From 37806244da7d4f4fe26bf966cf9ad3f479be931d Mon Sep 17 00:00:00 2001 From: Maxime Vincent Date: Tue, 18 Apr 2017 15:55:05 +0200 Subject: [PATCH] Patch FreeRTOS 9 for Segger SystemView --- libs/FreeRTOS/include/FreeRTOS.h | 33 ++++++++++++++++++++++ libs/FreeRTOS/include/task.h | 19 +++++++++++++ libs/FreeRTOS/portable/GCC/ARM_CM0/port.c | 6 ++++ libs/FreeRTOS/portable/GCC/ARM_CM0/portmacro.h | 2 +- libs/FreeRTOS/portable/GCC/ARM_CM4F/port.c | 6 ++++ libs/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h | 2 +- libs/FreeRTOS/tasks.c | 37 +++++++++++++++++++++++-- 7 files changed, 100 insertions(+), 5 deletions(-) diff --git a/libs/FreeRTOS/include/FreeRTOS.h b/libs/FreeRTOS/include/FreeRTOS.h index 08a6be4..b10b407 100644 --- a/libs/FreeRTOS/include/FreeRTOS.h +++ b/libs/FreeRTOS/include/FreeRTOS.h @@ -198,6 +198,10 @@ extern "C" { #define INCLUDE_uxTaskGetStackHighWaterMark 0 #endif +#ifndef INCLUDE_pxTaskGetStackStart + #define INCLUDE_pxTaskGetStackStart 0 +#endif + #ifndef INCLUDE_eTaskGetState #define INCLUDE_eTaskGetState 0 #endif @@ -418,6 +422,22 @@ extern "C" { #define tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB ) #endif +#ifndef traceREADDED_TASK_TO_READY_STATE + #define traceREADDED_TASK_TO_READY_STATE( pxTCB ) traceMOVED_TASK_TO_READY_STATE( pxTCB ) +#endif + +#ifndef traceMOVED_TASK_TO_DELAYED_LIST + #define traceMOVED_TASK_TO_DELAYED_LIST() +#endif + +#ifndef traceMOVED_TASK_TO_OVERFLOW_DELAYED_LIST + #define traceMOVED_TASK_TO_OVERFLOW_DELAYED_LIST() +#endif + +#ifndef traceMOVED_TASK_TO_SUSPENDED_LIST + #define traceMOVED_TASK_TO_SUSPENDED_LIST( pxTCB ) +#endif + #ifndef traceQUEUE_CREATE #define traceQUEUE_CREATE( pxNewQueue ) #endif @@ -658,6 +678,19 @@ extern "C" { #define traceTASK_NOTIFY_GIVE_FROM_ISR() #endif +#ifndef traceISR_EXIT_TO_SCHEDULER + #define traceISR_EXIT_TO_SCHEDULER() +#endif + +#ifndef traceISR_EXIT + #define traceISR_EXIT() +#endif + +#ifndef traceISR_ENTER + #define traceISR_ENTER() +#endif + + #ifndef configGENERATE_RUN_TIME_STATS #define configGENERATE_RUN_TIME_STATS 0 #endif diff --git a/libs/FreeRTOS/include/task.h b/libs/FreeRTOS/include/task.h index 5e409c8..f9e24dd 100644 --- a/libs/FreeRTOS/include/task.h +++ b/libs/FreeRTOS/include/task.h @@ -1367,6 +1367,25 @@ TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) PRIVILEGED_FUNCTION; /* */ UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) PRIVILEGED_FUNCTION; +/** + * task.h + * 
uint8_t* pxTaskGetStackStart( TaskHandle_t xTask);
+ * + * INCLUDE_pxTaskGetStackStart must be set to 1 in FreeRTOSConfig.h for + * this function to be available. + * + * Returns the start of the stack associated with xTask. That is, + * the highest stack memory address on architectures where the stack grows down + * from high memory, and the lowest memory address on architectures where the + * stack grows up from low memory. + * + * @param xTask Handle of the task associated with the stack returned. + * Set xTask to NULL to return the stack of the calling task. + * + * @return A pointer to the start of the stack. + */ +uint8_t* pxTaskGetStackStart( TaskHandle_t xTask) PRIVILEGED_FUNCTION; + /* When using trace macros it is sometimes necessary to include task.h before FreeRTOS.h. When this is done TaskHookFunction_t will not yet have been defined, so the following two prototypes will cause a compilation error. This can be diff --git a/libs/FreeRTOS/portable/GCC/ARM_CM0/port.c b/libs/FreeRTOS/portable/GCC/ARM_CM0/port.c index 191d19c..dffbfb5 100644 --- a/libs/FreeRTOS/portable/GCC/ARM_CM0/port.c +++ b/libs/FreeRTOS/portable/GCC/ARM_CM0/port.c @@ -345,13 +345,19 @@ void xPortSysTickHandler( void ) uint32_t ulPreviousMask; ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR(); + traceISR_ENTER(); { /* Increment the RTOS tick. */ if( xTaskIncrementTick() != pdFALSE ) { + traceISR_EXIT_TO_SCHEDULER(); /* Pend a context switch. */ *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET; } + else + { + traceISR_EXIT(); + } } portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask ); } diff --git a/libs/FreeRTOS/portable/GCC/ARM_CM0/portmacro.h b/libs/FreeRTOS/portable/GCC/ARM_CM0/portmacro.h index c947595..6465ad8 100644 --- a/libs/FreeRTOS/portable/GCC/ARM_CM0/portmacro.h +++ b/libs/FreeRTOS/portable/GCC/ARM_CM0/portmacro.h @@ -123,7 +123,7 @@ extern void vPortYield( void ); #define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) ) #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) #define portYIELD() vPortYield() -#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT +#define portEND_SWITCHING_ISR( xSwitchRequired ) { if( xSwitchRequired ) { traceISR_EXIT_TO_SCHEDULER(); portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } else { traceISR_EXIT(); } } #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) /*-----------------------------------------------------------*/ diff --git a/libs/FreeRTOS/portable/GCC/ARM_CM4F/port.c b/libs/FreeRTOS/portable/GCC/ARM_CM4F/port.c index 42f5b37..6b8483d 100644 --- a/libs/FreeRTOS/portable/GCC/ARM_CM4F/port.c +++ b/libs/FreeRTOS/portable/GCC/ARM_CM4F/port.c @@ -497,14 +497,20 @@ void xPortSysTickHandler( void ) save and then restore the interrupt mask value as its value is already known. */ portDISABLE_INTERRUPTS(); + traceISR_ENTER(); { /* Increment the RTOS tick. */ if( xTaskIncrementTick() != pdFALSE ) { + traceISR_EXIT_TO_SCHEDULER(); /* A context switch is required. Context switching is performed in the PendSV interrupt. Pend the PendSV interrupt. */ portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } + else + { + traceISR_EXIT(); + } } portENABLE_INTERRUPTS(); } diff --git a/libs/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h b/libs/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h index b72042d..1a449e7 100644 --- a/libs/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h +++ b/libs/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h @@ -131,7 +131,7 @@ typedef unsigned long UBaseType_t; #define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) ) #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) -#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD() +#define portEND_SWITCHING_ISR( xSwitchRequired ) { if( xSwitchRequired != pdFALSE ) { traceISR_EXIT_TO_SCHEDULER(); portYIELD(); } else { traceISR_EXIT(); } } #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) /*-----------------------------------------------------------*/ diff --git a/libs/FreeRTOS/tasks.c b/libs/FreeRTOS/tasks.c index 94b1f6d..1631637 100644 --- a/libs/FreeRTOS/tasks.c +++ b/libs/FreeRTOS/tasks.c @@ -261,6 +261,17 @@ count overflows. */ taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \ vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \ tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB ) + +/* + * Place the task represented by pxTCB which has been in a ready list before + * into the appropriate ready list for the task. + * It is inserted at the end of the list. + */ +#define prvReaddTaskToReadyList( pxTCB ) \ + traceREADDED_TASK_TO_READY_STATE( pxTCB ); \ + taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \ + vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \ + tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB ) /*-----------------------------------------------------------*/ /* @@ -1534,7 +1545,7 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) { mtCOVERAGE_TEST_MARKER(); } - prvAddTaskToReadyList( pxTCB ); + prvReaddTaskToReadyList( pxTCB ); } else { @@ -1596,6 +1607,7 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) mtCOVERAGE_TEST_MARKER(); } + traceMOVED_TASK_TO_SUSPENDED_LIST(pxTCB); vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ); } taskEXIT_CRITICAL(); @@ -3576,6 +3588,20 @@ static void prvCheckTasksWaitingTermination( void ) #endif /* INCLUDE_uxTaskGetStackHighWaterMark */ /*-----------------------------------------------------------*/ +#if (INCLUDE_pxTaskGetStackStart == 1) + uint8_t* pxTaskGetStackStart( TaskHandle_t xTask) + { + TCB_t *pxTCB; + UBaseType_t uxReturn; + (void)uxReturn; + + pxTCB = prvGetTCBFromHandle( xTask ); + return ( uint8_t * ) pxTCB->pxStack; + } + +#endif /* INCLUDE_pxTaskGetStackStart */ +/*-----------------------------------------------------------*/ + #if ( INCLUDE_vTaskDelete == 1 ) static void prvDeleteTCB( TCB_t *pxTCB ) @@ -3743,7 +3769,7 @@ TCB_t *pxTCB; /* Inherit the priority before being moved into the new list. */ pxTCB->uxPriority = pxCurrentTCB->uxPriority; - prvAddTaskToReadyList( pxTCB ); + prvReaddTaskToReadyList( pxTCB ); } else { @@ -3815,7 +3841,7 @@ TCB_t *pxTCB; any other purpose if this task is running, and it must be running to give back the mutex. */ listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - prvAddTaskToReadyList( pxTCB ); + prvReaddTaskToReadyList( pxTCB ); /* Return true to indicate that a context switch is required. This is only actually required in the corner case whereby @@ -4723,6 +4749,7 @@ const TickType_t xConstTickCount = xTickCount; /* Add the task to the suspended task list instead of a delayed task list to ensure it is not woken by a timing event. It will block indefinitely. */ + traceMOVED_TASK_TO_SUSPENDED_LIST(pxCurrentTCB); vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) ); } else @@ -4737,12 +4764,14 @@ const TickType_t xConstTickCount = xTickCount; if( xTimeToWake < xConstTickCount ) { + traceMOVED_TASK_TO_OVERFLOW_DELAYED_LIST(); /* Wake time has overflowed. Place this item in the overflow list. */ vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) ); } else { + traceMOVED_TASK_TO_DELAYED_LIST(); /* The wake time has not overflowed, so the current block list is used. */ vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) ); @@ -4773,11 +4802,13 @@ const TickType_t xConstTickCount = xTickCount; if( xTimeToWake < xConstTickCount ) { + traceMOVED_TASK_TO_OVERFLOW_DELAYED_LIST(); /* Wake time has overflowed. Place this item in the overflow list. */ vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) ); } else { + traceMOVED_TASK_TO_DELAYED_LIST(); /* The wake time has not overflowed, so the current block list is used. */ vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) ); -- 2.12.2