From f350f3bd13f97bc8e907452d502571b162a8c0de Mon Sep 17 00:00:00 2001 From: Walter Fetter Lages Date: Tue, 22 May 2018 15:39:46 -0300 Subject: [PATCH] Add ICSP interface. Updated to use FreeRTOSV7.4.2. Minor changes in Makefiles. Included ISCP interface. --- Changes | 6 + DaemonRTOS/Makefile | 4 +- DaemonRTOS/TODO | 4293 -------------- FreeRTOS1/croutine.c | 352 -- FreeRTOS1/include/FreeRTOS.h | 148 - FreeRTOS1/include/croutine.h | 730 --- FreeRTOS1/include/list.h | 294 - FreeRTOS1/include/portable.h | 271 - FreeRTOS1/include/projdefs.h | 66 - FreeRTOS1/include/queue.h | 1222 ---- FreeRTOS1/include/semphr.h | 698 --- FreeRTOS1/include/task.h | 995 ---- FreeRTOS1/list.c | 211 - FreeRTOS1/portable/AIC-2.0.0/port.c | 325 -- FreeRTOS1/portable/AIC-2.0.0/portmacro.h | 119 - FreeRTOS1/portable/MemMang/heap_1.c | 147 - FreeRTOS1/portable/MemMang/heap_2.c | 251 - FreeRTOS1/portable/MemMang/heap_3.c | 89 - FreeRTOS1/portable/readme.txt | 19 - FreeRTOS1/queue.c | 1322 ----- FreeRTOS1/readme.txt | 15 - FreeRTOS1/tasks.c | 2046 ------- Makefile | 3 +- TODO | 1 - c~ | 286 + doc/aic-0.5080.drill.gcode | 83 + doc/aic-0.7112.drill.gcode | 149 + doc/aic-0.7620.drill.gcode | 121 + doc/aic-0.8890.drill.gcode | 142 + doc/aic-bottom.gcode | 8980 ++++++++++++++++++++++++++++++ doc/aic-bottom.gcode.png | Bin 0 -> 69487 bytes doc/aic-drillmill.gcode | 392 ++ doc/aic-outline.gcode | 23 + doc/aic.bottom.gbr | 1685 ++++++ doc/aic.bottommask.gbr | 755 +++ doc/aic.bottompaste.gbr | 13 + doc/aic.bottomsilk.gbr | 17 + doc/aic.fab.gbr | 7511 +++++++++++++------------ doc/aic.nelma.bottom.png | Bin 0 -> 6769 bytes doc/aic.nelma.em | 5725 +++++++++++++++++++ doc/aic.nelma.top.png | Bin 0 -> 6580 bytes doc/aic.plated-drill.cnc | 1026 ++-- doc/aic.top.gbr | 1638 ++++++ doc/aic.topmask.gbr | 755 +++ doc/aic.toppaste.gbr | 13 + doc/aic.topsilk.gbr | 1647 ++++++ doc/aic.xy | 9 + doc/aicpic.pdf | Bin 15414 -> 16226 bytes doc/aicpic.sch | 86 +- doc/attribs | 4 + lib/Makefile | 2 +- test/README | 21 + test/braketest/Makefile | 5 +- test/braketest/braketest.c | 2 +- test/dsPICAICtest/Makefile | 5 +- test/dsPICAICtest/dspicaictest.c | 1 + test/dsPICtest/Makefile | 5 +- test/dsPICtest/dspictest.c | 4 +- test/encodertest/Makefile | 5 +- test/encodertest/encodertest.c | 3 +- test/freertosAICtest/FreeRTOSConfig.h | 4 +- test/freertosAICtest/Makefile | 13 +- test/freertosAICtest/freertosAICtest.c | 97 +- test/freertostest/Makefile | 9 +- test/freertostest/freertostest.c | 11 +- test/motortest/Makefile | 5 +- test/pwmtest/Makefile | 5 +- test/serialtest/Makefile | 5 +- test/serialtest/serialtest.c | 31 +- 69 files changed, 27026 insertions(+), 17894 deletions(-) delete mode 100644 DaemonRTOS/TODO delete mode 100644 FreeRTOS1/croutine.c delete mode 100644 FreeRTOS1/include/FreeRTOS.h delete mode 100644 FreeRTOS1/include/croutine.h delete mode 100644 FreeRTOS1/include/list.h delete mode 100644 FreeRTOS1/include/portable.h delete mode 100644 FreeRTOS1/include/projdefs.h delete mode 100644 FreeRTOS1/include/queue.h delete mode 100644 FreeRTOS1/include/semphr.h delete mode 100644 FreeRTOS1/include/task.h delete mode 100644 FreeRTOS1/list.c delete mode 100644 FreeRTOS1/portable/AIC-2.0.0/port.c delete mode 100644 FreeRTOS1/portable/AIC-2.0.0/portmacro.h delete mode 100644 FreeRTOS1/portable/MemMang/heap_1.c delete mode 100644 FreeRTOS1/portable/MemMang/heap_2.c delete mode 100644 FreeRTOS1/portable/MemMang/heap_3.c delete mode 100644 FreeRTOS1/portable/readme.txt delete mode 100644 FreeRTOS1/queue.c delete mode 100644 FreeRTOS1/readme.txt delete mode 100644 FreeRTOS1/tasks.c delete mode 100644 TODO create mode 100644 c~ create mode 100644 doc/aic-0.5080.drill.gcode create mode 100644 doc/aic-0.7112.drill.gcode create mode 100644 doc/aic-0.7620.drill.gcode create mode 100644 doc/aic-0.8890.drill.gcode create mode 100644 doc/aic-bottom.gcode create mode 100644 doc/aic-bottom.gcode.png create mode 100644 doc/aic-drillmill.gcode create mode 100644 doc/aic-outline.gcode create mode 100644 doc/aic.bottom.gbr create mode 100644 doc/aic.bottommask.gbr create mode 100644 doc/aic.bottompaste.gbr create mode 100644 doc/aic.bottomsilk.gbr create mode 100644 doc/aic.nelma.bottom.png create mode 100644 doc/aic.nelma.em create mode 100644 doc/aic.nelma.top.png create mode 100644 doc/aic.top.gbr create mode 100644 doc/aic.topmask.gbr create mode 100644 doc/aic.toppaste.gbr create mode 100644 doc/aic.topsilk.gbr create mode 100644 doc/aic.xy create mode 100644 test/README diff --git a/Changes b/Changes index 83eb549..fa4708d 100644 --- a/Changes +++ b/Changes @@ -1,3 +1,9 @@ +2013.07.17 Started aic-2.4.0. + Updated to use FreeRTOSV7.4.2. + Minor changes in Makefiles. + Included ISCP interface. + + 2012.04.20 Started aic-2.3.0. Reworked source tree. Capacitor involucre sizes made invisible in schematics. diff --git a/DaemonRTOS/Makefile b/DaemonRTOS/Makefile index 6d4c8d8..99efb7b 100644 --- a/DaemonRTOS/Makefile +++ b/DaemonRTOS/Makefile @@ -10,10 +10,10 @@ daemonrtos:daemonrtos.o $(OSOBJS) $(CC) $(CPU) $^ -o $@ $(CCLIBDIR) $(AICLIBDIR) -Wl $(CCGLD) $(AICLIB) daemonrtos.o:daemonrtos.c - $(CC) $(CPU) -x c -c $^ $(CCINCDIR) $(OSINCDIR) $(CCFLAGS) $(OSFLAGS) + $(CC) $(CPU) -c $^ $(CCINCDIR) $(OSINCDIR) $(CCFLAGS) $(OSFLAGS) $(OSOBJS):$(OSFILES) - for i in $(OSFILES); do $(CC) $(CPU) -x c -c $$i $(CCINCDIR) $(OSINCDIR) $(CCFLAGS) $(OSFLAGS) ; done + for i in $(OSFILES); do $(CC) $(CPU) -c $$i $(CCINCDIR) $(OSINCDIR) $(CCFLAGS) $(OSFLAGS) ; done clean: rm -f *.o daemonrtos *~ diff --git a/DaemonRTOS/TODO b/DaemonRTOS/TODO deleted file mode 100644 index c9b6621..0000000 --- a/DaemonRTOS/TODO +++ /dev/null @@ -1,4293 +0,0 @@ - -daemonrtos: file format elf32-pic30 - -Disassembly of section .reset: - -00000000 <.reset>: - 0: 08 01 04 goto 0x108 - 2: 00 00 00 -Disassembly of section .text: - -00000100 <.handle>: - ... - -00000108 <__resetPRI>: - 108: 0f dc 20 mov.w #0xdc0, w15 - 10a: 80 ff 20 mov.w #0xff8, w0 - 10c: 00 01 88 mov.w w0, 0x20 - 10e: 00 00 00 nop - 110: 05 00 07 rcall . + 0xC - 112: 0c 00 07 rcall . + 0x1A - 114: d4 05 02 call 0x5d4 <_main> - 116: 00 00 00 - 118: 00 40 da .pword 0xda4000 - 11a: 00 00 fe reset - -0000011c <__psv_init>: - 11c: 44 40 a9 bclr.b 0x44, #0x2 - 11e: 80 08 20 mov.w #0x88, w0 - 120: 00 00 e0 cp0.w w0 - 122: 03 00 32 bra Z, . + 0x8 - 124: 00 00 20 mov.w #0x0, w0 - 126: a0 01 88 mov.w w0, 0x34 - 128: 44 40 a8 bset.b 0x44, #0x2 - -0000012a : - 12a: 00 00 06 return - -0000012c <__data_init>: - 12c: c0 a8 21 mov.w #0x1a8c, w0 - 12e: 01 00 20 mov.w #0x0, w1 - 130: 16 00 37 bra . + 0x2E - -00000132 : - 132: 62 00 40 add.w w0, #0x2, w0 - 134: e0 80 48 addc.w w1, #0x0, w1 - 136: 91 01 88 mov.w w1, 0x32 - 138: 90 01 ba tblrdl.w [w0], w3 - 13a: 62 00 40 add.w w0, #0x2, w0 - 13c: e0 80 48 addc.w w1, #0x0, w1 - 13e: 91 01 88 mov.w w1, 0x32 - 140: 90 02 ba tblrdl.w [w0], w5 - 142: 62 00 40 add.w w0, #0x2, w0 - 144: e0 80 48 addc.w w1, #0x0, w1 - 146: 00 02 eb clr.w w4 - 148: 60 28 e1 cp.w w5, #0x0 - 14a: 05 00 3a bra NZ, . + 0xC - 14c: 83 01 e9 dec.w w3, w3 - 14e: 07 00 33 bra N, . + 0x10 - 150: 03 80 09 repeat w3 - 152: 00 59 eb clr.b [w2++] - 154: 04 00 37 bra . + 0xA - -00000156 : - 156: 61 28 e1 cp.w w5, #0x1 - 158: 01 00 32 bra Z, . + 0x4 - 15a: 00 82 eb setm.w w4 - -0000015c : - 15c: 05 00 07 rcall . + 0xC - -0000015e : - 15e: 91 01 88 mov.w w1, 0x32 - 160: 10 01 ba tblrdl.w [w0], w2 - 162: 02 00 e0 cp0.w w2 - 164: e6 ff 3a bra NZ, . + 0xFFFFFFCE - 166: 00 00 05 retlw.w #0x0, w0 - -00000168 : - 168: 91 01 88 mov.w w1, 0x32 - 16a: 80 02 78 mov.w w0, w5 - 16c: 62 00 40 add.w w0, #0x2, w0 - 16e: e0 80 48 addc.w w1, #0x0, w1 - 170: 35 59 ba tblrdl.b [w5++], [w2++] - 172: 83 01 e9 dec.w w3, w3 - 174: 08 00 32 bra Z, . + 0x12 - 176: 25 59 ba tblrdl.b [w5--], [w2++] - 178: 83 01 e9 dec.w w3, w3 - 17a: 05 00 32 bra Z, . + 0xC - 17c: 04 00 e0 cp0.w w4 - 17e: f4 ff 32 bra Z, . + 0xFFFFFFEA - 180: 15 d9 ba tblrdh.b [w5], [w2++] - 182: 83 01 e9 dec.w w3, w3 - 184: f1 ff 3a bra NZ, . + 0xFFFFFFE4 - -00000186 : - 186: 00 00 06 return - -00000188 <_memcpy>: - 188: 80 01 78 mov.w w0, w3 - -0000018a <.LM3>: - 18a: 02 00 e0 cp0.w w2 - 18c: 03 00 32 bra Z, . + 0x8 - -0000018e <.L6>: - 18e: b1 59 78 mov.b [w1++], [w3++] - -00000190 <.LM5>: - 190: 02 01 e9 dec.w w2, w2 - 192: fd ff 3a bra NZ, . + 0xFFFFFFFC - -00000194 <.L8>: - 194: 00 00 06 return - -00000196 <_memset>: - 196: 80 01 78 mov.w w0, w3 - -00000198 <.LM3>: - 198: 02 00 e0 cp0.w w2 - 19a: 03 00 32 bra Z, . + 0x8 - -0000019c <.L6>: - 19c: 81 59 78 mov.b w1, [w3++] - -0000019e <.LM5>: - 19e: 02 01 e9 dec.w w2, w2 - 1a0: fd ff 3a bra NZ, . + 0xFFFFFFFC - -000001a2 <.L8>: - 1a2: 00 00 06 return - -000001a4 <_strncpy>: - 1a4: 80 01 78 mov.w w0, w3 - 1a6: 02 00 e0 cp0.w w2 - 1a8: 07 00 32 bra Z, . + 0x10 - 1aa: 11 04 e0 cp0.b [w1] - 1ac: 05 00 32 bra Z, . + 0xC - -000001ae <.L7>: - 1ae: b1 59 78 mov.b [w1++], [w3++] - -000001b0 <.LM4>: - 1b0: 02 01 e9 dec.w w2, w2 - 1b2: 02 00 32 bra Z, . + 0x6 - 1b4: 11 04 e0 cp0.b [w1] - 1b6: fb ff 3a bra NZ, . + 0xFFFFFFF8 - -000001b8 <.L3>: - 1b8: 02 00 e0 cp0.w w2 - 1ba: 03 00 32 bra Z, . + 0x8 - -000001bc <.L12>: - 1bc: 80 59 eb clr.b [w3++] - -000001be <.LM7>: - 1be: 02 01 e9 dec.w w2, w2 - 1c0: fd ff 3a bra NZ, . + 0xFFFFFFFC - -000001c2 <.L15>: - 1c2: 00 00 06 return - -000001c4 <___truncdfsf2>: - 1c4: 14 00 fa lnk #0x14 - 1c6: 88 9f be mov.d w8, [w15++] - 1c8: 8a 9f be mov.d w10, [w15++] - 1ca: 8c 9f be mov.d w12, [w15++] - 1cc: 00 05 be mov.d w0, w10 - 1ce: 02 06 be mov.d w2, w12 - 1d0: 68 00 47 add.w w14, #0x8, w0 - 1d2: 0c 90 be mov.d w12, [w0--] - 1d4: 0a 90 be mov.d w10, [w0--] - 1d6: 5c 01 07 rcall . + 0x2BA - 1d8: 64 00 e1 cp.w w0, #0x4 - 1da: 1a 00 32 bra Z, . + 0x36 - 1dc: 16 00 3e bra GTU, . + 0x2E - 1de: 61 00 e1 cp.w w0, #0x1 - 1e0: 1a 00 32 bra Z, . + 0x36 - 1e2: 6e 04 90 mov.w [w14+12], w8 - 1e4: fe 04 90 mov.w [w14+14], w9 - 1e6: 0e 0b 90 mov.w [w14+16], w6 - 1e8: 9e 0b 90 mov.w [w14+18], w7 - 1ea: 60 11 b8 mul.uu w2, #0x0, w2 - 1ec: 9e 05 90 mov.w [w14+2], w11 - 1ee: 0b 38 b1 sub.w #0x380, w11 - 1f0: d5 01 20 mov.w #0x1d, w5 - -000001f2 : - 1f2: 82 81 71 ior.w w3, w2, w3 - 1f4: 61 01 64 and.w w8, #0x1, w2 - 1f6: 87 03 d1 lsr.w w7, w7 - 1f8: 06 83 d3 rrc.w w6, w6 - 1fa: 89 84 d3 rrc.w w9, w9 - 1fc: 08 84 d3 rrc.w w8, w8 - 1fe: 85 02 e9 dec.w w5, w5 - 200: f8 ff 3a bra NZ, . + 0xFFFFFFF2 - 202: 6d 01 07 rcall . + 0x2DC - -00000204 : - 204: 0d f0 a7 btsc.w w13, #0xf - 206: 01 f0 a0 bset.w w1, #0xf - -00000208 : - 208: a4 01 37 bra . + 0x34A - -0000020a : - 20a: f1 ff 27 mov.w #0x7fff, w1 - 20c: f0 ff 2f mov.w #0xffff, w0 - 20e: a1 01 37 bra . + 0x344 - -00000210 : - 210: 01 f8 27 mov.w #0x7f80, w1 - 212: 00 00 20 mov.w #0x0, w0 - 214: f7 ff 37 bra . + 0xFFFFFFF0 - -00000216 : - 216: 60 00 b8 mul.uu w0, #0x0, w0 - 218: f5 ff 37 bra . + 0xFFFFFFEC - -0000021a <___floatsisf>: - 21a: 88 9f be mov.d w8, [w15++] - 21c: 8a 9f be mov.d w10, [w15++] - 21e: 01 05 78 mov.w w1, w10 - 220: 01 00 e0 cp0.w w1 - 222: 04 00 35 bra LT, . + 0xA - 224: 08 00 3c bra GT, . + 0x12 - 226: 00 00 e0 cp0.w w0 - 228: 20 00 32 bra Z, . + 0x42 - 22a: 05 00 37 bra . + 0xC - -0000022c : - 22c: 60 00 10 subr.w w0, #0x0, w0 - 22e: e0 80 18 subbr.w w1, #0x0, w1 - 230: 02 00 3b bra NN, . + 0x6 - 232: 01 f0 2c mov.w #0xcf00, w1 - 234: 1a 00 37 bra . + 0x36 - -00000236 : - 236: 00 04 be mov.d w0, w8 - 238: 60 11 b8 mul.uu w2, #0x0, w2 - 23a: 6b 09 20 mov.w #0x96, w11 - 23c: 09 82 cf ff1l w9, w4 - 23e: 02 00 39 bra NC, . + 0x6 - 240: 08 82 cf ff1l w8, w4 - 242: 04 41 b0 add.b #0x10, w4 - -00000244 : - 244: 69 42 52 sub.b w4, #0x9, w4 - 246: 0e 00 32 bra Z, . + 0x1E - 248: 08 00 3b bra NN, . + 0x12 - -0000024a : - 24a: 82 81 71 ior.w w3, w2, w3 - 24c: 61 01 64 and.w w8, #0x1, w2 - 24e: 89 04 d1 lsr.w w9, w9 - 250: 08 84 d3 rrc.w w8, w8 - 252: 8b 05 e8 inc.w w11, w11 - 254: 04 42 e8 inc.b w4, w4 - 256: f9 ff 3a bra NZ, . + 0xFFFFFFF4 - 258: 05 00 37 bra . + 0xC - -0000025a : - 25a: 08 04 44 add.w w8, w8, w8 - 25c: 89 84 4c addc.w w9, w9, w9 - 25e: 8b 05 e9 dec.w w11, w11 - 260: 04 42 e9 dec.b w4, w4 - 262: fb ff 3a bra NZ, . + 0xFFFFFFF8 - -00000264 : - 264: 3c 01 07 rcall . + 0x27A - 266: 0a f0 a7 btsc.w w10, #0xf - 268: 01 f0 a0 bset.w w1, #0xf - -0000026a : - 26a: 4f 05 be mov.d [--w15], w10 - 26c: 4f 04 be mov.d [--w15], w8 - 26e: 00 00 06 return - -00000270 <___divsf3>: - 270: 88 9f be mov.d w8, [w15++] - 272: 8a 9f be mov.d w10, [w15++] - 274: 8c 1f 78 mov.w w12, [w15++] - 276: 72 01 07 rcall . + 0x2E6 - 278: 79 01 33 bra N, . + 0x2F4 - 27a: 03 86 6c xor.w w9, w3, w12 - 27c: 64 50 e1 cp.w w10, #0x4 - 27e: 2e 00 32 bra Z, . + 0x5E - 280: 64 20 e1 cp.w w4, #0x4 - 282: 33 00 32 bra Z, . + 0x68 - 284: 61 50 e1 cp.w w10, #0x1 - 286: 2f 00 32 bra Z, . + 0x60 - 288: 61 20 e1 cp.w w4, #0x1 - 28a: 31 00 32 bra Z, . + 0x64 - -0000028c : - 28c: 85 85 55 sub.w w11, w5, w11 - 28e: eb 07 b0 add.w #0x7e, w11 - 290: 09 00 20 mov.w #0x0, w9 - 292: 08 04 20 mov.w #0x40, w8 - 294: 05 00 37 bra . + 0xC - -00000296 : - 296: 08 04 44 add.w w8, w8, w8 - 298: 89 84 4c addc.w w9, w9, w9 - 29a: 0a 00 31 bra C, . + 0x16 - -0000029c : - 29c: 06 03 43 add.w w6, w6, w6 - 29e: 87 83 4b addc.w w7, w7, w7 - -000002a0 : - 2a0: 00 01 53 sub.w w6, w0, w2 - 2a2: 81 81 5b subb.w w7, w1, w3 - 2a4: f8 ff 33 bra N, . + 0xFFFFFFF2 - 2a6: 02 03 be mov.d w2, w6 - 2a8: 08 00 a0 bset.w w8, #0x0 - 2aa: 08 04 44 add.w w8, w8, w8 - 2ac: 89 84 4c addc.w w9, w9, w9 - 2ae: f6 ff 39 bra NC, . + 0xFFFFFFEE - -000002b0 : - 2b0: c6 39 dd sl.w w7, #0x6, w3 - 2b2: 83 01 73 ior.w w6, w3, w3 - 2b4: 01 00 32 bra Z, . + 0x4 - 2b6: 13 00 20 mov.w #0x1, w3 - -000002b8 : - 2b8: 89 04 d1 lsr.w w9, w9 - 2ba: 08 84 d3 rrc.w w8, w8 - 2bc: 09 98 a3 btst.z w9, #0x9 - 2be: 05 00 32 bra Z, . + 0xC - 2c0: 08 00 a7 btsc.w w8, #0x0 - 2c2: 03 00 a0 bset.w w3, #0x0 - 2c4: 89 04 d1 lsr.w w9, w9 - 2c6: 08 84 d3 rrc.w w8, w8 - 2c8: 8b 05 e8 inc.w w11, w11 - -000002ca : - 2ca: 89 04 d1 lsr.w w9, w9 - 2cc: 08 84 d3 rrc.w w8, w8 - 2ce: 00 01 eb clr.w w2 - 2d0: 02 81 d2 rlc.w w2, w2 - 2d2: 05 01 07 rcall . + 0x20C - -000002d4 : - 2d4: 01 f0 a1 bclr.w w1, #0xf - 2d6: 0c f0 a7 btsc.w w12, #0xf - 2d8: 01 f0 a0 bset.w w1, #0xf - 2da: 51 01 37 bra . + 0x2A4 - -000002dc : - 2dc: 64 20 e1 cp.w w4, #0x4 - 2de: 53 01 32 bra Z, . + 0x2A8 - -000002e0 : - 2e0: 08 01 be mov.d w8, w2 - -000002e2 : - 2e2: 02 00 be mov.d w2, w0 - 2e4: f7 ff 37 bra . + 0xFFFFFFF0 - -000002e6 : - 2e6: 61 20 e1 cp.w w4, #0x1 - 2e8: 4e 01 32 bra Z, . + 0x29E - -000002ea : - 2ea: 60 00 b8 mul.uu w0, #0x0, w0 - 2ec: f3 ff 37 bra . + 0xFFFFFFE8 - -000002ee : - 2ee: 00 00 20 mov.w #0x0, w0 - 2f0: 01 f8 27 mov.w #0x7f80, w1 - 2f2: f0 ff 37 bra . + 0xFFFFFFE2 - -000002f4 <___subsf3>: - 2f4: 03 f0 a2 btg.w w3, #0xf - -000002f6 <___addsf3>: - 2f6: 88 9f be mov.d w8, [w15++] - 2f8: 8a 9f be mov.d w10, [w15++] - 2fa: 8c 1f 78 mov.w w12, [w15++] - 2fc: 2f 01 07 rcall . + 0x260 - 2fe: 36 01 33 bra N, . + 0x26E - 300: 64 50 e1 cp.w w10, #0x4 - 302: 4f 00 32 bra Z, . + 0xA0 - -00000304 : - 304: 64 20 e1 cp.w w4, #0x4 - 306: 52 00 32 bra Z, . + 0xA6 - 308: 03 82 6c xor.w w9, w3, w4 - 30a: 07 00 3b bra NN, . + 0x10 - 30c: 09 05 d0 sl.w w9, w10 - 30e: 03 06 d0 sl.w w3, w12 - 310: 82 0f 54 sub.w w8, w2, [w15] - 312: 0c 06 5d subb.w w10, w12, w12 - 314: 02 00 39 bra NC, . + 0x6 - 316: 02 00 32 bra Z, . + 0x6 - 318: 89 01 78 mov.w w9, w3 - -0000031a : - 31a: 03 06 78 mov.w w3, w12 - -0000031c : - 31c: 85 82 55 sub.w w11, w5, w5 - 31e: 04 00 3d bra GE, . + 0xA - 320: 00 03 fd exch w0, w6 - 322: 81 03 fd exch w1, w7 - 324: 85 02 ea neg.w w5, w5 - 326: 8b 85 42 add.w w5, w11, w11 - -00000328 : - 328: 84 0f 72 ior.w w4, w4, [w15] - 32a: 02 00 3b bra NN, . + 0x6 - 32c: 60 00 10 subr.w w0, #0x0, w0 - 32e: e0 80 18 subbr.w w1, #0x0, w1 - -00000330 : - 330: 60 11 b8 mul.uu w2, #0x0, w2 - 332: 00 05 eb clr.w w10 - 334: 7a 28 e1 cp.w w5, #0x1a - 336: 0a 00 39 bra NC, . + 0x16 - 338: 06 00 78 mov.w w6, w0 - 33a: c7 5d dd sl.w w11, #0x7, w11 - 33c: f7 07 b2 and.w #0x7f, w7 - 33e: 87 80 75 ior.w w11, w7, w1 - 340: 2d 00 37 bra . + 0x5C - -00000342 : - 342: 82 81 71 ior.w w3, w2, w3 - 344: 0a 01 78 mov.w w10, w2 - 346: 61 05 60 and.w w0, #0x1, w10 - 348: 81 80 d1 asr.w w1, w1 - 34a: 00 80 d3 rrc.w w0, w0 - -0000034c : - 34c: 85 02 e9 dec.w w5, w5 - 34e: f9 ff 3b bra NN, . + 0xFFFFFFF4 - -00000350 : - 350: 06 04 40 add.w w0, w6, w8 - 352: 87 84 48 addc.w w1, w7, w9 - 354: 02 00 3b bra NN, . + 0x6 - 356: 60 04 14 subr.w w8, #0x0, w8 - 358: e0 84 1c subbr.w w9, #0x0, w9 - -0000035a : - 35a: 09 88 a3 btst.z w9, #0x8 - 35c: 07 00 32 bra Z, . + 0x10 - 35e: 8a 81 71 ior.w w3, w10, w3 - 360: 82 81 71 ior.w w3, w2, w3 - 362: 61 01 64 and.w w8, #0x1, w2 - 364: 89 04 d1 lsr.w w9, w9 - 366: 08 84 d3 rrc.w w8, w8 - 368: 8b 05 e8 inc.w w11, w11 - 36a: 17 00 37 bra . + 0x30 - -0000036c : - 36c: 09 78 a3 btst.z w9, #0x7 - 36e: 13 00 3a bra NZ, . + 0x28 - -00000370 : - 370: 0b 00 e0 cp0.w w11 - 372: 13 00 34 bra LE, . + 0x28 - 374: 8b 05 e9 dec.w w11, w11 - 376: 08 04 44 add.w w8, w8, w8 - 378: 89 84 4c addc.w w9, w9, w9 - 37a: 0a 44 74 ior.b w8, w10, w8 - 37c: 09 78 a3 btst.z w9, #0x7 - 37e: 0d 00 3a bra NZ, . + 0x1C - -00000380 : - 380: 0b 00 e0 cp0.w w11 - 382: 07 00 34 bra LE, . + 0x10 - 384: 8b 05 e9 dec.w w11, w11 - 386: 08 04 44 add.w w8, w8, w8 - 388: 89 84 4c addc.w w9, w9, w9 - 38a: 01 00 3a bra NZ, . + 0x4 - 38c: 0b 00 20 mov.w #0x0, w11 - -0000038e : - 38e: 09 78 a3 btst.z w9, #0x7 - 390: f7 ff 32 bra Z, . + 0xFFFFFFF0 - -00000392 : - 392: 00 01 eb clr.w w2 - 394: 02 00 37 bra . + 0x6 - -00000396 : - 396: 82 81 71 ior.w w3, w2, w3 - 398: 0a 01 78 mov.w w10, w2 - -0000039a : - 39a: a1 00 07 rcall . + 0x144 - -0000039c : - 39c: 0c f0 a7 btsc.w w12, #0xf - 39e: 01 f0 a0 bset.w w1, #0xf - 3a0: ee 00 37 bra . + 0x1DE - -000003a2 : - 3a2: 64 20 e1 cp.w w4, #0x4 - 3a4: 02 00 3a bra NZ, . + 0x6 - 3a6: 83 8f 6c xor.w w9, w3, [w15] - 3a8: ee 00 33 bra N, . + 0x1DE - -000003aa : - 3aa: 08 01 be mov.d w8, w2 - -000003ac : - 3ac: 02 00 be mov.d w2, w0 - 3ae: e7 00 37 bra . + 0x1D0 - -000003b0 <___mulsf3>: - 3b0: 88 9f be mov.d w8, [w15++] - 3b2: 8a 9f be mov.d w10, [w15++] - 3b4: 8c 1f 78 mov.w w12, [w15++] - 3b6: d2 00 07 rcall . + 0x1A6 - 3b8: d9 00 33 bra N, . + 0x1B4 - 3ba: 03 86 6c xor.w w9, w3, w12 - 3bc: 64 50 e1 cp.w w10, #0x4 - 3be: 24 00 32 bra Z, . + 0x4A - 3c0: 64 20 e1 cp.w w4, #0x4 - 3c2: 27 00 32 bra Z, . + 0x50 - 3c4: 61 50 e1 cp.w w10, #0x1 - 3c6: 22 00 32 bra Z, . + 0x46 - 3c8: 61 20 e1 cp.w w4, #0x1 - 3ca: 21 00 32 bra Z, . + 0x44 - 3cc: 8b 85 42 add.w w5, w11, w11 - 3ce: eb 07 b1 sub.w #0x7e, w11 - 3d0: 01 34 b8 mul.uu w6, w1, w8 - 3d2: 00 3a b8 mul.uu w7, w0, w4 - 3d4: 08 04 42 add.w w4, w8, w8 - 3d6: 89 84 4a addc.w w5, w9, w9 - 3d8: 01 3a b8 mul.uu w7, w1, w4 - 3da: 00 30 b8 mul.uu w6, w0, w0 - 3dc: 88 80 40 add.w w1, w8, w1 - 3de: 09 01 4a addc.w w4, w9, w2 - 3e0: 04 00 33 bra N, . + 0xA - 3e2: 00 00 40 add.w w0, w0, w0 - 3e4: 81 80 48 addc.w w1, w1, w1 - 3e6: 02 01 49 addc.w w2, w2, w2 - 3e8: 8b 05 e9 dec.w w11, w11 - -000003ea : - 3ea: c9 09 dd sl.w w1, #0x9, w3 - 3ec: 83 01 70 ior.w w0, w3, w3 - 3ee: 01 00 32 bra Z, . + 0x4 - 3f0: 13 00 20 mov.w #0x1, w3 - -000003f2 : - 3f2: c8 14 de lsr.w w2, #0x8, w9 - 3f4: 48 14 dd sl.w w2, #0x8, w8 - 3f6: 47 09 de lsr.w w1, #0x7, w2 - 3f8: 12 00 b2 and.w #0x1, w2 - 3fa: c8 08 de lsr.w w1, #0x8, w1 - 3fc: 08 84 70 ior.w w1, w8, w8 - 3fe: 6f 00 07 rcall . + 0xE0 - -00000400 : - 400: 01 f0 a1 bclr.w w1, #0xf - 402: 0c f0 a7 btsc.w w12, #0xf - 404: 01 f0 a0 bset.w w1, #0xf - 406: bb 00 37 bra . + 0x178 - -00000408 : - 408: 61 20 e1 cp.w w4, #0x1 - 40a: bd 00 32 bra Z, . + 0x17C - -0000040c : - 40c: 08 01 be mov.d w8, w2 - -0000040e : - 40e: 02 00 be mov.d w2, w0 - 410: f7 ff 37 bra . + 0xFFFFFFF0 - -00000412 : - 412: 61 50 e1 cp.w w10, #0x1 - 414: fc ff 3a bra NZ, . + 0xFFFFFFFA - 416: b7 00 37 bra . + 0x170 - -00000418 <___fixsfsi>: - 418: 00 01 be mov.d w0, w2 - 41a: b8 00 07 rcall . + 0x172 - 41c: 04 70 a7 btsc.w w4, #0x7 - 41e: 03 f0 a1 bclr.w w3, #0xf - 420: 65 09 b1 sub.w #0x96, w5 - 422: 16 00 32 bra Z, . + 0x2E - 424: 0d 00 35 bra LT, . + 0x1C - 426: 68 28 e1 cp.w w5, #0x8 - 428: 06 00 35 bra LT, . + 0xE - 42a: f0 ff 2f mov.w #0xffff, w0 - 42c: f1 ff 27 mov.w #0x7fff, w1 - 42e: 03 00 e0 cp0.w w3 - 430: 13 00 3b bra NN, . + 0x28 - 432: 01 00 28 mov.w #0x8000, w1 - 434: 00 00 05 retlw.w #0x0, w0 - -00000436 : - 436: 00 00 40 add.w w0, w0, w0 - 438: 81 80 48 addc.w w1, w1, w1 - 43a: 85 02 e9 dec.w w5, w5 - 43c: fc ff 3a bra NZ, . + 0xFFFFFFFA - 43e: 08 00 37 bra . + 0x12 - -00000440 : - 440: f8 8f 42 add.w w5, #0x18, [w15] - 442: 02 00 3c bra GT, . + 0x6 - 444: 80 00 eb clr.w w1 - 446: 00 00 05 retlw.w #0x0, w0 - -00000448 : - 448: 81 00 d1 lsr.w w1, w1 - 44a: 00 80 d3 rrc.w w0, w0 - 44c: 85 02 e8 inc.w w5, w5 - 44e: fc ff 3a bra NZ, . + 0xFFFFFFFA - -00000450 : - 450: 03 00 e0 cp0.w w3 - 452: 02 00 3b bra NN, . + 0x6 - 454: 60 00 10 subr.w w0, #0x0, w0 - 456: e0 80 18 subbr.w w1, #0x0, w1 - -00000458 : - 458: 00 00 06 return - -0000045a <___fixunssfsi>: - 45a: 00 01 be mov.d w0, w2 - 45c: 97 00 07 rcall . + 0x130 - 45e: 04 70 a7 btsc.w w4, #0x7 - 460: 03 f0 a1 bclr.w w3, #0xf - 462: 03 f8 a3 btst.z w3, #0xf - 464: 13 00 3a bra NZ, . + 0x28 - 466: 65 09 b1 sub.w #0x96, w5 - 468: 10 00 32 bra Z, . + 0x22 - 46a: 09 00 35 bra LT, . + 0x14 - 46c: 69 28 e1 cp.w w5, #0x9 - 46e: 02 00 35 bra LT, . + 0x6 - 470: 01 00 28 mov.w #0x8000, w1 - 472: 00 00 05 retlw.w #0x0, w0 - -00000474 : - 474: 00 00 40 add.w w0, w0, w0 - 476: 81 80 48 addc.w w1, w1, w1 - 478: 85 02 e9 dec.w w5, w5 - 47a: fc ff 3a bra NZ, . + 0xFFFFFFFA - 47c: 00 00 06 return - -0000047e : - 47e: f8 8f 42 add.w w5, #0x18, [w15] - 480: 05 00 35 bra LT, . + 0xC - -00000482 : - 482: 81 00 d1 lsr.w w1, w1 - 484: 00 80 d3 rrc.w w0, w0 - 486: 85 02 e8 inc.w w5, w5 - 488: fc ff 3a bra NZ, . + 0xFFFFFFFA - -0000048a : - 48a: 00 00 06 return - -0000048c : - 48c: 80 00 eb clr.w w1 - 48e: 00 00 05 retlw.w #0x0, w0 - -00000490 <__dunpack>: - 490: 80 00 78 mov.w w0, w1 - 492: 50 02 be mov.d [++w0], w4 - 494: 50 03 be mov.d [++w0], w6 - 496: 44 39 de lsr.w w7, #0x4, w2 - 498: f7 00 b2 and.w #0xf, w7 - 49a: f3 7f 20 mov.w #0x7ff, w3 - 49c: 03 01 61 and.w w2, w3, w2 - 49e: 09 00 32 bra Z, . + 0x14 - 4a0: 02 18 e1 cp.w w3, w2 - 4a2: 16 00 3a bra NZ, . + 0x2E - 4a4: 85 01 72 ior.w w4, w5, w3 - 4a6: 83 01 73 ior.w w6, w3, w3 - 4a8: 83 81 73 ior.w w7, w3, w3 - 4aa: 00 08 20 mov.w #0x80, w0 - 4ac: 15 00 3a bra NZ, . + 0x2C - 4ae: 40 00 20 mov.w #0x4, w0 - 4b0: 13 00 37 bra . + 0x28 - -000004b2 : - 4b2: 85 01 72 ior.w w4, w5, w3 - 4b4: 83 01 73 ior.w w6, w3, w3 - 4b6: 83 81 73 ior.w w7, w3, w3 - 4b8: 05 00 3a bra NZ, . + 0xC - 4ba: 04 a8 be mov.d w4, [++w0] - 4bc: 06 a8 be mov.d w6, [++w0] - 4be: 10 00 20 mov.w #0x1, w0 - 4c0: 0b 00 37 bra . + 0x18 - -000004c2 : - 4c2: 02 01 e9 dec.w w2, w2 - -000004c4 : - 4c4: 04 02 42 add.w w4, w4, w4 - 4c6: 85 82 4a addc.w w5, w5, w5 - 4c8: 06 03 4b addc.w w6, w6, w6 - 4ca: 87 83 4b addc.w w7, w7, w7 - 4cc: 07 48 a3 btst.z w7, #0x4 - 4ce: f9 ff 32 bra Z, . + 0xFFFFFFF4 - -000004d0 : - 4d0: 07 40 a0 bset.w w7, #0x4 - 4d2: 04 a8 be mov.d w4, [++w0] - 4d4: 06 a8 be mov.d w6, [++w0] - 4d6: 20 00 20 mov.w #0x2, w0 - -000004d8 : - 4d8: 80 00 98 mov.w w0, [w1+0] - 4da: 92 00 98 mov.w w2, [w1+2] - 4dc: 00 00 06 return - -000004de <__fpack>: - 4de: 81 00 20 mov.w #0x8, w1 - 4e0: 61 80 55 sub.w w11, #0x1, w0 - 4e2: 0b 00 3d bra GE, . + 0x18 - 4e4: 0b 00 20 mov.w #0x0, w11 - 4e6: 61 fe 2f mov.w #0xffe6, w1 - 4e8: 01 00 e1 cp.w w0, w1 - 4ea: 1d 00 34 bra LE, . + 0x3C - -000004ec : - 4ec: 82 81 71 ior.w w3, w2, w3 - 4ee: 61 01 64 and.w w8, #0x1, w2 - 4f0: 89 04 d1 lsr.w w9, w9 - 4f2: 08 84 d3 rrc.w w8, w8 - 4f4: 00 00 e8 inc.w w0, w0 - 4f6: fa ff 3a bra NZ, . + 0xFFFFFFF6 - 4f8: 71 00 20 mov.w #0x7, w1 - -000004fa : - 4fa: 61 00 64 and.w w8, #0x1, w0 - 4fc: 03 00 70 ior.w w0, w3, w0 - 4fe: 02 00 60 and.w w0, w2, w0 - 500: 09 00 32 bra Z, . + 0x14 - 502: 61 04 44 add.w w8, #0x1, w8 - 504: e0 84 4c addc.w w9, #0x0, w9 - 506: 09 88 a5 btst.z w9, w1 - 508: 05 00 32 bra Z, . + 0xC - 50a: 8b 05 e8 inc.w w11, w11 - 50c: 68 08 e1 cp.w w1, #0x8 - 50e: 02 00 3a bra NZ, . + 0x6 - 510: 89 04 d1 lsr.w w9, w9 - 512: 08 84 d3 rrc.w w8, w8 - -00000514 : - 514: f2 0f 20 mov.w #0xff, w2 - 516: 02 58 e1 cp.w w11, w2 - 518: 05 00 3d bra GE, . + 0xC - 51a: c7 5d dd sl.w w11, #0x7, w11 - 51c: f9 07 b2 and.w #0x7f, w9 - 51e: 89 80 75 ior.w w11, w9, w1 - 520: 08 00 78 mov.w w8, w0 - 522: 00 00 06 return - -00000524 : - 524: 0b f8 27 mov.w #0x7f80, w11 - -00000526 : - 526: 8b 00 78 mov.w w11, w1 - 528: 00 00 05 retlw.w #0x0, w0 - -0000052a <__dunpack2>: - 52a: 68 04 47 add.w w14, #0x8, w8 - 52c: 02 94 be mov.d w2, [w8--] - 52e: 00 94 be mov.d w0, [w8--] - 530: fc 04 47 add.w w14, #0x1c, w9 - 532: 86 94 be mov.d w6, [w9--] - 534: 84 94 be mov.d w4, [w9--] - 536: 09 00 78 mov.w w9, w0 - 538: ab ff 07 rcall . + 0xFFFFFF58 - 53a: 08 00 78 mov.w w8, w0 - 53c: a9 ff 07 rcall . + 0xFFFFFF54 - 53e: 99 00 78 mov.w [w9], w1 - 540: 81 4f 70 ior.b w0, w1, [w15] - 542: 0b 00 3b bra NN, . + 0x18 - -00000544 : - 544: 08 00 be mov.d w8, w0 - 546: 37 00 07 rcall . + 0x70 - 548: 4f 00 b1 sub.w #0x4, w15 - 54a: 03 00 37 bra . + 0x8 - -0000054c <__dreturnNaN>: - 54c: f3 ff 27 mov.w #0x7fff, w3 - 54e: f2 ff 2f mov.w #0xffff, w2 - 550: 61 10 b9 mul.su w2, #0x1, w0 - -00000552 <__dunpack2exit>: - 552: 4f 06 be mov.d [--w15], w12 - 554: 4f 05 be mov.d [--w15], w10 - 556: 4f 04 be mov.d [--w15], w8 - 558: 00 80 fa ulnk - -0000055a : - 55a: 00 00 06 return - -0000055c <__funpack2>: - 55c: 00 04 be mov.d w0, w8 - 55e: 16 00 07 rcall . + 0x2E - 560: 00 03 be mov.d w0, w6 - 562: 04 05 be mov.d w4, w10 - 564: 02 00 be mov.d w2, w0 - 566: 12 00 07 rcall . + 0x26 - 568: 84 4f 75 ior.b w10, w4, [w15] - 56a: 00 00 06 return - -0000056c <__fPropagateNaN>: - 56c: 02 00 be mov.d w2, w0 - 56e: 64 50 e1 cp.w w10, #0x4 - 570: 05 00 36 bra LEU, . + 0xC - 572: 64 20 e1 cp.w w4, #0x4 - 574: 02 00 36 bra LEU, . + 0x6 - 576: 09 68 a3 btst.z w9, #0x6 - 578: 01 00 3a bra NZ, . + 0x4 - -0000057a : - 57a: 08 00 be mov.d w8, w0 - -0000057c : - 57c: 01 60 a0 bset.w w1, #0x6 - -0000057e <__fbopExit>: - 57e: 4f 06 78 mov.w [--w15], w12 - 580: 4f 05 be mov.d [--w15], w10 - 582: 4f 04 be mov.d [--w15], w8 - 584: 00 00 06 return - -00000586 <__fbopReturnNaN>: - 586: f0 ff 2f mov.w #0xffff, w0 - 588: f1 ff 27 mov.w #0x7fff, w1 - 58a: f9 ff 37 bra . + 0xFFFFFFF4 - -0000058c <__funpack>: - 58c: c7 0a de lsr.w w1, #0x7, w5 - 58e: f1 07 b2 and.w #0x7f, w1 - 590: f5 0f b2 and.w #0xff, w5 - 592: 08 00 32 bra Z, . + 0x12 - 594: e1 cf 42 add.b w5, #0x1, [w15] - 596: 02 00 32 bra Z, . + 0x6 - -00000598 : - 598: 01 70 a0 bset.w w1, #0x7 - 59a: 24 00 05 retlw.w #0x2, w4 - -0000059c : - 59c: 81 0f 70 ior.w w0, w1, [w15] - 59e: 01 00 32 bra Z, . + 0x4 - 5a0: 04 08 05 retlw.w #0x80, w4 - -000005a2 : - 5a2: 44 00 05 retlw.w #0x4, w4 - -000005a4 : - 5a4: 81 0f 70 ior.w w0, w1, [w15] - 5a6: 02 00 3a bra NZ, . + 0x6 - 5a8: 14 00 05 retlw.w #0x1, w4 - -000005aa : - 5aa: 85 02 e9 dec.w w5, w5 - -000005ac : - 5ac: 00 00 40 add.w w0, w0, w0 - 5ae: 81 c0 48 addc.b w1, w1, w1 - 5b0: fc ff 3b bra NN, . + 0xFFFFFFFA - 5b2: 01 70 a0 bset.w w1, #0x7 - 5b4: 24 00 05 retlw.w #0x2, w4 - -000005b6 <__dPropagateNaN>: - 5b6: e4 82 40 add.w w1, #0x4, w5 - 5b8: 10 78 a3 btst.z [w0], #0x7 - 5ba: 07 00 32 bra Z, . + 0x10 - 5bc: 64 02 40 add.w w0, #0x4, w4 - 5be: 11 78 a3 btst.z [w1], #0x7 - 5c0: 34 00 be mov.d [w4++], w0 - 5c2: 14 01 be mov.d [w4], w2 - 5c4: 04 00 32 bra Z, . + 0xA - 5c6: 03 30 a7 btsc.w w3, #0x3 - 5c8: 00 00 06 return - -000005ca : - 5ca: 35 00 be mov.d [w5++], w0 - 5cc: 15 01 be mov.d [w5], w2 - -000005ce : - 5ce: 03 30 a0 bset.w w3, #0x3 - 5d0: 00 00 06 return - -000005d2 <_end>: - 5d2: ff ff 37 bra . - -000005d4 <_main>: - 5d4: 06 00 22 mov.w #0x2000, w6 - 5d6: 07 00 20 mov.w #0x0, w7 - 5d8: 04 00 24 mov.w #0x4000, w4 - 5da: c5 69 24 mov.w #0x469c, w5 - 5dc: 02 00 20 mov.w #0x0, w2 - 5de: 03 14 24 mov.w #0x4140, w3 - 5e0: 60 00 b8 mul.uu w0, #0x0, w0 - 5e2: 03 09 07 rcall . + 0x1208 - 5e4: 80 02 eb clr.w w5 - 5e6: 34 00 20 mov.w #0x3, w4 - 5e8: 85 01 78 mov.w w5, w3 - 5ea: 92 06 20 mov.w #0x69, w2 - 5ec: 81 a4 29 mov.w #0x9a48, w1 - 5ee: 60 5f 20 mov.w #0x5f6, w0 - 5f0: c3 04 07 rcall . + 0x988 - 5f2: 67 05 07 rcall . + 0xAD0 - 5f4: 00 00 05 retlw.w #0x0, w0 - -000005f6 <_vDaemonTask>: - 5f6: 2f 02 b0 add.w #0x22, w15 - 5f8: 88 9f be mov.d w8, [w15++] - 5fa: 8a 9f be mov.d w10, [w15++] - 5fc: 8c 9f be mov.d w12, [w15++] - 5fe: 8e 1f 78 mov.w w14, [w15++] - 600: 60 00 b8 mul.uu w0, #0x0, w0 - 602: d0 af 9f mov.w w0, [w15-38] - 604: e1 af 9f mov.w w1, [w15-36] - 606: 60 00 b8 mul.uu w0, #0x0, w0 - 608: 60 11 b8 mul.uu w2, #0x0, w2 - 60a: 90 b7 9f mov.w w0, [w15-30] - 60c: a1 b7 9f mov.w w1, [w15-28] - 60e: b2 b7 9f mov.w w2, [w15-26] - 610: c3 b7 9f mov.w w3, [w15-24] - 612: 80 04 eb clr.w w9 - 614: 99 af 9f mov.w w9, [w15-46] - 616: a9 af 9f mov.w w9, [w15-44] - 618: 89 00 78 mov.w w9, w1 - 61a: 09 00 78 mov.w w9, w0 - 61c: 4c 07 07 rcall . + 0xE9A - 61e: 00 04 78 mov.w w0, w8 - 620: 00 00 e0 cp0.w w0 - 622: 99 00 35 bra LT, . + 0x134 - 624: 89 03 78 mov.w w9, w7 - 626: 09 03 78 mov.w w9, w6 - 628: 89 02 78 mov.w w9, w5 - 62a: 09 02 78 mov.w w9, w4 - 62c: 89 00 78 mov.w w9, w1 - 62e: 12 00 20 mov.w #0x1, w2 - 630: 03 00 20 mov.w #0x0, w3 - 632: 08 00 78 mov.w w8, w0 - 634: 6e 07 07 rcall . + 0xEDE - 636: 00 00 e0 cp0.w w0 - 638: 9a 00 35 bra LT, . + 0x136 - -0000063a <.L14>: - 63a: 41 00 20 mov.w #0x4, w1 - 63c: f2 01 20 mov.w #0x1f, w2 - 63e: 03 00 20 mov.w #0x0, w3 - 640: 08 00 78 mov.w w8, w0 - 642: d1 07 07 rcall . + 0xFA4 - 644: 31 00 20 mov.w #0x3, w1 - 646: 12 00 20 mov.w #0x1, w2 - 648: 03 00 20 mov.w #0x0, w3 - 64a: 08 00 78 mov.w w8, w0 - 64c: cc 07 07 rcall . + 0xF9A - 64e: 00 00 e0 cp0.w w0 - 650: 9b 00 35 bra LT, . + 0x138 - -00000652 <.L16>: - 652: 08 00 78 mov.w w8, w0 - 654: a9 07 07 rcall . + 0xF54 - 656: 00 00 e0 cp0.w w0 - 658: 9c 00 35 bra LT, . + 0x13A - -0000065a <.L18>: - 65a: f0 09 07 rcall . + 0x13E2 - 65c: 20 fd 2f mov.w #0xffd2, w0 - 65e: 0f 00 40 add.w w0, w15, w0 - 660: 80 85 e8 inc2.w w0, w11 - 662: fe 84 57 sub.w w15, #0x1e, w9 - 664: 68 06 40 add.w w0, #0x8, w12 - 666: ef 86 57 sub.w w15, #0xf, w13 - 668: 77 85 57 sub.w w15, #0x17, w10 - 66a: 64 07 40 add.w w0, #0x4, w14 - -0000066c <.L51>: - 66c: d3 03 07 rcall . + 0x7A8 - 66e: b0 af 9f mov.w w0, [w15-42] - 670: c1 af 9f mov.w w1, [w15-40] - 672: 80 02 eb clr.w w5 - 674: 0b 02 78 mov.w w11, w4 - 676: 23 fd 2f mov.w #0xffd2, w3 - 678: 8f 81 41 add.w w3, w15, w3 - 67a: 09 01 78 mov.w w9, w2 - 67c: 8c 00 78 mov.w w12, w1 - 67e: 08 00 78 mov.w w8, w0 - 680: ff 07 07 rcall . + 0x1000 - 682: 00 00 e0 cp0.w w0 - 684: 1e 00 35 bra LT, . + 0x3E - -00000686 <.L57>: - 686: 5f a8 97 mov.w [w15-38], w0 - 688: ef a8 97 mov.w [w15-36], w1 - 68a: 4b 09 dd sl.w w1, #0xb, w2 - 68c: 45 00 de lsr.w w0, #0x5, w0 - 68e: 00 00 71 ior.w w2, w0, w0 - 690: c5 88 de asr.w w1, #0x5, w1 - 692: f0 0f 50 sub.w w0, #0x10, [w15] - 694: e0 8f 58 subb.w w1, #0x0, [w15] - 696: 48 00 32 bra Z, . + 0x92 - 698: 1c 00 3c bra GT, . + 0x3A - 69a: e2 0f 50 sub.w w0, #0x2, [w15] - 69c: e0 8f 58 subb.w w1, #0x0, [w15] - 69e: 55 00 32 bra Z, . + 0xAC - 6a0: e3 0f 50 sub.w w0, #0x3, [w15] - 6a2: e0 8f 58 subb.w w1, #0x0, [w15] - 6a4: 13 00 32 bra Z, . + 0x28 - -000006a6 <.L23>: - 6a6: 95 ff 07 rcall . + 0xFFFFFF2C - 6a8: b5 03 07 rcall . + 0x76C - 6aa: b0 af 9f mov.w w0, [w15-42] - 6ac: c1 af 9f mov.w w1, [w15-40] - 6ae: 80 02 eb clr.w w5 - 6b0: 0b 02 78 mov.w w11, w4 - 6b2: 23 fd 2f mov.w #0xffd2, w3 - 6b4: 8f 81 41 add.w w3, w15, w3 - 6b6: 09 01 78 mov.w w9, w2 - 6b8: 8c 00 78 mov.w w12, w1 - 6ba: 08 00 78 mov.w w8, w0 - 6bc: e1 07 07 rcall . + 0xFC4 - 6be: 00 00 e0 cp0.w w0 - 6c0: e2 ff 3d bra GE, . + 0xFFFFFFC6 - -000006c2 <.L21>: - 6c2: 12 00 20 mov.w #0x1, w2 - 6c4: 03 00 20 mov.w #0x0, w3 - 6c6: 0e 00 78 mov.w w14, w0 - 6c8: 68 03 07 rcall . + 0x6D2 - 6ca: d0 ff 37 bra . + 0xFFFFFFA2 - -000006cc <.L26>: - 6cc: b9 09 07 rcall . + 0x1374 - 6ce: a0 08 07 rcall . + 0x1142 - 6d0: cd ff 37 bra . + 0xFFFFFF9C - -000006d2 <.L31>: - 6d2: 02 03 20 mov.w #0x30, w2 - 6d4: 82 0f 50 sub.w w0, w2, [w15] - 6d6: e0 8f 58 subb.w w1, #0x0, [w15] - 6d8: 35 00 32 bra Z, . + 0x6C - 6da: 12 03 20 mov.w #0x31, w2 - 6dc: 82 0f 50 sub.w w0, w2, [w15] - 6de: e0 8f 58 subb.w w1, #0x0, [w15] - 6e0: 37 00 32 bra Z, . + 0x70 - 6e2: 02 02 20 mov.w #0x20, w2 - 6e4: 82 0f 50 sub.w w0, w2, [w15] - 6e6: e0 8f 58 subb.w w1, #0x0, [w15] - 6e8: de ff 3a bra NZ, . + 0xFFFFFFBE - 6ea: aa 09 07 rcall . + 0x1356 - 6ec: 2f a8 97 mov.w [w15-44], w0 - 6ee: 00 00 e0 cp0.w w0 - 6f0: bd ff 32 bra Z, . + 0xFFFFFF7C - 6f2: f7 08 07 rcall . + 0x11F0 - 6f4: f0 af 9f mov.w w0, [w15-34] - 6f6: 81 b7 9f mov.w w1, [w15-32] - 6f8: a3 08 07 rcall . + 0x1148 - 6fa: e1 fd 2f mov.w #0xffde, w1 - 6fc: 8f 80 40 add.w w1, w15, w1 - 6fe: 7b 80 57 sub.w w15, #0x1b, w0 - -00000700 <.L35>: - 700: 31 48 78 mov.b [w1++], [w0] - 702: 00 00 e9 dec.w w0, w0 - 704: 7f 81 57 sub.w w15, #0x1f, w2 - 706: 82 0f 50 sub.w w0, w2, [w15] - 708: fb ff 3a bra NZ, . + 0xFFFFFFF8 - 70a: 82 da 20 mov.w #0xda8, w2 - 70c: 67 80 44 add.w w9, #0x7, w0 - 70e: e3 80 44 add.w w9, #0x3, w1 - -00000710 <.L37>: - 710: 32 48 78 mov.b [w2++], [w0] - 712: 00 00 e9 dec.w w0, w0 - 714: 81 0f 50 sub.w w0, w1, [w15] - 716: fc ff 3a bra NZ, . + 0xFFFFFFFA - 718: 25 00 20 mov.w #0x2, w5 - 71a: 84 00 20 mov.w #0x8, w4 - 71c: 89 00 78 mov.w w9, w1 - 71e: 5f a9 97 mov.w [w15-38], w2 - 720: ef a9 97 mov.w [w15-36], w3 - 722: 08 00 78 mov.w w8, w0 - 724: f9 07 07 rcall . + 0xFF4 - 726: a2 ff 37 bra . + 0xFFFFFF46 - -00000728 <.L27>: - 728: 8b 09 07 rcall . + 0x1318 - 72a: 89 00 78 mov.w w9, w1 - 72c: 0d 00 78 mov.w w13, w0 - -0000072e <.L32>: - 72e: 31 48 78 mov.b [w1++], [w0] - 730: 00 00 e9 dec.w w0, w0 - 732: 8a 0f 50 sub.w w0, w10, [w15] - 734: fc ff 3a bra NZ, . + 0xFFFFFFFA - 736: 5f b0 97 mov.w [w15-22], w0 - 738: ef b0 97 mov.w [w15-20], w1 - 73a: 7f b1 97 mov.w [w15-18], w2 - 73c: 8f b9 97 mov.w [w15-16], w3 - 73e: 42 fd 07 rcall . + 0xFFFFFA86 - 740: f7 08 07 rcall . + 0x11F0 - 742: 94 ff 37 bra . + 0xFFFFFF2A - -00000744 <.L29>: - 744: 7d 09 07 rcall . + 0x12FC - 746: 66 08 07 rcall . + 0x10CE - 748: 91 ff 37 bra . + 0xFFFFFF24 - -0000074a <.L25>: - 74a: 7a 09 07 rcall . + 0x12F6 - 74c: f0 08 07 rcall . + 0x11E2 - 74e: 8e ff 37 bra . + 0xFFFFFF1E - -00000750 <.L30>: - 750: 77 09 07 rcall . + 0x12F0 - 752: ec 08 07 rcall . + 0x11DA - 754: 8b ff 37 bra . + 0xFFFFFF18 - -00000756 <.L53>: - 756: 3d ff 07 rcall . + 0xFFFFFE7C - 758: 89 03 78 mov.w w9, w7 - 75a: 09 03 78 mov.w w9, w6 - 75c: 89 02 78 mov.w w9, w5 - 75e: 09 02 78 mov.w w9, w4 - 760: 89 00 78 mov.w w9, w1 - 762: 12 00 20 mov.w #0x1, w2 - 764: 03 00 20 mov.w #0x0, w3 - 766: 08 00 78 mov.w w8, w0 - 768: d4 06 07 rcall . + 0xDAA - 76a: 00 00 e0 cp0.w w0 - 76c: 66 ff 3d bra GE, . + 0xFFFFFECE - -0000076e <.L54>: - 76e: 31 ff 07 rcall . + 0xFFFFFE64 - 770: 41 00 20 mov.w #0x4, w1 - 772: f2 01 20 mov.w #0x1f, w2 - 774: 03 00 20 mov.w #0x0, w3 - 776: 08 00 78 mov.w w8, w0 - 778: 36 07 07 rcall . + 0xE6E - 77a: 31 00 20 mov.w #0x3, w1 - 77c: 12 00 20 mov.w #0x1, w2 - 77e: 03 00 20 mov.w #0x0, w3 - 780: 08 00 78 mov.w w8, w0 - 782: 31 07 07 rcall . + 0xE64 - 784: 00 00 e0 cp0.w w0 - 786: 65 ff 3d bra GE, . + 0xFFFFFECC - -00000788 <.L55>: - 788: 24 ff 07 rcall . + 0xFFFFFE4A - 78a: 08 00 78 mov.w w8, w0 - 78c: 0d 07 07 rcall . + 0xE1C - 78e: 00 00 e0 cp0.w w0 - 790: 64 ff 3d bra GE, . + 0xFFFFFECA - -00000792 <.L56>: - 792: 1f ff 07 rcall . + 0xFFFFFE40 - 794: 53 09 07 rcall . + 0x12A8 - 796: 20 fd 2f mov.w #0xffd2, w0 - 798: 0f 00 40 add.w w0, w15, w0 - 79a: 80 85 e8 inc2.w w0, w11 - 79c: fe 84 57 sub.w w15, #0x1e, w9 - 79e: 68 06 40 add.w w0, #0x8, w12 - 7a0: ef 86 57 sub.w w15, #0xf, w13 - 7a2: 77 85 57 sub.w w15, #0x17, w10 - 7a4: 64 07 40 add.w w0, #0x4, w14 - 7a6: 62 ff 37 bra . + 0xFFFFFEC6 - -000007a8 <_vListInitialise>: - 7a8: e4 00 40 add.w w0, #0x4, w1 - 7aa: 11 00 98 mov.w w1, [w0+2] - 7ac: 80 98 eb setm.w [w1++] - 7ae: 80 90 eb setm.w [w1--] - 7b0: 41 00 98 mov.w w1, [w0+8] - 7b2: 51 00 98 mov.w w1, [w0+10] - 7b4: 00 08 eb clr.w [w0] - 7b6: 00 00 06 return - -000007b8 <_vListInitialiseItem>: - 7b8: 80 00 eb clr.w w1 - 7ba: 51 00 98 mov.w w1, [w0+10] - 7bc: 00 00 06 return - -000007be <_vListInsertEnd>: - 7be: 10 01 90 mov.w [w0+2], w2 - 7c0: a2 01 90 mov.w [w2+4], w3 - 7c2: a3 00 98 mov.w w3, [w1+4] - 7c4: b2 00 98 mov.w w2, [w1+6] - 7c6: a2 01 90 mov.w [w2+4], w3 - 7c8: b1 01 98 mov.w w1, [w3+6] - 7ca: 21 01 98 mov.w w1, [w2+4] - 7cc: 11 00 98 mov.w w1, [w0+2] - 7ce: d0 00 98 mov.w w0, [w1+10] - 7d0: 10 08 e8 inc.w [w0], [w0] - 7d2: 00 00 06 return - -000007d4 <_vListInsert>: - 7d4: 80 01 78 mov.w w0, w3 - 7d6: 11 02 be mov.d [w1], w4 - 7d8: e1 0f 42 add.w w4, #0x1, [w15] - 7da: e0 8f 4a addc.w w5, #0x0, [w15] - 7dc: 18 00 32 bra Z, . + 0x32 - 7de: 64 01 40 add.w w0, #0x4, w2 - 7e0: 22 00 90 mov.w [w2+4], w0 - 7e2: b0 0f 52 sub.w w4, [w0++], [w15] - 7e4: a0 8f 5a subb.w w5, [w0--], [w15] - 7e6: 08 00 31 bra C, . + 0x12 - -000007e8 <.L16>: - 7e8: 22 00 90 mov.w [w2+4], w0 - 7ea: a0 00 98 mov.w w0, [w1+4] - 7ec: 31 00 98 mov.w w1, [w0+6] - 7ee: b2 00 98 mov.w w2, [w1+6] - 7f0: 21 01 98 mov.w w1, [w2+4] - 7f2: d3 00 98 mov.w w3, [w1+10] - 7f4: 93 09 e8 inc.w [w3], [w3] - 7f6: 00 00 06 return - -000007f8 <.L19>: - 7f8: 22 01 90 mov.w [w2+4], w2 - 7fa: 22 00 90 mov.w [w2+4], w0 - 7fc: b0 0f 52 sub.w w4, [w0++], [w15] - 7fe: a0 8f 5a subb.w w5, [w0--], [w15] - 800: f3 ff 39 bra NC, . + 0xFFFFFFE8 - 802: 22 01 90 mov.w [w2+4], w2 - 804: 22 00 90 mov.w [w2+4], w0 - 806: b0 0f 52 sub.w w4, [w0++], [w15] - 808: a0 8f 5a subb.w w5, [w0--], [w15] - 80a: f6 ff 31 bra C, . + 0xFFFFFFEE - 80c: ed ff 37 bra . + 0xFFFFFFDC - -0000080e <.L23>: - 80e: 50 01 90 mov.w [w0+10], w2 - 810: 22 00 90 mov.w [w2+4], w0 - 812: a0 00 98 mov.w w0, [w1+4] - 814: 31 00 98 mov.w w1, [w0+6] - 816: b2 00 98 mov.w w2, [w1+6] - 818: 21 01 98 mov.w w1, [w2+4] - 81a: d3 00 98 mov.w w3, [w1+10] - 81c: 93 09 e8 inc.w [w3], [w3] - 81e: 00 00 06 return - 820: eb ff 37 bra . + 0xFFFFFFD8 - -00000822 <_vListRemove>: - 822: 80 00 78 mov.w w0, w1 - 824: 20 00 90 mov.w [w0+4], w0 - 826: 31 01 90 mov.w [w1+6], w2 - 828: 32 00 98 mov.w w2, [w0+6] - 82a: b1 01 90 mov.w [w1+6], w3 - 82c: a0 01 98 mov.w w0, [w3+4] - 82e: 51 01 90 mov.w [w1+10], w2 - 830: 12 00 90 mov.w [w2+2], w0 - 832: 81 0f 50 sub.w w0, w1, [w15] - 834: 04 00 32 bra Z, . + 0xA - 836: 00 00 eb clr.w w0 - 838: d0 00 98 mov.w w0, [w1+10] - 83a: 12 09 e9 dec.w [w2], [w2] - 83c: 00 00 06 return - -0000083e <.L31>: - 83e: 13 01 98 mov.w w3, [w2+2] - 840: 00 00 eb clr.w w0 - 842: d0 00 98 mov.w w0, [w1+10] - 844: 12 09 e9 dec.w [w2], [w2] - 846: 00 00 06 return - 848: fa ff 37 bra . + 0xFFFFFFF6 - -0000084a <_xQueueCreate>: - 84a: 88 9f be mov.d w8, [w15++] - 84c: 8a 9f be mov.d w10, [w15++] - 84e: 8c 1f 78 mov.w w12, [w15++] - 850: 80 04 78 mov.w w0, w9 - 852: 01 05 78 mov.w w1, w10 - 854: 00 00 e0 cp0.w w0 - 856: 05 00 3a bra NZ, . + 0xC - -00000858 <.L2>: - 858: 00 00 20 mov.w #0x0, w0 - 85a: 4f 06 78 mov.w [--w15], w12 - 85c: 4f 05 be mov.d [--w15], w10 - 85e: 4f 04 be mov.d [--w15], w8 - 860: 00 00 06 return - -00000862 <.L10>: - 862: a0 02 20 mov.w #0x2a, w0 - 864: 0a 06 07 rcall . + 0xC16 - 866: 00 04 78 mov.w w0, w8 - 868: 00 00 e0 cp0.w w0 - 86a: f6 ff 32 bra Z, . + 0xFFFFFFEE - 86c: 0a c8 b9 mul.ss w9, w10, w0 - 86e: 00 06 78 mov.w w0, w12 - 870: 00 00 e8 inc.w w0, w0 - 872: 03 06 07 rcall . + 0xC08 - 874: 80 05 78 mov.w w0, w11 - 876: 00 0c 78 mov.w w0, [w8] - 878: 00 00 e0 cp0.w w0 - 87a: 18 00 32 bra Z, . + 0x32 - 87c: 0c 00 40 add.w w0, w12, w0 - 87e: 10 04 98 mov.w w0, [w8+2] - 880: 00 00 eb clr.w w0 - 882: 00 14 98 mov.w w0, [w8+32] - 884: 2b 04 98 mov.w w11, [w8+4] - 886: 09 00 e9 dec.w w9, w0 - 888: 00 d0 b9 mul.ss w10, w0, w0 - 88a: 00 80 45 add.w w11, w0, w0 - 88c: 30 04 98 mov.w w0, [w8+6] - 88e: 19 14 98 mov.w w9, [w8+34] - 890: 2a 14 98 mov.w w10, [w8+36] - 892: 00 80 eb setm.w w0 - 894: 30 14 98 mov.w w0, [w8+38] - 896: 40 14 98 mov.w w0, [w8+40] - 898: 68 00 44 add.w w8, #0x8, w0 - 89a: 86 ff 07 rcall . + 0xFFFFFF0E - 89c: 74 00 44 add.w w8, #0x14, w0 - 89e: 84 ff 07 rcall . + 0xFFFFFF0A - 8a0: 08 00 78 mov.w w8, w0 - 8a2: 4f 06 78 mov.w [--w15], w12 - 8a4: 4f 05 be mov.d [--w15], w10 - 8a6: 4f 04 be mov.d [--w15], w8 - 8a8: 00 00 06 return - 8aa: db ff 37 bra . + 0xFFFFFFB8 - -000008ac <.L5>: - 8ac: 08 00 78 mov.w w8, w0 - 8ae: 00 06 07 rcall . + 0xC02 - 8b0: 0b 00 78 mov.w w11, w0 - 8b2: 4f 06 78 mov.w [--w15], w12 - 8b4: 4f 05 be mov.d [--w15], w10 - 8b6: 4f 04 be mov.d [--w15], w8 - 8b8: 00 00 06 return - 8ba: d3 ff 37 bra . + 0xFFFFFFA8 - -000008bc <_uxQueueMessagesWaiting>: - 8bc: 88 1f 78 mov.w w8, [w15++] - 8be: 00 04 78 mov.w w0, w8 - 8c0: c1 05 07 rcall . + 0xB84 - 8c2: 08 14 90 mov.w [w8+32], w8 - 8c4: c2 05 07 rcall . + 0xB86 - 8c6: 08 00 78 mov.w w8, w0 - 8c8: 4f 04 78 mov.w [--w15], w8 - 8ca: 00 00 06 return - -000008cc <_vQueueDelete>: - 8cc: 88 1f 78 mov.w w8, [w15++] - 8ce: 00 04 78 mov.w w0, w8 - 8d0: 10 00 78 mov.w [w0], w0 - 8d2: ee 05 07 rcall . + 0xBDE - 8d4: 08 00 78 mov.w w8, w0 - 8d6: ec 05 07 rcall . + 0xBDA - 8d8: 4f 04 78 mov.w [--w15], w8 - 8da: 00 00 06 return - -000008dc <_prvCopyDataFromQueue>: - 8dc: 80 01 78 mov.w w0, w3 - 8de: 01 02 78 mov.w w1, w4 - 8e0: 10 00 e0 cp0.w [w0] - 8e2: 0a 00 32 bra Z, . + 0x16 - 8e4: 30 00 90 mov.w [w0+6], w0 - 8e6: 23 11 90 mov.w [w3+36], w2 - 8e8: 02 00 40 add.w w0, w2, w0 - 8ea: b0 01 98 mov.w w0, [w3+6] - 8ec: 93 00 90 mov.w [w3+2], w1 - 8ee: 81 0f 50 sub.w w0, w1, [w15] - 8f0: 04 00 31 bra C, . + 0xA - 8f2: b3 00 90 mov.w [w3+6], w1 - 8f4: 04 00 78 mov.w w4, w0 - 8f6: 48 fc 07 rcall . + 0xFFFFF892 - -000008f8 <.L26>: - 8f8: 00 00 06 return - -000008fa <.L28>: - 8fa: 13 00 78 mov.w [w3], w0 - 8fc: b0 01 98 mov.w w0, [w3+6] - 8fe: b3 00 90 mov.w [w3+6], w1 - 900: 04 00 78 mov.w w4, w0 - 902: 42 fc 07 rcall . + 0xFFFFF886 - 904: f9 ff 37 bra . + 0xFFFFFFF4 - -00000906 <_xQueueReceiveFromISR>: - 906: 88 9f be mov.d w8, [w15++] - 908: 00 04 78 mov.w w0, w8 - 90a: 82 04 78 mov.w w2, w9 - 90c: 00 10 90 mov.w [w0+32], w0 - 90e: 00 00 e0 cp0.w w0 - 910: 02 00 3a bra NZ, . + 0x6 - 912: 4f 04 be mov.d [--w15], w8 - 914: 00 00 06 return - -00000916 <.L42>: - 916: 08 00 78 mov.w w8, w0 - 918: e1 ff 07 rcall . + 0xFFFFFFC4 - 91a: 08 10 90 mov.w [w8+32], w0 - 91c: 00 00 e9 dec.w w0, w0 - 91e: 00 14 98 mov.w w0, [w8+32] - 920: 38 10 90 mov.w [w8+38], w0 - 922: e1 0f 40 add.w w0, #0x1, [w15] - 924: 06 00 32 bra Z, . + 0xE - 926: 00 00 e8 inc.w w0, w0 - 928: 30 14 98 mov.w w0, [w8+38] - 92a: 10 00 20 mov.w #0x1, w0 - 92c: 4f 04 be mov.d [--w15], w8 - 92e: 00 00 06 return - 930: f2 ff 37 bra . + 0xFFFFFFE6 - -00000932 <.L43>: - 932: 19 00 e0 cp0.w [w9] - 934: 03 00 3a bra NZ, . + 0x8 - 936: 48 00 90 mov.w [w8+8], w0 - 938: 00 00 e0 cp0.w w0 - 93a: 04 00 3a bra NZ, . + 0xA - -0000093c <.L36>: - 93c: 10 00 20 mov.w #0x1, w0 - 93e: 4f 04 be mov.d [--w15], w8 - 940: 00 00 06 return - 942: e9 ff 37 bra . + 0xFFFFFFD4 - -00000944 <.L44>: - 944: 68 00 44 add.w w8, #0x8, w0 - 946: b7 02 07 rcall . + 0x570 - 948: 00 00 e0 cp0.w w0 - 94a: f8 ff 32 bra Z, . + 0xFFFFFFF2 - 94c: 10 00 20 mov.w #0x1, w0 - 94e: 80 0c 78 mov.w w0, [w9] - 950: 4f 04 be mov.d [--w15], w8 - 952: 00 00 06 return - 954: e0 ff 37 bra . + 0xFFFFFFC2 - -00000956 <_prvCopyDataToQueue>: - 956: 88 1f 78 mov.w w8, [w15++] - 958: 00 04 78 mov.w w0, w8 - 95a: 02 00 78 mov.w w2, w0 - 95c: 28 11 90 mov.w [w8+36], w2 - 95e: 02 00 e0 cp0.w w2 - 960: 0d 00 32 bra Z, . + 0x1C - 962: 00 00 e0 cp0.w w0 - 964: 10 00 32 bra Z, . + 0x22 - 966: 38 00 90 mov.w [w8+6], w0 - 968: 0f fc 07 rcall . + 0xFFFFF820 - 96a: 38 00 90 mov.w [w8+6], w0 - 96c: a8 10 90 mov.w [w8+36], w1 - 96e: 01 00 50 sub.w w0, w1, w0 - 970: 30 04 98 mov.w w0, [w8+6] - 972: 98 0f 50 sub.w w0, [w8], [w15] - 974: 03 00 31 bra C, . + 0x8 - 976: 18 00 90 mov.w [w8+2], w0 - 978: 01 00 50 sub.w w0, w1, w0 - 97a: 30 04 98 mov.w w0, [w8+6] - -0000097c <.L48>: - 97c: 08 10 90 mov.w [w8+32], w0 - 97e: 00 00 e8 inc.w w0, w0 - 980: 00 14 98 mov.w w0, [w8+32] - 982: 4f 04 78 mov.w [--w15], w8 - 984: 00 00 06 return - -00000986 <.L56>: - 986: 28 00 90 mov.w [w8+4], w0 - 988: ff fb 07 rcall . + 0xFFFFF800 - 98a: 28 00 90 mov.w [w8+4], w0 - 98c: a8 10 90 mov.w [w8+36], w1 - 98e: 01 00 40 add.w w0, w1, w0 - 990: 20 04 98 mov.w w0, [w8+4] - 992: 98 00 90 mov.w [w8+2], w1 - 994: 81 0f 50 sub.w w0, w1, [w15] - 996: f2 ff 39 bra NC, . + 0xFFFFFFE6 - 998: 18 00 78 mov.w [w8], w0 - 99a: 20 04 98 mov.w w0, [w8+4] - 99c: 08 10 90 mov.w [w8+32], w0 - 99e: 00 00 e8 inc.w w0, w0 - 9a0: 00 14 98 mov.w w0, [w8+32] - 9a2: 4f 04 78 mov.w [--w15], w8 - 9a4: 00 00 06 return - 9a6: ef ff 37 bra . + 0xFFFFFFE0 - -000009a8 <_xQueueGenericSendFromISR>: - 9a8: 88 9f be mov.d w8, [w15++] - 9aa: 00 04 78 mov.w w0, w8 - 9ac: 01 02 78 mov.w w1, w4 - 9ae: 82 04 78 mov.w w2, w9 - 9b0: 03 01 78 mov.w w3, w2 - 9b2: 80 10 90 mov.w [w0+32], w1 - 9b4: 10 10 90 mov.w [w0+34], w0 - 9b6: 80 8f 50 sub.w w1, w0, [w15] - 9b8: 03 00 39 bra NC, . + 0x8 - -000009ba <.L60>: - 9ba: 09 00 78 mov.w w9, w0 - 9bc: 4f 04 be mov.d [--w15], w8 - 9be: 00 00 06 return - -000009c0 <.L72>: - 9c0: 84 00 78 mov.w w4, w1 - 9c2: 08 00 78 mov.w w8, w0 - 9c4: c8 ff 07 rcall . + 0xFFFFFF92 - 9c6: 48 10 90 mov.w [w8+40], w0 - 9c8: e1 0f 40 add.w w0, #0x1, [w15] - 9ca: 06 00 32 bra Z, . + 0xE - 9cc: 00 00 e8 inc.w w0, w0 - 9ce: 40 14 98 mov.w w0, [w8+40] - 9d0: 09 00 78 mov.w w9, w0 - 9d2: 4f 04 be mov.d [--w15], w8 - 9d4: 00 00 06 return - 9d6: f4 ff 37 bra . + 0xFFFFFFEA - -000009d8 <.L73>: - 9d8: 09 00 e0 cp0.w w9 - 9da: ef ff 3a bra NZ, . + 0xFFFFFFE0 - 9dc: 28 08 90 mov.w [w8+20], w0 - 9de: 00 00 e0 cp0.w w0 - 9e0: 04 00 3a bra NZ, . + 0xA - -000009e2 <.L65>: - 9e2: 00 00 20 mov.w #0x0, w0 - 9e4: 4f 04 be mov.d [--w15], w8 - 9e6: 00 00 06 return - 9e8: eb ff 37 bra . + 0xFFFFFFD8 - -000009ea <.L74>: - 9ea: 74 00 44 add.w w8, #0x14, w0 - 9ec: 64 02 07 rcall . + 0x4CA - 9ee: 11 00 20 mov.w #0x1, w1 - 9f0: 00 00 e0 cp0.w w0 - 9f2: f7 ff 32 bra Z, . + 0xFFFFFFF0 - 9f4: 01 00 78 mov.w w1, w0 - 9f6: 4f 04 be mov.d [--w15], w8 - 9f8: 00 00 06 return - 9fa: e2 ff 37 bra . + 0xFFFFFFC6 - -000009fc <_prvUnlockQueue>: - 9fc: 88 1f 78 mov.w w8, [w15++] - 9fe: 00 04 78 mov.w w0, w8 - a00: 21 05 07 rcall . + 0xA44 - a02: 48 10 90 mov.w [w8+40], w0 - a04: 00 00 e9 dec.w w0, w0 - a06: 40 14 98 mov.w w0, [w8+40] - a08: e1 0f 40 add.w w0, #0x1, [w15] - a0a: 05 00 34 bra LE, . + 0xC - a0c: 00 80 eb setm.w w0 - a0e: 40 14 98 mov.w w0, [w8+40] - a10: 28 08 90 mov.w [w8+20], w0 - a12: 00 00 e0 cp0.w w0 - a14: 18 00 3a bra NZ, . + 0x32 - -00000a16 <.L78>: - a16: 19 05 07 rcall . + 0xA34 - a18: 15 05 07 rcall . + 0xA2C - a1a: 38 10 90 mov.w [w8+38], w0 - a1c: 00 00 e9 dec.w w0, w0 - a1e: 30 14 98 mov.w w0, [w8+38] - a20: e1 0f 40 add.w w0, #0x1, [w15] - a22: 05 00 34 bra LE, . + 0xC - a24: 00 80 eb setm.w w0 - a26: 30 14 98 mov.w w0, [w8+38] - a28: 48 00 90 mov.w [w8+8], w0 - a2a: 00 00 e0 cp0.w w0 - a2c: 03 00 3a bra NZ, . + 0x8 - -00000a2e <.L82>: - a2e: 0d 05 07 rcall . + 0xA1C - a30: 4f 04 78 mov.w [--w15], w8 - a32: 00 00 06 return - -00000a34 <.L89>: - a34: 68 00 44 add.w w8, #0x8, w0 - a36: 3f 02 07 rcall . + 0x480 - a38: 00 00 e0 cp0.w w0 - a3a: f9 ff 32 bra Z, . + 0xFFFFFFF4 - a3c: 99 02 07 rcall . + 0x534 - a3e: 05 05 07 rcall . + 0xA0C - a40: 4f 04 78 mov.w [--w15], w8 - a42: 00 00 06 return - a44: f7 ff 37 bra . + 0xFFFFFFF0 - -00000a46 <.L88>: - a46: 74 00 44 add.w w8, #0x14, w0 - a48: 36 02 07 rcall . + 0x46E - a4a: 00 00 e0 cp0.w w0 - a4c: e4 ff 32 bra Z, . + 0xFFFFFFCA - a4e: 90 02 07 rcall . + 0x522 - a50: e2 ff 37 bra . + 0xFFFFFFC6 - -00000a52 <_xQueueGenericReceive>: - a52: 0a 00 fa lnk #0xa - a54: 88 9f be mov.d w8, [w15++] - a56: 8a 9f be mov.d w10, [w15++] - a58: 8c 1f 78 mov.w w12, [w15++] - a5a: 80 04 78 mov.w w0, w9 - a5c: 81 05 78 mov.w w1, w11 - a5e: 92 bf 9f mov.w w2, [w15-14] - a60: a3 bf 9f mov.w w3, [w15-12] - a62: 04 06 78 mov.w w4, w12 - a64: f5 00 07 rcall . + 0x1EC - a66: 74 80 57 sub.w w15, #0x14, w0 - a68: 54 02 07 rcall . + 0x4AA - a6a: ec 04 07 rcall . + 0x9DA - a6c: 39 10 90 mov.w [w9+38], w0 - a6e: 00 00 e8 inc.w w0, w0 - a70: b0 14 98 mov.w w0, [w9+38] - a72: 49 10 90 mov.w [w9+40], w0 - a74: 00 00 e8 inc.w w0, w0 - a76: c0 14 98 mov.w w0, [w9+40] - a78: e8 04 07 rcall . + 0x9D2 - a7a: 1a 00 20 mov.w #0x1, w10 - -00000a7c <.L119>: - a7c: e3 04 07 rcall . + 0x9C8 - a7e: 09 14 90 mov.w [w9+32], w8 - a80: e4 04 07 rcall . + 0x9CA - a82: 08 00 e0 cp0.w w8 - a84: 05 00 3a bra NZ, . + 0xC - a86: 1f b9 97 mov.w [w15-14], w2 - a88: af b9 97 mov.w [w15-12], w3 - a8a: e0 0f 51 sub.w w2, #0x0, [w15] - a8c: e0 8f 59 subb.w w3, #0x0, [w15] - a8e: 21 00 3a bra NZ, . + 0x44 - -00000a90 <.L95>: - a90: 0a 00 e0 cp0.w w10 - a92: 0c 00 3a bra NZ, . + 0x1A - -00000a94 <.L102>: - a94: 1f b8 97 mov.w [w15-14], w0 - a96: af b8 97 mov.w [w15-12], w1 - a98: e0 0f 50 sub.w w0, #0x0, [w15] - a9a: e0 8f 58 subb.w w1, #0x0, [w15] - a9c: 44 00 32 bra Z, . + 0x8A - a9e: ee 80 57 sub.w w15, #0xe, w1 - aa0: 74 80 57 sub.w w15, #0x14, w0 - aa2: 3e 02 07 rcall . + 0x47E - aa4: 00 00 e0 cp0.w w0 - aa6: 3f 00 3a bra NZ, . + 0x80 - aa8: 00 85 eb setm.w w10 - aaa: e8 ff 37 bra . + 0xFFFFFFD2 - -00000aac <.L122>: - aac: cb 04 07 rcall . + 0x998 - aae: 09 10 90 mov.w [w9+32], w0 - ab0: 00 00 e0 cp0.w w0 - ab2: 2b 00 3a bra NZ, . + 0x58 - ab4: 00 05 78 mov.w w0, w10 - -00000ab6 <.L106>: - ab6: c9 04 07 rcall . + 0x994 - ab8: 0a 00 e0 cp0.w w10 - aba: ec ff 32 bra Z, . + 0xFFFFFFDA - abc: e1 0f 45 add.w w10, #0x1, [w15] - abe: de ff 32 bra Z, . + 0xFFFFFFBE - ac0: 09 00 78 mov.w w9, w0 - ac2: 9c ff 07 rcall . + 0xFFFFFF3A - ac4: 20 01 07 rcall . + 0x242 - ac6: 0a 00 78 mov.w w10, w0 - ac8: 4f 06 78 mov.w [--w15], w12 - aca: 4f 05 be mov.d [--w15], w10 - acc: 4f 04 be mov.d [--w15], w8 - ace: 00 80 fa ulnk - ad0: 00 00 06 return - -00000ad2 <.L121>: - ad2: 74 80 44 add.w w9, #0x14, w0 - ad4: d0 01 07 rcall . + 0x3A2 - ad6: b6 04 07 rcall . + 0x96E - ad8: 09 00 78 mov.w w9, w0 - ada: 90 ff 07 rcall . + 0xFFFFFF22 - adc: 14 01 07 rcall . + 0x22A - ade: 00 00 e0 cp0.w w0 - ae0: 03 00 3a bra NZ, . + 0x8 - ae2: ca 13 02 call 0x13ca <_vPortYield> - ae4: 00 00 00 - ae6: 00 00 00 nop - -00000ae8 <.L98>: - ae8: 09 10 90 mov.w [w9+32], w0 - aea: 00 00 e0 cp0.w w0 - aec: 01 00 3a bra NZ, . + 0x4 - aee: 00 05 78 mov.w w0, w10 - -00000af0 <.L100>: - af0: af 00 07 rcall . + 0x160 - af2: a8 04 07 rcall . + 0x952 - af4: 39 10 90 mov.w [w9+38], w0 - af6: 00 00 e8 inc.w w0, w0 - af8: b0 14 98 mov.w w0, [w9+38] - afa: 49 10 90 mov.w [w9+40], w0 - afc: 00 00 e8 inc.w w0, w0 - afe: c0 14 98 mov.w w0, [w9+40] - b00: a4 04 07 rcall . + 0x94A - b02: a3 04 07 rcall . + 0x948 - b04: 0a 00 e0 cp0.w w10 - b06: c6 ff 32 bra Z, . + 0xFFFFFF8E - b08: d1 ff 37 bra . + 0xFFFFFFA4 - -00000b0a <.L104>: - b0a: 39 04 90 mov.w [w9+6], w8 - b0c: 8b 00 78 mov.w w11, w1 - b0e: 09 00 78 mov.w w9, w0 - b10: e5 fe 07 rcall . + 0xFFFFFDCC - b12: 0c 00 e0 cp0.w w12 - b14: 13 00 3a bra NZ, . + 0x28 - b16: 09 10 90 mov.w [w9+32], w0 - b18: 00 00 e9 dec.w w0, w0 - b1a: 80 14 98 mov.w w0, [w9+32] - b1c: 39 10 90 mov.w [w9+38], w0 - b1e: 00 00 e8 inc.w w0, w0 - b20: b0 14 98 mov.w w0, [w9+38] - b22: 1a 00 20 mov.w #0x1, w10 - b24: c8 ff 37 bra . + 0xFFFFFF92 - -00000b26 <.L110>: - b26: 00 05 eb clr.w w10 - b28: 09 00 78 mov.w w9, w0 - b2a: 68 ff 07 rcall . + 0xFFFFFED2 - b2c: ec 00 07 rcall . + 0x1DA - b2e: 0a 00 78 mov.w w10, w0 - b30: 4f 06 78 mov.w [--w15], w12 - b32: 4f 05 be mov.d [--w15], w10 - b34: 4f 04 be mov.d [--w15], w8 - b36: 00 80 fa ulnk - b38: 00 00 06 return - b3a: cb ff 37 bra . + 0xFFFFFF98 - -00000b3c <.L107>: - b3c: b8 04 98 mov.w w8, [w9+6] - b3e: 49 10 90 mov.w [w9+40], w0 - b40: 00 00 e8 inc.w w0, w0 - b42: c0 14 98 mov.w w0, [w9+40] - b44: 1a 00 20 mov.w #0x1, w10 - b46: b7 ff 37 bra . + 0xFFFFFF70 - -00000b48 <_xQueueGenericSend>: - b48: 0a 00 fa lnk #0xa - b4a: 88 9f be mov.d w8, [w15++] - b4c: 8a 9f be mov.d w10, [w15++] - b4e: 8c 9f be mov.d w12, [w15++] - b50: 00 05 78 mov.w w0, w10 - b52: 01 06 78 mov.w w1, w12 - b54: 82 bf 9f mov.w w2, [w15-16] - b56: 93 bf 9f mov.w w3, [w15-14] - b58: 84 06 78 mov.w w4, w13 - b5a: 7a 00 07 rcall . + 0xF6 - b5c: 76 80 57 sub.w w15, #0x16, w0 - b5e: d9 01 07 rcall . + 0x3B4 - b60: 71 04 07 rcall . + 0x8E4 - b62: 3a 10 90 mov.w [w10+38], w0 - b64: 00 00 e8 inc.w w0, w0 - b66: 30 15 98 mov.w w0, [w10+38] - b68: 4a 10 90 mov.w [w10+40], w0 - b6a: 00 00 e8 inc.w w0, w0 - b6c: 40 15 98 mov.w w0, [w10+40] - b6e: 6d 04 07 rcall . + 0x8DC - b70: 1b 00 20 mov.w #0x1, w11 - -00000b72 <.L150>: - b72: 68 04 07 rcall . + 0x8D2 - b74: 8a 14 90 mov.w [w10+32], w9 - b76: 1a 14 90 mov.w [w10+34], w8 - b78: 68 04 07 rcall . + 0x8D2 - b7a: 88 8f 54 sub.w w9, w8, [w15] - b7c: 28 00 32 bra Z, . + 0x52 - -00000b7e <.L128>: - b7e: 0b 00 e0 cp0.w w11 - b80: 12 00 3a bra NZ, . + 0x26 - -00000b82 <.L135>: - b82: 0f b8 97 mov.w [w15-16], w0 - b84: 9f b8 97 mov.w [w15-14], w1 - b86: e0 0f 50 sub.w w0, #0x0, [w15] - b88: e0 8f 58 subb.w w1, #0x0, [w15] - b8a: 4b 00 32 bra Z, . + 0x98 - b8c: f0 80 57 sub.w w15, #0x10, w1 - b8e: 76 80 57 sub.w w15, #0x16, w0 - b90: c7 01 07 rcall . + 0x390 - b92: 00 00 e0 cp0.w w0 - b94: 46 00 3a bra NZ, . + 0x8E - b96: 80 85 eb setm.w w11 - b98: 55 04 07 rcall . + 0x8AC - b9a: 8a 14 90 mov.w [w10+32], w9 - b9c: 1a 14 90 mov.w [w10+34], w8 - b9e: 55 04 07 rcall . + 0x8AC - ba0: 88 8f 54 sub.w w9, w8, [w15] - ba2: ed ff 3a bra NZ, . + 0xFFFFFFDC - ba4: 14 00 37 bra . + 0x2A - -00000ba6 <.L153>: - ba6: 4e 04 07 rcall . + 0x89E - ba8: 8a 10 90 mov.w [w10+32], w1 - baa: 1a 10 90 mov.w [w10+34], w0 - bac: 80 05 eb clr.w w11 - bae: 80 8f 50 sub.w w1, w0, [w15] - bb0: 2f 00 39 bra NC, . + 0x60 - -00000bb2 <.L139>: - bb2: 4b 04 07 rcall . + 0x898 - bb4: 0b 00 e0 cp0.w w11 - bb6: e5 ff 32 bra Z, . + 0xFFFFFFCC - bb8: e1 8f 45 add.w w11, #0x1, [w15] - bba: db ff 32 bra Z, . + 0xFFFFFFB8 - bbc: 0a 00 78 mov.w w10, w0 - bbe: 1e ff 07 rcall . + 0xFFFFFE3E - bc0: a2 00 07 rcall . + 0x146 - bc2: 0b 00 78 mov.w w11, w0 - bc4: 4f 06 be mov.d [--w15], w12 - bc6: 4f 05 be mov.d [--w15], w10 - bc8: 4f 04 be mov.d [--w15], w8 - bca: 00 80 fa ulnk - bcc: 00 00 06 return - -00000bce <.L152>: - bce: 0f b9 97 mov.w [w15-16], w2 - bd0: 9f b9 97 mov.w [w15-14], w3 - bd2: e0 0f 51 sub.w w2, #0x0, [w15] - bd4: e0 8f 59 subb.w w3, #0x0, [w15] - bd6: d3 ff 32 bra Z, . + 0xFFFFFFA8 - bd8: 68 00 45 add.w w10, #0x8, w0 - bda: 4d 01 07 rcall . + 0x29C - bdc: 33 04 07 rcall . + 0x868 - bde: 0a 00 78 mov.w w10, w0 - be0: 0d ff 07 rcall . + 0xFFFFFE1C - be2: 91 00 07 rcall . + 0x124 - be4: 00 00 e0 cp0.w w0 - be6: 03 00 3a bra NZ, . + 0x8 - be8: ca 13 02 call 0x13ca <_vPortYield> - bea: 00 00 00 - bec: 00 00 00 nop - -00000bee <.L131>: - bee: 8a 10 90 mov.w [w10+32], w1 - bf0: 1a 10 90 mov.w [w10+34], w0 - bf2: 80 8f 50 sub.w w1, w0, [w15] - bf4: 21 00 32 bra Z, . + 0x44 - bf6: 2c 00 07 rcall . + 0x5A - bf8: 25 04 07 rcall . + 0x84C - bfa: 3a 10 90 mov.w [w10+38], w0 - bfc: 00 00 e8 inc.w w0, w0 - bfe: 30 15 98 mov.w w0, [w10+38] - c00: 4a 10 90 mov.w [w10+40], w0 - c02: 00 00 e8 inc.w w0, w0 - c04: 40 15 98 mov.w w0, [w10+40] - c06: 21 04 07 rcall . + 0x844 - c08: 20 04 07 rcall . + 0x842 - -00000c0a <.L156>: - c0a: 0b 00 e0 cp0.w w11 - c0c: ba ff 32 bra Z, . + 0xFFFFFF76 - c0e: cb ff 37 bra . + 0xFFFFFF98 - -00000c10 <.L154>: - c10: 0d 01 78 mov.w w13, w2 - c12: 8c 00 78 mov.w w12, w1 - c14: 0a 00 78 mov.w w10, w0 - c16: 9f fe 07 rcall . + 0xFFFFFD40 - c18: 4a 10 90 mov.w [w10+40], w0 - c1a: 00 00 e8 inc.w w0, w0 - c1c: 40 15 98 mov.w w0, [w10+40] - c1e: 1b 00 20 mov.w #0x1, w11 - c20: c8 ff 37 bra . + 0xFFFFFF92 - -00000c22 <.L141>: - c22: 80 05 eb clr.w w11 - c24: 0a 00 78 mov.w w10, w0 - c26: ea fe 07 rcall . + 0xFFFFFDD6 - c28: 6e 00 07 rcall . + 0xDE - c2a: 0b 00 78 mov.w w11, w0 - c2c: 4f 06 be mov.d [--w15], w12 - c2e: 4f 05 be mov.d [--w15], w10 - c30: 4f 04 be mov.d [--w15], w8 - c32: 00 80 fa ulnk - c34: 00 00 06 return - c36: cb ff 37 bra . + 0xFFFFFF98 - -00000c38 <.L155>: - c38: 80 05 eb clr.w w11 - c3a: 0a 00 07 rcall . + 0x16 - c3c: 03 04 07 rcall . + 0x808 - c3e: 3a 10 90 mov.w [w10+38], w0 - c40: 00 00 e8 inc.w w0, w0 - c42: 30 15 98 mov.w w0, [w10+38] - c44: 4a 10 90 mov.w [w10+40], w0 - c46: 00 00 e8 inc.w w0, w0 - c48: 40 15 98 mov.w w0, [w10+40] - c4a: ff 03 07 rcall . + 0x800 - c4c: fe 03 07 rcall . + 0x7FE - c4e: dd ff 37 bra . + 0xFFFFFFBC - -00000c50 <_vTaskSuspendAll>: - c50: f9 03 07 rcall . + 0x7F4 - c52: 10 2d ec inc.w 0xd10 - c54: fa 03 37 bra . + 0x7F6 - -00000c56 <_vTaskEndScheduler>: - c56: 42 a0 a8 bset.b 0x42, #0x5 - c58: 16 2d ef clr.w 0xd16 - c5a: b6 03 37 bra . + 0x76E - -00000c5c <_vTaskIncrementTick>: - c5c: 88 9f be mov.d w8, [w15++] - c5e: 8a 1f 78 mov.w w10, [w15++] - c60: 10 0d e2 cp0.w 0xd10 - c62: 1e 00 3a bra NZ, . + 0x3E - c64: 40 68 80 mov.w 0xd08, w0 - c66: 51 68 80 mov.w 0xd0a, w1 - c68: 61 00 40 add.w w0, #0x1, w0 - c6a: e0 80 48 addc.w w1, #0x0, w1 - c6c: 40 68 88 mov.w w0, 0xd08 - c6e: 51 68 88 mov.w w1, 0xd0a - c70: 40 68 80 mov.w 0xd08, w0 - c72: 51 68 80 mov.w 0xd0a, w1 - c74: e0 0f 50 sub.w w0, #0x0, [w15] - c76: e0 8f 58 subb.w w1, #0x0, [w15] - c78: 18 00 32 bra Z, . + 0x32 - c7a: 40 69 80 mov.w 0xd28, w0 - c7c: 10 00 e0 cp0.w [w0] - c7e: 0d 00 32 bra Z, . + 0x1C - -00000c80 <.L14>: - c80: 40 69 80 mov.w 0xd28, w0 - c82: 40 00 90 mov.w [w0+8], w0 - c84: 40 00 90 mov.w [w0+8], w0 - c86: 00 04 78 mov.w w0, w8 - c88: 00 00 e0 cp0.w w0 - c8a: 07 00 32 bra Z, . + 0x10 - c8c: 42 68 80 mov.w 0xd08, w2 - c8e: 53 68 80 mov.w 0xd0a, w3 - c90: a0 00 90 mov.w [w0+4], w1 - c92: 10 00 90 mov.w [w0+2], w0 - c94: 82 0f 50 sub.w w0, w2, [w15] - c96: 83 8f 58 subb.w w1, w3, [w15] - c98: 11 00 36 bra LEU, . + 0x24 - -00000c9a <.L24>: - c9a: 4f 05 78 mov.w [--w15], w10 - c9c: 4f 04 be mov.d [--w15], w8 - c9e: 00 00 06 return - -00000ca0 <.L10>: - ca0: 12 2d ec inc.w 0xd12 - ca2: 4f 05 78 mov.w [--w15], w10 - ca4: 4f 04 be mov.d [--w15], w8 - ca6: 00 00 06 return - ca8: fb ff 37 bra . + 0xFFFFFFF8 - -00000caa <.L28>: - caa: 40 69 80 mov.w 0xd28, w0 - cac: 31 69 80 mov.w 0xd26, w1 - cae: 41 69 88 mov.w w1, 0xd28 - cb0: 30 69 88 mov.w w0, 0xd26 - cb2: 0c 2d ec inc.w 0xd0c - cb4: 40 69 80 mov.w 0xd28, w0 - cb6: 10 00 e0 cp0.w [w0] - cb8: e3 ff 3a bra NZ, . + 0xFFFFFFC8 - cba: ef ff 37 bra . + 0xFFFFFFE0 - -00000cbc <.L25>: - cbc: 2a d4 20 mov.w #0xd42, w10 - -00000cbe <.L17>: - cbe: 88 84 e8 inc2.w w8, w9 - cc0: 09 00 78 mov.w w9, w0 - cc2: af fd 07 rcall . + 0xFFFFFB60 - cc4: 48 08 90 mov.w [w8+24], w0 - cc6: 00 00 e0 cp0.w w0 - cc8: 02 00 32 bra Z, . + 0x6 - cca: 6e 00 44 add.w w8, #0xe, w0 - ccc: aa fd 07 rcall . + 0xFFFFFB56 - -00000cce <.L18>: - cce: d8 08 90 mov.w [w8+26], w1 - cd0: 70 68 80 mov.w 0xd0e, w0 - cd2: 80 8f 50 sub.w w1, w0, [w15] - cd4: 01 00 36 bra LEU, . + 0x4 - cd6: 71 68 88 mov.w w1, 0xd0e - -00000cd8 <.L20>: - cd8: 6c 08 b9 mul.su w1, #0xc, w0 - cda: 00 00 45 add.w w10, w0, w0 - cdc: 89 00 78 mov.w w9, w1 - cde: 6f fd 07 rcall . + 0xFFFFFAE0 - ce0: 40 69 80 mov.w 0xd28, w0 - ce2: 10 00 e0 cp0.w [w0] - ce4: da ff 32 bra Z, . + 0xFFFFFFB6 - ce6: 40 69 80 mov.w 0xd28, w0 - ce8: 40 00 90 mov.w [w0+8], w0 - cea: 40 04 90 mov.w [w0+8], w8 - cec: 08 00 e0 cp0.w w8 - cee: d5 ff 32 bra Z, . + 0xFFFFFFAC - cf0: 42 68 80 mov.w 0xd08, w2 - cf2: 53 68 80 mov.w 0xd0a, w3 - cf4: 18 00 90 mov.w [w8+2], w0 - cf6: a8 00 90 mov.w [w8+4], w1 - cf8: 82 0f 50 sub.w w0, w2, [w15] - cfa: 83 8f 58 subb.w w1, w3, [w15] - cfc: e0 ff 36 bra LEU, . + 0xFFFFFFC2 - cfe: 4f 05 78 mov.w [--w15], w10 - d00: 4f 04 be mov.d [--w15], w8 - d02: 00 00 06 return - d04: cd ff 37 bra . + 0xFFFFFF9C - -00000d06 <_xTaskResumeAll>: - d06: 88 9f be mov.d w8, [w15++] - d08: 8a 1f 78 mov.w w10, [w15++] - d0a: 9c 03 07 rcall . + 0x73A - d0c: 10 2d ed dec.w 0xd10 - d0e: 80 68 80 mov.w 0xd10, w0 - d10: 00 00 e0 cp0.w w0 - d12: 33 00 3a bra NZ, . + 0x68 - d14: 14 0d e2 cp0.w 0xd14 - d16: 31 00 32 bra Z, . + 0x64 - d18: 00 05 78 mov.w w0, w10 - -00000d1a <.L57>: - d1a: 1a 0d e2 cp0.w 0xd1a - d1c: 1b 00 32 bra Z, . + 0x38 - -00000d1e <.L59>: - d1e: 10 69 80 mov.w 0xd22, w0 - d20: 40 04 90 mov.w [w0+8], w8 - d22: 08 00 e0 cp0.w w8 - d24: 17 00 32 bra Z, . + 0x30 - d26: 6e 00 44 add.w w8, #0xe, w0 - d28: 7c fd 07 rcall . + 0xFFFFFAFA - d2a: 88 84 e8 inc2.w w8, w9 - d2c: 09 00 78 mov.w w9, w0 - d2e: 79 fd 07 rcall . + 0xFFFFFAF4 - d30: d8 08 90 mov.w [w8+26], w1 - d32: 70 68 80 mov.w 0xd0e, w0 - d34: 80 8f 50 sub.w w1, w0, [w15] - d36: 01 00 36 bra LEU, . + 0x4 - d38: 71 68 88 mov.w w1, 0xd0e - -00000d3a <.L37>: - d3a: 6c 09 b9 mul.su w1, #0xc, w2 - d3c: 20 d4 20 mov.w #0xd42, w0 - d3e: 02 00 40 add.w w0, w2, w0 - d40: 89 00 78 mov.w w9, w1 - d42: 3d fd 07 rcall . + 0xFFFFFA7C - d44: d0 6d 80 mov.w 0xdba, w0 - d46: d8 08 90 mov.w [w8+26], w1 - d48: 50 08 90 mov.w [w0+26], w0 - d4a: 80 8f 50 sub.w w1, w0, [w15] - d4c: e6 ff 39 bra NC, . + 0xFFFFFFCE - d4e: 1a 00 20 mov.w #0x1, w10 - d50: 1a 0d e2 cp0.w 0xd1a - d52: e5 ff 3a bra NZ, . + 0xFFFFFFCC - -00000d54 <.L40>: - d54: 12 0d e2 cp0.w 0xd12 - d56: 0c 00 32 bra Z, . + 0x1A - d58: 12 0d e2 cp0.w 0xd12 - d5a: 16 00 3a bra NZ, . + 0x2E - -00000d5c <.L45>: - d5c: 06 2d ef clr.w 0xd06 - d5e: ca 13 02 call 0x13ca <_vPortYield> - d60: 00 00 00 - d62: 00 00 00 nop - d64: 18 00 20 mov.w #0x1, w8 - d66: 71 03 07 rcall . + 0x6E4 - d68: 08 00 78 mov.w w8, w0 - d6a: 4f 05 78 mov.w [--w15], w10 - d6c: 4f 04 be mov.d [--w15], w8 - d6e: 00 00 06 return - -00000d70 <.L60>: - d70: e1 0f 55 sub.w w10, #0x1, [w15] - d72: f4 ff 32 bra Z, . + 0xFFFFFFEA - d74: 30 68 80 mov.w 0xd06, w0 - d76: e1 0f 50 sub.w w0, #0x1, [w15] - d78: f1 ff 32 bra Z, . + 0xFFFFFFE4 - -00000d7a <.L32>: - d7a: 00 04 eb clr.w w8 - d7c: 66 03 07 rcall . + 0x6CE - d7e: 08 00 78 mov.w w8, w0 - d80: 4f 05 78 mov.w [--w15], w10 - d82: 4f 04 be mov.d [--w15], w8 - d84: 00 00 06 return - d86: f4 ff 37 bra . + 0xFFFFFFEA - -00000d88 <.L52>: - d88: 69 ff 07 rcall . + 0xFFFFFED4 - d8a: 12 2d ed dec.w 0xd12 - d8c: 12 0d e2 cp0.w 0xd12 - d8e: e6 ff 32 bra Z, . + 0xFFFFFFCE - d90: 65 ff 07 rcall . + 0xFFFFFECC - d92: 12 2d ed dec.w 0xd12 - d94: 12 0d e2 cp0.w 0xd12 - d96: f8 ff 3a bra NZ, . + 0xFFFFFFF2 - d98: e1 ff 37 bra . + 0xFFFFFFC4 - -00000d9a <_vTaskDelayUntil>: - d9a: 88 9f be mov.d w8, [w15++] - d9c: 8a 1f 78 mov.w w10, [w15++] - d9e: 00 05 78 mov.w w0, w10 - da0: 02 04 be mov.d w2, w8 - da2: 56 ff 07 rcall . + 0xFFFFFEAE - da4: 1a 01 be mov.d [w10], w2 - da6: 02 04 44 add.w w8, w2, w8 - da8: 83 84 4c addc.w w9, w3, w9 - daa: 40 68 80 mov.w 0xd08, w0 - dac: 51 68 80 mov.w 0xd0a, w1 - dae: 80 0f 51 sub.w w2, w0, [w15] - db0: 81 8f 59 subb.w w3, w1, [w15] - db2: 10 00 36 bra LEU, . + 0x22 - db4: 88 0f 51 sub.w w2, w8, [w15] - db6: 89 8f 59 subb.w w3, w9, [w15] - db8: 10 00 3e bra GTU, . + 0x22 - -00000dba <.L66>: - dba: 00 00 eb clr.w w0 - dbc: 08 8d be mov.d w8, [w10] - dbe: 00 00 e0 cp0.w w0 - dc0: 15 00 3a bra NZ, . + 0x2C - -00000dc2 <.L71>: - dc2: a1 ff 07 rcall . + 0xFFFFFF44 - dc4: 00 00 e0 cp0.w w0 - dc6: 03 00 3a bra NZ, . + 0x8 - dc8: ca 13 02 call 0x13ca <_vPortYield> - dca: 00 00 00 - dcc: 00 00 00 nop - -00000dce <.L77>: - dce: 4f 05 78 mov.w [--w15], w10 - dd0: 4f 04 be mov.d [--w15], w8 - dd2: 00 00 06 return - -00000dd4 <.L64>: - dd4: 88 0f 51 sub.w w2, w8, [w15] - dd6: 89 8f 59 subb.w w3, w9, [w15] - dd8: 05 00 3e bra GTU, . + 0xC - -00000dda <.L78>: - dda: 40 68 80 mov.w 0xd08, w0 - ddc: 51 68 80 mov.w 0xd0a, w1 - dde: 80 0f 54 sub.w w8, w0, [w15] - de0: 81 8f 5c subb.w w9, w1, [w15] - de2: eb ff 36 bra LEU, . + 0xFFFFFFD8 - -00000de4 <.L68>: - de4: 10 00 20 mov.w #0x1, w0 - de6: 08 8d be mov.d w8, [w10] - de8: 00 00 e0 cp0.w w0 - dea: eb ff 32 bra Z, . + 0xFFFFFFD8 - -00000dec <.L80>: - dec: ba 8d ec inc2.w 0xdba, WREG - dee: 19 fd 07 rcall . + 0xFFFFFA34 - df0: d0 6d 80 mov.w 0xdba, w0 - df2: 18 00 98 mov.w w8, [w0+2] - df4: 29 00 98 mov.w w9, [w0+4] - df6: 40 68 80 mov.w 0xd08, w0 - df8: 51 68 80 mov.w 0xd0a, w1 - dfa: 80 0f 54 sub.w w8, w0, [w15] - dfc: 81 8f 5c subb.w w9, w1, [w15] - dfe: 05 00 39 bra NC, . + 0xC - e00: d1 6d 80 mov.w 0xdba, w1 - e02: 40 69 80 mov.w 0xd28, w0 - e04: 81 80 e8 inc2.w w1, w1 - e06: e6 fc 07 rcall . + 0xFFFFF9CE - e08: dc ff 37 bra . + 0xFFFFFFBA - -00000e0a <.L81>: - e0a: d1 6d 80 mov.w 0xdba, w1 - e0c: 30 69 80 mov.w 0xd26, w0 - e0e: 81 80 e8 inc2.w w1, w1 - e10: e1 fc 07 rcall . + 0xFFFFF9C4 - e12: d7 ff 37 bra . + 0xFFFFFFB0 - -00000e14 <_xTaskGetTickCount>: - e14: 88 9f be mov.d w8, [w15++] - e16: 16 03 07 rcall . + 0x62E - e18: 48 68 80 mov.w 0xd08, w8 - e1a: 59 68 80 mov.w 0xd0a, w9 - e1c: 16 03 07 rcall . + 0x62E - e1e: 08 00 be mov.d w8, w0 - e20: 4f 04 be mov.d [--w15], w8 - e22: 00 00 06 return - -00000e24 <_uxTaskGetNumberOfTasks>: - e24: 88 1f 78 mov.w w8, [w15++] - e26: 0e 03 07 rcall . + 0x61E - e28: a8 68 80 mov.w 0xd14, w8 - e2a: 0f 03 07 rcall . + 0x620 - e2c: 08 00 78 mov.w w8, w0 - e2e: 4f 04 78 mov.w [--w15], w8 - e30: 00 00 06 return - -00000e32 <_vTaskSwitchContext>: - e32: 10 0d e2 cp0.w 0xd10 - e34: 03 00 32 bra Z, . + 0x8 - e36: 10 00 20 mov.w #0x1, w0 - e38: 30 68 88 mov.w w0, 0xd06 - e3a: 00 00 06 return - -00000e3c <.L92>: - e3c: 70 68 80 mov.w 0xd0e, w0 - e3e: 6c 00 b9 mul.su w0, #0xc, w0 - e40: 22 d4 20 mov.w #0xd42, w2 - e42: 62 00 78 mov.w [w2+w0], w0 - e44: 00 00 e0 cp0.w w0 - e46: 06 00 3a bra NZ, . + 0xE - -00000e48 <.L100>: - e48: 0e 2d ed dec.w 0xd0e - e4a: 70 68 80 mov.w 0xd0e, w0 - e4c: 6c 00 b9 mul.su w0, #0xc, w0 - e4e: 62 00 78 mov.w [w2+w0], w0 - e50: 00 00 e0 cp0.w w0 - e52: fa ff 32 bra Z, . + 0xFFFFFFF6 - -00000e54 <.L96>: - e54: 70 68 80 mov.w 0xd0e, w0 - e56: 6c 00 b9 mul.su w0, #0xc, w0 - e58: 00 01 41 add.w w2, w0, w2 - e5a: 92 00 90 mov.w [w2+2], w1 - e5c: a1 00 90 mov.w [w1+4], w1 - e5e: 11 01 98 mov.w w1, [w2+2] - e60: 64 00 41 add.w w2, #0x4, w0 - e62: 80 8f 50 sub.w w1, w0, [w15] - e64: 03 00 32 bra Z, . + 0x8 - e66: c1 00 90 mov.w [w1+8], w1 - e68: d1 6d 88 mov.w w1, 0xdba - e6a: 00 00 06 return - -00000e6c <.L103>: - e6c: a1 00 90 mov.w [w1+4], w1 - e6e: 11 01 98 mov.w w1, [w2+2] - e70: c1 00 90 mov.w [w1+8], w1 - e72: d1 6d 88 mov.w w1, 0xdba - e74: 00 00 06 return - -00000e76 <_vTaskPlaceOnEventList>: - e76: 88 9f be mov.d w8, [w15++] - e78: 02 04 be mov.d w2, w8 - e7a: d1 6d 80 mov.w 0xdba, w1 - e7c: ee 80 40 add.w w1, #0xe, w1 - e7e: aa fc 07 rcall . + 0xFFFFF956 - e80: ba 8d ec inc2.w 0xdba, WREG - e82: cf fc 07 rcall . + 0xFFFFF9A0 - e84: 40 68 80 mov.w 0xd08, w0 - e86: 51 68 80 mov.w 0xd0a, w1 - e88: 00 01 44 add.w w8, w0, w2 - e8a: 81 81 4c addc.w w9, w1, w3 - e8c: d0 6d 80 mov.w 0xdba, w0 - e8e: 12 00 98 mov.w w2, [w0+2] - e90: 23 00 98 mov.w w3, [w0+4] - e92: 40 68 80 mov.w 0xd08, w0 - e94: 51 68 80 mov.w 0xd0a, w1 - e96: 80 0f 51 sub.w w2, w0, [w15] - e98: 81 8f 59 subb.w w3, w1, [w15] - e9a: 06 00 31 bra C, . + 0xE - e9c: d1 6d 80 mov.w 0xdba, w1 - e9e: 30 69 80 mov.w 0xd26, w0 - ea0: 81 80 e8 inc2.w w1, w1 - ea2: 98 fc 07 rcall . + 0xFFFFF932 - ea4: 4f 04 be mov.d [--w15], w8 - ea6: 00 00 06 return - -00000ea8 <.L106>: - ea8: d1 6d 80 mov.w 0xdba, w1 - eaa: 40 69 80 mov.w 0xd28, w0 - eac: 81 80 e8 inc2.w w1, w1 - eae: 92 fc 07 rcall . + 0xFFFFF926 - eb0: 4f 04 be mov.d [--w15], w8 - eb2: 00 00 06 return - eb4: f9 ff 37 bra . + 0xFFFFFFF4 - -00000eb6 <_xTaskRemoveFromEventList>: - eb6: 88 9f be mov.d w8, [w15++] - eb8: 90 00 78 mov.w [w0], w1 - eba: 01 00 e0 cp0.w w1 - ebc: 20 00 3a bra NZ, . + 0x42 - ebe: 81 04 78 mov.w w1, w9 - -00000ec0 <.L116>: - ec0: 6e 84 44 add.w w9, #0xe, w8 - ec2: 08 00 78 mov.w w8, w0 - ec4: ae fc 07 rcall . + 0xFFFFF95E - ec6: 10 0d e2 cp0.w 0xd10 - ec8: 16 00 3a bra NZ, . + 0x2E - eca: 09 84 e8 inc2.w w9, w8 - ecc: 08 00 78 mov.w w8, w0 - ece: a9 fc 07 rcall . + 0xFFFFF954 - ed0: d9 08 90 mov.w [w9+26], w1 - ed2: 70 68 80 mov.w 0xd0e, w0 - ed4: 80 8f 50 sub.w w1, w0, [w15] - ed6: 16 00 3e bra GTU, . + 0x2E - ed8: 6c 09 b9 mul.su w1, #0xc, w2 - eda: 20 d4 20 mov.w #0xd42, w0 - edc: 02 00 40 add.w w0, w2, w0 - ede: 88 00 78 mov.w w8, w1 - ee0: 6e fc 07 rcall . + 0xFFFFF8DE - -00000ee2 <.L121>: - ee2: d0 6d 80 mov.w 0xdba, w0 - ee4: 00 01 eb clr.w w2 - ee6: d9 08 90 mov.w [w9+26], w1 - ee8: 50 08 90 mov.w [w0+26], w0 - eea: 80 8f 50 sub.w w1, w0, [w15] - eec: 01 00 39 bra NC, . + 0x4 - eee: 12 00 20 mov.w #0x1, w2 - -00000ef0 <.L122>: - ef0: 02 00 78 mov.w w2, w0 - ef2: 4f 04 be mov.d [--w15], w8 - ef4: 00 00 06 return - -00000ef6 <.L117>: - ef6: 88 00 78 mov.w w8, w1 - ef8: a0 d1 20 mov.w #0xd1a, w0 - efa: 61 fc 07 rcall . + 0xFFFFF8C4 - efc: f2 ff 37 bra . + 0xFFFFFFE6 - -00000efe <.L114>: - efe: 40 00 90 mov.w [w0+8], w0 - f00: c0 04 90 mov.w [w0+8], w9 - f02: de ff 37 bra . + 0xFFFFFFBE - -00000f04 <.L125>: - f04: 71 68 88 mov.w w1, 0xd0e - f06: 6c 09 b9 mul.su w1, #0xc, w2 - f08: 20 d4 20 mov.w #0xd42, w0 - f0a: 02 00 40 add.w w0, w2, w0 - f0c: 88 00 78 mov.w w8, w1 - f0e: 57 fc 07 rcall . + 0xFFFFF8B0 - f10: e8 ff 37 bra . + 0xFFFFFFD2 - -00000f12 <_vTaskSetTimeOutState>: - f12: 61 68 80 mov.w 0xd0c, w1 - f14: 01 08 78 mov.w w1, [w0] - f16: 42 68 80 mov.w 0xd08, w2 - f18: 53 68 80 mov.w 0xd0a, w3 - f1a: 12 00 98 mov.w w2, [w0+2] - f1c: 23 00 98 mov.w w3, [w0+4] - f1e: 00 00 06 return - -00000f20 <_xTaskCheckForTimeOut>: - f20: 00 03 be mov.d w0, w6 - f22: 60 68 80 mov.w 0xd0c, w0 - f24: 96 0f 10 subr.w w0, [w6], [w15] - f26: 19 00 32 bra Z, . + 0x34 - f28: 40 68 80 mov.w 0xd08, w0 - f2a: 51 68 80 mov.w 0xd0a, w1 - f2c: 16 01 90 mov.w [w6+2], w2 - f2e: a6 01 90 mov.w [w6+4], w3 - f30: 80 0f 51 sub.w w2, w0, [w15] - f32: 81 8f 59 subb.w w3, w1, [w15] - f34: 08 00 36 bra LEU, . + 0x12 - f36: 40 68 80 mov.w 0xd08, w0 - f38: 51 68 80 mov.w 0xd0a, w1 - f3a: 17 02 be mov.d [w7], w4 - f3c: 02 00 50 sub.w w0, w2, w0 - f3e: 83 80 58 subb.w w1, w3, w1 - f40: 84 0f 50 sub.w w0, w4, [w15] - f42: 85 8f 58 subb.w w1, w5, [w15] - f44: 01 00 39 bra NC, . + 0x4 - -00000f46 <.L134>: - f46: 10 00 05 retlw.w #0x1, w0 - -00000f48 <.L140>: - f48: 40 68 80 mov.w 0xd08, w0 - f4a: 51 68 80 mov.w 0xd0a, w1 - f4c: 02 00 50 sub.w w0, w2, w0 - f4e: 83 80 58 subb.w w1, w3, w1 - f50: 80 1b 52 sub.w w4, w0, [w7++] - f52: 81 93 5a subb.w w5, w1, [w7--] - f54: 06 00 78 mov.w w6, w0 - f56: dd ff 07 rcall . + 0xFFFFFFBC - f58: 00 00 05 retlw.w #0x0, w0 - -00000f5a <.L138>: - f5a: 16 01 90 mov.w [w6+2], w2 - f5c: a6 01 90 mov.w [w6+4], w3 - f5e: 40 68 80 mov.w 0xd08, w0 - f60: 51 68 80 mov.w 0xd0a, w1 - f62: 17 02 be mov.d [w7], w4 - f64: 02 00 50 sub.w w0, w2, w0 - f66: 83 80 58 subb.w w1, w3, w1 - f68: 84 0f 50 sub.w w0, w4, [w15] - f6a: 85 8f 58 subb.w w1, w5, [w15] - f6c: ec ff 31 bra C, . + 0xFFFFFFDA - f6e: ec ff 37 bra . + 0xFFFFFFDA - -00000f70 <_vTaskMissedYield>: - f70: 10 00 20 mov.w #0x1, w0 - f72: 30 68 88 mov.w w0, 0xd06 - f74: 00 00 06 return - -00000f76 <_prvIdleTask>: - f76: ff ff 37 bra . - -00000f78 <_xTaskCreate>: - f78: e6 87 47 add.w w15, #0x6, w15 - f7a: 88 9f be mov.d w8, [w15++] - f7c: 8a 9f be mov.d w10, [w15++] - f7e: 8c 9f be mov.d w12, [w15++] - f80: 8e 1f 78 mov.w w14, [w15++] - f82: 00 07 78 mov.w w0, w14 - f84: 01 05 78 mov.w w1, w10 - f86: 02 04 78 mov.w w2, w8 - f88: 83 06 78 mov.w w3, w13 - f8a: 04 06 78 mov.w w4, w12 - f8c: 85 bf 9f mov.w w5, [w15-16] - f8e: 20 02 20 mov.w #0x22, w0 - f90: 74 02 07 rcall . + 0x4EA - f92: 80 04 78 mov.w w0, w9 - f94: 00 80 eb setm.w w0 - f96: 09 00 e0 cp0.w w9 - f98: 49 00 32 bra Z, . + 0x94 - f9a: 08 04 44 add.w w8, w8, w8 - f9c: 08 00 78 mov.w w8, w0 - f9e: 6d 02 07 rcall . + 0x4DC - fa0: e0 0c 98 mov.w w0, [w9+28] - fa2: 00 00 e0 cp0.w w0 - fa4: 84 00 32 bra Z, . + 0x10A - fa6: 08 01 78 mov.w w8, w2 - fa8: 51 0a 20 mov.w #0xa5, w1 - faa: f5 f8 07 rcall . + 0xFFFFF1EC - fac: 7e 80 44 add.w w9, #0x1e, w0 - fae: 42 00 20 mov.w #0x4, w2 - fb0: 8a 00 78 mov.w w10, w1 - fb2: f8 f8 07 rcall . + 0xFFFFF1F2 - fb4: 00 40 eb clr.b w0 - fb6: 90 64 98 mov.b w0, [w9+33] - fb8: 30 00 20 mov.w #0x3, w0 - fba: 3a 00 20 mov.w #0x3, w10 - fbc: 0b 00 20 mov.w #0x0, w11 - fbe: 80 0f 56 sub.w w12, w0, [w15] - fc0: 3b 00 36 bra LEU, . + 0x78 - fc2: d0 0c 98 mov.w w0, [w9+26] - fc4: 09 80 e8 inc2.w w9, w0 - fc6: f0 b7 9f mov.w w0, [w15-18] - fc8: f7 fb 07 rcall . + 0xFFFFF7F0 - fca: 6e 84 44 add.w w9, #0xe, w8 - fcc: 08 00 78 mov.w w8, w0 - fce: f4 fb 07 rcall . + 0xFFFFF7EA - fd0: d9 04 98 mov.w w9, [w9+10] - fd2: 64 00 15 subr.w w10, #0x4, w0 - fd4: e0 80 1d subbr.w w11, #0x0, w1 - fd6: 00 8c be mov.d w0, [w8] - fd8: b9 0c 98 mov.w w9, [w9+22] - fda: 69 08 90 mov.w [w9+28], w0 - fdc: 0d 01 78 mov.w w13, w2 - fde: 8e 00 78 mov.w w14, w1 - fe0: af 01 07 rcall . + 0x360 - fe2: 80 0c 78 mov.w w0, [w9] - fe4: 2f 02 07 rcall . + 0x460 - fe6: 14 2d ec inc.w 0xd14 - fe8: a0 68 80 mov.w 0xd14, w0 - fea: e1 0f 50 sub.w w0, #0x1, [w15] - fec: 4c 00 32 bra Z, . + 0x9A - -00000fee <.L161>: - fee: 2b d4 20 mov.w #0xd42, w11 - ff0: 16 0d e2 cp0.w 0xd16 - ff2: 43 00 32 bra Z, . + 0x88 - -00000ff4 <.L165>: - ff4: d9 08 90 mov.w [w9+26], w1 - ff6: c0 68 80 mov.w 0xd18, w0 - ff8: 80 8f 50 sub.w w1, w0, [w15] - ffa: 01 00 36 bra LEU, . + 0x4 - ffc: c1 68 88 mov.w w1, 0xd18 - -00000ffe <.L168>: - ffe: 70 68 80 mov.w 0xd0e, w0 - 1000: 80 8f 50 sub.w w1, w0, [w15] - 1002: 01 00 36 bra LEU, . + 0x4 - 1004: 71 68 88 mov.w w1, 0xd0e - -00001006 <.L170>: - 1006: 6c 08 b9 mul.su w1, #0xc, w0 - 1008: 00 80 45 add.w w11, w0, w0 - 100a: ff b0 97 mov.w [w15-18], w1 - 100c: d8 fb 07 rcall . + 0xFFFFF7B2 - 100e: 1d 02 07 rcall . + 0x43C - 1010: 0f b8 97 mov.w [w15-16], w0 - 1012: 00 00 e0 cp0.w w0 - 1014: 01 00 32 bra Z, . + 0x4 - 1016: 09 08 78 mov.w w9, [w0] - -00001018 <.L172>: - 1018: 16 0d e2 cp0.w 0xd16 - 101a: 27 00 32 bra Z, . + 0x50 - 101c: d0 6d 80 mov.w 0xdba, w0 - 101e: 50 08 90 mov.w [w0+26], w0 - 1020: 8c 0f 50 sub.w w0, w12, [w15] - 1022: 23 00 31 bra C, . + 0x48 - 1024: ca 13 02 call 0x13ca <_vPortYield> - 1026: 00 00 00 - 1028: 00 00 00 nop - 102a: 10 00 20 mov.w #0x1, w0 - -0000102c <.L155>: - 102c: 4f 07 78 mov.w [--w15], w14 - 102e: 4f 06 be mov.d [--w15], w12 - 1030: 4f 05 be mov.d [--w15], w10 - 1032: 4f 04 be mov.d [--w15], w8 - 1034: 6f 00 b1 sub.w #0x6, w15 - 1036: 00 00 06 return - -00001038 <.L184>: - 1038: 61 65 b8 mul.uu w12, #0x1, w10 - 103a: 0c 00 78 mov.w w12, w0 - 103c: d0 0c 98 mov.w w0, [w9+26] - 103e: 09 80 e8 inc2.w w9, w0 - 1040: f0 b7 9f mov.w w0, [w15-18] - 1042: ba fb 07 rcall . + 0xFFFFF776 - 1044: 6e 84 44 add.w w9, #0xe, w8 - 1046: 08 00 78 mov.w w8, w0 - 1048: b7 fb 07 rcall . + 0xFFFFF770 - 104a: d9 04 98 mov.w w9, [w9+10] - 104c: 64 00 15 subr.w w10, #0x4, w0 - 104e: e0 80 1d subbr.w w11, #0x0, w1 - 1050: 00 8c be mov.d w0, [w8] - 1052: b9 0c 98 mov.w w9, [w9+22] - 1054: 69 08 90 mov.w [w9+28], w0 - 1056: 0d 01 78 mov.w w13, w2 - 1058: 8e 00 78 mov.w w14, w1 - 105a: 72 01 07 rcall . + 0x2E6 - 105c: 80 0c 78 mov.w w0, [w9] - 105e: f2 01 07 rcall . + 0x3E6 - 1060: 14 2d ec inc.w 0xd14 - 1062: a0 68 80 mov.w 0xd14, w0 - 1064: e1 0f 50 sub.w w0, #0x1, [w15] - 1066: c3 ff 3a bra NZ, . + 0xFFFFFF88 - 1068: 0e 00 37 bra . + 0x1E - -0000106a <.L174>: - 106a: 10 00 20 mov.w #0x1, w0 - 106c: 4f 07 78 mov.w [--w15], w14 - 106e: 4f 06 be mov.d [--w15], w12 - 1070: 4f 05 be mov.d [--w15], w10 - 1072: 4f 04 be mov.d [--w15], w8 - 1074: 6f 00 b1 sub.w #0x6, w15 - 1076: 00 00 06 return - 1078: df ff 37 bra . + 0xFFFFFFC0 - -0000107a <.L186>: - 107a: d0 6d 80 mov.w 0xdba, w0 - 107c: 50 08 90 mov.w [w0+26], w0 - 107e: 80 0f 56 sub.w w12, w0, [w15] - 1080: b9 ff 39 bra NC, . + 0xFFFFFF74 - 1082: d9 6d 88 mov.w w9, 0xdba - 1084: b7 ff 37 bra . + 0xFFFFFF70 - -00001086 <.L185>: - 1086: d9 6d 88 mov.w w9, 0xdba - 1088: 2b d4 20 mov.w #0xd42, w11 - 108a: 0b 04 78 mov.w w11, w8 - 108c: 2a d7 20 mov.w #0xd72, w10 - -0000108e <.L163>: - 108e: 08 00 78 mov.w w8, w0 - 1090: 8b fb 07 rcall . + 0xFFFFF718 - 1092: 6c 04 44 add.w w8, #0xc, w8 - 1094: 88 0f 55 sub.w w10, w8, [w15] - 1096: fb ff 3a bra NZ, . + 0xFFFFFFF8 - 1098: 60 d3 20 mov.w #0xd36, w0 - 109a: 86 fb 07 rcall . + 0xFFFFF70E - 109c: a0 d2 20 mov.w #0xd2a, w0 - 109e: 84 fb 07 rcall . + 0xFFFFF70A - 10a0: a0 d1 20 mov.w #0xd1a, w0 - 10a2: 82 fb 07 rcall . + 0xFFFFF706 - 10a4: 60 d3 20 mov.w #0xd36, w0 - 10a6: 40 69 88 mov.w w0, 0xd28 - 10a8: a0 d2 20 mov.w #0xd2a, w0 - 10aa: 30 69 88 mov.w w0, 0xd26 - 10ac: a3 ff 37 bra . + 0xFFFFFF48 - -000010ae <.L183>: - 10ae: 09 00 78 mov.w w9, w0 - 10b0: ff 01 07 rcall . + 0x400 - 10b2: 00 80 eb setm.w w0 - 10b4: 4f 07 78 mov.w [--w15], w14 - 10b6: 4f 06 be mov.d [--w15], w12 - 10b8: 4f 05 be mov.d [--w15], w10 - 10ba: 4f 04 be mov.d [--w15], w8 - 10bc: 6f 00 b1 sub.w #0x6, w15 - 10be: 00 00 06 return - 10c0: bb ff 37 bra . + 0xFFFFFF78 - -000010c2 <_vTaskStartScheduler>: - 10c2: 80 02 eb clr.w w5 - 10c4: 05 02 78 mov.w w5, w4 - 10c6: 85 01 78 mov.w w5, w3 - 10c8: 92 06 20 mov.w #0x69, w2 - 10ca: 01 a5 29 mov.w #0x9a50, w1 - 10cc: 60 f7 20 mov.w #0xf76, w0 - 10ce: 54 ff 07 rcall . + 0xFFFFFEAA - 10d0: e1 0f 50 sub.w w0, #0x1, [w15] - 10d2: 01 00 32 bra Z, . + 0x4 - 10d4: 00 00 06 return - -000010d6 <.L194>: - 10d6: 42 a0 a8 bset.b 0x42, #0x5 - 10d8: b0 68 88 mov.w w0, 0xd16 - 10da: 08 2d ef clr.w 0xd08 - 10dc: 0a 2d ef clr.w 0xd0a - 10de: 44 01 37 bra . + 0x28A - -000010e0 <_vCoRoutineAddToDelayedList>: - 10e0: 88 9f be mov.d w8, [w15++] - 10e2: 8a 1f 78 mov.w w10, [w15++] - 10e4: 00 04 be mov.d w0, w8 - 10e6: 02 05 78 mov.w w2, w10 - 10e8: a0 6b 80 mov.w 0xd74, w0 - 10ea: b1 6b 80 mov.w 0xd76, w1 - 10ec: 08 04 40 add.w w0, w8, w8 - 10ee: 89 84 48 addc.w w1, w9, w9 - 10f0: bc 8d ec inc2.w 0xdbc, WREG - 10f2: 97 fb 07 rcall . + 0xFFFFF730 - 10f4: e2 6d 80 mov.w 0xdbc, w2 - 10f6: 18 01 98 mov.w w8, [w2+2] - 10f8: 29 01 98 mov.w w9, [w2+4] - 10fa: a0 6b 80 mov.w 0xd74, w0 - 10fc: b1 6b 80 mov.w 0xd76, w1 - 10fe: 80 0f 54 sub.w w8, w0, [w15] - 1100: 81 8f 5c subb.w w9, w1, [w15] - 1102: 0c 00 31 bra C, . + 0x1A - 1104: 82 80 e8 inc2.w w2, w1 - 1106: 60 6c 80 mov.w 0xd8c, w0 - 1108: 65 fb 07 rcall . + 0xFFFFF6CC - -0000110a <.L4>: - 110a: 0a 00 e0 cp0.w w10 - 110c: 04 00 32 bra Z, . + 0xA - 110e: e1 6d 80 mov.w 0xdbc, w1 - 1110: ee 80 40 add.w w1, #0xe, w1 - 1112: 0a 00 78 mov.w w10, w0 - 1114: 5f fb 07 rcall . + 0xFFFFF6C0 - -00001116 <.L7>: - 1116: 4f 05 78 mov.w [--w15], w10 - 1118: 4f 04 be mov.d [--w15], w8 - 111a: 00 00 06 return - -0000111c <.L2>: - 111c: 82 80 e8 inc2.w w2, w1 - 111e: 70 6c 80 mov.w 0xd8e, w0 - 1120: 59 fb 07 rcall . + 0xFFFFF6B4 - 1122: f3 ff 37 bra . + 0xFFFFFFE8 - -00001124 <_vCoRoutineSchedule>: - 1124: 88 9f be mov.d w8, [w15++] - 1126: 8a 1f 78 mov.w w10, [w15++] - 1128: 8a da 20 mov.w #0xda8, w10 - 112a: 80 0d e2 cp0.w 0xd80 - 112c: 16 00 32 bra Z, . + 0x2E - -0000112e <.L12>: - 112e: 42 a0 a8 bset.b 0x42, #0x5 - 1130: 00 6c 80 mov.w 0xd80, w0 - 1132: 00 00 e0 cp0.w w0 - 1134: 7f 00 3a bra NZ, . + 0x100 - 1136: 00 04 78 mov.w w0, w8 - -00001138 <.L15>: - 1138: 6e 00 44 add.w w8, #0xe, w0 - 113a: 73 fb 07 rcall . + 0xFFFFF6E8 - 113c: 42 a0 a9 bclr.b 0x42, #0x5 - 113e: 88 84 e8 inc2.w w8, w9 - 1140: 09 00 78 mov.w w9, w0 - 1142: 6f fb 07 rcall . + 0xFFFFF6E0 - 1144: d8 08 90 mov.w [w8+26], w1 - 1146: 90 6b 80 mov.w 0xd72, w0 - 1148: 80 8f 50 sub.w w1, w0, [w15] - 114a: 01 00 36 bra LEU, . + 0x4 - 114c: 91 6b 88 mov.w w1, 0xd72 - -0000114e <.L16>: - 114e: 6c 08 b9 mul.su w1, #0xc, w0 - 1150: 00 00 45 add.w w10, w0, w0 - 1152: 89 00 78 mov.w w9, w1 - 1154: 34 fb 07 rcall . + 0xFFFFF66A - 1156: 80 0d e2 cp0.w 0xd80 - 1158: ea ff 3a bra NZ, . + 0xFFFFFFD6 - -0000115a <.L11>: - 115a: 5c fe 07 rcall . + 0xFFFFFCBA - 115c: e2 6b 80 mov.w 0xd7c, w2 - 115e: f3 6b 80 mov.w 0xd7e, w3 - 1160: 02 00 50 sub.w w0, w2, w0 - 1162: 83 80 58 subb.w w1, w3, w1 - 1164: c0 6b 88 mov.w w0, 0xd78 - 1166: d1 6b 88 mov.w w1, 0xd7a - -00001168 <.L54>: - 1168: c0 6b 80 mov.w 0xd78, w0 - 116a: d1 6b 80 mov.w 0xd7a, w1 - 116c: e0 0f 50 sub.w w0, #0x0, [w15] - 116e: e0 8f 58 subb.w w1, #0x0, [w15] - 1170: 44 00 32 bra Z, . + 0x8A - -00001172 <.L19>: - 1172: a4 6b 80 mov.w 0xd74, w4 - 1174: b5 6b 80 mov.w 0xd76, w5 - 1176: 61 01 42 add.w w4, #0x1, w2 - 1178: e0 81 4a addc.w w5, #0x0, w3 - 117a: a2 6b 88 mov.w w2, 0xd74 - 117c: b3 6b 88 mov.w w3, 0xd76 - 117e: 61 00 50 sub.w w0, #0x1, w0 - 1180: e0 80 58 subb.w w1, #0x0, w1 - 1182: c0 6b 88 mov.w w0, 0xd78 - 1184: d1 6b 88 mov.w w1, 0xd7a - 1186: e0 0f 51 sub.w w2, #0x0, [w15] - 1188: e0 8f 59 subb.w w3, #0x0, [w15] - 118a: 04 00 3a bra NZ, . + 0xA - 118c: 70 6c 80 mov.w 0xd8e, w0 - 118e: 65 6c 80 mov.w 0xd8c, w5 - 1190: 75 6c 88 mov.w w5, 0xd8e - 1192: 60 6c 88 mov.w w0, 0xd8c - -00001194 <.L20>: - 1194: 70 6c 80 mov.w 0xd8e, w0 - 1196: 10 00 e0 cp0.w [w0] - 1198: e7 ff 32 bra Z, . + 0xFFFFFFD0 - 119a: 40 00 90 mov.w [w0+8], w0 - 119c: 40 00 90 mov.w [w0+8], w0 - 119e: 00 04 78 mov.w w0, w8 - 11a0: 00 00 e0 cp0.w w0 - 11a2: e2 ff 32 bra Z, . + 0xFFFFFFC6 - 11a4: a0 00 90 mov.w [w0+4], w1 - 11a6: 10 00 90 mov.w [w0+2], w0 - 11a8: 80 0f 51 sub.w w2, w0, [w15] - 11aa: 81 8f 59 subb.w w3, w1, [w15] - 11ac: dd ff 39 bra NC, . + 0xFFFFFFBC - -000011ae <.L51>: - 11ae: 42 a0 a8 bset.b 0x42, #0x5 - 11b0: 88 84 e8 inc2.w w8, w9 - 11b2: 09 00 78 mov.w w9, w0 - 11b4: 36 fb 07 rcall . + 0xFFFFF66E - 11b6: 48 08 90 mov.w [w8+24], w0 - 11b8: 00 00 e0 cp0.w w0 - 11ba: 02 00 32 bra Z, . + 0x6 - 11bc: 6e 00 44 add.w w8, #0xe, w0 - 11be: 31 fb 07 rcall . + 0xFFFFF664 - -000011c0 <.L25>: - 11c0: 42 a0 a9 bclr.b 0x42, #0x5 - 11c2: d8 08 90 mov.w [w8+26], w1 - 11c4: 90 6b 80 mov.w 0xd72, w0 - 11c6: 80 8f 50 sub.w w1, w0, [w15] - 11c8: 01 00 36 bra LEU, . + 0x4 - 11ca: 91 6b 88 mov.w w1, 0xd72 - -000011cc <.L27>: - 11cc: 6c 08 b9 mul.su w1, #0xc, w0 - 11ce: 00 00 45 add.w w10, w0, w0 - 11d0: 89 00 78 mov.w w9, w1 - 11d2: f5 fa 07 rcall . + 0xFFFFF5EC - 11d4: 70 6c 80 mov.w 0xd8e, w0 - 11d6: 10 00 e0 cp0.w [w0] - 11d8: c7 ff 32 bra Z, . + 0xFFFFFF90 - 11da: 40 00 90 mov.w [w0+8], w0 - 11dc: 40 04 90 mov.w [w0+8], w8 - 11de: 08 00 e0 cp0.w w8 - 11e0: c3 ff 32 bra Z, . + 0xFFFFFF88 - 11e2: 18 01 90 mov.w [w8+2], w2 - 11e4: a8 01 90 mov.w [w8+4], w3 - 11e6: a0 6b 80 mov.w 0xd74, w0 - 11e8: b1 6b 80 mov.w 0xd76, w1 - 11ea: 80 0f 51 sub.w w2, w0, [w15] - 11ec: 81 8f 59 subb.w w3, w1, [w15] - 11ee: df ff 36 bra LEU, . + 0xFFFFFFC0 - 11f0: c0 6b 80 mov.w 0xd78, w0 - 11f2: d1 6b 80 mov.w 0xd7a, w1 - 11f4: e0 0f 50 sub.w w0, #0x0, [w15] - 11f6: e0 8f 58 subb.w w1, #0x0, [w15] - 11f8: bc ff 3a bra NZ, . + 0xFFFFFF7A - -000011fa <.L57>: - 11fa: a0 6b 80 mov.w 0xd74, w0 - 11fc: b1 6b 80 mov.w 0xd76, w1 - 11fe: e0 6b 88 mov.w w0, 0xd7c - 1200: f1 6b 88 mov.w w1, 0xd7e - 1202: 94 6b 80 mov.w 0xd72, w4 - 1204: 6c 20 b9 mul.su w4, #0xc, w0 - 1206: 80 00 78 mov.w w0, w1 - 1208: 0a 01 40 add.w w0, w10, w2 - 120a: 92 02 78 mov.w [w2], w5 - 120c: 05 00 e0 cp0.w w5 - 120e: 16 00 3a bra NZ, . + 0x2E - 1210: 04 00 e0 cp0.w w4 - 1212: 0d 00 32 bra Z, . + 0x1C - 1214: c0 d9 20 mov.w #0xd9c, w0 - 1216: 00 80 40 add.w w1, w0, w0 - 1218: 84 01 78 mov.w w4, w3 - 121a: 85 00 78 mov.w w5, w1 - -0000121c <.L34>: - 121c: 83 01 e9 dec.w w3, w3 - 121e: 00 01 78 mov.w w0, w2 - 1220: 10 00 e0 cp0.w [w0] - 1222: 0b 00 3a bra NZ, . + 0x18 - 1224: 81 00 e8 inc.w w1, w1 - 1226: 6c 00 50 sub.w w0, #0xc, w0 - 1228: 84 8f 50 sub.w w1, w4, [w15] - 122a: f8 ff 3a bra NZ, . + 0xFFFFFFF2 - 122c: 93 6b 88 mov.w w3, 0xd72 - -0000122e <.L42>: - 122e: 4f 05 78 mov.w [--w15], w10 - 1230: 4f 04 be mov.d [--w15], w8 - 1232: 00 00 06 return - -00001234 <.L13>: - 1234: 40 6c 80 mov.w 0xd88, w0 - 1236: 40 04 90 mov.w [w0+8], w8 - 1238: 7f ff 37 bra . + 0xFFFFFF00 - -0000123a <.L58>: - 123a: 93 6b 88 mov.w w3, 0xd72 - -0000123c <.L32>: - 123c: 92 00 90 mov.w [w2+2], w1 - 123e: a1 00 90 mov.w [w1+4], w1 - 1240: 11 01 98 mov.w w1, [w2+2] - 1242: 64 00 41 add.w w2, #0x4, w0 - 1244: 80 8f 50 sub.w w1, w0, [w15] - 1246: 09 00 32 bra Z, . + 0x14 - 1248: 41 00 90 mov.w [w1+8], w0 - 124a: e0 6d 88 mov.w w0, 0xdbc - 124c: e0 08 90 mov.w [w0+28], w1 - 124e: 10 01 78 mov.w [w0], w2 - 1250: 02 00 01 call w2 - -00001252 <.L60>: - 1252: 4f 05 78 mov.w [--w15], w10 - 1254: 4f 04 be mov.d [--w15], w8 - 1256: 00 00 06 return - 1258: ed ff 37 bra . + 0xFFFFFFDC - -0000125a <.L59>: - 125a: a1 00 90 mov.w [w1+4], w1 - 125c: 11 01 98 mov.w w1, [w2+2] - 125e: 41 00 90 mov.w [w1+8], w0 - 1260: e0 6d 88 mov.w w0, 0xdbc - 1262: e0 08 90 mov.w [w0+28], w1 - 1264: 10 01 78 mov.w [w0], w2 - 1266: 02 00 01 call w2 - 1268: f4 ff 37 bra . + 0xFFFFFFEA - -0000126a <_xCoRoutineCreate>: - 126a: 88 9f be mov.d w8, [w15++] - 126c: 8a 9f be mov.d w10, [w15++] - 126e: 80 05 78 mov.w w0, w11 - 1270: 02 04 78 mov.w w2, w8 - 1272: 00 02 20 mov.w #0x20, w0 - 1274: 02 01 07 rcall . + 0x206 - 1276: 80 04 78 mov.w w0, w9 - 1278: 00 80 eb setm.w w0 - 127a: 09 00 e0 cp0.w w9 - 127c: 1d 00 32 bra Z, . + 0x3C - 127e: bc 0d e2 cp0.w 0xdbc - 1280: 26 00 32 bra Z, . + 0x4E - 1282: 00 00 eb clr.w w0 - 1284: f0 0c 98 mov.w w0, [w9+30] - 1286: 00 80 eb setm.w w0 - 1288: d0 0c 98 mov.w w0, [w9+26] - 128a: e8 0c 98 mov.w w8, [w9+28] - 128c: 09 05 78 mov.w w9, w10 - 128e: 0b 1d 78 mov.w w11, [w10++] - 1290: 0a 00 78 mov.w w10, w0 - 1292: 92 fa 07 rcall . + 0xFFFFF526 - 1294: 6e 84 44 add.w w9, #0xe, w8 - 1296: 08 00 78 mov.w w8, w0 - 1298: 8f fa 07 rcall . + 0xFFFFF520 - 129a: d9 04 98 mov.w w9, [w9+10] - 129c: b9 0c 98 mov.w w9, [w9+22] - 129e: 50 00 20 mov.w #0x5, w0 - 12a0: f1 ff 2f mov.w #0xffff, w1 - 12a2: 00 8c be mov.d w0, [w8] - 12a4: d9 08 90 mov.w [w9+26], w1 - 12a6: 90 6b 80 mov.w 0xd72, w0 - 12a8: 80 8f 50 sub.w w1, w0, [w15] - 12aa: 09 00 3e bra GTU, . + 0x14 - -000012ac <.L69>: - 12ac: 6c 09 b9 mul.su w1, #0xc, w2 - 12ae: 80 da 20 mov.w #0xda8, w0 - 12b0: 02 00 40 add.w w0, w2, w0 - 12b2: 8a 00 78 mov.w w10, w1 - 12b4: 84 fa 07 rcall . + 0xFFFFF50A - 12b6: 10 00 20 mov.w #0x1, w0 - -000012b8 <.L66>: - 12b8: 4f 05 be mov.d [--w15], w10 - 12ba: 4f 04 be mov.d [--w15], w8 - 12bc: 00 00 06 return - -000012be <.L74>: - 12be: 91 6b 88 mov.w w1, 0xd72 - 12c0: 6c 09 b9 mul.su w1, #0xc, w2 - 12c2: 80 da 20 mov.w #0xda8, w0 - 12c4: 02 00 40 add.w w0, w2, w0 - 12c6: 8a 00 78 mov.w w10, w1 - 12c8: 7a fa 07 rcall . + 0xFFFFF4F6 - 12ca: 10 00 20 mov.w #0x1, w0 - 12cc: f5 ff 37 bra . + 0xFFFFFFEC - -000012ce <.L73>: - 12ce: e9 6d 88 mov.w w9, 0xdbc - 12d0: c0 d9 20 mov.w #0xd9c, w0 - 12d2: 6a fa 07 rcall . + 0xFFFFF4D6 - 12d4: 00 d9 20 mov.w #0xd90, w0 - 12d6: 68 fa 07 rcall . + 0xFFFFF4D2 - 12d8: 00 d8 20 mov.w #0xd80, w0 - 12da: 66 fa 07 rcall . + 0xFFFFF4CE - 12dc: c0 d9 20 mov.w #0xd9c, w0 - 12de: 70 6c 88 mov.w w0, 0xd8e - 12e0: 00 d9 20 mov.w #0xd90, w0 - 12e2: 60 6c 88 mov.w w0, 0xd8c - 12e4: 00 00 eb clr.w w0 - 12e6: f0 0c 98 mov.w w0, [w9+30] - 12e8: 00 80 eb setm.w w0 - 12ea: d0 0c 98 mov.w w0, [w9+26] - 12ec: e8 0c 98 mov.w w8, [w9+28] - 12ee: 09 05 78 mov.w w9, w10 - 12f0: 0b 1d 78 mov.w w11, [w10++] - 12f2: 0a 00 78 mov.w w10, w0 - 12f4: 61 fa 07 rcall . + 0xFFFFF4C4 - 12f6: 6e 84 44 add.w w9, #0xe, w8 - 12f8: 08 00 78 mov.w w8, w0 - 12fa: 5e fa 07 rcall . + 0xFFFFF4BE - 12fc: d9 04 98 mov.w w9, [w9+10] - 12fe: b9 0c 98 mov.w w9, [w9+22] - 1300: 50 00 20 mov.w #0x5, w0 - 1302: f1 ff 2f mov.w #0xffff, w1 - 1304: 00 8c be mov.d w0, [w8] - 1306: d9 08 90 mov.w [w9+26], w1 - 1308: 90 6b 80 mov.w 0xd72, w0 - 130a: 80 8f 50 sub.w w1, w0, [w15] - 130c: cf ff 36 bra LEU, . + 0xFFFFFFA0 - 130e: d7 ff 37 bra . + 0xFFFFFFB0 - -00001310 <_xCoRoutineRemoveFromEventList>: - 1310: 88 9f be mov.d w8, [w15++] - 1312: 90 00 78 mov.w [w0], w1 - 1314: 01 00 e0 cp0.w w1 - 1316: 12 00 32 bra Z, . + 0x26 - 1318: 40 00 90 mov.w [w0+8], w0 - 131a: c0 04 90 mov.w [w0+8], w9 - -0000131c <.L79>: - 131c: 6e 84 44 add.w w9, #0xe, w8 - 131e: 08 00 78 mov.w w8, w0 - 1320: 80 fa 07 rcall . + 0xFFFFF502 - 1322: 88 00 78 mov.w w8, w1 - 1324: 00 d8 20 mov.w #0xd80, w0 - 1326: 4b fa 07 rcall . + 0xFFFFF498 - 1328: 00 01 eb clr.w w2 - 132a: d9 08 90 mov.w [w9+26], w1 - 132c: e0 6d 80 mov.w 0xdbc, w0 - 132e: 50 08 90 mov.w [w0+26], w0 - 1330: 80 8f 50 sub.w w1, w0, [w15] - 1332: 01 00 39 bra NC, . + 0x4 - 1334: 12 00 20 mov.w #0x1, w2 - -00001336 <.L80>: - 1336: 02 00 78 mov.w w2, w0 - 1338: 4f 04 be mov.d [--w15], w8 - 133a: 00 00 06 return - -0000133c <.L83>: - 133c: 81 04 78 mov.w w1, w9 - 133e: ee ff 37 bra . + 0xFFFFFFDE - -00001340 <_pxPortInitialiseStack>: - 1340: 01 08 78 mov.w w1, [w0] - 1342: 80 00 eb clr.w w1 - 1344: 11 00 98 mov.w w1, [w0+2] - 1346: 21 00 98 mov.w w1, [w0+4] - 1348: 32 00 98 mov.w w2, [w0+6] - 134a: e8 00 40 add.w w0, #0x8, w1 - 134c: 60 a5 29 mov.w #0x9a56, w0 - 134e: c2 a8 29 mov.w #0x9a8c, w2 - -00001350 <.L2>: - 1350: b0 18 78 mov.w [w0++], [w1++] - 1352: 80 0f 51 sub.w w2, w0, [w15] - 1354: fd ff 3a bra NZ, . + 0xFFFFFFFC - 1356: 20 02 80 mov.w 0x44, w0 - 1358: 80 08 78 mov.w w0, [w1] - 135a: 34 c0 bf mov.b 0x34, WREG - 135c: 00 80 fb ze w0, w0 - 135e: 90 00 98 mov.w w0, [w1+2] - 1360: 00 00 eb clr.w w0 - 1362: a0 00 98 mov.w w0, [w1+4] - 1364: 66 80 40 add.w w1, #0x6, w0 - 1366: 00 00 06 return - -00001368 <_xPortStartScheduler>: - 1368: 00 00 eb clr.w w0 - 136a: 20 08 88 mov.w w0, 0x104 - 136c: 00 08 88 mov.w w0, 0x100 - 136e: c0 12 20 mov.w #0x12c, w0 - 1370: 10 08 88 mov.w w0, 0x102 - 1372: 95 c0 bf mov.b 0x95, WREG - 1374: f1 c8 b3 mov.b #0x8f, w1 - 1376: 01 40 60 and.b w0, w1, w0 - 1378: 00 44 a0 bset.b w0, #0x4 - 137a: 95 e0 b7 mov.b WREG, 0x95 - 137c: 84 60 a9 bclr.b 0x84, #0x3 - 137e: 8c 60 a8 bset.b 0x8c, #0x3 - 1380: 04 c1 bf mov.b 0x104, WREG - 1382: f1 cc b3 mov.b #0xcf, w1 - 1384: 01 40 60 and.b w0, w1, w0 - 1386: 00 44 a0 bset.b w0, #0x4 - 1388: 04 e1 b7 mov.b WREG, 0x104 - 138a: 05 e1 a8 bset.b 0x105, #0x7 - 138c: d0 6d 80 mov.w 0xdba, w0 - 138e: 90 07 78 mov.w [w0], w15 - 1390: 4f 00 78 mov.w [--w15], w0 - 1392: f0 6d 88 mov.w w0, 0xdbe - 1394: 34 00 f9 pop 0x34 - 1396: 44 00 f9 pop 0x44 - 1398: 40 00 f9 pop 0x40 - 139a: 3e 00 f9 pop 0x3e - 139c: 3c 00 f9 pop 0x3c - 139e: 3a 00 f9 pop 0x3a - 13a0: 38 00 f9 pop 0x38 - 13a2: 2c 00 f9 pop 0x2c - 13a4: 2a 00 f9 pop 0x2a - 13a6: 28 00 f9 pop 0x28 - 13a8: 26 00 f9 pop 0x26 - 13aa: 24 00 f9 pop 0x24 - 13ac: 22 00 f9 pop 0x22 - 13ae: 32 00 f9 pop 0x32 - 13b0: 36 00 f9 pop 0x36 - 13b2: 4f 07 78 mov.w [--w15], w14 - 13b4: 4f 06 be mov.d [--w15], w12 - 13b6: 4f 05 be mov.d [--w15], w10 - 13b8: 4f 04 be mov.d [--w15], w8 - 13ba: 4f 03 be mov.d [--w15], w6 - 13bc: 4f 02 be mov.d [--w15], w4 - 13be: 4f 01 be mov.d [--w15], w2 - 13c0: 4f 00 be mov.d [--w15], w0 - 13c2: 42 00 f9 pop 0x42 - 13c4: 00 00 06 return - 13c6: 10 00 05 retlw.w #0x1, w0 - -000013c8 <_vPortEndScheduler>: - 13c8: 00 00 06 return - -000013ca <_vPortYield>: - 13ca: 42 00 f8 push 0x42 - 13cc: 80 1f 78 mov.w w0, [w15++] - 13ce: 00 02 20 mov.w #0x20, w0 - 13d0: 10 02 88 mov.w w0, 0x42 - 13d2: 81 1f 78 mov.w w1, [w15++] - 13d4: 82 9f be mov.d w2, [w15++] - 13d6: 84 9f be mov.d w4, [w15++] - 13d8: 86 9f be mov.d w6, [w15++] - 13da: 88 9f be mov.d w8, [w15++] - 13dc: 8a 9f be mov.d w10, [w15++] - 13de: 8c 9f be mov.d w12, [w15++] - 13e0: 8e 1f 78 mov.w w14, [w15++] - 13e2: 36 00 f8 push 0x36 - 13e4: 32 00 f8 push 0x32 - 13e6: 22 00 f8 push 0x22 - 13e8: 24 00 f8 push 0x24 - 13ea: 26 00 f8 push 0x26 - 13ec: 28 00 f8 push 0x28 - 13ee: 2a 00 f8 push 0x2a - 13f0: 2c 00 f8 push 0x2c - 13f2: 38 00 f8 push 0x38 - 13f4: 3a 00 f8 push 0x3a - 13f6: 3c 00 f8 push 0x3c - 13f8: 3e 00 f8 push 0x3e - 13fa: 40 00 f8 push 0x40 - 13fc: 44 00 f8 push 0x44 - 13fe: 34 00 f8 push 0x34 - 1400: f0 6d 80 mov.w 0xdbe, w0 - 1402: 80 1f 78 mov.w w0, [w15++] - 1404: d0 6d 80 mov.w 0xdba, w0 - 1406: 0f 08 78 mov.w w15, [w0] - 1408: 14 fd 07 rcall . + 0xFFFFFA2A - 140a: d0 6d 80 mov.w 0xdba, w0 - 140c: 90 07 78 mov.w [w0], w15 - 140e: 4f 00 78 mov.w [--w15], w0 - 1410: f0 6d 88 mov.w w0, 0xdbe - 1412: 34 00 f9 pop 0x34 - 1414: 44 00 f9 pop 0x44 - 1416: 40 00 f9 pop 0x40 - 1418: 3e 00 f9 pop 0x3e - 141a: 3c 00 f9 pop 0x3c - 141c: 3a 00 f9 pop 0x3a - 141e: 38 00 f9 pop 0x38 - 1420: 2c 00 f9 pop 0x2c - 1422: 2a 00 f9 pop 0x2a - 1424: 28 00 f9 pop 0x28 - 1426: 26 00 f9 pop 0x26 - 1428: 24 00 f9 pop 0x24 - 142a: 22 00 f9 pop 0x22 - 142c: 32 00 f9 pop 0x32 - 142e: 36 00 f9 pop 0x36 - 1430: 4f 07 78 mov.w [--w15], w14 - 1432: 4f 06 be mov.d [--w15], w12 - 1434: 4f 05 be mov.d [--w15], w10 - 1436: 4f 04 be mov.d [--w15], w8 - 1438: 4f 03 be mov.d [--w15], w6 - 143a: 4f 02 be mov.d [--w15], w4 - 143c: 4f 01 be mov.d [--w15], w2 - 143e: 4f 00 be mov.d [--w15], w0 - 1440: 42 00 f9 pop 0x42 - 1442: 00 00 06 return - -00001444 <_vPortEnterCritical>: - 1444: 42 a0 a8 bset.b 0x42, #0x5 - 1446: be 2d ec inc.w 0xdbe - 1448: 00 00 06 return - -0000144a <_vPortExitCritical>: - 144a: be 0d ed dec.w 0xdbe, WREG - 144c: f0 6d 88 mov.w w0, 0xdbe - 144e: 01 00 3a bra NZ, . + 0x4 - 1450: 42 a0 a9 bclr.b 0x42, #0x5 - -00001452 <.L28>: - 1452: 00 00 06 return - -00001454 <__T1Interrupt>: - 1454: 36 00 f8 push 0x36 - 1456: 80 9f be mov.d w0, [w15++] - 1458: 82 9f be mov.d w2, [w15++] - 145a: 84 9f be mov.d w4, [w15++] - 145c: 86 9f be mov.d w6, [w15++] - 145e: 34 00 f8 push 0x34 - 1460: 00 c0 b3 mov.b #0x0, w0 - 1462: a0 01 88 mov.w w0, 0x34 - 1464: fb fb 07 rcall . + 0xFFFFF7F8 - 1466: 84 60 a9 bclr.b 0x84, #0x3 - 1468: b0 ff 07 rcall . + 0xFFFFFF62 - 146a: 00 00 00 nop - 146c: 34 00 f9 pop 0x34 - 146e: 4f 03 be mov.d [--w15], w6 - 1470: 4f 02 be mov.d [--w15], w4 - 1472: 4f 01 be mov.d [--w15], w2 - 1474: 4f 00 be mov.d [--w15], w0 - 1476: 36 00 f9 pop 0x36 - 1478: 00 40 06 retfie - -0000147a <_pvPortMalloc>: - 147a: 88 1f 78 mov.w w8, [w15++] - 147c: 00 04 78 mov.w w0, w8 - 147e: 00 08 a3 btst.z w0, #0x0 - 1480: 02 00 32 bra Z, . + 0x6 - 1482: 00 00 a1 bclr.w w0, #0x0 - 1484: 00 84 e8 inc2.w w0, w8 - -00001486 <.L2>: - 1486: e4 fb 07 rcall . + 0xFFFFF7CA - 1488: 02 40 80 mov.w 0x800, w2 - 148a: 82 00 44 add.w w8, w2, w1 - 148c: f0 4f 20 mov.w #0x4ff, w0 - 148e: 80 8f 50 sub.w w1, w0, [w15] - 1490: 05 00 36 bra LEU, . + 0xC - -00001492 <.L4>: - 1492: 00 04 eb clr.w w8 - 1494: 38 fc 07 rcall . + 0xFFFFF872 - 1496: 08 00 78 mov.w w8, w0 - 1498: 4f 04 78 mov.w [--w15], w8 - 149a: 00 00 06 return - -0000149c <.L10>: - 149c: 81 0f 51 sub.w w2, w1, [w15] - 149e: f9 ff 31 bra C, . + 0xFFFFFFF4 - 14a0: 60 80 20 mov.w #0x806, w0 - 14a2: 00 04 41 add.w w2, w0, w8 - 14a4: 01 40 88 mov.w w1, 0x800 - 14a6: 2f fc 07 rcall . + 0xFFFFF860 - 14a8: 08 00 78 mov.w w8, w0 - 14aa: 4f 04 78 mov.w [--w15], w8 - 14ac: 00 00 06 return - 14ae: f6 