mirror of
https://github.com/espressif/esp-idf.git
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6fc935e584
portBASE_TYPE is an internal macro defined by the porting layer. This commit changes all references to BaseType_t which is the official type exposed by FreeRTOS.
825 lines
26 KiB
C
825 lines
26 KiB
C
/*
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* SPDX-FileCopyrightText: 2020 Amazon.com, Inc. or its affiliates
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*
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* SPDX-License-Identifier: MIT
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*/
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/*
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* FreeRTOS Kernel V10.4.3
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* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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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
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* 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
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* 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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#include <unistd.h>
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#include <assert.h>
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/* Scheduler includes. */
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#include "esp_heap_caps.h"
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#include "FreeRTOS.h"
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#include "task.h"
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#include "esp_task.h"
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#include "timers.h"
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#include "utils/wait_for_event.h"
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#include "esp_log.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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TaskFunction_t 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 xAllSignals;
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static sigset_t xSchedulerOriginalSignalMask;
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static pthread_t hMainThread = ( pthread_t )NULL;
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// These are saved as part of a thread's state in prvSwitchThread()
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static volatile BaseType_t uxCriticalNestingIDF = 0; /* Track nesting calls for IDF style critical sections. FreeRTOS critical section nesting is maintained in the TCB. */
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static volatile UBaseType_t uxInterruptNesting = 0; /* Tracks if we are currently in an interrupt. */
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static volatile BaseType_t uxInterruptLevel = 0; /* Tracks the current level (i.e., interrupt mask) */
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/*-----------------------------------------------------------*/
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static BaseType_t 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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StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack,
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StackType_t *pxEndOfStack,
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TaskFunction_t pxCode,
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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 = (StackType_t *)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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BaseType_t prev_intr_level = xPortSetInterruptMask();
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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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vPortClearInterruptMask( prev_intr_level );
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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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BaseType_t 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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static 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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static 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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void vPortEnterCriticalIDF( void )
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{
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if ( uxCriticalNestingIDF == 0 && uxInterruptLevel == 0)
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{
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vPortDisableInterrupts();
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}
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uxCriticalNestingIDF++;
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}
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/*-----------------------------------------------------------*/
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void vPortExitCriticalIDF( void )
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{
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uxCriticalNestingIDF--;
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/* If we have reached 0 then re-enable the interrupts. */
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if( uxCriticalNestingIDF == 0 && uxInterruptLevel == 0)
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{
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vPortEnableInterrupts();
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}
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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(xPortGetCoreID());
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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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BaseType_t prev_intr_level = xPortSetInterruptMask();
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vPortYieldFromISR();
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vPortClearInterruptMask( prev_intr_level );
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}
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/*-----------------------------------------------------------*/
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/* In SMP code, the disable/enable interrupt macros are calling the set/get interrupt mask functions below.
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Hence, we need to call vPortDisableInterrupts() and vPortEnableInterrupts(), otherwise interrupts
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are never disabled/enabled. */
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BaseType_t xPortSetInterruptMask( void )
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{
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if (uxInterruptLevel == 0 && uxCriticalNestingIDF == 0) {
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vPortDisableInterrupts();
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}
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BaseType_t prev_intr_level = uxInterruptLevel;
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uxInterruptLevel++;
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return prev_intr_level;
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}
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/*-----------------------------------------------------------*/
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void vPortClearInterruptMask( BaseType_t xMask )
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{
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// Only reenable interrupts if xMask is 0
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uxInterruptLevel = xMask;
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if (uxInterruptLevel == 0 && uxCriticalNestingIDF == 0) {
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vPortEnableInterrupts();
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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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{
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struct timespec t;
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clock_gettime(CLOCK_MONOTONIC, &t);
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return t.tv_sec * 1000000000ull + t.tv_nsec;
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}
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static uint64_t prvStartTimeNs;
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/* 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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/*
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* Setup the systick timer to generate the tick interrupts at the required
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* frequency.
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*/
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void prvSetupTimerInterrupt( void )
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{
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struct itimerval itimer;
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int iRet;
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/* Initialise the structure with the current timer information. */
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iRet = getitimer( ITIMER_REAL, &itimer );
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if ( iRet )
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{
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prvFatalError( "getitimer", errno );
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}
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/* Set the interval between timer events. */
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itimer.it_interval.tv_sec = 0;
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itimer.it_interval.tv_usec = portTICK_RATE_MICROSECONDS;
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/* Set the current count-down. */
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itimer.it_value.tv_sec = 0;
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itimer.it_value.tv_usec = portTICK_RATE_MICROSECONDS;
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/* Set-up the timer interrupt. */
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iRet = setitimer( ITIMER_REAL, &itimer, NULL );
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if ( iRet )
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{
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prvFatalError( "setitimer", errno );
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}
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prvStartTimeNs = prvGetTimeNs();
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}
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/*-----------------------------------------------------------*/
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static void vPortSystemTickHandler( int sig )
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{
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Thread_t *pxThreadToSuspend;
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Thread_t *pxThreadToResume;
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BaseType_t xSwitchRequired;
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/* uint64_t xExpectedTicks; */
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// Handling a timer signal, so we are currently in an interrupt.
