2 * FreeRTOS Kernel V10.2.1
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3 * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /* Standard includes. */
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32 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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33 all the API functions to use the MPU wrappers. That should only be done when
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34 task.h is included from an application file. */
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35 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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37 /* FreeRTOS includes. */
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38 #include "FreeRTOS.h"
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41 #include "stack_macros.h"
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43 /* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
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44 because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
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45 for the header files above, but not in this file, in order to generate the
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46 correct privileged Vs unprivileged linkage and placement. */
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47 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
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49 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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50 functions but without including stdio.h here. */
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51 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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52 /* At the bottom of this file are two optional functions that can be used
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53 to generate human readable text from the raw data generated by the
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54 uxTaskGetSystemState() function. Note the formatting functions are provided
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55 for convenience only, and are NOT considered part of the kernel. */
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57 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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59 #if( configUSE_PREEMPTION == 0 )
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60 /* If the cooperative scheduler is being used then a yield should not be
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61 performed just because a higher priority task has been woken. */
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62 #define taskYIELD_IF_USING_PREEMPTION()
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64 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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67 /* Values that can be assigned to the ucNotifyState member of the TCB. */
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68 #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )
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69 #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
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70 #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
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73 * The value used to fill the stack of a task when the task is created. This
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74 * is used purely for checking the high water mark for tasks.
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76 #define tskSTACK_FILL_BYTE ( 0xa5U )
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78 /* Bits used to recored how a task's stack and TCB were allocated. */
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79 #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
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80 #define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
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81 #define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
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83 /* If any of the following are set then task stacks are filled with a known
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84 value so the high water mark can be determined. If none of the following are
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85 set then don't fill the stack so there is no unnecessary dependency on memset. */
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86 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
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87 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 1
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89 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 0
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93 * Macros used by vListTask to indicate which state a task is in.
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95 #define tskRUNNING_CHAR ( 'X' )
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96 #define tskBLOCKED_CHAR ( 'B' )
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97 #define tskREADY_CHAR ( 'R' )
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98 #define tskDELETED_CHAR ( 'D' )
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99 #define tskSUSPENDED_CHAR ( 'S' )
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102 * Some kernel aware debuggers require the data the debugger needs access to be
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103 * global, rather than file scope.
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105 #ifdef portREMOVE_STATIC_QUALIFIER
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109 /* The name allocated to the Idle task. This can be overridden by defining
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110 configIDLE_TASK_NAME in FreeRTOSConfig.h. */
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111 #ifndef configIDLE_TASK_NAME
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112 #define configIDLE_TASK_NAME "IDLE"
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115 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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117 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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118 performed in a generic way that is not optimised to any particular
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119 microcontroller architecture. */
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121 /* uxTopReadyPriority holds the priority of the highest priority ready
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123 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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125 if( ( uxPriority ) > uxTopReadyPriority ) \
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127 uxTopReadyPriority = ( uxPriority ); \
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129 } /* taskRECORD_READY_PRIORITY */
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131 /*-----------------------------------------------------------*/
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133 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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135 UBaseType_t uxTopPriority = uxTopReadyPriority; \
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137 /* Find the highest priority queue that contains ready tasks. */ \
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138 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
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140 configASSERT( uxTopPriority ); \
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144 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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145 the same priority get an equal share of the processor time. */ \
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146 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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147 uxTopReadyPriority = uxTopPriority; \
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148 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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150 /*-----------------------------------------------------------*/
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152 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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153 they are only required when a port optimised method of task selection is
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155 #define taskRESET_READY_PRIORITY( uxPriority )
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156 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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158 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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160 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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161 performed in a way that is tailored to the particular microcontroller
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162 architecture being used. */
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164 /* A port optimised version is provided. Call the port defined macros. */
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165 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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167 /*-----------------------------------------------------------*/
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169 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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171 UBaseType_t uxTopPriority; \
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173 /* Find the highest priority list that contains ready tasks. */ \
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174 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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175 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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176 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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177 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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179 /*-----------------------------------------------------------*/
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181 /* A port optimised version is provided, call it only if the TCB being reset
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182 is being referenced from a ready list. If it is referenced from a delayed
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183 or suspended list then it won't be in a ready list. */
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184 #define taskRESET_READY_PRIORITY( uxPriority ) \
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186 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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188 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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192 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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194 /*-----------------------------------------------------------*/
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196 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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197 count overflows. */
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198 #define taskSWITCH_DELAYED_LISTS() \
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202 /* The delayed tasks list should be empty when the lists are switched. */ \
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203 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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205 pxTemp = pxDelayedTaskList; \
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206 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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207 pxOverflowDelayedTaskList = pxTemp; \
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208 xNumOfOverflows++; \
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209 prvResetNextTaskUnblockTime(); \
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212 /*-----------------------------------------------------------*/
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215 * Place the task represented by pxTCB into the appropriate ready list for
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216 * the task. It is inserted at the end of the list.
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218 #define prvAddTaskToReadyList( pxTCB ) \
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219 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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220 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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221 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
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222 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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223 /*-----------------------------------------------------------*/
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226 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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227 * where NULL is used to indicate that the handle of the currently executing
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228 * task should be used in place of the parameter. This macro simply checks to
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229 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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231 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) )
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233 /* The item value of the event list item is normally used to hold the priority
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234 of the task to which it belongs (coded to allow it to be held in reverse
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235 priority order). However, it is occasionally borrowed for other purposes. It
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236 is important its value is not updated due to a task priority change while it is
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237 being used for another purpose. The following bit definition is used to inform
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238 the scheduler that the value should not be changed - in which case it is the
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239 responsibility of whichever module is using the value to ensure it gets set back
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240 to its original value when it is released. */
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241 #if( configUSE_16_BIT_TICKS == 1 )
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242 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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244 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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248 * Task control block. A task control block (TCB) is allocated for each task,
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249 * and stores task state information, including a pointer to the task's context
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250 * (the task's run time environment, including register values)
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252 typedef struct tskTaskControlBlock /* The old naming convention is used to prevent breaking kernel aware debuggers. */
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254 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. */
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256 #if ( portUSING_MPU_WRAPPERS == 1 )
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257 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
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260 ListItem_t xStateListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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261 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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262 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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263 StackType_t *pxStack; /*< Points to the start of the stack. */
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264 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. */
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266 #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
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267 StackType_t *pxEndOfStack; /*< Points to the highest valid address for the stack. */
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270 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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271 UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
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274 #if ( configUSE_TRACE_FACILITY == 1 )
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275 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. */
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276 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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279 #if ( configUSE_MUTEXES == 1 )
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280 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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281 UBaseType_t uxMutexesHeld;
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284 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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285 TaskHookFunction_t pxTaskTag;
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288 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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289 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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292 #if( configGENERATE_RUN_TIME_STATS == 1 )
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293 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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296 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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297 /* Allocate a Newlib reent structure that is specific to this task.
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298 Note Newlib support has been included by popular demand, but is not
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299 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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300 responsible for resulting newlib operation. User must be familiar with
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301 newlib and must provide system-wide implementations of the necessary
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302 stubs. Be warned that (at the time of writing) the current newlib design
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303 implements a system-wide malloc() that must be provided with locks.
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305 See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
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306 for additional information. */
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307 struct _reent xNewLib_reent;
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310 #if( configUSE_TASK_NOTIFICATIONS == 1 )
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311 volatile uint32_t ulNotifiedValue;
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312 volatile uint8_t ucNotifyState;
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315 /* See the comments in FreeRTOS.h with the definition of
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316 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
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317 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
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318 uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
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321 #if( INCLUDE_xTaskAbortDelay == 1 )
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322 uint8_t ucDelayAborted;
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325 #if( configUSE_POSIX_ERRNO == 1 )
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331 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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332 below to enable the use of older kernel aware debuggers. */
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333 typedef tskTCB TCB_t;
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335 /*lint -save -e956 A manual analysis and inspection has been used to determine
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336 which static variables must be declared volatile. */
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337 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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339 /* Lists for ready and blocked tasks. --------------------
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340 xDelayedTaskList1 and xDelayedTaskList2 could be move to function scople but
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341 doing so breaks some kernel aware debuggers and debuggers that rely on removing
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342 the static qualifier. */
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343 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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344 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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345 PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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346 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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347 PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
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348 PRIVILEGED_DATA static List_t xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
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350 #if( INCLUDE_vTaskDelete == 1 )
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352 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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353 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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357 #if ( INCLUDE_vTaskSuspend == 1 )
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359 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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363 /* Global POSIX errno. Its value is changed upon context switching to match
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364 the errno of the currently running task. */
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365 #if ( configUSE_POSIX_ERRNO == 1 )
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366 int FreeRTOS_errno = 0;
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369 /* Other file private variables. --------------------------------*/
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370 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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371 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
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372 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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373 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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374 PRIVILEGED_DATA static volatile TickType_t xPendedTicks = ( TickType_t ) 0U;
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375 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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376 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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377 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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378 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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379 PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
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381 /* Context switches are held pending while the scheduler is suspended. Also,
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382 interrupts must not manipulate the xStateListItem of a TCB, or any of the
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383 lists the xStateListItem can be referenced from, if the scheduler is suspended.
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384 If an interrupt needs to unblock a task while the scheduler is suspended then it
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385 moves the task's event list item into the xPendingReadyList, ready for the
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386 kernel to move the task from the pending ready list into the real ready list
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387 when the scheduler is unsuspended. The pending ready list itself can only be
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388 accessed from a critical section. */
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389 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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391 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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393 /* Do not move these variables to function scope as doing so prevents the
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394 code working with debuggers that need to remove the static qualifier. */
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395 PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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396 PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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402 /*-----------------------------------------------------------*/
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404 /* Callback function prototypes. --------------------------*/
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405 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
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407 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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411 #if( configUSE_TICK_HOOK > 0 )
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413 extern void vApplicationTickHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */
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417 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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419 extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */
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423 /* File private functions. --------------------------------*/
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426 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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427 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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428 * is in any other state.
