREERTOS_SYSTEM_CALL;
configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetRunTimeCounter( const TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetRunTimePercent( const TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetIdleRunTimeCounter( void ) FREERTOS_SYSTEM_CALL;
configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetIdleRunTimePercent( void ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskGenericNotify( TaskHandle_t xTaskToNotify,
UBaseType_t uxIndexToNotify,
uint32_t ulValue,
eNotifyAction eAction,
uint32_t * pulPreviousNotificationValue ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskGenericNotifyEntry( const xTaskGenericNotifyParams_t * pxParams ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskGenericNotifyWait( UBaseType_t uxIndexToWaitOn,
uint32_t ulBitsToClearOnEntry,
uint32_t ulBitsToClearOnExit,
uint32_t * pulNotificationValue,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskGenericNotifyWaitEntry( const xTaskGenericNotifyWaitParams_t * pxParams ) FREERTOS_SYSTEM_CALL;
uint32_t MPU_ulTaskGenericNotifyTake( UBaseType_t uxIndexToWaitOn,
BaseType_t xClearCountOnExit,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskGenericNotifyStateClear( TaskHandle_t xTask,
UBaseType_t uxIndexToClear ) FREERTOS_SYSTEM_CALL;
uint32_t MPU_ulTaskGenericNotifyValueClear( TaskHandle_t xTask,
UBaseType_t uxIndexToClear,
uint32_t ulBitsToClear ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut,
TickType_t * const pxTicksToWait ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xTaskGetCurrentTaskHandle( void ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskGetSchedulerState( void ) FREERTOS_SYSTEM_CALL;
/* Privileged only wrappers for Task APIs. These are needed so that
* the application can use opaque handles maintained in mpu_wrappers.c
* with all the APIs. */
BaseType_t MPU_xTaskCreate( TaskFunction_t pxTaskCode,
const char * const pcName,
const configSTACK_DEPTH_TYPE uxStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
TaskHandle_t * const pxCreatedTask ) PRIVILEGED_FUNCTION;
TaskHandle_t MPU_xTaskCreateStatic( TaskFunction_t pxTaskCode,
const char * const pcName,
const configSTACK_DEPTH_TYPE uxStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
StackType_t * const puxStackBuffer,
StaticTask_t * const pxTaskBuffer ) PRIVILEGED_FUNCTION;
void MPU_vTaskDelete( TaskHandle_t xTaskToDelete ) PRIVILEGED_FUNCTION;
void MPU_vTaskPrioritySet( TaskHandle_t xTask,
UBaseType_t uxNewPriority ) PRIVILEGED_FUNCTION;
TaskHandle_t MPU_xTaskGetHandle( const char * pcNameToQuery ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xTaskCallApplicationTaskHook( TaskHandle_t xTask,
void * pvParameter ) PRIVILEGED_FUNCTION;
char * MPU_pcTaskGetName( TaskHandle_t xTaskToQuery ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition,
TaskHandle_t * pxCreatedTask ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition,
TaskHandle_t * pxCreatedTask ) PRIVILEGED_FUNCTION;
void MPU_vTaskAllocateMPURegions( TaskHandle_t xTaskToModify,
const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xTaskGetStaticBuffers( TaskHandle_t xTask,
StackType_t ** ppuxStackBuffer,
StaticTask_t ** ppxTaskBuffer ) PRIVILEGED_FUNCTION;
UBaseType_t MPU_uxTaskPriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
UBaseType_t MPU_uxTaskBasePriorityGet( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
UBaseType_t MPU_uxTaskBasePriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xTaskResumeFromISR( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
TaskHookFunction_t MPU_xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,
UBaseType_t uxIndexToNotify,
uint32_t ulValue,
eNotifyAction eAction,
uint32_t * pulPreviousNotificationValue,
BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
void MPU_vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify,
UBaseType_t uxIndexToNotify,
BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
/* MPU versions of queue.h API functions. */
BaseType_t MPU_xQueueGenericSend( QueueHandle_t xQueue,
const void * const pvItemToQueue,
TickType_t xTicksToWait,
const BaseType_t xCopyPosition ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueReceive( QueueHandle_t xQueue,
void * const pvBuffer,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueuePeek( QueueHandle_t xQueue,
void * const pvBuffer,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueSemaphoreTake( QueueHandle_t xQueue,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxQueueMessagesWaiting( const QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxQueueSpacesAvailable( const QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xQueueGetMutexHolder( QueueHandle_t xSemaphore ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueTakeMutexRecursive( QueueHandle_t xMutex,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueGiveMutexRecursive( QueueHandle_t pxMutex ) FREERTOS_SYSTEM_CALL;
void MPU_vQueueAddToRegistry( QueueHandle_t xQueue,
const char * pcName ) FREERTOS_SYSTEM_CALL;
void MPU_vQueueUnregisterQueue( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
const char * MPU_pcQueueGetName( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore,
QueueSetHandle_t xQueueSet ) FREERTOS_SYSTEM_CALL;
QueueSetMemberHandle_t MPU_xQueueSelectFromSet( QueueSetHandle_t xQueueSet,
const TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
void MPU_vQueueSetQueueNumber( QueueHandle_t xQueue,
UBaseType_t uxQueueNumber ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxQueueGetQueueNumber( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
uint8_t MPU_ucQueueGetQueueType( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
/* Privileged only wrappers for Queue APIs. These are needed so that
* the application can use opaque handles maintained in mpu_wrappers.c
* with all the APIs. */
void MPU_vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
QueueHandle_t MPU_xQueueCreateMutex( const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
QueueHandle_t MPU_xQueueCreateMutexStatic( const uint8_t ucQueueType,
StaticQueue_t * pxStaticQueue ) PRIVILEGED_FUNCTION;
QueueHandle_t MPU_xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount,
const UBaseType_t uxInitialCount ) PRIVILEGED_FUNCTION;
QueueHandle_t MPU_xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount,
const UBaseType_t uxInitialCount,
StaticQueue_t * pxStaticQueue ) PRIVILEGED_FUNCTION;
QueueHandle_t MPU_xQueueGenericCreate( const UBaseType_t uxQueueLength,
const UBaseType_t uxItemSize,
const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
QueueHandle_t MPU_xQueueGenericCreateStatic( const UBaseType_t uxQueueLength,
const UBaseType_t uxItemSize,
uint8_t * pucQueueStorage,
StaticQueue_t * pxStaticQueue,
const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
QueueSetHandle_t MPU_xQueueCreateSet( const UBaseType_t uxEventQueueLength ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore,
QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xQueueGenericReset( QueueHandle_t xQueue,
BaseType_t xNewQueue ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xQueueGenericGetStaticBuffers( QueueHandle_t xQueue,
uint8_t ** ppucQueueStorage,
StaticQueue_t ** ppxStaticQueue ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xQueueGenericSendFromISR( QueueHandle_t xQueue,
const void * const pvItemToQueue,
BaseType_t * const pxHigherPriorityTaskWoken,
const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xQueueGiveFromISR( QueueHandle_t xQueue,
BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xQueuePeekFromISR( QueueHandle_t xQueue,
void * const pvBuffer ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xQueueReceiveFromISR( QueueHandle_t xQueue,
void * const pvBuffer,
BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xQueueIsQueueFullFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
UBaseType_t MPU_uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
TaskHandle_t MPU_xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore ) PRIVILEGED_FUNCTION;
QueueSetMemberHandle_t MPU_xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
/* MPU versions of timers.h API functions. */
void * MPU_pvTimerGetTimerID( const TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
void MPU_vTimerSetTimerID( TimerHandle_t xTimer,
void * pvNewID ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTimerIsTimerActive( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xTimerGetTimerDaemonTaskHandle( void ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTimerGenericCommandFromTask( TimerHandle_t xTimer,
const BaseType_t xCommandID,
const TickType_t xOptionalValue,
BaseType_t * const pxHigherPriorityTaskWoken,
const TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTimerGenericCommandFromTaskEntry( const xTimerGenericCommandFromTaskParams_t * pxParams ) FREERTOS_SYSTEM_CALL;
const char * MPU_pcTimerGetName( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
void MPU_vTimerSetReloadMode( TimerHandle_t xTimer,
const BaseType_t uxAutoReload ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTimerGetReloadMode( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTimerGetReloadMode( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
TickType_t MPU_xTimerGetPeriod( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
TickType_t MPU_xTimerGetExpiryTime( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
/* Privileged only wrappers for Timer APIs. These are needed so that
* the application can use opaque handles maintained in mpu_wrappers.c
* with all the APIs. */
TimerHandle_t MPU_xTimerCreate( const char * const pcTimerName,
const TickType_t xTimerPeriodInTicks,
const UBaseType_t uxAutoReload,
void * const pvTimerID,
TimerCallbackFunction_t pxCallbackFunction ) PRIVILEGED_FUNCTION;
TimerHandle_t MPU_xTimerCreateStatic( const char * const pcTimerName,
const TickType_t xTimerPeriodInTicks,
const UBaseType_t uxAutoReload,
void * const pvTimerID,
TimerCallbackFunction_t pxCallbackFunction,
StaticTimer_t * pxTimerBuffer ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xTimerGetStaticBuffer( TimerHandle_t xTimer,
StaticTimer_t ** ppxTimerBuffer ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xTimerGenericCommandFromISR( TimerHandle_t xTimer,
const BaseType_t xCommandID,
const TickType_t xOptionalValue,
BaseType_t * const pxHigherPriorityTaskWoken,
const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
/* MPU versions of event_group.h API functions. */
EventBits_t MPU_xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToWaitFor,
const BaseType_t xClearOnExit,
const BaseType_t xWaitForAllBits,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
EventBits_t MPU_xEventGroupWaitBitsEntry( const xEventGroupWaitBitsParams_t * pxParams ) FREERTOS_SYSTEM_CALL;
EventBits_t MPU_xEventGroupClearBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToClear ) FREERTOS_SYSTEM_CALL;
EventBits_t MPU_xEventGroupSetBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet ) FREERTOS_SYSTEM_CALL;
EventBits_t MPU_xEventGroupSync( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet,
const EventBits_t uxBitsToWaitFor,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
#if ( configUSE_TRACE_FACILITY == 1 )
UBaseType_t MPU_uxEventGroupGetNumber( void * xEventGroup ) FREERTOS_SYSTEM_CALL;
void MPU_vEventGroupSetNumber( void * xEventGroup,
UBaseType_t uxEventGroupNumber ) FREERTOS_SYSTEM_CALL;
#endif /* ( configUSE_TRACE_FACILITY == 1 )*/
/* Privileged only wrappers for Event Group APIs. These are needed so that
* the application can use opaque handles maintained in mpu_wrappers.c
* with all the APIs. */
EventGroupHandle_t MPU_xEventGroupCreate( void ) PRIVILEGED_FUNCTION;
EventGroupHandle_t MPU_xEventGroupCreateStatic( StaticEventGroup_t * pxEventGroupBuffer ) PRIVILEGED_FUNCTION;
void MPU_vEventGroupDelete( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xEventGroupGetStaticBuffer( EventGroupHandle_t xEventGroup,
StaticEventGroup_t ** ppxEventGroupBuffer ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet,
BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
EventBits_t MPU_xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
/* MPU versions of message/stream_buffer.h API functions. */
size_t MPU_xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
const void * pvTxData,
size_t xDataLengthBytes,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
size_t MPU_xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
void * pvRxData,
size_t xBufferLengthBytes,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
size_t MPU_xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
size_t MPU_xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer,
size_t xTriggerLevel ) FREERTOS_SYSTEM_CALL;
size_t MPU_xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
/* Privileged only wrappers for Stream Buffer APIs. These are needed so that
* the application can use opaque handles maintained in mpu_wrappers.c
* with all the APIs. */
StreamBufferHandle_t MPU_xStreamBufferGenericCreate( size_t xBufferSizeBytes,
