Support for PC platform (#12)
* improvements for cross-platform compiling * moved tactility-core to libs/ * splitup improvements * remove git/gitmodules from freertos * better platformbetter platform checks * added build scripts * delete mbedtls * re-add mbedtls * fixes and improvements * added pc build * simplify build scripts * revert build scrpit * updated builds * fix for pc * fix for pc * fix for build
This commit is contained in:
Ken Van Hoeylandt
committed by
GitHub
GitHub
parent
c830c66063
commit
a94baf0d00
+5
@@ -0,0 +1,5 @@
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[{000214A0-0000-0000-C000-000000000046}]
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Prop3=19,11
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[InternetShortcut]
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IDList=
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URL=https://www.freertos.org/FreeRTOS-simulator-for-Linux.html
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@@ -0,0 +1,564 @@
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/*
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* FreeRTOS Kernel V10.4.6
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* Copyright (C) 2020 Cambridge Consultants Ltd.
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*
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* SPDX-License-Identifier: MIT
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
|
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
||||
* the Software, and to permit persons to whom the Software is furnished to do so,
|
||||
* subject to the following conditions:
|
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*
|
||||
* The above copyright notice and this permission notice shall be included in all
|
||||
* copies or substantial portions of the Software.
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*
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||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
||||
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
||||
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
||||
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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*/
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/*-----------------------------------------------------------
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* Implementation of functions defined in portable.h for the Posix port.
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*
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* Each task has a pthread which eases use of standard debuggers
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* (allowing backtraces of tasks etc). Threads for tasks that are not
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* running are blocked in sigwait().
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*
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* Task switch is done by resuming the thread for the next task by
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* signaling the condition variable and then waiting on a condition variable
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* with the current thread.
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*
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* The timer interrupt uses SIGALRM and care is taken to ensure that
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* the signal handler runs only on the thread for the current task.
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*
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* Use of part of the standard C library requires care as some
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* functions can take pthread mutexes internally which can result in
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* deadlocks as the FreeRTOS kernel can switch tasks while they're
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* holding a pthread mutex.
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*
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* stdio (printf() and friends) should be called from a single task
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* only or serialized with a FreeRTOS primitive such as a binary
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* semaphore or mutex.
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*----------------------------------------------------------*/
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#include <errno.h>
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#include <pthread.h>
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#include <signal.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <sys/time.h>
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#include <sys/times.h>
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#include <time.h>
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "timers.h"
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#include "utils/wait_for_event.h"
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/*-----------------------------------------------------------*/
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#define SIG_RESUME SIGUSR1
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typedef struct THREAD
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{
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pthread_t pthread;
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pdTASK_CODE pxCode;
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void *pvParams;
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BaseType_t xDying;
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struct event *ev;
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} Thread_t;
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/*
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* The additional per-thread data is stored at the beginning of the
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* task's stack.
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*/
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static inline Thread_t *prvGetThreadFromTask(TaskHandle_t xTask)
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{
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StackType_t *pxTopOfStack = *(StackType_t **)xTask;
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return (Thread_t *)(pxTopOfStack + 1);
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}
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/*-----------------------------------------------------------*/
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static pthread_once_t hSigSetupThread = PTHREAD_ONCE_INIT;
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static sigset_t xResumeSignals;
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static sigset_t xAllSignals;
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static sigset_t xSchedulerOriginalSignalMask;
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static pthread_t hMainThread = ( pthread_t )NULL;
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static volatile portBASE_TYPE uxCriticalNesting;
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/*-----------------------------------------------------------*/
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static portBASE_TYPE xSchedulerEnd = pdFALSE;
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/*-----------------------------------------------------------*/
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static void prvSetupSignalsAndSchedulerPolicy( void );
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static void prvSetupTimerInterrupt( void );
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static void *prvWaitForStart( void * pvParams );
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static void prvSwitchThread( Thread_t * xThreadToResume,
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Thread_t *xThreadToSuspend );
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static void prvSuspendSelf( Thread_t * thread);
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static void prvResumeThread( Thread_t * xThreadId );
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static void vPortSystemTickHandler( int sig );
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static void vPortStartFirstTask( void );
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/*-----------------------------------------------------------*/
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static void prvFatalError( const char *pcCall, int iErrno )
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{
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fprintf( stderr, "%s: %s\n", pcCall, strerror( iErrno ) );
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abort();
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}
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/*
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* See header file for description.