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430 #if ( INCLUDE_vTaskSuspend == 1 )
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432 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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434 #endif /* INCLUDE_vTaskSuspend */
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437 * Utility to ready all the lists used by the scheduler. This is called
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438 * automatically upon the creation of the first task.
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440 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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443 * The idle task, which as all tasks is implemented as a never ending loop.
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444 * The idle task is automatically created and added to the ready lists upon
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445 * creation of the first user task.
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447 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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448 * language extensions. The equivalent prototype for this function is:
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450 * void prvIdleTask( void *pvParameters );
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453 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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456 * Utility to free all memory allocated by the scheduler to hold a TCB,
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457 * including the stack pointed to by the TCB.
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459 * This does not free memory allocated by the task itself (i.e. memory
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460 * allocated by calls to pvPortMalloc from within the tasks application code).
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462 #if ( INCLUDE_vTaskDelete == 1 )
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464 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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469 * Used only by the idle task. This checks to see if anything has been placed
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470 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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471 * and its TCB deleted.
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473 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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476 * The currently executing task is entering the Blocked state. Add the task to
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477 * either the current or the overflow delayed task list.
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479 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
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482 * Fills an TaskStatus_t structure with information on each task that is
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483 * referenced from the pxList list (which may be a ready list, a delayed list,
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484 * a suspended list, etc.).
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486 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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487 * NORMAL APPLICATION CODE.
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489 #if ( configUSE_TRACE_FACILITY == 1 )
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491 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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496 * Searches pxList for a task with name pcNameToQuery - returning a handle to
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497 * the task if it is found, or NULL if the task is not found.
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499 #if ( INCLUDE_xTaskGetHandle == 1 )
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501 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
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506 * When a task is created, the stack of the task is filled with a known value.
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507 * This function determines the 'high water mark' of the task stack by
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508 * determining how much of the stack remains at the original preset value.
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510 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
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512 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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517 * Return the amount of time, in ticks, that will pass before the kernel will
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518 * next move a task from the Blocked state to the Running state.
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520 * This conditional compilation should use inequality to 0, not equality to 1.
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521 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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522 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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523 * set to a value other than 1.
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525 #if ( configUSE_TICKLESS_IDLE != 0 )
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527 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
\r
532 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
\r
533 * will exit the Blocked state.
\r
535 static void prvResetNextTaskUnblockTime( void );
\r
537 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
540 * Helper function used to pad task names with spaces when printing out
\r
541 * human readable tables of task information.
\r
543 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
\r
548 * Called after a Task_t structure has been allocated either statically or
\r
549 * dynamically to fill in the structure's members.
\r
551 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
552 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
553 const uint32_t ulStackDepth,
\r
554 void * const pvParameters,
\r
555 UBaseType_t uxPriority,
\r
556 TaskHandle_t * const pxCreatedTask,
\r
558 const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
\r
561 * Called after a new task has been created and initialised to place the task
\r
562 * under the control of the scheduler.
\r
564 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
\r
567 * freertos_tasks_c_additions_init() should only be called if the user definable
\r
568 * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
\r
569 * called by the function.
\r
571 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
573 static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
\r
577 /*-----------------------------------------------------------*/
\r
579 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
581 TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
\r
582 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
583 const uint32_t ulStackDepth,
\r
584 void * const pvParameters,
\r
585 UBaseType_t uxPriority,
\r
586 StackType_t * const puxStackBuffer,
\r
587 StaticTask_t * const pxTaskBuffer )
\r
590 TaskHandle_t xReturn;
\r
592 configASSERT( puxStackBuffer != NULL );
\r
593 configASSERT( pxTaskBuffer != NULL );
\r
595 #if( configASSERT_DEFINED == 1 )
\r
597 /* Sanity check that the size of the structure used to declare a
\r
598 variable of type StaticTask_t equals the size of the real task
\r
600 volatile size_t xSize = sizeof( StaticTask_t );
\r
601 configASSERT( xSize == sizeof( TCB_t ) );
\r
602 ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
\r
604 #endif /* configASSERT_DEFINED */
\r
607 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
\r
609 /* The memory used for the task's TCB and stack are passed into this
\r
610 function - use them. */
\r
611 pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
\r
612 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
\r
614 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
616 /* Tasks can be created statically or dynamically, so note this
\r
617 task was created statically in case the task is later deleted. */
\r
618 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
620 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
622 prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
\r
623 prvAddNewTaskToReadyList( pxNewTCB );
\r
633 #endif /* SUPPORT_STATIC_ALLOCATION */
\r
634 /*-----------------------------------------------------------*/
\r
636 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
638 BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
641 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
643 configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
\r
644 configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
\r
646 if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
\r
648 /* Allocate space for the TCB. Where the memory comes from depends
\r
649 on the implementation of the port malloc function and whether or
\r
650 not static allocation is being used. */
\r
651 pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
\r
653 /* Store the stack location in the TCB. */
\r
654 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
656 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
658 /* Tasks can be created statically or dynamically, so note this
\r
659 task was created statically in case the task is later deleted. */
\r
660 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
662 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
664 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
665 pxTaskDefinition->pcName,
\r
666 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
667 pxTaskDefinition->pvParameters,
\r
668 pxTaskDefinition->uxPriority,
\r
669 pxCreatedTask, pxNewTCB,
\r
670 pxTaskDefinition->xRegions );
\r
672 prvAddNewTaskToReadyList( pxNewTCB );
\r
679 #endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
\r
680 /*-----------------------------------------------------------*/
\r
682 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
684 BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
687 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
689 configASSERT( pxTaskDefinition->puxStackBuffer );
\r
691 if( pxTaskDefinition->puxStackBuffer != NULL )
\r
693 /* Allocate space for the TCB. Where the memory comes from depends
\r
694 on the implementation of the port malloc function and whether or
\r
695 not static allocation is being used. */
\r
696 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
698 if( pxNewTCB != NULL )
\r
700 /* Store the stack location in the TCB. */
\r
701 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
703 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
705 /* Tasks can be created statically or dynamically, so note
\r
706 this task had a statically allocated stack in case it is
\r
707 later deleted. The TCB was allocated dynamically. */
\r
708 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
\r
710 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
712 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
713 pxTaskDefinition->pcName,
\r
714 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
715 pxTaskDefinition->pvParameters,
\r
716 pxTaskDefinition->uxPriority,
\r
717 pxCreatedTask, pxNewTCB,
\r
718 pxTaskDefinition->xRegions );
\r
720 prvAddNewTaskToReadyList( pxNewTCB );
\r
728 #endif /* portUSING_MPU_WRAPPERS */
\r
729 /*-----------------------------------------------------------*/
\r
731 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
733 BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
\r
734 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
735 const configSTACK_DEPTH_TYPE usStackDepth,
\r
736 void * const pvParameters,
\r
737 UBaseType_t uxPriority,
\r
738 TaskHandle_t * const pxCreatedTask )
\r
741 BaseType_t xReturn;
\r
743 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
744 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
745 the TCB then the stack. */
\r
746 #if( portSTACK_GROWTH > 0 )
\r
748 /* Allocate space for the TCB. Where the memory comes from depends on
\r
749 the implementation of the port malloc function and whether or not static
\r
750 allocation is being used. */
\r
751 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
753 if( pxNewTCB != NULL )
\r
755 /* Allocate space for the stack used by the task being created.
\r
756 The base of the stack memory stored in the TCB so the task can
\r
757 be deleted later if required. */
\r
758 pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
760 if( pxNewTCB->pxStack == NULL )
\r
762 /* Could not allocate the stack. Delete the allocated TCB. */
\r
763 vPortFree( pxNewTCB );
\r
768 #else /* portSTACK_GROWTH */
\r
770 StackType_t *pxStack;
\r
772 /* Allocate space for the stack used by the task being created. */
\r
773 pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
\r
775 if( pxStack != NULL )
\r
777 /* Allocate space for the TCB. */
\r
778 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */
\r
780 if( pxNewTCB != NULL )
\r
782 /* Store the stack location in the TCB. */
\r
783 pxNewTCB->pxStack = pxStack;
\r
787 /* The stack cannot be used as the TCB was not created. Free
\r
789 vPortFree( pxStack );
\r
797 #endif /* portSTACK_GROWTH */
\r
799 if( pxNewTCB != NULL )
\r
801 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
\r
803 /* Tasks can be created statically or dynamically, so note this
\r
804 task was created dynamically in case it is later deleted. */
\r
805 pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
\r
807 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
809 prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
\r
810 prvAddNewTaskToReadyList( pxNewTCB );
\r
815 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
821 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
822 /*-----------------------------------------------------------*/
\r
824 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
825 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
826 const uint32_t ulStackDepth,
\r
827 void * const pvParameters,
\r
828 UBaseType_t uxPriority,
\r
829 TaskHandle_t * const pxCreatedTask,
\r
831 const MemoryRegion_t * const xRegions )
\r
833 StackType_t *pxTopOfStack;
\r
836 #if( portUSING_MPU_WRAPPERS == 1 )
\r
837 /* Should the task be created in privileged mode? */
\r
838 BaseType_t xRunPrivileged;
\r
839 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
841 xRunPrivileged = pdTRUE;
\r
845 xRunPrivileged = pdFALSE;
\r
847 uxPriority &= ~portPRIVILEGE_BIT;
\r
848 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
850 /* Avoid dependency on memset() if it is not required. */
\r
851 #if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
\r
853 /* Fill the stack with a known value to assist debugging. */
\r
854 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
\r
856 #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
\r
858 /* Calculate the top of stack address. This depends on whether the stack
\r
859 grows from high memory to low (as per the 80x86) or vice versa.