size_t xTriggerLevelBytes,
BaseType_t xStreamBufferType,
StreamBufferCallbackFunction_t pxSendCompletedCallback,
StreamBufferCallbackFunction_t pxReceiveCompletedCallback ) PRIVILEGED_FUNCTION;
StreamBufferHandle_t MPU_xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes,
size_t xTriggerLevelBytes,
BaseType_t xStreamBufferType,
uint8_t * const pucStreamBufferStorageArea,
StaticStreamBuffer_t * const pxStaticStreamBuffer,
StreamBufferCallbackFunction_t pxSendCompletedCallback,
StreamBufferCallbackFunction_t pxReceiveCompletedCallback ) PRIVILEGED_FUNCTION;
void MPU_vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xStreamBufferGetStaticBuffers( StreamBufferHandle_t xStreamBuffers,
uint8_t * ppucStreamBufferStorageArea,
StaticStreamBuffer_t * ppxStaticStreamBuffer ) PRIVILEGED_FUNCTION;
size_t MPU_xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
const void * pvTxData,
size_t xDataLengthBytes,
BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
size_t MPU_xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
void * pvRxData,
size_t xBufferLengthBytes,
BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer,
BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer,
BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xStreamBufferResetFromISR( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
#endif /* MPU_PROTOTYPES_H */

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Source/include/mpu_syscall_numbers.h
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@ -1,105 +0,0 @@
/*
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#ifndef MPU_SYSCALL_NUMBERS_H
#define MPU_SYSCALL_NUMBERS_H
/* Numbers assigned to various system calls. */
#define SYSTEM_CALL_xTaskGenericNotify 0
#define SYSTEM_CALL_xTaskGenericNotifyWait 1
#define SYSTEM_CALL_xTimerGenericCommandFromTask 2
#define SYSTEM_CALL_xEventGroupWaitBits 3
#define SYSTEM_CALL_xTaskDelayUntil 4
#define SYSTEM_CALL_xTaskAbortDelay 5
#define SYSTEM_CALL_vTaskDelay 6
#define SYSTEM_CALL_uxTaskPriorityGet 7
#define SYSTEM_CALL_eTaskGetState 8
#define SYSTEM_CALL_vTaskGetInfo 9
#define SYSTEM_CALL_xTaskGetIdleTaskHandle 10
#define SYSTEM_CALL_vTaskSuspend 11
#define SYSTEM_CALL_vTaskResume 12
#define SYSTEM_CALL_xTaskGetTickCount 13
#define SYSTEM_CALL_uxTaskGetNumberOfTasks 14
#define SYSTEM_CALL_ulTaskGetRunTimeCounter 15
#define SYSTEM_CALL_ulTaskGetRunTimePercent 16
#define SYSTEM_CALL_ulTaskGetIdleRunTimePercent 17
#define SYSTEM_CALL_ulTaskGetIdleRunTimeCounter 18
#define SYSTEM_CALL_vTaskSetApplicationTaskTag 19
#define SYSTEM_CALL_xTaskGetApplicationTaskTag 20
#define SYSTEM_CALL_vTaskSetThreadLocalStoragePointer 21
#define SYSTEM_CALL_pvTaskGetThreadLocalStoragePointer 22
#define SYSTEM_CALL_uxTaskGetSystemState 23
#define SYSTEM_CALL_uxTaskGetStackHighWaterMark 24
#define SYSTEM_CALL_uxTaskGetStackHighWaterMark2 25
#define SYSTEM_CALL_xTaskGetCurrentTaskHandle 26
#define SYSTEM_CALL_xTaskGetSchedulerState 27
#define SYSTEM_CALL_vTaskSetTimeOutState 28
#define SYSTEM_CALL_xTaskCheckForTimeOut 29
#define SYSTEM_CALL_ulTaskGenericNotifyTake 30
#define SYSTEM_CALL_xTaskGenericNotifyStateClear 31
#define SYSTEM_CALL_ulTaskGenericNotifyValueClear 32
#define SYSTEM_CALL_xQueueGenericSend 33
#define SYSTEM_CALL_uxQueueMessagesWaiting 34
#define SYSTEM_CALL_uxQueueSpacesAvailable 35
#define SYSTEM_CALL_xQueueReceive 36
#define SYSTEM_CALL_xQueuePeek 37
#define SYSTEM_CALL_xQueueSemaphoreTake 38
#define SYSTEM_CALL_xQueueGetMutexHolder 39
#define SYSTEM_CALL_xQueueTakeMutexRecursive 40
#define SYSTEM_CALL_xQueueGiveMutexRecursive 41
#define SYSTEM_CALL_xQueueSelectFromSet 42
#define SYSTEM_CALL_xQueueAddToSet 43
#define SYSTEM_CALL_vQueueAddToRegistry 44
#define SYSTEM_CALL_vQueueUnregisterQueue 45
#define SYSTEM_CALL_pcQueueGetName 46
#define SYSTEM_CALL_pvTimerGetTimerID 47
#define SYSTEM_CALL_vTimerSetTimerID 48
#define SYSTEM_CALL_xTimerIsTimerActive 49
#define SYSTEM_CALL_xTimerGetTimerDaemonTaskHandle 50
#define SYSTEM_CALL_pcTimerGetName 51
#define SYSTEM_CALL_vTimerSetReloadMode 52
#define SYSTEM_CALL_xTimerGetReloadMode 53
#define SYSTEM_CALL_uxTimerGetReloadMode 54
#define SYSTEM_CALL_xTimerGetPeriod 55
#define SYSTEM_CALL_xTimerGetExpiryTime 56
#define SYSTEM_CALL_xEventGroupClearBits 57
#define SYSTEM_CALL_xEventGroupSetBits 58
#define SYSTEM_CALL_xEventGroupSync 59
#define SYSTEM_CALL_uxEventGroupGetNumber 60
#define SYSTEM_CALL_vEventGroupSetNumber 61
#define SYSTEM_CALL_xStreamBufferSend 62
#define SYSTEM_CALL_xStreamBufferReceive 63
#define SYSTEM_CALL_xStreamBufferIsFull 64
#define SYSTEM_CALL_xStreamBufferIsEmpty 65
#define SYSTEM_CALL_xStreamBufferSpacesAvailable 66
#define SYSTEM_CALL_xStreamBufferBytesAvailable 67
#define SYSTEM_CALL_xStreamBufferSetTriggerLevel 68
#define SYSTEM_CALL_xStreamBufferNextMessageLengthBytes 69
#define NUM_SYSTEM_CALLS 70 /* Total number of system calls. */
#endif /* MPU_SYSCALL_NUMBERS_H */

453
Source/include/mpu_wrappers.h
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@ -1,276 +1,177 @@
/* /*
* FreeRTOS Kernel <DEVELOPMENT BRANCH> FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved. All rights reserved
*
* SPDX-License-Identifier: MIT VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of This file is part of the FreeRTOS distribution.
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to FreeRTOS is free software; you can redistribute it and/or modify it under
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the terms of the GNU General Public License (version 2) as published by the
* the Software, and to permit persons to whom the Software is furnished to do so, Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
* subject to the following conditions:
* ***************************************************************************
* The above copyright notice and this permission notice shall be included in all >>! NOTE: The modification to the GPL is included to allow you to !<<
* copies or substantial portions of the Software. >>! distribute a combined work that includes FreeRTOS without being !<<
* >>! obliged to provide the source code for proprietary components !<<
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR >>! outside of the FreeRTOS kernel. !<<
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS ***************************************************************************
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. FOR A PARTICULAR PURPOSE. Full license text is available on the following
* link: http://www.freertos.org/a00114.html
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS ***************************************************************************
* * *
*/ * FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
#ifndef MPU_WRAPPERS_H * platform software that is more than just the market leader, it *
#define MPU_WRAPPERS_H * is the industry's de facto standard. *
* *
/* This file redefines API functions to be called through a wrapper macro, but * Help yourself get started quickly while simultaneously helping *
* only for ports that are using the MPU. */ * to support the FreeRTOS project by purchasing a FreeRTOS *
#if ( portUSING_MPU_WRAPPERS == 1 ) * tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
/* 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 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
/* defined configASSERT()?
* Map standard (non MPU) API functions to equivalents that start
* "MPU_". This will cause the application code to call the MPU_ http://www.FreeRTOS.org/support - In return for receiving this top quality
* version, which wraps the non-MPU version with privilege promoting embedded software for free we request you assist our global community by
* then demoting code, so the kernel code always runs will full participating in the support forum.
* privileges.
*/ http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
/* Map standard task.h API functions to the MPU equivalents. */ FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
#define vTaskDelay MPU_vTaskDelay Ltd, and the world's leading authority on the world's leading RTOS.
#define xTaskDelayUntil MPU_xTaskDelayUntil
#define xTaskAbortDelay MPU_xTaskAbortDelay http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
#define uxTaskPriorityGet MPU_uxTaskPriorityGet including FreeRTOS+Trace - an indispensable productivity tool, a DOS
#define eTaskGetState MPU_eTaskGetState compatible FAT file system, and our tiny thread aware UDP/IP stack.
#define vTaskGetInfo MPU_vTaskGetInfo
#define vTaskSuspend MPU_vTaskSuspend http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
#define vTaskResume MPU_vTaskResume Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
#define xTaskGetTickCount MPU_xTaskGetTickCount
#define uxTaskGetNumberOfTasks MPU_uxTaskGetNumberOfTasks http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
#define uxTaskGetStackHighWaterMark MPU_uxTaskGetStackHighWaterMark Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
#define uxTaskGetStackHighWaterMark2 MPU_uxTaskGetStackHighWaterMark2 licenses offer ticketed support, indemnification and commercial middleware.
#define vTaskSetApplicationTaskTag MPU_vTaskSetApplicationTaskTag
#define xTaskGetApplicationTaskTag MPU_xTaskGetApplicationTaskTag http://www.SafeRTOS.com - High Integrity Systems also provide a safety
#define vTaskSetThreadLocalStoragePointer MPU_vTaskSetThreadLocalStoragePointer engineered and independently SIL3 certified version for use in safety and
#define pvTaskGetThreadLocalStoragePointer MPU_pvTaskGetThreadLocalStoragePointer mission critical applications that require provable dependability.
#define xTaskGetIdleTaskHandle MPU_xTaskGetIdleTaskHandle
#define uxTaskGetSystemState MPU_uxTaskGetSystemState 1 tab == 4 spaces!
#define ulTaskGetIdleRunTimeCounter MPU_ulTaskGetIdleRunTimeCounter */
#define ulTaskGetIdleRunTimePercent MPU_ulTaskGetIdleRunTimePercent
#define xTaskGenericNotify MPU_xTaskGenericNotify #ifndef MPU_WRAPPERS_H
#define xTaskGenericNotifyWait MPU_xTaskGenericNotifyWait #define MPU_WRAPPERS_H
#define ulTaskGenericNotifyTake MPU_ulTaskGenericNotifyTake
#define xTaskGenericNotifyStateClear MPU_xTaskGenericNotifyStateClear /* This file redefines API functions to be called through a wrapper macro, but
#define ulTaskGenericNotifyValueClear MPU_ulTaskGenericNotifyValueClear only for ports that are using the MPU. */
#define vTaskSetTimeOutState MPU_vTaskSetTimeOutState #ifdef portUSING_MPU_WRAPPERS
#define xTaskCheckForTimeOut MPU_xTaskCheckForTimeOut
#define xTaskGetCurrentTaskHandle MPU_xTaskGetCurrentTaskHandle /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE will be defined when this file is
#define xTaskGetSchedulerState MPU_xTaskGetSchedulerState included from queue.c or task.c to prevent it from having an effect within
those files. */
#if ( configUSE_MPU_WRAPPERS_V1 == 0 ) #ifndef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
#define ulTaskGetRunTimeCounter MPU_ulTaskGetRunTimeCounter
#define ulTaskGetRunTimePercent MPU_ulTaskGetRunTimePercent #define xTaskGenericCreate MPU_xTaskGenericCreate
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */ #define vTaskAllocateMPURegions MPU_vTaskAllocateMPURegions
#define vTaskDelete MPU_vTaskDelete
/* Privileged only wrappers for Task APIs. These are needed so that #define vTaskDelayUntil MPU_vTaskDelayUntil
* the application can use opaque handles maintained in mpu_wrappers.c #define vTaskDelay MPU_vTaskDelay
* with all the APIs. */ #define uxTaskPriorityGet MPU_uxTaskPriorityGet
#define xTaskCreate MPU_xTaskCreate #define vTaskPrioritySet MPU_vTaskPrioritySet
#define xTaskCreateStatic MPU_xTaskCreateStatic #define eTaskGetState MPU_eTaskGetState
#define vTaskDelete MPU_vTaskDelete #define vTaskSuspend MPU_vTaskSuspend
#define vTaskPrioritySet MPU_vTaskPrioritySet #define vTaskResume MPU_vTaskResume
#define xTaskGetHandle MPU_xTaskGetHandle #define vTaskSuspendAll MPU_vTaskSuspendAll
#define xTaskCallApplicationTaskHook MPU_xTaskCallApplicationTaskHook #define xTaskResumeAll MPU_xTaskResumeAll
#define xTaskGetTickCount MPU_xTaskGetTickCount
#if ( configUSE_MPU_WRAPPERS_V1 == 0 ) #define uxTaskGetNumberOfTasks MPU_uxTaskGetNumberOfTasks
#define pcTaskGetName MPU_pcTaskGetName #define vTaskList MPU_vTaskList
#define xTaskCreateRestricted MPU_xTaskCreateRestricted #define vTaskGetRunTimeStats MPU_vTaskGetRunTimeStats
#define xTaskCreateRestrictedStatic MPU_xTaskCreateRestrictedStatic #define vTaskSetApplicationTaskTag MPU_vTaskSetApplicationTaskTag
#define vTaskAllocateMPURegions MPU_vTaskAllocateMPURegions #define xTaskGetApplicationTaskTag MPU_xTaskGetApplicationTaskTag
#define xTaskGetStaticBuffers MPU_xTaskGetStaticBuffers #define xTaskCallApplicationTaskHook MPU_xTaskCallApplicationTaskHook
#define uxTaskPriorityGetFromISR MPU_uxTaskPriorityGetFromISR #define uxTaskGetStackHighWaterMark MPU_uxTaskGetStackHighWaterMark
#define uxTaskBasePriorityGet MPU_uxTaskBasePriorityGet #define xTaskGetCurrentTaskHandle MPU_xTaskGetCurrentTaskHandle