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*/
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portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack,
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portSTACK_TYPE *pxEndOfStack,
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pdTASK_CODE pxCode, void *pvParameters )
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{
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Thread_t *thread;
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pthread_attr_t xThreadAttributes;
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size_t ulStackSize;
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int iRet;
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(void)pthread_once( &hSigSetupThread, prvSetupSignalsAndSchedulerPolicy );
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/*
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* Store the additional thread data at the start of the stack.
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*/
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thread = (Thread_t *)(pxTopOfStack + 1) - 1;
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pxTopOfStack = (portSTACK_TYPE *)thread - 1;
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ulStackSize = (pxTopOfStack + 1 - pxEndOfStack) * sizeof(*pxTopOfStack);
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thread->pxCode = pxCode;
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thread->pvParams = pvParameters;
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thread->xDying = pdFALSE;
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pthread_attr_init( &xThreadAttributes );
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pthread_attr_setstack( &xThreadAttributes, pxEndOfStack, ulStackSize );
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thread->ev = event_create();
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vPortEnterCritical();
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iRet = pthread_create( &thread->pthread, &xThreadAttributes,
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prvWaitForStart, thread );
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if ( iRet )
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{
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prvFatalError( "pthread_create", iRet );
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}
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vPortExitCritical();
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return pxTopOfStack;
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}
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/*-----------------------------------------------------------*/
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void vPortStartFirstTask( void )
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{
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Thread_t *pxFirstThread = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
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/* Start the first task. */
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prvResumeThread( pxFirstThread );
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}
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/*-----------------------------------------------------------*/
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/*
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* See header file for description.
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*/
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portBASE_TYPE xPortStartScheduler( void )
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{
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int iSignal;
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sigset_t xSignals;
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hMainThread = pthread_self();
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/* Start the timer that generates the tick ISR(SIGALRM).
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Interrupts are disabled here already. */
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prvSetupTimerInterrupt();
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/* Start the first task. */
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vPortStartFirstTask();
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/* Wait until signaled by vPortEndScheduler(). */
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sigemptyset( &xSignals );
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sigaddset( &xSignals, SIG_RESUME );
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while ( !xSchedulerEnd )
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{
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sigwait( &xSignals, &iSignal );
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}
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/* Cancel the Idle task and free its resources */
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#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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vPortCancelThread( xTaskGetIdleTaskHandle() );
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#endif
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#if ( configUSE_TIMERS == 1 )
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/* Cancel the Timer task and free its resources */
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vPortCancelThread( xTimerGetTimerDaemonTaskHandle() );
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#endif /* configUSE_TIMERS */
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/* Restore original signal mask. */
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(void)pthread_sigmask( SIG_SETMASK, &xSchedulerOriginalSignalMask, NULL );
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return 0;
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}
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/*-----------------------------------------------------------*/
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void vPortEndScheduler( void )
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{
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struct itimerval itimer;
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struct sigaction sigtick;
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Thread_t *xCurrentThread;
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/* Stop the timer and ignore any pending SIGALRMs that would end
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* up running on the main thread when it is resumed. */
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itimer.it_value.tv_sec = 0;
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itimer.it_value.tv_usec = 0;
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itimer.it_interval.tv_sec = 0;