\r
860 portSTACK_GROWTH is used to make the result positive or negative as required
\r
862 #if( portSTACK_GROWTH < 0 )
\r
864 pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
\r
865 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 !e9033 !e9078 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. Checked by assert(). */
\r
867 /* Check the alignment of the calculated top of stack is correct. */
\r
868 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
870 #if( configRECORD_STACK_HIGH_ADDRESS == 1 )
\r
872 /* Also record the stack's high address, which may assist
\r
874 pxNewTCB->pxEndOfStack = pxTopOfStack;
\r
876 #endif /* configRECORD_STACK_HIGH_ADDRESS */
\r
878 #else /* portSTACK_GROWTH */
\r
880 pxTopOfStack = pxNewTCB->pxStack;
\r
882 /* Check the alignment of the stack buffer is correct. */
\r
883 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
885 /* The other extreme of the stack space is required if stack checking is
\r
887 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
889 #endif /* portSTACK_GROWTH */
\r
891 /* Store the task name in the TCB. */
\r
892 if( pcName != NULL )
\r
894 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
896 pxNewTCB->pcTaskName[ x ] = pcName[ x ];
\r
898 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
899 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
900 string is not accessible (extremely unlikely). */
\r
901 if( pcName[ x ] == ( char ) 0x00 )
\r
907 mtCOVERAGE_TEST_MARKER();
\r
911 /* Ensure the name string is terminated in the case that the string length
\r
912 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
913 pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
917 /* The task has not been given a name, so just ensure there is a NULL
\r
918 terminator when it is read out. */
\r
919 pxNewTCB->pcTaskName[ 0 ] = 0x00;
\r
922 /* This is used as an array index so must ensure it's not too large. First
\r
923 remove the privilege bit if one is present. */
\r
924 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
926 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
930 mtCOVERAGE_TEST_MARKER();
\r
933 pxNewTCB->uxPriority = uxPriority;
\r
934 #if ( configUSE_MUTEXES == 1 )
\r
936 pxNewTCB->uxBasePriority = uxPriority;
\r
937 pxNewTCB->uxMutexesHeld = 0;
\r
939 #endif /* configUSE_MUTEXES */
\r
941 vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
\r
942 vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
\r
944 /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
\r
945 back to the containing TCB from a generic item in a list. */
\r
946 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
\r
948 /* Event lists are always in priority order. */
\r
949 listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
950 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
\r
952 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
954 pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
956 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
958 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
960 pxNewTCB->pxTaskTag = NULL;
\r
962 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
964 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
966 pxNewTCB->ulRunTimeCounter = 0UL;
\r
968 #endif /* configGENERATE_RUN_TIME_STATS */
\r
970 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
972 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
\r
976 /* Avoid compiler warning about unreferenced parameter. */
\r
981 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
983 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
985 pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
990 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
992 pxNewTCB->ulNotifiedValue = 0;
\r
993 pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
997 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
999 /* Initialise this task's Newlib reent structure.
\r
1000 See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
\r
1001 for additional information. */
\r
1002 _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
\r
1006 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
1008 pxNewTCB->ucDelayAborted = pdFALSE;
\r
1012 /* Initialize the TCB stack to look as if the task was already running,
\r
1013 but had been interrupted by the scheduler. The return address is set
\r
1014 to the start of the task function. Once the stack has been initialised
\r
1015 the top of stack variable is updated. */
\r
1016 #if( portUSING_MPU_WRAPPERS == 1 )
\r
1018 /* If the port has capability to detect stack overflow,
\r
1019 pass the stack end address to the stack initialization
\r
1020 function as well. */
\r
1021 #if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
\r
1023 #if( portSTACK_GROWTH < 0 )
\r
1025 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1027 #else /* portSTACK_GROWTH */
\r
1029 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1031 #endif /* portSTACK_GROWTH */
\r
1033 #else /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1035 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1037 #endif /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1039 #else /* portUSING_MPU_WRAPPERS */
\r
1041 /* If the port has capability to detect stack overflow,
\r
1042 pass the stack end address to the stack initialization
\r
1043 function as well. */
\r
1044 #if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
\r
1046 #if( portSTACK_GROWTH < 0 )
\r
1048 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters );
\r
1050 #else /* portSTACK_GROWTH */
\r
1052 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters );
\r
1054 #endif /* portSTACK_GROWTH */
\r
1056 #else /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1058 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
1060 #endif /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1062 #endif /* portUSING_MPU_WRAPPERS */
\r
1064 if( pxCreatedTask != NULL )
\r
1066 /* Pass the handle out in an anonymous way. The handle can be used to
\r
1067 change the created task's priority, delete the created task, etc.*/
\r
1068 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
1072 mtCOVERAGE_TEST_MARKER();
\r
1075 /*-----------------------------------------------------------*/
\r
1077 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
\r
1079 /* Ensure interrupts don't access the task lists while the lists are being
\r
1081 taskENTER_CRITICAL();
\r
1083 uxCurrentNumberOfTasks++;
\r
1084 if( pxCurrentTCB == NULL )
\r
1086 /* There are no other tasks, or all the other tasks are in
\r
1087 the suspended state - make this the current task. */
\r
1088 pxCurrentTCB = pxNewTCB;
\r
1090 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
1092 /* This is the first task to be created so do the preliminary
\r
1093 initialisation required. We will not recover if this call
\r
1094 fails, but we will report the failure. */
\r
1095 prvInitialiseTaskLists();
\r
1099 mtCOVERAGE_TEST_MARKER();
\r
1104 /* If the scheduler is not already running, make this task the
\r
1105 current task if it is the highest priority task to be created
\r
1107 if( xSchedulerRunning == pdFALSE )
\r
1109 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
\r
1111 pxCurrentTCB = pxNewTCB;
\r
1115 mtCOVERAGE_TEST_MARKER();
\r
1120 mtCOVERAGE_TEST_MARKER();
\r
1126 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1128 /* Add a counter into the TCB for tracing only. */
\r
1129 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
1131 #endif /* configUSE_TRACE_FACILITY */
\r
1132 traceTASK_CREATE( pxNewTCB );
\r
1134 prvAddTaskToReadyList( pxNewTCB );
\r
1136 portSETUP_TCB( pxNewTCB );
\r
1138 taskEXIT_CRITICAL();
\r
1140 if( xSchedulerRunning != pdFALSE )
\r
1142 /* If the created task is of a higher priority than the current task
\r
1143 then it should run now. */
\r
1144 if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
\r
1146 taskYIELD_IF_USING_PREEMPTION();
\r
1150 mtCOVERAGE_TEST_MARKER();
\r
1155 mtCOVERAGE_TEST_MARKER();
\r
1158 /*-----------------------------------------------------------*/
\r
1160 #if ( INCLUDE_vTaskDelete == 1 )
\r
1162 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
1166 taskENTER_CRITICAL();
\r
1168 /* If null is passed in here then it is the calling task that is
\r
1170 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
1172 /* Remove task from the ready/delayed list. */
\r
1173 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1175 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1179 mtCOVERAGE_TEST_MARKER();
\r
1182 /* Is the task waiting on an event also? */
\r
1183 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1185 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1189 mtCOVERAGE_TEST_MARKER();
\r
1192 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
1193 detect that the task lists need re-generating. This is done before
\r
1194 portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
\r
1198 if( pxTCB == pxCurrentTCB )
\r
1200 /* A task is deleting itself. This cannot complete within the
\r
1201 task itself, as a context switch to another task is required.