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uxInterruptNesting++;
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#if ( configUSE_PREEMPTION == 1 )
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pxThreadToSuspend = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
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#endif
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/* Tick Increment, accounting for any lost signals or drift in
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* the timer. */
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/*
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* Comment code to adjust timing according to full demo requirements
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* xExpectedTicks = (prvGetTimeNs() - prvStartTimeNs)
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* / (portTICK_RATE_MICROSECONDS * 1000);
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* do { */
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xSwitchRequired = xTaskIncrementTick();
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/* prvTickCount++;
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* } while (prvTickCount < xExpectedTicks);
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*/
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#if ( configUSE_PREEMPTION == 1 )
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if (xSwitchRequired == pdTRUE) {
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/* Select Next Task. */
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vTaskSwitchContext(xPortGetCoreID());
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pxThreadToResume = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
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prvSwitchThread(pxThreadToResume, pxThreadToSuspend);
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}
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#else
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(void)xSwitchRequired;
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#endif
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// Returning from the timer signal handler, so we are exiting the interrupt.
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uxInterruptNesting--;
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}
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/*-----------------------------------------------------------*/
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void vPortThreadDying( void *pxTaskToDelete, volatile BaseType_t *pxPendYield )
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{
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Thread_t *pxThread = prvGetThreadFromTask( pxTaskToDelete );
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pxThread->xDying = pdTRUE;
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}
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void vPortCancelThread( void *pxTaskToDelete )
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{
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Thread_t *pxThreadToCancel = prvGetThreadFromTask( pxTaskToDelete );
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/*
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* The thread has already been suspended so it can be safely cancelled.
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*/
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pthread_cancel( pxThreadToCancel->pthread );
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pthread_join( pxThreadToCancel->pthread, NULL );
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event_delete( pxThreadToCancel->ev );
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}
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/*-----------------------------------------------------------*/
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static void *prvWaitForStart( void * pvParams )
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{
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Thread_t *pxThread = pvParams;
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prvSuspendSelf(pxThread);
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/* Resumed for the first time, thus this thread didn't previously call
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* prvSwitchThread(). So we need to initialise the state variables for this
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* thread. */
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uxCriticalNestingIDF = 0;
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uxInterruptNesting = 0;
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uxInterruptLevel = 0;
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vPortEnableInterrupts();
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/* Call the task's entry point. */
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pxThread->pxCode( pxThread->pvParams );
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/* A function that implements a task must not exit or attempt to return to
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* its caller as there is nothing to return to. If a task wants to exit it
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* should instead call vTaskDelete( NULL ). Artificially force an assert()
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* to be triggered if configASSERT() is defined, so application writers can
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* catch the error. */
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configASSERT( pdFALSE );
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return NULL;
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}
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/*-----------------------------------------------------------*/
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static void prvSwitchThread( Thread_t *pxThreadToResume,
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Thread_t *pxThreadToSuspend )
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{
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BaseType_t uxSavedCriticalNestingIDF;
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BaseType_t uxSavedInterruptNesting;
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BaseType_t uxSavedInterruptLevel;
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if ( pxThreadToSuspend != pxThreadToResume )
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{
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/* It is possible for prvSwitchThread() to be called...
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* - while inside an ISR (i.e., via vPortSystemTickHandler() or vPortYieldFromISR())
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* - while interrupts are disabled or in a critical section (i.e., via vPortYield())
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*
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* So we need to save the various count variables as part of the thread's context.
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* They are restored when the pthread switches back. */
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uxSavedCriticalNestingIDF = uxCriticalNestingIDF;
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uxSavedInterruptNesting = uxInterruptNesting;
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uxSavedInterruptLevel = uxInterruptLevel;
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prvResumeThread( pxThreadToResume );
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if ( pxThreadToSuspend->xDying )
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{
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pthread_exit( NULL );
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}
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prvSuspendSelf( pxThreadToSuspend );
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uxCriticalNestingIDF = uxSavedCriticalNestingIDF;
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uxInterruptNesting = uxSavedInterruptNesting;
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uxInterruptLevel = uxSavedInterruptLevel;
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}
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}
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/*-----------------------------------------------------------*/
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static void prvSuspendSelf( Thread_t *thread )
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{
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/*
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* Suspend this thread by waiting for a pthread_cond_signal event.
