1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
|
/*
* Copyright (C) 2015 - 2018, IBEROXARXA SERVICIOS INTEGRALES, S.L.
* Copyright (C) 2015 - 2018, Jaume Olivé Petrus (jolive@whitecatboard.org)
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the <organization> nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
* * The WHITECAT logotype cannot be changed, you can remove it, but you
* cannot change it in any way. The WHITECAT logotype is:
*
* /\ /\
* / \_____/ \
* /_____________\
* W H I T E C A T
*
* * Redistributions in binary form must retain all copyright notices printed
* to any local or remote output device. This include any reference to
* Lua RTOS, whitecatboard.org, Lua, and other copyright notices that may
* appear in the future.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* Lua RTOS, FreeRTOS additions
*
*/
#ifndef _FREERTOS_ADDS_H
#define _FREERTOS_ADDS_H
//#include "lua.h"
#include <FreeRTOS.h>
#include <task.h>
#include <stdint.h>
#include <pthread.h>
typedef void* lua_State;
/* Value that can be assigned to the eNotifyState member of the TCB. */
typedef enum
{
eNotWaitingNotification = 0,
eWaitingNotification,
eNotified
} eNotifyValue_t;
typedef struct
{
volatile StackType_t *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
#if ( portUSING_MPU_WRAPPERS == 1 )
xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
#endif
ListItem_t xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
StackType_t *pxStack; /*< Points to the start of the stack. */
char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
BaseType_t xCoreID; /*< Core this task is pinned to */
/* If this moves around (other than pcTaskName size changes), please change the define in xtensa_vectors.S as well. */
#if ( portSTACK_GROWTH > 0 || configENABLE_TASK_SNAPSHOT == 1 )
StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
#endif
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
uint32_t uxOldInterruptState; /*< Interrupt state before the outer taskEnterCritical was called */
#endif
#if ( configUSE_TRACE_FACILITY == 1 )
UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
#endif
#if ( configUSE_MUTEXES == 1 )
UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
UBaseType_t uxMutexesHeld;
#endif
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
TaskHookFunction_t pxTaskTag;
#endif
#if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
#if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS )
TlsDeleteCallbackFunction_t pvThreadLocalStoragePointersDelCallback[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
#endif
#endif
#if ( configGENERATE_RUN_TIME_STATS == 1 )
uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
#endif
#if ( configUSE_NEWLIB_REENTRANT == 1 )
/* Allocate a Newlib reent structure that is specific to this task.
Note Newlib support has been included by popular demand, but is not
used by the FreeRTOS maintainers themselves. FreeRTOS is not
responsible for resulting newlib operation. User must be familiar with
newlib and must provide system-wide implementations of the necessary
stubs. Be warned that (at the time of writing) the current newlib design
implements a system-wide malloc() that must be provided with locks. */
struct _reent xNewLib_reent;
#endif
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
volatile uint32_t ulNotifiedValue;
volatile eNotifyValue_t eNotifyState;
#endif
/* See the comments above the definition of
tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
#endif
} tskTCB_t;
typedef enum {
StatusRunning = 1,
StatusSuspended = 2
} pthread_status_t;
typedef struct lthread {
lua_State *PL; // Parent thread
lua_State *L; // Thread state
int function_ref;
int thread_ref;
int status;
} lthread_t;
typedef struct {
uint8_t task_type;
char name[configMAX_TASK_NAME_LEN];
uint8_t core;
uint8_t prio;
size_t stack_size;
size_t free_stack;
uint32_t cpu_usage;
int thid;
lthread_t *lthread;
pthread_status_t status;
} task_info_t;
typedef struct {
int32_t threadid;
uint32_t signaled;
pthread_status_t status;
struct lthread *lthread;
} lua_rtos_tcb_t;
// This macro is not present in all FreeRTOS ports. In Lua RTOS is used in some places
// in the source code shared by all the supported platforms. ESP32 don't define this macro,
// so we define it for reuse code beetween platforms.
/* //{}
#define portEND_SWITCHING_ISR(xSwitchRequired) \
if (xSwitchRequired) { \
_frxt_setup_switch(); \
}
*/
UBaseType_t uxGetTaskId();
UBaseType_t uxGetThreadId();
void uxSetThreadStatus(TaskHandle_t h, pthread_status_t status);
void uxSetThreadId(UBaseType_t id);
void uxSetLThread(lthread_t *lthread);
lthread_t *pvGetLThread();
void uxSetSignaled(TaskHandle_t h, int s);
uint32_t uxGetSignaled(TaskHandle_t h);
TaskHandle_t xGetCurrentTask();
uint8_t ucGetCoreID(TaskHandle_t h);
int uxGetStack(TaskHandle_t h);
task_info_t *GetTaskInfo();
void uxSetLuaState(lua_State* L);
lua_State* pvGetLuaState();
#endif
|