\r
1202 Place the task in the termination list. The idle task will
\r
1203 check the termination list and free up any memory allocated by
\r
1204 the scheduler for the TCB and stack of the deleted task. */
\r
1205 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
\r
1207 /* Increment the ucTasksDeleted variable so the idle task knows
\r
1208 there is a task that has been deleted and that it should therefore
\r
1209 check the xTasksWaitingTermination list. */
\r
1210 ++uxDeletedTasksWaitingCleanUp;
\r
1212 /* Call the delete hook before portPRE_TASK_DELETE_HOOK() as
\r
1213 portPRE_TASK_DELETE_HOOK() does not return in the Win32 port. */
\r
1214 traceTASK_DELETE( pxTCB );
\r
1216 /* The pre-delete hook is primarily for the Windows simulator,
\r
1217 in which Windows specific clean up operations are performed,
\r
1218 after which it is not possible to yield away from this task -
\r
1219 hence xYieldPending is used to latch that a context switch is
\r
1221 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
1225 --uxCurrentNumberOfTasks;
\r
1226 traceTASK_DELETE( pxTCB );
\r
1227 prvDeleteTCB( pxTCB );
\r
1229 /* Reset the next expected unblock time in case it referred to
\r
1230 the task that has just been deleted. */
\r
1231 prvResetNextTaskUnblockTime();
\r
1234 taskEXIT_CRITICAL();
\r
1236 /* Force a reschedule if it is the currently running task that has just
\r
1238 if( xSchedulerRunning != pdFALSE )
\r
1240 if( pxTCB == pxCurrentTCB )
\r
1242 configASSERT( uxSchedulerSuspended == 0 );
\r
1243 portYIELD_WITHIN_API();
\r
1247 mtCOVERAGE_TEST_MARKER();
\r
1252 #endif /* INCLUDE_vTaskDelete */
\r
1253 /*-----------------------------------------------------------*/
\r
1255 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
1257 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
1259 TickType_t xTimeToWake;
\r
1260 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
1262 configASSERT( pxPreviousWakeTime );
\r
1263 configASSERT( ( xTimeIncrement > 0U ) );
\r
1264 configASSERT( uxSchedulerSuspended == 0 );
\r
1266 vTaskSuspendAll();
\r
1268 /* Minor optimisation. The tick count cannot change in this
\r
1270 const TickType_t xConstTickCount = xTickCount;
\r
1272 /* Generate the tick time at which the task wants to wake. */
\r
1273 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
1275 if( xConstTickCount < *pxPreviousWakeTime )
\r
1277 /* The tick count has overflowed since this function was
\r
1278 lasted called. In this case the only time we should ever
\r
1279 actually delay is if the wake time has also overflowed,
\r
1280 and the wake time is greater than the tick time. When this
\r
1281 is the case it is as if neither time had overflowed. */
\r
1282 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
1284 xShouldDelay = pdTRUE;
\r
1288 mtCOVERAGE_TEST_MARKER();
\r
1293 /* The tick time has not overflowed. In this case we will
\r
1294 delay if either the wake time has overflowed, and/or the
\r
1295 tick time is less than the wake time. */
\r
1296 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
1298 xShouldDelay = pdTRUE;
\r
1302 mtCOVERAGE_TEST_MARKER();
\r
1306 /* Update the wake time ready for the next call. */
\r
1307 *pxPreviousWakeTime = xTimeToWake;
\r
1309 if( xShouldDelay != pdFALSE )
\r
1311 traceTASK_DELAY_UNTIL( xTimeToWake );
\r
1313 /* prvAddCurrentTaskToDelayedList() needs the block time, not
\r
1314 the time to wake, so subtract the current tick count. */
\r
1315 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
\r
1319 mtCOVERAGE_TEST_MARKER();
\r
1322 xAlreadyYielded = xTaskResumeAll();
\r
1324 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1325 have put ourselves to sleep. */
\r
1326 if( xAlreadyYielded == pdFALSE )
\r
1328 portYIELD_WITHIN_API();
\r
1332 mtCOVERAGE_TEST_MARKER();
\r
1336 #endif /* INCLUDE_vTaskDelayUntil */
\r
1337 /*-----------------------------------------------------------*/
\r
1339 #if ( INCLUDE_vTaskDelay == 1 )
\r
1341 void vTaskDelay( const TickType_t xTicksToDelay )
\r
1343 BaseType_t xAlreadyYielded = pdFALSE;
\r
1345 /* A delay time of zero just forces a reschedule. */
\r
1346 if( xTicksToDelay > ( TickType_t ) 0U )
\r
1348 configASSERT( uxSchedulerSuspended == 0 );
\r
1349 vTaskSuspendAll();
\r
1351 traceTASK_DELAY();
\r
1353 /* A task that is removed from the event list while the
\r
1354 scheduler is suspended will not get placed in the ready
\r
1355 list or removed from the blocked list until the scheduler
\r
1358 This task cannot be in an event list as it is the currently
\r
1359 executing task. */
\r
1360 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
\r
1362 xAlreadyYielded = xTaskResumeAll();
\r
1366 mtCOVERAGE_TEST_MARKER();
\r
1369 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1370 have put ourselves to sleep. */
\r
1371 if( xAlreadyYielded == pdFALSE )
\r
1373 portYIELD_WITHIN_API();
\r
1377 mtCOVERAGE_TEST_MARKER();
\r
1381 #endif /* INCLUDE_vTaskDelay */
\r
1382 /*-----------------------------------------------------------*/
\r
1384 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_xTaskAbortDelay == 1 ) )
\r
1386 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1388 eTaskState eReturn;
\r
1389 List_t const * pxStateList, *pxDelayedList, *pxOverflowedDelayedList;
\r
1390 const TCB_t * const pxTCB = xTask;
\r
1392 configASSERT( pxTCB );
\r
1394 if( pxTCB == pxCurrentTCB )
\r
1396 /* The task calling this function is querying its own state. */
\r
1397 eReturn = eRunning;
\r
1401 taskENTER_CRITICAL();
\r
1403 pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
\r
1404 pxDelayedList = pxDelayedTaskList;
\r
1405 pxOverflowedDelayedList = pxOverflowDelayedTaskList;
\r
1407 taskEXIT_CRITICAL();
\r
1409 if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
\r
1411 /* The task being queried is referenced from one of the Blocked
\r
1413 eReturn = eBlocked;
\r
1416 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1417 else if( pxStateList == &xSuspendedTaskList )
\r
1419 /* The task being queried is referenced from the suspended
\r
1420 list. Is it genuinely suspended or is it blocked
\r
1422 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1424 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1426 /* The task does not appear on the event list item of
\r
1427 and of the RTOS objects, but could still be in the
\r
1428 blocked state if it is waiting on its notification
\r
1429 rather than waiting on an object. */
\r
1430 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1432 eReturn = eBlocked;
\r
1436 eReturn = eSuspended;
\r
1441 eReturn = eSuspended;
\r
1447 eReturn = eBlocked;
\r
1452 #if ( INCLUDE_vTaskDelete == 1 )
\r
1453 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1455 /* The task being queried is referenced from the deleted
\r
1456 tasks list, or it is not referenced from any lists at
\r
1458 eReturn = eDeleted;
\r
1462 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1464 /* If the task is not in any other state, it must be in the
\r
1465 Ready (including pending ready) state. */
\r
1471 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1473 #endif /* INCLUDE_eTaskGetState */
\r
1474 /*-----------------------------------------------------------*/
\r
1476 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1478 UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
\r
1480 TCB_t const *pxTCB;
\r
1481 UBaseType_t uxReturn;
\r
1483 taskENTER_CRITICAL();
\r
1485 /* If null is passed in here then it is the priority of the task
\r
1486 that called uxTaskPriorityGet() that is being queried. */
\r
1487 pxTCB = prvGetTCBFromHandle( xTask );
\r
1488 uxReturn = pxTCB->uxPriority;
\r
1490 taskEXIT_CRITICAL();
\r
1495 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1496 /*-----------------------------------------------------------*/
\r
1498 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1500 UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
\r
1502 TCB_t const *pxTCB;
\r
1503 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1505 /* RTOS ports that support interrupt nesting have the concept of a
\r
1506 maximum system call (or maximum API call) interrupt priority.
\r
1507 Interrupts that are above the maximum system call priority are keep
\r
1508 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1509 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1510 is defined in FreeRTOSConfig.h then
\r
1511 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1512 failure if a FreeRTOS API function is called from an interrupt that has
\r
1513 been assigned a priority above the configured maximum system call
\r
1514 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1515 from interrupts that have been assigned a priority at or (logically)
\r
1516 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1517 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1518 simple as possible. More information (albeit Cortex-M specific) is
\r
1519 provided on the following link:
\r
1520 https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1521 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1523 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1525 /* If null is passed in here then it is the priority of the calling
\r
1526 task that is being queried. */
\r
1527 pxTCB = prvGetTCBFromHandle( xTask );
\r
1528 uxReturn = pxTCB->uxPriority;
\r
1530 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1535 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1536 /*-----------------------------------------------------------*/
\r
1538 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1540 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1543 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1544 BaseType_t xYieldRequired = pdFALSE;
\r
1546 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1548 /* Ensure the new priority is valid. */
\r
1549 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1551 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1555 mtCOVERAGE_TEST_MARKER();
\r
1558 taskENTER_CRITICAL();
\r
1560 /* If null is passed in here then it is the priority of the calling
\r
1561 task that is being changed. */
\r
1562 pxTCB = prvGetTCBFromHandle( xTask );
\r
1564 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1566 #if ( configUSE_MUTEXES == 1 )
\r
1568 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1572 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1576 if( uxCurrentBasePriority != uxNewPriority )
\r
1578 /* The priority change may have readied a task of higher
\r
1579 priority than the calling task. */
\r
1580 if( uxNewPriority > uxCurrentBasePriority )
\r
1582 if( pxTCB != pxCurrentTCB )
\r
1584 /* The priority of a task other than the currently
\r
1585 running task is being raised. Is the priority being
\r
1586 raised above that of the running task? */
\r
1587 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1589 xYieldRequired = pdTRUE;
\r
1593 mtCOVERAGE_TEST_MARKER();
\r
1598 /* The priority of the running task is being raised,
\r
1599 but the running task must already be the highest
\r
1600 priority task able to run so no yield is required. */
\r
1603 else if( pxTCB == pxCurrentTCB )
\r
1605 /* Setting the priority of the running task down means
\r
1606 there may now be another task of higher priority that
\r
1607 is ready to execute. */
\r
1608 xYieldRequired = pdTRUE;
\r
1612 /* Setting the priority of any other task down does not
\r
1613 require a yield as the running task must be above the
\r
1614 new priority of the task being modified. */
\r
1617 /* Remember the ready list the task might be referenced from
\r
1618 before its uxPriority member is changed so the
