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Provide the ability to create event groups and software timers using pre statically allocated memory - now all RTOS objects can be created using statically allocated memory.
Rename StaticTCB_t to StaticTask_t.
This commit is contained in:
Richard Barry
parent
68fced741d
commit
f82953554d
12 changed files with 534 additions and 109 deletions
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@ -876,12 +876,17 @@ typedef enum
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} eDummy;
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/*
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* In line with software engineering best practice, FreeRTOS implements a strict
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* data hiding policy, so the real task control block (TCB) structure is not
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* accessible to the application code. However, if the application writer wants
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* to statically allocate a TCB then the size of the TCB needs to be know. The
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* dummy TCB structure below is used for this purpose. Its size will allows
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* match the size of the real TCB, no matter what the FreeRTOSConfig.h settings.
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* In line with software engineering best practice, especially when supplying a
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* library that is likely to change in future versions, FreeRTOS implements a
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* strict data hiding policy. This means the Task structure used internally by
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* FreeRTOS is not accessible to application code. However, if the application
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* writer wants to statically allocate the memory required to create a task then
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* the size of the task object needs to be know. The StaticTask_t structure
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* below is provided for this purpose. Its sizes and alignment requirements are
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* guaranteed to match those of the genuine structure, no matter which
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* architecture is being used, and no matter how the values in FreeRTOSConfig.h
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* are set. Its contents are somewhat obfuscated in the hope users will
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* recognise that it would be unwise to make direct use of the structure members.
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*/
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typedef struct xSTATIC_TCB
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{
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@ -925,16 +930,21 @@ typedef struct xSTATIC_TCB
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uint8_t uxDummy20;
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#endif
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} StaticTCB_t;
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} StaticTask_t;
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/*
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* In line with software engineering best practice, FreeRTOS implements a strict
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* data hiding policy, so the queue structure is not accessible to the
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* application code. However, if the application writer wants to statically
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* allocate a queue (or one of the other objects that uses a queue as its base
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* structure) then the size of the queue needs to be know. The dummy queue
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* structure below is used for this purpose. Its size will allows match the
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* size of the real queue, no matter what the FreeRTOSConfig.h settings.
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* In line with software engineering best practice, especially when supplying a
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* library that is likely to change in future versions, FreeRTOS implements a
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* strict data hiding policy. This means the Queue structure used internally by
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* FreeRTOS is not accessible to application code. However, if the application
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* writer wants to statically allocate the memory required to create a queue
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* then the size of the queue object needs to be know. The StaticQueue_t
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* structure below is provided for this purpose. Its sizes and alignment
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* requirements are guaranteed to match those of the genuine structure, no
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* matter which architecture is being used, and no matter how the values in
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* FreeRTOSConfig.h are set. Its contents are somewhat obfuscated in the hope
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* users will recognise that it would be unwise to make direct use of the
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* structure members.
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*/
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typedef struct xSTATIC_QUEUE
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{
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@ -963,9 +973,67 @@ typedef struct xSTATIC_QUEUE
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#endif
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} StaticQueue_t;
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typedef StaticQueue_t StaticSemaphore_t;
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/*
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* In line with software engineering best practice, especially when supplying a
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* library that is likely to change in future versions, FreeRTOS implements a
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* strict data hiding policy. This means the event group structure used
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* internally by FreeRTOS is not accessible to application code. However, if
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* the application writer wants to statically allocate the memory required to
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* create an event group then the size of the event group object needs to be
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* know. The StaticEventGroup_t structure below is provided for this purpose.
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* Its sizes and alignment requirements are guaranteed to match those of the
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* genuine structure, no matter which architecture is being used, and no matter
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* how the values in FreeRTOSConfig.h are set. Its contents are somewhat
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* obfuscated in the hope users will recognise that it would be unwise to make
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* direct use of the structure members.
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*/
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typedef struct xSTATIC_EVENT_GROUP
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{
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TickType_t xDummy1;
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StaticList_t xDummy2;
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#if( configUSE_TRACE_FACILITY == 1 )
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UBaseType_t uxDummy3;
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#endif
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#if( configSUPPORT_STATIC_ALLOCATION == 1 )
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uint8_t ucStaticallyAllocated;
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#endif
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} StaticEventGroup_t;
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/*
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* In line with software engineering best practice, especially when supplying a
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* library that is likely to change in future versions, FreeRTOS implements a
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* strict data hiding policy. This means the software timer structure used
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* internally by FreeRTOS is not accessible to application code. However, if
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* the application writer wants to statically allocate the memory required to
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* create a software timer then the size of the queue object needs to be know.