#define uxTaskBasePriorityGetFromISR MPU_uxTaskBasePriorityGetFromISR #define xTaskGetSchedulerState MPU_xTaskGetSchedulerState
#define xTaskResumeFromISR MPU_xTaskResumeFromISR #define xTaskGetIdleTaskHandle MPU_xTaskGetIdleTaskHandle
#define xTaskGetApplicationTaskTagFromISR MPU_xTaskGetApplicationTaskTagFromISR #define uxTaskGetSystemState MPU_uxTaskGetSystemState
#define xTaskGenericNotifyFromISR MPU_xTaskGenericNotifyFromISR #define xTaskGenericNotify MPU_xTaskGenericNotify
#define vTaskGenericNotifyGiveFromISR MPU_vTaskGenericNotifyGiveFromISR #define xTaskNotifyWait MPU_xTaskNotifyWait
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */ #define ulTaskNotifyTake MPU_ulTaskNotifyTake
/* Map standard queue.h API functions to the MPU equivalents. */ #define xQueueGenericCreate MPU_xQueueGenericCreate
#define xQueueGenericSend MPU_xQueueGenericSend #define xQueueCreateMutex MPU_xQueueCreateMutex
#define xQueueReceive MPU_xQueueReceive #define xQueueGiveMutexRecursive MPU_xQueueGiveMutexRecursive
#define xQueuePeek MPU_xQueuePeek #define xQueueTakeMutexRecursive MPU_xQueueTakeMutexRecursive
#define xQueueSemaphoreTake MPU_xQueueSemaphoreTake #define xQueueCreateCountingSemaphore MPU_xQueueCreateCountingSemaphore
#define uxQueueMessagesWaiting MPU_uxQueueMessagesWaiting #define xQueueGenericSend MPU_xQueueGenericSend
#define uxQueueSpacesAvailable MPU_uxQueueSpacesAvailable #define xQueueAltGenericSend MPU_xQueueAltGenericSend
#define xQueueGetMutexHolder MPU_xQueueGetMutexHolder #define xQueueAltGenericReceive MPU_xQueueAltGenericReceive
#define xQueueTakeMutexRecursive MPU_xQueueTakeMutexRecursive #define xQueueGenericReceive MPU_xQueueGenericReceive
#define xQueueGiveMutexRecursive MPU_xQueueGiveMutexRecursive #define uxQueueMessagesWaiting MPU_uxQueueMessagesWaiting
#define xQueueAddToSet MPU_xQueueAddToSet #define vQueueDelete MPU_vQueueDelete
#define xQueueSelectFromSet MPU_xQueueSelectFromSet #define xQueueGenericReset MPU_xQueueGenericReset
#define xQueueCreateSet MPU_xQueueCreateSet
#if ( configQUEUE_REGISTRY_SIZE > 0 ) #define xQueueSelectFromSet MPU_xQueueSelectFromSet
#define vQueueAddToRegistry MPU_vQueueAddToRegistry #define xQueueAddToSet MPU_xQueueAddToSet
#define vQueueUnregisterQueue MPU_vQueueUnregisterQueue #define xQueueRemoveFromSet MPU_xQueueRemoveFromSet
#define pcQueueGetName MPU_pcQueueGetName #define xQueueGetMutexHolder MPU_xQueueGetMutexHolder
#endif /* #if ( configQUEUE_REGISTRY_SIZE > 0 ) */ #define xQueueGetMutexHolder MPU_xQueueGetMutexHolder
/* Privileged only wrappers for Queue APIs. These are needed so that #define pvPortMalloc MPU_pvPortMalloc
* the application can use opaque handles maintained in mpu_wrappers.c #define vPortFree MPU_vPortFree
* with all the APIs. */ #define xPortGetFreeHeapSize MPU_xPortGetFreeHeapSize
#define vQueueDelete MPU_vQueueDelete #define vPortInitialiseBlocks MPU_vPortInitialiseBlocks
#define xQueueCreateMutex MPU_xQueueCreateMutex #define xPortGetMinimumEverFreeHeapSize MPU_xPortGetMinimumEverFreeHeapSize
#define xQueueCreateMutexStatic MPU_xQueueCreateMutexStatic
#define xQueueCreateCountingSemaphore MPU_xQueueCreateCountingSemaphore #if configQUEUE_REGISTRY_SIZE > 0
#define xQueueCreateCountingSemaphoreStatic MPU_xQueueCreateCountingSemaphoreStatic #define vQueueAddToRegistry MPU_vQueueAddToRegistry
#define xQueueGenericCreate MPU_xQueueGenericCreate #define vQueueUnregisterQueue MPU_vQueueUnregisterQueue
#define xQueueGenericCreateStatic MPU_xQueueGenericCreateStatic #endif
#define xQueueGenericReset MPU_xQueueGenericReset
#define xQueueCreateSet MPU_xQueueCreateSet #define xTimerCreate MPU_xTimerCreate
#define xQueueRemoveFromSet MPU_xQueueRemoveFromSet #define pvTimerGetTimerID MPU_pvTimerGetTimerID
#define vTimerSetTimerID MPU_vTimerSetTimerID
#if ( configUSE_MPU_WRAPPERS_V1 == 0 ) #define xTimerIsTimerActive MPU_xTimerIsTimerActive
#define xQueueGenericGetStaticBuffers MPU_xQueueGenericGetStaticBuffers #define xTimerGetTimerDaemonTaskHandle MPU_xTimerGetTimerDaemonTaskHandle
#define xQueueGenericSendFromISR MPU_xQueueGenericSendFromISR #define xTimerPendFunctionCall MPU_xTimerPendFunctionCall
#define xQueueGiveFromISR MPU_xQueueGiveFromISR #define pcTimerGetTimerName MPU_pcTimerGetTimerName
#define xQueuePeekFromISR MPU_xQueuePeekFromISR #define xTimerGenericCommand MPU_xTimerGenericCommand
#define xQueueReceiveFromISR MPU_xQueueReceiveFromISR
#define xQueueIsQueueEmptyFromISR MPU_xQueueIsQueueEmptyFromISR #define xEventGroupCreate MPU_xEventGroupCreate
#define xQueueIsQueueFullFromISR MPU_xQueueIsQueueFullFromISR #define xEventGroupWaitBits MPU_xEventGroupWaitBits
#define uxQueueMessagesWaitingFromISR MPU_uxQueueMessagesWaitingFromISR #define xEventGroupClearBits MPU_xEventGroupClearBits
#define xQueueGetMutexHolderFromISR MPU_xQueueGetMutexHolderFromISR #define xEventGroupSetBits MPU_xEventGroupSetBits
#define xQueueSelectFromSetFromISR MPU_xQueueSelectFromSetFromISR #define xEventGroupSync MPU_xEventGroupSync
#endif /* if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */ #define vEventGroupDelete MPU_vEventGroupDelete
/* Map standard timer.h API functions to the MPU equivalents. */ /* Remove the privileged function macro. */
#define pvTimerGetTimerID MPU_pvTimerGetTimerID #define PRIVILEGED_FUNCTION
#define vTimerSetTimerID MPU_vTimerSetTimerID
#define xTimerIsTimerActive MPU_xTimerIsTimerActive #else /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
#define xTimerGetTimerDaemonTaskHandle MPU_xTimerGetTimerDaemonTaskHandle
#define xTimerGenericCommandFromTask MPU_xTimerGenericCommandFromTask /* Ensure API functions go in the privileged execution section. */
#define pcTimerGetName MPU_pcTimerGetName #define PRIVILEGED_FUNCTION __attribute__((section("privileged_functions")))
#define vTimerSetReloadMode MPU_vTimerSetReloadMode #define PRIVILEGED_DATA __attribute__((section("privileged_data")))
#define uxTimerGetReloadMode MPU_uxTimerGetReloadMode
#define xTimerGetPeriod MPU_xTimerGetPeriod #endif /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
#define xTimerGetExpiryTime MPU_xTimerGetExpiryTime
#else /* portUSING_MPU_WRAPPERS */
/* Privileged only wrappers for Timer APIs. These are needed so that
* the application can use opaque handles maintained in mpu_wrappers.c #define PRIVILEGED_FUNCTION
* with all the APIs. */ #define PRIVILEGED_DATA
#if ( configUSE_MPU_WRAPPERS_V1 == 0 ) #define portUSING_MPU_WRAPPERS 0
#define xTimerGetReloadMode MPU_xTimerGetReloadMode
#define xTimerCreate MPU_xTimerCreate #endif /* portUSING_MPU_WRAPPERS */
#define xTimerCreateStatic MPU_xTimerCreateStatic
#define xTimerGetStaticBuffer MPU_xTimerGetStaticBuffer
#define xTimerGenericCommandFromISR MPU_xTimerGenericCommandFromISR #endif /* MPU_WRAPPERS_H */
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
/* Map standard event_group.h API functions to the MPU equivalents. */
#define xEventGroupWaitBits MPU_xEventGroupWaitBits
#define xEventGroupClearBits MPU_xEventGroupClearBits
#define xEventGroupSetBits MPU_xEventGroupSetBits
#define xEventGroupSync MPU_xEventGroupSync
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
#define uxEventGroupGetNumber MPU_uxEventGroupGetNumber
#define vEventGroupSetNumber MPU_vEventGroupSetNumber
#endif /* #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) ) */
/* Privileged only wrappers for Event Group APIs. These are needed so that
* the application can use opaque handles maintained in mpu_wrappers.c
* with all the APIs. */
#define xEventGroupCreate MPU_xEventGroupCreate
#define xEventGroupCreateStatic MPU_xEventGroupCreateStatic
#define vEventGroupDelete MPU_vEventGroupDelete
#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
#define xEventGroupGetStaticBuffer MPU_xEventGroupGetStaticBuffer
#define xEventGroupClearBitsFromISR MPU_xEventGroupClearBitsFromISR
#define xEventGroupSetBitsFromISR MPU_xEventGroupSetBitsFromISR
#define xEventGroupGetBitsFromISR MPU_xEventGroupGetBitsFromISR
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
/* Map standard message/stream_buffer.h API functions to the MPU
* equivalents. */
#define xStreamBufferSend MPU_xStreamBufferSend
#define xStreamBufferReceive MPU_xStreamBufferReceive
#define xStreamBufferIsFull MPU_xStreamBufferIsFull
#define xStreamBufferIsEmpty MPU_xStreamBufferIsEmpty
#define xStreamBufferSpacesAvailable MPU_xStreamBufferSpacesAvailable
#define xStreamBufferBytesAvailable MPU_xStreamBufferBytesAvailable
#define xStreamBufferSetTriggerLevel MPU_xStreamBufferSetTriggerLevel
#define xStreamBufferNextMessageLengthBytes MPU_xStreamBufferNextMessageLengthBytes
/* Privileged only wrappers for Stream Buffer APIs. These are needed so that
* the application can use opaque handles maintained in mpu_wrappers.c
* with all the APIs. */
#define xStreamBufferGenericCreate MPU_xStreamBufferGenericCreate
#define xStreamBufferGenericCreateStatic MPU_xStreamBufferGenericCreateStatic
#define vStreamBufferDelete MPU_vStreamBufferDelete
#define xStreamBufferReset MPU_xStreamBufferReset
#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
#define xStreamBufferGetStaticBuffers MPU_xStreamBufferGetStaticBuffers
#define xStreamBufferSendFromISR MPU_xStreamBufferSendFromISR
#define xStreamBufferReceiveFromISR MPU_xStreamBufferReceiveFromISR
#define xStreamBufferSendCompletedFromISR MPU_xStreamBufferSendCompletedFromISR
#define xStreamBufferReceiveCompletedFromISR MPU_xStreamBufferReceiveCompletedFromISR
#define xStreamBufferResetFromISR MPU_xStreamBufferResetFromISR
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
#define vGrantAccessToTask( xTask, xTaskToGrantAccess ) vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xTaskToGrantAccess ) )
#define vRevokeAccessToTask( xTask, xTaskToRevokeAccess ) vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xTaskToRevokeAccess ) )
#define vGrantAccessToSemaphore( xTask, xSemaphoreToGrantAccess ) vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xSemaphoreToGrantAccess ) )
#define vRevokeAccessToSemaphore( xTask, xSemaphoreToRevokeAccess ) vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xSemaphoreToRevokeAccess ) )
#define vGrantAccessToQueue( xTask, xQueueToGrantAccess ) vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xQueueToGrantAccess ) )
#define vRevokeAccessToQueue( xTask, xQueueToRevokeAccess ) vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xQueueToRevokeAccess ) )
#define vGrantAccessToQueueSet( xTask, xQueueSetToGrantAccess ) vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xQueueSetToGrantAccess ) )
#define vRevokeAccessToQueueSet( xTask, xQueueSetToRevokeAccess ) vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xQueueSetToRevokeAccess ) )
#define vGrantAccessToEventGroup( xTask, xEventGroupToGrantAccess ) vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xEventGroupToGrantAccess ) )
#define vRevokeAccessToEventGroup( xTask, xEventGroupToRevokeAccess ) vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xEventGroupToRevokeAccess ) )
#define vGrantAccessToStreamBuffer( xTask, xStreamBufferToGrantAccess ) vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xStreamBufferToGrantAccess ) )
#define vRevokeAccessToStreamBuffer( xTask, xStreamBufferToRevokeAccess ) vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xStreamBufferToRevokeAccess ) )
#define vGrantAccessToMessageBuffer( xTask, xMessageBufferToGrantAccess ) vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xMessageBufferToGrantAccess ) )
#define vRevokeAccessToMessageBuffer( xTask, xMessageBufferToRevokeAccess ) vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xMessageBufferToRevokeAccess ) )
#define vGrantAccessToTimer( xTask, xTimerToGrantAccess ) vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xTimerToGrantAccess ) )
#define vRevokeAccessToTimer( xTask, xTimerToRevokeAccess ) vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xTimerToRevokeAccess ) )
#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
#endif /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
#define PRIVILEGED_FUNCTION __attribute__( ( section( "privileged_functions" ) ) )
#define PRIVILEGED_DATA __attribute__( ( section( "privileged_data" ) ) )
#define FREERTOS_SYSTEM_CALL __attribute__( ( section( "freertos_system_calls" ) ) )
#else /* portUSING_MPU_WRAPPERS */
#define PRIVILEGED_FUNCTION
#define PRIVILEGED_DATA
#define FREERTOS_SYSTEM_CALL
#endif /* portUSING_MPU_WRAPPERS */
#endif /* MPU_WRAPPERS_H */

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/*
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#ifndef INC_NEWLIB_FREERTOS_H
#define INC_NEWLIB_FREERTOS_H
/* Note Newlib support has been included by popular demand, but is not
* used by the FreeRTOS maintainers themselves. FreeRTOS is not
* responsible for resulting newlib operation. User must be familiar with
* newlib and must provide system-wide implementations of the necessary
* stubs. Be warned that (at the time of writing) the current newlib design
* implements a system-wide malloc() that must be provided with locks.