ff 37 bra . + 0xFFFFFFEE - -000014b0 <_vPortFree>: - 14b0: 00 00 06 return - -000014b2 <_vPortInitialiseBlocks>: - 14b2: 00 28 ef clr.w 0x800 - 14b4: 00 00 06 return - -000014b6 <_canOpenChannel>: - 14b6: 80 80 eb setm.w w1 - 14b8: 00 00 e0 cp0.w w0 - 14ba: 29 00 3a bra NZ, . + 0x54 - 14bc: f0 8f 2f mov.w #0xf8ff, w0 - 14be: 90 23 b6 and.w 0x390 - 14c0: 91 43 a8 bset.b 0x391, #0x2 - 14c2: 01 08 20 mov.w #0x80, w1 - -000014c4 <.L5>: - 14c4: 80 1c 80 mov.w 0x390, w0 - 14c6: 00 0e b2 and.w #0xe0, w0 - 14c8: 81 0f 50 sub.w w0, w1, [w15] - 14ca: fc ff 3a bra NZ, . + 0xFFFFFFFA - 14cc: 92 23 ef clr.w 0x392 - 14ce: 50 08 20 mov.w #0x85, w0 - 14d0: a0 1c 88 mov.w w0, 0x394 - 14d2: 00 80 22 mov.w #0x2800, w0 - 14d4: 90 23 b7 ior.w 0x390 - 14d6: c2 ff 21 mov.w #0x1ffc, w2 - 14d8: 82 19 88 mov.w w2, 0x330 - 14da: f1 ff 20 mov.w #0xfff, w1 - 14dc: 91 19 88 mov.w w1, 0x332 - 14de: 00 c0 2f mov.w #0xfc00, w0 - 14e0: a0 19 88 mov.w w0, 0x334 - 14e2: c2 19 88 mov.w w2, 0x338 - 14e4: d1 19 88 mov.w w1, 0x33a - 14e6: e0 19 88 mov.w w0, 0x33c - 14e8: 02 18 88 mov.w w2, 0x300 - 14ea: 11 18 88 mov.w w1, 0x302 - 14ec: 20 18 88 mov.w w0, 0x304 - 14ee: 42 18 88 mov.w w2, 0x308 - 14f0: 51 18 88 mov.w w1, 0x30a - 14f2: 60 18 88 mov.w w0, 0x30c - 14f4: 82 18 88 mov.w w2, 0x310 - 14f6: 91 18 88 mov.w w1, 0x312 - 14f8: a0 18 88 mov.w w0, 0x314 - 14fa: c2 18 88 mov.w w2, 0x318 - 14fc: d1 18 88 mov.w w1, 0x31a - 14fe: e0 18 88 mov.w w0, 0x31c - 1500: 02 19 88 mov.w w2, 0x320 - 1502: 11 19 88 mov.w w1, 0x322 - 1504: 20 19 88 mov.w w0, 0x324 - 1506: 42 19 88 mov.w w2, 0x328 - 1508: 51 19 88 mov.w w1, 0x32a - 150a: 60 19 88 mov.w w0, 0x32c - 150c: 71 77 27 mov.w #0x7777, w1 - -0000150e <.L4>: - 150e: 01 00 78 mov.w w1, w0 - 1510: 00 00 06 return - -00001512 <_canSetBusParams>: - 1512: 02 00 fa lnk #0x2 - 1514: 88 1f 78 mov.w w8, [w15++] - 1516: 01 04 78 mov.w w1, w8 - 1518: e7 bf 9f mov.w w7, [w15-4] - 151a: e7 ff 2f mov.w #0xfffe, w7 - 151c: 71 77 27 mov.w #0x7777, w1 - 151e: 81 0f 50 sub.w w0, w1, [w15] - 1520: 04 00 32 bra Z, . + 0xA - -00001522 <.L15>: - 1522: 07 00 78 mov.w w7, w0 - 1524: 4f 04 78 mov.w [--w15], w8 - 1526: 00 80 fa ulnk - 1528: 00 00 06 return - -0000152a <.L31>: - 152a: e1 0f 51 sub.w w2, #0x1, [w15] - 152c: e0 8f 59 subb.w w3, #0x0, [w15] - 152e: 21 00 32 bra Z, . + 0x44 - 1530: 88 00 e9 dec.w w8, w1 - 1532: 04 02 e9 dec.w w4, w4 - 1534: 05 00 e9 dec.w w5, w0 - 1536: d7 ff 2f mov.w #0xfffd, w7 - 1538: e7 8f 50 sub.w w1, #0x7, [w15] - 153a: f3 ff 3e bra GTU, . + 0xFFFFFFE8 - 153c: c7 ff 2f mov.w #0xfffc, w7 - 153e: e7 0f 52 sub.w w4, #0x7, [w15] - 1540: f0 ff 3e bra GTU, . + 0xFFFFFFE2 - 1542: b7 ff 2f mov.w #0xfffb, w7 - 1544: e3 0f 50 sub.w w0, #0x3, [w15] - 1546: ed ff 3e bra GTU, . + 0xFFFFFFDC - 1548: e1 0f 53 sub.w w6, #0x1, [w15] - 154a: 26 00 3a bra NZ, . + 0x4E - -0000154c <.L25>: - 154c: 46 00 dd sl.w w0, #0x6, w0 - 154e: 00 0c b2 and.w #0xc0, w0 - 1550: 92 23 b7 ior.w 0x392 - 1552: 43 09 dd sl.w w1, #0x3, w2 - 1554: 82 03 b2 and.w #0x38, w2 - 1556: 48 20 dd sl.w w4, #0x8, w0 - 1558: 01 70 20 mov.w #0x700, w1 - 155a: 01 00 60 and.w w0, w1, w0 - 155c: 80 00 71 ior.w w2, w0, w1 - 155e: 45 30 dd sl.w w6, #0x5, w0 - 1560: 00 04 b2 and.w #0x40, w0 - 1562: 00 80 70 ior.w w1, w0, w0 - 1564: 94 23 b7 ior.w 0x394 - 1566: 80 03 eb clr.w w7 - -00001568 <.L34>: - 1568: 07 00 78 mov.w w7, w0 - 156a: 4f 04 78 mov.w [--w15], w8 - 156c: 00 80 fa ulnk - 156e: 00 00 06 return - 1570: dc ff 37 bra . + 0xFFFFFFBA - -00001572 <.L32>: - 1572: 16 00 20 mov.w #0x1, w6 - 1574: 86 00 78 mov.w w6, w1 - 1576: 24 00 20 mov.w #0x2, w4 - 1578: 06 00 78 mov.w w6, w0 - 157a: 46 00 dd sl.w w0, #0x6, w0 - 157c: 00 0c b2 and.w #0xc0, w0 - 157e: 92 23 b7 ior.w 0x392 - 1580: 43 09 dd sl.w w1, #0x3, w2 - 1582: 82 03 b2 and.w #0x38, w2 - 1584: 48 20 dd sl.w w4, #0x8, w0 - 1586: 01 70 20 mov.w #0x700, w1 - 1588: 01 00 60 and.w w0, w1, w0 - 158a: 80 00 71 ior.w w2, w0, w1 - 158c: 45 30 dd sl.w w6, #0x5, w0 - 158e: 00 04 b2 and.w #0x40, w0 - 1590: 00 80 70 ior.w w1, w0, w0 - 1592: 94 23 b7 ior.w 0x394 - 1594: 80 03 eb clr.w w7 - 1596: e8 ff 37 bra . + 0xFFFFFFD2 - -00001598 <.L33>: - 1598: a7 ff 2f mov.w #0xfffa, w7 - 159a: e3 0f 53 sub.w w6, #0x3, [w15] - 159c: d7 ff 32 bra Z, . + 0xFFFFFFB0 - 159e: 07 00 78 mov.w w7, w0 - 15a0: 4f 04 78 mov.w [--w15], w8 - 15a2: 00 80 fa ulnk - 15a4: 00 00 06 return - 15a6: c1 ff 37 bra . + 0xFFFFFF84 - -000015a8 <_canBusOn>: - 15a8: 00 81 eb setm.w w2 - 15aa: 71 77 27 mov.w #0x7777, w1 - 15ac: 81 0f 50 sub.w w0, w1, [w15] - 15ae: 02 00 32 bra Z, . + 0x6 - 15b0: 02 00 78 mov.w w2, w0 - 15b2: 00 00 06 return - -000015b4 <.L47>: - 15b4: f0 8f 2f mov.w #0xf8ff, w0 - 15b6: 90 23 b6 and.w 0x390 - -000015b8 <.L41>: - 15b8: 80 1c 80 mov.w 0x390, w0 - 15ba: 00 0e b2 and.w #0xe0, w0 - 15bc: fd ff 3a bra NZ, . + 0xFFFFFFFC - 15be: 00 00 78 mov.w w0, w0 - 15c0: 00 00 06 return - 15c2: f8 ff 37 bra . + 0xFFFFFFF2 - -000015c4 <_canBusOff>: - 15c4: 00 81 eb setm.w w2 - 15c6: 71 77 27 mov.w #0x7777, w1 - 15c8: 81 0f 50 sub.w w0, w1, [w15] - 15ca: 02 00 32 bra Z, . + 0x6 - 15cc: 02 00 78 mov.w w2, w0 - 15ce: 00 00 06 return - -000015d0 <.L60>: - 15d0: f0 8f 2f mov.w #0xf8ff, w0 - 15d2: 90 23 b6 and.w 0x390 - 15d4: 91 03 a8 bset.b 0x391, #0x0 - 15d6: 01 02 20 mov.w #0x20, w1 - -000015d8 <.L54>: - 15d8: 80 1c 80 mov.w 0x390, w0 - 15da: 00 0e b2 and.w #0xe0, w0 - 15dc: 81 0f 50 sub.w w0, w1, [w15] - 15de: fc ff 3a bra NZ, . + 0xFFFFFFFA - 15e0: 00 00 20 mov.w #0x0, w0 - 15e2: 00 00 06 return - 15e4: f5 ff 37 bra . + 0xFFFFFFEC - -000015e6 <_canAccept>: - 15e6: 01 02 78 mov.w w1, w4 - 15e8: 71 77 27 mov.w #0x7777, w1 - 15ea: 81 0f 50 sub.w w0, w1, [w15] - 15ec: 02 00 32 bra Z, . + 0x6 - -000015ee <.L64>: - 15ee: 00 80 eb setm.w w0 - 15f0: 00 00 06 return - -000015f2 <.L74>: - 15f2: e4 0f 52 sub.w w4, #0x4, [w15] - 15f4: 26 00 32 bra Z, . + 0x4E - 15f6: 0c 00 3e bra GTU, . + 0x1A - 15f8: e3 0f 52 sub.w w4, #0x3, [w15] - 15fa: f9 ff 3a bra NZ, . + 0xFFFFFFF4 - 15fc: 30 00 2e mov.w #0xe003, w0 - 15fe: 00 23 b6 and.w 0x300 - 1600: 42 18 dd sl.w w3, #0x2, w0 - 1602: ce 11 de lsr.w w2, #0xe, w3 - 1604: 83 01 70 ior.w w0, w3, w3 - 1606: 42 11 dd sl.w w2, #0x2, w2 - 1608: c0 ff 21 mov.w #0x1ffc, w0 - 160a: 00 00 61 and.w w2, w0, w0 - 160c: 00 23 b7 ior.w 0x300 - 160e: 00 00 05 retlw.w #0x0, w0 - -00001610 <.L70>: - 1610: e5 0f 52 sub.w w4, #0x5, [w15] - 1612: 21 00 32 bra Z, . + 0x44 - 1614: e6 0f 52 sub.w w4, #0x6, [w15] - 1616: eb ff 3a bra NZ, . + 0xFFFFFFD8 - 1618: 30 00 2e mov.w #0xe003, w0 - 161a: 30 23 b6 and.w 0x330 - 161c: 40 9a de asr.w w3, #0x0, w4 - 161e: cf a2 de asr.w w4, #0xf, w5 - 1620: c0 ff 21 mov.w #0x1ffc, w0 - 1622: 00 00 62 and.w w4, w0, w0 - 1624: 30 23 b7 ior.w 0x330 - 1626: 00 00 2f mov.w #0xf000, w0 - 1628: 32 23 b6 and.w 0x332 - 162a: c6 9a de asr.w w3, #0x6, w5 - 162c: 4a 18 dd sl.w w3, #0xa, w0 - 162e: 46 12 de lsr.w w2, #0x6, w4 - 1630: 04 02 70 ior.w w0, w4, w4 - 1632: f0 ff 20 mov.w #0xfff, w0 - 1634: 00 00 62 and.w w4, w0, w0 - 1636: 32 23 b7 ior.w 0x332 - 1638: f0 3f 20 mov.w #0x3ff, w0 - 163a: 34 23 b6 and.w 0x334 - 163c: 4a 10 dd sl.w w2, #0xa, w0 - 163e: 34 23 b7 ior.w 0x334 - 1640: 00 00 05 retlw.w #0x0, w0 - -00001642 <.L67>: - 1642: 30 00 2e mov.w #0xe003, w0 - 1644: 30 23 b6 and.w 0x330 - 1646: 42 18 dd sl.w w3, #0x2, w0 - 1648: ce 11 de lsr.w w2, #0xe, w3 - 164a: 83 01 70 ior.w w0, w3, w3 - 164c: 42 11 dd sl.w w2, #0x2, w2 - 164e: c0 ff 21 mov.w #0x1ffc, w0 - 1650: 00 00 61 and.w w2, w0, w0 - 1652: 30 23 b7 ior.w 0x330 - 1654: 00 00 05 retlw.w #0x0, w0 - -00001656 <.L68>: - 1656: 30 00 2e mov.w #0xe003, w0 - 1658: 00 23 b6 and.w 0x300 - 165a: 40 9a de asr.w w3, #0x0, w4 - 165c: cf a2 de asr.w w4, #0xf, w5 - 165e: c0 ff 21 mov.w #0x1ffc, w0 - 1660: 00 00 62 and.w w4, w0, w0 - 1662: 00 23 b7 ior.w 0x300 - 1664: 00 00 2f mov.w #0xf000, w0 - 1666: 02 23 b6 and.w 0x302 - 1668: c6 9a de asr.w w3, #0x6, w5 - 166a: 4a 18 dd sl.w w3, #0xa, w0 - 166c: 46 12 de lsr.w w2, #0x6, w4 - 166e: 04 02 70 ior.w w0, w4, w4 - 1670: f0 ff 20 mov.w #0xfff, w0 - 1672: 00 00 62 and.w w4, w0, w0 - 1674: 02 23 b7 ior.w 0x302 - 1676: f0 3f 20 mov.w #0x3ff, w0 - 1678: 04 23 b6 and.w 0x304 - 167a: 4a 10 dd sl.w w2, #0xa, w0 - 167c: 04 23 b7 ior.w 0x304 - 167e: 00 00 05 retlw.w #0x0, w0 - -00001680 <_canRead>: - 1680: 88 9f be mov.d w8, [w15++] - 1682: 01 04 78 mov.w w1, w8 - 1684: 82 03 78 mov.w w2, w7 - 1686: 83 04 78 mov.w w3, w9 - 1688: 71 77 27 mov.w #0x7777, w1 - 168a: 81 0f 50 sub.w w0, w1, [w15] - 168c: 03 00 32 bra Z, . + 0x8 - -0000168e <.L77>: - 168e: 00 80 eb setm.w w0 - 1690: 4f 04 be mov.d [--w15], w8 - 1692: 00 00 06 return - -00001694 <.L92>: - 1694: 8e e3 ab btst.b 0x38e, #0x7 - 1696: fb ff 32 bra Z, . + 0xFFFFFFF8 - 1698: 80 03 ab btst.b 0x380, #0x0 - 169a: 26 00 3a bra NZ, . + 0x4E - 169c: 20 00 20 mov.w #0x2, w0 - 169e: 00 0a 78 mov.w w0, [w4] - 16a0: 00 1c 80 mov.w 0x380, w0 - 16a2: 43 00 dd sl.w w0, #0x3, w0 - 16a4: 45 00 de lsr.w w0, #0x5, w0 - 16a6: 01 00 20 mov.w #0x0, w1 - 16a8: 00 8c be mov.d w0, [w8] - -000016aa <.L82>: - 16aa: 20 1c 80 mov.w 0x384, w0 - 16ac: 6f 00 60 and.w w0, #0xf, w0 - 16ae: 80 0c 78 mov.w w0, [w9] - 16b0: e4 0f 50 sub.w w0, #0x4, [w15] - 16b2: 0a 00 3e bra GTU, . + 0x16 - 16b4: e3 0f 50 sub.w w0, #0x3, [w15] - 16b6: 10 00 31 bra C, . + 0x22 - 16b8: e1 0f 50 sub.w w0, #0x1, [w15] - 16ba: 10 00 31 bra C, . + 0x22 - -000016bc <.L83>: - 16bc: 8e e3 a9 bclr.b 0x38e, #0x7 - 16be: 70 1c 80 mov.w 0x38e, w0 - 16c0: 00 00 eb clr.w w0 - -000016c2 <.L93>: - 16c2: 4f 04 be mov.d [--w15], w8 - 16c4: 00 00 06 return - 16c6: e6 ff 37 bra . + 0xFFFFFFCE - -000016c8 <.L88>: - 16c8: e6 0f 50 sub.w w0, #0x6, [w15] - 16ca: 04 00 36 bra LEU, . + 0xA - 16cc: e8 0f 50 sub.w w0, #0x8, [w15] - 16ce: f6 ff 3e bra GTU, . + 0xFFFFFFEE - 16d0: 60 1c 80 mov.w 0x38c, w0 - 16d2: b0 03 98 mov.w w0, [w7+6] - -000016d4 <.L86>: - 16d4: 55 1c 80 mov.w 0x38a, w5 - 16d6: a5 03 98 mov.w w5, [w7+4] - -000016d8 <.L85>: - 16d8: 40 1c 80 mov.w 0x388, w0 - 16da: 90 03 98 mov.w w0, [w7+2] - -000016dc <.L84>: - 16dc: 35 1c 80 mov.w 0x386, w5 - 16de: 85 0b 78 mov.w w5, [w7] - 16e0: 8e e3 a9 bclr.b 0x38e, #0x7 - 16e2: 70 1c 80 mov.w 0x38e, w0 - 16e4: 00 00 eb clr.w w0 - 16e6: ed ff 37 bra . + 0xFFFFFFDC - -000016e8 <.L80>: - 16e8: 40 00 20 mov.w #0x4, w0 - 16ea: 00 0a 78 mov.w w0, [w4] - 16ec: 02 1c 80 mov.w 0x380, w2 - 16ee: 10 1c 80 mov.w 0x382, w0 - 16f0: 24 1c 80 mov.w 0x384, w4 - 16f2: c6 ff 21 mov.w #0x1ffc, w6 - 16f4: 06 01 61 and.w w2, w6, w2 - 16f6: 03 00 20 mov.w #0x0, w3 - 16f8: c0 11 dd sl.w w2, #0x0, w3 - 16fa: 02 00 20 mov.w #0x0, w2 - 16fc: f6 ff 20 mov.w #0xfff, w6 - 16fe: 06 00 60 and.w w0, w6, w0 - 1700: 01 00 20 mov.w #0x0, w1 - 1702: c6 0a dd sl.w w1, #0x6, w5 - 1704: ca 00 de lsr.w w0, #0xa, w1 - 1706: 81 80 72 ior.w w5, w1, w1 - 1708: 46 00 dd sl.w w0, #0x6, w0 - 170a: 00 01 71 ior.w w2, w0, w2 - 170c: 81 81 71 ior.w w3, w1, w3 - 170e: 4a 22 de lsr.w w4, #0xa, w4 - 1710: 05 00 20 mov.w #0x0, w5 - 1712: 04 1c 71 ior.w w2, w4, [w8++] - 1714: 05 94 71 ior.w w3, w5, [w8--] - 1716: c9 ff 37 bra . + 0xFFFFFF94 - -00001718 <_canWrite>: - 1718: 88 9f be mov.d w8, [w15++] - 171a: 02 03 be mov.d w2, w6 - 171c: 81 04 78 mov.w w1, w9 - 171e: 04 04 78 mov.w w4, w8 - 1720: 71 77 27 mov.w #0x7777, w1 - 1722: 81 0f 50 sub.w w0, w1, [w15] - 1724: 03 00 32 bra Z, . + 0x8 - -00001726 <.L97>: - 1726: 00 80 eb setm.w w0 - 1728: 4f 04 be mov.d [--w15], w8 - 172a: 00 00 06 return - -0000172c <.L117>: - 172c: 6e c3 bf mov.b 0x36e, WREG - 172e: 00 38 a3 btst.z w0, #0x3 - 1730: fa ff 3a bra NZ, . + 0xFFFFFFF6 - 1732: e8 0f 52 sub.w w4, #0x8, [w15] - 1734: f8 ff 3e bra GTU, . + 0xFFFFFFF2 - 1736: e2 8f 52 sub.w w5, #0x2, [w15] - 1738: 40 00 32 bra Z, . + 0x82 - 173a: e4 8f 52 sub.w w5, #0x4, [w15] - 173c: f4 ff 3a bra NZ, . + 0xFFFFFFEA - 173e: 43 20 dd sl.w w4, #0x3, w0 - 1740: 80 07 b2 and.w #0x78, w0 - 1742: ca 30 dd sl.w w6, #0xa, w1 - 1744: 01 00 70 ior.w w0, w1, w0 - 1746: 20 1b 88 mov.w w0, 0x364 - 1748: 4a 38 dd sl.w w7, #0xa, w0 - 174a: 46 31 de lsr.w w6, #0x6, w2 - 174c: 02 01 70 ior.w w0, w2, w2 - 174e: c6 b9 de asr.w w7, #0x6, w3 - 1750: f2 0f b2 and.w #0xff, w2 - 1752: ce 39 dd sl.w w7, #0xe, w3 - 1754: 42 30 de lsr.w w6, #0x2, w0 - 1756: 00 80 71 ior.w w3, w0, w0 - 1758: c2 b8 de asr.w w7, #0x2, w1 - 175a: 04 00 2f mov.w #0xf000, w4 - 175c: 04 00 60 and.w w0, w4, w0 - 175e: 00 01 71 ior.w w2, w0, w2 - 1760: 12 1b 88 mov.w w2, 0x362 - 1762: 40 b8 de asr.w w7, #0x0, w0 - 1764: cf 80 de asr.w w0, #0xf, w1 - 1766: c0 0f b2 and.w #0xfc, w0 - 1768: c3 38 dd sl.w w7, #0x3, w1 - 176a: 4d 31 de lsr.w w6, #0xd, w2 - 176c: 02 81 70 ior.w w1, w2, w2 - 176e: cd b9 de asr.w w7, #0xd, w3 - 1770: 04 80 2f mov.w #0xf800, w4 - 1772: 04 01 61 and.w w2, w4, w2 - 1774: 02 00 70 ior.w w0, w2, w0 - 1776: 00 00 a0 bset.w w0, #0x0 - 1778: 00 1b 88 mov.w w0, 0x360 - -0000177a <.L103>: - 177a: e4 0f 54 sub.w w8, #0x4, [w15] - 177c: 11 00 3e bra GTU, . + 0x24 - 177e: e3 0f 54 sub.w w8, #0x3, [w15] - 1780: 17 00 31 bra C, . + 0x30 - 1782: e1 0f 54 sub.w w8, #0x1, [w15] - 1784: 17 00 31 bra C, . + 0x30 - -00001786 <.L104>: - 1786: 6e 63 a8 bset.b 0x36e, #0x3 - 1788: 80 00 eb clr.w w1 - 178a: 42 06 20 mov.w #0x64, w2 - -0000178c <.L110>: - 178c: 81 00 e8 inc.w w1, w1 - 178e: 6e c3 bf mov.b 0x36e, WREG - 1790: 00 38 a3 btst.z w0, #0x3 - 1792: 02 00 32 bra Z, . + 0x6 - 1794: 82 8f 50 sub.w w1, w2, [w15] - 1796: fa ff 3a bra NZ, . + 0xFFFFFFF6 - -00001798 <.L111>: - 1798: 00 00 eb clr.w w0 - 179a: 4f 04 be mov.d [--w15], w8 - 179c: 00 00 06 return - 179e: c6 ff 37 bra . + 0xFFFFFF8E - -000017a0 <.L109>: - 17a0: e6 0f 54 sub.w w8, #0x6, [w15] - 17a2: 04 00 36 bra LEU, . + 0xA - 17a4: e8 0f 54 sub.w w8, #0x8, [w15] - 17a6: ef ff 3e bra GTU, . + 0xFFFFFFE0 - 17a8: b9 01 90 mov.w [w9+6], w3 - 17aa: 63 1b 88 mov.w w3, 0x36c - -000017ac <.L107>: - 17ac: 29 00 90 mov.w [w9+4], w0 - 17ae: 50 1b 88 mov.w w0, 0x36a - -000017b0 <.L106>: - 17b0: 99 00 90 mov.w [w9+2], w1 - 17b2: 41 1b 88 mov.w w1, 0x368 - -000017b4 <.L105>: - 17b4: 99 04 78 mov.w [w9], w9 - 17b6: 39 1b 88 mov.w w9, 0x366 - 17b8: e6 ff 37 bra . + 0xFFFFFFCE - -000017ba <.L101>: - 17ba: 42 39 dd sl.w w7, #0x2, w2 - 17bc: ce 31 de lsr.w w6, #0xe, w3 - 17be: 83 01 71 ior.w w2, w3, w3 - 17c0: 42 31 dd sl.w w6, #0x2, w2 - 17c2: c2 0f b2 and.w #0xfc, w2 - 17c4: 45 38 dd sl.w w7, #0x5, w0 - 17c6: cb 30 de lsr.w w6, #0xb, w1 - 17c8: 81 00 70 ior.w w0, w1, w1 - 17ca: 45 30 dd sl.w w6, #0x5, w0 - 17cc: 04 80 2f mov.w #0xf800, w4 - 17ce: 04 00 60 and.w w0, w4, w0 - 17d0: 00 01 71 ior.w w2, w0, w2 - 17d2: 02 1b 88 mov.w w2, 0x360 - 17d4: 43 40 dd sl.w w8, #0x3, w0 - 17d6: 80 07 b2 and.w #0x78, w0 - 17d8: 20 1b 88 mov.w w0, 0x364 - 17da: cf ff 37 bra . + 0xFFFFFFA0 - -000017dc <_aic_on>: - 17dc: a7 00 07 rcall . + 0x150 - 17de: 92 00 37 bra . + 0x126 - -000017e0 <_aic_off>: - 17e0: 60 00 b8 mul.uu w0, #0x0, w0 - 17e2: a6 00 07 rcall . + 0x14E - 17e4: 15 00 07 rcall . + 0x2C - 17e6: a3 00 07 rcall . + 0x148 - 17e8: 8d 00 37 bra . + 0x11C - -000017ea <_aic_initialize>: - 17ea: 88 9f be mov.d w8, [w15++] - 17ec: 8a 9f be mov.d w10, [w15++] - 17ee: 00 04 be mov.d w0, w8 - 17f0: 06 05 be mov.d w6, w10 - 17f2: 90 00 07 rcall . + 0x122 - 17f4: 0a 01 be mov.d w10, w2 - 17f6: 08 00 be mov.d w8, w0 - 17f8: 29 00 07 rcall . + 0x54 - 17fa: 08 00 be mov.d w8, w0 - 17fc: 06 00 07 rcall . + 0xE - 17fe: 08 00 be mov.d w8, w0 - 1800: 1b 00 07 rcall . + 0x38 - 1802: 4f 05 be mov.d [--w15], w10 - 1804: 4f 04 be mov.d [--w15], w8 - 1806: 00 00 06 return - -00001808 <_aic_finalize>: - 1808: eb ff 37 bra . + 0xFFFFFFD8 - -0000180a <_brake_initialize>: - 180a: ca 42 a8 bset.b 0x2ca, #0x2 - 180c: c6 42 a9 bclr.b 0x2c6, #0x2 - 180e: 00 00 06 return - -00001810 <_brake_apply>: - 1810: ca 42 a8 bset.b 0x2ca, #0x2 - 1812: 00 00 06 return - -00001814 <_brake_release>: - 1814: ca 42 a9 bclr.b 0x2ca, #0x2 - 1816: 00 00 06 return - -00001818 <__QEIInterrupt>: - 1818: 34 00 f8 push 0x34 - 181a: 88 1f 78 mov.w w8, [w15++] - 181c: 08 c0 b3 mov.b #0x0, w8 - 181e: a8 01 88 mov.w w8, 0x34 - 1820: 4f 04 78 mov.w [--w15], w8 - 1822: 23 61 ab btst.b 0x123, #0x3 - 1824: 04 00 32 bra Z, . + 0xA - 1826: b0 2d ec inc.w 0xdb0 - 1828: 89 00 a9 bclr.b 0x89, #0x0 - 182a: 34 00 f9 pop 0x34 - 182c: 00 40 06 retfie - -0000182e <.L2>: - 182e: b0 2d ed dec.w 0xdb0 - 1830: 89 00 a9 bclr.b 0x89, #0x0 - 1832: 34 00 f9 pop 0x34 - 1834: 00 40 06 retfie - 1836: fb ff 37 bra . + 0xFFFFFFF8 - -00001838 <_index_initialize>: - 1838: a8 62 a8 bset.b 0x2a8, #0x3 - 183a: 00 00 06 return - -0000183c <_index_finalize>: - 183c: a8 62 a9 bclr.b 0x2a8, #0x3 - 183e: 00 00 06 return - -00001840 <_index_read>: - 1840: 23 c1 bf mov.b 0x123, WREG - 1842: 44 00 de lsr.w w0, #0x4, w0 - 1844: 61 00 60 and.w w0, #0x1, w0 - 1846: 00 80 fb ze w0, w0 - 1848: 01 00 20 mov.w #0x0, w1 - 184a: 00 00 06 return - -0000184c <_encoder_initialize>: - 184c: 92 6d 88 mov.w w2, 0xdb2 - 184e: a3 6d 88 mov.w w3, 0xdb4 - 1850: ac 2d ef clr.w 0xdac - 1852: ae 2d ef clr.w 0xdae - 1854: b0 2d ef clr.w 0xdb0 - 1856: f0 ff 27 mov.w #0x7fff, w0 - 1858: 40 09 88 mov.w w0, 0x128 - 185a: 00 1a 20 mov.w #0x1a0, w0 - 185c: 20 09 88 mov.w w0, 0x124 - 185e: 00 70 20 mov.w #0x700, w0 - 1860: 10 09 88 mov.w w0, 0x122 - 1862: 00 03 20 mov.w #0x30, w0 - 1864: a8 22 b7 ior.w 0x2a8 - 1866: 89 00 a9 bclr.b 0x89, #0x0 - 1868: 91 00 a8 bset.b 0x91, #0x0 - 186a: 70 c0 b3 mov.b #0x7, w0 - 186c: a8 60 b7 ior.b 0xa8 - 186e: 00 00 06 return - -00001870 <_encoder_finalize>: - 1870: 60 00 b8 mul.uu w0, #0x0, w0 - 1872: 90 6d 88 mov.w w0, 0xdb2 - 1874: a1 6d 88 mov.w w1, 0xdb4 - 1876: 60 6d 88 mov.w w0, 0xdac - 1878: 71 6d 88 mov.w w1, 0xdae - 187a: f0 fc 2f mov.w #0xffcf, w0 - 187c: a8 22 b6 and.w 0x2a8 - 187e: 00 00 06 return - -00001880 <_encoder_get_count>: - 1880: 80 6d 80 mov.w 0xdb0, w0 - 1882: 31 09 80 mov.w 0x126, w1 - 1884: 82 6d 80 mov.w 0xdb0, w2 - 1886: 80 0f 51 sub.w w2, w0, [w15] - 1888: fb ff 3a bra NZ, . + 0xFFFFFFF8 - 188a: 61 0a b8 mul.uu w1, #0x1, w4 - 188c: 04 00 42 add.w w4, w4, w0 - 188e: 85 80 4a addc.w w5, w5, w1 - 1890: cf 91 de asr.w w2, #0xf, w3 - 1892: c0 11 dd sl.w w2, #0x0, w3 - 1894: 02 00 20 mov.w #0x0, w2 - 1896: 02 00 70 ior.w w0, w2, w0 - 1898: 83 80 70 ior.w w1, w3, w1 - 189a: 02 02 72 ior.w w4, w2, w4 - 189c: 83 82 72 ior.w w5, w3, w5 - 189e: 44 6d 88 mov.w w4, 0xda8 - 18a0: 55 6d 88 mov.w w5, 0xdaa - 18a2: 81 80 d1 asr.w w1, w1 - 18a4: 00 80 d3 rrc.w w0, w0 - 18a6: 62 6d 80 mov.w 0xdac, w2 - 18a8: 73 6d 80 mov.w 0xdae, w3 - 18aa: 02 00 50 sub.w w0, w2, w0 - 18ac: 83 80 58 subb.w w1, w3, w1 - 18ae: 00 00 06 return - -000018b0 <_encoder_get_count_and_clear>: - 18b0: e7 ff 07 rcall . + 0xFFFFFFD0 - 18b2: 62 6d 80 mov.w 0xdac, w2 - 18b4: 73 6d 80 mov.w 0xdae, w3 - 18b6: 00 01 41 add.w w2, w0, w2 - 18b8: 81 81 49 addc.w w3, w1, w3 - 18ba: 62 6d 88 mov.w w2, 0xdac - 18bc: 73 6d 88 mov.w w3, 0xdae - 18be: 00 00 06 return - -000018c0 <_encoder_read>: - 18c0: 88 9f be mov.d w8, [w15++] - 18c2: de ff 07 rcall . + 0xFFFFFFBE - 18c4: aa f4 07 rcall . + 0xFFFFE956 - 18c6: 00 04 be mov.d w0, w8 - 18c8: 90 6d 80 mov.w 0xdb2, w0 - 18ca: a1 6d 80 mov.w 0xdb4, w1 - 18cc: a6 f4 07 rcall . + 0xFFFFE94E - 18ce: 00 01 be mov.d w0, w2 - 18d0: 08 00 be mov.d w8, w0 - 18d2: ce f4 07 rcall . + 0xFFFFE99E - 18d4: 00 01 be mov.d w0, w2 - 18d6: 0f f5 07 rcall . + 0xFFFFEA20 - 18d8: b2 fd 20 mov.w #0xfdb, w2 - 18da: 93 04 24 mov.w #0x4049, w3 - 18dc: 69 f5 07 rcall . + 0xFFFFEAD4 - 18de: 4f 04 be mov.d [--w15], w8 - 18e0: 00 00 06 return - -000018e2 <_encoder_read_and_clear>: - 18e2: 88 9f be mov.d w8, [w15++] - 18e4: e5 ff 07 rcall . + 0xFFFFFFCC - 18e6: 99 f4 07 rcall . + 0xFFFFE934 - 18e8: 00 04 be mov.d w0, w8 - 18ea: 90 6d 80 mov.w 0xdb2, w0 - 18ec: a1 6d 80 mov.w 0xdb4, w1 - 18ee: 95 f4 07 rcall . + 0xFFFFE92C - 18f0: 00 01 be mov.d w0, w2 - 18f2: 08 00 be mov.d w8, w0 - 18f4: bd f4 07 rcall . + 0xFFFFE97C - 18f6: 00 01 be mov.d w0, w2 - 18f8: fe f4 07 rcall . + 0xFFFFE9FE - 18fa: b2 fd 20 mov.w #0xfdb, w2 - 18fc: 93 04 24 mov.w #0x4049, w3 - 18fe: 58 f5 07 rcall . + 0xFFFFEAB2 - 1900: 4f 04 be mov.d [--w15], w8 - 1902: 00 00 06 return - -00001904 <_encoder_clear>: - 1904: bd ff 07 rcall . + 0xFFFFFF7C - 1906: 62 6d 80 mov.w 0xdac, w2 - 1908: 73 6d 80 mov.w 0xdae, w3 - 190a: 00 01 41 add.w w2, w0, w2 - 190c: 81 81 49 addc.w w3, w1, w3 - 190e: 62 6d 88 mov.w w2, 0xdac - 1910: 73 6d 88 mov.w w3, 0xdae - 1912: 00 00 06 return - -00001914 <_motor_initialize>: - 1914: 04 00 be mov.d w4, w0 - 1916: b2 6d 88 mov.w w2, 0xdb6 - 1918: c3 6d 88 mov.w w3, 0xdb8 - 191a: 2c 00 07 rcall . + 0x5A - 191c: 29 00 07 rcall . + 0x54 - 191e: 80 01 78 mov.w w0, w3 - 1920: 00 01 eb clr.w w2 - 1922: 60 00 b8 mul.uu w0, #0x0, w0 - 1924: 7a 00 37 bra . + 0xF6 - -00001926 <_motor_finalize>: - 1926: b6 2d ef clr.w 0xdb6 - 1928: b8 2d ef clr.w 0xdb8 - 192a: 00 00 06 return - -0000192c <_motor_on>: - 192c: 6e 00 37 bra . + 0xDE - -0000192e <_motor_off>: - 192e: 70 00 37 bra . + 0xE2 - -00001930 <_motor_set>: - 1930: 88 9f be mov.d w8, [w15++] - 1932: 8a 9f be mov.d w10, [w15++] - 1934: 00 01 be mov.d w0, w2 - 1936: b8 6d 80 mov.w 0xdb6, w8 - 1938: c9 6d 80 mov.w 0xdb8, w9 - 193a: 08 00 be mov.d w8, w0 - 193c: dc f4 07 rcall . + 0xFFFFE9BA - 193e: 00 05 be mov.d w0, w10 - 1940: 08 01 be mov.d w8, w2 - 1942: 08 00 be mov.d w8, w0 - 1944: d8 f4 07 rcall . + 0xFFFFE9B2 - 1946: 00 01 be mov.d w0, w2 - 1948: 0a 00 be mov.d w10, w0 - 194a: 92 f4 07 rcall . + 0xFFFFE926 - 194c: 00 04 be mov.d w0, w8 - 194e: 36 00 07 rcall . + 0x6E - 1950: 08 00 be mov.d w8, w0 - 1952: 4f 05 be mov.d [--w15], w10 - 1954: 4f 04 be mov.d [--w15], w8 - 1956: 00 00 06 return - -00001958 <_pwm_set_count>: - 1958: 00 01 78 mov.w w0, w2 - 195a: b0 f9 2f mov.w #0xff9b, w0 - 195c: 00 00 41 add.w w2, w0, w0 - 195e: a1 f9 27 mov.w #0x7f9a, w1 - 1960: 81 0f 50 sub.w w0, w1, [w15] - 1962: 03 00 36 bra LEU, . + 0x8 - 1964: f0 4a 20 mov.w #0x4af, w0 - 1966: 20 0e 88 mov.w w0, 0x1c4 - 1968: 00 00 06 return - -0000196a <.L2>: - 196a: 02 00 e9 dec.w w2, w0 - 196c: 20 0e 88 mov.w w0, 0x1c4 - 196e: 00 00 06 return - -00001970 <_pwm_get_count>: - 1970: c4 01 ec inc.w 0x1c4, WREG - 1972: 00 00 06 return - -00001974 <_pwm_set_freq>: - 1974: 02 00 fa lnk #0x2 - 1976: 00 01 be mov.d w0, w2 - 1978: 00 b0 21 mov.w #0x1b00, w0 - 197a: 71 bb 24 mov.w #0x4bb7, w1 - 197c: 79 f4 07 rcall . + 0xFFFFE8F4 - 197e: 4c f5 07 rcall . + 0xFFFFEA9A - 1980: f0 bf 9f mov.w w0, [w15-2] - 1982: 7f b8 97 mov.w [w15-2], w0 - 1984: e9 ff 07 rcall . + 0xFFFFFFD4 - 1986: 00 80 fa ulnk - 1988: 00 00 06 return - -0000198a <_pwm_get_freq>: - 198a: 88 1f 78 mov.w w8, [w15++] - 198c: 28 0e 80 mov.w 0x1c4, w8 - 198e: 08 04 e8 inc.w w8, w8 - 1990: 61 40 b9 mul.su w8, #0x1, w0 - 1992: 43 f4 07 rcall . + 0xFFFFE888 - 1994: 08 00 e0 cp0.w w8 - 1996: 06 00 35 bra LT, . + 0xE - 1998: 00 01 be mov.d w0, w2 - 199a: 00 b0 21 mov.w #0x1b00, w0 - 199c: 71 bb 24 mov.w #0x4bb7, w1 - 199e: 68 f4 07 rcall . + 0xFFFFE8D2 - 19a0: 4f 04 78 mov.w [--w15], w8 - 19a2: 00 00 06 return - -000019a4 <.L20>: - 19a4: 02 00 20 mov.w #0x0, w2 - 19a6: 03 78 24 mov.w #0x4780, w3 - 19a8: a6 f4 07 rcall . + 0xFFFFE94E - 19aa: 00 01 be mov.d w0, w2 - 19ac: 00 b0 21 mov.w #0x1b00, w0 - 19ae: 71 bb 24 mov.w #0x4bb7, w1 - 19b0: 5f f4 07 rcall . + 0xFFFFE8C0 - 19b2: 4f 04 78 mov.w [--w15], w8 - 19b4: 00 00 06 return - 19b6: f6 ff 37 bra . + 0xFFFFFFEE - -000019b8 <_pwm_set_duty>: - 19b8: b0 0e 88 mov.w w0, 0x1d6 - 19ba: 00 00 06 return - -000019bc <_pwm_set_duty_float>: - 19bc: 88 9f be mov.d w8, [w15++] - 19be: 8a 1f 78 mov.w w10, [w15++] - 19c0: 00 04 be mov.d w0, w8 - 19c2: d6 ff 07 rcall . + 0xFFFFFFAE - 19c4: 00 05 78 mov.w w0, w10 - 19c6: 08 01 be mov.d w8, w2 - 19c8: 08 00 be mov.d w8, w0 - 19ca: 95 f4 07 rcall . + 0xFFFFE92C - 19cc: 00 04 be mov.d w0, w8 - 19ce: 61 50 b9 mul.su w10, #0x1, w0 - 19d0: 24 f4 07 rcall . + 0xFFFFE84A - 19d2: 0a 00 e0 cp0.w w10 - 19d4: 0b 00 35 bra LT, . + 0x18 - 19d6: 00 01 be mov.d w0, w2 - 19d8: 08 00 be mov.d w8, w0 - 19da: ea f4 07 rcall . + 0xFFFFE9D6 - 19dc: 3e f5 07 rcall . + 0xFFFFEA7E - 19de: 00 04 78 mov.w w0, w8 - 19e0: eb ff 07 rcall . + 0xFFFFFFD8 - 19e2: 09 00 20 mov.w #0x0, w9 - 19e4: 08 00 be mov.d w8, w0 - 19e6: 4f 05 78 mov.w [--w15], w10 - 19e8: 4f 04 be mov.d [--w15], w8 - 19ea: 00 00 06 return - -000019ec <.L31>: - 19ec: 02 00 20 mov.w #0x0, w2 - 19ee: 03 78 24 mov.w #0x4780, w3 - 19f0: 82 f4 07 rcall . + 0xFFFFE906 - 19f2: 00 01 be mov.d w0, w2 - 19f4: 08 00 be mov.d w8, w0 - 19f6: dc f4 07 rcall . + 0xFFFFE9BA - 19f8: 30 f5 07 rcall . + 0xFFFFEA62 - 19fa: 00 04 78 mov.w w0, w8 - 19fc: dd ff 07 rcall . + 0xFFFFFFBC - 19fe: 09 00 20 mov.w #0x0, w9 - 1a00: 08 00 be mov.d w8, w0 - 1a02: 4f 05 78 mov.w [--w15], w10 - 1a04: 4f 04 be mov.d [--w15], w8 - 1a06: 00 00 06 return - 1a08: f1 ff 37 bra . + 0xFFFFFFE4 - -00001a0a <_pwm_on>: - 1a0a: 00 30 20 mov.w #0x300, w0 - 1a0c: a0 0e 88 mov.w w0, 0x1d4 - 1a0e: 00 00 06 return - -00001a10 <_pwm_off>: - 1a10: e0 fe 2f mov.w #0xffee, w0 - 1a12: d4 21 b6 and.w 0x1d4 - 1a14: f0 cf 2f mov.w #0xfcff, w0 - 1a16: d4 21 b6 and.w 0x1d4 - 1a18: 00 00 06 return - -00001a1a <_pwm_initialize>: - 1a1a: 88 1f 78 mov.w w8, [w15++] - 1a1c: 03 04 78 mov.w w3, w8 - 1a1e: f8 ff 07 rcall . + 0xFFFFFFF2 - 1a20: 08 00 78 mov.w w8, w0 - 1a22: 9a ff 07 rcall . + 0xFFFFFF36 - 1a24: 00 00 20 mov.w #0x0, w0 - 1a26: 01 f0 23 mov.w #0x3f00, w1 - 1a28: c9 ff 07 rcall . + 0xFFFFFF94 - 1a2a: 20 f0 20 mov.w #0xf02, w0 - 1a2c: 50 0e 88 mov.w w0, 0x1ca - 1a2e: f0 00 20 mov.w #0xf, w0 - 1a30: 60 0e 88 mov.w w0, 0x1cc - 1a32: d0 01 a9 bclr.b 0x1d0, #0x0 - 1a34: 00 0f 2a mov.w #0xa0f0, w0 - 1a36: 00 0e 88 mov.w w0, 0x1c0 - 1a38: 4f 04 78 mov.w [--w15], w8 - 1a3a: 00 00 06 return - -00001a3c <_wdt_initialize>: - 1a3c: 40 a7 a8 bset.b 0x740, #0x5 - 1a3e: 00 00 06 return - -00001a40 <_wdt_ping>: - 1a40: 00 60 fe clrwdt - 1a42: 00 00 06 return - -00001a44 <_wdt_finalize>: - 1a44: 40 a7 a9 bclr.b 0x740, #0x5 - 1a46: 00 00 06 return -Disassembly of section __FOSC: - -00f80000 <__FOSC>: - f80000: ff ff 00 nop -Disassembly of section __FWDT: - -00f80002 <__FWDT>: - f80002: e3 7f 00 nop -Disassembly of section __FBORPOR: - -00f80004 <__FBORPOR>: - f80004: 7f fb 00 nop -Disassembly of section .ivt: - -00000004 <.ivt>: - 4: d0 1a 00 nop - 6: d0 1a 00 nop - 8: d0 1a 00 nop - a: d0 1a 00 nop - c: d0 1a 00 nop - e: d0 1a 00 nop - 10: d0 1a 00 nop - 12: d0 1a 00 nop - 14: d0 1a 00 nop - 16: d0 1a 00 nop - 18: d0 1a 00 nop - 1a: 54 14 00 nop - 1c: d0 1a 00 nop - 1e: d0 1a 00 nop - 20: d0 1a 00 nop - 22: d0 1a 00 nop - 24: d0 1a 00 nop - 26: d0 1a 00 nop - 28: d0 1a 00 nop - 2a: d0 1a 00 nop - 2c: d0 1a 00 nop - 2e: d0 1a 00 nop - 30: d0 1a 00 nop - 32: d0 1a 00 nop - 34: d0 1a 00 nop - 36: d0 1a 00 nop - 38: d0 1a 00 nop - 3a: d0 1a 00 nop - 3c: d0 1a 00 nop - 3e: d0 1a 00 nop - 40: d0 1a 00 nop - 42: d0 1a 00 nop - 44: d0 1a 00 nop - 46: d0 1a 00 nop - 48: d0 1a 00 nop - 4a: d0 1a 00 nop - 4c: d0 1a 00 nop - 4e: d0 1a 00 nop - 50: d0 1a 00 nop - 52: d0 1a 00 nop - 54: d0 1a 00 nop - 56: d0 1a 00 nop - 58: d0 1a 00 nop - 5a: d0 1a 00 nop - 5c: d0 1a 00 nop - 5e: d0 1a 00 nop - 60: d0 1a 00 nop - 62: d0 1a 00 nop - 64: 18 18 00 nop - 66: d0 1a 00 nop - 68: d0 1a 00 nop - 6a: d0 1a 00 nop - 6c: d0 1a 00 nop - 6e: d0 1a 00 nop - 70: d0 1a 00 nop - 72: d0 1a 00 nop - 74: d0 1a 00 nop - 76: d0 1a 00 nop - 78: d0 1a 00 nop - 7a: d0 1a 00 nop - 7c: d0 1a 00 nop - 7e: d0 1a 00 nop -Disassembly of section .aivt: - -00000084 <.aivt>: - 84: d0 1a 00 nop - 86: d0 1a 00 nop - 88: d0 1a 00 nop - 8a: d0 1a 00 nop - 8c: d0 1a 00 nop - 8e: d0 1a 00 nop - 90: d0 1a 00 nop - 92: d0 1a 00 nop - 94: d0 1a 00 nop - 96: d0 1a 00 nop - 98: d0 1a 00 nop - 9a: 54 14 00 nop - 9c: d0 1a 00 nop - 9e: d0 1a 00 nop - a0: d0 1a 00 nop - a2: d0 1a 00 nop - a4: d0 1a 00 nop - a6: d0 1a 00 nop - a8: d0 1a 00 nop - aa: d0 1a 00 nop - ac: d0 1a 00 nop - ae: d0 1a 00 nop - b0: d0 1a 00 nop - b2: d0 1a 00 nop - b4: d0 1a 00 nop - b6: d0 1a 00 nop - b8: d0 1a 00 nop - ba: d0 1a 00 nop - bc: d0 1a 00 nop - be: d0 1a 00 nop - c0: d0 1a 00 nop - c2: d0 1a 00 nop - c4: d0 1a 00 nop - c6: d0 1a 00 nop - c8: d0 1a 00 nop - ca: d0 1a 00 nop - cc: d0 1a 00 nop - ce: d0 1a 00 nop - d0: d0 1a 00 nop - d2: d0 1a 00 nop - d4: d0 1a 00 nop - d6: d0 1a 00 nop - d8: d0 1a 00 nop - da: d0 1a 00 nop - dc: d0 1a 00 nop - de: d0 1a 00 nop - e0: d0 1a 00 nop - e2: d0 1a 00 nop - e4: 18 18 00 nop - e6: d0 1a 00 nop - e8: d0 1a 00 nop - ea: d0 1a 00 nop - ec: d0 1a 00 nop - ee: d0 1a 00 nop - f0: d0 1a 00 nop - f2: d0 1a 00 nop - f4: d0 1a 00 nop - f6: d0 1a 00 nop - f8: d0 1a 00 nop - fa: d0 1a 00 nop - fc: d0 1a 00 nop - fe: d0 1a 00 nop -Disassembly of section .const: - -00009a48 <.LC0>: - 9a48: 44 41 .word 0x4144 - 9a4a: 45 4d .word 0x4d45 - 9a4c: 4f 4e .word 0x4e4f - 9a4e: 00 00 .word 0 - -00009a50 <.LC0>: - 9a50: 49 44 .word 0x4449 - 9a52: 4c 45 .word 0x454c - 9a54: 00 00 .word 0 - -00009a56 <_xInitialStack.2713>: - 9a56: 11 11 .word 0x1111 - 9a58: 22 22 .word 0x2222 - 9a5a: 33 33 .word 0x3333 - 9a5c: 44 44 .word 0x4444 - 9a5e: 55 55 .word 0x5555 - 9a60: 66 66 .word 0x6666 - 9a62: 77 77 .word 0x7777 - 9a64: 88 88 .word 0x8888 - 9a66: 99 99 .word 0x9999 - 9a68: aa aa .word 0xaaaa - 9a6a: bb bb .word 0xbbbb - 9a6c: cc cc .word 0xcccc - 9a6e: dd dd .word 0xdddd - 9a70: ee ee .word 0xeeee - 9a72: ce cd .word 0xcdce - 9a74: ac ab .word 0xabac - 9a76: 02 02 .word 0x202 - 9a78: 03 03 .word 0x303 - 9a7a: 04 04 .word 0x404 - 9a7c: 05 05 .word 0x505 - 9a7e: 06 06 .word 0x606 - 9a80: 07 07 .word 0x707 - 9a82: 08 08 .word 0x808 - 9a84: 0a 09 .word 0x90a - 9a86: 10 10 .word 0x1010 - 9a88: 10 11 .word 0x1110 - 9a8a: 12 12 .word 0x1212 -Disassembly of section .dinit: - -00001a8c <.dinit>: - 1a8c: ba 0d 00 nop - 1a8e: 02 00 00 nop - 1a90: 02 00 00 nop - 1a92: 00 00 00 nop - 1a94: 06 0d 00 nop - 1a96: 6c 00 00 nop - 1a98: 00 00 00 nop - 1a9a: bc 0d 00 nop - 1a9c: 02 00 00 nop - 1a9e: 02 00 00 nop - 1aa0: 00 00 00 nop - 1aa2: 72 0d 00 nop - 1aa4: 36 00 00 nop - 1aa6: 00 00 00 nop - 1aa8: be 0d 00 nop - 1aaa: 02 00 00 nop - 1aac: 02 00 00 nop - 1aae: ef 00 00 nop - 1ab0: 00 08 00 nop - 1ab2: 06 05 00 nop - 1ab4: 00 00 00 nop - 1ab6: a8 0d 00 nop - 1ab8: 08 00 00 nop - 1aba: 02 00 00 nop - ... - 1ac2: b0 0d 00 nop - 1ac4: 06 00 00 nop - 1ac6: 00 00 00 nop - 1ac8: b6 0d 00 nop - 1aca: 04 00 00 nop - ... -Disassembly of section .isr: - -00001ad0 <__DefaultInterrupt>: - 1ad0: 00 00 fe reset diff --git a/FreeRTOS1/croutine.c b/FreeRTOS1/croutine.c deleted file mode 100644 index b8c1868..0000000 --- a/FreeRTOS1/croutine.c +++ /dev/null @@ -1,352 +0,0 @@ -/* - FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. - - This file is part of the FreeRTOS.org distribution. - - FreeRTOS.org is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - FreeRTOS.org is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with FreeRTOS.org; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - - A special exception to the GPL can be applied should you wish to distribute - a combined work that includes FreeRTOS.org, without being obliged to provide - the source code for any proprietary components. See the licensing section - of http://www.FreeRTOS.org for full details of how and when the exception - can be applied. - - *************************************************************************** - - Please ensure to read the configuration and relevant port sections of the - online documentation. - - +++ http://www.FreeRTOS.org +++ - Documentation, latest information, license and contact details. - - +++ http://www.SafeRTOS.com +++ - A version that is certified for use in safety critical systems. - - +++ http://www.OpenRTOS.com +++ - Commercial support, development, porting, licensing and training services. - - *************************************************************************** -*/ - -#include "FreeRTOS.h" -#include "task.h" -#include "croutine.h" - -/* Lists for ready and blocked co-routines. --------------------*/ -static xList pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ]; /*< Prioritised ready co-routines. */ -static xList xDelayedCoRoutineList1; /*< Delayed co-routines. */ -static xList xDelayedCoRoutineList2; /*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */ -static xList * pxDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used. */ -static xList * pxOverflowDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */ -static xList xPendingReadyList; /*< 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. */ - -/* Other file private variables. --------------------------------*/ -corCRCB * pxCurrentCoRoutine = NULL; -static unsigned portBASE_TYPE uxTopCoRoutineReadyPriority = 0; -static portTickType xCoRoutineTickCount = 0; - -/* The initial state of the co-routine when it is created. */ -#define corINITIAL_STATE ( 0 ) - -/* - * Place the co-routine represented by pxCRCB into the appropriate ready queue - * for the priority. It is inserted at the end of the list. - * - * This macro accesses the co-routine ready lists and therefore must not be - * used from within an ISR. - */ -#define prvAddCoRoutineToReadyQueue( pxCRCB ) \ -{ \ - if( pxCRCB->uxPriority > uxTopCoRoutineReadyPriority ) \ - { \ - uxTopCoRoutineReadyPriority = pxCRCB->uxPriority; \ - } \ - vListInsertEnd( ( xList * ) &( pxReadyCoRoutineLists[ pxCRCB->uxPriority ] ), &( pxCRCB->xGenericListItem ) ); \ -} - -/* - * Utility to ready all the lists used by the scheduler. This is called - * automatically upon the creation of the first co-routine. - */ -static void prvInitialiseCoRoutineLists( void ); - -/* - * Co-routines that are readied by an interrupt cannot be placed directly into - * the ready lists (there is no mutual exclusion). Instead they are placed in - * in the pending ready list in order that they can later be moved to the ready - * list by the co-routine scheduler. - */ -static inline void prvCheckPendingReadyList( void ); - -/* - * Macro that looks at the list of co-routines that are currently delayed to - * see if any require waking. - * - * Co-routines are stored in the queue in the order of their wake time - - * meaning once one co-routine has been found whose timer has not expired - * we need not look any further down the list. - */ -static inline void prvCheckDelayedList( void ); - -/*-----------------------------------------------------------*/ - -signed portBASE_TYPE xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, unsigned portBASE_TYPE uxPriority, unsigned portBASE_TYPE uxIndex ) -{ -signed portBASE_TYPE xReturn; -corCRCB *pxCoRoutine; - - /* Allocate the memory that will store the co-routine control block. */ - pxCoRoutine = ( corCRCB * ) pvPortMalloc( sizeof( corCRCB ) ); - if( pxCoRoutine ) - { - /* If pxCurrentCoRoutine is NULL then this is the first co-routine to - be created and the co-routine data structures need initialising. */ - if( pxCurrentCoRoutine == NULL ) - { - pxCurrentCoRoutine = pxCoRoutine; - prvInitialiseCoRoutineLists(); - } - - /* Check the priority is within limits. */ - if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES ) - { - uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1; - } - - /* Fill out the co-routine control block from the function parameters. */ - pxCoRoutine->uxState = corINITIAL_STATE; - pxCoRoutine->uxPriority = uxPriority; - pxCoRoutine->uxIndex = uxIndex; - pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode; - - /* Initialise all the other co-routine control block parameters. */ - vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) ); - vListInitialiseItem( &( pxCoRoutine->xEventListItem ) ); - - /* Set the co-routine control block as a link back from the xListItem. - This is so we can get back to the containing CRCB from a generic item - in a list. */ - listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine ); - listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine ); - - /* Event lists are always in priority order. */ - listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority ); - - /* Now the co-routine has been initialised it can be added to the ready - list at the correct priority. */ - prvAddCoRoutineToReadyQueue( pxCoRoutine ); - - xReturn = pdPASS; - } - else - { - xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; - } - - return xReturn; -} -/*-----------------------------------------------------------*/ - -void vCoRoutineAddToDelayedList( portTickType xTicksToDelay, xList *pxEventList ) -{ -portTickType xTimeToWake; - - /* Calculate the time to wake - this may overflow but this is - not a problem. */ - xTimeToWake = xCoRoutineTickCount + xTicksToDelay; - - /* We must remove ourselves from the ready list before adding - ourselves to the blocked list as the same list item is used for - both lists. */ - vListRemove( ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) ); - - /* The list item will be inserted in wake time order. */ - listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake ); - - if( xTimeToWake < xCoRoutineTickCount ) - { - /* Wake time has overflowed. Place this item in the - overflow list. */ - vListInsert( ( xList * ) pxOverflowDelayedCoRoutineList, ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) ); - } - else - { - /* The wake time has not overflowed, so we can use the - current block list. */ - vListInsert( ( xList * ) pxDelayedCoRoutineList, ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) ); - } - - if( pxEventList ) - { - /* Also add the co-routine to an event list. If this is done then the - function must be called with interrupts disabled. */ - vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) ); - } -} -/*-----------------------------------------------------------*/ - -static inline void prvCheckPendingReadyList( void ) -{ - /* Are there any co-routines waiting to get moved to the ready list? These - are co-routines that have been readied by an ISR. The ISR cannot access - the ready lists itself. */ - while( !listLIST_IS_EMPTY( &xPendingReadyList ) ) - { - corCRCB *pxUnblockedCRCB; - - /* The pending ready list can be accessed by an ISR. */ - portDISABLE_INTERRUPTS(); - { - pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyList) ); - vListRemove( &( pxUnblockedCRCB->xEventListItem ) ); - } - portENABLE_INTERRUPTS(); - - vListRemove( &( pxUnblockedCRCB->xGenericListItem ) ); - prvAddCoRoutineToReadyQueue( pxUnblockedCRCB ); - } -} -/*-----------------------------------------------------------*/ - -static inline void prvCheckDelayedList( void ) -{ -static portTickType xLastTickCount, xPassedTicks; -corCRCB *pxCRCB; - - xPassedTicks = xTaskGetTickCount() - xLastTickCount; - while( xPassedTicks ) - { - xCoRoutineTickCount++; - xPassedTicks--; - - /* If the tick count has overflowed we need to swap the ready lists. */ - if( xCoRoutineTickCount == 0 ) - { - xList * pxTemp; - - /* Tick count has overflowed so we need to swap the delay lists. If there are - any items in pxDelayedCoRoutineList here then there is an error! */ - pxTemp = pxDelayedCoRoutineList; - pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList; - pxOverflowDelayedCoRoutineList = pxTemp; - } - - /* See if this tick has made a timeout expire. */ - while( ( pxCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList ) ) != NULL ) - { - if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) ) - { - /* Timeout not yet expired. */ - break; - } - - portDISABLE_INTERRUPTS(); - { - /* The event could have occurred just before this critical - section. If this is the case then the generic list item will - have been moved to the pending ready list and the following - line is still valid. Also the pvContainer parameter will have - been set to NULL so the following lines are also valid. */ - vListRemove( &( pxCRCB->xGenericListItem ) ); - - /* Is the co-routine waiting on an event also? */ - if( pxCRCB->xEventListItem.pvContainer ) - { - vListRemove( &( pxCRCB->xEventListItem ) ); - } - } - portENABLE_INTERRUPTS(); - - prvAddCoRoutineToReadyQueue( pxCRCB ); - } - } - - xLastTickCount = xCoRoutineTickCount; -} -/*-----------------------------------------------------------*/ - -void vCoRoutineSchedule( void ) -{ - /* See if any co-routines readied by events need moving to the ready lists. */ - prvCheckPendingReadyList(); - - /* See if any delayed co-routines have timed out. */ - prvCheckDelayedList(); - - /* Find the highest priority queue that contains ready co-routines. */ - while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) ) - { - if( uxTopCoRoutineReadyPriority == 0 ) - { - /* No more co-routines to check. */ - return; - } - --uxTopCoRoutineReadyPriority; - } - - /* 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. */ - listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ); - - /* Call the co-routine. */ - ( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex ); - - return; -} -/*-----------------------------------------------------------*/ - -static void prvInitialiseCoRoutineLists( void ) -{ -unsigned portBASE_TYPE uxPriority; - - for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ ) - { - vListInitialise( ( xList * ) &( pxReadyCoRoutineLists[ uxPriority ] ) ); - } - - vListInitialise( ( xList * ) &xDelayedCoRoutineList1 ); - vListInitialise( ( xList * ) &xDelayedCoRoutineList2 ); - vListInitialise( ( xList * ) &xPendingReadyList ); - - /* Start with pxDelayedCoRoutineList using list1 and the - pxOverflowDelayedCoRoutineList using list2. */ - pxDelayedCoRoutineList = &xDelayedCoRoutineList1; - pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2; -} -/*-----------------------------------------------------------*/ - -signed portBASE_TYPE xCoRoutineRemoveFromEventList( const xList *pxEventList ) -{ -corCRCB *pxUnblockedCRCB; -signed portBASE_TYPE xReturn; - - /* This function is called from within an interrupt. It can only access - event lists and the pending ready list. */ - pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); - vListRemove( &( pxUnblockedCRCB->xEventListItem ) ); - vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedCRCB->xEventListItem ) ); - - if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority ) - { - xReturn = pdTRUE; - } - else - { - xReturn = pdFALSE; - } - - return xReturn; -} - diff --git a/FreeRTOS1/include/FreeRTOS.h b/FreeRTOS1/include/FreeRTOS.h deleted file mode 100644 index ee963a4..0000000 --- a/FreeRTOS1/include/FreeRTOS.h +++ /dev/null @@ -1,148 +0,0 @@ -/* - FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. - - This file is part of the FreeRTOS.org distribution. - - FreeRTOS.org is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - FreeRTOS.org is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with FreeRTOS.org; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - - A special exception to the GPL can be applied should you wish to distribute - a combined work that includes FreeRTOS.org, without being obliged to provide - the source code for any proprietary components. See the licensing section - of http://www.FreeRTOS.org for full details of how and when the exception - can be applied. - - *************************************************************************** - - Please ensure to read the configuration and relevant port sections of the - online documentation. - - +++ http://www.FreeRTOS.org +++ - Documentation, latest information, license and contact details. - - +++ http://www.SafeRTOS.com +++ - A version that is certified for use in safety critical systems. - - +++ http://www.OpenRTOS.com +++ - Commercial support, development, porting, licensing and training services. - - *************************************************************************** -*/ - -#ifndef INC_FREERTOS_H -#define INC_FREERTOS_H - - -/* - * Include the generic headers required for the FreeRTOS port being used. - */ -#include - -/* Basic FreeRTOS definitions. */ -#include "projdefs.h" - -/* Application specific configuration options. */ -#include "FreeRTOSConfig.h" - -/* Definitions specific to the port being used. */ -#include "portable.h" - - - - - - - -/* - * Check all the required application specific macros have been defined. - * These macros are application specific and (as downloaded) are defined - * within FreeRTOSConfig.h. - */ - -#ifndef configUSE_PREEMPTION - #error Missing definition: configUSE_PREEMPTION should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. -#endif - -#ifndef configUSE_IDLE_HOOK - #error Missing definition: configUSE_IDLE_HOOK should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. -#endif - -#ifndef configUSE_TICK_HOOK - #error Missing definition: configUSE_TICK_HOOK should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. -#endif - -#ifndef configUSE_CO_ROUTINES - #error Missing definition: configUSE_CO_ROUTINES should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. -#endif - -#ifndef INCLUDE_vTaskPrioritySet - #error Missing definition: INCLUDE_vTaskPrioritySet should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. -#endif - -#ifndef INCLUDE_uxTaskPriorityGet - #error Missing definition: INCLUDE_uxTaskPriorityGet should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. -#endif - -#ifndef INCLUDE_vTaskDelete - #error Missing definition: INCLUDE_vTaskDelete should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. -#endif - -#ifndef INCLUDE_vTaskCleanUpResources - #error Missing definition: INCLUDE_vTaskCleanUpResources should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. -#endif - -#ifndef INCLUDE_vTaskSuspend - #error Missing definition: INCLUDE_vTaskSuspend should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. -#endif - -#ifndef INCLUDE_vTaskDelayUntil - #error Missing definition: INCLUDE_vTaskDelayUntil should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. -#endif - -#ifndef INCLUDE_vTaskDelay - #error Missing definition: INCLUDE_vTaskDelay should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. -#endif - -#ifndef configUSE_16_BIT_TICKS - #error Missing definition: configUSE_16_BIT_TICKS should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. -#endif - -#ifndef configUSE_RECURSIVE_MUTEXES - #define configUSE_RECURSIVE_MUTEXES 0 -#endif - -#ifndef configUSE_MUTEXES - #define configUSE_MUTEXES 0 -#endif - -#ifndef configUSE_COUNTING_SEMAPHORES - #define configUSE_COUNTING_SEMAPHORES 0 -#endif - -#ifndef configUSE_ALTERNATIVE_API - #define configUSE_ALTERNATIVE_API 0 -#endif - -#if ( configUSE_MUTEXES == 1 ) - /* xTaskGetCurrentTaskHandle is used by the priority inheritance mechanism - within the mutex implementation so must be available if mutexes are used. */ - #undef INCLUDE_xTaskGetCurrentTaskHandle - #define INCLUDE_xTaskGetCurrentTaskHandle 1 -#else - #ifndef INCLUDE_xTaskGetCurrentTaskHandle - #define INCLUDE_xTaskGetCurrentTaskHandle 0 - #endif -#endif - -#endif /* INC_FREERTOS_H */ diff --git a/FreeRTOS1/include/croutine.h b/FreeRTOS1/include/croutine.h deleted file mode 100644 index 0ba1725..0000000 --- a/FreeRTOS1/include/croutine.h +++ /dev/null @@ -1,730 +0,0 @@ -/* - FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. - - This file is part of the FreeRTOS.org distribution. - - FreeRTOS.org is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - FreeRTOS.org is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with FreeRTOS.org; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - - A special exception to the GPL can be applied should you wish to distribute - a combined work that includes FreeRTOS.org, without being obliged to provide - the source code for any proprietary components. See the licensing section - of http://www.FreeRTOS.org for full details of how and when the exception - can be applied. - - *************************************************************************** - - Please ensure to read the configuration and relevant port sections of the - online documentation. - - +++ http://www.FreeRTOS.org +++ - Documentation, latest information, license and contact details. - - +++ http://www.SafeRTOS.com +++ - A version that is certified for use in safety critical systems. - - +++ http://www.OpenRTOS.com +++ - Commercial support, development, porting, licensing and training services. - - *************************************************************************** -*/ -#ifndef CO_ROUTINE_H -#define CO_ROUTINE_H - -#include "list.h" - -#ifdef __cplusplus -extern "C" { -#endif - -/* Used to hide the implementation of the co-routine control block. The -control block structure however has to be included in the header due to -the macro implementation of the co-routine functionality. */ -typedef void * xCoRoutineHandle; - -/* Defines the prototype to which co-routine functions must conform. */ -typedef void (*crCOROUTINE_CODE)( xCoRoutineHandle, unsigned portBASE_TYPE ); - -typedef struct corCoRoutineControlBlock -{ - crCOROUTINE_CODE pxCoRoutineFunction; - xListItem xGenericListItem; /*< List item used to place the CRCB in ready and blocked queues. */ - xListItem xEventListItem; /*< List item used to place the CRCB in event lists. */ - unsigned portBASE_TYPE uxPriority; /*< The priority of the co-routine in relation to other co-routines. */ - unsigned portBASE_TYPE uxIndex; /*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */ - unsigned portSHORT uxState; /*< Used internally by the co-routine implementation. */ -} corCRCB; /* Co-routine control block. Note must be identical in size down to uxPriority with tskTCB. */ - -/** - * croutine. h - *