\r
1619 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1620 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1622 #if ( configUSE_MUTEXES == 1 )
\r
1624 /* Only change the priority being used if the task is not
\r
1625 currently using an inherited priority. */
\r
1626 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1628 pxTCB->uxPriority = uxNewPriority;
\r
1632 mtCOVERAGE_TEST_MARKER();
\r
1635 /* The base priority gets set whatever. */
\r
1636 pxTCB->uxBasePriority = uxNewPriority;
\r
1640 pxTCB->uxPriority = uxNewPriority;
\r
1644 /* Only reset the event list item value if the value is not
\r
1645 being used for anything else. */
\r
1646 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1648 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1652 mtCOVERAGE_TEST_MARKER();
\r
1655 /* If the task is in the blocked or suspended list we need do
\r
1656 nothing more than change its priority variable. However, if
\r
1657 the task is in a ready list it needs to be removed and placed
\r
1658 in the list appropriate to its new priority. */
\r
1659 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1661 /* The task is currently in its ready list - remove before
\r
1662 adding it to it's new ready list. As we are in a critical
\r
1663 section we can do this even if the scheduler is suspended. */
\r
1664 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1666 /* It is known that the task is in its ready list so
\r
1667 there is no need to check again and the port level
\r
1668 reset macro can be called directly. */
\r
1669 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1673 mtCOVERAGE_TEST_MARKER();
\r
1675 prvAddTaskToReadyList( pxTCB );
\r
1679 mtCOVERAGE_TEST_MARKER();
\r
1682 if( xYieldRequired != pdFALSE )
\r
1684 taskYIELD_IF_USING_PREEMPTION();
\r
1688 mtCOVERAGE_TEST_MARKER();
\r
1691 /* Remove compiler warning about unused variables when the port
\r
1692 optimised task selection is not being used. */
\r
1693 ( void ) uxPriorityUsedOnEntry;
\r
1696 taskEXIT_CRITICAL();
\r
1699 #endif /* INCLUDE_vTaskPrioritySet */
\r
1700 /*-----------------------------------------------------------*/
\r
1702 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1704 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1708 taskENTER_CRITICAL();
\r
1710 /* If null is passed in here then it is the running task that is
\r
1711 being suspended. */
\r
1712 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1714 traceTASK_SUSPEND( pxTCB );
\r
1716 /* Remove task from the ready/delayed list and place in the
\r
1717 suspended list. */
\r
1718 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1720 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1724 mtCOVERAGE_TEST_MARKER();
\r
1727 /* Is the task waiting on an event also? */
\r
1728 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1730 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1734 mtCOVERAGE_TEST_MARKER();
\r
1737 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
\r
1739 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1741 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1743 /* The task was blocked to wait for a notification, but is
\r
1744 now suspended, so no notification was received. */
\r
1745 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
1750 taskEXIT_CRITICAL();
\r
1752 if( xSchedulerRunning != pdFALSE )
\r
1754 /* Reset the next expected unblock time in case it referred to the
\r
1755 task that is now in the Suspended state. */
\r
1756 taskENTER_CRITICAL();
\r
1758 prvResetNextTaskUnblockTime();
\r
1760 taskEXIT_CRITICAL();
\r
1764 mtCOVERAGE_TEST_MARKER();
\r
1767 if( pxTCB == pxCurrentTCB )
\r
1769 if( xSchedulerRunning != pdFALSE )
\r
1771 /* The current task has just been suspended. */
\r
1772 configASSERT( uxSchedulerSuspended == 0 );
\r
1773 portYIELD_WITHIN_API();
\r
1777 /* The scheduler is not running, but the task that was pointed
\r
1778 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1779 must be adjusted to point to a different task. */
\r
1780 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
\r
1782 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1783 NULL so when the next task is created pxCurrentTCB will
\r
1784 be set to point to it no matter what its relative priority
\r
1786 pxCurrentTCB = NULL;
\r
1790 vTaskSwitchContext();
\r
1796 mtCOVERAGE_TEST_MARKER();
\r
1800 #endif /* INCLUDE_vTaskSuspend */
\r
1801 /*-----------------------------------------------------------*/
\r
1803 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1805 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1807 BaseType_t xReturn = pdFALSE;
\r
1808 const TCB_t * const pxTCB = xTask;
\r
1810 /* Accesses xPendingReadyList so must be called from a critical
\r
1813 /* It does not make sense to check if the calling task is suspended. */
\r
1814 configASSERT( xTask );
\r
1816 /* Is the task being resumed actually in the suspended list? */
\r
1817 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1819 /* Has the task already been resumed from within an ISR? */
\r
1820 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1822 /* Is it in the suspended list because it is in the Suspended
\r
1823 state, or because is is blocked with no timeout? */
\r
1824 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
\r
1830 mtCOVERAGE_TEST_MARKER();
\r
1835 mtCOVERAGE_TEST_MARKER();
\r
1840 mtCOVERAGE_TEST_MARKER();
\r
1844 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1846 #endif /* INCLUDE_vTaskSuspend */
\r
1847 /*-----------------------------------------------------------*/
\r
1849 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1851 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1853 TCB_t * const pxTCB = xTaskToResume;
\r
1855 /* It does not make sense to resume the calling task. */
\r
1856 configASSERT( xTaskToResume );
\r
1858 /* The parameter cannot be NULL as it is impossible to resume the
\r
1859 currently executing task. */
\r
1860 if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) )
\r
1862 taskENTER_CRITICAL();
\r
1864 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1866 traceTASK_RESUME( pxTCB );
\r
1868 /* The ready list can be accessed even if the scheduler is
\r
1869 suspended because this is inside a critical section. */
\r
1870 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1871 prvAddTaskToReadyList( pxTCB );
\r
1873 /* A higher priority task may have just been resumed. */
\r
1874 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1876 /* This yield may not cause the task just resumed to run,
\r
1877 but will leave the lists in the correct state for the
\r
1879 taskYIELD_IF_USING_PREEMPTION();
\r
1883 mtCOVERAGE_TEST_MARKER();
\r
1888 mtCOVERAGE_TEST_MARKER();
\r
1891 taskEXIT_CRITICAL();
\r
1895 mtCOVERAGE_TEST_MARKER();
\r
1899 #endif /* INCLUDE_vTaskSuspend */
\r
1901 /*-----------------------------------------------------------*/
\r
1903 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1905 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1907 BaseType_t xYieldRequired = pdFALSE;
\r
1908 TCB_t * const pxTCB = xTaskToResume;
\r
1909 UBaseType_t uxSavedInterruptStatus;
\r
1911 configASSERT( xTaskToResume );
\r
1913 /* RTOS ports that support interrupt nesting have the concept of a
\r
1914 maximum system call (or maximum API call) interrupt priority.
\r
1915 Interrupts that are above the maximum system call priority are keep
\r
1916 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1917 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1918 is defined in FreeRTOSConfig.h then
\r
1919 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1920 failure if a FreeRTOS API function is called from an interrupt that has
\r
1921 been assigned a priority above the configured maximum system call
\r
1922 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1923 from interrupts that have been assigned a priority at or (logically)
\r
1924 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1925 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1926 simple as possible. More information (albeit Cortex-M specific) is
\r
1927 provided on the following link:
\r
1928 https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1929 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1931 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1933 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1935 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1937 /* Check the ready lists can be accessed. */
\r
1938 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1940 /* Ready lists can be accessed so move the task from the
\r
1941 suspended list to the ready list directly. */
\r
1942 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1944 xYieldRequired = pdTRUE;
\r
1948 mtCOVERAGE_TEST_MARKER();
\r
1951 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1952 prvAddTaskToReadyList( pxTCB );
\r
1956 /* The delayed or ready lists cannot be accessed so the task
\r
1957 is held in the pending ready list until the scheduler is
\r
1959 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1964 mtCOVERAGE_TEST_MARKER();
\r
1967 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1969 return xYieldRequired;
\r
1972 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1973 /*-----------------------------------------------------------*/
\r
1975 void vTaskStartScheduler( void )
\r
1977 BaseType_t xReturn;
\r
1979 /* Add the idle task at the lowest priority. */
\r
1980 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1982 StaticTask_t *pxIdleTaskTCBBuffer = NULL;
\r
1983 StackType_t *pxIdleTaskStackBuffer = NULL;
\r
1984 uint32_t ulIdleTaskStackSize;
\r
1986 /* The Idle task is created using user provided RAM - obtain the
\r
1987 address of the RAM then create the idle task. */
\r
1988 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
\r
1989 xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
\r
1990 configIDLE_TASK_NAME,
\r
1991 ulIdleTaskStackSize,
\r
1992 ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
\r
1993 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
1994 pxIdleTaskStackBuffer,
\r
1995 pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1997 if( xIdleTaskHandle != NULL )
\r
2008 /* The Idle task is being created using dynamically allocated RAM. */
\r
2009 xReturn = xTaskCreate( prvIdleTask,
\r
2010 configIDLE_TASK_NAME,
\r
2011 configMINIMAL_STACK_SIZE,
\r
2013 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
2014 &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
2016 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
2018 #if ( configUSE_TIMERS == 1 )
\r
2020 if( xReturn == pdPASS )
\r
2022 xReturn = xTimerCreateTimerTask();
\r
2026 mtCOVERAGE_TEST_MARKER();
\r
2029 #endif /* configUSE_TIMERS */
\r
2031 if( xReturn == pdPASS )
\r
2033 /* freertos_tasks_c_additions_init() should only be called if the user
\r
2034 definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
\r
2035 the only macro called by the function. */
\r
2036 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
2038 freertos_tasks_c_additions_init();
\r
2042 /* Interrupts are turned off here, to ensure a tick does not occur
\r
2043 before or during the call to xPortStartScheduler(). The stacks of
\r
2044 the created tasks contain a status word with interrupts switched on
\r
2045 so interrupts will automatically get re-enabled when the first task
\r
2047 portDISABLE_INTERRUPTS();
\r
2049 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2051 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2052 structure specific to the task that will run first.