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*
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* 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. */
|
|
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;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
bool portVALID_TCB_MEM(const void *ptr)
|
|
{
|
|
return true;
|
|
}
|
|
|
|
bool portVALID_STACK_MEM(const void *ptr)
|
|
{
|
|
return true;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
portMUX_TYPE port_xTaskLock = portMUX_INITIALIZER_UNLOCKED;
|
|
portMUX_TYPE port_xISRLock = portMUX_INITIALIZER_UNLOCKED;
|
|
|
|
static const char *TAG = "port";
|
|
|
|
|
|
/* When configSUPPORT_STATIC_ALLOCATION is set to 1 the application writer can
|
|
* use a callback function to optionally provide the memory required by the idle
|
|
* and timer tasks. This is the stack that will be used by the timer task. It is
|
|
* declared here, as a global, so it can be checked by a test that is implemented
|
|
* in a different file. */
|
|
StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];
|
|
|
|
BaseType_t xPortCheckIfInISR(void)
|
|
{
|
|
return (uxInterruptNesting == 0) ? pdFALSE : pdTRUE;
|
|
}
|
|
|
|
void app_main(void);
|
|
|
|
static void main_task(void* args)
|
|
{
|
|
app_main();
|
|
vTaskDelete(NULL);
|
|
}
|
|
|
|
int main(int argc, const char **argv)
|
|
{
|
|
// This makes sure that stdio is flushed after each '\n' so that idf.py monitor
|
|
// reads the program output on time.
|
|
setvbuf(stdout, NULL, _IOLBF, 0);
|
|
|
|
usleep(1000);
|
|
|
|
BaseType_t res;
|
|
|
|
#if ( configNUM_CORES > 1 )
|
|
res = xTaskCreateAffinitySet(&main_task, "main",
|
|
ESP_TASK_MAIN_STACK, NULL,
|
|
ESP_TASK_MAIN_PRIO, ESP_TASK_MAIN_CORE, NULL);
|
|
#else
|
|
res = xTaskCreate(&main_task, "main",
|
|
ESP_TASK_MAIN_STACK, NULL,
|
|
ESP_TASK_MAIN_PRIO, NULL);
|
|
#endif
|
|
|
|
assert(res == pdTRUE);
|
|
(void)res;
|
|
|
|
ESP_LOGI(TAG, "Starting SMP scheduler.");
|
|
vTaskStartScheduler();
|
|
|
|
// This line should never be reached
|
|
assert(false);
|
|
}
|
|
|
|
void esp_vApplicationIdleHook(void)
|
|
{
|
|
/* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
|
|
* to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
|
|
* task. It is essential that code added to this hook function never attempts
|
|
* to block in any way (for example, call xQueueReceive() with a block time
|
|
* specified, or call vTaskDelay()). If application tasks make use of the
|
|
* vTaskDelete() API function to delete themselves then it is also important
|
|
* that vApplicationIdleHook() is permitted to return to its calling function,
|
|
* because it is the responsibility of the idle task to clean up memory
|
|
* allocated by the kernel to any task that has since deleted itself. */
|
|
|
|
|
|
usleep( 15000 );
|
|
}
|
|
|
|
void esp_vApplicationTickHook( void ) { }
|
|
|
|
#if ( configUSE_TICK_HOOK > 0 )
|
|
void vApplicationTickHook( void )
|
|
{
|
|
esp_vApplicationTickHook();
|
|
}
|
|
#endif
|
|
|
|
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
|
|
/* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
|
|
* implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
|
|
* used by the Idle task. */
|
|
void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
|
|
StackType_t ** ppxIdleTaskStackBuffer,
|
|
uint32_t * pulIdleTaskStackSize )
|
|
{
|
|
/* If the buffers to be provided to the Idle task are declared inside this
|
|
* function then they must be declared static - otherwise they will be allocated on
|
|
* the stack and so not exists after this function exits. */
|
|
static StaticTask_t xIdleTaskTCB;
|
|
static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
|
|
|
|
/* Pass out a pointer to the StaticTask_t structure in which the Idle task's
|
|
* state will be stored. */
|
|
*ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
|
|
|
|
/* Pass out the array that will be used as the Idle task's stack. */
|
|
*ppxIdleTaskStackBuffer = uxIdleTaskStack;
|
|
|
|
/* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
|
|
* Note that, as the array is necessarily of type StackType_t,
|
|
* configMINIMAL_STACK_SIZE is specified in words, not bytes. */