*
* See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
* for additional information. */
#include <reent.h>
#define configUSE_C_RUNTIME_TLS_SUPPORT 1
#ifndef configTLS_BLOCK_TYPE
#define configTLS_BLOCK_TYPE struct _reent
#endif
#ifndef configINIT_TLS_BLOCK
#define configINIT_TLS_BLOCK( xTLSBlock, pxTopOfStack ) _REENT_INIT_PTR( &( xTLSBlock ) )
#endif
#ifndef configSET_TLS_BLOCK
#define configSET_TLS_BLOCK( xTLSBlock ) ( _impure_ptr = &( xTLSBlock ) )
#endif
#ifndef configDEINIT_TLS_BLOCK
#define configDEINIT_TLS_BLOCK( xTLSBlock ) _reclaim_reent( &( xTLSBlock ) )
#endif
#endif /* INC_NEWLIB_FREERTOS_H */

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/*
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#ifndef INC_PICOLIBC_FREERTOS_H
#define INC_PICOLIBC_FREERTOS_H
/* Use picolibc TLS support to allocate space for __thread variables,
* initialize them at thread creation and set the TLS context at
* thread switch time.
*
* See the picolibc TLS docs:
* https://github.com/picolibc/picolibc/blob/main/doc/tls.md
* for additional information. */
#include <picotls.h>
#define configUSE_C_RUNTIME_TLS_SUPPORT 1
#define configTLS_BLOCK_TYPE void *
#define picolibcTLS_SIZE ( ( portPOINTER_SIZE_TYPE ) _tls_size() )
#define picolibcSTACK_ALIGNMENT_MASK ( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK )
#if __PICOLIBC_MAJOR__ > 1 || __PICOLIBC_MINOR__ >= 8
/* Picolibc 1.8 and newer have explicit alignment values provided
* by the _tls_align() inline */
#define picolibcTLS_ALIGNMENT_MASK ( ( portPOINTER_SIZE_TYPE ) ( _tls_align() - 1 ) )
#else
/* For older Picolibc versions, use the general port alignment value */
#define picolibcTLS_ALIGNMENT_MASK ( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK )
#endif
/* Allocate thread local storage block off the end of the
* stack. The picolibcTLS_SIZE macro returns the size (in
* bytes) of the total TLS area used by the application.
* Calculate the top of stack address. */
#if ( portSTACK_GROWTH < 0 )
#define configINIT_TLS_BLOCK( xTLSBlock, pxTopOfStack ) \
do { \
xTLSBlock = ( void * ) ( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) - \
picolibcTLS_SIZE ) & \
~picolibcTLS_ALIGNMENT_MASK ); \
pxTopOfStack = ( StackType_t * ) ( ( ( ( portPOINTER_SIZE_TYPE ) xTLSBlock ) - 1 ) & \
~picolibcSTACK_ALIGNMENT_MASK ); \
_init_tls( xTLSBlock ); \
} while( 0 )
#else /* portSTACK_GROWTH */
#define configINIT_TLS_BLOCK( xTLSBlock, pxTopOfStack ) \
do { \
xTLSBlock = ( void * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack + \
picolibcTLS_ALIGNMENT_MASK ) & ~picolibcTLS_ALIGNMENT_MASK ); \
pxTopOfStack = ( StackType_t * ) ( ( ( ( ( portPOINTER_SIZE_TYPE ) xTLSBlock ) + \
picolibcTLS_SIZE ) + picolibcSTACK_ALIGNMENT_MASK ) & \
~picolibcSTACK_ALIGNMENT_MASK ); \
_init_tls( xTLSBlock ); \
} while( 0 )
#endif /* portSTACK_GROWTH */
#define configSET_TLS_BLOCK( xTLSBlock ) _set_tls( xTLSBlock )
#define configDEINIT_TLS_BLOCK( xTLSBlock )
#endif /* INC_PICOLIBC_FREERTOS_H */

488
Source/include/portable.h
View File

@ -1,281 +1,207 @@
/* /*
* FreeRTOS Kernel <DEVELOPMENT BRANCH> FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved. All rights reserved
*
* SPDX-License-Identifier: MIT VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of This file is part of the FreeRTOS distribution.
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to FreeRTOS is free software; you can redistribute it and/or modify it under
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the terms of the GNU General Public License (version 2) as published by the
* the Software, and to permit persons to whom the Software is furnished to do so, Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
* subject to the following conditions:
* ***************************************************************************
* The above copyright notice and this permission notice shall be included in all >>! NOTE: The modification to the GPL is included to allow you to !<<
* copies or substantial portions of the Software. >>! distribute a combined work that includes FreeRTOS without being !<<
* >>! obliged to provide the source code for proprietary components !<<
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR >>! outside of the FreeRTOS kernel. !<<
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS ***************************************************************************
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. FOR A PARTICULAR PURPOSE. Full license text is available on the following
* link: http://www.freertos.org/a00114.html
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS ***************************************************************************
* * *
*/ * FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
/*----------------------------------------------------------- * platform software that is more than just the market leader, it *
* Portable layer API. Each function must be defined for each port. * is the industry's de facto standard. *
*----------------------------------------------------------*/ * *
* Help yourself get started quickly while simultaneously helping *
#ifndef PORTABLE_H * to support the FreeRTOS project by purchasing a FreeRTOS *
#define PORTABLE_H * tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
/* Each FreeRTOS port has a unique portmacro.h header file. Originally a * *
* pre-processor definition was used to ensure the pre-processor found the correct ***************************************************************************
* portmacro.h file for the port being used. That scheme was deprecated in favour
* of setting the compiler's include path such that it found the correct http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
* portmacro.h file - removing the need for the constant and allowing the the FAQ page "My application does not run, what could be wrong?". Have you
* portmacro.h file to be located anywhere in relation to the port being used. defined configASSERT()?
* Purely for reasons of backward compatibility the old method is still valid, but
* to make it clear that new projects should not use it, support for the port http://www.FreeRTOS.org/support - In return for receiving this top quality
* specific constants has been moved into the deprecated_definitions.h header embedded software for free we request you assist our global community by
* file. */ participating in the support forum.
#include "deprecated_definitions.h"
http://www.FreeRTOS.org/training - Investing in training allows your team to
/* If portENTER_CRITICAL is not defined then including deprecated_definitions.h be as productive as possible as early as possible. Now you can receive
* did not result in a portmacro.h header file being included - and it should be FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
* included here. In this case the path to the correct portmacro.h header file Ltd, and the world's leading authority on the world's leading RTOS.
* must be set in the compiler's include path. */
#ifndef portENTER_CRITICAL http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
#include "portmacro.h" including FreeRTOS+Trace - an indispensable productivity tool, a DOS
#endif compatible FAT file system, and our tiny thread aware UDP/IP stack.
#if portBYTE_ALIGNMENT == 32 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
#define portBYTE_ALIGNMENT_MASK ( 0x001f ) Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
#elif portBYTE_ALIGNMENT == 16
#define portBYTE_ALIGNMENT_MASK ( 0x000f ) http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
#elif portBYTE_ALIGNMENT == 8 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
#define portBYTE_ALIGNMENT_MASK ( 0x0007 ) licenses offer ticketed support, indemnification and commercial middleware.
#elif portBYTE_ALIGNMENT == 4
#define portBYTE_ALIGNMENT_MASK ( 0x0003 ) http://www.SafeRTOS.com - High Integrity Systems also provide a safety
#elif portBYTE_ALIGNMENT == 2 engineered and independently SIL3 certified version for use in safety and
#define portBYTE_ALIGNMENT_MASK ( 0x0001 ) mission critical applications that require provable dependability.
#elif portBYTE_ALIGNMENT == 1
#define portBYTE_ALIGNMENT_MASK ( 0x0000 ) 1 tab == 4 spaces!
#else /* if portBYTE_ALIGNMENT == 32 */ */
#error "Invalid portBYTE_ALIGNMENT definition"
#endif /* if portBYTE_ALIGNMENT == 32 */ /*-----------------------------------------------------------
* Portable layer API. Each function must be defined for each port.
#ifndef portUSING_MPU_WRAPPERS *----------------------------------------------------------*/
#define portUSING_MPU_WRAPPERS 0
#endif #ifndef PORTABLE_H
#define PORTABLE_H
#ifndef portNUM_CONFIGURABLE_REGIONS
#define portNUM_CONFIGURABLE_REGIONS 1 /* Each FreeRTOS port has a unique portmacro.h header file. Originally a
#endif pre-processor definition was used to ensure the pre-processor found the correct
portmacro.h file for the port being used. That scheme was deprecated in favour
#ifndef portHAS_STACK_OVERFLOW_CHECKING of setting the compiler's include path such that it found the correct
#define portHAS_STACK_OVERFLOW_CHECKING 0 portmacro.h file - removing the need for the constant and allowing the
#endif portmacro.h file to be located anywhere in relation to the port being used.
Purely for reasons of backward compatibility the old method is still valid, but
#ifndef portARCH_NAME to make it clear that new projects should not use it, support for the port
#define portARCH_NAME NULL specific constants has been moved into the deprecated_definitions.h header
#endif file. */
#include "deprecated_definitions.h"
#ifndef configSTACK_DEPTH_TYPE
#define configSTACK_DEPTH_TYPE StackType_t /* If portENTER_CRITICAL is not defined then including deprecated_definitions.h
#endif did not result in a portmacro.h header file being included - and it should be
included here. In this case the path to the correct portmacro.h header file
#ifndef configSTACK_ALLOCATION_FROM_SEPARATE_HEAP must be set in the compiler's include path. */
/* Defaults to 0 for backward compatibility. */ #ifndef portENTER_CRITICAL
#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP 0 #include "portmacro.h"
#endif #endif
#include "mpu_wrappers.h" #if portBYTE_ALIGNMENT == 32
#define portBYTE_ALIGNMENT_MASK ( 0x001f )
/* *INDENT-OFF* */ #endif
#ifdef __cplusplus
extern "C" { #if portBYTE_ALIGNMENT == 16
#endif #define portBYTE_ALIGNMENT_MASK ( 0x000f )
/* *INDENT-ON* */ #endif
/* #if portBYTE_ALIGNMENT == 8
* Setup the stack of a new task so it is ready to be placed under the #define portBYTE_ALIGNMENT_MASK ( 0x0007 )
* scheduler control. The registers have to be placed on the stack in #endif
* the order that the port expects to find them.