\r
2053 See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
\r
2054 for additional information. */
\r
2055 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2057 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2059 xNextTaskUnblockTime = portMAX_DELAY;
\r
2060 xSchedulerRunning = pdTRUE;
\r
2061 xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
\r
2063 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
2064 macro must be defined to configure the timer/counter used to generate
\r
2065 the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
\r
2066 is set to 0 and the following line fails to build then ensure you do not
\r
2067 have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
\r
2068 FreeRTOSConfig.h file. */
\r
2069 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
2071 traceTASK_SWITCHED_IN();
\r
2073 /* Setting up the timer tick is hardware specific and thus in the
\r
2074 portable interface. */
\r
2075 if( xPortStartScheduler() != pdFALSE )
\r
2077 /* Should not reach here as if the scheduler is running the
\r
2078 function will not return. */
\r
2082 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
2087 /* This line will only be reached if the kernel could not be started,
\r
2088 because there was not enough FreeRTOS heap to create the idle task
\r
2089 or the timer task. */
\r
2090 configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
\r
2093 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
2094 meaning xIdleTaskHandle is not used anywhere else. */
\r
2095 ( void ) xIdleTaskHandle;
\r
2097 /*-----------------------------------------------------------*/
\r
2099 void vTaskEndScheduler( void )
\r
2101 /* Stop the scheduler interrupts and call the portable scheduler end
\r
2102 routine so the original ISRs can be restored if necessary. The port
\r
2103 layer must ensure interrupts enable bit is left in the correct state. */
\r
2104 portDISABLE_INTERRUPTS();
\r
2105 xSchedulerRunning = pdFALSE;
\r
2106 vPortEndScheduler();
\r
2108 /*----------------------------------------------------------*/
\r
2110 void vTaskSuspendAll( void )
\r
2112 /* A critical section is not required as the variable is of type
\r
2113 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
2114 post in the FreeRTOS support forum before reporting this as a bug! -
\r
2115 http://goo.gl/wu4acr */
\r
2117 /* portSOFRWARE_BARRIER() is only implemented for emulated/simulated ports that
\r
2118 do not otherwise exhibit real time behaviour. */
\r
2119 portSOFTWARE_BARRIER();
\r
2121 /* The scheduler is suspended if uxSchedulerSuspended is non-zero. An increment
\r
2122 is used to allow calls to vTaskSuspendAll() to nest. */
\r
2123 ++uxSchedulerSuspended;
\r
2125 /* Enforces ordering for ports and optimised compilers that may otherwise place
\r
2126 the above increment elsewhere. */
\r
2127 portMEMORY_BARRIER();
\r
2129 /*----------------------------------------------------------*/
\r
2131 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2133 static TickType_t prvGetExpectedIdleTime( void )
\r
2135 TickType_t xReturn;
\r
2136 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
2138 /* uxHigherPriorityReadyTasks takes care of the case where
\r
2139 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
2140 task that are in the Ready state, even though the idle task is
\r
2142 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
2144 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
2146 uxHigherPriorityReadyTasks = pdTRUE;
\r
2151 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
2153 /* When port optimised task selection is used the uxTopReadyPriority
\r
2154 variable is used as a bit map. If bits other than the least
\r
2155 significant bit are set then there are tasks that have a priority
\r
2156 above the idle priority that are in the Ready state. This takes
\r
2157 care of the case where the co-operative scheduler is in use. */
\r
2158 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
2160 uxHigherPriorityReadyTasks = pdTRUE;
\r
2165 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
2169 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
2171 /* There are other idle priority tasks in the ready state. If
\r
2172 time slicing is used then the very next tick interrupt must be
\r
2176 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
2178 /* There are tasks in the Ready state that have a priority above the
\r
2179 idle priority. This path can only be reached if
\r
2180 configUSE_PREEMPTION is 0. */
\r
2185 xReturn = xNextTaskUnblockTime - xTickCount;
\r
2191 #endif /* configUSE_TICKLESS_IDLE */
\r
2192 /*----------------------------------------------------------*/
\r
2194 BaseType_t xTaskResumeAll( void )
\r
2196 TCB_t *pxTCB = NULL;
\r
2197 BaseType_t xAlreadyYielded = pdFALSE;
\r
2198 TickType_t xTicksToNextUnblockTime;
\r
2200 /* If uxSchedulerSuspended is zero then this function does not match a
\r
2201 previous call to vTaskSuspendAll(). */
\r
2202 configASSERT( uxSchedulerSuspended );
\r
2204 /* It is possible that an ISR caused a task to be removed from an event
\r
2205 list while the scheduler was suspended. If this was the case then the
\r
2206 removed task will have been added to the xPendingReadyList. Once the
\r
2207 scheduler has been resumed it is safe to move all the pending ready
\r
2208 tasks from this list into their appropriate ready list. */
\r
2209 taskENTER_CRITICAL();
\r
2211 --uxSchedulerSuspended;
\r
2213 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2215 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
2217 /* Move any readied tasks from the pending list into the
\r
2218 appropriate ready list. */
\r
2219 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
2221 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2222 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2223 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2224 prvAddTaskToReadyList( pxTCB );
\r
2226 /* If the moved task has a priority higher than the current
\r
2227 task then a yield must be performed. */
\r
2228 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2230 xYieldPending = pdTRUE;
\r
2234 mtCOVERAGE_TEST_MARKER();
\r
2238 if( pxTCB != NULL )
\r
2240 /* A task was unblocked while the scheduler was suspended,
\r
2241 which may have prevented the next unblock time from being
\r
2242 re-calculated, in which case re-calculate it now. Mainly
\r
2243 important for low power tickless implementations, where
\r
2244 this can prevent an unnecessary exit from low power
\r
2246 prvResetNextTaskUnblockTime();
\r
2249 /* If any ticks occurred while the scheduler was suspended then
\r
2250 they should be processed now. This ensures the tick count does
\r
2251 not slip, and that any delayed tasks are resumed at the correct
\r
2253 while( xPendedTicks > ( TickType_t ) 0 )
\r
2255 /* Calculate how far into the future the next task will
\r
2256 leave the Blocked state because its timeout expired. If
\r
2257 there are no tasks due to leave the blocked state between
\r
2258 the time now and the time at which the tick count overflows
\r
2259 then xNextTaskUnblockTime will the tick overflow time.
\r
2260 This means xNextTaskUnblockTime can never be less than
\r
2261 xTickCount, and the following can therefore not
\r
2263 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2264 xTicksToNextUnblockTime = xNextTaskUnblockTime - xTickCount;
\r
2266 /* Don't want to move the tick count more than the number
\r
2267 of ticks that are pending, so cap if necessary. */
\r
2268 if( xTicksToNextUnblockTime > xPendedTicks )
\r
2270 xTicksToNextUnblockTime = xPendedTicks;
\r
2273 if( xTicksToNextUnblockTime == 0 )
\r
2275 /* xTicksToNextUnblockTime could be zero if the tick
\r
2276 count is about to overflow and xTicksToNetUnblockTime
\r
2277 holds the time at which the tick count will overflow
\r
2278 (rather than the time at which the next task will
\r
2279 unblock). Set to 1 otherwise xPendedTicks won't be
\r
2280 decremented below. */
\r
2281 xTicksToNextUnblockTime = ( TickType_t ) 1;
\r
2283 else if( xTicksToNextUnblockTime > ( TickType_t ) 1 )
\r
2285 /* Move the tick count one short of the next unblock
\r
2286 time, then call xTaskIncrementTick() to move the tick
\r
2287 count up to the next unblock time to unblock the task,
\r
2288 if any. This will also swap the blocked task and
\r
2289 overflow blocked task lists if necessary. */
\r
2290 xTickCount += ( xTicksToNextUnblockTime - ( TickType_t ) 1 );
\r
2292 xYieldPending |= xTaskIncrementTick();
\r
2294 /* Adjust for the number of ticks just added to
\r
2295 xTickCount and go around the loop again if
\r
2296 xTicksToCatchUp is still greater than 0. */
\r
2297 xPendedTicks -= xTicksToNextUnblockTime;
\r
2300 if( xYieldPending != pdFALSE )
\r
2302 #if( configUSE_PREEMPTION != 0 )
\r
2304 xAlreadyYielded = pdTRUE;
\r
2307 taskYIELD_IF_USING_PREEMPTION();
\r
2311 mtCOVERAGE_TEST_MARKER();
\r
2317 mtCOVERAGE_TEST_MARKER();
\r
2320 taskEXIT_CRITICAL();
\r
2322 return xAlreadyYielded;
\r
2324 /*-----------------------------------------------------------*/
\r
2326 TickType_t xTaskGetTickCount( void )
\r
2328 TickType_t xTicks;
\r
2330 /* Critical section required if running on a 16 bit processor. */
\r
2331 portTICK_TYPE_ENTER_CRITICAL();
\r
2333 xTicks = xTickCount;
\r
2335 portTICK_TYPE_EXIT_CRITICAL();
\r
2339 /*-----------------------------------------------------------*/
\r
2341 TickType_t xTaskGetTickCountFromISR( void )
\r
2343 TickType_t xReturn;
\r
2344 UBaseType_t uxSavedInterruptStatus;
\r
2346 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
2347 system call (or maximum API call) interrupt priority. Interrupts that are
\r
2348 above the maximum system call priority are kept permanently enabled, even
\r
2349 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
2350 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
2351 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
2352 failure if a FreeRTOS API function is called from an interrupt that has been
\r
2353 assigned a priority above the configured maximum system call priority.