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* The StaticTimer_t structure below is provided for this purpose. Its sizes
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* and alignment requirements are guaranteed to match those of the genuine
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* structure, no matter which architecture is being used, and no matter how the
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* values in FreeRTOSConfig.h are set. Its contents are somewhat obfuscated in
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* the hope users will recognise that it would be unwise to make direct use of
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* the structure members.
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*/
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typedef struct xSTATIC_TIMER
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{
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void *pvDummy1;
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StaticListItem_t xDummy2;
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TickType_t xDummy3;
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UBaseType_t uxDummy4;
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void *pvDummy5[ 2 ];
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#if( configUSE_TRACE_FACILITY == 1 )
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UBaseType_t uxDummy6;
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#endif
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#if( configSUPPORT_STATIC_ALLOCATION == 1 )
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uint8_t ucStaticallyAllocated;
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#endif
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} StaticTimer_t;
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#ifdef __cplusplus
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}
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@ -121,10 +121,10 @@ extern "C" {
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*/
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typedef void * EventGroupHandle_t;
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/*
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/*
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* The type that holds event bits always matches TickType_t - therefore the
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* number of bits it holds is set by configUSE_16_BIT_TICKS (16 bits if set to 1,
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* 32 bits if set to 0.
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* 32 bits if set to 0.
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*
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* \defgroup EventBits_t EventBits_t
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* \ingroup EventGroup
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@ -173,7 +173,11 @@ typedef TickType_t EventBits_t;
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* \defgroup xEventGroupCreate xEventGroupCreate
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* \ingroup EventGroup
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*/
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EventGroupHandle_t xEventGroupCreate( void ) PRIVILEGED_FUNCTION;
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#define xEventGroupCreate() xEventGroupGenericCreate( NULL )
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#if( configSUPPORT_STATIC_ALLOCATION == 1 )
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#define xEventGroupCreateStatic( pxStaticEventGroup ) xEventGroupGenericCreate( ( pxStaticEventGroup ) )
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#endif
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/**
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* event_groups.h
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@ -340,8 +344,8 @@ EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBit
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* while interrupts are disabled, so protects event groups that are accessed
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* from tasks by suspending the scheduler rather than disabling interrupts. As
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* a result event groups cannot be accessed directly from an interrupt service
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* routine. Therefore xEventGroupClearBitsFromISR() sends a message to the
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* timer task to have the clear operation performed in the context of the timer
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* routine. Therefore xEventGroupClearBitsFromISR() sends a message to the
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* timer task to have the clear operation performed in the context of the timer
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* task.
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*
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* @param xEventGroup The event group in which the bits are to be cleared.
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@ -350,8 +354,8 @@ EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBit
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* For example, to clear bit 3 only, set uxBitsToClear to 0x08. To clear bit 3
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* and bit 0 set uxBitsToClear to 0x09.
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*
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* @return If the request to execute the function was posted successfully then
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* pdPASS is returned, otherwise pdFALSE is returned. pdFALSE will be returned
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* @return If the request to execute the function was posted successfully then
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* pdPASS is returned, otherwise pdFALSE is returned. pdFALSE will be returned
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* if the timer service queue was full.
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*
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* Example usage:
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@ -491,8 +495,8 @@ EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_
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* *pxHigherPriorityTaskWoken must be initialised to pdFALSE. See the
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* example code below.
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*
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* @return If the request to execute the function was posted successfully then
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* pdPASS is returned, otherwise pdFALSE is returned. pdFALSE will be returned
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* @return If the request to execute the function was posted successfully then
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* pdPASS is returned, otherwise pdFALSE is returned. pdFALSE will be returned
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* if the timer service queue was full.
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*
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* Example usage:
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@ -521,8 +525,8 @@ EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_
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if( xResult == pdPASS )
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{
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// If xHigherPriorityTaskWoken is now set to pdTRUE then a context
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// switch should be requested. The macro used is port specific and
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// will be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() -
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// switch should be requested. The macro used is port specific and
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// will be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() -
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// refer to the documentation page for the port being used.