- portBASE_TYPE xCoRoutineCreate(
-                                 crCOROUTINE_CODE pxCoRoutineCode,
-                                 unsigned portBASE_TYPE uxPriority,
-                                 unsigned portBASE_TYPE uxIndex
-                               );
- * - * Create a new co-routine and add it to the list of co-routines that are - * ready to run. - * - * @param pxCoRoutineCode Pointer to the co-routine function. Co-routine - * functions require special syntax - see the co-routine section of the WEB - * documentation for more information. - * - * @param uxPriority The priority with respect to other co-routines at which - * the co-routine will run. - * - * @param uxIndex Used to distinguish between different co-routines that - * execute the same function. See the example below and the co-routine section - * of the WEB documentation for further information. - * - * @return pdPASS if the co-routine was successfully created and added to a ready - * list, otherwise an error code defined with ProjDefs.h. - * - * Example usage: - 
- // Co-routine to be created.
- void vFlashCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- // This may not be necessary for const variables.
- static const char cLedToFlash[ 2 ] = { 5, 6 };
- static const portTickType xTimeToDelay[ 2 ] = { 200, 400 };
-
-     // Must start every co-routine with a call to crSTART();
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-         // This co-routine just delays for a fixed period, then toggles
-         // an LED.  Two co-routines are created using this function, so
-         // the uxIndex parameter is used to tell the co-routine which
-         // LED to flash and how long to delay.  This assumes xQueue has
-         // already been created.
-         vParTestToggleLED( cLedToFlash[ uxIndex ] );
-         crDELAY( xHandle, uxFlashRates[ uxIndex ] );
-     }
-
-     // Must end every co-routine with a call to crEND();
-     crEND();
- }
-
- // Function that creates two co-routines.
- void vOtherFunction( void )
- {
- unsigned char ucParameterToPass;
- xTaskHandle xHandle;
-		
-     // Create two co-routines at priority 0.  The first is given index 0
-     // so (from the code above) toggles LED 5 every 200 ticks.  The second
-     // is given index 1 so toggles LED 6 every 400 ticks.
-     for( uxIndex = 0; uxIndex < 2; uxIndex++ )
-     {
-         xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
-     }
- }
-
- * \defgroup xCoRoutineCreate xCoRoutineCreate - * \ingroup Tasks - */ -signed portBASE_TYPE xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, unsigned portBASE_TYPE uxPriority, unsigned portBASE_TYPE uxIndex ); - - -/** - * croutine. h - *
- void vCoRoutineSchedule( void );
- * - * Run a co-routine. - * - * vCoRoutineSchedule() executes the highest priority co-routine that is able - * to run. The co-routine will execute until it either blocks, yields or is - * preempted by a task. Co-routines execute cooperatively so one - * co-routine cannot be preempted by another, but can be preempted by a task. - * - * If an application comprises of both tasks and co-routines then - * vCoRoutineSchedule should be called from the idle task (in an idle task - * hook). - * - * Example usage: - 
- // This idle task hook will schedule a co-routine each time it is called.
- // The rest of the idle task will execute between co-routine calls.
- void vApplicationIdleHook( void )
- {
-	vCoRoutineSchedule();
- }
-
- // Alternatively, if you do not require any other part of the idle task to
- // execute, the idle task hook can call vCoRoutineScheduler() within an
- // infinite loop.
- void vApplicationIdleHook( void )
- {
-    for( ;; )
-    {
-        vCoRoutineSchedule();
-    }
- }
-
- * \defgroup vCoRoutineSchedule vCoRoutineSchedule - * \ingroup Tasks - */ -void vCoRoutineSchedule( void ); - -/** - * croutine. h - * 
- crSTART( xCoRoutineHandle xHandle );
- * - * This macro MUST always be called at the start of a co-routine function. - * - * Example usage: - 
- // Co-routine to be created.
- void vACoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- static portLONG ulAVariable;
-
-     // Must start every co-routine with a call to crSTART();
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-          // Co-routine functionality goes here.
-     }
-
-     // Must end every co-routine with a call to crEND();
-     crEND();
- }
- * \defgroup crSTART crSTART - * \ingroup Tasks - */ -#define crSTART( pxCRCB ) switch( ( ( corCRCB * )pxCRCB )->uxState ) { case 0: - -/** - * croutine. h - * 
- crEND();
- * - * This macro MUST always be called at the end of a co-routine function. - * - * Example usage: - 
- // Co-routine to be created.
- void vACoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- static portLONG ulAVariable;
-
-     // Must start every co-routine with a call to crSTART();
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-          // Co-routine functionality goes here.
-     }
-
-     // Must end every co-routine with a call to crEND();
-     crEND();
- }
- * \defgroup crSTART crSTART - * \ingroup Tasks - */ -#define crEND() } - -/* - * These macros are intended for internal use by the co-routine implementation - * only. The macros should not be used directly by application writers. - */ -#define crSET_STATE0( xHandle ) ( ( corCRCB * )xHandle)->uxState = (__LINE__ * 2); return; case (__LINE__ * 2): -#define crSET_STATE1( xHandle ) ( ( corCRCB * )xHandle)->uxState = ((__LINE__ * 2)+1); return; case ((__LINE__ * 2)+1): - -/** - * croutine. h - *
- crDELAY( xCoRoutineHandle xHandle, portTickType xTicksToDelay );
- * - * Delay a co-routine for a fixed period of time. - * - * crDELAY can only be called from the co-routine function itself - not - * from within a function called by the co-routine function. This is because - * co-routines do not maintain their own stack. - * - * @param xHandle The handle of the co-routine to delay. This is the xHandle - * parameter of the co-routine function. - * - * @param xTickToDelay The number of ticks that the co-routine should delay - * for. The actual amount of time this equates to is defined by - * configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant portTICK_RATE_MS - * can be used to convert ticks to milliseconds. - * - * Example usage: - 
- // Co-routine to be created.
- void vACoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- // This may not be necessary for const variables.
- // We are to delay for 200ms.
- static const xTickType xDelayTime = 200 / portTICK_RATE_MS;
-
-     // Must start every co-routine with a call to crSTART();
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-        // Delay for 200ms.
-        crDELAY( xHandle, xDelayTime );
-
-        // Do something here.
-     }
-
-     // Must end every co-routine with a call to crEND();
-     crEND();
- }
- * \defgroup crDELAY crDELAY - * \ingroup Tasks - */ -#define crDELAY( xHandle, xTicksToDelay ) \ - if( xTicksToDelay > 0 ) \ - { \ - vCoRoutineAddToDelayedList( xTicksToDelay, NULL ); \ - } \ - crSET_STATE0( xHandle ); - -/** - * 
- crQUEUE_SEND(
-                  xCoRoutineHandle xHandle,
-                  xQueueHandle pxQueue,
-                  void *pvItemToQueue,
-                  portTickType xTicksToWait,
-                  portBASE_TYPE *pxResult
-             )
- * - * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine - * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks. - * - * crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas - * xQueueSend() and xQueueReceive() can only be used from tasks. - * - * crQUEUE_SEND can only be called from the co-routine function itself - not - * from within a function called by the co-routine function. This is because - * co-routines do not maintain their own stack. - * - * See the co-routine section of the WEB documentation for information on - * passing data between tasks and co-routines and between ISR's and - * co-routines. - * - * @param xHandle The handle of the calling co-routine. This is the xHandle - * parameter of the co-routine function. - * - * @param pxQueue The handle of the queue on which the data will be posted. - * The handle is obtained as the return value when the queue is created using - * the xQueueCreate() API function. - * - * @param pvItemToQueue A pointer to the data being posted onto the queue. - * The number of bytes of each queued item is specified when the queue is - * created. This number of bytes is copied from pvItemToQueue into the queue - * itself. - * - * @param xTickToDelay The number of ticks that the co-routine should block - * to wait for space to become available on the queue, should space not be - * available immediately. The actual amount of time this equates to is defined - * by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant - * portTICK_RATE_MS can be used to convert ticks to milliseconds (see example - * below). - * - * @param pxResult The variable pointed to by pxResult will be set to pdPASS if - * data was successfully posted onto the queue, otherwise it will be set to an - * error defined within ProjDefs.h. - * - * Example usage: - 
- // Co-routine function that blocks for a fixed period then posts a number onto
- // a queue.
- static void prvCoRoutineFlashTask( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- static portBASE_TYPE xNumberToPost = 0;
- static portBASE_TYPE xResult;
-
-    // Co-routines must begin with a call to crSTART().
-    crSTART( xHandle );
-
-    for( ;; )
-    {
-        // This assumes the queue has already been created.
-        crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult );
-
-        if( xResult != pdPASS )
-        {
-            // The message was not posted!
-        }
-
-        // Increment the number to be posted onto the queue.
-        xNumberToPost++;
-
-        // Delay for 100 ticks.
-        crDELAY( xHandle, 100 );
-    }
-
-    // Co-routines must end with a call to crEND().
-    crEND();
- }
- * \defgroup crQUEUE_SEND crQUEUE_SEND - * \ingroup Tasks - */ -#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \ -{ \ - *pxResult = xQueueCRSend( pxQueue, pvItemToQueue, xTicksToWait ); \ - if( *pxResult == errQUEUE_BLOCKED ) \ - { \ - crSET_STATE0( xHandle ); \ - *pxResult = xQueueCRSend( pxQueue, pvItemToQueue, 0 ); \ - } \ - if( *pxResult == errQUEUE_YIELD ) \ - { \ - crSET_STATE1( xHandle ); \ - *pxResult = pdPASS; \ - } \ -} - -/** - * croutine. h - * 
-  crQUEUE_RECEIVE(
-                     xCoRoutineHandle xHandle,
-                     xQueueHandle pxQueue,
-                     void *pvBuffer,
-                     portTickType xTicksToWait,
-                     portBASE_TYPE *pxResult
-                 )
- * - * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine - * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks. - * - * crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas - * xQueueSend() and xQueueReceive() can only be used from tasks. - * - * crQUEUE_RECEIVE can only be called from the co-routine function itself - not - * from within a function called by the co-routine function. This is because - * co-routines do not maintain their own stack. - * - * See the co-routine section of the WEB documentation for information on - * passing data between tasks and co-routines and between ISR's and - * co-routines. - * - * @param xHandle The handle of the calling co-routine. This is the xHandle - * parameter of the co-routine function. - * - * @param pxQueue The handle of the queue from which the data will be received. - * The handle is obtained as the return value when the queue is created using - * the xQueueCreate() API function. - * - * @param pvBuffer The buffer into which the received item is to be copied. - * The number of bytes of each queued item is specified when the queue is - * created. This number of bytes is copied into pvBuffer. - * - * @param xTickToDelay The number of ticks that the co-routine should block - * to wait for data to become available from the queue, should data not be - * available immediately. The actual amount of time this equates to is defined - * by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant - * portTICK_RATE_MS can be used to convert ticks to milliseconds (see the - * crQUEUE_SEND example). - * - * @param pxResult The variable pointed to by pxResult will be set to pdPASS if - * data was successfully retrieved from the queue, otherwise it will be set to - * an error code as defined within ProjDefs.h. - * - * Example usage: - 
- // A co-routine receives the number of an LED to flash from a queue.  It
- // blocks on the queue until the number is received.
- static void prvCoRoutineFlashWorkTask( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- static portBASE_TYPE xResult;
- static unsigned portBASE_TYPE uxLEDToFlash;
-
-    // All co-routines must start with a call to crSTART().
-    crSTART( xHandle );
-
-    for( ;; )
-    {
-        // Wait for data to become available on the queue.
-        crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
-
-        if( xResult == pdPASS )
-        {
-            // We received the LED to flash - flash it!
-            vParTestToggleLED( uxLEDToFlash );
-        }
-    }
-
-    crEND();
- }
- * \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE - * \ingroup Tasks - */ -#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \ -{ \ - *pxResult = xQueueCRReceive( pxQueue, pvBuffer, xTicksToWait ); \ - if( *pxResult == errQUEUE_BLOCKED ) \ - { \ - crSET_STATE0( xHandle ); \ - *pxResult = xQueueCRReceive( pxQueue, pvBuffer, 0 ); \ - } \ - if( *pxResult == errQUEUE_YIELD ) \ - { \ - crSET_STATE1( xHandle ); \ - *pxResult = pdPASS; \ - } \ -} - -/** - * croutine. h - * 
-  crQUEUE_SEND_FROM_ISR(
-                            xQueueHandle pxQueue,
-                            void *pvItemToQueue,
-                            portBASE_TYPE xCoRoutinePreviouslyWoken
-                       )
- * - * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the - * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR() - * functions used by tasks. - * - * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to - * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and - * xQueueReceiveFromISR() can only be used to pass data between a task and and - * ISR. - * - * crQUEUE_SEND_FROM_ISR can only be called from an ISR to send data to a queue - * that is being used from within a co-routine. - * - * See the co-routine section of the WEB documentation for information on - * passing data between tasks and co-routines and between ISR's and - * co-routines. - * - * @param xQueue The handle to the queue on which the item is to be posted. - * - * @param pvItemToQueue A pointer to the item that is to be placed on the - * queue. The size of the items the queue will hold was defined when the - * queue was created, so this many bytes will be copied from pvItemToQueue - * into the queue storage area. - * - * @param xCoRoutinePreviouslyWoken This is included so an ISR can post onto - * the same queue multiple times from a single interrupt. The first call - * should always pass in pdFALSE. Subsequent calls should pass in - * the value returned from the previous call. - * - * @return pdTRUE if a co-routine was woken by posting onto the queue. This is - * used by the ISR to determine if a context switch may be required following - * the ISR. - * - * Example usage: - 
- // A co-routine that blocks on a queue waiting for characters to be received.
- static void vReceivingCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
- {
- portCHAR cRxedChar;
- portBASE_TYPE xResult;
-
-     // All co-routines must start with a call to crSTART().
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-         // Wait for data to become available on the queue.  This assumes the
-         // queue xCommsRxQueue has already been created!
-         crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
-
-         // Was a character received?
-         if( xResult == pdPASS )
-         {
-             // Process the character here.
-         }
-     }
-
-     // All co-routines must end with a call to crEND().
-     crEND();
- }
-
- // An ISR that uses a queue to send characters received on a serial port to
- // a co-routine.
- void vUART_ISR( void )
- {
- portCHAR cRxedChar;
- portBASE_TYPE xCRWokenByPost = pdFALSE;
-
-     // We loop around reading characters until there are none left in the UART.
-     while( UART_RX_REG_NOT_EMPTY() )
-     {
-         // Obtain the character from the UART.
-         cRxedChar = UART_RX_REG;
-
-         // Post the character onto a queue.  xCRWokenByPost will be pdFALSE
-         // the first time around the loop.  If the post causes a co-routine
-         // to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.
-         // In this manner we can ensure that if more than one co-routine is
-         // blocked on the queue only one is woken by this ISR no matter how
-         // many characters are posted to the queue.
-         xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost );
-     }
- }
- * \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR - * \ingroup Tasks - */ -#define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) xQueueCRSendFromISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) - - -/** - * croutine. h - * 
-  crQUEUE_SEND_FROM_ISR(
-                            xQueueHandle pxQueue,
-                            void *pvBuffer,
-                            portBASE_TYPE * pxCoRoutineWoken
-                       )
- * - * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the - * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR() - * functions used by tasks. - * - * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to - * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and - * xQueueReceiveFromISR() can only be used to pass data between a task and and - * ISR. - * - * crQUEUE_RECEIVE_FROM_ISR can only be called from an ISR to receive data - * from a queue that is being used from within a co-routine (a co-routine - * posted to the queue). - * - * See the co-routine section of the WEB documentation for information on - * passing data between tasks and co-routines and between ISR's and - * co-routines. - * - * @param xQueue The handle to the queue on which the item is to be posted. - * - * @param pvBuffer A pointer to a buffer into which the received item will be - * placed. The size of the items the queue will hold was defined when the - * queue was created, so this many bytes will be copied from the queue into - * pvBuffer. - * - * @param pxCoRoutineWoken A co-routine may be blocked waiting for space to become - * available on the queue. If crQUEUE_RECEIVE_FROM_ISR causes such a - * co-routine to unblock *pxCoRoutineWoken will get set to pdTRUE, otherwise - * *pxCoRoutineWoken will remain unchanged. - * - * @return pdTRUE an item was successfully received from the queue, otherwise - * pdFALSE. - * - * Example usage: - 
- // A co-routine that posts a character to a queue then blocks for a fixed
- // period.  The character is incremented each time.
- static void vSendingCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
- {
- // cChar holds its value while this co-routine is blocked and must therefore
- // be declared static.
- static portCHAR cCharToTx = 'a';
- portBASE_TYPE xResult;
-
-     // All co-routines must start with a call to crSTART().
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-         // Send the next character to the queue.
-         crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult );
-
-         if( xResult == pdPASS )
-         {
-             // The character was successfully posted to the queue.
-         }
-		 else
-		 {
-			// Could not post the character to the queue.
-		 }
-
-         // Enable the UART Tx interrupt to cause an interrupt in this
-		 // hypothetical UART.  The interrupt will obtain the character
-		 // from the queue and send it.
-		 ENABLE_RX_INTERRUPT();
-
-		 // Increment to the next character then block for a fixed period.
-		 // cCharToTx will maintain its value across the delay as it is
-		 // declared static.
-		 cCharToTx++;
-		 if( cCharToTx > 'x' )
-		 {
-			cCharToTx = 'a';
-		 }
-		 crDELAY( 100 );
-     }
-
-     // All co-routines must end with a call to crEND().
-     crEND();
- }
-
- // An ISR that uses a queue to receive characters to send on a UART.
- void vUART_ISR( void )
- {
- portCHAR cCharToTx;
- portBASE_TYPE xCRWokenByPost = pdFALSE;
-
-     while( UART_TX_REG_EMPTY() )
-     {
-         // Are there any characters in the queue waiting to be sent?
-		 // xCRWokenByPost will automatically be set to pdTRUE if a co-routine
-		 // is woken by the post - ensuring that only a single co-routine is
-		 // woken no matter how many times we go around this loop.
-         if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) )
-		 {
-			 SEND_CHARACTER( cCharToTx );
-		 }
-     }
- }
- * \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR - * \ingroup Tasks - */ -#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) xQueueCRReceiveFromISR( pxQueue, pvBuffer, pxCoRoutineWoken ) - -/* - * This function is intended for internal use by the co-routine macros only. - * The macro nature of the co-routine implementation requires that the - * prototype appears here. The function should not be used by application - * writers. - * - * Removes the current co-routine from its ready list and places it in the - * appropriate delayed list. - */ -void vCoRoutineAddToDelayedList( portTickType xTicksToDelay, xList *pxEventList ); - -/* - * This function is intended for internal use by the queue implementation only. - * The function should not be used by application writers. - * - * Removes the highest priority co-routine from the event list and places it in - * the pending ready list. - */ -signed portBASE_TYPE xCoRoutineRemoveFromEventList( const xList *pxEventList ); - -#ifdef __cplusplus -} -#endif - -#endif /* CO_ROUTINE_H */ diff --git a/FreeRTOS1/include/list.h b/FreeRTOS1/include/list.h deleted file mode 100644 index 78fe086..0000000 --- a/FreeRTOS1/include/list.h +++ /dev/null @@ -1,294 +0,0 @@ -/* - FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. - - This file is part of the FreeRTOS.org distribution. - - FreeRTOS.org is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - FreeRTOS.org is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with FreeRTOS.org; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - - A special exception to the GPL can be applied should you wish to distribute - a combined work that includes FreeRTOS.org, without being obliged to provide - the source code for any proprietary components. See the licensing section - of http://www.FreeRTOS.org for full details of how and when the exception - can be applied. - - *************************************************************************** - - Please ensure to read the configuration and relevant port sections of the - online documentation. - - +++ http://www.FreeRTOS.org +++ - Documentation, latest information, license and contact details. - - +++ http://www.SafeRTOS.com +++ - A version that is certified for use in safety critical systems. - - +++ http://www.OpenRTOS.com +++ - Commercial support, development, porting, licensing and training services. - - *************************************************************************** -*/ - -/* - * This is the list implementation used by the scheduler. While it is tailored - * heavily for the schedulers needs, it is also available for use by - * application code. - * - * xLists can only store pointers to xListItems. Each xListItem contains a - * numeric value (xItemValue). Most of the time the lists are sorted in - * descending item value order. - * - * Lists are created already containing one list item. The value of this - * item is the maximum possible that can be stored, it is therefore always at - * the end of the list and acts as a marker. The list member pxHead always - * points to this marker - even though it is at the tail of the list. This - * is because the tail contains a wrap back pointer to the true head of - * the list. - * - * In addition to it's value, each list item contains a pointer to the next - * item in the list (pxNext), a pointer to the list it is in (pxContainer) - * and a pointer to back to the object that contains it. These later two - * pointers are included for efficiency of list manipulation. There is - * effectively a two way link between the object containing the list item and - * the list item itself. - * - * - * \page ListIntroduction List Implementation - * \ingroup FreeRTOSIntro - */ - -/* - Changes from V4.3.1 - - + Included local const within listGET_OWNER_OF_NEXT_ENTRY() to assist - compiler with optimisation. Thanks B.R. -*/ - -#ifndef LIST_H -#define LIST_H - -#ifdef __cplusplus -extern "C" { -#endif -/* - * Definition of the only type of object that a list can contain. - */ -struct xLIST_ITEM -{ - portTickType xItemValue; /*< The value being listed. In most cases this is used to sort the list in descending order. */ - volatile struct xLIST_ITEM * pxNext; /*< Pointer to the next xListItem in the list. */ - volatile struct xLIST_ITEM * pxPrevious;/*< Pointer to the previous xListItem in the list. */ - void * pvOwner; /*< Pointer to the object (normally a TCB) that contains the list item. There is therefore a two way link between the object containing the list item and the list item itself. */ - void * pvContainer; /*< Pointer to the list in which this list item is placed (if any). */ -}; -typedef struct xLIST_ITEM xListItem; /* For some reason lint wants this as two separate definitions. */ - -struct xMINI_LIST_ITEM -{ - portTickType xItemValue; - volatile struct xLIST_ITEM *pxNext; - volatile struct xLIST_ITEM *pxPrevious; -}; -typedef struct xMINI_LIST_ITEM xMiniListItem; - -/* - * Definition of the type of queue used by the scheduler. - */ -typedef struct xLIST -{ - volatile unsigned portBASE_TYPE uxNumberOfItems; - volatile xListItem * pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to pvListGetOwnerOfNextEntry (). */ - volatile xMiniListItem xListEnd; /*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */ -} xList; - -/* - * Access macro to set the owner of a list item. The owner of a list item - * is the object (usually a TCB) that contains the list item. - * - * \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER - * \ingroup LinkedList - */ -#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner ) ( pxListItem )->pvOwner = ( void * ) pxOwner - -/* - * Access macro to set the value of the list item. In most cases the value is - * used to sort the list in descending order. - * - * \page listSET_LIST_ITEM_VALUE listSET_LIST_ITEM_VALUE - * \ingroup LinkedList - */ -#define listSET_LIST_ITEM_VALUE( pxListItem, xValue ) ( pxListItem )->xItemValue = xValue - -/* - * Access macro the retrieve the value of the list item. The value can - * represent anything - for example a the priority of a task, or the time at - * which a task should be unblocked. - * - * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE - * \ingroup LinkedList - */ -#define listGET_LIST_ITEM_VALUE( pxListItem ) ( ( pxListItem )->xItemValue ) - -/* - * Access macro to determine if a list contains any items. The macro will - * only have the value true if the list is empty. - * - * \page listLIST_IS_EMPTY listLIST_IS_EMPTY - * \ingroup LinkedList - */ -#define listLIST_IS_EMPTY( pxList ) ( ( pxList )->uxNumberOfItems == ( unsigned portBASE_TYPE ) 0 ) - -/* - * Access macro to return the number of items in the list. - */ -#define listCURRENT_LIST_LENGTH( pxList ) ( ( pxList )->uxNumberOfItems ) - -/* - * Access function to obtain the owner of the next entry in a list. - * - * The list member pxIndex is used to walk through a list. Calling - * listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list - * and returns that entries pxOwner parameter. Using multiple calls to this - * function it is therefore possible to move through every item contained in - * a list. - * - * The pxOwner parameter of a list item is a pointer to the object that owns - * the list item. In the scheduler this is normally a task control block. - * The pxOwner parameter effectively creates a two way link between the list - * item and its owner. - * - * @param pxList The list from which the next item owner is to be returned. - * - * \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY - * \ingroup LinkedList - */ -#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList ) \ -{ \ -xList * const pxConstList = pxList; \ - /* Increment the index to the next item and return the item, ensuring */ \ - /* we don't return the marker used at the end of the list. */ \ - ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \ - if( ( pxConstList )->pxIndex == ( xListItem * ) &( ( pxConstList )->xListEnd ) ) \ - { \ - ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \ - } \ - pxTCB = ( pxConstList )->pxIndex->pvOwner; \ -} - - -/* - * Access function to obtain the owner of the first entry in a list. Lists - * are normally sorted in ascending item value order. - * - * This function returns the pxOwner member of the first item in the list. - * The pxOwner parameter of a list item is a pointer to the object that owns - * the list item. In the scheduler this is normally a task control block. - * The pxOwner parameter effectively creates a two way link between the list - * item and its owner. - * - * @param pxList The list from which the owner of the head item is to be - * returned. - * - * \page listGET_OWNER_OF_HEAD_ENTRY listGET_OWNER_OF_HEAD_ENTRY - * \ingroup LinkedList - */ -#define listGET_OWNER_OF_HEAD_ENTRY( pxList ) ( ( pxList->uxNumberOfItems != ( unsigned portBASE_TYPE ) 0 ) ? ( (&( pxList->xListEnd ))->pxNext->pvOwner ) : ( NULL ) ) - -/* - * Check to see if a list item is within a list. The list item maintains a - * "container" pointer that points to the list it is in. All this macro does - * is check to see if the container and the list match. - * - * @param pxList The list we want to know if the list item is within. - * @param pxListItem The list item we want to know if is in the list. - * @return pdTRUE is the list item is in the list, otherwise pdFALSE. - * pointer against - */ -#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( pxListItem )->pvContainer == ( void * ) pxList ) - -/* - * Must be called before a list is used! This initialises all the members - * of the list structure and inserts the xListEnd item into the list as a - * marker to the back of the list. - * - * @param pxList Pointer to the list being initialised. - * - * \page vListInitialise vListInitialise - * \ingroup LinkedList - */ -void vListInitialise( xList *pxList ); - -/* - * Must be called before a list item is used. This sets the list container to - * null so the item does not think that it is already contained in a list. - * - * @param pxItem Pointer to the list item being initialised. - * - * \page vListInitialiseItem vListInitialiseItem - * \ingroup LinkedList - */ -void vListInitialiseItem( xListItem *pxItem ); - -/* - * Insert a list item into a list. The item will be inserted into the list in - * a position determined by its item value (descending item value order). - * - * @param pxList The list into which the item is to be inserted. - * - * @param pxNewListItem The item to that is to be placed in the list. - * - * \page vListInsert vListInsert - * \ingroup LinkedList - */ -void vListInsert( xList *pxList, xListItem *pxNewListItem ); - -/* - * Insert a list item into a list. The item will be inserted in a position - * such that it will be the last item within the list returned by multiple - * calls to listGET_OWNER_OF_NEXT_ENTRY. - * - * The list member pvIndex is used to walk through a list. Calling - * listGET_OWNER_OF_NEXT_ENTRY increments pvIndex to the next item in the list. - * Placing an item in a list using vListInsertEnd effectively places the item - * in the list position pointed to by pvIndex. This means that every other - * item within the list will be returned by listGET_OWNER_OF_NEXT_ENTRY before - * the pvIndex parameter again points to the item being inserted. - * - * @param pxList The list into which the item is to be inserted. - * - * @param pxNewListItem The list item to be inserted into the list. - * - * \page vListInsertEnd vListInsertEnd - * \ingroup LinkedList - */ -void vListInsertEnd( xList *pxList, xListItem *pxNewListItem ); - -/* - * Remove an item from a list. The list item has a pointer to the list that - * it is in, so only the list item need be passed into the function. - * - * @param vListRemove The item to be removed. The item will remove itself from - * the list pointed to by it's pxContainer parameter. - * - * \page vListRemove vListRemove - * \ingroup LinkedList - */ -void vListRemove( xListItem *pxItemToRemove ); - -#ifdef __cplusplus -} -#endif - -#endif - diff --git a/FreeRTOS1/include/portable.h b/FreeRTOS1/include/portable.h deleted file mode 100644 index 2acf92b..0000000 --- a/FreeRTOS1/include/portable.h +++ /dev/null @@ -1,271 +0,0 @@ -/* - FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. - - This file is part of the FreeRTOS.org distribution. - - FreeRTOS.org is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - FreeRTOS.org is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with FreeRTOS.org; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - - A special exception to the GPL can be applied should you wish to distribute - a combined work that includes FreeRTOS.org, without being obliged to provide - the source code for any proprietary components. See the licensing section - of http:www.FreeRTOS.org for full details of how and when the exception - can be applied. - - *************************************************************************** - - Please ensure to read the configuration and relevant port sections of the - online documentation. - - +++ http://www.FreeRTOS.org +++ - Documentation, latest information, license and contact details. - - +++ http://www.SafeRTOS.com +++ - A version that is certified for use in safety critical systems. - - +++ http://www.OpenRTOS.com +++ - Commercial support, development, porting, licensing and training services. - - *************************************************************************** -*/ - -/*----------------------------------------------------------- - * Portable layer API. Each function must be defined for each port. - *----------------------------------------------------------*/ - -#ifndef PORTABLE_H -#define PORTABLE_H - -/* Include the macro file relevant to the port being used. */ - -#ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT - #include "..\..\source\portable\owatcom\16bitdos\pc\portmacro.h" - typedef void ( __interrupt __far *pxISR )(); -#endif - -#ifdef OPEN_WATCOM_FLASH_LITE_186_PORT - #include "..\..\source\portable\owatcom\16bitdos\flsh186\portmacro.h" - typedef void ( __interrupt __far *pxISR )(); -#endif - -#ifdef GCC_MEGA_AVR - #include "../portable/GCC/ATMega323/portmacro.h" -#endif - -#ifdef IAR_MEGA_AVR - #include "../portable/IAR/ATMega323/portmacro.h" -#endif - -#ifdef MPLAB_PIC24_PORT - #include "..\..\Source\portable\MPLAB\PIC24_dsPIC\portmacro.h" -#endif - -#ifdef MPLAB_DSPIC_PORT - #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h" -#endif - -#ifdef AIC_DSPIC_PORT -#include "../../FreeRTOS/portable/AIC-2.0.0/portmacro.h" -#endif - -#ifdef MPLAB_PIC18F_PORT - #include "..\..\source\portable\MPLAB\PIC18F\portmacro.h" -#endif - -#ifdef MPLAB_PIC32MX_PORT - #include "..\..\Source\portable\MPLAB\PIC32MX\portmacro.h" -#endif - -#ifdef _FEDPICC - #include "libFreeRTOS/Include/portmacro.h" -#endif - -#ifdef SDCC_CYGNAL - #include "../../Source/portable/SDCC/Cygnal/portmacro.h" -#endif - -#ifdef GCC_ARM7 - #include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h" -#endif - -#ifdef GCC_ARM7_ECLIPSE - #include "portmacro.h" -#endif - -#ifdef ROWLEY_LPC23xx - #include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h" -#endif - -#ifdef GCC_MSP430 - #include "../../Source/portable/GCC/MSP430F449/portmacro.h" -#endif - -#ifdef ROWLEY_MSP430 - #include "../../Source/portable/Rowley/MSP430F449/portmacro.h" -#endif - -#ifdef KEIL_ARM7 - #include "..\..\Source\portable\Keil\ARM7\portmacro.h" -#endif - -#ifdef SAM7_GCC - #include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h" -#endif - -#ifdef SAM7_IAR - #include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h" -#endif - -#ifdef LPC2000_IAR - #include "..\..\Source\portable\IAR\LPC2000\portmacro.h" -#endif - -#ifdef STR71X_IAR - #include "..\..\Source\portable\IAR\STR71x\portmacro.h" -#endif - -#ifdef STR75X_IAR - #include "..\..\Source\portable\IAR\STR75x\portmacro.h" -#endif - -#ifdef STR75X_GCC - #include "..\..\Source\portable\GCC\STR75x\portmacro.h" -#endif - -#ifdef STR91X_IAR - #include "..\..\Source\portable\IAR\STR91x\portmacro.h" -#endif - -#ifdef GCC_H8S - #include "../../Source/portable/GCC/H8S2329/portmacro.h" -#endif - -#ifdef GCC_AT91FR40008 - #include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h" -#endif - -#ifdef RVDS_ARMCM3_LM3S102 - #include "../../Source/portable/RVDS/ARM_CM3/portmacro.h" -#endif - -#ifdef GCC_ARMCM3_LM3S102 - #include "../../Source/portable/GCC/ARM_CM3/portmacro.h" -#endif - -#ifdef GCC_ARMCM3 - #include "../../Source/portable/GCC/ARM_CM3/portmacro.h" -#endif - -#ifdef IAR_ARM_CM3 - #include "../../Source/portable/IAR/ARM_CM3/portmacro.h" -#endif - -#ifdef IAR_ARMCM3_LM - #include "../../Source/portable/IAR/ARM_CM3/portmacro.h" -#endif - -#ifdef HCS12_CODE_WARRIOR - #include "../../Source/portable/CodeWarrior/HCS12/portmacro.h" -#endif - -#ifdef MICROBLAZE_GCC - #include "../../Source/portable/GCC/MicroBlaze/portmacro.h" -#endif - -#ifdef TERN_EE - #include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h" -#endif - -#ifdef GCC_HCS12 - #include "../../Source/portable/GCC/HCS12/portmacro.h" -#endif - -#ifdef GCC_MCF5235 - #include "../../Source/portable/GCC/MCF5235/portmacro.h" -#endif - -#ifdef BCC_INDUSTRIAL_PC_PORT - /* A short file name has to be used in place of the normal - FreeRTOSConfig.h when using the Borland compiler. */ - #include "frconfig.h" - #include "..\portable\BCC\16BitDOS\PC\prtmacro.h" - typedef void ( __interrupt __far *pxISR )(); -#endif - -#ifdef BCC_FLASH_LITE_186_PORT - /* A short file name has to be used in place of the normal - FreeRTOSConfig.h when using the Borland compiler. */ - #include "frconfig.h" - #include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h" - typedef void ( __interrupt __far *pxISR )(); -#endif - -#ifdef __GNUC__ - #ifdef __AVR32_AVR32A__ - #include "portmacro.h" - #endif -#endif - -#ifdef __ICCAVR32__ - #ifdef __CORE__ - #if __CORE__ == __AVR32A__ - #include "portmacro.h" - #endif - #endif -#endif - -#ifdef __91467D - #include "portmacro.h" -#endif - -#ifdef __96340 - #include "portmacro.h" -#endif - -#ifdef __cplusplus -extern "C" { -#endif -/* - * Setup the stack of a new task so it is ready to be placed under the - * scheduler control. The registers have to be placed on the stack in - * the order that the port expects to find them. - */ -portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ); - -/* - * Map to the memory management routines required for the port. - */ -void *pvPortMalloc( size_t xSize ); -void vPortFree( void *pv ); -void vPortInitialiseBlocks( void ); - -/* - * Setup the hardware ready for the scheduler to take control. This generally - * sets up a tick interrupt and sets timers for the correct tick frequency. - */ -portBASE_TYPE xPortStartScheduler( void ); - -/* - * Undo any hardware/ISR setup that was performed by xPortStartScheduler() so - * the hardware is left in its original condition after the scheduler stops - * executing. - */ -void vPortEndScheduler( void ); - -#ifdef __cplusplus -} -#endif - -#endif /* PORTABLE_H */ - diff --git a/FreeRTOS1/include/projdefs.h b/FreeRTOS1/include/projdefs.h deleted file mode 100644 index 44a523a..0000000 --- a/FreeRTOS1/include/projdefs.h +++ /dev/null @@ -1,66 +0,0 @@ -/* - FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. - - This file is part of the FreeRTOS.org distribution. - - FreeRTOS.org is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - FreeRTOS.org is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with FreeRTOS.org; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - - A special exception to the GPL can be applied should you wish to distribute - a combined work that includes FreeRTOS.org, without being obliged to provide - the source code for any proprietary components. See the licensing section - of http://www.FreeRTOS.org for full details of how and when the exception - can be applied. - - *************************************************************************** - - Please ensure to read the configuration and relevant port sections of the - online documentation. - - +++ http://www.FreeRTOS.org +++ - Documentation, latest information, license and contact details. - - +++ http://www.SafeRTOS.com +++ - A version that is certified for use in safety critical systems. - - +++ http://www.OpenRTOS.com +++ - Commercial support, development, porting, licensing and training services. - - *************************************************************************** -*/ - -#ifndef PROJDEFS_H -#define PROJDEFS_H - -/* Defines to prototype to which task functions must conform. */ -typedef void (*pdTASK_CODE)( void * ); - -#define pdTRUE ( 1 ) -#define pdFALSE ( 0 ) - -#define pdPASS ( 1 ) -#define pdFAIL ( 0 ) -#define errQUEUE_EMPTY ( 0 ) -#define errQUEUE_FULL ( 0 ) - -/* Error definitions. */ -#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ( -1 ) -#define errNO_TASK_TO_RUN ( -2 ) -#define errQUEUE_BLOCKED ( -4 ) -#define errQUEUE_YIELD ( -5 ) - -#endif /* PROJDEFS_H */ - - - diff --git a/FreeRTOS1/include/queue.h b/FreeRTOS1/include/queue.h deleted file mode 100644 index be561ad..0000000 --- a/FreeRTOS1/include/queue.h +++ /dev/null @@ -1,1222 +0,0 @@ -/* - FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. - - This file is part of the FreeRTOS.org distribution. - - FreeRTOS.org is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - FreeRTOS.org is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with FreeRTOS.org; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - - A special exception to the GPL can be applied should you wish to distribute - a combined work that includes FreeRTOS.org, without being obliged to provide - the source code for any proprietary components. See the licensing section - of http://www.FreeRTOS.org for full details of how and when the exception - can be applied. - - *************************************************************************** - - Please ensure to read the configuration and relevant port sections of the - online documentation. - - +++ http://www.FreeRTOS.org +++ - Documentation, latest information, license and contact details. - - +++ http://www.SafeRTOS.com +++ - A version that is certified for use in safety critical systems. - - +++ http://www.OpenRTOS.com +++ - Commercial support, development, porting, licensing and training services. - - *************************************************************************** -*/ - -#ifndef QUEUE_H -#define QUEUE_H - -#ifdef __cplusplus -extern "C" { -#endif -typedef void * xQueueHandle; - -/* For internal use only. */ -#define queueSEND_TO_BACK ( 0 ) -#define queueSEND_TO_FRONT ( 1 ) - - -/** - * queue. h - * 
- xQueueHandle xQueueCreate(
-                              unsigned portBASE_TYPE uxQueueLength,
-                              unsigned portBASE_TYPE uxItemSize
-                          );
- *
- * - * Creates a new queue instance. This allocates the storage required by the - * new queue and returns a handle for the queue. - * - * @param uxQueueLength The maximum number of items that the queue can contain. - * - * @param uxItemSize The number of bytes each item in the queue will require. - * Items are queued by copy, not by reference, so this is the number of bytes - * that will be copied for each posted item. Each item on the queue must be - * the same size. - * - * @return If the queue is successfully create then a handle to the newly - * created queue is returned. If the queue cannot be created then 0 is - * returned. - * - * Example usage: - 
- struct AMessage
- {
-    portCHAR ucMessageID;
-    portCHAR ucData[ 20 ];
- };
-
- void vATask( void *pvParameters )
- {
- xQueueHandle xQueue1, xQueue2;
-
-    // Create a queue capable of containing 10 unsigned long values.