* #if portBYTE_ALIGNMENT == 4
*/ #define portBYTE_ALIGNMENT_MASK ( 0x0003 )
#if ( portUSING_MPU_WRAPPERS == 1 ) #endif
#if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, #if portBYTE_ALIGNMENT == 2
StackType_t * pxEndOfStack, #define portBYTE_ALIGNMENT_MASK ( 0x0001 )
TaskFunction_t pxCode, #endif
void * pvParameters,
BaseType_t xRunPrivileged, #if portBYTE_ALIGNMENT == 1
xMPU_SETTINGS * xMPUSettings ) PRIVILEGED_FUNCTION; #define portBYTE_ALIGNMENT_MASK ( 0x0000 )
#else #endif
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode, #ifndef portBYTE_ALIGNMENT_MASK
void * pvParameters, #error "Invalid portBYTE_ALIGNMENT definition"
BaseType_t xRunPrivileged, #endif
xMPU_SETTINGS * xMPUSettings ) PRIVILEGED_FUNCTION;
#endif /* if ( portHAS_STACK_OVERFLOW_CHECKING == 1 ) */ #ifndef portNUM_CONFIGURABLE_REGIONS
#else /* if ( portUSING_MPU_WRAPPERS == 1 ) */ #define portNUM_CONFIGURABLE_REGIONS 1
#if ( portHAS_STACK_OVERFLOW_CHECKING == 1 ) #endif
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
StackType_t * pxEndOfStack, #ifdef __cplusplus
TaskFunction_t pxCode, extern "C" {
void * pvParameters ) PRIVILEGED_FUNCTION; #endif
#else
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, #include "mpu_wrappers.h"
TaskFunction_t pxCode,
void * pvParameters ) PRIVILEGED_FUNCTION; /*
#endif * Setup the stack of a new task so it is ready to be placed under the
#endif /* if ( portUSING_MPU_WRAPPERS == 1 ) */ * scheduler control. The registers have to be placed on the stack in
* the order that the port expects to find them.
/* Used by heap_5.c to define the start address and size of each memory region *
* that together comprise the total FreeRTOS heap space. */ */
typedef struct HeapRegion #if( portUSING_MPU_WRAPPERS == 1 )
{ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged ) PRIVILEGED_FUNCTION;
uint8_t * pucStartAddress; #else
size_t xSizeInBytes; StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) PRIVILEGED_FUNCTION;
} HeapRegion_t; #endif
/* Used to pass information about the heap out of vPortGetHeapStats(). */ /* Used by heap_5.c. */
typedef struct xHeapStats typedef struct HeapRegion
{ {
size_t xAvailableHeapSpaceInBytes; /* The total heap size currently available - this is the sum of all the free blocks, not the largest block that can be allocated. */ uint8_t *pucStartAddress;
size_t xSizeOfLargestFreeBlockInBytes; /* The maximum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */ size_t xSizeInBytes;
size_t xSizeOfSmallestFreeBlockInBytes; /* The minimum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */ } HeapRegion_t;
size_t xNumberOfFreeBlocks; /* The number of free memory blocks within the heap at the time vPortGetHeapStats() is called. */
size_t xMinimumEverFreeBytesRemaining; /* The minimum amount of total free memory (sum of all free blocks) there has been in the heap since the system booted. */ /*
size_t xNumberOfSuccessfulAllocations; /* The number of calls to pvPortMalloc() that have returned a valid memory block. */ * Used to define multiple heap regions for use by heap_5.c. This function
size_t xNumberOfSuccessfulFrees; /* The number of calls to vPortFree() that has successfully freed a block of memory. */ * must be called before any calls to pvPortMalloc() - not creating a task,
} HeapStats_t; * queue, semaphore, mutex, software timer, event group, etc. will result in
* pvPortMalloc being called.
/* *
* Used to define multiple heap regions for use by heap_5.c. This function * pxHeapRegions passes in an array of HeapRegion_t structures - each of which
* must be called before any calls to pvPortMalloc() - not creating a task, * defines a region of memory that can be used as the heap. The array is
* queue, semaphore, mutex, software timer, event group, etc. will result in * terminated by a HeapRegions_t structure that has a size of 0. The region
* pvPortMalloc being called. * with the lowest start address must appear first in the array.
* */
* pxHeapRegions passes in an array of HeapRegion_t structures - each of which void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions ) PRIVILEGED_FUNCTION;
* defines a region of memory that can be used as the heap. The array is
* terminated by a HeapRegions_t structure that has a size of 0. The region
* with the lowest start address must appear first in the array. /*
*/ * Map to the memory management routines required for the port.
void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions ) PRIVILEGED_FUNCTION; */
void *pvPortMalloc( size_t xSize ) PRIVILEGED_FUNCTION;
/* void vPortFree( void *pv ) PRIVILEGED_FUNCTION;
* Returns a HeapStats_t structure filled with information about the current void vPortInitialiseBlocks( void ) PRIVILEGED_FUNCTION;
* heap state. size_t xPortGetFreeHeapSize( void ) PRIVILEGED_FUNCTION;
*/ size_t xPortGetMinimumEverFreeHeapSize( void ) PRIVILEGED_FUNCTION;
void vPortGetHeapStats( HeapStats_t * pxHeapStats );
/*
/* * Setup the hardware ready for the scheduler to take control. This generally
* Map to the memory management routines required for the port. * sets up a tick interrupt and sets timers for the correct tick frequency.
*/ */
void * pvPortMalloc( size_t xWantedSize ) PRIVILEGED_FUNCTION; BaseType_t xPortStartScheduler( void ) PRIVILEGED_FUNCTION;
void * pvPortCalloc( size_t xNum,
size_t xSize ) PRIVILEGED_FUNCTION; /*
void vPortFree( void * pv ) PRIVILEGED_FUNCTION; * Undo any hardware/ISR setup that was performed by xPortStartScheduler() so
void vPortInitialiseBlocks( void ) PRIVILEGED_FUNCTION; * the hardware is left in its original condition after the scheduler stops
size_t xPortGetFreeHeapSize( void ) PRIVILEGED_FUNCTION; * executing.
size_t xPortGetMinimumEverFreeHeapSize( void ) PRIVILEGED_FUNCTION; */
void vPortEndScheduler( void ) PRIVILEGED_FUNCTION;
#if ( configSTACK_ALLOCATION_FROM_SEPARATE_HEAP == 1 )
void * pvPortMallocStack( size_t xSize ) PRIVILEGED_FUNCTION; /*
void vPortFreeStack( void * pv ) PRIVILEGED_FUNCTION; * The structures and methods of manipulating the MPU are contained within the
#else * port layer.
#define pvPortMallocStack pvPortMalloc *
#define vPortFreeStack vPortFree * Fills the xMPUSettings structure with the memory region information
#endif * contained in xRegions.
*/
/* #if( portUSING_MPU_WRAPPERS == 1 )
* This function resets the internal state of the heap module. It must be called struct xMEMORY_REGION;
* by the application before restarting the scheduler. void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, StackType_t *pxBottomOfStack, uint16_t usStackDepth ) PRIVILEGED_FUNCTION;
*/ #endif
void vPortHeapResetState( void ) PRIVILEGED_FUNCTION;
#ifdef __cplusplus
#if ( configUSE_MALLOC_FAILED_HOOK == 1 ) }
#endif
/**
* task.h #endif /* PORTABLE_H */
* @code{c}
* void vApplicationMallocFailedHook( void )
* @endcode
*
* This hook function is called when allocation failed.
*/
void vApplicationMallocFailedHook( void );
#endif
/*
* 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.
*/
BaseType_t 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,
StackType_t * pxBottomOfStack,
configSTACK_DEPTH_TYPE uxStackDepth ) PRIVILEGED_FUNCTION;
#endif
/**
* @brief Checks if the calling task is authorized to access the given buffer.
*
* @param pvBuffer The buffer which the calling task wants to access.
* @param ulBufferLength The length of the pvBuffer.
* @param ulAccessRequested The permissions that the calling task wants.
*
* @return pdTRUE if the calling task is authorized to access the buffer,
* pdFALSE otherwise.
*/
#if ( portUSING_MPU_WRAPPERS == 1 )
BaseType_t xPortIsAuthorizedToAccessBuffer( const void * pvBuffer,
uint32_t ulBufferLength,
uint32_t ulAccessRequested ) PRIVILEGED_FUNCTION;
#endif
/**
* @brief Checks if the calling task is authorized to access the given kernel object.
*
* @param lInternalIndexOfKernelObject The index of the kernel object in the kernel
* object handle pool.
*
* @return pdTRUE if the calling task is authorized to access the kernel object,
* pdFALSE otherwise.
*/
#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) PRIVILEGED_FUNCTION;
#endif
/* *INDENT-OFF* */
#ifdef __cplusplus
}
#endif
/* *INDENT-ON* */
#endif /* PORTABLE_H */

294
Source/include/projdefs.h
View File

@ -1,138 +1,156 @@
/* /*
* FreeRTOS Kernel <DEVELOPMENT BRANCH> FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved. All rights reserved
*
* SPDX-License-Identifier: MIT VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of This file is part of the FreeRTOS distribution.
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to FreeRTOS is free software; you can redistribute it and/or modify it under
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the terms of the GNU General Public License (version 2) as published by the
* the Software, and to permit persons to whom the Software is furnished to do so, Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
* subject to the following conditions:
* ***************************************************************************
* The above copyright notice and this permission notice shall be included in all >>! NOTE: The modification to the GPL is included to allow you to !<<
* copies or substantial portions of the Software. >>! distribute a combined work that includes FreeRTOS without being !<<
* >>! obliged to provide the source code for proprietary components !<<
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR >>! outside of the FreeRTOS kernel. !<<
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS ***************************************************************************
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. FOR A PARTICULAR PURPOSE. Full license text is available on the following
* link: http://www.freertos.org/a00114.html
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS ***************************************************************************
* * *
*/ * FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
#ifndef PROJDEFS_H * platform software that is more than just the market leader, it *
#define PROJDEFS_H * is the industry's de facto standard. *
* *
/* * Help yourself get started quickly while simultaneously helping *
* Defines the prototype to which task functions must conform. Defined in this * to support the FreeRTOS project by purchasing a FreeRTOS *
* file to ensure the type is known before portable.h is included. * tutorial book, reference manual, or both: *
*/ * http://www.FreeRTOS.org/Documentation *
typedef void (* TaskFunction_t)( void * arg ); * *
***************************************************************************
/* Converts a time in milliseconds to a time in ticks. This macro can be
* overridden by a macro of the same name defined in FreeRTOSConfig.h in case the http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
* definition here is not suitable for your application. */ the FAQ page "My application does not run, what could be wrong?". Have you
#ifndef pdMS_TO_TICKS defined configASSERT()?
#define pdMS_TO_TICKS( xTimeInMs ) ( ( TickType_t ) ( ( ( uint64_t ) ( xTimeInMs ) * ( uint64_t ) configTICK_RATE_HZ ) / ( uint64_t ) 1000U ) )
#endif http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
/* Converts a time in ticks to a time in milliseconds. This macro can be participating in the support forum.
* overridden by a macro of the same name defined in FreeRTOSConfig.h in case the
* definition here is not suitable for your application. */ http://www.FreeRTOS.org/training - Investing in training allows your team to
#ifndef pdTICKS_TO_MS be as productive as possible as early as possible. Now you can receive
#define pdTICKS_TO_MS( xTimeInTicks ) ( ( TickType_t ) ( ( ( uint64_t ) ( xTimeInTicks ) * ( uint64_t ) 1000U ) / ( uint64_t ) configTICK_RATE_HZ ) ) FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
#endif Ltd, and the world's leading authority on the world's leading RTOS.
#define pdFALSE ( ( BaseType_t ) 0 ) http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
#define pdTRUE ( ( BaseType_t ) 1 ) including FreeRTOS+Trace - an indispensable productivity tool, a DOS
#define pdFALSE_SIGNED ( ( BaseType_t ) 0 ) compatible FAT file system, and our tiny thread aware UDP/IP stack.
#define pdTRUE_SIGNED ( ( BaseType_t ) 1 )
#define pdFALSE_UNSIGNED ( ( UBaseType_t ) 0 ) http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
#define pdTRUE_UNSIGNED ( ( UBaseType_t ) 1 ) Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
#define pdPASS ( pdTRUE ) http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
#define pdFAIL ( pdFALSE ) Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
#define errQUEUE_EMPTY ( ( BaseType_t ) 0 ) licenses offer ticketed support, indemnification and commercial middleware.
#define errQUEUE_FULL ( ( BaseType_t ) 0 )
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
/* FreeRTOS error definitions. */ engineered and independently SIL3 certified version for use in safety and
#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ( -1 ) mission critical applications that require provable dependability.
#define errQUEUE_BLOCKED ( -4 )
#define errQUEUE_YIELD ( -5 ) 1 tab == 4 spaces!
*/
/* Macros used for basic data corruption checks. */
#ifndef configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES #ifndef PROJDEFS_H
#define configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES 0 #define PROJDEFS_H
#endif
/*
#if ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS ) * Defines the prototype to which task functions must conform. Defined in this
#define pdINTEGRITY_CHECK_VALUE 0x5a5a * file to ensure the type is known before portable.h is included.
#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_32_BITS ) */
#define pdINTEGRITY_CHECK_VALUE 0x5a5a5a5aUL typedef void (*TaskFunction_t)( void * );
#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_64_BITS )
#define pdINTEGRITY_CHECK_VALUE 0x5a5a5a5a5a5a5a5aULL /* Converts a time in milliseconds to a time in ticks. */
#else #define pdMS_TO_TICKS( xTimeInMs ) ( ( TickType_t ) ( ( ( TickType_t ) ( xTimeInMs ) * ( TickType_t ) configTICK_RATE_HZ ) / ( TickType_t ) 1000 ) )
#error configTICK_TYPE_WIDTH_IN_BITS set to unsupported tick type width.