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itimer.it_interval.tv_usec = 0;
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(void)setitimer( ITIMER_REAL, &itimer, NULL );
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sigtick.sa_flags = 0;
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sigtick.sa_handler = SIG_IGN;
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sigemptyset( &sigtick.sa_mask );
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sigaction( SIGALRM, &sigtick, NULL );
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/* Signal the scheduler to exit its loop. */
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xSchedulerEnd = pdTRUE;
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(void)pthread_kill( hMainThread, SIG_RESUME );
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xCurrentThread = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
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prvSuspendSelf(xCurrentThread);
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}
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/*-----------------------------------------------------------*/
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void vPortEnterCritical( void )
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{
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if ( uxCriticalNesting == 0 )
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{
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vPortDisableInterrupts();
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}
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uxCriticalNesting++;
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}
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/*-----------------------------------------------------------*/
|
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void vPortExitCritical( void )
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{
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uxCriticalNesting--;
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/* If we have reached 0 then re-enable the interrupts. */
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if( uxCriticalNesting == 0 )
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{
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vPortEnableInterrupts();
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}
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||||
}
|
||||
/*-----------------------------------------------------------*/
|
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void vPortYieldFromISR( void )
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{
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Thread_t *xThreadToSuspend;
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Thread_t *xThreadToResume;
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xThreadToSuspend = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
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vTaskSwitchContext();
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xThreadToResume = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
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prvSwitchThread( xThreadToResume, xThreadToSuspend );
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}
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/*-----------------------------------------------------------*/
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void vPortYield( void )
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{
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vPortEnterCritical();
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vPortYieldFromISR();
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||||
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vPortExitCritical();
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}
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||||
/*-----------------------------------------------------------*/
|
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|
||||
void vPortDisableInterrupts( void )
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||||
{
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||||
pthread_sigmask( SIG_BLOCK, &xAllSignals, NULL );
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||||
}
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||||
/*-----------------------------------------------------------*/
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||||
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void vPortEnableInterrupts( void )
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||||
{
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pthread_sigmask( SIG_UNBLOCK, &xAllSignals, NULL );
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}
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||||
/*-----------------------------------------------------------*/
|
||||
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||||
portBASE_TYPE xPortSetInterruptMask( void )
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||||
{
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||||
/* Interrupts are always disabled inside ISRs (signals
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||||
handlers). */
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||||
return pdTRUE;
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||||
}
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||||
/*-----------------------------------------------------------*/
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||||
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||||
void vPortClearInterruptMask( portBASE_TYPE xMask )
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||||
{
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||||
}
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||||
/*-----------------------------------------------------------*/
|
||||
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||||
static uint64_t prvGetTimeNs(void)
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||||
{
|
||||
struct timespec t;
|
||||
|
||||
clock_gettime(CLOCK_MONOTONIC, &t);
|
||||
|
||||
return t.tv_sec * 1000000000ull + t.tv_nsec;
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}
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||||
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||||
static uint64_t prvStartTimeNs;
|
||||
/* commented as part of the code below in vPortSystemTickHandler,
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||||
* to adjust timing according to full demo requirements */
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||||
/* static uint64_t prvTickCount; */
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|
||||
/*
|
||||
* Setup the systick timer to generate the tick interrupts at the required
|
||||
* frequency.