-    xQueue1 = xQueueCreate( 10, sizeof( unsigned portLONG ) );
-    if( xQueue1 == 0 )
-    {
-        // Queue was not created and must not be used.
-    }
-
-    // Create a queue capable of containing 10 pointers to AMessage structures.
-    // These should be passed by pointer as they contain a lot of data.
-    xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-    if( xQueue2 == 0 )
-    {
-        // Queue was not created and must not be used.
-    }
-
-    // ... Rest of task code.
- }
-
- * \defgroup xQueueCreate xQueueCreate - * \ingroup QueueManagement - */ -xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize ); - -/** - * queue. h - * 
- portBASE_TYPE xQueueSendToToFront(
-                                   xQueueHandle xQueue,
-                                   const void * pvItemToQueue,
-                                   portTickType xTicksToWait
-                               );
- *
- * - * This is a macro that calls xQueueGenericSend(). - * - * Post an item to the front of a queue. The item is queued by copy, not by - * reference. This function must not be called from an interrupt service - * routine. See xQueueSendFromISR () for an alternative which may be used - * in an ISR. - * - * @param xQueue The handle to the queue on which the item is to be posted. - * - * @param pvItemToQueue A pointer to the item that is to be placed on the - * queue. The size of the items the queue will hold was defined when the - * queue was created, so this many bytes will be copied from pvItemToQueue - * into the queue storage area. - * - * @param xTicksToWait The maximum amount of time the task should block - * waiting for space to become available on the queue, should it already - * be full. The call will return immediately if this is set to 0. The - * time is defined in tick periods so the constant portTICK_RATE_MS - * should be used to convert to real time if this is required. - * - * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. - * - * Example usage: - 
- struct AMessage
- {
-    portCHAR ucMessageID;
-    portCHAR ucData[ 20 ];
- } xMessage;
-
- unsigned portLONG ulVar = 10UL;
-
- void vATask( void *pvParameters )
- {
- xQueueHandle xQueue1, xQueue2;
- struct AMessage *pxMessage;
-
-    // Create a queue capable of containing 10 unsigned long values.
-    xQueue1 = xQueueCreate( 10, sizeof( unsigned portLONG ) );
-
-    // Create a queue capable of containing 10 pointers to AMessage structures.
-    // These should be passed by pointer as they contain a lot of data.
-    xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-
-    // ...
-
-    if( xQueue1 != 0 )
-    {
-        // Send an unsigned long.  Wait for 10 ticks for space to become
-        // available if necessary.
-        if( xQueueSendToFront( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
-        {
-            // Failed to post the message, even after 10 ticks.
-        }
-    }
-
-    if( xQueue2 != 0 )
-    {
-        // Send a pointer to a struct AMessage object.  Don't block if the
-        // queue is already full.
-        pxMessage = & xMessage;
-        xQueueSendToFront( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
-    }
-
-	// ... Rest of task code.
- }
-
- * \defgroup xQueueSend xQueueSend - * \ingroup QueueManagement - */ -#define xQueueSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_FRONT ) - -/** - * queue. h - * 
- portBASE_TYPE xQueueSendToBack(
-                                   xQueueHandle xQueue,
-                                   const void * pvItemToQueue,
-                                   portTickType xTicksToWait
-                               );
- *
- * - * This is a macro that calls xQueueGenericSend(). - * - * Post an item to the back of a queue. The item is queued by copy, not by - * reference. This function must not be called from an interrupt service - * routine. See xQueueSendFromISR () for an alternative which may be used - * in an ISR. - * - * @param xQueue The handle to the queue on which the item is to be posted. - * - * @param pvItemToQueue A pointer to the item that is to be placed on the - * queue. The size of the items the queue will hold was defined when the - * queue was created, so this many bytes will be copied from pvItemToQueue - * into the queue storage area. - * - * @param xTicksToWait The maximum amount of time the task should block - * waiting for space to become available on the queue, should it already - * be full. The call will return immediately if this is set to 0. The - * time is defined in tick periods so the constant portTICK_RATE_MS - * should be used to convert to real time if this is required. - * - * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. - * - * Example usage: - 
- struct AMessage
- {
-    portCHAR ucMessageID;
-    portCHAR ucData[ 20 ];
- } xMessage;
-
- unsigned portLONG ulVar = 10UL;
-
- void vATask( void *pvParameters )
- {
- xQueueHandle xQueue1, xQueue2;
- struct AMessage *pxMessage;
-
-    // Create a queue capable of containing 10 unsigned long values.
-    xQueue1 = xQueueCreate( 10, sizeof( unsigned portLONG ) );
-
-    // Create a queue capable of containing 10 pointers to AMessage structures.
-    // These should be passed by pointer as they contain a lot of data.
-    xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-
-    // ...
-
-    if( xQueue1 != 0 )
-    {
-        // Send an unsigned long.  Wait for 10 ticks for space to become
-        // available if necessary.
-        if( xQueueSendToBack( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
-        {
-            // Failed to post the message, even after 10 ticks.
-        }
-    }
-
-    if( xQueue2 != 0 )
-    {
-        // Send a pointer to a struct AMessage object.  Don't block if the
-        // queue is already full.
-        pxMessage = & xMessage;
-        xQueueSendToBack( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
-    }
-
-	// ... Rest of task code.
- }
-
- * \defgroup xQueueSend xQueueSend - * \ingroup QueueManagement - */ -#define xQueueSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK ) - -/** - * queue. h - * 
- portBASE_TYPE xQueueSend(
-                              xQueueHandle xQueue,
-                              const void * pvItemToQueue,
-                              portTickType xTicksToWait
-                         );
- *
- * - * This is a macro that calls xQueueGenericSend(). It is included for - * backward compatibility with versions of FreeRTOS.org that did not - * include the xQueueSendToFront() and xQueueSendToBack() macros. It is - * equivalent to xQueueSendToBack(). - * - * Post an item on a queue. The item is queued by copy, not by reference. - * This function must not be called from an interrupt service routine. - * See xQueueSendFromISR () for an alternative which may be used in an ISR. - * - * @param xQueue The handle to the queue on which the item is to be posted. - * - * @param pvItemToQueue A pointer to the item that is to be placed on the - * queue. The size of the items the queue will hold was defined when the - * queue was created, so this many bytes will be copied from pvItemToQueue - * into the queue storage area. - * - * @param xTicksToWait The maximum amount of time the task should block - * waiting for space to become available on the queue, should it already - * be full. The call will return immediately if this is set to 0. The - * time is defined in tick periods so the constant portTICK_RATE_MS - * should be used to convert to real time if this is required. - * - * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. - * - * Example usage: - 
- struct AMessage
- {
-    portCHAR ucMessageID;
-    portCHAR ucData[ 20 ];
- } xMessage;
-
- unsigned portLONG ulVar = 10UL;
-
- void vATask( void *pvParameters )
- {
- xQueueHandle xQueue1, xQueue2;
- struct AMessage *pxMessage;
-
-    // Create a queue capable of containing 10 unsigned long values.
-    xQueue1 = xQueueCreate( 10, sizeof( unsigned portLONG ) );
-
-    // Create a queue capable of containing 10 pointers to AMessage structures.
-    // These should be passed by pointer as they contain a lot of data.
-    xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-
-    // ...
-
-    if( xQueue1 != 0 )
-    {
-        // Send an unsigned long.  Wait for 10 ticks for space to become
-        // available if necessary.
-        if( xQueueSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
-        {
-            // Failed to post the message, even after 10 ticks.
-        }
-    }
-
-    if( xQueue2 != 0 )
-    {
-        // Send a pointer to a struct AMessage object.  Don't block if the
-        // queue is already full.
-        pxMessage = & xMessage;
-        xQueueSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
-    }
-
-	// ... Rest of task code.
- }
-
- * \defgroup xQueueSend xQueueSend - * \ingroup QueueManagement - */ -#define xQueueSend( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK ) - - -/** - * queue. h - * 
- portBASE_TYPE xQueueGenericSend(
-									xQueueHandle xQueue,
-									const void * pvItemToQueue,
-									portTickType xTicksToWait
-									portBASE_TYPE xCopyPosition
-								);
- *
- * - * It is preferred that the macros xQueueSend(), xQueueSendToFront() and - * xQueueSendToBack() are used in place of calling this function directly. - * - * Post an item on a queue. The item is queued by copy, not by reference. - * This function must not be called from an interrupt service routine. - * See xQueueSendFromISR () for an alternative which may be used in an ISR. - * - * @param xQueue The handle to the queue on which the item is to be posted. - * - * @param pvItemToQueue A pointer to the item that is to be placed on the - * queue. The size of the items the queue will hold was defined when the - * queue was created, so this many bytes will be copied from pvItemToQueue - * into the queue storage area. - * - * @param xTicksToWait The maximum amount of time the task should block - * waiting for space to become available on the queue, should it already - * be full. The call will return immediately if this is set to 0. The - * time is defined in tick periods so the constant portTICK_RATE_MS - * should be used to convert to real time if this is required. - * - * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the - * item at the back of the queue, or queueSEND_TO_FRONT to place the item - * at the front of the queue (for high priority messages). - * - * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. - * - * Example usage: - 
- struct AMessage
- {
-    portCHAR ucMessageID;
-    portCHAR ucData[ 20 ];
- } xMessage;
-
- unsigned portLONG ulVar = 10UL;
-
- void vATask( void *pvParameters )
- {
- xQueueHandle xQueue1, xQueue2;
- struct AMessage *pxMessage;
-
-    // Create a queue capable of containing 10 unsigned long values.
-    xQueue1 = xQueueCreate( 10, sizeof( unsigned portLONG ) );
-
-    // Create a queue capable of containing 10 pointers to AMessage structures.
-    // These should be passed by pointer as they contain a lot of data.
-    xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-
-    // ...
-
-    if( xQueue1 != 0 )
-    {
-        // Send an unsigned long.  Wait for 10 ticks for space to become
-        // available if necessary.
-        if( xQueueGenericSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10, queueSEND_TO_BACK ) != pdPASS )
-        {
-            // Failed to post the message, even after 10 ticks.
-        }
-    }
-
-    if( xQueue2 != 0 )
-    {
-        // Send a pointer to a struct AMessage object.  Don't block if the
-        // queue is already full.
-        pxMessage = & xMessage;
-        xQueueGenericSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0, queueSEND_TO_BACK );
-    }
-
-	// ... Rest of task code.
- }
-
- * \defgroup xQueueSend xQueueSend - * \ingroup QueueManagement - */ -signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ); - -/** - * queue. h - * 
- portBASE_TYPE xQueuePeek(
-                             xQueueHandle xQueue,
-                             void *pvBuffer,
-                             portTickType xTicksToWait
-                         );
- * - * This is a macro that calls the xQueueGenericReceive() function. - * - * Receive an item from a queue without removing the item from the queue. - * The item is received by copy so a buffer of adequate size must be - * provided. The number of bytes copied into the buffer was defined when - * the queue was created. - * - * Successfully received items remain on the queue so will be returned again - * by the next call, or a call to xQueueReceive(). - * - * This macro must not be used in an interrupt service routine. - * - * @param pxQueue The handle to the queue from which the item is to be - * received. - * - * @param pvBuffer Pointer to the buffer into which the received item will - * be copied. - * - * @param xTicksToWait The maximum amount of time the task should block - * waiting for an item to receive should the queue be empty at the time - * of the call. The time is defined in tick periods so the constant - * portTICK_RATE_MS should be used to convert to real time if this is required. - * - * @return pdTRUE if an item was successfully received from the queue, - * otherwise pdFALSE. - * - * Example usage: - 
- struct AMessage
- {
-    portCHAR ucMessageID;
-    portCHAR ucData[ 20 ];
- } xMessage;
-
- xQueueHandle xQueue;
-
- // Task to create a queue and post a value.
- void vATask( void *pvParameters )
- {
- struct AMessage *pxMessage;
-
-    // Create a queue capable of containing 10 pointers to AMessage structures.
-    // These should be passed by pointer as they contain a lot of data.
-    xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
-    if( xQueue == 0 )
-    {
-        // Failed to create the queue.
-    }
-
-    // ...
-
-    // Send a pointer to a struct AMessage object.  Don't block if the
-    // queue is already full.
-    pxMessage = & xMessage;
-    xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
-
-	// ... Rest of task code.
- }
-
- // Task to peek the data from the queue.
- void vADifferentTask( void *pvParameters )
- {
- struct AMessage *pxRxedMessage;
-
-    if( xQueue != 0 )
-    {
-        // Peek a message on the created queue.  Block for 10 ticks if a
-        // message is not immediately available.
-        if( xQueuePeek( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
-        {
-            // pcRxedMessage now points to the struct AMessage variable posted
-            // by vATask, but the item still remains on the queue.
-        }
-    }
-
-	// ... Rest of task code.
- }
-
- * \defgroup xQueueReceive xQueueReceive - * \ingroup QueueManagement - */ -#define xQueuePeek( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( xQueue, pvBuffer, xTicksToWait, pdTRUE ) - -/** - * queue. h - * 
- portBASE_TYPE xQueueReceive(
-                                 xQueueHandle xQueue,
-                                 void *pvBuffer,
-                                 portTickType xTicksToWait
-                            );
- * - * This is a macro that calls the xQueueGenericReceive() function. - * - * Receive an item from a queue. The item is received by copy so a buffer of - * adequate size must be provided. The number of bytes copied into the buffer - * was defined when the queue was created. - * - * Successfully received items are removed from the queue. - * - * This function must not be used in an interrupt service routine. See - * xQueueReceiveFromISR for an alternative that can. - * - * @param pxQueue The handle to the queue from which the item is to be - * received. - * - * @param pvBuffer Pointer to the buffer into which the received item will - * be copied. - * - * @param xTicksToWait The maximum amount of time the task should block - * waiting for an item to receive should the queue be empty at the time - * of the call. The time is defined in tick periods so the constant - * portTICK_RATE_MS should be used to convert to real time if this is required. - * - * @return pdTRUE if an item was successfully received from the queue, - * otherwise pdFALSE. - * - * Example usage: - 
- struct AMessage
- {
-    portCHAR ucMessageID;
-    portCHAR ucData[ 20 ];
- } xMessage;
-
- xQueueHandle xQueue;
-
- // Task to create a queue and post a value.
- void vATask( void *pvParameters )
- {
- struct AMessage *pxMessage;
-
-    // Create a queue capable of containing 10 pointers to AMessage structures.
-    // These should be passed by pointer as they contain a lot of data.
-    xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
-    if( xQueue == 0 )
-    {
-        // Failed to create the queue.
-    }
-
-    // ...
-
-    // Send a pointer to a struct AMessage object.  Don't block if the
-    // queue is already full.
-    pxMessage = & xMessage;
-    xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
-
-	// ... Rest of task code.
- }
-
- // Task to receive from the queue.
- void vADifferentTask( void *pvParameters )
- {
- struct AMessage *pxRxedMessage;
-
-    if( xQueue != 0 )
-    {
-        // Receive a message on the created queue.  Block for 10 ticks if a
-        // message is not immediately available.
-        if( xQueueReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
-        {
-            // pcRxedMessage now points to the struct AMessage variable posted
-            // by vATask.
-        }
-    }
-
-	// ... Rest of task code.
- }
-
- * \defgroup xQueueReceive xQueueReceive - * \ingroup QueueManagement - */ -#define xQueueReceive( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( xQueue, pvBuffer, xTicksToWait, pdFALSE ) - - -/** - * queue. h - * 
- portBASE_TYPE xQueueGenericReceive(
-                                       xQueueHandle xQueue,
-                                       void *pvBuffer,
-                                       portTickType xTicksToWait
-                                       portBASE_TYPE xJustPeek
-                                    );
- * - * It is preferred that the macro xQueueReceive() be used rather than calling - * this function directly. - * - * Receive an item from a queue. The item is received by copy so a buffer of - * adequate size must be provided. The number of bytes copied into the buffer - * was defined when the queue was created. - * - * This function must not be used in an interrupt service routine. See - * xQueueReceiveFromISR for an alternative that can. - * - * @param pxQueue The handle to the queue from which the item is to be - * received. - * - * @param pvBuffer Pointer to the buffer into which the received item will - * be copied. - * - * @param xTicksToWait The maximum amount of time the task should block - * waiting for an item to receive should the queue be empty at the time - * of the call. The time is defined in tick periods so the constant - * portTICK_RATE_MS should be used to convert to real time if this is required. - * - * @param xJustPeek When set to true, the item received from the queue is not - * actually removed from the queue - meaning a subsequent call to - * xQueueReceive() will return the same item. When set to false, the item - * being received from the queue is also removed from the queue. - * - * @return pdTRUE if an item was successfully received from the queue, - * otherwise pdFALSE. - * - * Example usage: - 
- struct AMessage
- {
-    portCHAR ucMessageID;
-    portCHAR ucData[ 20 ];
- } xMessage;
-
- xQueueHandle xQueue;
-
- // Task to create a queue and post a value.
- void vATask( void *pvParameters )
- {
- struct AMessage *pxMessage;
-
-    // Create a queue capable of containing 10 pointers to AMessage structures.
-    // These should be passed by pointer as they contain a lot of data.
-    xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
-    if( xQueue == 0 )
-    {
-        // Failed to create the queue.
-    }
-
-    // ...
-
-    // Send a pointer to a struct AMessage object.  Don't block if the
-    // queue is already full.
-    pxMessage = & xMessage;
-    xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
-
-	// ... Rest of task code.
- }
-
- // Task to receive from the queue.
- void vADifferentTask( void *pvParameters )
- {
- struct AMessage *pxRxedMessage;
-
-    if( xQueue != 0 )
-    {
-        // Receive a message on the created queue.  Block for 10 ticks if a
-        // message is not immediately available.
-        if( xQueueGenericReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
-        {
-            // pcRxedMessage now points to the struct AMessage variable posted
-            // by vATask.
-        }
-    }
-
-	// ... Rest of task code.
- }
-
- * \defgroup xQueueReceive xQueueReceive - * \ingroup QueueManagement - */ -signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeek ); - -/** - * queue. h - * 
unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue );
- * - * Return the number of messages stored in a queue. - * - * @param xQueue A handle to the queue being queried. - * - * @return The number of messages available in the queue. - * - * \page uxQueueMessagesWaiting uxQueueMessagesWaiting - * \ingroup QueueManagement - */ -unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue ); - -/** - * queue. h - * 
void vQueueDelete( xQueueHandle xQueue );
- * - * Delete a queue - freeing all the memory allocated for storing of items - * placed on the queue. - * - * @param xQueue A handle to the queue to be deleted. - * - * \page vQueueDelete vQueueDelete - * \ingroup QueueManagement - */ -void vQueueDelete( xQueueHandle xQueue ); - -/** - * queue. h - * 
- portBASE_TYPE xQueueSendToFrontFromISR(
-                                         xQueueHandle pxQueue,
-                                         const void *pvItemToQueue,
-                                         portBASE_TYPE xTaskPreviouslyWoken
-                                      );
-
- * - * This is a macro that calls xQueueGenericSendFromISR(). - * - * Post an item to the front of a queue. It is safe to use this macro from - * within an interrupt service routine. - * - * Items are queued by copy not reference so it is preferable to only - * queue small items, especially when called from an ISR. In most cases - * it would be preferable to store a pointer to the item being queued. - * - * @param xQueue The handle to the queue on which the item is to be posted. - * - * @param pvItemToQueue A pointer to the item that is to be placed on the - * queue. The size of the items the queue will hold was defined when the - * queue was created, so this many bytes will be copied from pvItemToQueue - * into the queue storage area. - * - * @param cTaskPreviouslyWoken This is included so an ISR can post onto - * the same queue multiple times from a single interrupt. The first call - * should always pass in pdFALSE. Subsequent calls should pass in - * the value returned from the previous call. See the file serial .c in the - * PC port for a good example of this mechanism. - * - * @return pdTRUE if a task was woken by posting onto the queue. This is - * used by the ISR to determine if a context switch may be required following - * the ISR. - * - * Example usage for buffered IO (where the ISR can obtain more than one value - * per call): - 
- void vBufferISR( void )
- {
- portCHAR cIn;
- portBASE_TYPE xTaskWokenByPost;
-
-    // We have not woken a task at the start of the ISR.
-    cTaskWokenByPost = pdFALSE;
-
-    // Loop until the buffer is empty.
-    do
-    {
-        // Obtain a byte from the buffer.
-        cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );						
-
-        // Post the byte.  The first time round the loop cTaskWokenByPost
-        // will be pdFALSE.  If the queue send causes a task to wake we do
-        // not want the task to run until we have finished the ISR, so
-        // xQueueSendFromISR does not cause a context switch.  Also we
-        // don't want subsequent posts to wake any other tasks, so we store
-        // the return value back into cTaskWokenByPost so xQueueSendFromISR
-        // knows not to wake any task the next iteration of the loop.
-        xTaskWokenByPost = xQueueSendToFrontFromISR( xRxQueue, &cIn, cTaskWokenByPost );
-
-    } while( portINPUT_BYTE( BUFFER_COUNT ) );
-
-    // Now the buffer is empty we can switch context if necessary.
-    if( cTaskWokenByPost )
-    {
-        taskYIELD ();
-    }
- }
-
- * - * \defgroup xQueueSendFromISR xQueueSendFromISR - * \ingroup QueueManagement - */ -#define xQueueSendToFrontFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken, queueSEND_TO_FRONT ) - - -/** - * queue. h - * 
- portBASE_TYPE xQueueSendToBackFromISR(
-                                         xQueueHandle pxQueue,
-                                         const void *pvItemToQueue,
-                                         portBASE_TYPE xTaskPreviouslyWoken
-                                      );
-
- * - * This is a macro that calls xQueueGenericSendFromISR(). - * - * Post an item to the back of a queue. It is safe to use this macro from - * within an interrupt service routine. - * - * Items are queued by copy not reference so it is preferable to only - * queue small items, especially when called from an ISR. In most cases - * it would be preferable to store a pointer to the item being queued. - * - * @param xQueue The handle to the queue on which the item is to be posted. - * - * @param pvItemToQueue A pointer to the item that is to be placed on the - * queue. The size of the items the queue will hold was defined when the - * queue was created, so this many bytes will be copied from pvItemToQueue - * into the queue storage area. - * - * @param cTaskPreviouslyWoken This is included so an ISR can post onto - * the same queue multiple times from a single interrupt. The first call - * should always pass in pdFALSE. Subsequent calls should pass in - * the value returned from the previous call. See the file serial .c in the - * PC port for a good example of this mechanism. - * - * @return pdTRUE if a task was woken by posting onto the queue. This is - * used by the ISR to determine if a context switch may be required following - * the ISR. - * - * Example usage for buffered IO (where the ISR can obtain more than one value - * per call): - 
- void vBufferISR( void )
- {
- portCHAR cIn;
- portBASE_TYPE xTaskWokenByPost;
-
-    // We have not woken a task at the start of the ISR.
-    cTaskWokenByPost = pdFALSE;
-
-    // Loop until the buffer is empty.
-    do
-    {
-        // Obtain a byte from the buffer.
-        cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );						
-
-        // Post the byte.  The first time round the loop cTaskWokenByPost
-        // will be pdFALSE.  If the queue send causes a task to wake we do
-        // not want the task to run until we have finished the ISR, so
-        // xQueueSendFromISR does not cause a context switch.  Also we
-        // don't want subsequent posts to wake any other tasks, so we store
-        // the return value back into cTaskWokenByPost so xQueueSendFromISR
-        // knows not to wake any task the next iteration of the loop.
-        xTaskWokenByPost = xQueueSendToBackFromISR( xRxQueue, &cIn, cTaskWokenByPost );
-
-    } while( portINPUT_BYTE( BUFFER_COUNT ) );
-
-    // Now the buffer is empty we can switch context if necessary.
-    if( cTaskWokenByPost )
-    {
-        taskYIELD ();
-    }
- }
-
- * - * \defgroup xQueueSendFromISR xQueueSendFromISR - * \ingroup QueueManagement - */ -#define xQueueSendToBackFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken, queueSEND_TO_BACK ) - - -/** - * queue. h - * 
- portBASE_TYPE xQueueSendFromISR(
-                                     xQueueHandle pxQueue,
-                                     const void *pvItemToQueue,
-                                     portBASE_TYPE xTaskPreviouslyWoken
-                                );
-
- * - * This is a macro that calls xQueueGenericSendFromISR(). It is included - * for backward compatibility with versions of FreeRTOS.org that did not - * include the xQueueSendToBackFromISR() and xQueueSendToFrontFromISR() - * macros. - * - * Post an item to the back of a queue. It is safe to use this function from - * within an interrupt service routine. - * - * Items are queued by copy not reference so it is preferable to only - * queue small items, especially when called from an ISR. In most cases - * it would be preferable to store a pointer to the item being queued. - * - * @param xQueue The handle to the queue on which the item is to be posted. - * - * @param pvItemToQueue A pointer to the item that is to be placed on the - * queue. The size of the items the queue will hold was defined when the - * queue was created, so this many bytes will be copied from pvItemToQueue - * into the queue storage area. - * - * @param cTaskPreviouslyWoken This is included so an ISR can post onto - * the same queue multiple times from a single interrupt. The first call - * should always pass in pdFALSE. Subsequent calls should pass in - * the value returned from the previous call. See the file serial .c in the - * PC port for a good example of this mechanism. - * - * @return pdTRUE if a task was woken by posting onto the queue. This is - * used by the ISR to determine if a context switch may be required following - * the ISR. - * - * Example usage for buffered IO (where the ISR can obtain more than one value - * per call): - 
- void vBufferISR( void )
- {
- portCHAR cIn;
- portBASE_TYPE xTaskWokenByPost;
-
-    // We have not woken a task at the start of the ISR.
-    cTaskWokenByPost = pdFALSE;
-
-    // Loop until the buffer is empty.
-    do
-    {
-        // Obtain a byte from the buffer.
-        cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );						
-
-        // Post the byte.  The first time round the loop cTaskWokenByPost
-        // will be pdFALSE.  If the queue send causes a task to wake we do
-        // not want the task to run until we have finished the ISR, so
-        // xQueueSendFromISR does not cause a context switch.  Also we
-        // don't want subsequent posts to wake any other tasks, so we store
-        // the return value back into cTaskWokenByPost so xQueueSendFromISR
-        // knows not to wake any task the next iteration of the loop.
-        xTaskWokenByPost = xQueueSendFromISR( xRxQueue, &cIn, cTaskWokenByPost );
-
-    } while( portINPUT_BYTE( BUFFER_COUNT ) );
-
-    // Now the buffer is empty we can switch context if necessary.
-    if( cTaskWokenByPost )
-    {
-        taskYIELD ();
-    }
- }
-
- * - * \defgroup xQueueSendFromISR xQueueSendFromISR - * \ingroup QueueManagement - */ -#define xQueueSendFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken, queueSEND_TO_BACK ) - -/** - * queue. h - * 
- portBASE_TYPE xQueueGenericSendFromISR(
-                                           xQueueHandle pxQueue,
-                                           const void *pvItemToQueue,
-                                           portBASE_TYPE xTaskPreviouslyWoken
-										   portBASE_TYPE xCopyPosition
-                                       );
-
- * - * It is preferred that the macros xQueueSendFromISR(), - * xQueueSendToFrontFromISR() and xQueueSendToBackFromISR() be used in place - * of calling this function directly. - * - * Post an item on a queue. It is safe to use this function from within an - * interrupt service routine. - * - * Items are queued by copy not reference so it is preferable to only - * queue small items, especially when called from an ISR. In most cases - * it would be preferable to store a pointer to the item being queued. - * - * @param xQueue The handle to the queue on which the item is to be posted. - * - * @param pvItemToQueue A pointer to the item that is to be placed on the - * queue. The size of the items the queue will hold was defined when the - * queue was created, so this many bytes will be copied from pvItemToQueue - * into the queue storage area. - * - * @param cTaskPreviouslyWoken This is included so an ISR can post onto - * the same queue multiple times from a single interrupt. The first call - * should always pass in pdFALSE. Subsequent calls should pass in - * the value returned from the previous call. See the file serial .c in the - * PC port for a good example of this mechanism. - * - * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the - * item at the back of the queue, or queueSEND_TO_FRONT to place the item - * at the front of the queue (for high priority messages). - * - * @return pdTRUE if a task was woken by posting onto the queue. This is - * used by the ISR to determine if a context switch may be required following - * the ISR. - * - * Example usage for buffered IO (where the ISR can obtain more than one value - * per call): - 
- void vBufferISR( void )
- {
- portCHAR cIn;
- portBASE_TYPE xTaskWokenByPost;
-
-    // We have not woken a task at the start of the ISR.
-    cTaskWokenByPost = pdFALSE;
-
-    // Loop until the buffer is empty.
-    do
-    {
-        // Obtain a byte from the buffer.
-        cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );						
-
-        // Post the byte.  The first time round the loop cTaskWokenByPost
-        // will be pdFALSE.  If the queue send causes a task to wake we do
-        // not want the task to run until we have finished the ISR, so
-        // xQueueSendFromISR does not cause a context switch.  Also we
-        // don't want subsequent posts to wake any other tasks, so we store
-        // the return value back into cTaskWokenByPost so xQueueSendFromISR
-        // knows not to wake any task the next iteration of the loop.
-        xTaskWokenByPost = xQueueGenericSendFromISR( xRxQueue, &cIn, cTaskWokenByPost, queueSEND_TO_BACK );
-
-    } while( portINPUT_BYTE( BUFFER_COUNT ) );
-
-    // Now the buffer is empty we can switch context if necessary.
-    if( cTaskWokenByPost )
-    {
-        taskYIELD ();
-    }
- }
-
- * - * \defgroup xQueueSendFromISR xQueueSendFromISR - * \ingroup QueueManagement - */ -signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE xTaskPreviouslyWoken, portBASE_TYPE xCopyPosition ); - -/** - * queue. h - * 
- portBASE_TYPE xQueueReceiveFromISR(
-                                       xQueueHandle pxQueue,
-                                       void *pvBuffer,
-                                       portBASE_TYPE *pxTaskWoken
-                                   );
- *
- * - * Receive an item from a queue. It is safe to use this function from within an - * interrupt service routine. - * - * @param pxQueue The handle to the queue from which the item is to be - * received. - * - * @param pvBuffer Pointer to the buffer into which the received item will - * be copied. - * - * @param pxTaskWoken A task may be blocked waiting for space to become - * available on the queue. If xQueueReceiveFromISR causes such a task to - * unblock *pxTaskWoken will get set to pdTRUE, otherwise *pxTaskWoken will - * remain unchanged. - * - * @return pdTRUE if an item was successfully received from the queue, - * otherwise pdFALSE. - * - * Example usage: - 
-
- xQueueHandle xQueue;
-
- // Function to create a queue and post some values.
- void vAFunction( void *pvParameters )
- {
- portCHAR cValueToPost;
- const portTickType xBlockTime = ( portTickType )0xff;
-
-    // Create a queue capable of containing 10 characters.
-    xQueue = xQueueCreate( 10, sizeof( portCHAR ) );
-    if( xQueue == 0 )
-    {
-        // Failed to create the queue.
-    }
-
-    // ...
-
-    // Post some characters that will be used within an ISR.  If the queue
-    // is full then this task will block for xBlockTime ticks.
-    cValueToPost = 'a';
-    xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );
-    cValueToPost = 'b';
-    xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );
-
-    // ... keep posting characters ... this task may block when the queue
-    // becomes full.
-
-    cValueToPost = 'c';
-    xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );
- }
-
- // ISR that outputs all the characters received on the queue.
- void vISR_Routine( void )
- {
- portBASE_TYPE xTaskWokenByReceive = pdFALSE;
- portCHAR cRxedChar;
-
-    while( xQueueReceiveFromISR( xQueue, ( void * ) &cRxedChar, &xTaskWokenByReceive) )
-    {
-        // A character was received.  Output the character now.
-        vOutputCharacter( cRxedChar );
-
-        // If removing the character from the queue woke the task that was
-        // posting onto the queue cTaskWokenByReceive will have been set to
-        // pdTRUE.  No matter how many times this loop iterates only one
-        // task will be woken.
-    }
-
-    if( cTaskWokenByPost != ( portCHAR ) pdFALSE;
-    {
-        taskYIELD ();
-    }
- }
-
- * \defgroup xQueueReceiveFromISR xQueueReceiveFromISR - * \ingroup QueueManagement - */ -signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, const void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken ); - -/* - * xQueueAltGenericSend() is an alternative version of xQueueGenericSend(). - * Likewise xQueueAltGenericReceive() is an alternative version of - * xQueueGenericReceive(). - * - * The source code that implements the alternative (Alt) API is much - * simpler because it executes everything from within a critical section. - * This is the approach taken by many other RTOSes, but FreeRTOS.org has the - * preferred fully featured API too. The fully featured API has more - * complex code that takes longer to execute, but makes much less use of - * critical sections. Therefore the alternative API sacrifices interrupt - * responsiveness to gain execution speed, whereas the fully featured API - * sacrifices execution speed to ensure better interrupt responsiveness. - */ -signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ); -signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ); -#define xQueueAltSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_FRONT ) -#define xQueueAltSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK ) -#define xQueueAltReceive( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( xQueue, pvBuffer, xTicksToWait, pdFALSE ) -#define xQueueAltPeek( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( xQueue, pvBuffer, xTicksToWait, pdTRUE ) - -/* - * The functions defined above are for passing data to and from tasks. The - * functions below are the equivalents for passing data to and from - * co-routines. - * - * These functions are called from the co-routine macro implementation and - * should not be called directly from application code. Instead use the macro - * wrappers defined within croutine.h. - */ -signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ); -signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken ); -signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait ); -signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait ); - -/* - * For internal use only. Use xSemaphoreCreateMutex() or - * xSemaphoreCreateCounting() instead of calling these functions directly. - */ -xQueueHandle xQueueCreateMutex( void ); -xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ); - -/* - * For internal use only. Use xSemaphoreTakeMutexRecursive() or - * xSemaphoreGiveMutexRecursive() instead of calling these functions directly. - */ -portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime ); -portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex ); - -#ifdef __cplusplus -} -#endif - -#endif /* QUEUE_H */ - diff --git a/FreeRTOS1/include/semphr.h b/FreeRTOS1/include/semphr.h deleted file mode 100644 index c9641e3..0000000 --- a/FreeRTOS1/include/semphr.h +++ /dev/null @@ -1,698 +0,0 @@ -/* - FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. - - This file is part of the FreeRTOS.org distribution. - - FreeRTOS.org is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - FreeRTOS.org is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with FreeRTOS.org; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - - A special exception to the GPL can be applied should you wish to distribute - a combined work that includes FreeRTOS.org, without being obliged to provide - the source code for any proprietary components. See the licensing section - of http://www.FreeRTOS.org for full details of how and when the exception - can be applied. - - *************************************************************************** - - Please ensure to read the configuration and relevant port sections of the - online documentation. - - +++ http://www.FreeRTOS.org +++ - Documentation, latest information, license and contact details. - - +++ http://www.SafeRTOS.com +++ - A version that is certified for use in safety critical systems. - - +++ http://www.OpenRTOS.com +++ - Commercial support, development, porting, licensing and training services. - - *************************************************************************** -*/ - -#ifndef SEMAPHORE_H -#define SEMAPHORE_H - -#include "queue.h" - -typedef xQueueHandle xSemaphoreHandle; - -#define semBINARY_SEMAPHORE_QUEUE_LENGTH ( ( unsigned portCHAR ) 1 ) -#define semSEMAPHORE_QUEUE_ITEM_LENGTH ( ( unsigned portCHAR ) 0 ) -#define semGIVE_BLOCK_TIME ( ( portTickType ) 0 ) - - -/** - * semphr. h - * 
vSemaphoreCreateBinary( xSemaphoreHandle xSemaphore )
- * - * Macro that implements a semaphore by using the existing queue mechanism. - * The queue length is 1 as this is a binary semaphore. The data size is 0 - * as we don't want to actually store any data - we just want to know if the - * queue is empty or full. - * - * This type of semaphore can be used for pure synchronisation between tasks or - * between an interrupt and a task. The semaphore need not be given back once - * obtained, so one task/interrupt can continuously 'give' the semaphore while - * another continuously 'takes' the semaphore. For this reason this type of - * semaphore does not use a priority inheritance mechanism. For an alternative - * that does use priority inheritance see xSemaphoreCreateMutex(). - * - * @param xSemaphore Handle to the created semaphore. Should be of type xSemaphoreHandle. - * - * Example usage: - 
- xSemaphoreHandle xSemaphore;
-
- void vATask( void * pvParameters )
- {
-    // Semaphore cannot be used before a call to vSemaphoreCreateBinary ().
-    // This is a macro so pass the variable in directly.
-    vSemaphoreCreateBinary( xSemaphore );
-
-    if( xSemaphore != NULL )
-    {
-        // The semaphore was created successfully.
-        // The semaphore can now be used.  
-    }
- }
-
- * \defgroup vSemaphoreCreateBinary vSemaphoreCreateBinary - * \ingroup Semaphores - */ -#define vSemaphoreCreateBinary( xSemaphore ) { \ - xSemaphore = xQueueCreate( ( unsigned portBASE_TYPE ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH ); \ - if( xSemaphore != NULL ) \ - { \ - xSemaphoreGive( xSemaphore ); \ - } \ - } - -/** - * semphr. h - * xSemaphoreTake( - * xSemaphoreHandle xSemaphore, - * portTickType xBlockTime - * ) - * - * Macro to obtain a semaphore. The semaphore must have previously been - * created with a call to vSemaphoreCreateBinary(), xSemaphoreCreateMutex() or - * xSemaphoreCreateCounting(). - * - * @param xSemaphore A handle to the semaphore being taken - obtained when - * the semaphore was created. - * - * @param xBlockTime The time in ticks to wait for the semaphore to become - * available. The macro portTICK_RATE_MS can be used to convert this to a - * real time. A block time of zero can be used to poll the semaphore. A block - * time of portMAX_DELAY can be used to block indefinitely (provided - * INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h). - * - * @return pdTRUE if the semaphore was obtained. pdFALSE - * if xBlockTime expired without the semaphore becoming available. - * - * Example usage: - 
- xSemaphoreHandle xSemaphore = NULL;
-
- // A task that creates a semaphore.
- void vATask( void * pvParameters )
- {
-    // Create the semaphore to guard a shared resource.
-    vSemaphoreCreateBinary( xSemaphore );
- }
-
- // A task that uses the semaphore.
- void vAnotherTask( void * pvParameters )
- {
-    // ... Do other things.
-
-    if( xSemaphore != NULL )
-    {
-        // See if we can obtain the semaphore.  If the semaphore is not available
-        // wait 10 ticks to see if it becomes free.	
-        if( xSemaphoreTake( xSemaphore, ( portTickType ) 10 ) == pdTRUE )
-        {
-            // We were able to obtain the semaphore and can now access the
-            // shared resource.
-
-            // ...
-
-            // We have finished accessing the shared resource.  Release the 
-            // semaphore.
-            xSemaphoreGive( xSemaphore );
-        }
-        else
-        {
-            // We could not obtain the semaphore and can therefore not access
-            // the shared resource safely.
-        }
-    }
- }
-
- * \defgroup xSemaphoreTake xSemaphoreTake - * \ingroup Semaphores - */ -#define xSemaphoreTake( xSemaphore, xBlockTime ) xQueueGenericReceive( ( xQueueHandle ) xSemaphore, NULL, xBlockTime, pdFALSE ) - -/** - * semphr. h - * xSemaphoreTakeRecursive( - * xSemaphoreHandle xMutex, - * portTickType xBlockTime - * ) - * - * Macro to recursively obtain, or 'take', a mutex type semaphore. - * The mutex must have previously been created using a call to - * xSemaphoreCreateRecursiveMutex(); - * - * configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this - * macro to be available. - * - * This macro must not be used on mutexes created using xSemaphoreCreateMutex(). - * - * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex - * doesn't become available again until the owner has called - * xSemaphoreGiveRecursive() for each successful 'take' request. For example, - * if a task successfully 'takes' the same mutex 5 times then the mutex will - * not be available to any other task until it has also 'given' the mutex back - * exactly five times. - * - * @param xMutex A handle to the mutex being obtained. This is the - * handle returned by xSemaphoreCreateRecursiveMutex(); - * - * @param xBlockTime The time in ticks to wait for the semaphore to become - * available. The macro portTICK_RATE_MS can be used to convert this to a - * real time. A block time of zero can be used to poll the semaphore. If - * the task already owns the semaphore then xSemaphoreTakeRecursive() will - * return immediately no matter what the value of xBlockTime. - * - * @return pdTRUE if the semaphore was obtained. pdFALSE if xBlockTime - * expired without the semaphore becoming available. - * - * Example usage: - 
- xSemaphoreHandle xMutex = NULL;
-
- // A task that creates a mutex.
- void vATask( void * pvParameters )
- {
-    // Create the mutex to guard a shared resource.
-    xMutex = xSemaphoreCreateRecursiveMutex();
- }
-
- // A task that uses the mutex.
- void vAnotherTask( void * pvParameters )
- {
-    // ... Do other things.
-
-    if( xMutex != NULL )
-    {
-        // See if we can obtain the mutex.  If the mutex is not available
-        // wait 10 ticks to see if it becomes free.	
-        if( xSemaphoreTakeRecursive( xSemaphore, ( portTickType ) 10 ) == pdTRUE )
-        {
-            // We were able to obtain the mutex and can now access the
-            // shared resource.
-
-            // ...
-            // For some reason due to the nature of the code further calls to 
-			// xSemaphoreTakeRecursive() are made on the same mutex.  In real
-			// code these would not be just sequential calls as this would make
-			// no sense.  Instead the calls are likely to be buried inside
-			// a more complex call structure.
-            xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
-            xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
-
-            // The mutex has now been 'taken' three times, so will not be 
-			// available to another task until it has also been given back
-			// three times.  Again it is unlikely that real code would have
-			// these calls sequentially, but instead buried in a more complex
-			// call structure.  This is just for illustrative purposes.
-            xSemaphoreGiveRecursive( xMutex );
-			xSemaphoreGiveRecursive( xMutex );
-			xSemaphoreGiveRecursive( xMutex );
-
-			// Now the mutex can be taken by other tasks.
-        }
-        else
-        {
-            // We could not obtain the mutex and can therefore not access
-            // the shared resource safely.
-        }
-    }
- }
-
- * \defgroup xSemaphoreTakeRecursive xSemaphoreTakeRecursive - * \ingroup Semaphores - */ -#define xSemaphoreTakeRecursive( xMutex, xBlockTime ) xQueueTakeMutexRecursive( xMutex, xBlockTime ) - - -/* - * xSemaphoreAltTake() is an alternative version of xSemaphoreTake(). - * - * The source code that implements the alternative (Alt) API is much - * simpler because it executes everything from within a critical section. - * This is the approach taken by many other RTOSes, but FreeRTOS.org has the - * preferred fully featured API too. The fully featured API has more - * complex code that takes longer to execute, but makes much less use of - * critical sections. Therefore the alternative API sacrifices interrupt - * responsiveness to gain execution speed, whereas the fully featured API - * sacrifices execution speed to ensure better interrupt responsiveness. - */ -#define xSemaphoreAltTake( xSemaphore, xBlockTime ) xQueueAltGenericReceive( ( xQueueHandle ) xSemaphore, NULL, xBlockTime, pdFALSE ) - -/** - * semphr. h - * 
xSemaphoreGive( xSemaphoreHandle xSemaphore )
- * - * Macro to release a semaphore. The semaphore must have previously been - * created with a call to vSemaphoreCreateBinary(), xSemaphoreCreateMutex() or - * xSemaphoreCreateCounting(). and obtained using sSemaphoreTake(). - * - * This macro must not be used from an ISR. See xSemaphoreGiveFromISR () for - * an alternative which can be used from an ISR. - * - * This macro must also not be used on semaphores created using - * xSemaphoreCreateRecursiveMutex(). - * - * @param xSemaphore A handle to the semaphore being released. This is the - * handle returned when the semaphore was created. - * - * @return pdTRUE if the semaphore was released. pdFALSE if an error occurred. - * Semaphores are implemented using queues. An error can occur if there is - * no space on the queue to post a message - indicating that the - * semaphore was not first obtained correctly. - * - * Example usage: - 
- xSemaphoreHandle xSemaphore = NULL;
-
- void vATask( void * pvParameters )
- {
-    // Create the semaphore to guard a shared resource.
-    vSemaphoreCreateBinary( xSemaphore );
-
-    if( xSemaphore != NULL )
-    {
-        if( xSemaphoreGive( xSemaphore ) != pdTRUE )
-        {
-            // We would expect this call to fail because we cannot give
-            // a semaphore without first "taking" it!
-        }
-
-        // Obtain the semaphore - don't block if the semaphore is not
-        // immediately available.
-        if( xSemaphoreTake( xSemaphore, ( portTickType ) 0 ) )
-        {
-            // We now have the semaphore and can access the shared resource.
-
-            // ...
-
-            // We have finished accessing the shared resource so can free the
-            // semaphore.
-            if( xSemaphoreGive( xSemaphore ) != pdTRUE )
-            {
-                // We would not expect this call to fail because we must have
-                // obtained the semaphore to get here.
-            }
-        }
-    }
- }
-
- * \defgroup xSemaphoreGive xSemaphoreGive - * \ingroup Semaphores - */ -#define xSemaphoreGive( xSemaphore ) xQueueGenericSend( ( xQueueHandle ) xSemaphore, NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK ) - -/** - * semphr. h - * 
xSemaphoreGiveRecursive( xSemaphoreHandle xMutex )
- * - * Macro to recursively release, or 'give', a mutex type semaphore. - * The mutex must have previously been created using a call to - * xSemaphoreCreateRecursiveMutex(); - * - * configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this - * macro to be available. - * - * This macro must not be used on mutexes created using xSemaphoreCreateMutex(). - * - * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex - * doesn't become available again until the owner has called - * xSemaphoreGiveRecursive() for each successful 'take' request. For example, - * if a task successfully 'takes' the same mutex 5 times then the mutex will - * not be available to any other task until it has also 'given' the mutex back - * exactly five times. - * - * @param xMutex A handle to the mutex being released, or 'given'. This is the - * handle returned by xSemaphoreCreateMutex(); - * - * @return pdTRUE if the semaphore was given. - * - * Example usage: - 
- xSemaphoreHandle xMutex = NULL;
-
- // A task that creates a mutex.
- void vATask( void * pvParameters )
- {
-    // Create the mutex to guard a shared resource.
-    xMutex = xSemaphoreCreateRecursiveMutex();
- }
-
- // A task that uses the mutex.
- void vAnotherTask( void * pvParameters )
- {
-    // ... Do other things.
-
-    if( xMutex != NULL )
-    {
-        // See if we can obtain the mutex.  If the mutex is not available
-        // wait 10 ticks to see if it becomes free.	
-        if( xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 ) == pdTRUE )
-        {
-            // We were able to obtain the mutex and can now access the
-            // shared resource.
-
-            // ...
-            // For some reason due to the nature of the code further calls to 
-			// xSemaphoreTakeRecursive() are made on the same mutex.  In real
-			// code these would not be just sequential calls as this would make
-			// no sense.  Instead the calls are likely to be buried inside
-			// a more complex call structure.
-            xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
-            xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
-
-            // The mutex has now been 'taken' three times, so will not be 
-			// available to another task until it has also been given back
-			// three times.  Again it is unlikely that real code would have
-			// these calls sequentially, it would be more likely that the calls
-			// to xSemaphoreGiveRecursive() would be called as a call stack
-			// unwound.  This is just for demonstrative purposes.
-            xSemaphoreGiveRecursive( xMutex );
-			xSemaphoreGiveRecursive( xMutex );
-			xSemaphoreGiveRecursive( xMutex );
-
-			// Now the mutex can be taken by other tasks.
-        }
-        else
-        {
-            // We could not obtain the mutex and can therefore not access
-            // the shared resource safely.
-        }
-    }
- }
-
- * \defgroup xSemaphoreGiveRecursive xSemaphoreGiveRecursive - * \ingroup Semaphores - */ -#define xSemaphoreGiveRecursive( xMutex ) xQueueGiveMutexRecursive( xMutex ) - -/* - * xSemaphoreAltGive() is an alternative version of xSemaphoreGive(). - * - * The source code that implements the alternative (Alt) API is much - * simpler because it executes everything from within a critical section. - * This is the approach taken by many other RTOSes, but FreeRTOS.org has the - * preferred fully featured API too. The fully featured API has more - * complex code that takes longer to execute, but makes much less use of - * critical sections. Therefore the alternative API sacrifices interrupt - * responsiveness to gain execution speed, whereas the fully featured API - * sacrifices execution speed to ensure better interrupt responsiveness. - */ -#define xSemaphoreAltGive( xSemaphore ) xQueueAltGenericSend( ( xQueueHandle ) xSemaphore, NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK ) - -/** - * semphr. h - * 
- xSemaphoreGiveFromISR( 
-                          xSemaphoreHandle xSemaphore, 
-                          portSHORT sTaskPreviouslyWoken 
-                      )
- * - * Macro to release a semaphore. The semaphore must have previously been - * created with a call to vSemaphoreCreateBinary() or xSemaphoreCreateCounting(). - * - * Mutex type semaphores (those created using a call to xSemaphoreCreateMutex()) - * must not be used with this macro. - * - * This macro can be used from an ISR. - * - * @param xSemaphore A handle to the semaphore being released. This is the - * handle returned when the semaphore was created. - * - * @param sTaskPreviouslyWoken This is included so an ISR can make multiple calls - * to xSemaphoreGiveFromISR () from a single interrupt. The first call - * should always pass in pdFALSE. Subsequent calls should pass in - * the value returned from the previous call. See the file serial .c in the - * PC port for a good example of using xSemaphoreGiveFromISR (). - * - * @return pdTRUE if a task was woken by releasing the semaphore. This is - * used by the ISR to determine if a context switch may be required following - * the ISR. - * - * Example usage: - 
- #define LONG_TIME 0xffff
- #define TICKS_TO_WAIT	10
- xSemaphoreHandle xSemaphore = NULL;
-
- // Repetitive task.
- void vATask( void * pvParameters )
- {
-    for( ;; )
-    {
-        // We want this task to run every 10 ticks of a timer.  The semaphore 
-        // was created before this task was started.
-
-        // Block waiting for the semaphore to become available.
-        if( xSemaphoreTake( xSemaphore, LONG_TIME ) == pdTRUE )
-        {
-            // It is time to execute.
-
-            // ...
-
-            // We have finished our task.  Return to the top of the loop where
-            // we will block on the semaphore until it is time to execute 
-            // again.  Note when using the semaphore for synchronisation with an
-			// ISR in this manner there is no need to 'give' the semaphore back.
-        }
-    }
- }
-
- // Timer ISR
- void vTimerISR( void * pvParameters )
- {
- static unsigned portCHAR ucLocalTickCount = 0;
- static portBASE_TYPE xTaskWoken;
-
-    // A timer tick has occurred.
-
-    // ... Do other time functions.
-
-    // Is it time for vATask () to run?
-	xTaskWoken = pdFALSE;
-    ucLocalTickCount++;
-    if( ucLocalTickCount >= TICKS_TO_WAIT )
-    {
-        // Unblock the task by releasing the semaphore.
-        xTaskWoken = xSemaphoreGiveFromISR( xSemaphore, xTaskWoken );
-
-        // Reset the count so we release the semaphore again in 10 ticks time.
-        ucLocalTickCount = 0;
-    }
-
-    if( xTaskWoken != pdFALSE )
-    {
-        // We can force a context switch here.  Context switching from an
-        // ISR uses port specific syntax.  Check the demo task for your port
-        // to find the syntax required.
-    }
- }
-
- * \defgroup xSemaphoreGiveFromISR xSemaphoreGiveFromISR - * \ingroup Semaphores - */ -#define xSemaphoreGiveFromISR( xSemaphore, xTaskPreviouslyWoken ) xQueueGenericSendFromISR( ( xQueueHandle ) xSemaphore, NULL, xTaskPreviouslyWoken, queueSEND_TO_BACK ) - -/** - * semphr. h - * 
xSemaphoreHandle xSemaphoreCreateMutex( void )
- * - * Macro that implements a mutex semaphore by using the existing queue - * mechanism. - * - * Mutexes created using this macro can be accessed using the xSemaphoreTake() - * and xSemaphoreGive() macros. The xSemaphoreTakeRecursive() and - * xSemaphoreGiveRecursive() macros should not be used. - * - * This type of semaphore uses a priority inheritance mechanism so a task - * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the - * semaphore it is no longer required. - * - * Mutex type semaphores cannot be used from within interrupt service routines. - * - * See xSemaphoreCreateBinary() for an alternative implementation that can be - * used for pure synchronisation (where one task or interrupt always 'gives' the - * semaphore and another always 'takes' the semaphore) and from within interrupt - * service routines. - * - * @return xSemaphore Handle to the created mutex semaphore. Should be of type - * xSemaphoreHandle. - * - * Example usage: - 
- xSemaphoreHandle xSemaphore;
-
- void vATask( void * pvParameters )
- {
-    // Semaphore cannot be used before a call to xSemaphoreCreateMutex().
-    // This is a macro so pass the variable in directly.
-    xSemaphore = xSemaphoreCreateMutex();
-
-    if( xSemaphore != NULL )
-    {
-        // The semaphore was created successfully.
-        // The semaphore can now be used.  
-    }
- }
-
- * \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex - * \ingroup Semaphores - */ -#define xSemaphoreCreateMutex() xQueueCreateMutex() - - -/** - * semphr. h - * 
xSemaphoreHandle xSemaphoreCreateRecursiveMutex( void )
- * - * Macro that implements a recursive mutex by using the existing queue - * mechanism. - * - * Mutexes created using this macro can be accessed using the - * xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() macros. The - * xSemaphoreTake() and xSemaphoreGive() macros should not be used. - * - * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex - * doesn't become available again until the owner has called - * xSemaphoreGiveRecursive() for each successful 'take' request. For example, - * if a task successfully 'takes' the same mutex 5 times then the mutex will - * not be available to any other task until it has also 'given' the mutex back - * exactly five times. - * - * This type of semaphore uses a priority inheritance mechanism so a task - * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the - * semaphore it is no longer required. - * - * Mutex type semaphores cannot be used from within interrupt service routines. - * - * See xSemaphoreCreateBinary() for an alternative implementation that can be - * used for pure synchronisation (where one task or interrupt always 'gives' the - * semaphore and another always 'takes' the semaphore) and from within interrupt - * service routines. - * - * @return xSemaphore Handle to the created mutex semaphore. Should be of type - * xSemaphoreHandle. - * - * Example usage: - 
- xSemaphoreHandle xSemaphore;
-
- void vATask( void * pvParameters )
- {
-    // Semaphore cannot be used before a call to xSemaphoreCreateMutex().
-    // This is a macro so pass the variable in directly.
-    xSemaphore = xSemaphoreCreateRecursiveMutex();
-
-    if( xSemaphore != NULL )
-    {
-        // The semaphore was created successfully.
-        // The semaphore can now be used.  
-    }
- }
-
- * \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex - * \ingroup Semaphores - */ -#define xSemaphoreCreateRecursiveMutex() xQueueCreateMutex() - -/** - * semphr. h - * 
xSemaphoreHandle xSemaphoreCreateCounting( unsigned portBASE_TYPE uxMaxCount, unsigned portBASE_TYPE uxInitialCount )
- * - * Macro that creates a counting semaphore by using the existing - * queue mechanism. - * - * Counting semaphores are typically used for two things: - * - * 1) Counting events. - * - * In this usage scenario an event handler will 'give' a semaphore each time - * an event occurs (incrementing the semaphore count value), and a handler - * task will 'take' a semaphore each time it processes an event - * (decrementing the semaphore count value). The count value is therefore - * the difference between the number of events that have occurred and the - * number that have been processed. In this case it is desirable for the - * initial count value to be zero. - * - * 2) Resource management. - * - * In this usage scenario the count value indicates the number of resources - * available. To obtain control of a resource a task must first obtain a - * semaphore - decrementing the semaphore count value. When the count value - * reaches zero there are no free resources. When a task finishes with the - * resource it 'gives' the semaphore back - incrementing the semaphore count - * value. In this case it is desirable for the initial count value to be - * equal to the maximum count value, indicating that all resources are free. - * - * @param uxMaxCount The maximum count value that can be reached. When the - * semaphore reaches this value it can no longer be 'given'. - * - * @param uxInitialCount The count value assigned to the semaphore when it is - * created. - * - * @return Handle to the created semaphore. Null if the semaphore could not be - * created. - * - * Example usage: - 
- xSemaphoreHandle xSemaphore;
-
- void vATask( void * pvParameters )
- {
- xSemaphoreHandle xSemaphore = NULL;
-
-    // Semaphore cannot be used before a call to xSemaphoreCreateCounting().
-    // The max value to which the semaphore can count should be 10, and the
-    // initial value assigned to the count should be 0.
-    xSemaphore = xSemaphoreCreateCounting( 10, 0 );
-
-    if( xSemaphore != NULL )
-    {
-        // The semaphore was created successfully.
-        // The semaphore can now be used.  
-    }
- }
-
- * \defgroup xSemaphoreCreateCounting xSemaphoreCreateCounting - * \ingroup Semaphores - */ -#define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount ) xQueueCreateCountingSemaphore( uxMaxCount, uxInitialCount ) - - -#endif /* SEMAPHORE_H */ - - diff --git a/FreeRTOS1/include/task.h b/FreeRTOS1/include/task.h deleted file mode 100644 index 595d6ab..0000000 --- a/FreeRTOS1/include/task.h +++ /dev/null @@ -1,995 +0,0 @@ -/* - FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. - - This file is part of the FreeRTOS.org distribution. - - FreeRTOS.org is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - FreeRTOS.org is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with FreeRTOS.org; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - - A special exception to the GPL can be applied should you wish to distribute - a combined work that includes FreeRTOS.org, without being obliged to provide - the source code for any proprietary components. See the licensing section - of http://www.FreeRTOS.org for full details of how and when the exception - can be applied. - - *************************************************************************** - - Please ensure to read the configuration and relevant port sections of the - online documentation. - - +++ http://www.FreeRTOS.org +++ - Documentation, latest information, license and contact details. - - +++ http://www.SafeRTOS.com +++ - A version that is certified for use in safety critical systems. - - +++ http://www.OpenRTOS.com +++ - Commercial support, development, porting, licensing and training services. - - *************************************************************************** -*/ - -/* -Changes since V4.3.1: - - + Added xTaskGetSchedulerState() function. -*/ - -#ifndef TASK_H -#define TASK_H - -#include "portable.h" -#include "list.h" - -#ifdef __cplusplus -extern "C" { -#endif -/*----------------------------------------------------------- - * MACROS AND DEFINITIONS - *----------------------------------------------------------*/ - -#define tskKERNEL_VERSION_NUMBER "V4.7.2" - -/** - * task. h - * - * Type by which tasks are referenced. For example, a call to xTaskCreate - * returns (via a pointer parameter) an xTaskHandle variable that can then - * be used as a parameter to vTaskDelete to delete the task. - * - * \page xTaskHandle xTaskHandle - * \ingroup Tasks - */ -typedef void * xTaskHandle; - -/* - * Used internally only. - */ -typedef struct xTIME_OUT -{ - portBASE_TYPE xOverflowCount; - portTickType xTimeOnEntering; -} xTimeOutType; - -/* - * Defines the priority used by the idle task. This must not be modified. - * - * \ingroup TaskUtils - */ -#define tskIDLE_PRIORITY ( ( unsigned portBASE_TYPE ) 0 ) - -/** - * task. h - * - * Macro for forcing a context switch. - * - * \page taskYIELD taskYIELD - * \ingroup SchedulerControl - */ -#define taskYIELD() portYIELD() - -/** - * task. h - * - * Macro to mark the start of a critical code region. Preemptive context - * switches cannot occur when in a critical region. - * - * NOTE: This may alter the stack (depending on the portable implementation) - * so must be used with care! - * - * \page taskENTER_CRITICAL taskENTER_CRITICAL - * \ingroup SchedulerControl - */ -#define taskENTER_CRITICAL() portENTER_CRITICAL() - -/** - * task. h - * - * Macro to mark the end of a critical code region. Preemptive context - * switches cannot occur when in a critical region. - * - * NOTE: This may alter the stack (depending on the portable implementation) - * so must be used with care! - * - * \page taskEXIT_CRITICAL taskEXIT_CRITICAL - * \ingroup SchedulerControl - */ -#define taskEXIT_CRITICAL() portEXIT_CRITICAL() - -/** - * task. h - * - * Macro to disable all maskable interrupts. - * - * \page taskDISABLE_INTERRUPTS taskDISABLE_INTERRUPTS - * \ingroup SchedulerControl - */ -#define taskDISABLE_INTERRUPTS() portDISABLE_INTERRUPTS() - -/** - * task. h - * - * Macro to enable microcontroller interrupts. - * - * \page taskENABLE_INTERRUPTS taskENABLE_INTERRUPTS - * \ingroup SchedulerControl - */ -#define taskENABLE_INTERRUPTS() portENABLE_INTERRUPTS() - -/* Definitions returned by xTaskGetSchedulerState(). */ -#define taskSCHEDULER_NOT_STARTED 0 -#define taskSCHEDULER_RUNNING 1 -#define taskSCHEDULER_SUSPENDED 2 - -/*----------------------------------------------------------- - * TASK CREATION API - *----------------------------------------------------------*/ - -/** - * task. h - *
- portBASE_TYPE xTaskCreate(
-                              pdTASK_CODE pvTaskCode,
-                              const portCHAR * const pcName,
-                              unsigned portSHORT usStackDepth,
-                              void *pvParameters,
-                              unsigned portBASE_TYPE uxPriority,
-                              xTaskHandle *pvCreatedTask
-                          );
- * - * Create a new task and add it to the list of tasks that are ready to run. - * - * @param pvTaskCode Pointer to the task entry function. Tasks - * must be implemented to never return (i.e. continuous loop). - * - * @param pcName A descriptive name for the task. This is mainly used to - * facilitate debugging. Max length defined by tskMAX_TASK_NAME_LEN - default - * is 16. - * - * @param usStackDepth The size of the task stack specified as the number of - * variables the stack can hold - not the number of bytes. For example, if - * the stack is 16 bits wide and usStackDepth is defined as 100, 200 bytes - * will be allocated for stack storage. - * - * @param pvParameters Pointer that will be used as the parameter for the task - * being created. - * - * @param uxPriority The priority at which the task should run. - * - * @param pvCreatedTask Used to pass back a handle by which the created task - * can be referenced. - * - * @return pdPASS if the task was successfully created and added to a ready - * list, otherwise an error code defined in the file errors. h - * - * Example usage: - 
- // Task to be created.