#endif #define pdFALSE ( ( BaseType_t ) 0 )
#define pdTRUE ( ( BaseType_t ) 1 )
/* The following errno values are used by FreeRTOS+ components, not FreeRTOS
* itself. */ #define pdPASS ( pdTRUE )
#define pdFREERTOS_ERRNO_NONE 0 /* No errors */ #define pdFAIL ( pdFALSE )
#define pdFREERTOS_ERRNO_ENOENT 2 /* No such file or directory */ #define errQUEUE_EMPTY ( ( BaseType_t ) 0 )
#define pdFREERTOS_ERRNO_EINTR 4 /* Interrupted system call */ #define errQUEUE_FULL ( ( BaseType_t ) 0 )
#define pdFREERTOS_ERRNO_EIO 5 /* I/O error */
#define pdFREERTOS_ERRNO_ENXIO 6 /* No such device or address */ /* FreeRTOS error definitions. */
#define pdFREERTOS_ERRNO_EBADF 9 /* Bad file number */ #define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ( -1 )
#define pdFREERTOS_ERRNO_EAGAIN 11 /* No more processes */ #define errQUEUE_BLOCKED ( -4 )
#define pdFREERTOS_ERRNO_EWOULDBLOCK 11 /* Operation would block */ #define errQUEUE_YIELD ( -5 )
#define pdFREERTOS_ERRNO_ENOMEM 12 /* Not enough memory */
#define pdFREERTOS_ERRNO_EACCES 13 /* Permission denied */ /* Macros used for basic data corruption checks. */
#define pdFREERTOS_ERRNO_EFAULT 14 /* Bad address */ #ifndef configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES
#define pdFREERTOS_ERRNO_EBUSY 16 /* Mount device busy */ #define configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES 0
#define pdFREERTOS_ERRNO_EEXIST 17 /* File exists */ #endif
#define pdFREERTOS_ERRNO_EXDEV 18 /* Cross-device link */
#define pdFREERTOS_ERRNO_ENODEV 19 /* No such device */ #if( configUSE_16_BIT_TICKS == 1 )
#define pdFREERTOS_ERRNO_ENOTDIR 20 /* Not a directory */ #define pdINTEGRITY_CHECK_VALUE 0x5a5a
#define pdFREERTOS_ERRNO_EISDIR 21 /* Is a directory */ #else
#define pdFREERTOS_ERRNO_EINVAL 22 /* Invalid argument */ #define pdINTEGRITY_CHECK_VALUE 0x5a5a5a5aUL
#define pdFREERTOS_ERRNO_ENOSPC 28 /* No space left on device */ #endif
#define pdFREERTOS_ERRNO_ESPIPE 29 /* Illegal seek */
#define pdFREERTOS_ERRNO_EROFS 30 /* Read only file system */ /* The following errno values are used by FreeRTOS+ components, not FreeRTOS
#define pdFREERTOS_ERRNO_EUNATCH 42 /* Protocol driver not attached */ itself. */
#define pdFREERTOS_ERRNO_EBADE 50 /* Invalid exchange */ #define pdFREERTOS_ERRNO_NONE 0 /* No errors */
#define pdFREERTOS_ERRNO_EFTYPE 79 /* Inappropriate file type or format */ #define pdFREERTOS_ERRNO_ENOENT 2 /* No such file or directory */
#define pdFREERTOS_ERRNO_ENMFILE 89 /* No more files */ #define pdFREERTOS_ERRNO_EIO 5 /* I/O error */
#define pdFREERTOS_ERRNO_ENOTEMPTY 90 /* Directory not empty */ #define pdFREERTOS_ERRNO_ENXIO 6 /* No such device or address */
#define pdFREERTOS_ERRNO_ENAMETOOLONG 91 /* File or path name too long */ #define pdFREERTOS_ERRNO_EBADF 9 /* Bad file number */
#define pdFREERTOS_ERRNO_EOPNOTSUPP 95 /* Operation not supported on transport endpoint */ #define pdFREERTOS_ERRNO_EAGAIN 11 /* No more processes */
#define pdFREERTOS_ERRNO_EAFNOSUPPORT 97 /* Address family not supported by protocol */ #define pdFREERTOS_ERRNO_EWOULDBLOCK 11 /* Operation would block */
#define pdFREERTOS_ERRNO_ENOBUFS 105 /* No buffer space available */ #define pdFREERTOS_ERRNO_ENOMEM 12 /* Not enough memory */
#define pdFREERTOS_ERRNO_ENOPROTOOPT 109 /* Protocol not available */ #define pdFREERTOS_ERRNO_EACCES 13 /* Permission denied */
#define pdFREERTOS_ERRNO_EADDRINUSE 112 /* Address already in use */ #define pdFREERTOS_ERRNO_EFAULT 14 /* Bad address */
#define pdFREERTOS_ERRNO_ETIMEDOUT 116 /* Connection timed out */ #define pdFREERTOS_ERRNO_EBUSY 16 /* Mount device busy */
#define pdFREERTOS_ERRNO_EINPROGRESS 119 /* Connection already in progress */ #define pdFREERTOS_ERRNO_EEXIST 17 /* File exists */
#define pdFREERTOS_ERRNO_EALREADY 120 /* Socket already connected */ #define pdFREERTOS_ERRNO_EXDEV 18 /* Cross-device link */
#define pdFREERTOS_ERRNO_EADDRNOTAVAIL 125 /* Address not available */ #define pdFREERTOS_ERRNO_ENODEV 19 /* No such device */
#define pdFREERTOS_ERRNO_EISCONN 127 /* Socket is already connected */ #define pdFREERTOS_ERRNO_ENOTDIR 20 /* Not a directory */
#define pdFREERTOS_ERRNO_ENOTCONN 128 /* Socket is not connected */ #define pdFREERTOS_ERRNO_EISDIR 21 /* Is a directory */
#define pdFREERTOS_ERRNO_ENOMEDIUM 135 /* No medium inserted */ #define pdFREERTOS_ERRNO_EINVAL 22 /* Invalid argument */
#define pdFREERTOS_ERRNO_EILSEQ 138 /* An invalid UTF-16 sequence was encountered. */ #define pdFREERTOS_ERRNO_ENOSPC 28 /* No space left on device */
#define pdFREERTOS_ERRNO_ECANCELED 140 /* Operation canceled. */ #define pdFREERTOS_ERRNO_ESPIPE 29 /* Illegal seek */
#define pdFREERTOS_ERRNO_EROFS 30 /* Read only file system */
/* The following endian values are used by FreeRTOS+ components, not FreeRTOS #define pdFREERTOS_ERRNO_EUNATCH 42 /* Protocol driver not attached */
* itself. */ #define pdFREERTOS_ERRNO_EBADE 50 /* Invalid exchange */
#define pdFREERTOS_LITTLE_ENDIAN 0 #define pdFREERTOS_ERRNO_EFTYPE 79 /* Inappropriate file type or format */
#define pdFREERTOS_BIG_ENDIAN 1 #define pdFREERTOS_ERRNO_ENMFILE 89 /* No more files */
#define pdFREERTOS_ERRNO_ENOTEMPTY 90 /* Directory not empty */
/* Re-defining endian values for generic naming. */ #define pdFREERTOS_ERRNO_ENAMETOOLONG 91 /* File or path name too long */
#define pdLITTLE_ENDIAN pdFREERTOS_LITTLE_ENDIAN #define pdFREERTOS_ERRNO_EOPNOTSUPP 95 /* Operation not supported on transport endpoint */
#define pdBIG_ENDIAN pdFREERTOS_BIG_ENDIAN #define pdFREERTOS_ERRNO_ENOBUFS 105 /* No buffer space available */
#define pdFREERTOS_ERRNO_ENOPROTOOPT 109 /* Protocol not available */
#define pdFREERTOS_ERRNO_EADDRINUSE 112 /* Address already in use */
#endif /* PROJDEFS_H */ #define pdFREERTOS_ERRNO_ETIMEDOUT 116 /* Connection timed out */
#define pdFREERTOS_ERRNO_EINPROGRESS 119 /* Connection already in progress */
#define pdFREERTOS_ERRNO_EALREADY 120 /* Socket already connected */
#define pdFREERTOS_ERRNO_EADDRNOTAVAIL 125 /* Address not available */
#define pdFREERTOS_ERRNO_EISCONN 127 /* Socket is already connected */
#define pdFREERTOS_ERRNO_ENOTCONN 128 /* Socket is not connected */
#define pdFREERTOS_ERRNO_ENOMEDIUM 135 /* No medium inserted */
#define pdFREERTOS_ERRNO_EILSEQ 138 /* An invalid UTF-16 sequence was encountered. */
#define pdFREERTOS_ERRNO_ECANCELED 140 /* Operation canceled. */
/* The following endian values are used by FreeRTOS+ components, not FreeRTOS
itself. */
#define pdFREERTOS_LITTLE_ENDIAN 0
#define pdFREERTOS_BIG_ENDIAN 1
#endif /* PROJDEFS_H */

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Source/include/stack_macros.h
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/*
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#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.
*/
/*-----------------------------------------------------------*/
/*
* portSTACK_LIMIT_PADDING is a number of extra words to consider to be in
* use on the stack.
*/
#ifndef portSTACK_LIMIT_PADDING
#define portSTACK_LIMIT_PADDING 0
#endif
#if ( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH < 0 ) )
/* Only the current stack state is to be checked. */
#define taskCHECK_FOR_STACK_OVERFLOW() \
do { \
/* Is the currently saved stack pointer within the stack limit? */ \
if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack + portSTACK_LIMIT_PADDING ) \
{ \
char * pcOverflowTaskName = pxCurrentTCB->pcTaskName; \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pcOverflowTaskName ); \
} \
} while( 0 )
#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
/*-----------------------------------------------------------*/
#if ( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH > 0 ) )
/* Only the current stack state is to be checked. */
#define taskCHECK_FOR_STACK_OVERFLOW() \
do { \
\
/* Is the currently saved stack pointer within the stack limit? */ \
if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack - portSTACK_LIMIT_PADDING ) \
{ \
char * pcOverflowTaskName = pxCurrentTCB->pcTaskName; \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pcOverflowTaskName ); \
} \
} while( 0 )
#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
/*-----------------------------------------------------------*/
#if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) )
#define taskCHECK_FOR_STACK_OVERFLOW() \
do { \
const uint32_t * const pulStack = ( uint32_t * ) pxCurrentTCB->pxStack; \
const uint32_t ulCheckValue = ( uint32_t ) 0xa5a5a5a5U; \
\
if( ( pulStack[ 0 ] != ulCheckValue ) || \
( pulStack[ 1 ] != ulCheckValue ) || \
( pulStack[ 2 ] != ulCheckValue ) || \
( pulStack[ 3 ] != ulCheckValue ) ) \
{ \
char * pcOverflowTaskName = pxCurrentTCB->pcTaskName; \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pcOverflowTaskName ); \
} \
} while( 0 )
#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
/*-----------------------------------------------------------*/
#if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) )
#define taskCHECK_FOR_STACK_OVERFLOW() \
do { \
int8_t * pcEndOfStack = ( int8_t * ) pxCurrentTCB->pxEndOfStack; \
static const uint8_t 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 ) \
{ \
char * pcOverflowTaskName = pxCurrentTCB->pcTaskName; \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pcOverflowTaskName ); \
} \
} while( 0 )
#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
/*-----------------------------------------------------------*/
/* Remove stack overflow macro if not being used. */
#ifndef taskCHECK_FOR_STACK_OVERFLOW
#define taskCHECK_FOR_STACK_OVERFLOW()
#endif
#endif /* STACK_MACROS_H */

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/*
* FreeRTOS Kernel <DEVELOPMENT BRANCH> #ifndef FREERTOS_STDINT
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved. #define FREERTOS_STDINT
*
* SPDX-License-Identifier: MIT /*******************************************************************************
* * THIS IS NOT A FULL stdint.h IMPLEMENTATION - It only contains the definitions
* Permission is hereby granted, free of charge, to any person obtaining a copy of * necessary to build the FreeRTOS code. It is provided to allow FreeRTOS to be
* this software and associated documentation files (the "Software"), to deal in * built using compilers that do not provide their own stdint.h definition.
* the Software without restriction, including without limitation the rights to *
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of * To use this file:
* the Software, and to permit persons to whom the Software is furnished to do so, *
* subject to the following conditions: * 1) Copy this file into the directory that contains your FreeRTOSConfig.h
* * header file, as that directory will already be in the compilers include
* The above copyright notice and this permission notice shall be included in all * path.
* copies or substantial portions of the Software. *
* * 2) Rename the copied file stdint.h.
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS */
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER typedef signed char int8_t;
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN typedef unsigned char uint8_t;
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. typedef short int16_t;
* typedef unsigned short uint16_t;
* https://www.FreeRTOS.org typedef long int32_t;
* https://github.com/FreeRTOS typedef unsigned long uint32_t;
*
*/ #endif /* FREERTOS_STDINT */
#ifndef FREERTOS_STDINT
#define FREERTOS_STDINT
/*******************************************************************************
* THIS IS NOT A FULL stdint.h IMPLEMENTATION - It only contains the definitions
* necessary to build the FreeRTOS code. It is provided to allow FreeRTOS to be
* built using compilers that do not provide their own stdint.h definition.