\r
2354 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
2355 that have been assigned a priority at or (logically) below the maximum
\r
2356 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
2357 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
2358 More information (albeit Cortex-M specific) is provided on the following
\r
2359 link: https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
2360 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
2362 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
2364 xReturn = xTickCount;
\r
2366 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2370 /*-----------------------------------------------------------*/
\r
2372 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
2374 /* A critical section is not required because the variables are of type
\r
2376 return uxCurrentNumberOfTasks;
\r
2378 /*-----------------------------------------------------------*/
\r
2380 char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2384 /* If null is passed in here then the name of the calling task is being
\r
2386 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2387 configASSERT( pxTCB );
\r
2388 return &( pxTCB->pcTaskName[ 0 ] );
\r
2390 /*-----------------------------------------------------------*/
\r
2392 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2394 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
\r
2396 TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
\r
2399 BaseType_t xBreakLoop;
\r
2401 /* This function is called with the scheduler suspended. */
\r
2403 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2405 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2409 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2411 /* Check each character in the name looking for a match or
\r
2413 xBreakLoop = pdFALSE;
\r
2414 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2416 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
2418 if( cNextChar != pcNameToQuery[ x ] )
\r
2420 /* Characters didn't match. */
\r
2421 xBreakLoop = pdTRUE;
\r
2423 else if( cNextChar == ( char ) 0x00 )
\r
2425 /* Both strings terminated, a match must have been
\r
2427 pxReturn = pxNextTCB;
\r
2428 xBreakLoop = pdTRUE;
\r
2432 mtCOVERAGE_TEST_MARKER();
\r
2435 if( xBreakLoop != pdFALSE )
\r
2441 if( pxReturn != NULL )
\r
2443 /* The handle has been found. */
\r
2447 } while( pxNextTCB != pxFirstTCB );
\r
2451 mtCOVERAGE_TEST_MARKER();
\r
2457 #endif /* INCLUDE_xTaskGetHandle */
\r
2458 /*-----------------------------------------------------------*/
\r
2460 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2462 TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2464 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
2467 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
\r
2468 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
\r
2470 vTaskSuspendAll();
\r
2472 /* Search the ready lists. */
\r
2476 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
2478 if( pxTCB != NULL )
\r
2480 /* Found the handle. */
\r
2484 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2486 /* Search the delayed lists. */
\r
2487 if( pxTCB == NULL )
\r
2489 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
2492 if( pxTCB == NULL )
\r
2494 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
2497 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2499 if( pxTCB == NULL )
\r
2501 /* Search the suspended list. */
\r
2502 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
2507 #if( INCLUDE_vTaskDelete == 1 )
\r
2509 if( pxTCB == NULL )
\r
2511 /* Search the deleted list. */
\r
2512 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
2517 ( void ) xTaskResumeAll();
\r
2522 #endif /* INCLUDE_xTaskGetHandle */
\r
2523 /*-----------------------------------------------------------*/
\r
2525 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2527 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
2529 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
2531 vTaskSuspendAll();
\r
2533 /* Is there a space in the array for each task in the system? */
\r
2534 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2536 /* Fill in an TaskStatus_t structure with information on each
\r
2537 task in the Ready state. */
\r
2541 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2543 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2545 /* Fill in an TaskStatus_t structure with information on each
\r
2546 task in the Blocked state. */
\r
2547 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2548 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2550 #if( INCLUDE_vTaskDelete == 1 )
\r
2552 /* Fill in an TaskStatus_t structure with information on
\r
2553 each task that has been deleted but not yet cleaned up. */
\r
2554 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2558 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2560 /* Fill in an TaskStatus_t structure with information on
\r
2561 each task in the Suspended state. */
\r
2562 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2566 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
2568 if( pulTotalRunTime != NULL )
\r
2570 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2571 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2573 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2579 if( pulTotalRunTime != NULL )
\r
2581 *pulTotalRunTime = 0;
\r
2588 mtCOVERAGE_TEST_MARKER();
\r
2591 ( void ) xTaskResumeAll();
\r
2596 #endif /* configUSE_TRACE_FACILITY */
\r
2597 /*----------------------------------------------------------*/
\r
2599 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2601 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2603 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2604 started, then xIdleTaskHandle will be NULL. */
\r
2605 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2606 return xIdleTaskHandle;
\r
2609 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2610 /*----------------------------------------------------------*/
\r
2612 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2613 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2614 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2616 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2618 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2620 /* Correct the tick count value after a period during which the tick
\r
2621 was suppressed. Note this does *not* call the tick hook function for
\r
2622 each stepped tick. */
\r
2623 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2624 xTickCount += xTicksToJump;
\r
2625 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2628 #endif /* configUSE_TICKLESS_IDLE */
\r
2629 /*----------------------------------------------------------*/
\r
2631 BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
\r
2633 BaseType_t xYieldRequired = pdFALSE;
\r
2635 /* Must not be called with the scheduler suspended as the implementation
\r
2636 relies on xPendedTicks being wound down to 0 in xTaskResumeAll(). */
\r
2637 configASSERT( uxSchedulerSuspended == 0 );
\r
2639 /* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occurring when
\r
2640 the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */
\r
2641 vTaskSuspendAll();
\r
2642 xPendedTicks += xTicksToCatchUp;
\r
2643 xYieldRequired = xTaskResumeAll();
\r
2645 return xYieldRequired;
\r
2647 /*----------------------------------------------------------*/
\r
2649 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
2651 BaseType_t xTaskAbortDelayFromISR( TaskHandle_t xTask, BaseType_t * const pxHigherPriorityTaskWoken )
\r
2653 TCB_t *pxTCB = xTask;
\r
2654 BaseType_t xReturn;
\r
2655 UBaseType_t uxSavedInterruptStatus;
\r
2657 configASSERT( pxTCB );
\r
2659 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
2660 system call (or maximum API call) interrupt priority. Interrupts that are
\r
2661 above the maximum system call priority are kept permanently enabled, even
\r
2662 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
2663 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
2664 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
2665 failure if a FreeRTOS API function is called from an interrupt that has been
\r
2666 assigned a priority above the configured maximum system call priority.
\r
2667 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
2668 that have been assigned a priority at or (logically) below the maximum
\r
2669 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
2670 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
2671 More information (albeit Cortex-M specific) is provided on the following
\r
2672 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
2673 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
2675 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
2677 /* A task can only be prematurely removed from the Blocked state if
\r
2678 it is actually in the Blocked state. */
\r
2679 if( eTaskGetState( xTask ) == eBlocked )
\r
2683 /* Remove the reference to the task from the blocked list. A higher
\r
2684 priority interrupt won't touch the xStateListItem because of the
\r
2685 critical section. */
\r
2686 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2688 /* Is the task waiting on an event also? If so remove it from
\r
2689 the event list too. */
\r
2690 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2692 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2694 /* This lets the task know it was forcibly removed from the
\r
2695 blocked state so it should not re-evaluate its block time and
\r
2696 then block again. */
\r
2697 pxTCB->ucDelayAborted = pdTRUE;
\r
2701 mtCOVERAGE_TEST_MARKER();
\r
2704 /* Place the unblocked task into the appropriate ready list. */
\r
2705 prvAddTaskToReadyList( pxTCB );
\r
2707 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2709 if( pxHigherPriorityTaskWoken != NULL )
\r
2711 /* Pend the yield to be performed when the scheduler
\r
2712 is unsuspended. */
\r
2713 *pxHigherPriorityTaskWoken = pdTRUE;
\r
2718 mtCOVERAGE_TEST_MARKER();
\r
2726 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2732 /*----------------------------------------------------------*/
\r
2734 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
2736 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
\r
2738 TCB_t *pxTCB = xTask;
\r
2739 BaseType_t xReturn;
\r
2741 configASSERT( pxTCB );
\r
2743 vTaskSuspendAll();
\r
2745 /* A task can only be prematurely removed from the Blocked state if
\r
2746 it is actually in the Blocked state. */
\r
2747 if( eTaskGetState( xTask ) == eBlocked )
\r
2751 /* Remove the reference to the task from the blocked list. An
\r
2752 interrupt won't touch the xStateListItem because the
\r
2753 scheduler is suspended. */
\r
2754 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2756 /* Is the task waiting on an event also? If so remove it from
\r
2757 the event list too. Interrupts can touch the event list item,
\r
2758 even though the scheduler is suspended, so a critical section
\r
2760 taskENTER_CRITICAL();
\r
2762 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2764 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2766 /* This lets the task know it was forcibly removed from the
\r
2767 blocked state so it should not re-evaluate its block time and
\r
2768 then block again. */
\r
2769 pxTCB->ucDelayAborted = pdTRUE;
\r
2773 mtCOVERAGE_TEST_MARKER();
\r
2776 taskEXIT_CRITICAL();
\r
2778 /* Place the unblocked task into the appropriate ready list. */
\r
2779 prvAddTaskToReadyList( pxTCB );
\r
2781 /* A task being unblocked cannot cause an immediate context
\r
2782 switch if preemption is turned off. */
\r
2783 #if ( configUSE_PREEMPTION == 1 )
\r
2785 /* Preemption is on, but a context switch should only be
\r
2786 performed if the unblocked task has a priority that is
\r
2787 equal to or higher than the currently executing task. */
\r
2788 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2790 /* Pend the yield to be performed when the scheduler
\r
2791 is unsuspended. */
\r
2792 xYieldPending = pdTRUE;
\r
2796 mtCOVERAGE_TEST_MARKER();
\r
2799 #endif /* configUSE_PREEMPTION */
\r
2806 ( void ) xTaskResumeAll();
\r
2811 #endif /* INCLUDE_xTaskAbortDelay */
\r
2812 /*----------------------------------------------------------*/
\r
2814 BaseType_t xTaskIncrementTick( void )
\r
2817 TickType_t xItemValue;
\r
2818 BaseType_t xSwitchRequired = pdFALSE;
\r
2820 /* Called by the portable layer each time a tick interrupt occurs.