|
||||
*/
|
||||
void prvSetupTimerInterrupt( void )
|
||||
{
|
||||
struct itimerval itimer;
|
||||
int iRet;
|
||||
|
||||
/* Initialise the structure with the current timer information. */
|
||||
iRet = getitimer( ITIMER_REAL, &itimer );
|
||||
if ( iRet )
|
||||
{
|
||||
prvFatalError( "getitimer", errno );
|
||||
}
|
||||
|
||||
/* Set the interval between timer events. */
|
||||
itimer.it_interval.tv_sec = 0;
|
||||
itimer.it_interval.tv_usec = portTICK_RATE_MICROSECONDS;
|
||||
|
||||
/* Set the current count-down. */
|
||||
itimer.it_value.tv_sec = 0;
|
||||
itimer.it_value.tv_usec = portTICK_RATE_MICROSECONDS;
|
||||
|
||||
/* Set-up the timer interrupt. */
|
||||
iRet = setitimer( ITIMER_REAL, &itimer, NULL );
|
||||
if ( iRet )
|
||||
{
|
||||
prvFatalError( "setitimer", errno );
|
||||
}
|
||||
|
||||
prvStartTimeNs = prvGetTimeNs();
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void vPortSystemTickHandler( int sig )
|
||||
{
|
||||
Thread_t *pxThreadToSuspend;
|
||||
Thread_t *pxThreadToResume;
|
||||
/* uint64_t xExpectedTicks; */
|
||||
|
||||
uxCriticalNesting++; /* Signals are blocked in this signal handler. */
|
||||
|
||||
#if ( configUSE_PREEMPTION == 1 )
|
||||
pxThreadToSuspend = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
|
||||
#endif
|
||||
|
||||
/* Tick Increment, accounting for any lost signals or drift in
|
||||
* the timer. */
|
||||
/*
|
||||
* Comment code to adjust timing according to full demo requirements
|
||||
* xExpectedTicks = (prvGetTimeNs() - prvStartTimeNs)
|
||||
* / (portTICK_RATE_MICROSECONDS * 1000);
|
||||
* do { */
|
||||
xTaskIncrementTick();
|
||||
/* prvTickCount++;
|
||||
* } while (prvTickCount < xExpectedTicks);
|
||||
*/
|
||||
|
||||
#if ( configUSE_PREEMPTION == 1 )
|
||||
/* Select Next Task. */
|
||||
vTaskSwitchContext();
|
||||
|
||||
pxThreadToResume = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
|
||||
|
||||
prvSwitchThread(pxThreadToResume, pxThreadToSuspend);
|
||||
#endif
|
||||
|
||||
uxCriticalNesting--;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortThreadDying( void *pxTaskToDelete, volatile BaseType_t *pxPendYield )
|
||||
{
|
||||
Thread_t *pxThread = prvGetThreadFromTask( pxTaskToDelete );
|
||||
|
||||
pxThread->xDying = pdTRUE;
|
||||
}
|
||||
|
||||
void vPortCancelThread( void *pxTaskToDelete )
|
||||
{
|
||||
Thread_t *pxThreadToCancel = prvGetThreadFromTask( pxTaskToDelete );
|
||||
|
||||
/*
|
||||
* The thread has already been suspended so it can be safely cancelled.
|
||||
*/
|
||||
pthread_cancel( pxThreadToCancel->pthread );
|
||||
pthread_join( pxThreadToCancel->pthread, NULL );
|
||||
event_delete( pxThreadToCancel->ev );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void *prvWaitForStart( void * pvParams )
|
||||
{
|
||||
Thread_t *pxThread = pvParams;
|
||||
|
||||
prvSuspendSelf(pxThread);
|
||||
|
||||
/* Resumed for the first time, unblocks all signals. */
|
||||
uxCriticalNesting = 0;
|
||||
vPortEnableInterrupts();
|
||||
|
||||
/* Call the task's entry point. */
|
||||
pxThread->pxCode( pxThread->pvParams );
|
||||
|
||||
/* A function that implements a task must not exit or attempt to return to
|
||||
* its caller as there is nothing to return to. If a task wants to exit it
|
||||
* should instead call vTaskDelete( NULL ). Artificially force an assert()
|
||||
* to be triggered if configASSERT() is defined, so application writers can
|
||||
* catch the error. */
|
||||
configASSERT( pdFALSE );
|
||||
|
||||
return NULL;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvSwitchThread( Thread_t *pxThreadToResume,
|
||||
Thread_t *pxThreadToSuspend )
|
||||
{
|
||||
BaseType_t uxSavedCriticalNesting;
|
||||
|
||||
if ( pxThreadToSuspend != pxThreadToResume )
|
||||
{
|
||||
/*
|
||||
* Switch tasks.
|
||||
*
|
||||
* The critical section nesting is per-task, so save it on the
|
||||
* stack of the current (suspending thread), restoring it when
|
||||
* we switch back to this task.