*
* To use this file:
*
* 1) Copy this file into the directory that contains your FreeRTOSConfig.h
* header file, as that directory will already be in the compiler's include
* path.
*
* 2) Rename the copied file stdint.h.
*
*/
typedef signed char int8_t;
typedef unsigned char uint8_t;
typedef short int16_t;
typedef unsigned short uint16_t;
typedef long int32_t;
typedef unsigned long uint32_t;
#ifndef SIZE_MAX
#define SIZE_MAX ( ( size_t ) -1 )
#endif
#endif /* FREERTOS_STDINT */

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Source/list.c
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/* /*
* FreeRTOS Kernel <DEVELOPMENT BRANCH> FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved. All rights reserved
*
* SPDX-License-Identifier: MIT VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of This file is part of the FreeRTOS distribution.
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to FreeRTOS is free software; you can redistribute it and/or modify it under
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the terms of the GNU General Public License (version 2) as published by the
* the Software, and to permit persons to whom the Software is furnished to do so, Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
* subject to the following conditions:
* ***************************************************************************
* The above copyright notice and this permission notice shall be included in all >>! NOTE: The modification to the GPL is included to allow you to !<<
* copies or substantial portions of the Software. >>! distribute a combined work that includes FreeRTOS without being !<<
* >>! obliged to provide the source code for proprietary components !<<
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR >>! outside of the FreeRTOS kernel. !<<
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS ***************************************************************************
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. FOR A PARTICULAR PURPOSE. Full license text is available on the following
* link: http://www.freertos.org/a00114.html
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS ***************************************************************************
* * *
*/ * FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
#include <stdlib.h> * is the industry's de facto standard. *
* *
/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining * Help yourself get started quickly while simultaneously helping *
* all the API functions to use the MPU wrappers. That should only be done when * to support the FreeRTOS project by purchasing a FreeRTOS *
* task.h is included from an application file. */ * tutorial book, reference manual, or both: *
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE * http://www.FreeRTOS.org/Documentation *
* *
#include "FreeRTOS.h" ***************************************************************************
#include "list.h"
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
/* The MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be the FAQ page "My application does not run, what could be wrong?". Have you
* defined for the header files above, but not in this file, in order to defined configASSERT()?
* generate the correct privileged Vs unprivileged linkage and placement. */
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
/*----------------------------------------------------------- participating in the support forum.
* PUBLIC LIST API documented in list.h
*----------------------------------------------------------*/ http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
void vListInitialise( List_t * const pxList ) FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
{ Ltd, and the world's leading authority on the world's leading RTOS.
traceENTER_vListInitialise( pxList );
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
/* The list structure contains a list item which is used to mark the including FreeRTOS+Trace - an indispensable productivity tool, a DOS
* end of the list. To initialise the list the list end is inserted compatible FAT file system, and our tiny thread aware UDP/IP stack.
* as the only list entry. */
pxList->pxIndex = ( ListItem_t * ) &( pxList->xListEnd ); http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( &( pxList->xListEnd ) );
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
/* The list end value is the highest possible value in the list to Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
* ensure it remains at the end of the list. */ licenses offer ticketed support, indemnification and commercial middleware.
pxList->xListEnd.xItemValue = portMAX_DELAY;
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
/* The list end next and previous pointers point to itself so we know engineered and independently SIL3 certified version for use in safety and
* when the list is empty. */ mission critical applications that require provable dependability.
pxList->xListEnd.pxNext = ( ListItem_t * ) &( pxList->xListEnd );
pxList->xListEnd.pxPrevious = ( ListItem_t * ) &( pxList->xListEnd ); 1 tab == 4 spaces!
*/
/* Initialize the remaining fields of xListEnd when it is a proper ListItem_t */
#if ( configUSE_MINI_LIST_ITEM == 0 )
{ #include <stdlib.h>
pxList->xListEnd.pvOwner = NULL; #include "FreeRTOS.h"
pxList->xListEnd.pxContainer = NULL; #include "list.h"
listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( &( pxList->xListEnd ) );
} /*-----------------------------------------------------------
#endif * PUBLIC LIST API documented in list.h
*----------------------------------------------------------*/
pxList->uxNumberOfItems = ( UBaseType_t ) 0U;
/* Write known values into the list if void vListInitialise( List_t * const pxList )
* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ {
listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ); /* The list structure contains a list item which is used to mark the
listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ); end of the list. To initialise the list the list end is inserted
as the only list entry. */
traceRETURN_vListInitialise(); pxList->pxIndex = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */
}
/*-----------------------------------------------------------*/ /* The list end value is the highest possible value in the list to
ensure it remains at the end of the list. */
void vListInitialiseItem( ListItem_t * const pxItem ) pxList->xListEnd.xItemValue = portMAX_DELAY;
{
traceENTER_vListInitialiseItem( pxItem ); /* The list end next and previous pointers point to itself so we know
when the list is empty. */
/* Make sure the list item is not recorded as being on a list. */ pxList->xListEnd.pxNext = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */
pxItem->pxContainer = NULL; pxList->xListEnd.pxPrevious = ( ListItem_t * ) &( pxList->xListEnd );/*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */
/* Write known values into the list item if pxList->uxNumberOfItems = ( UBaseType_t ) 0U;
* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ); /* Write known values into the list if
listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ); configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList );
traceRETURN_vListInitialiseItem(); listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vListInsertEnd( List_t * const pxList, void vListInitialiseItem( ListItem_t * const pxItem )
ListItem_t * const pxNewListItem ) {
{ /* Make sure the list item is not recorded as being on a list. */
ListItem_t * const pxIndex = pxList->pxIndex; pxItem->pvContainer = NULL;
traceENTER_vListInsertEnd( pxList, pxNewListItem ); /* Write known values into the list item if
configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
/* Only effective when configASSERT() is also defined, these tests may catch listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
* the list data structures being overwritten in memory. They will not catch listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
* data errors caused by incorrect configuration or use of FreeRTOS. */ }
listTEST_LIST_INTEGRITY( pxList ); /*-----------------------------------------------------------*/
listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem )
/* Insert a new list item into pxList, but rather than sort the list, {
* makes the new list item the last item to be removed by a call to ListItem_t * const pxIndex = pxList->pxIndex;
* listGET_OWNER_OF_NEXT_ENTRY(). */
pxNewListItem->pxNext = pxIndex; /* Only effective when configASSERT() is also defined, these tests may catch
pxNewListItem->pxPrevious = pxIndex->pxPrevious; the list data structures being overwritten in memory. They will not catch
data errors caused by incorrect configuration or use of FreeRTOS. */
/* Only used during decision coverage testing. */ listTEST_LIST_INTEGRITY( pxList );
mtCOVERAGE_TEST_DELAY(); listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
pxIndex->pxPrevious->pxNext = pxNewListItem; /* Insert a new list item into pxList, but rather than sort the list,
pxIndex->pxPrevious = pxNewListItem; makes the new list item the last item to be removed by a call to
listGET_OWNER_OF_NEXT_ENTRY(). */
/* Remember which list the item is in. */ pxNewListItem->pxNext = pxIndex;
pxNewListItem->pxContainer = pxList; pxNewListItem->pxPrevious = pxIndex->pxPrevious;
( pxList->uxNumberOfItems ) = ( UBaseType_t ) ( pxList->uxNumberOfItems + 1U ); /* Only used during decision coverage testing. */
mtCOVERAGE_TEST_DELAY();
traceRETURN_vListInsertEnd();
} pxIndex->pxPrevious->pxNext = pxNewListItem;
/*-----------------------------------------------------------*/ pxIndex->pxPrevious = pxNewListItem;
void vListInsert( List_t * const pxList, /* Remember which list the item is in. */
ListItem_t * const pxNewListItem ) pxNewListItem->pvContainer = ( void * ) pxList;
{
ListItem_t * pxIterator; ( pxList->uxNumberOfItems )++;
const TickType_t xValueOfInsertion = pxNewListItem->xItemValue; }
/*-----------------------------------------------------------*/
traceENTER_vListInsert( pxList, pxNewListItem );
void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem )
/* Only effective when configASSERT() is also defined, these tests may catch {
* the list data structures being overwritten in memory. They will not catch ListItem_t *pxIterator;
* data errors caused by incorrect configuration or use of FreeRTOS. */ const TickType_t xValueOfInsertion = pxNewListItem->xItemValue;
listTEST_LIST_INTEGRITY( pxList );
listTEST_LIST_ITEM_INTEGRITY( pxNewListItem ); /* Only effective when configASSERT() is also defined, these tests may catch
the list data structures being overwritten in memory. They will not catch
/* Insert the new list item into the list, sorted in xItemValue order. data errors caused by incorrect configuration or use of FreeRTOS. */
* listTEST_LIST_INTEGRITY( pxList );
* If the list already contains a list item with the same item value then the listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
* new list item should be placed after it. This ensures that TCBs which are
* stored in ready lists (all of which have the same xItemValue value) get a /* Insert the new list item into the list, sorted in xItemValue order.
* share of the CPU. However, if the xItemValue is the same as the back marker
* the iteration loop below will not end. Therefore the value is checked If the list already contains a list item with the same item value then the
* first, and the algorithm slightly modified if necessary. */ new list item should be placed after it. This ensures that TCB's which are
if( xValueOfInsertion == portMAX_DELAY ) stored in ready lists (all of which have the same xItemValue value) get a
{ share of the CPU. However, if the xItemValue is the same as the back marker
pxIterator = pxList->xListEnd.pxPrevious; the iteration loop below will not end. Therefore the value is checked
} first, and the algorithm slightly modified if necessary. */
else if( xValueOfInsertion == portMAX_DELAY )
{ {
/* *** NOTE *********************************************************** pxIterator = pxList->xListEnd.pxPrevious;
* If you find your application is crashing here then likely causes are }
* listed below. In addition see https://www.FreeRTOS.org/FAQHelp.html for else
* more tips, and ensure configASSERT() is defined! {
* https://www.FreeRTOS.org/a00110.html#configASSERT /* *** NOTE ***********************************************************
* If you find your application is crashing here then likely causes are
* 1) Stack overflow - listed below. In addition see http://www.freertos.org/FAQHelp.html for
* see https://www.FreeRTOS.org/Stacks-and-stack-overflow-checking.html more tips, and ensure configASSERT() is defined!
* 2) Incorrect interrupt priority assignment, especially on Cortex-M http://www.freertos.org/a00110.html#configASSERT
* parts where numerically high priority values denote low actual
* interrupt priorities, which can seem counter intuitive. See 1) Stack overflow -
* https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html and the definition see http://www.freertos.org/Stacks-and-stack-overflow-checking.html
* of configMAX_SYSCALL_INTERRUPT_PRIORITY on 2) Incorrect interrupt priority assignment, especially on Cortex-M
* https://www.FreeRTOS.org/a00110.html parts where numerically high priority values denote low actual
* 3) Calling an API function from within a critical section or when interrupt priorities, which can seem counter intuitive. See
* the scheduler is suspended, or calling an API function that does http://www.freertos.org/RTOS-Cortex-M3-M4.html and the definition
* not end in "FromISR" from an interrupt. of configMAX_SYSCALL_INTERRUPT_PRIORITY on
* 4) Using a queue or semaphore before it has been initialised or http://www.freertos.org/a00110.html
* before the scheduler has been started (are interrupts firing 3) Calling an API function from within a critical section or when
* before vTaskStartScheduler() has been called?). the scheduler is suspended, or calling an API function that does
* 5) If the FreeRTOS port supports interrupt nesting then ensure that not end in "FromISR" from an interrupt.