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portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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}
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@ -717,6 +721,12 @@ void vEventGroupDelete( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
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void vEventGroupSetBitsCallback( void *pvEventGroup, const uint32_t ulBitsToSet ) PRIVILEGED_FUNCTION;
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void vEventGroupClearBitsCallback( void *pvEventGroup, const uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION;
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/*
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* Generic version of the event group creation function, which is in turn called
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* by the event group creation macros.
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*/
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EventGroupHandle_t xEventGroupGenericCreate( StaticEventGroup_t *pxStaticEventGroup );
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#if (configUSE_TRACE_FACILITY == 1)
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UBaseType_t uxEventGroupGetNumber( void* xEventGroup ) PRIVILEGED_FUNCTION;
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#endif
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@ -174,7 +174,7 @@ typedef void * QueueSetMemberHandle_t;
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#if( configSUPPORT_STATIC_ALLOCATION == 1 )
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#define xQueueCreateStatic( uxQueueLength, uxItemSize, pucQueueStorage, pxStaticQueue ) xQueueGenericCreate( uxQueueLength, uxItemSize, pucQueueStorage, pxStaticQueue, queueQUEUE_TYPE_BASE )
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#endif
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#endif /* configSUPPORT_STATIC_ALLOCATION */
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/**
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* queue. h
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@ -191,7 +191,10 @@ typedef QueueHandle_t SemaphoreHandle_t;
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* \ingroup Semaphores
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*/
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#define xSemaphoreCreateBinary() xQueueGenericCreate( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, NULL, queueQUEUE_TYPE_BINARY_SEMAPHORE )
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#define xSemaphoreCreateBinaryStatic( pxStaticQueue ) xQueueGenericCreate( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticQueue, queueQUEUE_TYPE_BINARY_SEMAPHORE )
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#if( configSUPPORT_STATIC_ALLOCATION == 1 )
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#define xSemaphoreCreateBinaryStatic( pxStaticQueue ) xQueueGenericCreate( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticQueue, queueQUEUE_TYPE_BINARY_SEMAPHORE )
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#endif /* configSUPPORT_STATIC_ALLOCATION */
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/**
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* semphr. h
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@ -700,7 +703,10 @@ typedef QueueHandle_t SemaphoreHandle_t;
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* \ingroup Semaphores
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*/
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#define xSemaphoreCreateMutex() xQueueCreateMutex( queueQUEUE_TYPE_MUTEX, NULL )
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#define xSemaphoreCreateMutexStatic( pxStaticQueue ) xQueueCreateMutex( queueQUEUE_TYPE_MUTEX, ( pxStaticQueue ) )
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#if( configSUPPORT_STATIC_ALLOCATION == 1 )
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#define xSemaphoreCreateMutexStatic( pxStaticQueue ) xQueueCreateMutex( queueQUEUE_TYPE_MUTEX, ( pxStaticQueue ) )
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#endif /* configSUPPORT_STATIC_ALLOCATION */
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/**
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@ -756,7 +762,10 @@ typedef QueueHandle_t SemaphoreHandle_t;
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* \ingroup Semaphores
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*/
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#define xSemaphoreCreateRecursiveMutex() xQueueCreateMutex( queueQUEUE_TYPE_RECURSIVE_MUTEX, NULL )
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#define xSemaphoreCreateRecursiveMutexStatic( pxStaticSemaphore ) xQueueCreateMutex( queueQUEUE_TYPE_RECURSIVE_MUTEX, pxStaticSemaphore )
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#if( configSUPPORT_STATIC_ALLOCATION == 1 )
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#define xSemaphoreCreateRecursiveMutexStatic( pxStaticSemaphore ) xQueueCreateMutex( queueQUEUE_TYPE_RECURSIVE_MUTEX, pxStaticSemaphore )
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#endif /* configSUPPORT_STATIC_ALLOCATION */
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/**
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* semphr. h
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@ -820,7 +829,10 @@ typedef QueueHandle_t SemaphoreHandle_t;
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* \ingroup Semaphores
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*/
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#define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount ) xQueueCreateCountingSemaphore( ( uxMaxCount ), ( uxInitialCount ), ( NULL ) )
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#define xSemaphoreCreateCountingStatic( uxMaxCount, uxInitialCount, pxStaticSemaphore ) xQueueCreateCountingSemaphore( ( uxMaxCount ), ( uxInitialCount ), ( pxStaticSemaphore ) )
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#if( configSUPPORT_STATIC_ALLOCATION == 1 )
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#define xSemaphoreCreateCountingStatic( uxMaxCount, uxInitialCount, pxStaticSemaphore ) xQueueCreateCountingSemaphore( ( uxMaxCount ), ( uxInitialCount ), ( pxStaticSemaphore ) )
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#endif /* configSUPPORT_STATIC_ALLOCATION */
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/**
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* semphr. h
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@ -362,7 +362,7 @@ is used in assert() statements. */
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UBaseType_t uxPriority,
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TaskHandle_t *pvCreatedTask,
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StackType_t *pxStackBuffer,
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StaticTCB_t *pxTCBBuffer
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StaticTask_t *pxTCBBuffer
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);</pre>
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*
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* Create a new task and add it to the list of tasks that are ready to run.