|
||||
*/
|
||||
uxSavedCriticalNesting = uxCriticalNesting;
|
||||
|
||||
prvResumeThread( pxThreadToResume );
|
||||
if ( pxThreadToSuspend->xDying )
|
||||
{
|
||||
pthread_exit( NULL );
|
||||
}
|
||||
prvSuspendSelf( pxThreadToSuspend );
|
||||
|
||||
uxCriticalNesting = uxSavedCriticalNesting;
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvSuspendSelf( Thread_t *thread )
|
||||
{
|
||||
/*
|
||||
* Suspend this thread by waiting for a pthread_cond_signal event.
|
||||
*
|
||||
* A suspended thread must not handle signals (interrupts) so
|
||||
* all signals must be blocked by calling this from:
|
||||
*
|
||||
* - Inside a critical section (vPortEnterCritical() /
|
||||
* vPortExitCritical()).
|
||||
*
|
||||
* - From a signal handler that has all signals masked.
|
||||
*
|
||||
* - A thread with all signals blocked with pthread_sigmask().
|
||||
*/
|
||||
event_wait(thread->ev);
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvResumeThread( Thread_t *xThreadId )
|
||||
{
|
||||
if ( pthread_self() != xThreadId->pthread )
|
||||
{
|
||||
event_signal(xThreadId->ev);
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvSetupSignalsAndSchedulerPolicy( void )
|
||||
{
|
||||
struct sigaction sigresume, sigtick;
|
||||
int iRet;
|
||||
|
||||
hMainThread = pthread_self();
|
||||
|
||||
/* Initialise common signal masks. */
|
||||
sigemptyset( &xResumeSignals );
|
||||
sigaddset( &xResumeSignals, SIG_RESUME );
|
||||
sigfillset( &xAllSignals );
|
||||
/* Don't block SIGINT so this can be used to break into GDB while
|
||||
* in a critical section. */
|
||||
sigdelset( &xAllSignals, SIGINT );
|
||||
|
||||
/*
|
||||
* Block all signals in this thread so all new threads
|
||||
* inherits this mask.
|
||||
*
|
||||
* When a thread is resumed for the first time, all signals
|
||||
* will be unblocked.
|
||||
*/
|
||||
(void)pthread_sigmask( SIG_SETMASK, &xAllSignals,
|
||||
&xSchedulerOriginalSignalMask );
|
||||
|
||||
/* SIG_RESUME is only used with sigwait() so doesn't need a
|
||||
handler. */
|
||||
sigresume.sa_flags = 0;
|
||||
sigresume.sa_handler = SIG_IGN;
|
||||
sigfillset( &sigresume.sa_mask );
|
||||
|
||||
sigtick.sa_flags = 0;
|
||||
sigtick.sa_handler = vPortSystemTickHandler;
|
||||
sigfillset( &sigtick.sa_mask );
|
||||
|
||||
iRet = sigaction( SIG_RESUME, &sigresume, NULL );
|
||||
if ( iRet )
|
||||
{
|
||||
prvFatalError( "sigaction", errno );
|
||||
}
|
||||
|
||||
iRet = sigaction( SIGALRM, &sigtick, NULL );
|
||||
if ( iRet )
|
||||
{
|
||||
prvFatalError( "sigaction", errno );
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
unsigned long ulPortGetRunTime( void )
|
||||
{
|
||||
struct tms xTimes;
|
||||
|
||||
times( &xTimes );
|
||||
|
||||
return ( unsigned long ) xTimes.tms_utime;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
@@ -0,0 +1,135 @@
|
||||
/*
|
||||
* FreeRTOS Kernel V10.4.6
|
||||
* Copyright 2020 Cambridge Consultants Ltd.