|
|
*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
|
|
}
|
|
#endif // configSUPPORT_STATIC_ALLOCATION == 1
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
|
|
/* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
|
|
* application must provide an implementation of vApplicationGetTimerTaskMemory()
|
|
* to provide the memory that is used by the Timer service task. */
|
|
void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer,
|
|
StackType_t ** ppxTimerTaskStackBuffer,
|
|
uint32_t * pulTimerTaskStackSize )
|
|
{
|
|
/* If the buffers to be provided to the Timer task are declared inside this
|
|
* function then they must be declared static - otherwise they will be allocated on
|
|
* the stack and so not exists after this function exits. */
|
|
static StaticTask_t xTimerTaskTCB;
|
|
|
|
/* Pass out a pointer to the StaticTask_t structure in which the Timer
|
|
* task's state will be stored. */
|
|
*ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
|
|
|
|
/* Pass out the array that will be used as the Timer task's stack. */
|
|
*ppxTimerTaskStackBuffer = uxTimerTaskStack;
|
|
|
|
/* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
|
|
* Note that, as the array is necessarily of type StackType_t,
|
|
* configMINIMAL_STACK_SIZE is specified in words, not bytes. */
|
|
*pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
|
|
}
|
|
#endif // configSUPPORT_STATIC_ALLOCATION == 1
|
|
|
|
void vPortTakeLock( portMUX_TYPE *lock )
|
|
{
|
|
spinlock_acquire( lock, portMUX_NO_TIMEOUT);
|
|
}
|
|
|
|
void vPortReleaseLock( portMUX_TYPE *lock )
|
|
{
|
|
spinlock_release( lock );
|
|
}
|
|
|
|
#define FREERTOS_SMP_MALLOC_CAPS (MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT)
|
|
|
|
void *pvPortMalloc( size_t xSize )
|
|
{
|
|
return heap_caps_malloc(xSize, FREERTOS_SMP_MALLOC_CAPS);
|
|
}
|
|
|
|
void vPortFree( void *pv )
|
|
{
|
|
heap_caps_free(pv);
|
|
}
|
|
|
|
void __attribute__((weak)) vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName)
|
|
{
|
|
#define ERR_STR1 "***ERROR*** A stack overflow in task "
|
|
#define ERR_STR2 " has been detected."
|
|
const char *str[] = {ERR_STR1, pcTaskName, ERR_STR2};
|
|
|
|
char buf[sizeof(ERR_STR1) + CONFIG_FREERTOS_MAX_TASK_NAME_LEN + sizeof(ERR_STR2) + 1 /* null char */] = {0};
|
|
|
|
char *dest = buf;
|
|
for (int i = 0; i < sizeof(str) / sizeof(str[0]); i++) {
|
|
dest = strcat(dest, str[i]);
|
|
}
|
|
printf("%s\n", buf);
|
|
abort();
|
|
}
|
|
|
|
// ------- Thread Local Storage Pointers Deletion Callbacks -------
|
|
|
|
#if ( CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS )
|
|
void vPortTLSPointersDelCb( void *pxTCB )
|
|
{
|
|
/* Typecast pxTCB to StaticTask_t type to access TCB struct members.
|
|
* pvDummy15 corresponds to pvThreadLocalStoragePointers member of the TCB.
|
|
*/
|
|
StaticTask_t *tcb = ( StaticTask_t * )pxTCB;
|
|
|
|
/* The TLSP deletion callbacks are stored at an offset of (configNUM_THREAD_LOCAL_STORAGE_POINTERS/2) */
|
|
TlsDeleteCallbackFunction_t *pvThreadLocalStoragePointersDelCallback = ( TlsDeleteCallbackFunction_t * )( &( tcb->pvDummy15[ ( configNUM_THREAD_LOCAL_STORAGE_POINTERS / 2 ) ] ) );
|
|
|
|
/* We need to iterate over half the depth of the pvThreadLocalStoragePointers area
|
|
* to access all TLS pointers and their respective TLS deletion callbacks.
|
|
*/
|
|
for ( int x = 0; x < ( configNUM_THREAD_LOCAL_STORAGE_POINTERS / 2 ); x++ ) {
|
|
if ( pvThreadLocalStoragePointersDelCallback[ x ] != NULL ) { //If del cb is set
|
|
// We skip the check if the callback is executable as that is difficult to determine for different
|
|
// platforms (compare xtensa and riscv code).
|
|
pvThreadLocalStoragePointersDelCallback[ x ]( x, tcb->pvDummy15[ x ] ); //Call del cb
|
|
}
|
|
}
|
|
}
|
|
#endif // CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS
|
|
|
|
void vPortCleanUpTCB ( void *pxTCB )
|
|
{
|
|
#if ( CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS )
|
|
/* Call TLS pointers deletion callbacks */
|
|
vPortTLSPointersDelCb( pxTCB );
|
|
#endif /* CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS */
|
|
|
|
vPortCancelThread(pxTCB);
|
|
}
|