- void vTaskCode( void * pvParameters )
- {
-     for( ;; )
-     {
-         // Task code goes here.
-     }
- }
-
- // Function that creates a task.
- void vOtherFunction( void )
- {
- unsigned char ucParameterToPass;
- xTaskHandle xHandle;
-		
-     // Create the task, storing the handle.
-     xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );
-		
-     // Use the handle to delete the task.
-     vTaskDelete( xHandle );
- }
-
- * \defgroup xTaskCreate xTaskCreate - * \ingroup Tasks - */ -signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pvCreatedTask ); - -/** - * task. h - * 
void vTaskDelete( xTaskHandle pxTask );
- * - * INCLUDE_vTaskDelete must be defined as 1 for this function to be available. - * See the configuration section for more information. - * - * Remove a task from the RTOS real time kernels management. The task being - * deleted will be removed from all ready, blocked, suspended and event lists. - * - * NOTE: The idle task is responsible for freeing the kernel allocated - * memory from tasks that have been deleted. It is therefore important that - * the idle task is not starved of microcontroller processing time if your - * application makes any calls to vTaskDelete (). Memory allocated by the - * task code is not automatically freed, and should be freed before the task - * is deleted. - * - * See the demo application file death.c for sample code that utilises - * vTaskDelete (). - * - * @param pxTask The handle of the task to be deleted. Passing NULL will - * cause the calling task to be deleted. - * - * Example usage: - 
- void vOtherFunction( void )
- {
- xTaskHandle xHandle;
-		
-     // Create the task, storing the handle.
-     xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-		
-     // Use the handle to delete the task.
-     vTaskDelete( xHandle );
- }
-
- * \defgroup vTaskDelete vTaskDelete - * \ingroup Tasks - */ -void vTaskDelete( xTaskHandle pxTask ); - - -/*----------------------------------------------------------- - * TASK CONTROL API - *----------------------------------------------------------*/ - -/** - * task. h - * 
void vTaskDelay( portTickType xTicksToDelay );
- * - * Delay a task for a given number of ticks. The actual time that the - * task remains blocked depends on the tick rate. The constant - * portTICK_RATE_MS can be used to calculate real time from the tick - * rate - with the resolution of one tick period. - * - * INCLUDE_vTaskDelay must be defined as 1 for this function to be available. - * See the configuration section for more information. - * - * @param xTicksToDelay The amount of time, in tick periods, that - * the calling task should block. - * - * Example usage: - 
- // Wait 10 ticks before performing an action.
- // NOTE:
- // This is for demonstration only and would be better achieved
- // using vTaskDelayUntil ().
- void vTaskFunction( void * pvParameters )
- {
- portTickType xDelay, xNextTime;
-
-     // Calc the time at which we want to perform the action
-     // next.
-     xNextTime = xTaskGetTickCount () + ( portTickType ) 10;
-
-     for( ;; )
-     {
-         xDelay = xNextTime - xTaskGetTickCount ();
-         xNextTime += ( portTickType ) 10;
-
-         // Guard against overflow
-         if( xDelay <= ( portTickType ) 10 )
-         {
-             vTaskDelay( xDelay );
-         }
-
-         // Perform action here.
-     }
- }
-
- * \defgroup vTaskDelay vTaskDelay - * \ingroup TaskCtrl - */ -void vTaskDelay( portTickType xTicksToDelay ); - -/** - * task. h - * 
void vTaskDelayUntil( portTickType *pxPreviousWakeTime, portTickType xTimeIncrement );
- * - * INCLUDE_vTaskDelayUntil must be defined as 1 for this function to be available. - * See the configuration section for more information. - * - * Delay a task until a specified time. This function can be used by cyclical - * tasks to ensure a constant execution frequency. - * - * This function differs from vTaskDelay () in one important aspect: vTaskDelay () will - * cause a task to block for the specified number of ticks from the time vTaskDelay () is - * called. It is therefore difficult to use vTaskDelay () by itself to generate a fixed - * execution frequency as the time between a task starting to execute and that task - * calling vTaskDelay () may not be fixed [the task may take a different path though the - * code between calls, or may get interrupted or preempted a different number of times - * each time it executes]. - * - * Whereas vTaskDelay () specifies a wake time relative to the time at which the function - * is called, vTaskDelayUntil () specifies the absolute (exact) time at which it wishes to - * unblock. - * - * The constant portTICK_RATE_MS can be used to calculate real time from the tick - * rate - with the resolution of one tick period. - * - * @param pxPreviousWakeTime Pointer to a variable that holds the time at which the - * task was last unblocked. The variable must be initialised with the current time - * prior to its first use (see the example below). Following this the variable is - * automatically updated within vTaskDelayUntil (). - * - * @param xTimeIncrement The cycle time period. The task will be unblocked at - * time *pxPreviousWakeTime + xTimeIncrement. Calling vTaskDelayUntil with the - * same xTimeIncrement parameter value will cause the task to execute with - * a fixed interface period. - * - * Example usage: - 
- // Perform an action every 10 ticks.
- void vTaskFunction( void * pvParameters )
- {
- portTickType xLastWakeTime;
- const portTickType xFrequency = 10;
-
-     // Initialise the xLastWakeTime variable with the current time.
-     xLastWakeTime = xTaskGetTickCount ();
-     for( ;; )
-     {
-         // Wait for the next cycle.
-         vTaskDelayUntil( &xLastWakeTime, xFrequency );
-
-         // Perform action here.
-     }
- }
-
- * \defgroup vTaskDelayUntil vTaskDelayUntil - * \ingroup TaskCtrl - */ -void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement ); - -/** - * task. h - * 
unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask );
- * - * INCLUDE_xTaskPriorityGet must be defined as 1 for this function to be available. - * See the configuration section for more information. - * - * Obtain the priority of any task. - * - * @param pxTask Handle of the task to be queried. Passing a NULL - * handle results in the priority of the calling task being returned. - * - * @return The priority of pxTask. - * - * Example usage: - 
- void vAFunction( void )
- {
- xTaskHandle xHandle;
-		
-     // Create a task, storing the handle.
-     xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-		
-     // ...
-
-     // Use the handle to obtain the priority of the created task.
-     // It was created with tskIDLE_PRIORITY, but may have changed
-     // it itself.
-     if( uxTaskPriorityGet( xHandle ) != tskIDLE_PRIORITY )
-     {
-         // The task has changed it's priority.
-     }
-
-     // ...
-
-     // Is our priority higher than the created task?
-     if( uxTaskPriorityGet( xHandle ) < uxTaskPriorityGet( NULL ) )
-     {
-         // Our priority (obtained using NULL handle) is higher.
-     }
- }
-
- * \defgroup uxTaskPriorityGet uxTaskPriorityGet - * \ingroup TaskCtrl - */ -unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ); - -/** - * task. h - * 
void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority );
- * - * INCLUDE_vTaskPrioritySet must be defined as 1 for this function to be available. - * See the configuration section for more information. - * - * Set the priority of any task. - * - * A context switch will occur before the function returns if the priority - * being set is higher than the currently executing task. - * - * @param pxTask Handle to the task for which the priority is being set. - * Passing a NULL handle results in the priority of the calling task being set. - * - * @param uxNewPriority The priority to which the task will be set. - * - * Example usage: - 
- void vAFunction( void )
- {
- xTaskHandle xHandle;
-		
-     // Create a task, storing the handle.
-     xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-
-     // ...
-
-     // Use the handle to raise the priority of the created task.
-     vTaskPrioritySet( xHandle, tskIDLE_PRIORITY + 1 );
-
-     // ...
-
-     // Use a NULL handle to raise our priority to the same value.
-     vTaskPrioritySet( NULL, tskIDLE_PRIORITY + 1 );
- }
-
- * \defgroup vTaskPrioritySet vTaskPrioritySet - * \ingroup TaskCtrl - */ -void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority ); - -/** - * task. h - * 
void vTaskSuspend( xTaskHandle pxTaskToSuspend );
- * - * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available. - * See the configuration section for more information. - * - * Suspend any task. When suspended a task will never get any microcontroller - * processing time, no matter what its priority. - * - * Calls to vTaskSuspend are not accumulative - - * i.e. calling vTaskSuspend () twice on the same task still only requires one - * call to vTaskResume () to ready the suspended task. - * - * @param pxTaskToSuspend Handle to the task being suspended. Passing a NULL - * handle will cause the calling task to be suspended. - * - * Example usage: - 
- void vAFunction( void )
- {
- xTaskHandle xHandle;
-		
-     // Create a task, storing the handle.
-     xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-		
-     // ...
-
-     // Use the handle to suspend the created task.
-     vTaskSuspend( xHandle );
-
-     // ...
-		
-     // The created task will not run during this period, unless
-     // another task calls vTaskResume( xHandle ).
-		
-     //...
-		
-
-     // Suspend ourselves.
-     vTaskSuspend( NULL );
-
-     // We cannot get here unless another task calls vTaskResume
-     // with our handle as the parameter.
- }
-
- * \defgroup vTaskSuspend vTaskSuspend - * \ingroup TaskCtrl - */ -void vTaskSuspend( xTaskHandle pxTaskToSuspend ); - -/** - * task. h - * 
void vTaskResume( xTaskHandle pxTaskToResume );
- * - * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available. - * See the configuration section for more information. - * - * Resumes a suspended task. - * - * A task that has been suspended by one of more calls to vTaskSuspend () - * will be made available for running again by a single call to - * vTaskResume (). - * - * @param pxTaskToResume Handle to the task being readied. - * - * Example usage: - 
- void vAFunction( void )
- {
- xTaskHandle xHandle;
-		
-     // Create a task, storing the handle.
-     xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-		
-     // ...
-
-     // Use the handle to suspend the created task.
-     vTaskSuspend( xHandle );
-
-     // ...
-	
-     // The created task will not run during this period, unless
-     // another task calls vTaskResume( xHandle ).
-		
-     //...
-		
-
-     // Resume the suspended task ourselves.
-     vTaskResume( xHandle );
-
-     // The created task will once again get microcontroller processing
-     // time in accordance with it priority within the system.
- }
-
- * \defgroup vTaskResume vTaskResume - * \ingroup TaskCtrl - */ -void vTaskResume( xTaskHandle pxTaskToResume ); - -/** - * task. h - * 
void xTaskResumeFromISR( xTaskHandle pxTaskToResume );
- * - * INCLUDE_xTaskResumeFromISR must be defined as 1 for this function to be - * available. See the configuration section for more information. - * - * An implementation of vTaskResume() that can be called from within an ISR. - * - * A task that has been suspended by one of more calls to vTaskSuspend () - * will be made available for running again by a single call to - * xTaskResumeFromISR (). - * - * @param pxTaskToResume Handle to the task being readied. - * - * \defgroup vTaskResumeFromISR vTaskResumeFromISR - * \ingroup TaskCtrl - */ -portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume ); - -/*----------------------------------------------------------- - * SCHEDULER CONTROL - *----------------------------------------------------------*/ - -/** - * task. h - * 
void vTaskStartScheduler( void );
- * - * Starts the real time kernel tick processing. After calling the kernel - * has control over which tasks are executed and when. This function - * does not return until an executing task calls vTaskEndScheduler (). - * - * At least one task should be created via a call to xTaskCreate () - * before calling vTaskStartScheduler (). The idle task is created - * automatically when the first application task is created. - * - * See the demo application file main.c for an example of creating - * tasks and starting the kernel. - * - * Example usage: - 
- void vAFunction( void )
- {
-     // Create at least one task before starting the kernel.
-     xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
-
-     // Start the real time kernel with preemption.
-     vTaskStartScheduler ();
-
-     // Will not get here unless a task calls vTaskEndScheduler ()
- }
-
- * - * \defgroup vTaskStartScheduler vTaskStartScheduler - * \ingroup SchedulerControl - */ -void vTaskStartScheduler( void ); - -/** - * task. h - * 
void vTaskEndScheduler( void );
- * - * Stops the real time kernel tick. All created tasks will be automatically - * deleted and multitasking (either preemptive or cooperative) will - * stop. Execution then resumes from the point where vTaskStartScheduler () - * was called, as if vTaskStartScheduler () had just returned. - * - * See the demo application file main. c in the demo/PC directory for an - * example that uses vTaskEndScheduler (). - * - * vTaskEndScheduler () requires an exit function to be defined within the - * portable layer (see vPortEndScheduler () in port. c for the PC port). This - * performs hardware specific operations such as stopping the kernel tick. - * - * vTaskEndScheduler () will cause all of the resources allocated by the - * kernel to be freed - but will not free resources allocated by application - * tasks. - * - * Example usage: - 
- void vTaskCode( void * pvParameters )
- {
-     for( ;; )
-     {
-         // Task code goes here.
-
-         // At some point we want to end the real time kernel processing
-         // so call ...
-         vTaskEndScheduler ();
-     }
- }
-
- void vAFunction( void )
- {
-     // Create at least one task before starting the kernel.
-     xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
-
-     // Start the real time kernel with preemption.
-     vTaskStartScheduler ();
-
-     // Will only get here when the vTaskCode () task has called
-     // vTaskEndScheduler ().  When we get here we are back to single task
-     // execution.
- }
-
- * - * \defgroup vTaskEndScheduler vTaskEndScheduler - * \ingroup SchedulerControl - */ -void vTaskEndScheduler( void ); - -/** - * task. h - * 
void vTaskSuspendAll( void );
- * - * Suspends all real time kernel activity while keeping interrupts (including the - * kernel tick) enabled. - * - * After calling vTaskSuspendAll () the calling task will continue to execute - * without risk of being swapped out until a call to xTaskResumeAll () has been - * made. - * - * Example usage: - 
- void vTask1( void * pvParameters )
- {
-     for( ;; )
-     {
-         // Task code goes here.
-
-         // ...
-
-         // At some point the task wants to perform a long operation during
-         // which it does not want to get swapped out.  It cannot use
-         // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
-         // operation may cause interrupts to be missed - including the
-         // ticks.
-
-         // Prevent the real time kernel swapping out the task.
-         vTaskSuspendAll ();
-
-         // Perform the operation here.  There is no need to use critical
-         // sections as we have all the microcontroller processing time.
-         // During this time interrupts will still operate and the kernel
-         // tick count will be maintained.
-
-         // ...
-
-         // The operation is complete.  Restart the kernel.
-         xTaskResumeAll ();
-     }
- }
-
- * \defgroup vTaskSuspendAll vTaskSuspendAll - * \ingroup SchedulerControl - */ -void vTaskSuspendAll( void ); - -/** - * task. h - * 
portCHAR xTaskResumeAll( void );
- * - * Resumes real time kernel activity following a call to vTaskSuspendAll (). - * After a call to vTaskSuspendAll () the kernel will take control of which - * task is executing at any time. - * - * @return If resuming the scheduler caused a context switch then pdTRUE is - * returned, otherwise pdFALSE is returned. - * - * Example usage: - 
- void vTask1( void * pvParameters )
- {
-     for( ;; )
-     {
-         // Task code goes here.
-
-         // ...
-
-         // At some point the task wants to perform a long operation during
-         // which it does not want to get swapped out.  It cannot use
-         // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
-         // operation may cause interrupts to be missed - including the
-         // ticks.
-
-         // Prevent the real time kernel swapping out the task.
-         vTaskSuspendAll ();
-
-         // Perform the operation here.  There is no need to use critical
-         // sections as we have all the microcontroller processing time.
-         // During this time interrupts will still operate and the real
-         // time kernel tick count will be maintained.
-
-         // ...
-
-         // The operation is complete.  Restart the kernel.  We want to force
-         // a context switch - but there is no point if resuming the scheduler
-         // caused a context switch already.
-         if( !xTaskResumeAll () )
-         {
-              taskYIELD ();
-         }
-     }
- }
-
- * \defgroup xTaskResumeAll xTaskResumeAll - * \ingroup SchedulerControl - */ -signed portBASE_TYPE xTaskResumeAll( void ); - - -/*----------------------------------------------------------- - * TASK UTILITIES - *----------------------------------------------------------*/ - -/** - * task. h - * 
volatile portTickType xTaskGetTickCount( void );
- * - * @return The count of ticks since vTaskStartScheduler was called. - * - * \page xTaskGetTickCount xTaskGetTickCount - * \ingroup TaskUtils - */ -portTickType xTaskGetTickCount( void ); - -/** - * task. h - * 
unsigned portSHORT uxTaskGetNumberOfTasks( void );
- * - * @return The number of tasks that the real time kernel is currently managing. - * This includes all ready, blocked and suspended tasks. A task that - * has been deleted but not yet freed by the idle task will also be - * included in the count. - * - * \page uxTaskGetNumberOfTasks uxTaskGetNumberOfTasks - * \ingroup TaskUtils - */ -unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void ); - -/** - * task. h - * 
void vTaskList( portCHAR *pcWriteBuffer );
- * - * configUSE_TRACE_FACILITY, INCLUDE_vTaskDelete and INCLUDE_vTaskSuspend - * must all be defined as 1 for this function to be available. - * See the configuration section for more information. - * - * NOTE: This function will disable interrupts for its duration. It is - * not intended for normal application runtime use but as a debug aid. - * - * Lists all the current tasks, along with their current state and stack - * usage high water mark. - * - * Tasks are reported as blocked ('B'), ready ('R'), deleted ('D') or - * suspended ('S'). - * - * @param pcWriteBuffer A buffer into which the above mentioned details - * will be written, in ascii form. This buffer is assumed to be large - * enough to contain the generated report. Approximately 40 bytes per - * task should be sufficient. - * - * \page vTaskList vTaskList - * \ingroup TaskUtils - */ -void vTaskList( signed portCHAR *pcWriteBuffer ); - -/** - * task. h - * 
void vTaskStartTrace( portCHAR * pcBuffer, unsigned portBASE_TYPE uxBufferSize );
- * - * Starts a real time kernel activity trace. The trace logs the identity of - * which task is running when. - * - * The trace file is stored in binary format. A separate DOS utility called - * convtrce.exe is used to convert this into a tab delimited text file which - * can be viewed and plotted in a spread sheet. - * - * @param pcBuffer The buffer into which the trace will be written. - * - * @param ulBufferSize The size of pcBuffer in bytes. The trace will continue - * until either the buffer in full, or ulTaskEndTrace () is called. - * - * \page vTaskStartTrace vTaskStartTrace - * \ingroup TaskUtils - */ -void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize ); - -/** - * task. h - * 
unsigned portLONG ulTaskEndTrace( void );
- * - * Stops a kernel activity trace. See vTaskStartTrace (). - * - * @return The number of bytes that have been written into the trace buffer. - * - * \page usTaskEndTrace usTaskEndTrace - * \ingroup TaskUtils - */ -unsigned portLONG ulTaskEndTrace( void ); - - -/*----------------------------------------------------------- - * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES - *----------------------------------------------------------*/ - -/* - * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY - * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS - * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. - * - * Called from the real time kernel tick (either preemptive or cooperative), - * this increments the tick count and checks if any tasks that are blocked - * for a finite period required removing from a blocked list and placing on - * a ready list. - */ -inline void vTaskIncrementTick( void ); - -/* - * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN - * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. - * - * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED. - * - * Removes the calling task from the ready list and places it both - * on the list of tasks waiting for a particular event, and the - * list of delayed tasks. The task will be removed from both lists - * and replaced on the ready list should either the event occur (and - * there be no higher priority tasks waiting on the same event) or - * the delay period expires. - * - * @param pxEventList The list containing tasks that are blocked waiting - * for the event to occur. - * - * @param xTicksToWait The maximum amount of time that the task should wait - * for the event to occur. This is specified in kernel ticks,the constant - * portTICK_RATE_MS can be used to convert kernel ticks into a real time - * period. - */ -void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait ); - -/* - * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN - * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. - * - * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED. - * - * Removes a task from both the specified event list and the list of blocked - * tasks, and places it on a ready queue. - * - * xTaskRemoveFromEventList () will be called if either an event occurs to - * unblock a task, or the block timeout period expires. - * - * @return pdTRUE if the task being removed has a higher priority than the task - * making the call, otherwise pdFALSE. - */ -signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList ); - -/* - * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN - * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. - * - * INCLUDE_vTaskCleanUpResources and INCLUDE_vTaskSuspend must be defined as 1 - * for this function to be available. - * See the configuration section for more information. - * - * Empties the ready and delayed queues of task control blocks, freeing the - * memory allocated for the task control block and task stacks as it goes. - */ -void vTaskCleanUpResources( void ); - -/* - * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY - * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS - * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. - * - * Sets the pointer to the current TCB to the TCB of the highest priority task - * that is ready to run. - */ -inline void vTaskSwitchContext( void ); - -/* - * Return the handle of the calling task. - */ -xTaskHandle xTaskGetCurrentTaskHandle( void ); - -/* - * Capture the current time status for future reference. - */ -void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut ); - -/* - * Compare the time status now with that previously captured to see if the - * timeout has expired. - */ -portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait ); - -/* - * Shortcut used by the queue implementation to prevent unnecessary call to - * taskYIELD(); - */ -void vTaskMissedYield( void ); - -/* - * Returns the scheduler state as taskSCHEDULER_RUNNING, - * taskSCHEDULER_NOT_STARTED or taskSCHEDULER_SUSPENDED. - */ -portBASE_TYPE xTaskGetSchedulerState( void ); - -/* - * Raises the priority of the mutex holder to that of the calling task should - * the mutex holder have a priority less than the calling task. - */ -void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder ); - -/* - * Set the priority of a task back to its proper priority in the case that it - * inherited a higher priority while it was holding a semaphore. - */ -void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder ); - -#ifdef __cplusplus -} -#endif -#endif /* TASK_H */ - - - diff --git a/FreeRTOS1/list.c b/FreeRTOS1/list.c deleted file mode 100644 index c44c2ce..0000000 --- a/FreeRTOS1/list.c +++ /dev/null @@ -1,211 +0,0 @@ -/* - FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. - - This file is part of the FreeRTOS.org distribution. - - FreeRTOS.org is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - FreeRTOS.org is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with FreeRTOS.org; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - - A special exception to the GPL can be applied should you wish to distribute - a combined work that includes FreeRTOS.org, without being obliged to provide - the source code for any proprietary components. See the licensing section - of http://www.FreeRTOS.org for full details of how and when the exception - can be applied. - - *************************************************************************** - - Please ensure to read the configuration and relevant port sections of the - online documentation. - - +++ http://www.FreeRTOS.org +++ - Documentation, latest information, license and contact details. - - +++ http://www.SafeRTOS.com +++ - A version that is certified for use in safety critical systems. - - +++ http://www.OpenRTOS.com +++ - Commercial support, development, porting, licensing and training services. - - *************************************************************************** -*/ - -/* -Changes from V1.2.0 - - + Removed the volatile modifier from the function parameters. This was - only ever included to prevent compiler warnings. Now warnings are - removed by casting parameters where the calls are made. - - + prvListGetOwnerOfNextEntry() and prvListGetOwnerOfHeadEntry() have been - removed from the c file and added as macros to the h file. - - + uxNumberOfItems has been added to the list structure. This removes the - need for a pointer comparison when checking if a list is empty, and so - is slightly faster. - - + Removed the NULL check in vListRemove(). This makes the call faster but - necessitates any application code utilising the list implementation to - ensure NULL pointers are not passed. - -Changes from V2.0.0 - - + Double linked the lists to allow faster removal item removal. - -Changes from V2.6.1 - - + Make use of the new portBASE_TYPE definition where ever appropriate. - -Changes from V3.0.0 - - + API changes as described on the FreeRTOS.org WEB site. - -Changes from V3.2.4 - - + Removed the pxHead member of the xList structure. This always pointed - to the same place so has been removed to free a few bytes of RAM. - - + Introduced the xMiniListItem structure that does not include the - xListItem members that are not required by the xListEnd member of a list. - Again this was done to reduce RAM usage. - - + Changed the volatile definitions of some structure members to clean up - the code where the list structures are used. - -Changes from V4.0.4 - - + Optimised vListInsert() in the case when the wake time is the maximum - tick count value. -*/ - -#include -#include "FreeRTOS.h" -#include "list.h" - -/*----------------------------------------------------------- - * PUBLIC LIST API documented in list.h - *----------------------------------------------------------*/ - -void vListInitialise( xList *pxList ) -{ - /* The list structure contains a list item which is used to mark the - end of the list. To initialise the list the list end is inserted - as the only list entry. */ - pxList->pxIndex = ( xListItem * ) &( pxList->xListEnd ); - - /* The list end value is the highest possible value in the list to - ensure it remains at the end of the list. */ - pxList->xListEnd.xItemValue = portMAX_DELAY; - - /* The list end next and previous pointers point to itself so we know - when the list is empty. */ - pxList->xListEnd.pxNext = ( xListItem * ) &( pxList->xListEnd ); - pxList->xListEnd.pxPrevious = ( xListItem * ) &( pxList->xListEnd ); - - pxList->uxNumberOfItems = 0; -} -/*-----------------------------------------------------------*/ - -void vListInitialiseItem( xListItem *pxItem ) -{ - /* Make sure the list item is not recorded as being on a list. */ - pxItem->pvContainer = NULL; -} -/*-----------------------------------------------------------*/ - -void vListInsertEnd( xList *pxList, xListItem *pxNewListItem ) -{ -volatile xListItem * pxIndex; - - /* Insert a new list item into pxList, but rather than sort the list, - makes the new list item the last item to be removed by a call to - pvListGetOwnerOfNextEntry. This means it has to be the item pointed to by - the pxIndex member. */ - pxIndex = pxList->pxIndex; - - pxNewListItem->pxNext = pxIndex->pxNext; - pxNewListItem->pxPrevious = pxList->pxIndex; - pxIndex->pxNext->pxPrevious = ( volatile xListItem * ) pxNewListItem; - pxIndex->pxNext = ( volatile xListItem * ) pxNewListItem; - pxList->pxIndex = ( volatile xListItem * ) pxNewListItem; - - /* Remember which list the item is in. */ - pxNewListItem->pvContainer = ( void * ) pxList; - - ( pxList->uxNumberOfItems )++; -} -/*-----------------------------------------------------------*/ - -void vListInsert( xList *pxList, xListItem *pxNewListItem ) -{ -volatile xListItem *pxIterator; -portTickType xValueOfInsertion; - - /* Insert the new list item into the list, sorted in ulListItem order. */ - xValueOfInsertion = pxNewListItem->xItemValue; - - /* If the list already contains a list item with the same item value then - the new list item should be placed after it. This ensures that TCB's which - are stored in ready lists (all of which have the same ulListItem value) - get an equal share of the CPU. However, if the xItemValue is the same as - the back marker the iteration loop below will not end. This means we need - to guard against this by checking the value first and modifying the - algorithm slightly if necessary. */ - if( xValueOfInsertion == portMAX_DELAY ) - { - pxIterator = pxList->xListEnd.pxPrevious; - } - else - { - for( pxIterator = ( xListItem * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext ) - { - /* There is nothing to do here, we are just iterating to the - wanted insertion position. */ - } - } - - pxNewListItem->pxNext = pxIterator->pxNext; - pxNewListItem->pxNext->pxPrevious = ( volatile xListItem * ) pxNewListItem; - pxNewListItem->pxPrevious = pxIterator; - pxIterator->pxNext = ( volatile xListItem * ) pxNewListItem; - - /* Remember which list the item is in. This allows fast removal of the - item later. */ - pxNewListItem->pvContainer = ( void * ) pxList; - - ( pxList->uxNumberOfItems )++; -} -/*-----------------------------------------------------------*/ - -void vListRemove( xListItem *pxItemToRemove ) -{ -xList * pxList; - - pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious; - pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext; - - /* The list item knows which list it is in. Obtain the list from the list - item. */ - pxList = ( xList * ) pxItemToRemove->pvContainer; - - /* Make sure the index is left pointing to a valid item. */ - if( pxList->pxIndex == pxItemToRemove ) - { - pxList->pxIndex = pxItemToRemove->pxPrevious; - } - - pxItemToRemove->pvContainer = NULL; - ( pxList->uxNumberOfItems )--; -} -/*-----------------------------------------------------------*/ - diff --git a/FreeRTOS1/portable/AIC-2.0.0/port.c b/FreeRTOS1/portable/AIC-2.0.0/port.c deleted file mode 100644 index 1b6c02d..0000000 --- a/FreeRTOS1/portable/AIC-2.0.0/port.c +++ /dev/null @@ -1,325 +0,0 @@ -/* - FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. - - This file is part of the FreeRTOS.org distribution. - - FreeRTOS.org is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - FreeRTOS.org is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with FreeRTOS.org; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - - A special exception to the GPL can be applied should you wish to distribute - a combined work that includes FreeRTOS.org, without being obliged to provide - the source code for any proprietary components. See the licensing section - of http://www.FreeRTOS.org for full details of how and when the exception - can be applied. - - *************************************************************************** - - Please ensure to read the configuration and relevant port sections of the - online documentation. - - +++ http://www.FreeRTOS.org +++ - Documentation, latest information, license and contact details. - - +++ http://www.SafeRTOS.com +++ - A version that is certified for use in safety critical systems. - - +++ http://www.OpenRTOS.com +++ - Commercial support, development, porting, licensing and training services. - - *************************************************************************** -*/ - -/* - Changes from V4.2.1 - - + Introduced the configKERNEL_INTERRUPT_PRIORITY definition. -*/ - -/*----------------------------------------------------------- - * Implementation of functions defined in portable.h for the PIC24 port. - *----------------------------------------------------------*/ - -/* Scheduler include files. */ -#include "FreeRTOS.h" -#include "task.h" - -/* Hardware specifics. */ -#define portBIT_SET 1 -#define portTIMER_PRESCALE 8 -#define portINITIAL_SR 0 - -/* Defined for backward compatability with project created prior to -FreeRTOS.org V4.3.0. */ -#ifndef configKERNEL_INTERRUPT_PRIORITY - #define configKERNEL_INTERRUPT_PRIORITY 1 -#endif - -/* The program counter is only 23 bits. */ -#define portUNUSED_PR_BITS 0x7f - -/* Records the nesting depth of calls to portENTER_CRITICAL(). */ -unsigned portBASE_TYPE uxCriticalNesting = 0xef; - -#if configKERNEL_INTERRUPT_PRIORITY != 1 - #error If configKERNEL_INTERRUPT_PRIORITY is not 1 then the #32 in the following macros needs changing to equal the portINTERRUPT_BITS value, which is ( configKERNEL_INTERRUPT_PRIORITY << 5 ) -#endif - - -#define portRESTORE_CONTEXT() \ - asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \ - "MOV [W0], W15 \n" \ - "POP W0 \n" /* Restore the critical nesting counter for the task. */ \ - "MOV W0, _uxCriticalNesting \n" \ - "POP PSVPAG \n" \ - "POP CORCON \n" \ - "POP DOENDH \n" \ - "POP DOENDL \n" \ - "POP DOSTARTH \n" \ - "POP DOSTARTL \n" \ - "POP DCOUNT \n" \ - "POP ACCBU \n" \ - "POP ACCBH \n" \ - "POP ACCBL \n" \ - "POP ACCAU \n" \ - "POP ACCAH \n" \ - "POP ACCAL \n" \ - "POP TBLPAG \n" \ - "POP RCOUNT \n" /* Restore the registers from the stack. */ \ - "POP W14 \n" \ - "POP.D W12 \n" \ - "POP.D W10 \n" \ - "POP.D W8 \n" \ - "POP.D W6 \n" \ - "POP.D W4 \n" \ - "POP.D W2 \n" \ - "POP.D W0 \n" \ - "POP SR " ); - - -#define portSAVE_CONTEXT() \ - asm volatile( "PUSH SR \n" /* Save the SR used by the task.... */ \ - "PUSH W0 \n" /* ....then disable interrupts. */ \ - "MOV #32, W0 \n" \ - "MOV W0, SR \n" \ - "PUSH W1 \n" /* Save registers to the stack. */ \ - "PUSH.D W2 \n" \ - "PUSH.D W4 \n" \ - "PUSH.D W6 \n" \ - "PUSH.D W8 \n" \ - "PUSH.D W10 \n" \ - "PUSH.D W12 \n" \ - "PUSH W14 \n" \ - "PUSH RCOUNT \n" \ - "PUSH TBLPAG \n" \ - "PUSH ACCAL \n" \ - "PUSH ACCAH \n" \ - "PUSH ACCAU \n" \ - "PUSH ACCBL \n" \ - "PUSH ACCBH \n" \ - "PUSH ACCBU \n" \ - "PUSH DCOUNT \n" \ - "PUSH DOSTARTL \n" \ - "PUSH DOSTARTH \n" \ - "PUSH DOENDL \n" \ - "PUSH DOENDH \n" \ - "PUSH CORCON \n" \ - "PUSH PSVPAG \n" \ - "MOV _uxCriticalNesting, W0 \n" /* Save the critical nesting counter for the task. */ \ - "PUSH W0 \n" \ - "MOV _pxCurrentTCB, W0 \n" /* Save the new top of stack into the TCB. */ \ - "MOV W15, [W0] " ); - -/* - * Setup the timer used to generate the tick interrupt. - */ -static void prvSetupTimerInterrupt( void ); - -/* - * See header file for description. - */ -portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ) -{ -unsigned portSHORT usCode; -portBASE_TYPE i; - -const portSTACK_TYPE xInitialStack[] = -{ - 0x1111, /* W1 */ - 0x2222, /* W2 */ - 0x3333, /* W3 */ - 0x4444, /* W4 */ - 0x5555, /* W5 */ - 0x6666, /* W6 */ - 0x7777, /* W7 */ - 0x8888, /* W8 */ - 0x9999, /* W9 */ - 0xaaaa, /* W10 */ - 0xbbbb, /* W11 */ - 0xcccc, /* W12 */ - 0xdddd, /* W13 */ - 0xeeee, /* W14 */ - 0xcdce, /* RCOUNT */ - 0xabac, /* TBLPAG */ - - /* dsPIC specific registers. */ - 0x0202, /* ACCAL */ - 0x0303, /* ACCAH */ - 0x0404, /* ACCAU */ - 0x0505, /* ACCBL */ - 0x0606, /* ACCBH */ - 0x0707, /* ACCBU */ - 0x0808, /* DCOUNT */ - 0x090a, /* DOSTARTL */ - 0x1010, /* DOSTARTH */ - 0x1110, /* DOENDL */ - 0x1212, /* DOENDH */ -}; - - /* Setup the stack as if a yield had occurred. - - Save the low bytes of the program counter. */ - usCode = ( unsigned portSHORT ) pxCode; - *pxTopOfStack = ( portSTACK_TYPE ) usCode; - pxTopOfStack++; - - /* Save the high byte of the program counter. This will always be zero - here as it is passed in a 16bit pointer. If the address is greater than - 16 bits then the pointer will point to a jump table. */ - *pxTopOfStack = ( portSTACK_TYPE ) 0; - pxTopOfStack++; - - /* Status register with interrupts enabled. */ - *pxTopOfStack = portINITIAL_SR; - pxTopOfStack++; - - /* Parameters are passed in W0. */ - *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; - pxTopOfStack++; - - for( i = 0; i < ( sizeof( xInitialStack ) / sizeof( portSTACK_TYPE ) ); i++ ) - { - *pxTopOfStack = xInitialStack[ i ]; - pxTopOfStack++; - } - - *pxTopOfStack = CORCON; - pxTopOfStack++; - *pxTopOfStack = PSVPAG; - pxTopOfStack++; - - /* Finally the critical nesting depth. */ - *pxTopOfStack = 0x00; - pxTopOfStack++; - - return pxTopOfStack; -} -/*-----------------------------------------------------------*/ - -portBASE_TYPE xPortStartScheduler( void ) -{ - /* Setup a timer for the tick ISR. */ - prvSetupTimerInterrupt(); - - /* Restore the context of the first task to run. */ - portRESTORE_CONTEXT(); - - /* Simulate the end of the yield function. */ - asm volatile ( "return" ); - - /* Should not reach here. */ - return pdTRUE; -} -/*-----------------------------------------------------------*/ - -void vPortEndScheduler( void ) -{ - /* It is unlikely that the scheduler for the PIC port will get stopped - once running. If required disable the tick interrupt here, then return - to xPortStartScheduler(). */ -} -/*-----------------------------------------------------------*/ - -/* - * Manual context switch. This is similar to the tick context switch, - * but does not increment the tick count. It must be identical to the - * tick context switch in how it stores the stack of a task. - */ -void vPortYield( void ) -{ - portSAVE_CONTEXT(); - vTaskSwitchContext(); - portRESTORE_CONTEXT(); -} -/*-----------------------------------------------------------*/ - -/* - * Setup a timer for a regular tick. - */ -static void prvSetupTimerInterrupt( void ) -{ -const unsigned portLONG ulCompareMatch = ( configCPU_CLOCK_HZ / portTIMER_PRESCALE ) / configTICK_RATE_HZ; - - /* Prescale of 8. */ - T1CON = 0; - TMR1 = 0; - - PR1 = ( unsigned portSHORT ) ulCompareMatch; - - /* Setup timer 1 interrupt priority. */ - IPC0bits.T1IP = configKERNEL_INTERRUPT_PRIORITY; - - /* Clear the interrupt as a starting condition. */ - IFS0bits.T1IF = 0; - - /* Enable the interrupt. */ - IEC0bits.T1IE = 1; - - /* Setup the prescale value. */ -// T1CONbits.TCKPS0 = 1; -// T1CONbits.TCKPS1 = 0; - T1CONbits.TCKPS = 1; - - /* Start the timer. */ - T1CONbits.TON = 1; -} -/*-----------------------------------------------------------*/ - -void vPortEnterCritical( void ) -{ - portDISABLE_INTERRUPTS(); - uxCriticalNesting++; -} -/*-----------------------------------------------------------*/ - -void vPortExitCritical( void ) -{ - uxCriticalNesting--; - if( uxCriticalNesting == 0 ) - { - portENABLE_INTERRUPTS(); - } -} -/*-----------------------------------------------------------*/ - -void __attribute__((__interrupt__, auto_psv)) _T1Interrupt( void ) -{ - vTaskIncrementTick(); - - /* Clear the timer interrupt. */ - IFS0bits.T1IF = 0; - - #if configUSE_PREEMPTION == 1 - portYIELD(); - #endif -} diff --git a/FreeRTOS1/portable/AIC-2.0.0/portmacro.h b/FreeRTOS1/portable/AIC-2.0.0/portmacro.h deleted file mode 100644 index d71c58f..0000000 --- a/FreeRTOS1/portable/AIC-2.0.0/portmacro.h +++ /dev/null @@ -1,119 +0,0 @@ -/* - FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. - - This file is part of the FreeRTOS.org distribution. - - FreeRTOS.org is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - FreeRTOS.org is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with FreeRTOS.org; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - - A special exception to the GPL can be applied should you wish to distribute - a combined work that includes FreeRTOS.org, without being obliged to provide - the source code for any proprietary components. See the licensing section - of http://www.FreeRTOS.org for full details of how and when the exception - can be applied. - - *************************************************************************** - - Please ensure to read the configuration and relevant port sections of the - online documentation. - - +++ http://www.FreeRTOS.org +++ - Documentation, latest information, license and contact details. - - +++ http://www.SafeRTOS.com +++ - A version that is certified for use in safety critical systems. - - +++ http://www.OpenRTOS.com +++ - Commercial support, development, porting, licensing and training services. - - *************************************************************************** -*/ - -#ifndef PORTMACRO_H -#define PORTMACRO_H - -#ifdef __cplusplus -extern "C" { -#endif - -/*----------------------------------------------------------- - * Port specific definitions. - * - * The settings in this file configure FreeRTOS correctly for the - * given hardware and compiler. - * - * These settings should not be altered. - *----------------------------------------------------------- - */ - -/* Type definitions. */ -#define portCHAR char -#define portFLOAT float -#define portDOUBLE double -#define portLONG long -#define portSHORT short -#define portSTACK_TYPE unsigned short -#define portBASE_TYPE short - -#if( configUSE_16_BIT_TICKS == 1 ) - typedef unsigned portSHORT portTickType; - #define portMAX_DELAY ( portTickType ) 0xffff -#else - typedef unsigned portLONG portTickType; - #define portMAX_DELAY ( portTickType ) 0xffffffff -#endif -/*-----------------------------------------------------------*/ - -/* Hardware specifics. */ -#define portBYTE_ALIGNMENT 2 -#define portSTACK_GROWTH 1 -#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ ) -/*-----------------------------------------------------------*/ - -/* Critical section management. */ -#define portINTERRUPT_BITS ( ( unsigned portSHORT ) configKERNEL_INTERRUPT_PRIORITY << ( unsigned portSHORT ) 5 ) - -#define portDISABLE_INTERRUPTS() SR |= portINTERRUPT_BITS -#define portENABLE_INTERRUPTS() SR &= ~portINTERRUPT_BITS - -/* Note that exiting a critical sectino will set the IPL bits to 0, nomatter -what their value was prior to entering the critical section. */ -extern void vPortEnterCritical( void ); -extern void vPortExitCritical( void ); -#define portENTER_CRITICAL() vPortEnterCritical() -#define portEXIT_CRITICAL() vPortExitCritical() -/*-----------------------------------------------------------*/ - -/* Task utilities. */ -extern void vPortYield( void ); -#define portYIELD() asm volatile ( "CALL _vPortYield \n" \ - "NOP " ); -/*-----------------------------------------------------------*/ - -/* Task function macros as described on the FreeRTOS.org WEB site. */ -#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) -#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) -/*-----------------------------------------------------------*/ - -/* Compiler specifics. */ -#define inline - -#define portNOP() asm volatile ( "NOP" ) - -#ifdef __cplusplus -} -#endif - -#endif /* PORTMACRO_H */ - diff --git a/FreeRTOS1/portable/MemMang/heap_1.c b/FreeRTOS1/portable/MemMang/heap_1.c deleted file mode 100644 index cb27c4c..0000000 --- a/FreeRTOS1/portable/MemMang/heap_1.c +++ /dev/null @@ -1,147 +0,0 @@ -/* - FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. - - This file is part of the FreeRTOS.org distribution. - - FreeRTOS.org is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - FreeRTOS.org is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with FreeRTOS.org; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - - A special exception to the GPL can be applied should you wish to distribute - a combined work that includes FreeRTOS.org, without being obliged to provide - the source code for any proprietary components. See the licensing section - of http://www.FreeRTOS.org for full details of how and when the exception - can be applied. - - *************************************************************************** - - Please ensure to read the configuration and relevant port sections of the - online documentation. - - +++ http://www.FreeRTOS.org +++ - Documentation, latest information, license and contact details. - - +++ http://www.SafeRTOS.com +++ - A version that is certified for use in safety critical systems. - - +++ http://www.OpenRTOS.com +++ - Commercial support, development, porting, licensing and training services. - - *************************************************************************** -*/ - -/* - -Changes between V2.5.1 and V2.5.1 - - + The memory pool has been defined within a struct to ensure correct memory - alignment on 32bit systems. - -Changes between V2.6.1 and V3.0.0 - - + An overflow check has been added to ensure the next free byte variable - does not wrap around. -*/ - - -/* - * The simplest possible implementation of pvPortMalloc(). Note that this - * implementation does NOT allow allocated memory to be freed again. - * - * See heap_2.c and heap_3.c for alternative implementations, and the memory - * management pages of http://www.FreeRTOS.org for more information. - */ -#include -#include "FreeRTOS.h" -#include "task.h" - -/* Setup the correct byte alignment mask for the defined byte alignment. */ - -#if portBYTE_ALIGNMENT == 8 - #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0007 ) -#endif - -#if portBYTE_ALIGNMENT == 4 - #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0003 ) -#endif - -#if portBYTE_ALIGNMENT == 2 - #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0001 ) -#endif - -#if portBYTE_ALIGNMENT == 1 - #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0000 ) -#endif - -#ifndef heapBYTE_ALIGNMENT_MASK - #error "Invalid portBYTE_ALIGNMENT definition" -#endif - -/* Allocate the memory for the heap. The struct is used to force byte -alignment without using any non-portable code. */ -static struct xRTOS_HEAP -{ - unsigned portLONG ulDummy; - unsigned portCHAR ucHeap[ configTOTAL_HEAP_SIZE ]; -} xHeap; - -static size_t xNextFreeByte = ( size_t ) 0; -/*-----------------------------------------------------------*/ - -void *pvPortMalloc( size_t xWantedSize ) -{ -void *pvReturn = NULL; - - /* Ensure that blocks are always aligned to the required number of bytes. */ - #if portBYTE_ALIGNMENT != 1 - if( xWantedSize & heapBYTE_ALIGNMENT_MASK ) - { - /* Byte alignment required. */ - xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & heapBYTE_ALIGNMENT_MASK ) ); - } - #endif - - vTaskSuspendAll(); - { - /* Check there is enough room left for the allocation. */ - if( ( ( xNextFreeByte + xWantedSize ) < configTOTAL_HEAP_SIZE ) && - ( ( xNextFreeByte + xWantedSize ) > xNextFreeByte ) )/* Check for overflow. */ - { - /* Return the next free byte then increment the index past this - block. */ - pvReturn = &( xHeap.ucHeap[ xNextFreeByte ] ); - xNextFreeByte += xWantedSize; - } - } - xTaskResumeAll(); - - return pvReturn; -} -/*-----------------------------------------------------------*/ - -void vPortFree( void *pv ) -{ - /* Memory cannot be freed using this scheme. See heap_2.c and heap_3.c - for alternative implementations, and the memory management pages of - http://www.FreeRTOS.org for more information. */ - ( void ) pv; -} -/*-----------------------------------------------------------*/ - -void vPortInitialiseBlocks( void ) -{ - /* Only required when static memory is not cleared. */ - xNextFreeByte = ( size_t ) 0; -} - - diff --git a/FreeRTOS1/portable/MemMang/heap_2.c b/FreeRTOS1/portable/MemMang/heap_2.c deleted file mode 100644 index c783988..0000000 --- a/FreeRTOS1/portable/MemMang/heap_2.c +++ /dev/null @@ -1,251 +0,0 @@ -/* - FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. - - This file is part of the FreeRTOS.org distribution. - - FreeRTOS.org is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - FreeRTOS.org is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with FreeRTOS.org; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - - A special exception to the GPL can be applied should you wish to distribute - a combined work that includes FreeRTOS.org, without being obliged to provide - the source code for any proprietary components. See the licensing section - of http://www.FreeRTOS.org for full details of how and when the exception - can be applied. - - *************************************************************************** - - Please ensure to read the configuration and relevant port sections of the - online documentation. - - +++ http://www.FreeRTOS.org +++ - Documentation, latest information, license and contact details. - - +++ http://www.SafeRTOS.com +++ - A version that is certified for use in safety critical systems. - - +++ http://www.OpenRTOS.com +++ - Commercial support, development, porting, licensing and training services. - - *************************************************************************** -*/ - -/* - * A sample implementation of pvPortMalloc() and vPortFree() that permits - * allocated blocks to be freed, but does not combine adjacent free blocks - * into a single larger block. - * - * See heap_1.c and heap_3.c for alternative implementations, and the memory - * management pages of http://www.FreeRTOS.org for more information. - */ -#include - -#include "FreeRTOS.h" -#include "task.h" - -/* Setup the correct byte alignment mask for the defined byte alignment. */ - -#if portBYTE_ALIGNMENT == 8 - #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0007 ) -#endif - -#if portBYTE_ALIGNMENT == 4 - #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0003 ) -#endif - -#if portBYTE_ALIGNMENT == 2 - #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0001 ) -#endif - -#if portBYTE_ALIGNMENT == 1 - #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0000 ) -#endif - -#ifndef heapBYTE_ALIGNMENT_MASK - #error "Invalid portBYTE_ALIGNMENT definition" -#endif - -/* Allocate the memory for the heap. The struct is used to force byte -alignment without using any non-portable code. */ -static struct xRTOS_HEAP -{ - unsigned portLONG ulDummy; - unsigned portCHAR ucHeap[ configTOTAL_HEAP_SIZE ]; -} xHeap; - -/* Define the linked list structure. This is used to link free blocks in order -of their size. */ -typedef struct A_BLOCK_LINK -{ - struct A_BLOCK_LINK *pxNextFreeBlock; /*<< The next free block in the list. */ - size_t xBlockSize; /*<< The size of the free block. */ -} xBlockLink; - - -static const unsigned portSHORT heapSTRUCT_SIZE = ( sizeof( xBlockLink ) + ( sizeof( xBlockLink ) % portBYTE_ALIGNMENT ) ); -#define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( heapSTRUCT_SIZE * 2 ) ) - -/* Create a couple of list links to mark the start and end of the list. */ -static xBlockLink xStart, xEnd; - -/* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */ - -/* - * Insert a block into the list of free blocks - which is ordered by size of - * the block. Small blocks at the start of the list and large blocks at the end - * of the list. - */ -#define prvInsertBlockIntoFreeList( pxBlockToInsert ) \ -{ \ -xBlockLink *pxIterator; \ -size_t xBlockSize; \ - \ - xBlockSize = pxBlockToInsert->xBlockSize; \ - \ - /* Iterate through the list until a block is found that has a larger size */ \ - /* than the block we are inserting. */ \ - for( pxIterator = &xStart; pxIterator->pxNextFreeBlock->xBlockSize < xBlockSize; pxIterator = pxIterator->pxNextFreeBlock ) \ - { \ - /* There is nothing to do here - just iterate to the correct position. */ \ - } \ - \ - /* Update the list to include the block being inserted in the correct */ \ - /* position. */ \ - pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock; \ - pxIterator->pxNextFreeBlock = pxBlockToInsert; \ -} -/*-----------------------------------------------------------*/ - -#define prvHeapInit() \ -{ \ -xBlockLink *pxFirstFreeBlock; \ - \ - /* xStart is used to hold a pointer to the first item in the list of free */ \ - /* blocks. The void cast is used to prevent compiler warnings. */ \ - xStart.pxNextFreeBlock = ( void * ) xHeap.ucHeap; \ - xStart.xBlockSize = ( size_t ) 0; \ - \ - /* xEnd is used to mark the end of the list of free blocks. */ \ - xEnd.xBlockSize = configTOTAL_HEAP_SIZE; \ - xEnd.pxNextFreeBlock = NULL; \ - \ - /* To start with there is a single free block that is sized to take up the \ - entire heap space. */ \ - pxFirstFreeBlock = ( void * ) xHeap.ucHeap; \ - pxFirstFreeBlock->xBlockSize = configTOTAL_HEAP_SIZE; \ - pxFirstFreeBlock->pxNextFreeBlock = &xEnd; \ -} -/*-----------------------------------------------------------*/ - -void *pvPortMalloc( size_t xWantedSize ) -{ -xBlockLink *pxBlock, *pxPreviousBlock, *pxNewBlockLink; -static portBASE_TYPE xHeapHasBeenInitialised = pdFALSE; -void *pvReturn = NULL; - - vTaskSuspendAll(); - { - /* If this is the first call to malloc then the heap will require - initialisation to setup the list of free blocks. */ - if( xHeapHasBeenInitialised == pdFALSE ) - { - prvHeapInit(); - xHeapHasBeenInitialised = pdTRUE; - } - - /* The wanted size is increased so it can contain a xBlockLink - structure in addition to the requested amount of bytes. */ - if( xWantedSize > 0 ) - { - xWantedSize += heapSTRUCT_SIZE; - - /* Ensure that blocks are always aligned to the required number of bytes. */ - if( xWantedSize & heapBYTE_ALIGNMENT_MASK ) - { - /* Byte alignment required. */ - xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & heapBYTE_ALIGNMENT_MASK ) ); - } - } - - if( ( xWantedSize > 0 ) && ( xWantedSize < configTOTAL_HEAP_SIZE ) ) - { - /* Blocks are stored in byte order - traverse the list from the start - (smallest) block until one of adequate size is found. */ - pxPreviousBlock = &xStart; - pxBlock = xStart.pxNextFreeBlock; - while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock ) ) - { - pxPreviousBlock = pxBlock; - pxBlock = pxBlock->pxNextFreeBlock; - } - - /* If we found the end marker then a block of adequate size was not found. */ - if( pxBlock != &xEnd ) - { - /* Return the memory space - jumping over the xBlockLink structure - at its start. */ - pvReturn = ( void * ) ( ( ( unsigned portCHAR * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE ); - - /* This block is being returned for use so must be taken our of the - list of free blocks. */ - pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock; - - /* If the block is larger than required it can be split into two. */ - if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE ) - { - /* This block is to be split into two. Create a new block - following the number of bytes requested. The void cast is - used to prevent byte alignment warnings from the compiler. */ - pxNewBlockLink = ( void * ) ( ( ( unsigned portCHAR * ) pxBlock ) + xWantedSize ); - - /* Calculate the sizes of two blocks split from the single - block. */ - pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize; - pxBlock->xBlockSize = xWantedSize; - - /* Insert the new block into the list of free blocks. */ - prvInsertBlockIntoFreeList( ( pxNewBlockLink ) ); - } - } - } - } - xTaskResumeAll(); - - return pvReturn; -} -/*-----------------------------------------------------------*/ - -void vPortFree( void *pv ) -{ -unsigned portCHAR *puc = ( unsigned portCHAR * ) pv; -xBlockLink *pxLink; - - if( pv ) - { - /* The memory being freed will have an xBlockLink structure immediately - before it. */ - puc -= heapSTRUCT_SIZE; - - /* This casting is to keep the compiler from issuing warnings. */ - pxLink = ( void * ) puc; - - vTaskSuspendAll(); - { - /* Add this block to the list of free blocks. */ - prvInsertBlockIntoFreeList( ( ( xBlockLink * ) pxLink ) ); - } - xTaskResumeAll(); - } -} -/*-----------------------------------------------------------*/ - diff --git a/FreeRTOS1/portable/MemMang/heap_3.c b/FreeRTOS1/portable/MemMang/heap_3.c deleted file mode 100644 index 6ae5e1d..0000000 --- a/FreeRTOS1/portable/MemMang/heap_3.c +++ /dev/null @@ -1,89 +0,0 @@ -/* - FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. - - This file is part of the FreeRTOS.org distribution. - - FreeRTOS.org is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - FreeRTOS.org is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with FreeRTOS.org; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - - A special exception to the GPL can be applied should you wish to distribute - a combined work that includes FreeRTOS.org, without being obliged to provide - the source code for any proprietary components. See the licensing section - of http://www.FreeRTOS.org for full details of how and when the exception - can be applied. - - *************************************************************************** - - Please ensure to read the configuration and relevant port sections of the - online documentation. - - +++ http://www.FreeRTOS.org +++ - Documentation, latest information, license and contact details. - - +++ http://www.SafeRTOS.com +++ - A version that is certified for use in safety critical systems. - - +++ http://www.OpenRTOS.com +++ - Commercial support, development, porting, licensing and training services. - - *************************************************************************** -*/ - - -/* - * Implementation of pvPortMalloc() and vPortFree() that relies on the - * compilers own malloc() and free() implementations. - * - * This file can only be used if the linker is configured to to generate - * a heap memory area. - * - * See heap_2.c and heap_1.c for alternative implementations, and the memory - * management pages of http://www.FreeRTOS.org for more information. - */ - -#include - -#include "FreeRTOS.h" -#include "task.h" - -/*-----------------------------------------------------------*/ - -void *pvPortMalloc( size_t xWantedSize ) -{ -void *pvReturn; - - vTaskSuspendAll(); - { - pvReturn = malloc( xWantedSize ); - } - xTaskResumeAll(); - - return pvReturn; -} -/*-----------------------------------------------------------*/ - -void vPortFree( void *pv ) -{ - if( pv ) - { - vTaskSuspendAll(); - { - free( pv ); - } - xTaskResumeAll(); - } -} - - - diff --git a/FreeRTOS1/portable/readme.txt b/FreeRTOS1/portable/readme.txt deleted file mode 100644 index a20d687..0000000 --- a/FreeRTOS1/portable/readme.txt +++ /dev/null @@ -1,19 +0,0 @@ -Each real time kernel port consists of three files that contain the core kernel -components and are common to every port, and one or more files that are -specific to a particular microcontroller and/or compiler. - - -+ The FreeRTOS/Source/Portable/MemMang directory contains the three sample -memory allocators as described on the http://www.FreeRTOS.org WEB site. - -+ The other directories each contain files specific to a particular -microcontroller or compiler. - - - -For example, if you are interested in the GCC port for the ATMega323 -microcontroller then the port specific files are contained in -FreeRTOS/Source/Portable/GCC/ATMega323 directory. If this is the only -port you are interested in then all the other directories can be -ignored. - diff --git a/FreeRTOS1/queue.c b/FreeRTOS1/queue.c deleted file mode 100644 index a5c7591..0000000 --- a/FreeRTOS1/queue.c +++ /dev/null @@ -1,1322 +0,0 @@ -/* - FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. - - This file is part of the FreeRTOS.org distribution. - - FreeRTOS.org is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - FreeRTOS.org is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with FreeRTOS.org; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - - A special exception to the GPL can be applied should you wish to distribute - a combined work that includes FreeRTOS.org, without being obliged to provide - the source code for any proprietary components. See the licensing section - of http://www.FreeRTOS.org for full details of how and when the exception - can be applied. - - *************************************************************************** - - Please ensure to read the configuration and relevant port sections of the - online documentation. - - +++ http://www.FreeRTOS.org +++ - Documentation, latest information, license and contact details. - - +++ http://www.SafeRTOS.com +++ - A version that is certified for use in safety critical systems. - - +++ http://www.OpenRTOS.com +++ - Commercial support, development, porting, licensing and training services. - - *************************************************************************** -*/ - -#include -#include -#include "FreeRTOS.h" -#include "task.h" -#include "croutine.h" - -/*----------------------------------------------------------- - * PUBLIC LIST API documented in list.h - *----------------------------------------------------------*/ - -/* Constants used with the cRxLock and cTxLock structure members. */ -#define queueUNLOCKED ( ( signed portBASE_TYPE ) -1 ) -#define queueERRONEOUS_UNBLOCK ( -1 ) - -/* For internal use only. */ -#define queueSEND_TO_BACK ( 0 ) -#define queueSEND_TO_FRONT ( 1 ) - -/* Effectively make a union out of the xQUEUE structure. */ -#define pxMutexHolder pcTail -#define uxQueueType pcHead -#define uxRecursiveCallCount pcReadFrom -#define queueQUEUE_IS_MUTEX NULL - -/* Semaphores do not actually store or copy data, so have an items size of -zero. */ -#define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( 0 ) -#define queueDONT_BLOCK ( ( portTickType ) 0 ) -#define queueMUTEX_GIVE_BLOCK_TIME ( ( portTickType ) 0 ) -/* - * Definition of the queue used by the scheduler. - * Items are queued by copy, not reference. - */ -typedef struct QueueDefinition -{ - signed portCHAR *pcHead; /*< Points to the beginning of the queue storage area. */ - signed portCHAR *pcTail; /*< Points to the byte at the end of the queue storage area. Once more byte is allocated than necessary to store the queue items, this is used as a marker. */ - - signed portCHAR *pcWriteTo; /*< Points to the free next place in the storage area. */ - signed portCHAR *pcReadFrom; /*< Points to the last place that a queued item was read from. */ - - xList xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */ - xList xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */ - - volatile unsigned portBASE_TYPE uxMessagesWaiting;/*< The number of items currently in the queue. */ - unsigned portBASE_TYPE uxLength; /*< The length of the queue defined as the number of items it will hold, not the number of bytes. */ - unsigned portBASE_TYPE uxItemSize; /*< The size of each items that the queue will hold. */ - - signed portBASE_TYPE xRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */ - signed portBASE_TYPE xTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */ -} xQUEUE; -/*-----------------------------------------------------------*/ - -/* - * Inside this file xQueueHandle is a pointer to a xQUEUE structure. - * To keep the definition private the API header file defines it as a - * pointer to void. - */ -typedef xQUEUE * xQueueHandle; - -/* - * Prototypes for public functions are included here so we don't have to - * include the API header file (as it defines xQueueHandle differently). These - * functions are documented in the API header file. - */ -xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize ); -signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ); -unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue ); -void vQueueDelete( xQueueHandle xQueue ); -signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE xTaskPreviouslyWoken, portBASE_TYPE xCopyPosition ); -signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ); -signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, const void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken ); -xQueueHandle xQueueCreateMutex( void ); -xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ); -portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime ); -portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex ); -signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ); -signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ); - -#if configUSE_CO_ROUTINES == 1 - signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ); - signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken ); - signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait ); - signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait ); -#endif - -/* - * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not - * prevent an ISR from adding or removing items to the queue, but does prevent - * an ISR from removing tasks from the queue event lists. If an ISR finds a - * queue is locked it will instead increment the appropriate queue lock count - * to indicate that a task may require unblocking. When the queue in unlocked - * these lock counts are inspected, and the appropriate action taken. - */ -static void prvUnlockQueue( xQueueHandle pxQueue ); - -/* - * Uses a critical section to determine if there is any data in a queue. - * - * @return pdTRUE if the queue contains no items, otherwise pdFALSE. - */ -static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue ); - -/* - * Uses a critical section to determine if there is any space in a queue. - * - * @return pdTRUE if there is no space, otherwise pdFALSE; - */ -static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue ); - -/* - * Copies an item into the queue, either at the front of the queue or the - * back of the queue. - */ -static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition ); - -/* - * Copies an item out of a queue. - */ -static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer ); -/*-----------------------------------------------------------*/ - -/* - * Macro to mark a queue as locked. Locking a queue prevents an ISR from - * accessing the queue event lists. - */ -#define prvLockQueue( pxQueue ) \ -{ \ - taskENTER_CRITICAL(); \ - ++( pxQueue->xRxLock ); \ - ++( pxQueue->xTxLock ); \ - taskEXIT_CRITICAL(); \ -} -/*-----------------------------------------------------------*/ - - -/*----------------------------------------------------------- - * PUBLIC QUEUE MANAGEMENT API documented in queue.h - *----------------------------------------------------------*/ - -xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize ) -{ -xQUEUE *pxNewQueue; -size_t xQueueSizeInBytes; - - /* Allocate the new queue structure. */ - if( uxQueueLength > ( unsigned portBASE_TYPE ) 0 ) - { - pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) ); - if( pxNewQueue != NULL ) - { - /* Create the list of pointers to queue items. The queue is one byte - longer than asked for to make wrap checking easier/faster. */ - xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1; - - pxNewQueue->pcHead = ( signed portCHAR * ) pvPortMalloc( xQueueSizeInBytes ); - if( pxNewQueue->pcHead != NULL ) - { - /* Initialise the queue members as described above where the - queue type is defined. */ - pxNewQueue->pcTail = pxNewQueue->pcHead + ( uxQueueLength * uxItemSize ); - pxNewQueue->uxMessagesWaiting = 0; - pxNewQueue->pcWriteTo = pxNewQueue->pcHead; - pxNewQueue->pcReadFrom = pxNewQueue->pcHead + ( ( uxQueueLength - 1 ) * uxItemSize ); - pxNewQueue->uxLength = uxQueueLength; - pxNewQueue->uxItemSize = uxItemSize; - pxNewQueue->xRxLock = queueUNLOCKED; - pxNewQueue->xTxLock = queueUNLOCKED; - - /* Likewise ensure the event queues start with the correct state. */ - vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) ); - vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) ); - - return pxNewQueue; - } - else - { - vPortFree( pxNewQueue ); - } - } - } - - /* Will only reach here if we could not allocate enough memory or no memory - was required. */ - return NULL; -} -/*-----------------------------------------------------------*/ - -#if ( configUSE_MUTEXES == 1 ) - - xQueueHandle xQueueCreateMutex( void ) - { - xQUEUE *pxNewQueue; - - /* Allocate the new queue structure. */ - pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) ); - if( pxNewQueue != NULL ) - { - /* Information required for priority inheritance. */ - pxNewQueue->pxMutexHolder = NULL; - pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX; - - /* Queues used as a mutex no data is actually copied into or out - of the queue. */ - pxNewQueue->pcWriteTo = NULL; - pxNewQueue->pcReadFrom = NULL; - - /* Each mutex has a length of 1 (like a binary semaphore) and - an item size of 0 as nothing is actually copied into or out - of the mutex. */ - pxNewQueue->uxMessagesWaiting = 0; - pxNewQueue->uxLength = 1; - pxNewQueue->uxItemSize = 0; - pxNewQueue->xRxLock = queueUNLOCKED; - pxNewQueue->xTxLock = queueUNLOCKED; - - /* Ensure the event queues start with the correct state. */ - vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) ); - vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) ); - - /* Start with the semaphore in the expected state. */ - xQueueGenericSend( pxNewQueue, NULL, 0, queueSEND_TO_BACK ); - } - - return pxNewQueue; - } - -#endif /* configUSE_MUTEXES */ -/*-----------------------------------------------------------*/ - -#if configUSE_RECURSIVE_MUTEXES == 1 - - portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex ) - { - portBASE_TYPE xReturn; - - /* If this is the task that holds the mutex then pxMutexHolder will not - change outside of this task. If this task does not hold the mutex then - pxMutexHolder can never coincidentally equal the tasks handle, and as - this is the only condition we are interested in it does not matter if - pxMutexHolder is accessed simultaneously by another task. Therefore no - mutual exclusion is required to test the pxMutexHolder variable. */ - if( pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle() ) - { - /* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to - the task handle, therefore no underflow check is required. Also, - uxRecursiveCallCount is only modified by the mutex holder, and as - there can only be one, no mutual exclusion is required to modify the - uxRecursiveCallCount member. */ - ( pxMutex->uxRecursiveCallCount )--; - - /* Have we unwound the call count? */ - if( pxMutex->uxRecursiveCallCount == 0 ) - { - /* Return the mutex. This will automatically unblock any other - task that might be waiting to access the mutex. */ - xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK ); - } - - xReturn = pdPASS; - } - else - { - /* We cannot give the mutex because we are not the holder. */ - xReturn = pdFAIL; - } - - return xReturn; - } - -#endif /* configUSE_RECURSIVE_MUTEXES */ -/*-----------------------------------------------------------*/ - -#if configUSE_RECURSIVE_MUTEXES == 1 - - portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle pxMutex, portTickType xBlockTime ) - { - portBASE_TYPE xReturn; - - /* Comments regarding mutual exclusion as per those within - xQueueGiveMutexRecursive(). */ - - if( pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle() ) - { - ( pxMutex->uxRecursiveCallCount )++; - xReturn = pdPASS; - } - else - { - xReturn = xQueueGenericReceive( pxMutex, NULL, xBlockTime, pdFALSE ); - - /* pdPASS will only be returned if we successfully obtained the mutex, - we may have blocked to reach here. */ - if( xReturn == pdPASS ) - { - ( pxMutex->uxRecursiveCallCount )++; - } - } - - return xReturn; - } - -#endif /* configUSE_RECURSIVE_MUTEXES */ -/*-----------------------------------------------------------*/ - -#if configUSE_COUNTING_SEMAPHORES == 1 - - xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ) - { - xQueueHandle pxHandle; - - pxHandle = xQueueCreate( ( unsigned portBASE_TYPE ) uxCountValue, queueSEMAPHORE_QUEUE_ITEM_LENGTH ); - - if( pxHandle != NULL ) - { - pxHandle->uxMessagesWaiting = uxInitialCount; - } - - return pxHandle; - } - -#endif /* configUSE_COUNTING_SEMAPHORES */ -/*-----------------------------------------------------------*/ - -signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) -{ -signed portBASE_TYPE xReturn = pdPASS; -xTimeOutType xTimeOut; - - /* Make sure other tasks do not access the queue. */ - vTaskSuspendAll(); - - /* Capture the current time status for future reference. */ - vTaskSetTimeOutState( &xTimeOut ); - - /* It is important that this is the only thread/ISR that modifies the - ready or delayed lists until xTaskResumeAll() is called. Places where - the ready/delayed lists are modified include: - - + vTaskDelay() - Nothing can call vTaskDelay as the scheduler is - suspended, vTaskDelay() cannot be called from an ISR. - + vTaskPrioritySet() - Has a critical section around the access. - + vTaskSwitchContext() - This will not get executed while the scheduler - is suspended. - + prvCheckDelayedTasks() - This will not get executed while the - scheduler is suspended. - + xTaskCreate() - Has a critical section around the access. - + vTaskResume() - Has a critical section around the access. - + xTaskResumeAll() - Has a critical section around the access. - + xTaskRemoveFromEventList - Checks to see if the scheduler is - suspended. If so then the TCB being removed from the event is - removed from the event and added to the xPendingReadyList. - */ - - /* Make sure interrupts do not access the queue event list. */ - prvLockQueue( pxQueue ); - - /* It is important that interrupts to not access the event list of the - queue being modified here. Places where the event list is modified - include: - - + xQueueGenericSendFromISR(). This checks the lock on the queue to see - if it has access. If the queue is locked then the Tx lock count is - incremented to signify that a task waiting for data can be made ready - once the queue lock is removed. If the queue is not locked then - a task can be moved from the event list, but will not be removed - from the delayed list or placed in the ready list until the scheduler - is unlocked. - - + xQueueReceiveFromISR(). As per xQueueGenericSendFromISR(). - */ - - /* If the queue is already full we may have to block. */ - do - { - if( prvIsQueueFull( pxQueue ) ) - { - /* The queue is full - do we want to block or just leave without - posting? */ - if( xTicksToWait > ( portTickType ) 0 ) - { - /* We are going to place ourselves on the xTasksWaitingToSend event - list, and will get woken should the delay expire, or space become - available on the queue. - - As detailed above we do not require mutual exclusion on the event - list as nothing else can modify it or the ready lists while we - have the scheduler suspended and queue locked. - - It is possible that an ISR has removed data from the queue since we - checked if any was available. If this is the case then the data - will have been copied from the queue, and the queue variables - updated, but the event list will not yet have been checked to see if - anything is waiting as the queue is locked. */ - vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait ); - - /* Force a context switch now as we are blocked. We can do - this from within a critical section as the task we are - switching to has its own context. When we return here (i.e. we - unblock) we will leave the critical section as normal. - - It is possible that an ISR has caused an event on an unrelated and - unlocked queue. If this was the case then the event list for that - queue will have been updated but the ready lists left unchanged - - instead the readied task will have been added to the pending ready - list. */ - taskENTER_CRITICAL(); - { - /* We can safely unlock the queue and scheduler here as - interrupts are disabled. We must not yield with anything - locked, but we can yield from within a critical section. - - Tasks that have been placed on the pending ready list cannot - be tasks that are waiting for events on this queue. See - in comment xTaskRemoveFromEventList(). */ - prvUnlockQueue( pxQueue ); - - /* Resuming the scheduler may cause a yield. If so then there - is no point yielding again here. */ - if( !xTaskResumeAll() ) - { - taskYIELD(); - } - - /* We want to check to see if the queue is still full - before leaving the critical section. This is to prevent - this task placing an item into the queue due to an - interrupt making space on the queue between critical - sections (when there might be a higher priority task - blocked on the queue that cannot run yet because the - scheduler gets suspended). */ - if( pxQueue->uxMessagesWaiting == pxQueue->uxLength ) - { - /* We unblocked but there is no space in the queue, - we probably timed out. */ - xReturn = errQUEUE_FULL; - } - - /* Before leaving the critical section we have to ensure - exclusive access again. */ - vTaskSuspendAll(); - prvLockQueue( pxQueue ); - } - taskEXIT_CRITICAL(); - } - } - - /* If xReturn is errQUEUE_FULL then we unblocked when the queue - was still full. Don't check it again now as it is possible that - an interrupt has removed an item from the queue since we left the - critical section and we don't want to write to the queue in case - there is a task of higher priority blocked waiting for space to - be available on the queue. If this is the case the higher priority - task will execute when the scheduler is unsupended. */ - if( xReturn != errQUEUE_FULL ) - { - /* When we are here it is possible that we unblocked as space became - available on the queue. It is also possible that an ISR posted to the - queue since we left the critical section, so it may be that again there - is no space. This would only happen if a task and ISR post onto the - same queue. */ - taskENTER_CRITICAL(); - { - if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) - { - /* There is room in the queue, copy the data into the queue. */ - prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); - xReturn = pdPASS; - - /* Update the TxLock count so prvUnlockQueue knows to check for - tasks waiting for data to become available in the queue. */ - ++( pxQueue->xTxLock ); - } - else - { - xReturn = errQUEUE_FULL; - } - } - taskEXIT_CRITICAL(); - } - - if( xReturn == errQUEUE_FULL ) - { - if( xTicksToWait > 0 ) - { - if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) - { - xReturn = queueERRONEOUS_UNBLOCK; - } - } - } - } - while( xReturn == queueERRONEOUS_UNBLOCK ); - - prvUnlockQueue( pxQueue ); - xTaskResumeAll(); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -#if configUSE_ALTERNATIVE_API == 1 - - signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) - { - signed portBASE_TYPE xReturn; - xTimeOutType xTimeOut; - - /* The source code that implements the alternative (Alt) API is much - simpler because it executes everything from within a critical section. - This is the approach taken by many other RTOSes, but FreeRTOS.org has the - preferred fully featured API too. The fully featured API has more - complex code that takes longer to execute, but makes much less use of - critical sections. Therefore the alternative API sacrifices interrupt - responsiveness to gain execution speed, whereas the fully featured API - sacrifices execution speed to ensure better interrupt responsiveness. */ - - taskENTER_CRITICAL(); - { - /* Capture the current time status for future reference. */ - vTaskSetTimeOutState( &xTimeOut ); - - /* If the queue is already full we may have to block. */ - do - { - if( pxQueue->uxMessagesWaiting == pxQueue->uxLength ) - { - /* The queue is full - do we want to block or just leave without - posting? */ - if( xTicksToWait > ( portTickType ) 0 ) - { - /* We are going to place ourselves on the xTasksWaitingToSend - event list, and will get woken should the delay expire, or - space become available on the queue. */ - vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait ); - - /* Force a context switch now as we are blocked. We can do - this from within a critical section as the task we are - switching to has its own context. When we return here (i.e. - we unblock) we will leave the critical section as normal. */ - taskYIELD(); - } - } - - if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) - { - /* There is room in the queue, copy the data into the queue. */ - prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); - xReturn = pdPASS; - - if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) ) - { - if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) - { - /* The task waiting has a higher priority. */ - taskYIELD(); - } - } - } - else - { - xReturn = errQUEUE_FULL; - - if( xTicksToWait > 0 ) - { - if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) - { - /* Another task must have accessed the queue between - this task unblocking and actually executing. */ - xReturn = queueERRONEOUS_UNBLOCK; - } - } - } - } - while( xReturn == queueERRONEOUS_UNBLOCK ); - } - taskEXIT_CRITICAL(); - - return xReturn; - } - -#endif /* configUSE_ALTERNATIVE_API */ -/*-----------------------------------------------------------*/ - -#if configUSE_ALTERNATIVE_API == 1 - - signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) - { - signed portBASE_TYPE xReturn = pdTRUE; - xTimeOutType xTimeOut; - signed portCHAR *pcOriginalReadPosition; - - /* The source code that implements the alternative (Alt) API is much - simpler because it executes everything from within a critical section. - This is the approach taken by many other RTOSes, but FreeRTOS.org has the - preferred fully featured API too. The fully featured API has more - complex code that takes longer to execute, but makes much less use of - critical sections. Therefore the alternative API sacrifices interrupt - responsiveness to gain execution speed, whereas the fully featured API - sacrifices execution speed to ensure better interrupt responsiveness. */ - - taskENTER_CRITICAL(); - { - /* Capture the current time status for future reference. */ - vTaskSetTimeOutState( &xTimeOut ); - - do - { - /* If there are no messages in the queue we may have to block. */ - if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 ) - { - /* There are no messages in the queue, do we want to block or just - leave with nothing? */ - if( xTicksToWait > ( portTickType ) 0 ) - { - #if ( configUSE_MUTEXES == 1 ) - { - if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) - { - vTaskPriorityInherit( ( void * const ) pxQueue->pxMutexHolder ); - } - } - #endif - - vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait ); - taskYIELD(); - } - } - - if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) - { - /* Remember our read position in case we are just peeking. */ - pcOriginalReadPosition = pxQueue->pcReadFrom; - - prvCopyDataFromQueue( pxQueue, pvBuffer ); - - if( xJustPeeking == pdFALSE ) - { - /* We are actually removing data. */ - --( pxQueue->uxMessagesWaiting ); - - #if ( configUSE_MUTEXES == 1 ) - { - if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) - { - /* Record the information required to implement - priority inheritance should it become necessary. */ - pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle(); - } - } - #endif - - if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) ) - { - if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) - { - /* The task waiting has a higher priority. */ - taskYIELD(); - } - } - } - else - { - /* We are not removing the data, so reset our read - pointer. */ - pxQueue->pcReadFrom = pcOriginalReadPosition; - } - - xReturn = pdPASS; - } - else - { - xReturn = errQUEUE_EMPTY; - - if( xTicksToWait > 0 ) - { - if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) - { - xReturn = queueERRONEOUS_UNBLOCK; - } - } - } - - } while( xReturn == queueERRONEOUS_UNBLOCK ); - } - taskEXIT_CRITICAL(); - - return xReturn; - } - -#endif /* configUSE_ALTERNATIVE_API */ -/*-----------------------------------------------------------*/ - -signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE xTaskPreviouslyWoken, portBASE_TYPE xCopyPosition ) -{ - /* Similar to xQueueGenericSend, except we don't block if there is no room - in the queue. Also we don't directly wake a task that was blocked on a - queue read, instead we return a flag to say whether a context switch is - required or not (i.e. has a task with a higher priority than us been woken - by this post). */ - if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) - { - prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); - - /* If the queue is locked we do not alter the event list. This will - be done when the queue is unlocked later. */ - if( pxQueue->xTxLock == queueUNLOCKED ) - { - /* We only want to wake one task per ISR, so check that a task has - not already been woken. */ - if( !xTaskPreviouslyWoken ) - { - if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) ) - { - if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) - { - /* The task waiting has a higher priority so record that a - context switch is required. */ - return pdTRUE; - } - } - } - } - else - { - /* Increment the lock count so the task that unlocks the queue - knows that data was posted while it was locked. */ - ++( pxQueue->xTxLock ); - } - } - - return xTaskPreviouslyWoken; -} -/*-----------------------------------------------------------*/ - -signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) -{ -signed portBASE_TYPE xReturn = pdTRUE; -xTimeOutType xTimeOut; -signed portCHAR *pcOriginalReadPosition; - - /* This function is very similar to xQueueGenericSend(). See comments - within xQueueGenericSend() for a more detailed explanation. - - Make sure other tasks do not access the queue. */ - vTaskSuspendAll(); - - /* Capture the current time status for future reference. */ - vTaskSetTimeOutState( &xTimeOut ); - - /* Make sure interrupts do not access the queue. */ - prvLockQueue( pxQueue ); - - do - { - /* If there are no messages in the queue we may have to block. */ - if( prvIsQueueEmpty( pxQueue ) ) - { - /* There are no messages in the queue, do we want to block or just - leave with nothing? */ - if( xTicksToWait > ( portTickType ) 0 ) - { - #if ( configUSE_MUTEXES == 1 ) - { - if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) - { - portENTER_CRITICAL(); - vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder ); - portEXIT_CRITICAL(); - } - } - #endif - - vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait ); - taskENTER_CRITICAL(); - { - prvUnlockQueue( pxQueue ); - if( !xTaskResumeAll() ) - { - taskYIELD(); - } - - if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 ) - { - /* We unblocked but the queue is empty. We probably - timed out. */ - xReturn = errQUEUE_EMPTY; - } - - vTaskSuspendAll(); - prvLockQueue( pxQueue ); - } - taskEXIT_CRITICAL(); - } - } - - if( xReturn != errQUEUE_EMPTY ) - { - taskENTER_CRITICAL(); - { - if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) - { - /* Remember our read position in case we are just peeking. */ - pcOriginalReadPosition = pxQueue->pcReadFrom; - - prvCopyDataFromQueue( pxQueue, pvBuffer ); - - if( xJustPeeking == pdFALSE ) - { - /* We are actually removing data. */ - --( pxQueue->uxMessagesWaiting ); - - /* Increment the lock count so prvUnlockQueue knows to check for - tasks waiting for space to become available on the queue. */ - ++( pxQueue->xRxLock ); - - #if ( configUSE_MUTEXES == 1 ) - { - if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) - { - /* Record the information required to implement - priority inheritance should it become necessary. */ - pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle(); - } - } - #endif - } - else - { - /* We are not removing the data, so reset our read - pointer. */ - pxQueue->pcReadFrom = pcOriginalReadPosition; - - /* The data is being left in the queue, so increment the - lock count so prvUnlockQueue knows to check for other - tasks waiting for the data to be available. */ - ++( pxQueue->xTxLock ); - } - - xReturn = pdPASS; - } - else - { - xReturn = errQUEUE_EMPTY; - } - } - taskEXIT_CRITICAL(); - } - - if( xReturn == errQUEUE_EMPTY ) - { - if( xTicksToWait > 0 ) - { - if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) - { - xReturn = queueERRONEOUS_UNBLOCK; - } - } - } - } while( xReturn == queueERRONEOUS_UNBLOCK ); - - /* We no longer require exclusive access to the queue. */ - prvUnlockQueue( pxQueue ); - xTaskResumeAll(); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, const void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken ) -{ -signed portBASE_TYPE xReturn; - - /* We cannot block from an ISR, so check there is data available. */ - if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) - { - prvCopyDataFromQueue( pxQueue, pvBuffer ); - --( pxQueue->uxMessagesWaiting ); - - /* If the queue is locked we will not modify the event list. Instead - we update the lock count so the task that unlocks the queue will know - that an ISR has removed data while the queue was locked. */ - if( pxQueue->xRxLock == queueUNLOCKED ) - { - /* We only want to wake one task per ISR, so check that a task has - not already been woken. */ - if( !( *pxTaskWoken ) ) - { - if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) ) - { - if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) - { - /* The task waiting has a higher priority than us so - force a context switch. */ - *pxTaskWoken = pdTRUE; - } - } - } - } - else - { - /* Increment the lock count so the task that unlocks the queue - knows that data was removed while it was locked. */ - ++( pxQueue->xRxLock ); - } - - xReturn = pdPASS; - } - else - { - xReturn = pdFAIL; - } - - return xReturn; -} -/*-----------------------------------------------------------*/ - -unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue ) -{ -unsigned portBASE_TYPE uxReturn; - - taskENTER_CRITICAL(); - uxReturn = pxQueue->uxMessagesWaiting; - taskEXIT_CRITICAL(); - - return uxReturn; -} -/*-----------------------------------------------------------*/ - -void vQueueDelete( xQueueHandle pxQueue ) -{ - vPortFree( pxQueue->pcHead ); - vPortFree( pxQueue ); -} -/*-----------------------------------------------------------*/ - -static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition ) -{ - if( pxQueue->uxItemSize == 0 ) - { - #if ( configUSE_MUTEXES == 1 ) - { - if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) - { - /* The mutex is no longer being held. */ - vTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder ); - pxQueue->pxMutexHolder = NULL; - } - } - #endif - } - else if( xPosition == queueSEND_TO_BACK ) - { - memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize ); - pxQueue->pcWriteTo += pxQueue->uxItemSize; - if( pxQueue->pcWriteTo >= pxQueue->pcTail ) - { - pxQueue->pcWriteTo = pxQueue->pcHead; - } - } - else - { - memcpy( ( void * ) pxQueue->pcReadFrom, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize ); - pxQueue->pcReadFrom -= pxQueue->uxItemSize; - if( pxQueue->pcReadFrom < pxQueue->pcHead ) - { - pxQueue->pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize ); - } - } - - ++( pxQueue->uxMessagesWaiting ); -} -/*-----------------------------------------------------------*/ - -static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer ) -{ - if( pxQueue->uxQueueType != queueQUEUE_IS_MUTEX ) - { - pxQueue->pcReadFrom += pxQueue->uxItemSize; - if( pxQueue->pcReadFrom >= pxQueue->pcTail ) - { - pxQueue->pcReadFrom = pxQueue->pcHead; - } - memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize ); - } -} -/*-----------------------------------------------------------*/ - -static void prvUnlockQueue( xQueueHandle pxQueue ) -{ - /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */ - - /* The lock counts contains the number of extra data items placed or - removed from the queue while the queue was locked. When a queue is - locked items can be added or removed, but the event lists cannot be - updated. */ - taskENTER_CRITICAL(); - { - --( pxQueue->xTxLock ); - - /* See if data was added to the queue while it was locked. */ - if( pxQueue->xTxLock > queueUNLOCKED ) - { - pxQueue->xTxLock = queueUNLOCKED; - - /* Data was posted while the queue was locked. Are any tasks - blocked waiting for data to become available? */ - if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) ) - { - /* Tasks that are removed from the event list will get added to - the pending ready list as the scheduler is still suspended. */ - if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) - { - /* The task waiting has a higher priority so record that a - context switch is required. */ - vTaskMissedYield(); - } - } - } - } - taskEXIT_CRITICAL(); - - /* Do the same for the Rx lock. */ - taskENTER_CRITICAL(); - { - --( pxQueue->xRxLock ); - - if( pxQueue->xRxLock > queueUNLOCKED ) - { - pxQueue->xRxLock = queueUNLOCKED; - - if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) ) - { - if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) - { - vTaskMissedYield(); - } - } - } - } - taskEXIT_CRITICAL(); -} -/*-----------------------------------------------------------*/ - -static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue ) -{ -signed portBASE_TYPE xReturn; - - taskENTER_CRITICAL(); - xReturn = ( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 ); - taskEXIT_CRITICAL(); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue ) -{ -signed portBASE_TYPE xReturn; - - taskENTER_CRITICAL(); - xReturn = ( pxQueue->uxMessagesWaiting == pxQueue->uxLength ); - taskEXIT_CRITICAL(); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -#if configUSE_CO_ROUTINES == 1 -signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait ) -{ -signed portBASE_TYPE xReturn; - - /* If the queue is already full we may have to block. A critical section - is required to prevent an interrupt removing something from the queue - between the check to see if the queue is full and blocking on the queue. */ - portDISABLE_INTERRUPTS(); - { - if( prvIsQueueFull( pxQueue ) ) - { - /* The queue is full - do we want to block or just leave without - posting? */ - if( xTicksToWait > ( portTickType ) 0 ) - { - /* As this is called from a coroutine we cannot block directly, but - return indicating that we need to block. */ - vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) ); - portENABLE_INTERRUPTS(); - return errQUEUE_BLOCKED; - } - else - { - portENABLE_INTERRUPTS(); - return errQUEUE_FULL; - } - } - } - portENABLE_INTERRUPTS(); - - portNOP(); - - portDISABLE_INTERRUPTS(); - { - if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) - { - /* There is room in the queue, copy the data into the queue. */ - prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK ); - xReturn = pdPASS; - - /* Were any co-routines waiting for data to become available? */ - if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) ) - { - /* In this instance the co-routine could be placed directly - into the ready list as we are within a critical section. - Instead the same pending ready list mechanism is used as if - the event were caused from within an interrupt. */ - if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) - { - /* The co-routine waiting has a higher priority so record - that a yield might be appropriate. */ - xReturn = errQUEUE_YIELD; - } - } - } - else - { - xReturn = errQUEUE_FULL; - } - } - portENABLE_INTERRUPTS(); - - return xReturn; -} -#endif -/*-----------------------------------------------------------*/ - -#if configUSE_CO_ROUTINES == 1 -signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait ) -{ -signed portBASE_TYPE xReturn; - - /* If the queue is already empty we may have to block. A critical section - is required to prevent an interrupt adding something to the queue - between the check to see if the queue is empty and blocking on the queue. */ - portDISABLE_INTERRUPTS(); - { - if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 ) - { - /* There are no messages in the queue, do we want to block or just - leave with nothing? */ - if( xTicksToWait > ( portTickType ) 0 ) - { - /* As this is a co-routine we cannot block directly, but return - indicating that we need to block. */ - vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) ); - portENABLE_INTERRUPTS(); - return errQUEUE_BLOCKED; - } - else - { - portENABLE_INTERRUPTS(); - return errQUEUE_FULL; - } - } - } - portENABLE_INTERRUPTS(); - - portNOP(); - - portDISABLE_INTERRUPTS(); - { - if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) - { - /* Data is available from the queue. */ - pxQueue->pcReadFrom += pxQueue->uxItemSize; - if( pxQueue->pcReadFrom >= pxQueue->pcTail ) - { - pxQueue->pcReadFrom = pxQueue->pcHead; - } - --( pxQueue->uxMessagesWaiting ); - memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize ); - - xReturn = pdPASS; - - /* Were any co-routines waiting for space to become available? */ - if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) ) - { - /* In this instance the co-routine could be placed directly - into the ready list as we are within a critical section. - Instead the same pending ready list mechanism is used as if - the event were caused from within an interrupt. */ - if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) - { - xReturn = errQUEUE_YIELD; - } - } - } - else - { - xReturn = pdFAIL; - } - } - portENABLE_INTERRUPTS(); - - return xReturn; -} -#endif -/*-----------------------------------------------------------*/ - - - -#if configUSE_CO_ROUTINES == 1 -signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ) -{ - /* Cannot block within an ISR so if there is no space on the queue then - exit without doing anything. */ - if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) - { - prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK ); - - /* We only want to wake one co-routine per ISR, so check that a - co-routine has not already been woken. */ - if( !xCoRoutinePreviouslyWoken ) - { - if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) ) - { - if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) - { - return pdTRUE; - } - } - } - } - - return xCoRoutinePreviouslyWoken; -} -#endif -/*-----------------------------------------------------------*/ - -#if configUSE_CO_ROUTINES == 1 -signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxCoRoutineWoken ) -{ -signed portBASE_TYPE xReturn; - - /* We cannot block from an ISR, so check there is data available. If - not then just leave without doing anything. */ - if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) - { - /* Copy the data from the queue. */ - pxQueue->pcReadFrom += pxQueue->uxItemSize; - if( pxQueue->pcReadFrom >= pxQueue->pcTail ) - { - pxQueue->pcReadFrom = pxQueue->pcHead; - } - --( pxQueue->uxMessagesWaiting ); - memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize ); - - if( !( *pxCoRoutineWoken ) ) - { - if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) ) - { - if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) - { - *pxCoRoutineWoken = pdTRUE; - } - } - } - - xReturn = pdPASS; - } - else - { - xReturn = pdFAIL; - } - - return xReturn; -} -#endif -/*-----------------------------------------------------------*/ - diff --git a/FreeRTOS1/readme.txt b/FreeRTOS1/readme.txt deleted file mode 100644 index 01a8781..0000000 --- a/FreeRTOS1/readme.txt +++ /dev/null @@ -1,15 +0,0 @@ -Each real time kernel port consists of three files that contain the core kernel -components and are common to every port, and one or more files that are -specific to a particular microcontroller and or compiler. - -+ The FreeRTOS/Source directory contains the three files that are common to -every port. The kernel is contained within these three files. - -+ The FreeRTOS/Source/Portable directory contains the files that are specific to -a particular microcontroller and or compiler. - -+ The FreeRTOS/Source/include directory contains the real time kernel header -files. - -See the readme file in the FreeRTOS/Source/Portable directory for more -information. \ No newline at end of file diff --git a/FreeRTOS1/tasks.c b/FreeRTOS1/tasks.c deleted file mode 100644 index cc43e7e..0000000 --- a/FreeRTOS1/tasks.c +++ /dev/null @@ -1,2046 +0,0 @@ -/* - FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. - - This file is part of the FreeRTOS.org distribution. - - FreeRTOS.org is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - FreeRTOS.org is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with FreeRTOS.org; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - - A special exception to the GPL can be applied should you wish to distribute - a combined work that includes FreeRTOS.org, without being obliged to provide - the source code for any proprietary components. See the licensing section - of http://www.FreeRTOS.org for full details of how and when the exception - can be applied. - - *************************************************************************** - - Please ensure to read the configuration and relevant port sections of the - online documentation. - - +++ http://www.FreeRTOS.org +++ - Documentation, latest information, license and contact details. - - +++ http://www.SafeRTOS.com +++ - A version that is certified for use in safety critical systems. - - +++ http://www.OpenRTOS.com +++ - Commercial support, development, porting, licensing and training services. - - *************************************************************************** -*/ - -/* -Changes from V1.00: - - + Call to portRESTORE_CONTEXT has been removed. The first context - switch is now performed within sPortStartScheduler(). - -Changes from V1.01: - - + More use of 8bit data types. - + Function name prefixes changed where the data type returned has changed. - + configUSE_TRACE_FACILITY is no longer defined by default. - -Changes from V1.2.0 - - + Introduced ucTopReadyPriority. This tracks the highest priority ready - queue that contains a valid TCB and thus makes the context switch - slightly faster. - - + prvAddTaskToReadyQueue() has been made a macro. - -Changes from V1.2.6 - - + Added conditional compilation directives. - + Extended API. - + Rearranged function order. - + Creating a task now causes a context switch if the task being created - has a higher priority than the calling task - assuming the kernel is - running. - + vTaskDelete() now only causes a context switch if the calling task is - the task being deleted. - -Changes from V2.0.0 - - + Allow the type of the tick count to be 16 or 32 bits. - + Introduce xPendingReadyList feature to allow the time interrupts have to - be disabled to be minimised. - + Remove the #if( INCLUDE_vTaskSuspendAll ) statements. vTaskSuspendAll() - is now always included as it is used by the scheduler itself. - -Changes from V2.1.0 - - + Bug fix - pxCurrentTCB is now initialised before the call to - prvInitializeTaskLists(). Previously pxCurrentTCB could be accessed - while null. - -Changed from V2.1.1 - - + Change to where lStackSize is declared within sTaskCreate() to prevent - compiler warnings with 8051 port. - -Changes from V2.2.0 - - + Explicit use of 'signed' qualifier on portCHAR types added. - + Changed odd calculation of initial pxTopOfStack value when - portSTACK_GROWTH < 0. - + Removed pcVersionNumber definition. - -Changes from V2.5.3 - - + cTaskResumeAll() modified to ensure it can be called prior to the task - lists being initialised. - -Changes from V2.5.5 - - + Added API function vTaskDelayUntil(). - + Added INCLUDE_vTaskDelay conditional compilation. - -Changes from V2.6.0 - - + Updated the vWriteTraceToBuffer macro to always be 4 byte aligned so it - can be used on ARM architectures. - + tskMAX_TASK_NAME_LEN definition replaced with the port specific - configMAX_TASK_NAME_LEN definition. - + Removed the call to strcpy when copying across the task name into the - TCB. - + Added ucTasksDeleted variable to prevent vTaskSuspendAll() being called - too often in the idle task. - -Changes between V3.0.0 and V2.6.1 - - + When resuming the scheduler a yield is performed if either a tick has - been missed, or a task is moved from the pending ready list into a ready - list. Previously a yield was not performed on this second condition. - + Introduced the type portBASE_TYPE. This necessitates several API - changes. - + Removed the sUsingPreemption variable. The constant defined in - portmacro.h is now used directly. - + The idle task can now include an optional hook function - and no longer - completes its time slice if other tasks with equal priority to it are - ready to run. - + See the FreeRTOS.org documentation for more information on V2.x.x to - V3.x.x modifications. - -Changes from V3.1.1 - - + Modified vTaskPrioritySet() and vTaskResume() to allow these functions to - be called while the scheduler is suspended. - + Corrected the task ordering within event lists. - -Changes from V3.2.0 - - + Added function xTaskGetCurrentTaskHandle(). - -Changes from V3.2.4 - - + Changed the volatile declarations on some variables to reflect the - changes to the list definitions. - + Changed the order of the TCB definition so there is commonality between - the task control block and a co-routine control block. - + Allow the scheduler to be started even if no tasks other than the idle - task has been created. This allows co-routines to run even when no tasks - have been created. - + The need for a context switch is now signalled if a task woken by an - event has a priority greater or equal to the currently running task. - Previously this was only greater than. - -Changes from V4.0.0 - - + Added the xMissedYield handling. - -Changes from V4.0.1 - - + The function vTaskList() now suspends the scheduler rather than disabling - interrupts during the creation of the task list. - + Allow a task to delete itself by passing in its own handle. Previously - this could only be done by passing in NULL. - + The tick hook function is now called only within a tick isr. Previously - it was also called when the tick function was called during the scheduler - unlocking process. - -Changes from V4.0.3 - - + Extra checks have been placed in vTaskPrioritySet() to avoid unnecessary - yields. - -Changed from V4.0.4 - - + Bug fix: The 'value' of the event list item is updated when the priority - of a task is changed. Previously only the priority of the TCB itself was - changed. - + When resuming a task a check is first made to see if the task is actually - suspended. - + vTaskPrioritySet() and vTaskResume() no longer use the event list item. - This has not been necessary since V4.0.1 when the xMissedYield handling - was added. - + Implement xTaskResumeFromISR(). - -Changes from V4.0.5 - - + Added utility functions and xOverflowCount variable to facilitate the - queue.c changes. - -Changes from V4.1.2 - - + Tasks that block on events with a timeout of portMAX_DELAY are now - blocked indefinitely if configINCLUDE_vTaskSuspend is defined. - Previously portMAX_DELAY was just the longest block time possible. - -Changes from V4.1.3 - - + Very small change made to xTaskCheckForTimeout() as a result of the - SafeRTOS testing. This corrects the case where the function can return an - invalid value - but only in an extremely unlikely scenario. - -Changes since V4.3.1: - - + Added xTaskGetSchedulerState() function. - + Added prvIsTaskSuspended() to take into account the Occurrence of - vTaskResume() or vTaskResumeFromISR() being called passing in the - handle of a task that appears in the Suspended list only because it - is blocked on an event without a timeout being specified. - + Updated xTaskCheckForTimeout() to take into account that tasks blocked - using the Suspended list should never time out. -*/ - -#include -#include -#include - -#include "FreeRTOS.h" -#include "task.h" - -/* - * Macro to define the amount of stack available to the idle task. - */ -#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE - - -/* - * Default a definitions for backwards compatibility with old - * portmacro.h files. - */ -#ifndef configMAX_TASK_NAME_LEN - #define configMAX_TASK_NAME_LEN 16 -#endif - -#ifndef configIDLE_SHOULD_YIELD - #define configIDLE_SHOULD_YIELD 1 -#endif - -#if configMAX_TASK_NAME_LEN < 1 - #undef configMAX_TASK_NAME_LEN - #define configMAX_TASK_NAME_LEN 1 -#endif - -#ifndef INCLUDE_xTaskResumeFromISR - #define INCLUDE_xTaskResumeFromISR 1 -#endif - -#ifndef INCLUDE_xTaskGetSchedulerState - #define INCLUDE_xTaskGetSchedulerState 0 -#endif - -/* - * Task control block. A task control block (TCB) is allocated to each task, - * and stores the context of the task. - */ -typedef struct tskTaskControlBlock -{ - volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE STRUCT. */ - xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */ - xListItem xEventListItem; /*< List item used to place the TCB in event lists. */ - unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */ - portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */ - signed portCHAR pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ - - #if ( configUSE_TRACE_FACILITY == 1 ) - unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */ - #endif - - #if ( configUSE_MUTEXES == 1 ) - unsigned portBASE_TYPE uxBasePriority; - #endif - -} tskTCB; - -/*lint -e956 */ - -tskTCB * volatile pxCurrentTCB = NULL; - -/* Lists for ready and blocked tasks. --------------------*/ - -static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */ -static xList xDelayedTaskList1; /*< Delayed tasks. */ -static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */ -static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */ -static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */ -static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */ - -#if ( INCLUDE_vTaskDelete == 1 ) - - static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */ - static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0; - -#endif - -#if ( INCLUDE_vTaskSuspend == 1 ) - - static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */ - -#endif - -/* File private variables. --------------------------------*/ -static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0; -static volatile portTickType xTickCount = ( portTickType ) 0; -static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY; -static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY; -static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE; -static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE; -static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0; -static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE; -static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0; -/* Debugging and trace facilities private variables and macros. ------------*/ - -/* - * The value used to fill the stack of a task when the task is created. This - * is used purely for checking the high water mark for tasks. - */ -#define tskSTACK_FILL_BYTE ( 0xa5 ) - -/* - * Macros used by vListTask to indicate which state a task is in. - */ -#define tskBLOCKED_CHAR ( ( signed portCHAR ) 'B' ) -#define tskREADY_CHAR ( ( signed portCHAR ) 'R' ) -#define tskDELETED_CHAR ( ( signed portCHAR ) 'D' ) -#define tskSUSPENDED_CHAR ( ( signed portCHAR ) 'S' ) - -/* - * Macros and private variables used by the trace facility. - */ -#if ( configUSE_TRACE_FACILITY == 1 ) - - #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned portLONG ) ( sizeof( unsigned portLONG ) + sizeof( unsigned portLONG ) ) ) - static volatile signed portCHAR * volatile pcTraceBuffer; - static signed portCHAR *pcTraceBufferStart; - static signed portCHAR *pcTraceBufferEnd; - static signed portBASE_TYPE xTracing = pdFALSE; - -#endif - -/* - * Macro that writes a trace of scheduler activity to a buffer. This trace - * shows which task is running when and is very useful as a debugging tool. - * As this macro is called each context switch it is a good idea to undefine - * it if not using the facility. - */ -#if ( configUSE_TRACE_FACILITY == 1 ) - - #define vWriteTraceToBuffer() \ - { \ - if( xTracing ) \ - { \ - static unsigned portBASE_TYPE uxPreviousTask = 255; \ - \ - if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \ - { \ - if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \ - { \ - uxPreviousTask = pxCurrentTCB->uxTCBNumber; \ - *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) xTickCount; \ - pcTraceBuffer += sizeof( unsigned portLONG ); \ - *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) uxPreviousTask; \ - pcTraceBuffer += sizeof( unsigned portLONG ); \ - } \ - else \ - { \ - xTracing = pdFALSE; \ - } \ - } \ - } \ - } - -#else - - #define vWriteTraceToBuffer() - -#endif - - -/* - * Place the task represented by pxTCB into the appropriate ready queue for - * the task. It is inserted at the end of the list. One quirk of this is - * that if the task being inserted is at the same priority as the currently - * executing task, then it will only be rescheduled after the currently - * executing task has been rescheduled. - */ -#define prvAddTaskToReadyQueue( pxTCB ) \ -{ \ - if( pxTCB->uxPriority > uxTopReadyPriority ) \ - { \ - uxTopReadyPriority = pxTCB->uxPriority; \ - } \ - vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \ -} - -/* - * Macro that looks at the list of tasks that are currently delayed to see if - * any require waking. - * - * Tasks are stored in the queue in the order of their wake time - meaning - * once one tasks has been found whose timer has not expired we need not look - * any further down the list. - */ -#define prvCheckDelayedTasks() \ -{ \ -register tskTCB *pxTCB; \ - \ - while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \ - { \ - if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \ - { \ - break; \ - } \ - vListRemove( &( pxTCB->xGenericListItem ) ); \ - /* Is the task waiting on an event also? */ \ - if( pxTCB->xEventListItem.pvContainer ) \ - { \ - vListRemove( &( pxTCB->xEventListItem ) ); \ - } \ - prvAddTaskToReadyQueue( pxTCB ); \ - } \ -} - -/* - * Several functions take an xTaskHandle parameter that can optionally be NULL, - * where NULL is used to indicate that the handle of the currently executing - * task should be used in place of the parameter. This macro simply checks to - * see if the parameter is NULL and returns a pointer to the appropriate TCB. - */ -#define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle ) - - -/* File private functions. --------------------------------*/ - -/* - * Utility to ready a TCB for a given task. Mainly just copies the parameters - * into the TCB structure. - */ -static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority ); - -/* - * Utility to ready all the lists used by the scheduler. This is called - * automatically upon the creation of the first task. - */ -static void prvInitialiseTaskLists( void ); - -/* - * The idle task, which as all tasks is implemented as a never ending loop. - * The idle task is automatically created and added to the ready lists upon - * creation of the first user task. - * - * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific - * language extensions. The equivalent prototype for this function is: - * - * void prvIdleTask( void *pvParameters ); - * - */ -static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ); - -/* - * Utility to free all memory allocated by the scheduler to hold a TCB, - * including the stack pointed to by the TCB. - * - * This does not free memory allocated by the task itself (i.e. memory - * allocated by calls to pvPortMalloc from within the tasks application code). - */ -#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) ) - static void prvDeleteTCB( tskTCB *pxTCB ); -#endif - -/* - * Used only by the idle task. This checks to see if anything has been placed - * in the list of tasks waiting to be deleted. If so the task is cleaned up - * and its TCB deleted. - */ -static void prvCheckTasksWaitingTermination( void ); - -/* - * Allocates memory from the heap for a TCB and associated stack. Checks the - * allocation was successful. - */ -static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth ); - -/* - * Called from vTaskList. vListTasks details all the tasks currently under - * control of the scheduler. The tasks may be in one of a number of lists. - * prvListTaskWithinSingleList accepts a list and details the tasks from - * within just that list. - * - * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM - * NORMAL APPLICATION CODE. - */ -#if ( configUSE_TRACE_FACILITY == 1 ) - - static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus ); - -#endif - -/* - * When a task is created, the stack of the task is filled with a known value. - * This function determines the 'high water mark' of the task stack by - * determining how much of the stack remains at the original preset value. - */ -#if ( configUSE_TRACE_FACILITY == 1 ) - - unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte ); - -#endif - -/* - * Checks that a task being resumed (unsuspended) is actually in the Suspended - * state. - */ -#if ( INCLUDE_vTaskSuspend == 1 ) - - static portBASE_TYPE prvIsTaskSuspended( const tskTCB * const pxTCB ); - -#endif - -/*lint +e956 */ - - - - - -/*----------------------------------------------------------- - * TASK CREATION API documented in task.h - *----------------------------------------------------------*/ - -signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask ) -{ -signed portBASE_TYPE xReturn; -tskTCB * pxNewTCB; -#if ( configUSE_TRACE_FACILITY == 1 ) - static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberate - this is guarded before use. */ -#endif - - /* Allocate the memory required by the TCB and stack for the new task. - checking that the allocation was successful. */ - pxNewTCB = prvAllocateTCBAndStack( usStackDepth ); - - if( pxNewTCB != NULL ) - { - portSTACK_TYPE *pxTopOfStack; - - /* Setup the newly allocated TCB with the initial state of the task. */ - prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority ); - - /* Calculate the top of stack address. This depends on whether the - stack grows from high memory to low (as per the 80x86) or visa versa. - portSTACK_GROWTH is used to make the result positive or negative as - required by the port. */ - #if portSTACK_GROWTH < 0 - { - pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 ); - } - #else - { - pxTopOfStack = pxNewTCB->pxStack; - } - #endif - - /* Initialize the TCB stack to look as if the task was already running, - but had been interrupted by the scheduler. The return address is set - to the start of the task function. Once the stack has been initialised - the top of stack variable is updated. */ - pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pvTaskCode, pvParameters ); - - /* We are going to manipulate the task queues to add this task to a - ready list, so must make sure no interrupts occur. */ - portENTER_CRITICAL(); - { - uxCurrentNumberOfTasks++; - if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 ) - { - /* As this is the first task it must also be the current task. */ - pxCurrentTCB = pxNewTCB; - - /* This is the first task to be created so do the preliminary - initialisation required. We will not recover if this call - fails, but we will report the failure. */ - prvInitialiseTaskLists(); - } - else - { - /* If the scheduler is not already running, make this task the - current task if it is the highest priority task to be created - so far. */ - if( xSchedulerRunning == pdFALSE ) - { - if( pxCurrentTCB->uxPriority <= uxPriority ) - { - pxCurrentTCB = pxNewTCB; - } - } - } - - /* Remember the top priority to make context switching faster. Use - the priority in pxNewTCB as this has been capped to a valid value. */ - if( pxNewTCB->uxPriority > uxTopUsedPriority ) - { - uxTopUsedPriority = pxNewTCB->uxPriority; - } - - #if ( configUSE_TRACE_FACILITY == 1 ) - { - /* Add a counter into the TCB for tracing only. */ - pxNewTCB->uxTCBNumber = uxTaskNumber; - uxTaskNumber++; - } - #endif - - prvAddTaskToReadyQueue( pxNewTCB ); - - xReturn = pdPASS; - } - portEXIT_CRITICAL(); - } - else - { - xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; - } - - if( xReturn == pdPASS ) - { - if( ( void * ) pxCreatedTask != NULL ) - { - /* Pass the TCB out - in an anonymous way. The calling function/ - task can use this as a handle to delete the task later if - required.*/ - *pxCreatedTask = ( xTaskHandle ) pxNewTCB; - } - - if( xSchedulerRunning != pdFALSE ) - { - /* If the created task is of a higher priority than the current task - then it should run now. */ - if( pxCurrentTCB->uxPriority < uxPriority ) - { - taskYIELD(); - } - } - } - - return xReturn; -} -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskDelete == 1 ) - - void vTaskDelete( xTaskHandle pxTaskToDelete ) - { - tskTCB *pxTCB; - - taskENTER_CRITICAL(); - { - /* Ensure a yield is performed if the current task is being - deleted. */ - if( pxTaskToDelete == pxCurrentTCB ) - { - pxTaskToDelete = NULL; - } - - /* If null is passed in here then we are deleting ourselves. */ - pxTCB = prvGetTCBFromHandle( pxTaskToDelete ); - - /* Remove task from the ready list and place in the termination list. - This will stop the task from be scheduled. The idle task will check - the termination list and free up any memory allocated by the - scheduler for the TCB and stack. */ - vListRemove( &( pxTCB->xGenericListItem ) ); - - /* Is the task waiting on an event also? */ - if( pxTCB->xEventListItem.pvContainer ) - { - vListRemove( &( pxTCB->xEventListItem ) ); - } - - vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) ); - - /* Increment the ucTasksDeleted variable so the idle task knows - there is a task that has been deleted and that it should therefore - check the xTasksWaitingTermination list. */ - ++uxTasksDeleted; - } - taskEXIT_CRITICAL(); - - /* Force a reschedule if we have just deleted the current task. */ - if( xSchedulerRunning != pdFALSE ) - { - if( ( void * ) pxTaskToDelete == NULL ) - { - taskYIELD(); - } - } - } - -#endif - - - - - - -/*----------------------------------------------------------- - * TASK CONTROL API documented in task.h - *----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskDelayUntil == 1 ) - - void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement ) - { - portTickType xTimeToWake; - portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE; - - vTaskSuspendAll(); - { - /* Generate the tick time at which the task wants to wake. */ - xTimeToWake = *pxPreviousWakeTime + xTimeIncrement; - - if( xTickCount < *pxPreviousWakeTime ) - { - /* The tick count has overflowed since this function was - lasted called. In this case the only time we should ever - actually delay is if the wake time has also overflowed, - and the wake time is greater than the tick time. When this - is the case it is as if neither time had overflowed. */ - if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) ) - { - xShouldDelay = pdTRUE; - } - } - else - { - /* The tick time has not overflowed. In this case we will - delay if either the wake time has overflowed, and/or the - tick time is less than the wake time. */ - if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) ) - { - xShouldDelay = pdTRUE; - } - } - - /* Update the wake time ready for the next call. */ - *pxPreviousWakeTime = xTimeToWake; - - if( xShouldDelay ) - { - /* We must remove ourselves from the ready list before adding - ourselves to the blocked list as the same list item is used for - both lists. */ - vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); - - /* The list item will be inserted in wake time order. */ - listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake ); - - if( xTimeToWake < xTickCount ) - { - /* Wake time has overflowed. Place this item in the - overflow list. */ - vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); - } - else - { - /* The wake time has not overflowed, so we can use the - current block list. */ - vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); - } - } - } - xAlreadyYielded = xTaskResumeAll(); - - /* Force a reschedule if xTaskResumeAll has not already done so, we may - have put ourselves to sleep. */ - if( !xAlreadyYielded ) - { - taskYIELD(); - } - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskDelay == 1 ) - - void vTaskDelay( portTickType xTicksToDelay ) - { - portTickType xTimeToWake; - signed portBASE_TYPE xAlreadyYielded = pdFALSE; - - /* A delay time of zero just forces a reschedule. */ - if( xTicksToDelay > ( portTickType ) 0 ) - { - vTaskSuspendAll(); - { - /* A task that is removed from the event list while the - scheduler is suspended will not get placed in the ready - list or removed from the blocked list until the scheduler - is resumed. - - This task cannot be in an event list as it is the currently - executing task. */ - - /* Calculate the time to wake - this may overflow but this is - not a problem. */ - xTimeToWake = xTickCount + xTicksToDelay; - - /* We must remove ourselves from the ready list before adding - ourselves to the blocked list as the same list item is used for - both lists. */ - vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); - - /* The list item will be inserted in wake time order. */ - listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake ); - - if( xTimeToWake < xTickCount ) - { - /* Wake time has overflowed. Place this item in the - overflow list. */ - vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); - } - else - { - /* The wake time has not overflowed, so we can use the - current block list. */ - vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); - } - } - xAlreadyYielded = xTaskResumeAll(); - } - - /* Force a reschedule if xTaskResumeAll has not already done so, we may - have put ourselves to sleep. */ - if( !xAlreadyYielded ) - { - taskYIELD(); - } - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_uxTaskPriorityGet == 1 ) - - unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) - { - tskTCB *pxTCB; - unsigned portBASE_TYPE uxReturn; - - taskENTER_CRITICAL(); - { - /* If null is passed in here then we are changing the - priority of the calling function. */ - pxTCB = prvGetTCBFromHandle( pxTask ); - uxReturn = pxTCB->uxPriority; - } - taskEXIT_CRITICAL(); - - return uxReturn; - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskPrioritySet == 1 ) - - void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority ) - { - tskTCB *pxTCB; - unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE; - - /* Ensure the new priority is valid. */ - if( uxNewPriority >= configMAX_PRIORITIES ) - { - uxNewPriority = configMAX_PRIORITIES - 1; - } - - taskENTER_CRITICAL(); - { - /* If null is passed in here then we are changing the - priority of the calling function. */ - pxTCB = prvGetTCBFromHandle( pxTask ); - - #if ( configUSE_MUTEXES == 1 ) - { - uxCurrentPriority = pxTCB->uxBasePriority; - } - #else - { - uxCurrentPriority = pxTCB->uxPriority; - } - #endif - - if( uxCurrentPriority != uxNewPriority ) - { - /* The priority change may have readied a task of higher - priority than the calling task. */ - if( uxNewPriority > uxCurrentPriority ) - { - if( pxTask != NULL ) - { - /* The priority of another task is being raised. If we - were raising the priority of the currently running task - there would be no need to switch as it must have already - been the highest priority task. */ - xYieldRequired = pdTRUE; - } - } - else if( pxTask == NULL ) - { - /* Setting our own priority down means there may now be another - task of higher priority that is ready to execute. */ - xYieldRequired = pdTRUE; - } - - - - #if ( configUSE_MUTEXES == 1 ) - { - /* Only change the priority being used if the task is not - currently using an inherited priority. */ - if( pxTCB->uxBasePriority == pxTCB->uxPriority ) - { - pxTCB->uxPriority = uxNewPriority; - } - - /* The base priority gets set whatever. */ - pxTCB->uxBasePriority = uxNewPriority; - } - #else - { - pxTCB->uxPriority = uxNewPriority; - } - #endif - - listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) ); - - /* If the task is in the blocked or suspended list we need do - nothing more than change it's priority variable. However, if - the task is in a ready list it needs to be removed and placed - in the queue appropriate to its new priority. */ - if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) ) - { - /* The task is currently in its ready list - remove before adding - it to it's new ready list. As we are in a critical section we - can do this even if the scheduler is suspended. */ - vListRemove( &( pxTCB->xGenericListItem ) ); - prvAddTaskToReadyQueue( pxTCB ); - } - - if( xYieldRequired == pdTRUE ) - { - taskYIELD(); - } - } - } - taskEXIT_CRITICAL(); - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskSuspend == 1 ) - - void vTaskSuspend( xTaskHandle pxTaskToSuspend ) - { - tskTCB *pxTCB; - - taskENTER_CRITICAL(); - { - /* Ensure a yield is performed if the current task is being - suspended. */ - if( pxTaskToSuspend == pxCurrentTCB ) - { - pxTaskToSuspend = NULL; - } - - /* If null is passed in here then we are suspending ourselves. */ - pxTCB = prvGetTCBFromHandle( pxTaskToSuspend ); - - /* Remove task from the ready/delayed list and place in the suspended list. */ - vListRemove( &( pxTCB->xGenericListItem ) ); - - /* Is the task waiting on an event also? */ - if( pxTCB->xEventListItem.pvContainer ) - { - vListRemove( &( pxTCB->xEventListItem ) ); - } - - vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ); - } - taskEXIT_CRITICAL(); - - /* We may have just suspended the current task. */ - if( ( void * ) pxTaskToSuspend == NULL ) - { - taskYIELD(); - } - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskSuspend == 1 ) - - static portBASE_TYPE prvIsTaskSuspended( const tskTCB * const pxTCB ) - { - portBASE_TYPE xReturn = pdFALSE; - - /* Is the task we are attempting to resume actually in the - suspended list? */ - if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE ) - { - /* Has the task already been resumed from within an ISR? */ - if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE ) - { - /* Is it in the suspended list because it is in the - Suspended state? It is possible to be in the suspended - list because it is blocked on a task with no timeout - specified. */ - if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE ) - { - xReturn = pdTRUE; - } - } - } - - return xReturn; - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskSuspend == 1 ) - - void vTaskResume( xTaskHandle pxTaskToResume ) - { - tskTCB *pxTCB; - - /* Remove the task from whichever list it is currently in, and place - it in the ready list. */ - pxTCB = ( tskTCB * ) pxTaskToResume; - - /* The parameter cannot be NULL as it is impossible to resume the - currently executing task. */ - if( pxTCB != NULL ) - { - taskENTER_CRITICAL(); - { - if( prvIsTaskSuspended( pxTCB ) == pdTRUE ) - { - /* As we are in a critical section we can access the ready - lists even if the scheduler is suspended. */ - vListRemove( &( pxTCB->xGenericListItem ) ); - prvAddTaskToReadyQueue( pxTCB ); - - /* We may have just resumed a higher priority task. */ - if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) - { - /* This yield may not cause the task just resumed to run, but - will leave the lists in the correct state for the next yield. */ - taskYIELD(); - } - } - } - taskEXIT_CRITICAL(); - } - } - -#endif - -/*-----------------------------------------------------------*/ - -#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) - - portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume ) - { - portBASE_TYPE xYieldRequired = pdFALSE; - tskTCB *pxTCB; - - pxTCB = ( tskTCB * ) pxTaskToResume; - - if( prvIsTaskSuspended( pxTCB ) == pdTRUE ) - { - if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) - { - xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ); - vListRemove( &( pxTCB->xGenericListItem ) ); - prvAddTaskToReadyQueue( pxTCB ); - } - else - { - /* We cannot access the delayed or ready lists, so will hold this - task pending until the scheduler is resumed, at which point a - yield will be performed if necessary. */ - vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); - } - } - - return xYieldRequired; - } - -#endif - - - - -/*----------------------------------------------------------- - * PUBLIC SCHEDULER CONTROL documented in task.h - *----------------------------------------------------------*/ - - -void vTaskStartScheduler( void ) -{ -portBASE_TYPE xReturn; - - /* Add the idle task at the lowest priority. */ - xReturn = xTaskCreate( prvIdleTask, ( signed portCHAR * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL ); - - if( xReturn == pdPASS ) - { - /* Interrupts are turned off here, to ensure a tick does not occur - before or during the call to xPortStartScheduler(). The stacks of - the created tasks contain a status word with interrupts switched on - so interrupts will automatically get re-enabled when the first task - starts to run. - - STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE - DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */ - portDISABLE_INTERRUPTS(); - - xSchedulerRunning = pdTRUE; - xTickCount = ( portTickType ) 0; - - /* Setting up the timer tick is hardware specific and thus in the - portable interface. */ - if( xPortStartScheduler() ) - { - /* Should not reach here as if the scheduler is running the - function will not return. */ - } - else - { - /* Should only reach here if a task calls xTaskEndScheduler(). */ - } - } -} -/*-----------------------------------------------------------*/ - -void vTaskEndScheduler( void ) -{ - /* Stop the scheduler interrupts and call the portable scheduler end - routine so the original ISRs can be restored if necessary. The port - layer must ensure interrupts enable bit is left in the correct state. */ - portDISABLE_INTERRUPTS(); - xSchedulerRunning = pdFALSE; - vPortEndScheduler(); -} -/*----------------------------------------------------------*/ - -void vTaskSuspendAll( void ) -{ - portENTER_CRITICAL(); - ++uxSchedulerSuspended; - portEXIT_CRITICAL(); -} -/*----------------------------------------------------------*/ - -signed portBASE_TYPE xTaskResumeAll( void ) -{ -register tskTCB *pxTCB; -signed portBASE_TYPE xAlreadyYielded = pdFALSE; - - /* It is possible that an ISR caused a task to be removed from an event - list while the scheduler was suspended. If this was the case then the - removed task will have been added to the xPendingReadyList. Once the - scheduler has been resumed it is safe to move all the pending ready - tasks from this list into their appropriate ready list. */ - portENTER_CRITICAL(); - { - --uxSchedulerSuspended; - - if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) - { - if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 ) - { - portBASE_TYPE xYieldRequired = pdFALSE; - - /* Move any readied tasks from the pending list into the - appropriate ready list. */ - while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL ) - { - vListRemove( &( pxTCB->xEventListItem ) ); - vListRemove( &( pxTCB->xGenericListItem ) ); - prvAddTaskToReadyQueue( pxTCB ); - - /* If we have moved a task that has a priority higher than - the current task then we should yield. */ - if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) - { - xYieldRequired = pdTRUE; - } - } - - /* If any ticks occurred while the scheduler was suspended then - they