|
||||
*
|
||||
* SPDX-License-Identifier: MIT
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy of
|
||||
* this software and associated documentation files (the "Software"), to deal in
|
||||
* the Software without restriction, including without limitation the rights to
|
||||
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
||||
* the Software, and to permit persons to whom the Software is furnished to do so,
|
||||
* subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in all
|
||||
* copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
||||
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
||||
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
||||
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
||||
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
*
|
||||
* https://www.FreeRTOS.org
|
||||
* https://github.com/FreeRTOS
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
#ifndef PORTMACRO_H
|
||||
#define PORTMACRO_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#include <limits.h>
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* 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 long
|
||||
#define portBASE_TYPE long
|
||||
#define portPOINTER_SIZE_TYPE intptr_t
|
||||
|
||||
typedef portSTACK_TYPE StackType_t;
|
||||
typedef long BaseType_t;
|
||||
typedef unsigned long UBaseType_t;
|
||||
|
||||
typedef unsigned long TickType_t;
|
||||
#define portMAX_DELAY ( TickType_t ) ULONG_MAX
|
||||
|
||||
#define portTICK_TYPE_IS_ATOMIC 1
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Architecture specifics. */
|
||||
#define portSTACK_GROWTH ( -1 )
|
||||
#define portHAS_STACK_OVERFLOW_CHECKING ( 1 )
|
||||
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
|
||||
#define portTICK_RATE_MICROSECONDS ( ( portTickType ) 1000000 / configTICK_RATE_HZ )
|
||||
#define portBYTE_ALIGNMENT 8
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Scheduler utilities. */
|
||||
extern void vPortYield( void );
|
||||
|
||||
#define portYIELD() vPortYield()
|
||||
|
||||
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) vPortYield()
|
||||
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Critical section management. */
|
||||
extern void vPortDisableInterrupts( void );
|
||||
extern void vPortEnableInterrupts( void );
|
||||
#define portSET_INTERRUPT_MASK() ( vPortDisableInterrupts() )
|
||||
#define portCLEAR_INTERRUPT_MASK() ( vPortEnableInterrupts() )
|
||||
|
||||
extern portBASE_TYPE xPortSetInterruptMask( void );
|
||||
extern void vPortClearInterruptMask( portBASE_TYPE xMask );
|
||||
|
||||
extern void vPortEnterCritical( void );
|
||||
extern void vPortExitCritical( void );
|
||||
#define portSET_INTERRUPT_MASK_FROM_ISR() xPortSetInterruptMask()
|
||||
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask(x)
|
||||
#define portDISABLE_INTERRUPTS() portSET_INTERRUPT_MASK()
|
||||
#define portENABLE_INTERRUPTS() portCLEAR_INTERRUPT_MASK()
|
||||
#define portENTER_CRITICAL() vPortEnterCritical()
|
||||
#define portEXIT_CRITICAL() vPortExitCritical()
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
extern void vPortThreadDying( void *pxTaskToDelete, volatile BaseType_t *pxPendYield );
|
||||
extern void vPortCancelThread( void *pxTaskToDelete );
|
||||
#define portPRE_TASK_DELETE_HOOK( pvTaskToDelete, pxPendYield ) vPortThreadDying( ( pvTaskToDelete ), ( pxPendYield ) )
|
||||
#define portCLEAN_UP_TCB( pxTCB ) vPortCancelThread( pxTCB )
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
|
||||
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Tasks run in their own pthreads and context switches between them
|
||||
* are always a full memory barrier. ISRs are emulated as signals
|
||||
* which also imply a full memory barrier.
|
||||
*
|
||||
* Thus, only a compilier barrier is needed to prevent the compiler
|
||||
* reordering.