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@ -402,7 +402,7 @@ is used in assert() statements. */
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* @param pxTCBBuffer If pxTCBBuffer is NULL then the TCB (which is the
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* structures used internally within FreeRTOS to hold information on the task)
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* will be allocated dynamically, just as when xTaskCreate() is used. If
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* pxTCBBuffer is not NULL then it must point to a variable of type StaticTCB_t,
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* pxTCBBuffer is not NULL then it must point to a variable of type StaticTask_t,
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* which will then be used as the TCB of the task being created.
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*
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* @return pdPASS if the task was successfully created and added to a ready
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@ -418,7 +418,7 @@ is used in assert() statements. */
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#define STACK_SIZE 200
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// Structure that will hold the TCB of the task being created.
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StaticTCB_t xTCB;
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StaticTask_t xTCB;
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// Buffer that the task being created will use as its stack.
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StackType_t xStack[ STACK_SIZE ];
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*/
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#if( configSUPPORT_STATIC_ALLOCATION == 1 )
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#define xTaskCreateStatic( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask, puxStackBuffer, pxDummyTCB ) xTaskGenericCreate( ( pvTaskCode ), ( pcName ), ( usStackDepth ), ( pvParameters ), ( uxPriority ), ( pxCreatedTask ), ( puxStackBuffer ), ( pxDummyTCB ), ( NULL ) )
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#endif
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#endif /* configSUPPORT_STATIC_ALLOCATION */
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/**
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* task. h
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@ -2095,7 +2095,7 @@ BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) PRIVILEGE
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* Generic version of the task creation function which is in turn called by the
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* xTaskCreate() and xTaskCreateRestricted() macros.
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*/
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BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, StaticTCB_t * const pxTCBBuffer, const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, StaticTask_t * const pxTCBBuffer, const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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/*
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* Get the uxTCBNumber assigned to the task referenced by the xTask parameter.
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@ -257,7 +257,11 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
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* }
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* @endverbatim
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*/
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TimerHandle_t xTimerCreate( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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#define xTimerCreate( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction ) xTimerGenericCreate( ( pcTimerName ), ( xTimerPeriodInTicks ), ( uxAutoReload ), ( pvTimerID ), ( pxCallbackFunction ), NULL )
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#if( configSUPPORT_STATIC_ALLOCATION == 1 )
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#define xTimerCreateStatic( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxStaticTimer ) xTimerGenericCreate( ( pcTimerName ), ( xTimerPeriodInTicks ), ( uxAutoReload ), ( pvTimerID ), ( pxCallbackFunction ), pxStaticTimer )
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#endif /* configSUPPORT_STATIC_ALLOCATION */
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/**
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* void *pvTimerGetTimerID( TimerHandle_t xTimer );
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@ -1136,6 +1140,7 @@ const char * pcTimerGetTimerName( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; /*
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*/
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BaseType_t xTimerCreateTimerTask( void ) PRIVILEGED_FUNCTION;
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BaseType_t xTimerGenericCommand( TimerHandle_t xTimer, const BaseType_t xCommandID, const TickType_t xOptionalValue, BaseType_t * const pxHigherPriorityTaskWoken, const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
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TimerHandle_t xTimerGenericCreate( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction, StaticTimer_t *pxStaticTimer ) PRIVILEGED_FUNCTION;
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#ifdef __cplusplus
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}
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