* the priority of the tick interrupt is at or below 4) Using a queue or semaphore before it has been initialised or
* configMAX_SYSCALL_INTERRUPT_PRIORITY. before the scheduler has been started (are interrupts firing
**********************************************************************/ before vTaskStartScheduler() has been called?).
**********************************************************************/
for( pxIterator = ( ListItem_t * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext )
{ for( pxIterator = ( ListItem_t * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext ) /*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */
/* There is nothing to do here, just iterating to the wanted {
* insertion position. /* There is nothing to do here, just iterating to the wanted
* IF YOU FIND YOUR CODE STUCK HERE, SEE THE NOTE JUST ABOVE. insertion position. */
*/ }
} }
}
pxNewListItem->pxNext = pxIterator->pxNext;
pxNewListItem->pxNext = pxIterator->pxNext; pxNewListItem->pxNext->pxPrevious = pxNewListItem;
pxNewListItem->pxNext->pxPrevious = pxNewListItem; pxNewListItem->pxPrevious = pxIterator;
pxNewListItem->pxPrevious = pxIterator; pxIterator->pxNext = pxNewListItem;
pxIterator->pxNext = pxNewListItem;
/* Remember which list the item is in. This allows fast removal of the
/* Remember which list the item is in. This allows fast removal of the item later. */
* item later. */ pxNewListItem->pvContainer = ( void * ) pxList;
pxNewListItem->pxContainer = pxList;
( pxList->uxNumberOfItems )++;
( pxList->uxNumberOfItems ) = ( UBaseType_t ) ( pxList->uxNumberOfItems + 1U ); }
/*-----------------------------------------------------------*/
traceRETURN_vListInsert();
} UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove )
/*-----------------------------------------------------------*/ {
/* The list item knows which list it is in. Obtain the list from the list
item. */
UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ) List_t * const pxList = ( List_t * ) pxItemToRemove->pvContainer;
{
/* The list item knows which list it is in. Obtain the list from the list pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious;
* item. */ pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext;
List_t * const pxList = pxItemToRemove->pxContainer;
/* Only used during decision coverage testing. */
traceENTER_uxListRemove( pxItemToRemove ); mtCOVERAGE_TEST_DELAY();
pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious; /* Make sure the index is left pointing to a valid item. */
pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext; if( pxList->pxIndex == pxItemToRemove )
{
/* Only used during decision coverage testing. */ pxList->pxIndex = pxItemToRemove->pxPrevious;
mtCOVERAGE_TEST_DELAY(); }
else
/* Make sure the index is left pointing to a valid item. */ {
if( pxList->pxIndex == pxItemToRemove ) mtCOVERAGE_TEST_MARKER();
{ }
pxList->pxIndex = pxItemToRemove->pxPrevious;
} pxItemToRemove->pvContainer = NULL;
else ( pxList->uxNumberOfItems )--;
{
mtCOVERAGE_TEST_MARKER(); return pxList->uxNumberOfItems;
} }
/*-----------------------------------------------------------*/
pxItemToRemove->pxContainer = NULL;
( pxList->uxNumberOfItems ) = ( UBaseType_t ) ( pxList->uxNumberOfItems - 1U );
traceRETURN_uxListRemove( pxList->uxNumberOfItems );
return pxList->uxNumberOfItems;
}
/*-----------------------------------------------------------*/

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@ -41,21 +41,10 @@
./Source/include/prescaler.h ./Source/include/prescaler.h
./Source/include/timer.h ./Source/include/timer.h
./Source/include/uart.h ./Source/include/uart.h
./Source/include/CMakeLists.txt
./Source/include/atomic.h
./Source/include/message_buffer.h
./Source/include/mpu_prototypes.h
./Source/include/mpu_syscall_numbers.h
./Source/include/newlib-freertos.h
./Source/include/picolibc-freertos.h
./Source/include/stack_macros.h
./Source/include/stream_buffer.h
./Source/readme.txt ./Source/readme.txt
./Source/list.c ./Source/list.c
./Source/croutine.c ./Source/croutine.c
./Source/stream_buffer.c
./Source/tasks.c ./Source/tasks.c
./Source/.tasks.c.swp
./Demo ./Demo
./Demo/arch ./Demo/arch
./Demo/arch/clib.c ./Demo/arch/clib.c
@ -73,208 +62,13 @@
./Demo/Common ./Demo/Common
./Demo/Common/.gdb_history ./Demo/Common/.gdb_history
./Demo/Common/FreeRTOS-openocd.c ./Demo/Common/FreeRTOS-openocd.c
./Demo/Common/bin
./Demo/Common/X.hpp
./Demo/Common/X.cpp
./Demo/Common/FreeRTOSStreamBuf.hpp
./Demo/Common/SimpleOStream.hpp
./Demo/Common/include
./Demo/Common/include/Timer.hpp
./Demo/Common/include/FreeRTOS
./Demo/Common/include/FreeRTOS/EventGroups.hpp
./Demo/Common/include/FreeRTOS/MessageBuffer.hpp
./Demo/Common/include/FreeRTOS/Mutex.hpp
./Demo/Common/include/FreeRTOS/Queue.hpp
./Demo/Common/include/FreeRTOS/Semaphore.hpp
./Demo/Common/include/FreeRTOS/StreamBuffer.hpp
./Demo/Common/include/FreeRTOS/Timer.hpp
./Demo/Common/include/FreeRTOS/Task.hpp
./Demo/Common/include/FreeRTOS/Kernel.hpp
./Demo/Common/lib
./Demo/Common/lib/cJSON_Utils.c
./Demo/Common/lib/cJSON.c
./Demo/Common/lib/cJSON.h
./Demo/Common/lib/cJSON_Utils.h
./Demo/Common/Makefile ./Demo/Common/Makefile
./Demo/Common/main.cpp ./Demo/Common/main.cpp
./Demo/Common/bin
./Demo/conf ./Demo/conf
./Demo/conf/FreeRTOSConfig.h ./Demo/conf/FreeRTOSConfig.h
./gdb.txt ./gdb.txt
./.gdb_history
./tags ./tags
./__t ./__t
./__f ./__f
./.git
./.git/branches
./.git/description
./.git/hooks
./.git/hooks/applypatch-msg.sample
./.git/hooks/commit-msg.sample
./.git/hooks/fsmonitor-watchman.sample
./.git/hooks/post-update.sample
./.git/hooks/pre-applypatch.sample
./.git/hooks/pre-commit.sample
./.git/hooks/pre-merge-commit.sample
./.git/hooks/pre-push.sample
./.git/hooks/pre-rebase.sample
./.git/hooks/pre-receive.sample
./.git/hooks/prepare-commit-msg.sample
./.git/hooks/push-to-checkout.sample
./.git/hooks/update.sample
./.git/info
./.git/info/exclude
./.git/refs
./.git/refs/heads
./.git/refs/heads/master
./.git/refs/heads/starter
./.git/refs/tags
./.git/refs/remotes
./.git/refs/remotes/v
./.git/refs/remotes/v/starter
./.git/objects
./.git/objects/pack
./.git/objects/info
./.git/objects/45
./.git/objects/45/b37b0d298b4e8e3d6cfba6efd43cc8a80d0487
./.git/objects/a0
./.git/objects/a0/e3d5165b78e9718c77332a680dbdecb0f75009
./.git/objects/e5
./.git/objects/e5/954a793ab23574d479dfd8a5476b441045e49b
./.git/objects/81
./.git/objects/81/a3ab77abb8b95eea85b07e854c77d74771cad0
./.git/objects/81/518ecb4339e35363d844853fde09116e314cea
./.git/objects/3a
./.git/objects/3a/b4146ec1632a8561c32b00a02aa5ef10f3753b
./.git/objects/ba
./.git/objects/ba/a5f136424add9d1b77d934183834fe23ef290c
./.git/objects/fa
./.git/objects/fa/e73fe5c5b97fc397b2e246efc67b6326bb3c86
./.git/objects/fa/7ab0256f76a61285dea9ebb840a60ad9b5368b
./.git/objects/5c
./.git/objects/5c/21ce7485473baef33bc70b06ab35c068d8d400
./.git/objects/48
./.git/objects/48/fc14bbf73c235e7ff83c24f03442bb1f4954f1
./.git/objects/8c
./.git/objects/8c/9261a196bc5f790ecba87be0728df775f16994
./.git/objects/13
./.git/objects/13/5b620e1f9a9e0a3c08e4dce18ad3b8379f876b
./.git/objects/13/59090c321f3f7497d5edc97542bc0dd516356f
./.git/objects/34
./.git/objects/34/348fec0aa202b4b0d716239da3504b2effdb71
./.git/objects/23
./.git/objects/23/b7d277ae8e8981f8860f0a012fa475ca6607a5
./.git/objects/fb
./.git/objects/fb/fdf3e7a32e66ca2c714b136827267fbe3e6740
./.git/objects/6b
./.git/objects/6b/d9694a7fea3f9a53fd2da420b0fceba4480d7d
./.git/objects/15
./.git/objects/15/77535c524b8f7f8328509632390360e5e268e8
./.git/objects/c3
./.git/objects/c3/a30a56f42678fbf403a431874af64c4f925391
./.git/objects/7a
./.git/objects/7a/7a2ea49058caaea65402f0e804ea6d4847539c
./.git/objects/e2
./.git/objects/e2/f75e4445e79b67c5cfe46f5f67f611fbaf646a
./.git/objects/4d
./.git/objects/4d/6d4d7e25a81d87fb9ace7573b1eb9b0fdba38f
./.git/objects/62
./.git/objects/62/5548c56c78b594a09f5c2899b9a328edbca57c
./.git/objects/7d
./.git/objects/7d/34ec63bb51796ff02f130e26c23ccd0f291e3d
./.git/objects/78
./.git/objects/78/c78ff5fc463de1a9a6c87f682fd81d0a68f818
./.git/objects/56
./.git/objects/56/07e07b123a7476c484168e29103a4d232f022f
./.git/objects/dc
./.git/objects/dc/655ae20c83666f2b45c475850acce797c31712
./.git/objects/dc/85497503cf1dec9e79aa32e19830d18627b7a1
./.git/objects/0f
./.git/objects/0f/ad862693692a2a00d134252d24245429a38933
./.git/objects/0f/da74c35c06a8af6b913da649275801ea364b9b
./.git/objects/a3
./.git/objects/a3/81ed0726010521968e55fc974332b2c4156490
./.git/objects/75
./.git/objects/75/d391d4ce4e4d281ea1a9eeacee36fb57fd31ed
./.git/objects/5b
./.git/objects/5b/2ad474d848a7d690dc14dacb2edbe61b9d66c6
./.git/objects/cd
./.git/objects/cd/6a9344c4d2b7ea59069ca8eef52bc3c14d5db6
./.git/objects/95
./.git/objects/95/6264b953a110f90c92e44c09e979aa33e5f58f
./.git/objects/2d
./.git/objects/2d/7b5e90a70c06b879216f0381a0b1ed5f708cee
./.git/objects/ab
./.git/objects/ab/00d09d76ce0debee162e1770de2c11b5031572
./.git/objects/ab/b56f10c3eb0a28a7193a0d482edcc553b3b954
./.git/objects/6d
./.git/objects/6d/86149ca6bcc6719648f0ca98d3263f706d273c
./.git/objects/b8
./.git/objects/b8/d6dd89094179130a8ddcfac6ccda5bd341be98
./.git/objects/3c
./.git/objects/3c/6c6bf308576cf9936700040b4385041042dce8
./.git/objects/67
./.git/objects/67/d3b7342c2bdce013c4b04c2b54daedf1f7715c
./.git/objects/37
./.git/objects/37/06184d9dbea321cae9592a7c6599dbde2a6b7a
./.git/objects/d2
./.git/objects/d2/feaddba00c34854b3a106e3d5d2946da292277
./.git/objects/ae
./.git/objects/ae/ca28735c9913d0418a62cf69f9ae731a2294c9
./.git/objects/d9
./.git/objects/d9/f52c1f2e05816b8dd193f22f5d1acb2764a0c0
./.git/objects/df
./.git/objects/df/3a9460cddec035804bb122af8ddcffd713e4a6
./.git/objects/f1
./.git/objects/f1/39ef0512d9b11f7a9a6d7b015ca6c7a9edaeef
./.git/objects/2f
./.git/objects/2f/7b50abf0fbafcbd186bad9441665ba6f7569bd
./.git/objects/41
./.git/objects/41/855c26ad9bebd897c9412bc4e7f5be69b4ad21
./.git/objects/e0
./.git/objects/e0/18d1ff244e1696cd85273cb36a1f71601c9ee1
./.git/objects/c7
./.git/objects/c7/ab9023f007fb4f2a3083d398243985b806f724
./.git/objects/f3
./.git/objects/f3/1fd927646698c28970e2a9de2fb126854ced84
./.git/objects/f2
./.git/objects/f2/814eb6ec114655e87ffdea55fee06c753032ae
./.git/objects/89
./.git/objects/89/c2735a8f73706f2a01f15f1359dd08bb56676b
./.git/objects/9e
./.git/objects/9e/035cca58ac05b855842b1052979661e57005ec
./.git/objects/ec
./.git/objects/ec/531c45cdea82edc87747207b5d15b5e0aef062
./.git/objects/bd
./.git/objects/bd/3dfdb012139317c927d6ca42330fef67b19902
./.git/objects/28
./.git/objects/28/849eb45410f46b5cc41ba6a67f5071dfec5e7a
./.git/objects/12
./.git/objects/12/fd856f80e1862f09fc8f56765a40029997726c
./.git/objects/99
./.git/objects/99/20965ed94cb7c6ddd8f6241dc0e4e92bb2013c
./.git/objects/e8
./.git/objects/e8/77421c109080020054ccd81b92f73f27849ed0
./.git/objects/5f
./.git/objects/5f/3e7e9a0a47f25fc50b1d39542d654cfed861dc
./.git/objects/bf
./.git/objects/bf/d3073292a71eadb70fae0323087586bfb78996
./.git/objects/42
./.git/objects/42/369fa558663fda06848be22706c80eab8ff09f
./.git/objects/61
./.git/objects/61/d00c335518254b1154756ee1487eb0b64bb521
./.git/objects/17
./.git/objects/17/448b4161ecd3ad249ff4de2e34ebce71c1122a
./.git/COMMIT_EDITMSG
./.git/logs
./.git/logs/HEAD
./.git/logs/refs
./.git/logs/refs/heads
./.git/logs/refs/heads/master
./.git/logs/refs/heads/starter
./.git/logs/refs/remotes
./.git/logs/refs/remotes/v
./.git/logs/refs/remotes/v/starter
./.git/config
./.git/HEAD
./.git/index
./.gdb_history
./1