|
||||
*/
|
||||
#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
|
||||
|
||||
extern unsigned long ulPortGetRunTime( void );
|
||||
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() /* no-op */
|
||||
#define portGET_RUN_TIME_COUNTER_VALUE() ulPortGetRunTime()
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* PORTMACRO_H */
|
||||
@@ -0,0 +1,104 @@
|
||||
/*
|
||||
* FreeRTOS Kernel V10.4.6
|
||||
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||||
*
|
||||
* SPDX-License-Identifier: MIT
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy of
|
||||
* this software and associated documentation files (the "Software"), to deal in
|
||||
* the Software without restriction, including without limitation the rights to
|
||||
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
||||
* the Software, and to permit persons to whom the Software is furnished to do so,
|
||||
* subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in all
|
||||
* copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
||||
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
||||
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
||||
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
||||
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
*
|
||||
* https://www.FreeRTOS.org
|
||||
* https://github.com/FreeRTOS
|
||||
*
|
||||
*/
|
||||
|
||||
#include <pthread.h>
|
||||
#include <stdlib.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include "wait_for_event.h"
|
||||
|
||||
struct event
|
||||
{
|
||||
pthread_mutex_t mutex;
|
||||
pthread_cond_t cond;
|
||||
bool event_triggered;
|
||||
};
|
||||
|
||||
struct event * event_create()
|
||||
{
|
||||
struct event * ev = malloc( sizeof( struct event ) );
|
||||
|
||||
ev->event_triggered = false;
|
||||
pthread_mutex_init( &ev->mutex, NULL );
|
||||
pthread_cond_init( &ev->cond, NULL );
|
||||
return ev;
|
||||
}
|
||||
|
||||
void event_delete( struct event * ev )
|
||||
{
|
||||
pthread_mutex_destroy( &ev->mutex );
|
||||
pthread_cond_destroy( &ev->cond );
|
||||
free( ev );
|
||||
}
|
||||
|
||||
bool event_wait( struct event * ev )
|
||||
{
|
||||
pthread_mutex_lock( &ev->mutex );
|
||||
|
||||
while( ev->event_triggered == false )
|
||||
{
|
||||
pthread_cond_wait( &ev->cond, &ev->mutex );
|
||||
}
|
||||
|
||||
ev->event_triggered = false;
|
||||
pthread_mutex_unlock( &ev->mutex );
|
||||
return true;
|
||||
}
|
||||
bool event_wait_timed( struct event * ev,
|
||||
time_t ms )
|
||||
{
|
||||
struct timespec ts;
|
||||
int ret = 0;
|
||||
|
||||
clock_gettime( CLOCK_REALTIME, &ts );
|
||||
ts.tv_sec += ms / 1000;
|
||||
ts.tv_nsec += ((ms % 1000) * 1000000);
|
||||
pthread_mutex_lock( &ev->mutex );
|
||||
|
||||
while( (ev->event_triggered == false) && (ret == 0) )
|
||||
{
|
||||
ret = pthread_cond_timedwait( &ev->cond, &ev->mutex, &ts );
|
||||
|
||||
if( ( ret == -1 ) && ( errno == ETIMEDOUT ) )
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
ev->event_triggered = false;
|
||||
pthread_mutex_unlock( &ev->mutex );
|
||||
return true;
|
||||
}
|
||||
|
||||
void event_signal( struct event * ev )
|
||||
{
|
||||
pthread_mutex_lock( &ev->mutex );
|
||||
ev->event_triggered = true;
|
||||
pthread_cond_signal( &ev->cond );
|
||||
pthread_mutex_unlock( &ev->mutex );
|
||||
}
|
||||
@@ -0,0 +1,46 @@
|
||||
/*
|
||||
* FreeRTOS Kernel V10.4.6
|
||||
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||||
*
|
||||
* SPDX-License-Identifier: MIT
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy of
|
||||
* this software and associated documentation files (the "Software"), to deal in
|
||||
* the Software without restriction, including without limitation the rights to
|
||||
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
||||
* the Software, and to permit persons to whom the Software is furnished to do so,
|
||||
* subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in all
|
||||
* copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
||||
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
||||
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
||||
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
||||
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
*
|
||||
* https://www.FreeRTOS.org
|
||||
* https://github.com/FreeRTOS
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef _WAIT_FOR_EVENT_H_
|
||||
#define _WAIT_FOR_EVENT_H_
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <time.h>
|
||||
|
||||
struct event;
|
||||
|
||||
struct event * event_create();
|
||||
void event_delete( struct event * );
|
||||
bool event_wait( struct event * ev );
|
||||
bool event_wait_timed( struct event * ev,
|
||||
time_t ms );
|
||||
void event_signal( struct event * ev );
|
||||
|
||||
|
||||
|
||||
#endif /* ifndef _WAIT_FOR_EVENT_H_ */
|
||||
Reference in New Issue
Block a user