should be processed now. This ensures the tick count does not - slip, and that any delayed tasks are resumed at the correct time. */ - if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 ) - { - while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 ) - { - vTaskIncrementTick(); - --uxMissedTicks; - } - - /* As we have processed some ticks it is appropriate to yield - to ensure the highest priority task that is ready to run is - the task actually running. */ - #if configUSE_PREEMPTION == 1 - { - xYieldRequired = pdTRUE; - } - #endif - } - - if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) ) - { - xAlreadyYielded = pdTRUE; - xMissedYield = pdFALSE; - taskYIELD(); - } - } - } - } - portEXIT_CRITICAL(); - - return xAlreadyYielded; -} - - - - - - -/*----------------------------------------------------------- - * PUBLIC TASK UTILITIES documented in task.h - *----------------------------------------------------------*/ - - - -portTickType xTaskGetTickCount( void ) -{ -portTickType xTicks; - - /* Critical section required if running on a 16 bit processor. */ - taskENTER_CRITICAL(); - { - xTicks = xTickCount; - } - taskEXIT_CRITICAL(); - - return xTicks; -} -/*-----------------------------------------------------------*/ - -unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void ) -{ -unsigned portBASE_TYPE uxNumberOfTasks; - - taskENTER_CRITICAL(); - uxNumberOfTasks = uxCurrentNumberOfTasks; - taskEXIT_CRITICAL(); - - return uxNumberOfTasks; -} -/*-----------------------------------------------------------*/ - -#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_vTaskDelete == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) - - void vTaskList( signed portCHAR *pcWriteBuffer ) - { - unsigned portBASE_TYPE uxQueue; - - /* This is a VERY costly function that should be used for debug only. - It leaves interrupts disabled for a LONG time. */ - - vTaskSuspendAll(); - { - /* Run through all the lists that could potentially contain a TCB and - report the task name, state and stack high water mark. */ - - pcWriteBuffer[ 0 ] = ( signed portCHAR ) 0x00; - strcat( ( portCHAR * ) pcWriteBuffer, ( const portCHAR * ) "\r\n" ); - - uxQueue = uxTopUsedPriority + 1; - - do - { - uxQueue--; - - if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) ) - { - prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR ); - } - }while( uxQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY ); - - if( !listLIST_IS_EMPTY( pxDelayedTaskList ) ) - { - prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR ); - } - - if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) ) - { - prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR ); - } - - if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) ) - { - prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR ); - } - - if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) ) - { - prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR ); - } - } - xTaskResumeAll(); - } - -#endif -/*----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize ) - { - portENTER_CRITICAL(); - { - pcTraceBuffer = ( signed portCHAR * )pcBuffer; - pcTraceBufferStart = pcBuffer; - pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE ); - xTracing = pdTRUE; - } - portEXIT_CRITICAL(); - } - -#endif -/*----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - unsigned portLONG ulTaskEndTrace( void ) - { - unsigned portLONG ulBufferLength; - - portENTER_CRITICAL(); - xTracing = pdFALSE; - portEXIT_CRITICAL(); - - ulBufferLength = ( unsigned portLONG ) ( pcTraceBuffer - pcTraceBufferStart ); - - return ulBufferLength; - } - -#endif - - - -/*----------------------------------------------------------- - * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES - * documented in task.h - *----------------------------------------------------------*/ - - -inline void vTaskIncrementTick( void ) -{ - /* Called by the portable layer each time a tick interrupt occurs. - Increments the tick then checks to see if the new tick value will cause any - tasks to be unblocked. */ - if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) - { - ++xTickCount; - if( xTickCount == ( portTickType ) 0 ) - { - xList *pxTemp; - - /* Tick count has overflowed so we need to swap the delay lists. - If there are any items in pxDelayedTaskList here then there is - an error! */ - pxTemp = pxDelayedTaskList; - pxDelayedTaskList = pxOverflowDelayedTaskList; - pxOverflowDelayedTaskList = pxTemp; - xNumOfOverflows++; - } - - /* See if this tick has made a timeout expire. */ - prvCheckDelayedTasks(); - } - else - { - ++uxMissedTicks; - - /* The tick hook gets called at regular intervals, even if the - scheduler is locked. */ - #if ( configUSE_TICK_HOOK == 1 ) - { - extern void vApplicationTickHook( void ); - - vApplicationTickHook(); - } - #endif - } - - #if ( configUSE_TICK_HOOK == 1 ) - { - extern void vApplicationTickHook( void ); - - /* Guard against the tick hook being called when the missed tick - count is being unwound (when the scheduler is being unlocked. */ - if( uxMissedTicks == 0 ) - { - vApplicationTickHook(); - } - } - #endif -} -/*-----------------------------------------------------------*/ - -#if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) - - void vTaskCleanUpResources( void ) - { - unsigned portSHORT usQueue; - volatile tskTCB *pxTCB; - - usQueue = ( unsigned portSHORT ) uxTopUsedPriority + ( unsigned portSHORT ) 1; - - /* Remove any TCB's from the ready queues. */ - do - { - usQueue--; - - while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) ) - { - listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) ); - vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ); - - prvDeleteTCB( ( tskTCB * ) pxTCB ); - } - }while( usQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY ); - - /* Remove any TCB's from the delayed queue. */ - while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) ) - { - listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 ); - vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ); - - prvDeleteTCB( ( tskTCB * ) pxTCB ); - } - - /* Remove any TCB's from the overflow delayed queue. */ - while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) ) - { - listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 ); - vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ); - - prvDeleteTCB( ( tskTCB * ) pxTCB ); - } - - while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) ) - { - listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList ); - vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ); - - prvDeleteTCB( ( tskTCB * ) pxTCB ); - } - } - -#endif -/*-----------------------------------------------------------*/ - -void vTaskSwitchContext( void ) -{ - if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE ) - { - /* The scheduler is currently suspended - do not allow a context - switch. */ - xMissedYield = pdTRUE; - return; - } - - /* Find the highest priority queue that contains ready tasks. */ - while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) - { - --uxTopReadyPriority; - } - - /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the - same priority get an equal share of the processor time. */ - listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); - vWriteTraceToBuffer(); -} -/*-----------------------------------------------------------*/ - -void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait ) -{ -portTickType xTimeToWake; - - /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE - SCHEDULER SUSPENDED. */ - - /* Place the event list item of the TCB in the appropriate event list. - This is placed in the list in priority order so the highest priority task - is the first to be woken by the event. */ - vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) ); - - /* We must remove ourselves from the ready list before adding ourselves - to the blocked list as the same list item is used for both lists. We have - exclusive access to the ready lists as the scheduler is locked. */ - vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); - - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - if( xTicksToWait == portMAX_DELAY ) - { - /* Add ourselves to the suspended task list instead of a delayed task - list to ensure we are not woken by a timing event. We will block - indefinitely. */ - vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); - } - else - { - /* Calculate the time at which the task should be woken if the event does - not occur. This may overflow but this doesn't matter. */ - xTimeToWake = xTickCount + xTicksToWait; - - listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake ); - - if( xTimeToWake < xTickCount ) - { - /* Wake time has overflowed. Place this item in the overflow list. */ - vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); - } - else - { - /* The wake time has not overflowed, so we can use the current block list. */ - vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); - } - } - } - #else - { - /* Calculate the time at which the task should be woken if the event does - not occur. This may overflow but this doesn't matter. */ - xTimeToWake = xTickCount + xTicksToWait; - - listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake ); - - if( xTimeToWake < xTickCount ) - { - /* Wake time has overflowed. Place this item in the overflow list. */ - vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); - } - else - { - /* The wake time has not overflowed, so we can use the current block list. */ - vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); - } - } - #endif -} -/*-----------------------------------------------------------*/ - -signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList ) -{ -tskTCB *pxUnblockedTCB; -portBASE_TYPE xReturn; - - /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE - SCHEDULER SUSPENDED. It can also be called from within an ISR. */ - - /* The event list is sorted in priority order, so we can remove the - first in the list, remove the TCB from the delayed list, and add - it to the ready list. - - If an event is for a queue that is locked then this function will never - get called - the lock count on the queue will get modified instead. This - means we can always expect exclusive access to the event list here. */ - pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); - vListRemove( &( pxUnblockedTCB->xEventListItem ) ); - - if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) - { - vListRemove( &( pxUnblockedTCB->xGenericListItem ) ); - prvAddTaskToReadyQueue( pxUnblockedTCB ); - } - else - { - /* We cannot access the delayed or ready lists, so will hold this - task pending until the scheduler is resumed. */ - vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) ); - } - - if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority ) - { - /* Return true if the task removed from the event list has - a higher priority than the calling task. This allows - the calling task to know if it should force a context - switch now. */ - xReturn = pdTRUE; - } - else - { - xReturn = pdFALSE; - } - - return xReturn; -} -/*-----------------------------------------------------------*/ - -void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut ) -{ - pxTimeOut->xOverflowCount = xNumOfOverflows; - pxTimeOut->xTimeOnEntering = xTickCount; -} -/*-----------------------------------------------------------*/ - -portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait ) -{ -portBASE_TYPE xReturn; - - #if ( INCLUDE_vTaskSuspend == 1 ) - /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is - the maximum block time then the task should block indefinitely, and - therefore never time out. */ - if( *pxTicksToWait == portMAX_DELAY ) - { - xReturn = pdFALSE; - } - else /* We are not blocking indefinitely, perform the checks below. */ - #endif - - if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xTickCount >= pxTimeOut->xTimeOnEntering ) ) - { - /* The tick count is greater than the time at which vTaskSetTimeout() - was called, but has also overflowed since vTaskSetTimeOut() was called. - It must have wrapped all the way around and gone past us again. This - passed since vTaskSetTimeout() was called. */ - xReturn = pdTRUE; - } - else if( ( xTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait ) - { - /* Not a genuine timeout. Adjust parameters for time remaining. */ - *pxTicksToWait -= ( xTickCount - pxTimeOut->xTimeOnEntering ); - vTaskSetTimeOutState( pxTimeOut ); - xReturn = pdFALSE; - } - else - { - xReturn = pdTRUE; - } - - return xReturn; -} -/*-----------------------------------------------------------*/ - -void vTaskMissedYield( void ) -{ - xMissedYield = pdTRUE; -} - -/* - * ----------------------------------------------------------- - * The Idle task. - * ---------------------------------------------------------- - * - * The portTASK_FUNCTION() macro is used to allow port/compiler specific - * language extensions. The equivalent prototype for this function is: - * - * void prvIdleTask( void *pvParameters ); - * - */ -static portTASK_FUNCTION( prvIdleTask, pvParameters ) -{ - /* Stop warnings. */ - ( void ) pvParameters; - - for( ;; ) - { - /* See if any tasks have been deleted. */ - prvCheckTasksWaitingTermination(); - - #if ( configUSE_PREEMPTION == 0 ) - { - /* If we are not using preemption we keep forcing a task switch to - see if any other task has become available. If we are using - preemption we don't need to do this as any task becoming available - will automatically get the processor anyway. */ - taskYIELD(); - } - #endif - - #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) - { - /* When using preemption tasks of equal priority will be - timesliced. If a task that is sharing the idle priority is ready - to run then the idle task should yield before the end of the - timeslice. - - A critical region is not required here as we are just reading from - the list, and an occasional incorrect value will not matter. If - the ready list at the idle priority contains more than one task - then a task other than the idle task is ready to execute. */ - if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 ) - { - taskYIELD(); - } - } - #endif - - #if ( configUSE_IDLE_HOOK == 1 ) - { - extern void vApplicationIdleHook( void ); - - /* Call the user defined function from within the idle task. This - allows the application designer to add background functionality - without the overhead of a separate task. - NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES, - CALL A FUNCTION THAT MIGHT BLOCK. */ - vApplicationIdleHook(); - } - #endif - } -} /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */ - - - - - - - -/*----------------------------------------------------------- - * File private functions documented at the top of the file. - *----------------------------------------------------------*/ - - - -static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority ) -{ - /* Store the function name in the TCB. */ - strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned portSHORT ) configMAX_TASK_NAME_LEN ); - pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0'; - - /* This is used as an array index so must ensure it's not too large. */ - if( uxPriority >= configMAX_PRIORITIES ) - { - uxPriority = configMAX_PRIORITIES - 1; - } - - pxTCB->uxPriority = uxPriority; - #if ( configUSE_MUTEXES == 1 ) - { - pxTCB->uxBasePriority = uxPriority; - } - #endif - - vListInitialiseItem( &( pxTCB->xGenericListItem ) ); - vListInitialiseItem( &( pxTCB->xEventListItem ) ); - - /* Set the pxTCB as a link back from the xListItem. This is so we can get - back to the containing TCB from a generic item in a list. */ - listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB ); - - /* Event lists are always in priority order. */ - listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority ); - listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB ); -} -/*-----------------------------------------------------------*/ - -static void prvInitialiseTaskLists( void ) -{ -unsigned portBASE_TYPE uxPriority; - - for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ ) - { - vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) ); - } - - vListInitialise( ( xList * ) &xDelayedTaskList1 ); - vListInitialise( ( xList * ) &xDelayedTaskList2 ); - vListInitialise( ( xList * ) &xPendingReadyList ); - - #if ( INCLUDE_vTaskDelete == 1 ) - { - vListInitialise( ( xList * ) &xTasksWaitingTermination ); - } - #endif - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - vListInitialise( ( xList * ) &xSuspendedTaskList ); - } - #endif - - /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList - using list2. */ - pxDelayedTaskList = &xDelayedTaskList1; - pxOverflowDelayedTaskList = &xDelayedTaskList2; -} -/*-----------------------------------------------------------*/ - -static void prvCheckTasksWaitingTermination( void ) -{ - #if ( INCLUDE_vTaskDelete == 1 ) - { - portBASE_TYPE xListIsEmpty; - - /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called - too often in the idle task. */ - if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 ) - { - vTaskSuspendAll(); - xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination ); - xTaskResumeAll(); - - if( !xListIsEmpty ) - { - tskTCB *pxTCB; - - portENTER_CRITICAL(); - { - pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) ); - vListRemove( &( pxTCB->xGenericListItem ) ); - --uxCurrentNumberOfTasks; - --uxTasksDeleted; - } - portEXIT_CRITICAL(); - - prvDeleteTCB( pxTCB ); - } - } - } - #endif -} -/*-----------------------------------------------------------*/ - -static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth ) -{ -tskTCB *pxNewTCB; - - /* Allocate space for the TCB. Where the memory comes from depends on - the implementation of the port malloc function. */ - pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) ); - - if( pxNewTCB != NULL ) - { - /* Allocate space for the stack used by the task being created. - The base of the stack memory stored in the TCB so the task can - be deleted later if required. */ - pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMalloc( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ); - - if( pxNewTCB->pxStack == NULL ) - { - /* Could not allocate the stack. Delete the allocated TCB. */ - vPortFree( pxNewTCB ); - pxNewTCB = NULL; - } - else - { - /* Just to help debugging. */ - memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) ); - } - } - - return pxNewTCB; -} -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus ) - { - volatile tskTCB *pxNextTCB, *pxFirstTCB; - static portCHAR pcStatusString[ 50 ]; - unsigned portSHORT usStackRemaining; - - /* Write the details of all the TCB's in pxList into the buffer. */ - listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); - do - { - listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); - usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxNextTCB->pxStack ); - sprintf( pcStatusString, ( portCHAR * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber ); - strcat( ( portCHAR * ) pcWriteBuffer, ( portCHAR * ) pcStatusString ); - - } while( pxNextTCB != pxFirstTCB ); - } - -#endif -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte ) - { - register unsigned portSHORT usCount = 0; - - while( *pucStackByte == tskSTACK_FILL_BYTE ) - { - pucStackByte -= portSTACK_GROWTH; - usCount++; - } - - usCount /= sizeof( portSTACK_TYPE ); - - return usCount; - } -#endif -/*-----------------------------------------------------------*/ - - - -#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) ) - - static void prvDeleteTCB( tskTCB *pxTCB ) - { - /* Free up the memory allocated by the scheduler for the task. It is up to - the task to free any memory allocated at the application level. */ - vPortFree( pxTCB->pxStack ); - vPortFree( pxTCB ); - } - -#endif - - -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) - - xTaskHandle xTaskGetCurrentTaskHandle( void ) - { - xTaskHandle xReturn; - - portENTER_CRITICAL(); - { - xReturn = ( xTaskHandle ) pxCurrentTCB; - } - portEXIT_CRITICAL(); - - return xReturn; - } - -#endif - -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_xTaskGetSchedulerState == 1 ) - - portBASE_TYPE xTaskGetSchedulerState( void ) - { - portBASE_TYPE xReturn; - - if( xSchedulerRunning == pdFALSE ) - { - xReturn = taskSCHEDULER_NOT_STARTED; - } - else - { - if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) - { - xReturn = taskSCHEDULER_RUNNING; - } - else - { - xReturn = taskSCHEDULER_SUSPENDED; - } - } - - return xReturn; - } - -#endif - -#if ( configUSE_MUTEXES == 1 ) - - void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder ) - { - tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder; - - if( pxTCB->uxPriority < pxCurrentTCB->uxPriority ) - { - /* Adjust the mutex holder state to account for its new priority. */ - listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ); - - /* If the task being modified is in the ready state it will need to - be moved in to a new list. */ - if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) ) - { - vListRemove( &( pxTCB->xGenericListItem ) ); - - /* Inherit the priority before being moved into the new list. */ - pxTCB->uxPriority = pxCurrentTCB->uxPriority; - prvAddTaskToReadyQueue( pxTCB ); - } - else - { - /* Just inherit the priority. */ - pxTCB->uxPriority = pxCurrentTCB->uxPriority; - } - } - } - -#endif - -#if ( configUSE_MUTEXES == 1 ) - - void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder ) - { - tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder; - - if( pxMutexHolder != NULL ) - { - if( pxTCB->uxPriority != pxTCB->uxBasePriority ) - { - /* We must be the running task to be able to give the mutex back. - Remove ourselves from the ready list we currently appear in. */ - vListRemove( &( pxTCB->xGenericListItem ) ); - - /* Disinherit the priority before adding ourselves into the new - ready list. */ - pxTCB->uxPriority = pxTCB->uxBasePriority; - listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority ); - prvAddTaskToReadyQueue( pxTCB ); - } - } - } - -#endif - - - - - diff --git a/Makefile b/Makefile index 2d510f5..82eb159 100644 --- a/Makefile +++ b/Makefile @@ -12,8 +12,9 @@ export CCGLD=-T p30f4012.gld export OSROOT=/usr/src/FreeRTOS/Source export OSFILES=$(OSROOT)/list.c $(OSROOT)/queue.c $(OSROOT)/tasks.c \ $(OSROOT)/croutine.c $(OSROOT)/portable/MPLAB/PIC24_dsPIC/port.c \ + $(OSROOT)/portable/MPLAB/PIC24_dsPIC/portasm_dsPIC.S \ $(OSROOT)/portable/MemMang/heap_1.c -export OSOBJS=list.o queue.o tasks.o croutine.o port.o heap_1.o +export OSOBJS=list.o queue.o tasks.o croutine.o port.o portasm_dsPIC.o heap_1.o export OSINCDIR=-I$(OSROOT)/include -I$(OSROOT)/portable/MPLAB/PIC24_ds_PIC export OSFLAGS=-DMPLAB_DSPIC_PORT -DTCKPS0=TCKPS -DTCKPS1=TSYNC diff --git a/TODO b/TODO deleted file mode 100644 index f9f5558..0000000 --- a/TODO +++ /dev/null @@ -1 +0,0 @@ -Update freeRTOS. diff --git a/c~ b/c~ new file mode 100644 index 0000000..83eb549 --- /dev/null +++ b/c~ @@ -0,0 +1,286 @@ +2012.04.20 Started aic-2.3.0. + Reworked source tree. + Capacitor involucre sizes made invisible in schematics. + Created a workaround to fix a incompatibility between + pic30-gcc 3.01 and FreeRTOS. See the hack 1 in the Hacks + file. + +2009.02.09 Started aic-2.2.0. + aic-2.2.* uses the irs21094 MOSFET driver. + +2008.08.26 Started aic-2.1.0. + aic-2.1.* uses the LT1162 MOSFET driver. + +2006.06.11 Started aic-2.0.0. + aic-2.*.* uses the dsPIC30F4012 processor. + aic-2.0.* uses the MAX5062 MOSFET driver. + +2006.06.11 Inicio do projeto aic-2.0.0 + +2008.02.15 Incluido destrutor virtual na classe AIC_COMM. + + Alterada a implementacao da serializacao de valores double + em AIC_UDP::send_command(). + + Corrigido bug no processamento dos argumentos dos comandos + AIC_USER0, AIC_USER1, AIC_USER2 e AIC_USER3. + + Incluido o diretorio /usr/src/linux/include, na variavel de + ambiente CINCLUDE. + +2007.12.05 Criada a classe Sputtering na biblioteca, para suportar a + aplicacao de controle do sputtering. + +2007.11.28 Criadas constantes com os bits de flags do pacote de status + da AIC. + + Processamento de comandos enviados para a AIC alterado para + suportar comandos definidos pelo usuario. + +2007.11.27 Modificado o arquivo lib/aicio/pwm.a51 para nao utilizar o + acelerador matematico, que estava gerando problemas de + reentrancia. + + Alterado o arquivo doc/Makefile para utilizar os nomes dos + arquivos de layout gerados pela nova versao (20060321) do + PCB. + + Criados os programas SputPIDweb, SputPIDDaemon e sputtering. + + Renomeado o programa SputDaemon para SputWeb. + + Criada a versao 1.6.1 + + +2006.02.24 Incluidos os esquematicos e o layout do PCB no arquivo de + documentacao em pdf. + +2006.01.19 Criado o programa DoorWeb. + +2006.01.11 Criado o target upload nos Makefiles, para fazer o upload + dos programas nas AICs. + +2006.01.09 Criado o programa DoorOpen. + +2005.12.15 Removido o arquivo lib/aicio/motor.a51. As variaveis globais + estao agora definidas em lib/aicio/motor.c. + + +2005.12.14 Corrigido o problema na funcao pwm_set_duty(), que nao + funcionava em tempo real. Os registradores do banco 1 nao + podem ser utilizados em rotinas de interrupcao. + + Corrigido um bug na rotina native_initialize do PWM. Estava + sendo dado um push de um registrador do banco 1, quando + deveria ser do banco 0. + + Criado o identificador de comando MOTOR_REF, para enviar + para a AIC a referencia para o PID implementadod pelo + programa PIDDaemon. + + +2005.11.25 Alterado o "dominio" do pacote AIC para br.ufrgs.ece. + + Criada a versao 1.6.0 + + +2005.10.19 Criado o programa CmdDaemon, semelhante ao IODaemon, mas + apenas recebe comandos, sem enviar dados de sensores. + +2005.09.25 Reestruturados os Makefiles. Agora os Makefiles nos + diretorios utilizam as variaveis definidas no Makefile no + diretorio principal, ao inves de redefini-las. As + redefinicoes sao feitas apenas nas (poucas) vezes em que sao + necessarias. + + Criada a versao 1.5.1 + + Removidas as declaracoes de variaveis globais em arquivos em + Assembly e criada uma funcao dummy para defini-las nos + arquivos C, ja' que nao e' possivel emitir Assembly in-line + fora de funcoes. + +2005.09.02 Criado o programa EncoderRtRead para teste do encoder em + tempo real utilizando as funcoes de ponto flutuante, ou + seja, obtendo a leitura em radianos. + +2005.08.31 Incluido suporte para ponto-flutuante. Implementadas em C as + funcoes de interface que utilizam ponto flutuante. + + Criados os programas EncoderRtTest para teste do encoder em + tempo real. + + Criado o programa MotorRtTest para teste do motor em tempo + real, utilizando as funcoes de ponto flutante. + +2005.08.30 Criado o programa PwmRtTest, para teste do PWM em tempo real + em C. + + Incluidas no aicio.h consantes com a frequencia de + referencia, frequencia de chaveamento, delay de turn-off e + contagens maximas e minimas do PWM. + +2005.08.13 Programas de tempo real modificados para utilizar a API do + RTAI (Real Time Application Interface) para a TINI, ao inves + de implementar diretamente todo o tratamento de tempo real. + + Criada versao 1.5.0 + +2005.08.12 Criado o programa DoorDaemon, para implementar a abertura de + uma porta conectada no sinal de freio da AIC atraves da + Internet, utilizando um protocolo CHAP com sha-1. + +2005.06.03 Criada versao 1.4.2 + + Criada a biblioteca aicio.mpp.lib, com funcoes implementadas + que podem ser chamadas a partir de modulos de tempo real em + C para acessar o hardware da AIC. Codigos fontes dos metodos + nativos que acessam o hardware modificados para usarem a + biblioteca aicio.mpp.lib. + + Criado o programa PID, que implementa em tempo real o + prototipo de um controlador PID, com transferencia de + referencias e variaveis de saida entre a interface com o + usuario e o modulo de tempo real. + + Criados os programas BrakeRtTest e IndexRtTest para de teste + do freio e do indice em tempo real em C. + +2005.01.06 Criada versao 1.4.1 + +2004.12.05 Corrigido bug nas inicializacao das classes AIC_CAN e + AIC_HOST_CAN que violava o padrao ISO C++ e impedia estas + classes de serem compiladas com o g++ 3.4.3. + +2004.11.29 Criada versao 1.4.0 + +2004.09.28 Alterados os nomes das classes utilizadas para sinalizar + excecoes. Foram removidos os prefixos que podem ser + deduzidos a partir da hierarquia de classes. + + Corrigido o log dos comandos no IODaemon no modo debug. + Agora e' logado o codigo do comando em decimal. + + Corrigido bug na classe HostCAN, que fazia com que a + filtragem das mensagens nao funcionasse. O centro de + mensagens 15 foi desabilitado. A recepcao de mensagens + passou a funcionar no modo WriteOver. + + Corrigido bug nos metodos Encoder::read() e + Encoder::readAndClear(). O calculo da conversao de numero de + pulsos para radianos estava errado. + + Removido o flag canWANT_EXCLUSIVE dos construtores das + classes AIC_CAN e AIC_HOST_CAN. Com isto pode-se + compartilhar a placa PCICAN entre aplicacoes. + + Criado buffer de mensagens estatico nas classes AIC_CAN e + AIC_HOST_CAN para armazenar as mensagens destinada as outras + instancias da classe. + +2004.06.28 Criada documentacao on-line para a biblioteca em C++ e em + Java utilizando o Doxygen. + + Eliminada a documentacao utilizando o javadoc. + +2004.06.18 Ajustados os Makefiles para criar os arquivos .runinfo + utilizados pelo RTAI-3.x. + + Removido o periodo do programa pid. Agora o controlador + executa com ciclo livre, temporizado pelo processo de + amostragem. + + Criado um destructor virtual para a classe AIC. A falta + deste destructor causava erro de segmentacao quando da + destruicao do objeto. + + Alterados programas em C++ para permitirem a passagem na + linha de comando do numero da porta de status a ser + utilizada (porta de comando no caso do aicd). + +2004.05.26 Criados os programas BrakeApply e BrakeRelease. + +2004.05.18 Criada a macro RESTORE_STRETCH, utilizada nas biblotecas + nativas para retornar o strech ao valor original. + + Criadas versoes das macros SET_STRETCH e RESTORE_STRETCH que + nao geram codigo. Atraves de compilacao condicional as + versoes que nao geram codigo sao utilizadas quando o valor + de strech e' negativo. Esta caracteristica e' utilizada para + utilizar o valor de stretch default da TINI. + + Alterados o esquematico e o layout do PCB para utilizar + 6N137 ao inves de 6N136. + + Alterados os Makefiles dos programas que necessitam do + suporte do RTAI para funcionarem com o RTAI-3.x. + +2004.03.24 Alterados programas de teste e aplicativos em Java para + eliminar excessoes de endereco invalido, que nao sao mais + geradas pela classe AIC. + + Metodos das classes Brake, Index, Encoder e PWM + implementados em Assembly como metodos nativos. + + Criada versao 1.3.0. + +2004.03.08 Consolidadas as constantes definindo enderecos dos + dispositivos na AIC na classe PLD. Consolidadas as + constantes definindo bits do registrador de controle na + classe CtrlRegister. + +2004.01.11 Passou a ser utilizado o header iostream ao inves de + iostream.h, conforme o novo padrao de C++. Esta adaptacao + foi necessaria para compilacao com o GCC 3.3.2. + +2003.12.31 Alterados os codigos identificadores de comandos e status, + por estarem relacionados com a prioridade das mensgens no + barramento CAN. Os novos codigos conferem uma prioridade + mais adequada aos diversos tipos de mensagens. Alterada a + documentacao para refletir as mudancas nos protocolos. + + Programas em C++ alterados para utilizar comunicacao CAN por + default. A comunicacao por UDP e' suportada atraves de opcao + na linha de comando. + +2003.12.30 Alterado o protocolo de aplicacao de ASCII para binario, com + alteracao no prototipo das funcoes de baixo nivel para + transmissao e recepcao de comandos e status. + + Criada versao 1.2.0. + +2003.12.28 Documentados os protocolos de aplicacao e classes das + bibliotecas. + +2003.12.23 IODaemon alterado para utilizar comunicacao CAN por default. + A comunicacao por UDP e' suportada atraves de opcao na linha + de comando. + +2003.12.22 Criada documentacao das classes em AIC.jar no formado + javadoc. Alterado o Makefile para criar documentacao em + doc/javadocs. + +2003.12.21 Programas em C++ alterados para utilizarem comunicacao por + CAN por default e por UDP quando compilados com USE_UDP + definido. Makefiles alterados para compilar duas versoes dos + programas. + +2003.12.18 Alteradas as classes utilizadas para representar excessoes. + + Criada uma hierarquia mais detalhada. + +2003.12.17 Alteracao na classe AIC_HOST, que tornou-se virtual. + + Criadas classes AIC_HOST_UDP e AIC_HOST_CAN, derivadas de + AIC_HOST. + +2003.12.16 Alteracao da classe AIC, que tornou-se virtual. + + Criadas classes AIC_UDP e AIC_CAN, derivadas de AIC. + +2003.12.15 Alteracao na classe Host, que tornou-se abstrata. + + Criadas classes HostUDP e HostCAN, derivadas de Host. + +2002.xx.xx Started aic-1.0.0. + aic-1.0.0 uses the TINI DS390 processor. \ No newline at end of file diff --git a/doc/aic-0.5080.drill.gcode b/doc/aic-0.5080.drill.gcode new file mode 100644 index 0000000..91bbf85 --- /dev/null +++ b/doc/aic-0.5080.drill.gcode @@ -0,0 +1,83 @@ +(Created by G-code exporter) +(Wed Jul 15 16:09:51 2015) +(Units: mm) +(Board size: 180.34 x 104.14 mm) +(Drill file: 70 drills) +(Drill diameter: 0.508000 mm) +#100=2.000000 (safe Z) +#104=-2.000000 (drill depth) +(---------------------------------) +G17 G21 G90 G64 P0.003 M3 S3000 M7 F50.000000 +G0 Z#100 +G81 X38.735000 Y60.325000 Z#104 R#100 +G81 X36.830000 Y63.500000 Z#104 R#100 +G81 X41.910000 Y67.310000 Z#104 R#100 +G81 X51.435000 Y68.580000 Z#104 R#100 +G81 X51.435000 Y74.930000 Z#104 R#100 +G81 X58.420000 Y76.200000 Z#104 R#100 +G81 X59.055000 Y74.930000 Z#104 R#100 +G81 X59.055000 Y77.470000 Z#104 R#100 +G81 X67.945000 Y74.930000 Z#104 R#100 +G81 X72.390000 Y74.930000 Z#104 R#100 +G81 X79.375000 Y67.945000 Z#104 R#100 +G81 X85.725000 Y66.040000 Z#104 R#100 +G81 X87.630000 Y64.770000 Z#104 R#100 +G81 X88.900000 Y66.040000 Z#104 R#100 +G81 X92.710000 Y67.945000 Z#104 R#100 +G81 X91.440000 Y73.025000 Z#104 R#100 +G81 X90.805000 Y74.295000 Z#104 R#100 +G81 X84.455000 Y75.565000 Z#104 R#100 +G81 X86.995000 Y80.645000 Z#104 R#100 +G81 X84.455000 Y83.185000 Z#104 R#100 +G81 X74.295000 Y93.980000 Z#104 R#100 +G81 X69.850000 Y92.710000 Z#104 R#100 +G81 X67.945000 Y87.630000 Z#104 R#100 +G81 X63.500000 Y86.360000 Z#104 R#100 +G81 X59.055000 Y98.425000 Z#104 R#100 +G81 X67.945000 Y99.695000 Z#104 R#100 +G81 X71.755000 Y99.695000 Z#104 R#100 +G81 X74.295000 Y101.600000 Z#104 R#100 +G81 X78.105000 Y99.695000 Z#104 R#100 +G81 X95.250000 Y94.615000 Z#104 R#100 +G81 X101.600000 Y80.645000 Z#104 R#100 +G81 X107.950000 Y76.835000 Z#104 R#100 +G81 X105.410000 Y69.850000 Z#104 R#100 +G81 X102.870000 Y68.580000 Z#104 R#100 +G81 X100.330000 Y67.945000 Z#104 R#100 +G81 X100.330000 Y69.850000 Z#104 R#100 +G81 X97.790000 Y63.500000 Z#104 R#100 +G81 X95.885000 Y59.690000 Z#104 R#100 +G81 X90.805000 Y60.960000 Z#104 R#100 +G81 X88.900000 Y46.355000 Z#104 R#100 +G81 X100.330000 Y33.020000 Z#104 R#100 +G81 X108.585000 Y41.910000 Z#104 R#100 +G81 X123.190000 Y56.515000 Z#104 R#100 +G81 X123.190000 Y60.960000 Z#104 R#100 +G81 X129.540000 Y66.040000 Z#104 R#100 +G81 X129.540000 Y73.025000 Z#104 R#100 +G81 X139.700000 Y56.515000 Z#104 R#100 +G81 X154.305000 Y71.120000 Z#104 R#100 +G81 X156.845000 Y68.580000 Z#104 R#100 +G81 X158.115000 Y69.850000 Z#104 R#100 +G81 X154.305000 Y75.565000 Z#104 R#100 +G81 X127.000000 Y93.980000 Z#104 R#100 +G81 X117.475000 Y99.695000 Z#104 R#100 +G81 X57.785000 Y66.040000 Z#104 R#100 +G81 X55.245000 Y59.690000 Z#104 R#100 +G81 X45.085000 Y81.915000 Z#104 R#100 +G81 X46.355000 Y82.550000 Z#104 R#100 +G81 X45.085000 Y89.535000 Z#104 R#100 +G81 X41.275000 Y90.805000 Z#104 R#100 +G81 X37.465000 Y88.265000 Z#104 R#100 +G81 X24.765000 Y81.915000 Z#104 R#100 +G81 X29.845000 Y74.930000 Z#104 R#100 +G81 X87.630000 Y23.495000 Z#104 R#100 +G81 X123.190000 Y10.795000 Z#104 R#100 +G81 X125.730000 Y12.065000 Z#104 R#100 +G81 X128.270000 Y13.335000 Z#104 R#100 +G81 X138.430000 Y13.335000 Z#104 R#100 +G81 X139.700000 Y12.065000 Z#104 R#100 +G81 X140.970000 Y10.795000 Z#104 R#100 +G81 X140.970000 Y34.290000 Z#104 R#100 +M5 M9 M2 +(end, total distance 711.14mm = 28.00in) diff --git a/doc/aic-0.7112.drill.gcode b/doc/aic-0.7112.drill.gcode new file mode 100644 index 0000000..e1d2fdf --- /dev/null +++ b/doc/aic-0.7112.drill.gcode @@ -0,0 +1,149 @@ +(Created by G-code exporter) +(Wed Jul 15 16:09:51 2015) +(Units: mm) +(Board size: 180.34 x 104.14 mm) +(Drill file: 136 drills) +(Drill diameter: 0.711200 mm) +#100=2.000000 (safe Z) +#104=-2.000000 (drill depth) +(---------------------------------) +G17 G21 G90 G64 P0.003 M3 S3000 M7 F50.000000 +G0 Z#100 +G81 X29.845000 Y7.620000 Z#104 R#100 +G81 X34.290000 Y7.620000 Z#104 R#100 +G81 X34.290000 Y12.700000 Z#104 R#100 +G81 X29.845000 Y12.700000 Z#104 R#100 +G81 X40.005000 Y12.700000 Z#104 R#100 +G81 X40.005000 Y7.620000 Z#104 R#100 +G81 X40.005000 Y71.120000 Z#104 R#100 +G81 X37.465000 Y71.120000 Z#104 R#100 +G81 X34.925000 Y71.120000 Z#104 R#100 +G81 X32.385000 Y71.120000 Z#104 R#100 +G81 X29.845000 Y71.120000 Z#104 R#100 +G81 X27.305000 Y71.120000 Z#104 R#100 +G81 X24.765000 Y71.120000 Z#104 R#100 +G81 X24.765000 Y78.740000 Z#104 R#100 +G81 X27.305000 Y78.740000 Z#104 R#100 +G81 X29.845000 Y78.740000 Z#104 R#100 +G81 X32.385000 Y78.740000 Z#104 R#100 +G81 X34.925000 Y78.740000 Z#104 R#100 +G81 X37.465000 Y78.740000 Z#104 R#100 +G81 X40.005000 Y78.740000 Z#104 R#100 +G81 X42.545000 Y78.740000 Z#104 R#100 +G81 X45.085000 Y78.740000 Z#104 R#100 +G81 X47.625000 Y78.740000 Z#104 R#100 +G81 X50.165000 Y78.740000 Z#104 R#100 +G81 X52.705000 Y78.740000 Z#104 R#100 +G81 X55.245000 Y78.740000 Z#104 R#100 +G81 X57.785000 Y78.740000 Z#104 R#100 +G81 X63.500000 Y77.470000 Z#104 R#100 +G81 X63.500000 Y72.390000 Z#104 R#100 +G81 X57.785000 Y71.120000 Z#104 R#100 +G81 X55.245000 Y71.120000 Z#104 R#100 +G81 X52.705000 Y71.120000 Z#104 R#100 +G81 X50.165000 Y71.120000 Z#104 R#100 +G81 X47.625000 Y71.120000 Z#104 R#100 +G81 X45.085000 Y71.120000 Z#104 R#100 +G81 X42.545000 Y71.120000 Z#104 R#100 +G81 X50.165000 Y85.090000 Z#104 R#100 +G81 X52.705000 Y85.090000 Z#104 R#100 +G81 X55.245000 Y85.090000 Z#104 R#100 +G81 X57.785000 Y85.090000 Z#104 R#100 +G81 X57.785000 Y92.710000 Z#104 R#100 +G81 X55.245000 Y92.710000 Z#104 R#100 +G81 X52.705000 Y92.710000 Z#104 R#100 +G81 X50.165000 Y92.710000 Z#104 R#100 +G81 X51.435000 Y96.520000 Z#104 R#100 +G81 X56.515000 Y96.520000 Z#104 R#100 +G81 X78.105000 Y92.710000 Z#104 R#100 +G81 X80.645000 Y92.710000 Z#104 R#100 +G81 X83.185000 Y92.710000 Z#104 R#100 +G81 X85.725000 Y92.710000 Z#104 R#100 +G81 X84.455000 Y96.520000 Z#104 R#100 +G81 X79.375000 Y96.520000 Z#104 R#100 +G81 X80.645000 Y85.090000 Z#104 R#100 +G81 X78.105000 Y85.090000 Z#104 R#100 +G81 X83.185000 Y85.090000 Z#104 R#100 +G81 X85.725000 Y85.090000 Z#104 R#100 +G81 X85.725000 Y78.740000 Z#104 R#100 +G81 X83.185000 Y78.740000 Z#104 R#100 +G81 X80.645000 Y78.740000 Z#104 R#100 +G81 X78.105000 Y78.740000 Z#104 R#100 +G81 X78.105000 Y71.120000 Z#104 R#100 +G81 X80.645000 Y71.120000 Z#104 R#100 +G81 X83.185000 Y71.120000 Z#104 R#100 +G81 X85.725000 Y71.120000 Z#104 R#100 +G81 X91.440000 Y71.120000 Z#104 R#100 +G81 X93.980000 Y71.120000 Z#104 R#100 +G81 X96.520000 Y71.120000 Z#104 R#100 +G81 X99.060000 Y71.120000 Z#104 R#100 +G81 X101.600000 Y71.120000 Z#104 R#100 +G81 X104.140000 Y71.120000 Z#104 R#100 +G81 X106.680000 Y71.120000 Z#104 R#100 +G81 X109.220000 Y71.120000 Z#104 R#100 +G81 X115.570000 Y71.120000 Z#104 R#100 +G81 X118.110000 Y71.120000 Z#104 R#100 +G81 X120.650000 Y71.120000 Z#104 R#100 +G81 X123.190000 Y71.120000 Z#104 R#100 +G81 X125.730000 Y71.120000 Z#104 R#100 +G81 X128.270000 Y71.120000 Z#104 R#100 +G81 X130.810000 Y71.120000 Z#104 R#100 +G81 X135.255000 Y72.390000 Z#104 R#100 +G81 X135.255000 Y77.470000 Z#104 R#100 +G81 X130.810000 Y78.740000 Z#104 R#100 +G81 X128.270000 Y78.740000 Z#104 R#100 +G81 X125.730000 Y78.740000 Z#104 R#100 +G81 X123.190000 Y78.740000 Z#104 R#100 +G81 X120.650000 Y78.740000 Z#104 R#100 +G81 X118.110000 Y78.740000 Z#104 R#100 +G81 X115.570000 Y78.740000 Z#104 R#100 +G81 X115.570000 Y85.090000 Z#104 R#100 +G81 X118.110000 Y85.090000 Z#104 R#100 +G81 X120.650000 Y85.090000 Z#104 R#100 +G81 X123.190000 Y85.090000 Z#104 R#100 +G81 X123.190000 Y92.710000 Z#104 R#100 +G81 X120.650000 Y92.710000 Z#104 R#100 +G81 X118.110000 Y92.710000 Z#104 R#100 +G81 X115.570000 Y92.710000 Z#104 R#100 +G81 X116.840000 Y96.520000 Z#104 R#100 +G81 X121.920000 Y96.520000 Z#104 R#100 +G81 X130.175000 Y96.520000 Z#104 R#100 +G81 X135.255000 Y96.520000 Z#104 R#100 +G81 X135.255000 Y90.805000 Z#104 R#100 +G81 X130.175000 Y90.805000 Z#104 R#100 +G81 X109.220000 Y78.740000 Z#104 R#100 +G81 X106.680000 Y78.740000 Z#104 R#100 +G81 X104.140000 Y78.740000 Z#104 R#100 +G81 X101.600000 Y78.740000 Z#104 R#100 +G81 X99.060000 Y78.740000 Z#104 R#100 +G81 X96.520000 Y78.740000 Z#104 R#100 +G81 X93.980000 Y78.740000 Z#104 R#100 +G81 X91.440000 Y78.740000 Z#104 R#100 +G81 X32.385000 Y85.090000 Z#104 R#100 +G81 X29.845000 Y85.090000 Z#104 R#100 +G81 X27.305000 Y85.090000 Z#104 R#100 +G81 X24.765000 Y85.090000 Z#104 R#100 +G81 X24.765000 Y92.710000 Z#104 R#100 +G81 X27.305000 Y92.710000 Z#104 R#100 +G81 X29.845000 Y92.710000 Z#104 R#100 +G81 X32.385000 Y92.710000 Z#104 R#100 +G81 X31.115000 Y96.520000 Z#104 R#100 +G81 X26.035000 Y96.520000 Z#104 R#100 +G81 X115.570000 Y22.860000 Z#104 R#100 +G81 X118.110000 Y22.860000 Z#104 R#100 +G81 X120.650000 Y22.860000 Z#104 R#100 +G81 X123.190000 Y22.860000 Z#104 R#100 +G81 X125.730000 Y22.860000 Z#104 R#100 +G81 X128.270000 Y22.860000 Z#104 R#100 +G81 X130.810000 Y22.860000 Z#104 R#100 +G81 X135.255000 Y21.590000 Z#104 R#100 +G81 X135.255000 Y16.510000 Z#104 R#100 +G81 X130.810000 Y15.240000 Z#104 R#100 +G81 X128.270000 Y15.240000 Z#104 R#100 +G81 X125.730000 Y15.240000 Z#104 R#100 +G81 X123.190000 Y15.240000 Z#104 R#100 +G81 X120.650000 Y15.240000 Z#104 R#100 +G81 X118.110000 Y15.240000 Z#104 R#100 +G81 X115.570000 Y15.240000 Z#104 R#100 +M5 M9 M2 +(end, total distance 749.14mm = 29.49in) diff --git a/doc/aic-0.7620.drill.gcode b/doc/aic-0.7620.drill.gcode new file mode 100644 index 0000000..08493ec --- /dev/null +++ b/doc/aic-0.7620.drill.gcode @@ -0,0 +1,121 @@ +(Created by G-code exporter) +(Wed Jul 15 16:09:51 2015) +(Units: mm) +(Board size: 180.34 x 104.14 mm) +(Drill file: 108 drills) +(Drill diameter: 0.762000 mm) +#100=2.000000 (safe Z) +#104=-2.000000 (drill depth) +(---------------------------------) +G17 G21 G90 G64 P0.003 M3 S3000 M7 F50.000000 +G0 Z#100 +G81 X14.605000 Y13.335000 Z#104 R#100 +G81 X14.605000 Y15.875000 Z#104 R#100 +G81 X14.605000 Y18.415000 Z#104 R#100 +G81 X14.605000 Y20.955000 Z#104 R#100 +G81 X14.605000 Y23.495000 Z#104 R#100 +G81 X14.605000 Y26.035000 Z#104 R#100 +G81 X14.605000 Y28.575000 Z#104 R#100 +G81 X14.605000 Y31.115000 Z#104 R#100 +G81 X14.605000 Y33.655000 Z#104 R#100 +G81 X14.605000 Y36.195000 Z#104 R#100 +G81 X14.605000 Y38.735000 Z#104 R#100 +G81 X14.605000 Y41.275000 Z#104 R#100 +G81 X14.605000 Y43.815000 Z#104 R#100 +G81 X14.605000 Y46.355000 Z#104 R#100 +G81 X14.605000 Y48.895000 Z#104 R#100 +G81 X14.605000 Y51.435000 Z#104 R#100 +G81 X14.605000 Y53.975000 Z#104 R#100 +G81 X14.605000 Y56.515000 Z#104 R#100 +G81 X14.605000 Y59.055000 Z#104 R#100 +G81 X14.605000 Y61.595000 Z#104 R#100 +G81 X17.145000 Y61.595000 Z#104 R#100 +G81 X17.145000 Y59.055000 Z#104 R#100 +G81 X19.685000 Y59.055000 Z#104 R#100 +G81 X19.685000 Y61.595000 Z#104 R#100 +G81 X19.685000 Y64.135000 Z#104 R#100 +G81 X17.145000 Y64.135000 Z#104 R#100 +G81 X17.145000 Y66.675000 Z#104 R#100 +G81 X19.685000 Y66.675000 Z#104 R#100 +G81 X19.685000 Y69.215000 Z#104 R#100 +G81 X17.145000 Y69.215000 Z#104 R#100 +G81 X14.605000 Y69.215000 Z#104 R#100 +G81 X14.605000 Y66.675000 Z#104 R#100 +G81 X14.605000 Y64.135000 Z#104 R#100 +G81 X14.605000 Y71.755000 Z#104 R#100 +G81 X14.605000 Y74.295000 Z#104 R#100 +G81 X14.605000 Y76.835000 Z#104 R#100 +G81 X17.145000 Y76.835000 Z#104 R#100 +G81 X19.685000 Y76.835000 Z#104 R#100 +G81 X19.685000 Y79.375000 Z#104 R#100 +G81 X17.145000 Y79.375000 Z#104 R#100 +G81 X17.145000 Y81.915000 Z#104 R#100 +G81 X19.685000 Y81.915000 Z#104 R#100 +G81 X19.685000 Y84.455000 Z#104 R#100 +G81 X19.685000 Y86.995000 Z#104 R#100 +G81 X17.145000 Y86.995000 Z#104 R#100 +G81 X17.145000 Y84.455000 Z#104 R#100 +G81 X14.605000 Y84.455000 Z#104 R#100 +G81 X14.605000 Y86.995000 Z#104 R#100 +G81 X14.605000 Y89.535000 Z#104 R#100 +G81 X14.605000 Y92.075000 Z#104 R#100 +G81 X17.145000 Y92.075000 Z#104 R#100 +G81 X19.685000 Y92.075000 Z#104 R#100 +G81 X19.685000 Y89.535000 Z#104 R#100 +G81 X17.145000 Y89.535000 Z#104 R#100 +G81 X14.605000 Y81.915000 Z#104 R#100 +G81 X14.605000 Y79.375000 Z#104 R#100 +G81 X17.145000 Y74.295000 Z#104 R#100 +G81 X17.145000 Y71.755000 Z#104 R#100 +G81 X19.685000 Y71.755000 Z#104 R#100 +G81 X19.685000 Y74.295000 Z#104 R#100 +G81 X19.685000 Y56.515000 Z#104 R#100 +G81 X17.145000 Y56.515000 Z#104 R#100 +G81 X17.145000 Y53.975000 Z#104 R#100 +G81 X19.685000 Y53.975000 Z#104 R#100 +G81 X19.685000 Y51.435000 Z#104 R#100 +G81 X19.685000 Y48.895000 Z#104 R#100 +G81 X17.145000 Y48.895000 Z#104 R#100 +G81 X17.145000 Y51.435000 Z#104 R#100 +G81 X17.145000 Y46.355000 Z#104 R#100 +G81 X17.145000 Y43.815000 Z#104 R#100 +G81 X19.685000 Y43.815000 Z#104 R#100 +G81 X19.685000 Y46.355000 Z#104 R#100 +G81 X19.685000 Y41.275000 Z#104 R#100 +G81 X17.145000 Y41.275000 Z#104 R#100 +G81 X17.145000 Y38.735000 Z#104 R#100 +G81 X17.145000 Y36.195000 Z#104 R#100 +G81 X19.685000 Y36.195000 Z#104 R#100 +G81 X19.685000 Y38.735000 Z#104 R#100 +G81 X19.685000 Y33.655000 Z#104 R#100 +G81 X19.685000 Y31.115000 Z#104 R#100 +G81 X17.145000 Y31.115000 Z#104 R#100 +G81 X17.145000 Y33.655000 Z#104 R#100 +G81 X17.145000 Y28.575000 Z#104 R#100 +G81 X19.685000 Y28.575000 Z#104 R#100 +G81 X19.685000 Y26.035000 Z#104 R#100 +G81 X19.685000 Y23.495000 Z#104 R#100 +G81 X17.145000 Y23.495000 Z#104 R#100 +G81 X17.145000 Y26.035000 Z#104 R#100 +G81 X17.145000 Y20.955000 Z#104 R#100 +G81 X17.145000 Y18.415000 Z#104 R#100 +G81 X17.145000 Y15.875000 Z#104 R#100 +G81 X17.145000 Y13.335000 Z#104 R#100 +G81 X19.685000 Y13.335000 Z#104 R#100 +G81 X19.685000 Y15.875000 Z#104 R#100 +G81 X19.685000 Y18.415000 Z#104 R#100 +G81 X19.685000 Y20.955000 Z#104 R#100 +G81 X111.125000 Y44.450000 Z#104 R#100 +G81 X111.125000 Y54.610000 Z#104 R#100 +G81 X121.285000 Y54.610000 Z#104 R#100 +G81 X125.095000 Y54.610000 Z#104 R#100 +G81 X125.095000 Y44.450000 Z#104 R#100 +G81 X121.285000 Y44.450000 Z#104 R#100 +G81 X125.095000 Y34.290000 Z#104 R#100 +G81 X135.255000 Y34.290000 Z#104 R#100 +G81 X135.255000 Y44.450000 Z#104 R#100 +G81 X135.255000 Y54.610000 Z#104 R#100 +G81 X135.255000 Y66.040000 Z#104 R#100 +G81 X125.095000 Y66.040000 Z#104 R#100 +M5 M9 M2 +(end, total distance 478.38mm = 18.83in) diff --git a/doc/aic-0.8890.drill.gcode b/doc/aic-0.8890.drill.gcode new file mode 100644 index 0000000..c46fc09 --- /dev/null +++ b/doc/aic-0.8890.drill.gcode @@ -0,0 +1,142 @@ +(Created by G-code exporter) +(Wed Jul 15 16:09:51 2015) +(Units: mm) +(Board size: 180.34 x 104.14 mm) +(Drill file: 129 drills) +(Drill diameter: 0.889000 mm) +#100=2.000000 (safe Z) +#104=-2.000000 (drill depth) +(---------------------------------) +G17 G21 G90 G64 P0.003 M3 S3000 M7 F50.000000 +G0 Z#100 +G81 X24.130000 Y7.620000 Z#104 R#100 +G81 X24.130000 Y10.160000 Z#104 R#100 +G81 X24.130000 Y15.240000 Z#104 R#100 +G81 X24.130000 Y17.780000 Z#104 R#100 +G81 X26.670000 Y15.240000 Z#104 R#100 +G81 X40.005000 Y17.780000 Z#104 R#100 +G81 X41.910000 Y15.875000 Z#104 R#100 +G81 X53.975000 Y10.160000 Z#104 R#100 +G81 X70.485000 Y15.240000 Z#104 R#100 +G81 X78.740000 Y21.590000 Z#104 R#100 +G81 X80.645000 Y19.685000 Z#104 R#100 +G81 X82.550000 Y17.780000 Z#104 R#100 +G81 X85.725000 Y10.160000 Z#104 R#100 +G81 X116.205000 Y24.765000 Z#104 R#100 +G81 X116.205000 Y27.940000 Z#104 R#100 +G81 X118.745000 Y27.940000 Z#104 R#100 +G81 X118.745000 Y31.750000 Z#104 R#100 +G81 X116.205000 Y31.750000 Z#104 R#100 +G81 X116.205000 Y34.290000 Z#104 R#100 +G81 X118.745000 Y34.290000 Z#104 R#100 +G81 X121.285000 Y39.370000 Z#104 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100644 --- a/doc/aicpic.sch +++ b/doc/aicpic.sch @@ -1,4 +1,4 @@ -v 20100214 2 +v 20130925 2 C 1000 73500 0 0 0 title-A2.sym N 18300 87300 18600 87300 4 N 18300 84100 18600 84100 4 @@ -89,13 +89,13 @@ N 10200 78900 10700 78900 4 N 10700 78900 10700 78800 4 N 8500 79400 8500 78900 4 C 6400 86500 1 0 0 gnd-1.sym -C 8600 87600 1 0 0 resistor-1.sym +C 8400 87600 1 0 0 resistor-1.sym { -T 9000 87900 5 10 1 1 0 0 1 +T 8800 87900 5 10 1 1 0 0 1 refdes=R2 -T 9000 87400 5 10 1 1 0 0 1 +T 8800 87400 5 10 1 1 0 0 1 value=2k2 -T 8600 87600 5 10 0 1 0 0 1 +T 8400 87600 5 10 0 1 0 0 1 footprint=ACY400 } C 8200 87700 1 90 0 resistor-1.sym @@ -107,34 +107,34 @@ value=10k T 8200 87700 5 10 0 1 0 0 1 footprint=ACY400 } -N 7600 87700 8600 87700 4 +N 7600 87700 8400 87700 4 N 8100 87700 8100 87000 4 N 8100 87000 7600 87000 4 N 6500 87700 6600 87700 4 N 6500 86800 6500 87700 4 -C 10800 84200 1 0 0 osc-2.sym +C 10000 84200 1 0 0 osc-2.sym { -T 11300 84900 5 10 1 1 0 0 1 +T 10500 84900 5 10 1 1 0 0 1 device=OSC -T 10600 84900 5 10 1 1 0 0 1 +T 9800 84900 5 10 1 1 0 0 1 refdes=U2 -T 11000 84000 5 10 1 1 0 0 1 +T 10200 84000 5 10 1 1 0 0 1 value=6MHz } -N 12000 84500 13900 84500 4 +N 11200 84500 13900 84500 4 { -T 12100 84600 5 10 1 1 0 0 1 +T 11200 84600 5 10 1 1 0 0 1 netname=CLOCK } -N 9500 87700 13900 87700 4 -C 11000 86000 1 0 0 input-2.sym +N 9300 87700 13900 87700 4 +C 10500 86000 1 0 0 input-2.sym { -T 11500 86100 5 10 1 1 0 7 1 +T 11000 86100 5 10 1 1 0 7 1 value=REFPOS -T 11000 86000 5 10 0 1 0 0 1 +T 10500 86000 5 10 0 1 0 0 1 net=REFPOS:1 } -N 12400 86100 13900 86100 4 +N 11900 86100 13900 86100 4 C 7300 85200 1 0 0 input-2.sym { T 7800 85300 5 10 1 1 0 7 1 @@ -182,7 +182,7 @@ T 19300 74500 9 10 1 0 0 0 1 Departamento de Engenharia Eletrica N 18300 86900 22100 86900 4 N 18300 86500 22100 86500 4 -N 12400 86500 13900 86500 4 +N 11900 86500 13900 86500 4 C 20900 85400 1 90 0 resistor-1.sym { T 21400 86100 5 10 1 1 180 0 1 @@ -227,7 +227,7 @@ C 8300 79400 1 0 0 5V-plus-1.sym T 8300 79400 5 10 0 1 0 0 1 net=+5V:1 } -C 7900 88600 1 0 0 5V-plus-1.sym +C 7900 89500 1 0 0 5V-plus-1.sym C 9100 86800 1 0 0 5V-plus-1.sym N 13600 82900 13900 82900 4 C 13400 82900 1 0 0 5V-plus-1.sym @@ -241,7 +241,7 @@ Actuador Interface Card - dsPIC & RS232 & CAN Interfaces T 17300 73900 9 10 1 0 0 0 1 aicpic.sch T 21200 73900 9 10 1 0 0 0 1 -2.2.0 +2.4.0 T 22200 73600 9 6 1 0 0 0 3 Walter Fetter Lages Diego Caberlon Santini @@ -336,13 +336,13 @@ N 19200 77000 19000 77000 4 N 19000 77000 19000 77400 4 N 18300 76700 18300 78600 4 N 18300 78600 18100 78600 4 -C 23000 77400 1 180 0 resistor-1.sym +C 22200 77400 1 180 0 resistor-1.sym { -T 22400 77500 5 10 1 1 0 0 1 +T 21600 77500 5 10 1 1 0 0 1 refdes=R11 -T 22400 77000 5 10 1 1 0 0 1 +T 21600 77000 5 10 1 1 0 0 1 value=2k2 -T 23000 77400 5 10 0 1 180 6 1 +T 22200 77400 5 10 0 1 180 6 1 footprint=ACY400 } C 21600 78300 1 0 1 6n137-1.sym @@ -456,10 +456,10 @@ N 20800 86300 20800 86900 4 N 22000 86300 22000 86500 4 N 6700 87000 6500 87000 4 N 18300 83300 22700 83300 4 -N 22700 83300 22700 78900 4 +N 22700 75400 22700 83300 4 N 22700 78900 22500 78900 4 N 18300 83700 23200 83700 4 -N 23200 76700 23200 83700 4 +N 23200 75100 23200 83700 4 N 10800 83700 13900 83700 4 N 10800 83700 10800 82600 4 N 10800 82600 8200 82600 4 @@ -574,11 +574,11 @@ net=DRVB:1 T 23000 86500 5 10 1 1 0 1 1 value=DRVB } -C 12400 86600 1 180 0 output-2.sym +C 11900 86600 1 180 0 output-2.sym { -T 11500 86400 5 10 0 0 180 0 1 +T 11000 86400 5 10 0 0 180 0 1 net=BRAKE:1 -T 11500 86500 5 10 1 1 180 1 1 +T 11000 86500 5 10 1 1 180 1 1 value=BRAKE } C 7600 74700 1 90 0 capacitor-1.sym @@ -653,12 +653,12 @@ value=/SD } N 18300 85300 18900 85300 4 N 18900 85300 18900 84000 4 -N 21200 77300 22100 77300 4 +N 21200 77300 21300 77300 4 N 21200 76700 23200 76700 4 N 19300 79500 19600 79500 4 N 19600 79500 19600 79200 4 N 21200 77000 21200 77400 4 -N 23000 77300 23200 77300 4 +N 22200 77300 23200 77300 4 C 19600 85400 1 90 0 capacitor-1.sym { T 19300 86100 5 10 1 1 180 0 1 @@ -682,3 +682,27 @@ N 20200 86500 20200 86300 4 C 19300 85100 1 0 0 gnd-1.sym C 20100 85100 1 0 0 gnd-1.sym C 18500 87000 1 0 0 gnd-1.sym +C 7900 89500 1 270 0 diode-1.sym +{ +T 8500 89100 5 10 0 0 270 0 1 +device=DIODE +T 8500 89100 5 10 1 1 0 0 1 +refdes=D11 +T 8300 88700 5 10 1 1 0 0 1 +value=1N4148 +} +C 10800 74900 1 0 0 connector5-1.sym +{ +T 12600 76400 5 10 0 0 0 0 1 +device=CONNECTOR_5 +T 10900 76600 5 10 1 1 0 0 1 +refdes=J3 +T 10800 74600 5 10 1 1 0 0 1 +value=ICSP +} +N 23200 75100 12500 75100 4 +N 22700 75400 12500 75400 4 +N 12500 75700 13000 75700 4 +N 13000 75700 13000 74500 4 +C 12900 74200 1 0 0 gnd-1.sym +N 12500 76300 12500 87700 4 diff --git a/doc/attribs b/doc/attribs index bbe801d..2786dbe 100644 --- a/doc/attribs +++ b/doc/attribs @@ -1,3 +1,7 @@ device value footprint +midx +midy +rotation + diff --git a/lib/Makefile b/lib/Makefile index 1669d93..98930d4 100644 --- a/lib/Makefile +++ b/lib/Makefile @@ -46,4 +46,4 @@ clean: rm -f *.o *~ distclean:clean - rm -f libdebug.a libaicio.a libcanlib.a libwdt.a \ No newline at end of file + rm -f libdebug.a libaicio.a libcanlib.a libwdt.a diff --git a/test/README b/test/README new file mode 100644 index 0000000..1649a39 --- /dev/null +++ b/test/README @@ -0,0 +1,21 @@ +dsPICtest: blinks D2 using internal RC (7.37 MHz) as OSC. + +dsPICAICtest: blinks D2 using AICs crystal oscilator (6 MHz) as OSC. + +freertostest: blinks D2 using internal RC (7.37 MHz) as OSC and a FreeRTOS +task. + +freertosAICtest: blinks D2 and D3 using AICs crystal oscilator (6 MHz) as +OSC and FreeRTOS tasks. + +serialtest: sends test string and size of variables through the RS232 +Interface. 19200 bps. + +braketest: turns on and off the brake. + +pwmtest: + +cantest +encodertest +motortest + diff --git a/test/braketest/Makefile b/test/braketest/Makefile index 1a97440..a579c6a 100644 --- a/test/braketest/Makefile +++ b/test/braketest/Makefile @@ -14,4 +14,7 @@ clean: rm -f *.o braketest *~ distclean:clean - rm -f braketest.hex \ No newline at end of file + rm -f braketest.hex + +burn: braketest.hex + usburn -S ICSP -F 30 -w -I $^ diff --git a/test/braketest/braketest.c b/test/braketest/braketest.c index da6c2f5..6a23eff 100644 --- a/test/braketest/braketest.c +++ b/test/braketest/braketest.c @@ -40,7 +40,7 @@ #endif /*---------------------------------------------------------------------------*/ -_FOSC(EC_PLL16 & CSW_FSCM_OFF); //Config OSC to internal RC osc 7.37MHz +_FOSC(EC_PLL16 & CSW_FSCM_OFF); _FWDT(WDT_OFF); _FBORPOR(MCLR_EN & RST_IOPIN & PBOR_OFF & PWRT_64); /*---------------------------------------------------------------------------*/ diff --git a/test/dsPICAICtest/Makefile b/test/dsPICAICtest/Makefile index f46467b..e76f5ed 100644 --- a/test/dsPICAICtest/Makefile +++ b/test/dsPICAICtest/Makefile @@ -15,4 +15,7 @@ clean: rm -f *.o dspicaictest *~ distclean:clean - rm -f dspicaictest.hex \ No newline at end of file + rm -f dspicaictest.hex + +burn: dspicaictest.hex + usburn -S ICSP -F 30 -w -I $^ diff --git a/test/dsPICAICtest/dspicaictest.c b/test/dsPICAICtest/dspicaictest.c index 8401f37..e7225cd 100644 --- a/test/dsPICAICtest/dspicaictest.c +++ b/test/dsPICAICtest/dspicaictest.c @@ -30,6 +30,7 @@ /*---------------------------------------------------------------------------*/ _FOSC(EC_PLL16 & CSW_FSCM_OFF); +//_FOSC(FRC & CSW_FSCM_OFF); _FWDT(WDT_OFF); _FBORPOR(MCLR_EN & RST_IOPIN & PBOR_OFF & PWRT_64); /*---------------------------------------------------------------------------*/ diff --git a/test/dsPICtest/Makefile b/test/dsPICtest/Makefile index d025730..7cff6b6 100644 --- a/test/dsPICtest/Makefile +++ b/test/dsPICtest/Makefile @@ -15,4 +15,7 @@ clean: rm -f *.o dspictest *~ distclean:clean - rm -f dspictest.hex \ No newline at end of file + rm -f dspictest.hex + +burn: dspictest.hex + usburn -S ICSP -F 30 -w -I $^ diff --git a/test/dsPICtest/dspictest.c b/test/dsPICtest/dspictest.c index 02f922e..62a25af 100644 --- a/test/dsPICtest/dspictest.c +++ b/test/dsPICtest/dspictest.c @@ -1,8 +1,8 @@ /****************************************************************************** Actuator Interface Card - dsPIC30F4012 testM - Copyright (C) 2008 Diego Caberlon Santini M + dsPIC30F4012 test + Copyright (C) 2008 Diego Caberlon Santini This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by diff --git a/test/encodertest/Makefile b/test/encodertest/Makefile index 27b8715..da89e89 100644 --- a/test/encodertest/Makefile +++ b/test/encodertest/Makefile @@ -14,4 +14,7 @@ clean: rm -f *.o encodertest *~ distclean:clean - rm -f encodertest.hex \ No newline at end of file + rm -f encodertest.hex + +burn: encodertest.hex + usburn -S ICSP -F 30 -w -I $^ diff --git a/test/encodertest/encodertest.c b/test/encodertest/encodertest.c index 5a9a3b0..14fadc4 100644 --- a/test/encodertest/encodertest.c +++ b/test/encodertest/encodertest.c @@ -53,10 +53,11 @@ int main(int argc,char *argv[]) long encoder; float fencoder; + serial_init(); sprintf(buff,"Encoder Test Begin, compiled at %s %s\n",__DATE__,__TIME__); - printd(buff); + printd(buff); delay(50); encoder_initialize(0x0,2048); diff --git a/test/freertosAICtest/FreeRTOSConfig.h b/test/freertosAICtest/FreeRTOSConfig.h index 1091a26..64f4fe0 100644 --- a/test/freertosAICtest/FreeRTOSConfig.h +++ b/test/freertosAICtest/FreeRTOSConfig.h @@ -60,8 +60,8 @@ #define configUSE_PREEMPTION 1 #define configUSE_IDLE_HOOK 0 #define configUSE_TICK_HOOK 0 -#define configTICK_RATE_HZ ( ( portTickType ) 1000 ) /*1 ms*/ -#define configCPU_CLOCK_HZ ( ( unsigned portLONG ) 24000000 ) /* Fosc / 4 = 24MHz*/ +#define configTICK_RATE_HZ ( ( portTickType ) 1000 ) +#define configCPU_CLOCK_HZ ( ( unsigned portLONG ) 24000000) /* Fosc / 4 = 24MHz*/ #define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 4 ) #define configMINIMAL_STACK_SIZE ( 105 ) #define configTOTAL_HEAP_SIZE ( ( size_t ) 5120/4 ) diff --git a/test/freertosAICtest/Makefile b/test/freertosAICtest/Makefile index 47c47d1..80aacaf 100644 --- a/test/freertosAICtest/Makefile +++ b/test/freertosAICtest/Makefile @@ -9,13 +9,18 @@ freertosAICtest:freertosAICtest.o $(OSOBJS) $(CC) $(CPU) $^ -o $@ $(CCLIBDIR) -Wl $(CCGLD) freertosAICtest.o:freertosAICtest.c - $(CC) $(CPU) -x c -c $^ $(CCINCDIR) $(OSINCDIR) $(CCFLAGS) $(OSFLAGS) + $(CC) -MMD $(CPU) -c $^ $(CCINCDIR) $(OSINCDIR) $(CCFLAGS) $(OSFLAGS) + +-include freertosAICtest.d $(OSOBJS):$(OSFILES) - for i in $(OSFILES); do $(CC) $(CPU) -x c -c $$i $(CCINCDIR) $(OSINCDIR) $(CCFLAGS) $(OSFLAGS) ; done + for i in $(OSFILES); do $(CC) -MMD $(CPU) -c $$i $(CCINCDIR) $(OSINCDIR) $(CCFLAGS) $(OSFLAGS) ; done clean: - rm -f *.o freertosAICtest *~ + rm -f *.o freertosAICtest *~ *.d distclean:clean - rm -f freertosAICtest.hex \ No newline at end of file + rm -f freertosAICtest.hex + +burn: freertosAICtest.hex + usburn -S ICSP -F 30 -w -I $^ diff --git a/test/freertosAICtest/freertosAICtest.c b/test/freertosAICtest/freertosAICtest.c index 5897461..b60007e 100644 --- a/test/freertosAICtest/freertosAICtest.c +++ b/test/freertosAICtest/freertosAICtest.c @@ -25,6 +25,7 @@ 2008.06.12 -> Start FreeRTOS test to AIC-2.0.0 by Diego Caberlon Santini from Demos apps. ******************************************************************************* */ + #include /* Scheduler includes. */ @@ -32,97 +33,71 @@ #include "task.h" #include "queue.h" #include "croutine.h" -/*---------------------------------------------------------------------------*/ - -#define mainLED_TAKS_STACK_SIZE ( configMINIMAL_STACK_SIZE) - -#define mainLED_TASK_PRIORITY1 ( tskIDLE_PRIORITY + 3 ) -/* The execution period of the check task. */ -#define mainLED_TASK_PERIOD1 ( ( portTickType ) 1000 / portTICK_RATE_MS ) +#define TAKS_STACK_SIZE configMINIMAL_STACK_SIZE -#define mainLED_TASK_PRIORITY2 ( tskIDLE_PRIORITY + 2 ) +#define TASK_PRIORITY1 (tskIDLE_PRIORITY + 3) +#define TASK_PERIOD1 ((portTickType) 500 / portTICK_RATE_MS) -/* The execution period of the check task. */ -#define mainLED_TASK_PERIOD2 ( ( portTickType ) 2000 / portTICK_RATE_MS ) -/*---------------------------------------------------------------------------*/ +#define TASK_PRIORITY2 (tskIDLE_PRIORITY + 2) +#define TASK_PERIOD2 ((portTickType ) 1000 / portTICK_RATE_MS) _FOSC(EC_PLL16 & CSW_FSCM_OFF); _FWDT(WDT_OFF); _FBORPOR(MCLR_EN & RST_IOPIN & PBOR_OFF & PWRT_64); -/*---------------------------------------------------------------------------*/ -/** Blink port RE0 mainLED_TASK_PERIOD1 (1s) +/** Blink port RE0 TASK_PERIOD1 (1 s) */ -static void vLEDTask1( void *pvParameters ); - -/** Blink port RE0 mainLED_TASK_PERIOD2 (2s) - */ -static void vLEDTask2( void *pvParameters ); - -/*---------------------------------------------------------------------------*/ - -/* - * Create the demo tasks then start the scheduler. - */ -int main( void ) -{ - - TRISE=0x00; - - /* Create the test tasks defined within this file. */ - xTaskCreate( vLEDTask1, ( signed portCHAR * ) "LED1", mainLED_TAKS_STACK_SIZE, NULL, mainLED_TASK_PRIORITY1, NULL ); - - xTaskCreate( vLEDTask2, ( signed portCHAR * ) "LED2", mainLED_TAKS_STACK_SIZE, NULL, mainLED_TASK_PRIORITY2, NULL ); - - /* Finally start the scheduler. */ - vTaskStartScheduler(); - - /* Will only reach here if there is insufficient heap available to start - the scheduler. */ - return 0; -} -/*---------------------------------------------------------------------------*/ - -static void vLEDTask1( void *pvParameters ) +static void vLEDTask1(void *pvParameters) { -/* Used to wake the task at the correct frequency. */ -portTickType xLastExecutionTime; + /* Used to wake the task at the correct frequency. */ + portTickType xLastExecutionTime; /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil() works correctly. */ - xLastExecutionTime = xTaskGetTickCount(); + xLastExecutionTime=xTaskGetTickCount(); for(;;) { /* Wait until it is time for the next cycle. */ - vTaskDelayUntil( &xLastExecutionTime, mainLED_TASK_PERIOD1 ); - PORTE = PORTE^0x01; - - /* Has an error been found in any of the standard demo tasks? */ - + vTaskDelayUntil(&xLastExecutionTime,TASK_PERIOD1); + PORTE=PORTE^0x1; } } -/*---------------------------------------------------------------------------*/ -static void vLEDTask2( void *pvParameters ) +/** Blink port RE0 TASK_PERIOD2 (2s) + */ +static void vLEDTask2(void *pvParameters) { /* Used to wake the task at the correct frequency. */ portTickType xLastExecutionTime; /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil() works correctly. */ - xLastExecutionTime = xTaskGetTickCount(); + xLastExecutionTime=xTaskGetTickCount(); for(;;) { /* Wait until it is time for the next cycle. */ - vTaskDelayUntil( &xLastExecutionTime, mainLED_TASK_PERIOD2 ); - PORTE = PORTE^0x02; - - /* Has an error been found in any of the standard demo tasks? */ - + vTaskDelayUntil(&xLastExecutionTime,TASK_PERIOD2); + PORTE=PORTE^0x02; } } -/*---------------------------------------------------------------------------*/ +/* + * Create the demo tasks then start the scheduler. + */ +int main(void) +{ + TRISE=0x00; // Set port RE as output + + xTaskCreate(vLEDTask1,(signed portCHAR *) "LED1",TAKS_STACK_SIZE,NULL,TASK_PRIORITY1,NULL); + + xTaskCreate(vLEDTask2,(signed portCHAR *) "LED2",TAKS_STACK_SIZE,NULL,TASK_PRIORITY2,NULL); + + vTaskStartScheduler(); + + /* Will only reach here if there is insufficient heap available to start + the scheduler. */ + return 0; +} diff --git a/test/freertostest/Makefile b/test/freertostest/Makefile index c1f3600..5c0659c 100644 --- a/test/freertostest/Makefile +++ b/test/freertostest/Makefile @@ -9,13 +9,16 @@ freertostest:freertostest.o $(OSOBJS) $(CC) $(CPU) $^ -o $@ $(CCLIBDIR) -Wl $(CCGLD) freertostest.o:freertostest.c - $(CC) $(CPU) -x c -c $^ $(CCINCDIR) $(OSINCDIR) $(CCFLAGS) $(OSFLAGS) + $(CC) $(CPU) -c $^ $(CCINCDIR) $(OSINCDIR) $(CCFLAGS) $(OSFLAGS) $(OSOBJS):$(OSFILES) - for i in $(OSFILES); do $(CC) $(CPU) -x c -c $$i $(CCINCDIR) $(OSINCDIR) $(CCFLAGS) $(OSFLAGS) ; done + for i in $(OSFILES); do $(CC) $(CPU) -c $$i $(CCINCDIR) $(OSINCDIR) $(CCFLAGS) $(OSFLAGS) ; done clean: rm -f *.o freertostest *~ distclean:clean - rm -f freertostest.hex \ No newline at end of file + rm -f freertostest.hex + +burn: freertostest.hex + usburn -S ICSP -F 30 -w -I $^ diff --git a/test/freertostest/freertostest.c b/test/freertostest/freertostest.c index c6b9795..b4520ae 100644 --- a/test/freertostest/freertostest.c +++ b/test/freertostest/freertostest.c @@ -39,7 +39,7 @@ #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) /* The execution period of the check task. */ -#define mainCHECK_TASK_PERIOD ( ( portTickType ) 5 / portTICK_RATE_MS ) +#define mainCHECK_TASK_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS ) /*---------------------------------------------------------------------------*/ // _FOSC(EC_PLL16 & CSW_FSCM_OFF); @@ -48,7 +48,7 @@ _FWDT(WDT_OFF); _FBORPOR(MCLR_EN & RST_IOPIN & PBOR_OFF & PWRT_64); /*---------------------------------------------------------------------------*/ -/** Blink port RE0 (10ms) +/** Blink port RE0 */ static void vLEDTask( void *pvParameters ); /*---------------------------------------------------------------------------*/ @@ -75,8 +75,8 @@ int main( void ) static void vLEDTask( void *pvParameters ) { -/* Used to wake the task at the correct frequency. */ -portTickType xLastExecutionTime; + /* Used to wake the task at the correct frequency. */ + portTickType xLastExecutionTime; /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil() works correctly. */ @@ -87,9 +87,6 @@ portTickType xLastExecutionTime; /* Wait until it is time for the next cycle. */ vTaskDelayUntil( &xLastExecutionTime, mainCHECK_TASK_PERIOD ); PORTE = PORTE^0x01; - - /* Has an error been found in any of the standard demo tasks? */ - } } /*---------------------------------------------------------------------------*/ diff --git a/test/motortest/Makefile b/test/motortest/Makefile index a6f1b42..e40742b 100644 --- a/test/motortest/Makefile +++ b/test/motortest/Makefile @@ -14,4 +14,7 @@ clean: rm -f *.o motortest *~ distclean:clean - rm -f motortest.hex \ No newline at end of file + rm -f motortest.hex + +burn: motortest.hex + usburn -S ICSP -F 30 -w -I $^ diff --git a/test/pwmtest/Makefile b/test/pwmtest/Makefile index 3b51c71..1c6c460 100644 --- a/test/pwmtest/Makefile +++ b/test/pwmtest/Makefile @@ -14,4 +14,7 @@ clean: rm -f *.o pwmtest *~ distclean:clean - rm -f pwmtest.hex \ No newline at end of file + rm -f pwmtest.hex + +burn: pwmtest.hex + usburn -S ICSP -F 30 -w -I $^ diff --git a/test/serialtest/Makefile b/test/serialtest/Makefile index 805da96..39c3a80 100644 --- a/test/serialtest/Makefile +++ b/test/serialtest/Makefile @@ -14,4 +14,7 @@ clean: rm -f *.o serialtest *~ distclean:clean - rm -f serialtest.hex \ No newline at end of file + rm -f serialtest.hex + +burn: serialtest.hex + usburn -S ICSP -F 30 -w -I $^ diff --git a/test/serialtest/serialtest.c b/test/serialtest/serialtest.c index ff2528d..b462211 100644 --- a/test/serialtest/serialtest.c +++ b/test/serialtest/serialtest.c @@ -39,11 +39,20 @@ _FBORPOR(MCLR_EN & RST_IOPIN & PBOR_OFF & PWRT_64 & RST_PWMPIN & PWMxH_ACT_HI & int main(int argc,char *argv[]) { - char *name; + char name[]="Diego é o cara\n"; char buff[256]; - unsigned int bitorder=0x0733; + int i; + union + { + unsigned int i; + struct + { + unsigned char lsb; + unsigned char msb; + } le; + } bitorder; - name="Diego é o cara\n"; + bitorder.i=0x0123; //set PORTE just to check if the program is running TRISE=0x0; @@ -67,12 +76,20 @@ int main(int argc,char *argv[]) prints(buff); sprintf(buff,"size of double... %d\n",sizeof(double)); prints(buff); - sprintf(buff,"int 0x0733 byte[0]:%x byte[1]:%x\n",((unsigned char*)(&bitorder))[0],((unsigned char*)(&bitorder))[1]); + if((bitorder.i & 0xff) == bitorder.le.lsb) + { + sprintf(buff,"Little-endian\n"); + } + else + { + sprintf(buff,"Big-endian\n"); + } prints(buff); - - for(;;){ - + for(i=0;;i++) + { + sprintf(buff,"i=%d\n",i); + prints(buff); } } -- 2.12.0