\r
2821 Increments the tick then checks to see if the new tick value will cause any
\r
2822 tasks to be unblocked. */
\r
2823 traceTASK_INCREMENT_TICK( xTickCount );
\r
2824 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2826 /* Minor optimisation. The tick count cannot change in this
\r
2828 const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
\r
2830 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2831 delayed lists if it wraps to 0. */
\r
2832 xTickCount = xConstTickCount;
\r
2834 if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
\r
2836 taskSWITCH_DELAYED_LISTS();
\r
2840 mtCOVERAGE_TEST_MARKER();
\r
2843 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2844 the queue in the order of their wake time - meaning once one task
\r
2845 has been found whose block time has not expired there is no need to
\r
2846 look any further down the list. */
\r
2847 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2851 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2853 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2854 to the maximum possible value so it is extremely
\r
2856 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2857 next time through. */
\r
2858 xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2863 /* The delayed list is not empty, get the value of the
\r
2864 item at the head of the delayed list. This is the time
\r
2865 at which the task at the head of the delayed list must
\r
2866 be removed from the Blocked state. */
\r
2867 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2868 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
\r
2870 if( xConstTickCount < xItemValue )
\r
2872 /* It is not time to unblock this item yet, but the
\r
2873 item value is the time at which the task at the head
\r
2874 of the blocked list must be removed from the Blocked
\r
2875 state - so record the item value in
\r
2876 xNextTaskUnblockTime. */
\r
2877 xNextTaskUnblockTime = xItemValue;
\r
2878 break; /*lint !e9011 Code structure here is deedmed easier to understand with multiple breaks. */
\r
2882 mtCOVERAGE_TEST_MARKER();
\r
2885 /* It is time to remove the item from the Blocked state. */
\r
2886 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2888 /* Is the task waiting on an event also? If so remove
\r
2889 it from the event list. */
\r
2890 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2892 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2896 mtCOVERAGE_TEST_MARKER();
\r
2899 /* Place the unblocked task into the appropriate ready
\r
2901 prvAddTaskToReadyList( pxTCB );
\r
2903 /* A task being unblocked cannot cause an immediate
\r
2904 context switch if preemption is turned off. */
\r
2905 #if ( configUSE_PREEMPTION == 1 )
\r
2907 /* Preemption is on, but a context switch should
\r
2908 only be performed if the unblocked task has a
\r
2909 priority that is equal to or higher than the
\r
2910 currently executing task. */
\r
2911 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2913 xSwitchRequired = pdTRUE;
\r
2917 mtCOVERAGE_TEST_MARKER();
\r
2920 #endif /* configUSE_PREEMPTION */
\r
2925 /* Tasks of equal priority to the currently running task will share
\r
2926 processing time (time slice) if preemption is on, and the application
\r
2927 writer has not explicitly turned time slicing off. */
\r
2928 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2930 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2932 xSwitchRequired = pdTRUE;
\r
2936 mtCOVERAGE_TEST_MARKER();
\r
2939 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2941 #if ( configUSE_TICK_HOOK == 1 )
\r
2943 /* Guard against the tick hook being called when the pended tick
\r
2944 count is being unwound (when the scheduler is being unlocked). */
\r
2945 if( xPendedTicks == ( TickType_t ) 0 )
\r
2947 vApplicationTickHook();
\r
2951 mtCOVERAGE_TEST_MARKER();
\r
2954 #endif /* configUSE_TICK_HOOK */
\r
2956 #if ( configUSE_PREEMPTION == 1 )
\r
2958 if( xYieldPending != pdFALSE )
\r
2960 xSwitchRequired = pdTRUE;
\r
2964 mtCOVERAGE_TEST_MARKER();
\r
2967 #endif /* configUSE_PREEMPTION */
\r
2973 /* The tick hook gets called at regular intervals, even if the
\r
2974 scheduler is locked. */
\r
2975 #if ( configUSE_TICK_HOOK == 1 )
\r
2977 vApplicationTickHook();
\r
2982 return xSwitchRequired;
\r
2984 /*-----------------------------------------------------------*/
\r
2986 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2988 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2992 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2994 if( xTask == NULL )
\r
2996 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
3003 /* Save the hook function in the TCB. A critical section is required as
\r
3004 the value can be accessed from an interrupt. */
\r
3005 taskENTER_CRITICAL();
\r
3007 xTCB->pxTaskTag = pxHookFunction;
\r
3009 taskEXIT_CRITICAL();
\r
3012 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
3013 /*-----------------------------------------------------------*/
\r
3015 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
3017 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
3020 TaskHookFunction_t xReturn;
\r
3022 /* If xTask is NULL then set the calling task's hook. */
\r
3023 pxTCB = prvGetTCBFromHandle( xTask );
\r
3025 /* Save the hook function in the TCB. A critical section is required as
\r
3026 the value can be accessed from an interrupt. */
\r
3027 taskENTER_CRITICAL();
\r
3029 xReturn = pxTCB->pxTaskTag;
\r
3031 taskEXIT_CRITICAL();
\r
3036 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
3037 /*-----------------------------------------------------------*/
\r
3039 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
3041 TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask )
\r
3044 TaskHookFunction_t xReturn;
\r
3045 UBaseType_t uxSavedInterruptStatus;
\r
3047 /* If xTask is NULL then set the calling task's hook. */
\r
3048 pxTCB = prvGetTCBFromHandle( xTask );
\r
3050 /* Save the hook function in the TCB. A critical section is required as
\r
3051 the value can be accessed from an interrupt. */
\r
3052 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
3054 xReturn = pxTCB->pxTaskTag;
\r
3056 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
3061 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
3062 /*-----------------------------------------------------------*/
\r
3064 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
3066 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
3069 BaseType_t xReturn;
\r
3071 /* If xTask is NULL then we are calling our own task hook. */
\r
3072 if( xTask == NULL )
\r
3074 xTCB = pxCurrentTCB;
\r
3081 if( xTCB->pxTaskTag != NULL )
\r
3083 xReturn = xTCB->pxTaskTag( pvParameter );
\r
3093 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
3094 /*-----------------------------------------------------------*/
\r
3096 void vTaskSwitchContext( void )
\r
3098 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
3100 /* The scheduler is currently suspended - do not allow a context
\r
3102 xYieldPending = pdTRUE;
\r
3106 xYieldPending = pdFALSE;
\r
3107 traceTASK_SWITCHED_OUT();
\r
3109 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3111 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
3112 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
3114 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
3117 /* Add the amount of time the task has been running to the
\r
3118 accumulated time so far. The time the task started running was
\r
3119 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
3120 protection here so count values are only valid until the timer
\r
3121 overflows. The guard against negative values is to protect
\r
3122 against suspect run time stat counter implementations - which
\r
3123 are provided by the application, not the kernel. */
\r
3124 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
3126 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
3130 mtCOVERAGE_TEST_MARKER();
\r
3132 ulTaskSwitchedInTime = ulTotalRunTime;
\r
3134 #endif /* configGENERATE_RUN_TIME_STATS */
\r
3136 /* Check for stack overflow, if configured. */
\r
3137 taskCHECK_FOR_STACK_OVERFLOW();
\r
3139 /* Before the currently running task is switched out, save its errno. */
\r
3140 #if( configUSE_POSIX_ERRNO == 1 )
\r
3142 pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
\r
3146 /* Select a new task to run using either the generic C or port
\r
3147 optimised asm code. */
\r
3148 taskSELECT_HIGHEST_PRIORITY_TASK(); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3149 traceTASK_SWITCHED_IN();
\r
3151 /* After the new task is switched in, update the global errno. */
\r
3152 #if( configUSE_POSIX_ERRNO == 1 )
\r
3154 FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
\r
3158 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3160 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
3161 structure specific to this task.
\r
3162 See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
\r
3163 for additional information. */
\r
3164 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
3166 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3169 /*-----------------------------------------------------------*/
\r
3171 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
3173 configASSERT( pxEventList );
\r
3175 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
3176 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
3178 /* Place the event list item of the TCB in the appropriate event list.
\r
3179 This is placed in the list in priority order so the highest priority task
\r
3180 is the first to be woken by the event. The queue that contains the event
\r
3181 list is locked, preventing simultaneous access from interrupts. */
\r
3182 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3184 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
3186 /*-----------------------------------------------------------*/
\r
3188 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
3190 configASSERT( pxEventList );
\r
3192 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3193 the event groups implementation. */
\r
3194 configASSERT( uxSchedulerSuspended != 0 );
\r
3196 /* Store the item value in the event list item. It is safe to access the
\r
3197 event list item here as interrupts won't access the event list item of a
\r
3198 task that is not in the Blocked state. */
\r
3199 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3201 /* Place the event list item of the TCB at the end of the appropriate event
\r
3202 list. It is safe to access the event list here because it is part of an
\r
3203 event group implementation - and interrupts don't access event groups
\r
3204 directly (instead they access them indirectly by pending function calls to
\r
3205 the task level). */
\r
3206 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3208 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
3210 /*-----------------------------------------------------------*/
\r
3212 #if( configUSE_TIMERS == 1 )
\r
3214 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
3216 configASSERT( pxEventList );
\r
3218 /* This function should not be called by application code hence the
\r
3219 'Restricted' in its name. It is not part of the public API. It is
\r
3220 designed for use by kernel code, and has special calling requirements -
\r
3221 it should be called with the scheduler suspended. */
\r
3224 /* Place the event list item of the TCB in the appropriate event list.
\r
3225 In this case it is assume that this is the only task that is going to
\r
3226 be waiting on this event list, so the faster vListInsertEnd() function
\r
3227 can be used in place of vListInsert. */
\r
3228 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3230 /* If the task should block indefinitely then set the block time to a
\r
3231 value that will be recognised as an indefinite delay inside the
\r
3232 prvAddCurrentTaskToDelayedList() function. */
\r
3233 if( xWaitIndefinitely != pdFALSE )
\r
3235 xTicksToWait = portMAX_DELAY;
\r
3238 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
\r
3239 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
\r
3242 #endif /* configUSE_TIMERS */
\r
3243 /*-----------------------------------------------------------*/
\r
3245 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
3247 TCB_t *pxUnblockedTCB;
\r
3248 BaseType_t xReturn;
\r
3250 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
3251 called from a critical section within an ISR. */
\r
3253 /* The event list is sorted in priority order, so the first in the list can
\r
3254 be removed as it is known to be the highest priority. Remove the TCB from
\r
3255 the delayed list, and add it to the ready list.
\r
3257 If an event is for a queue that is locked then this function will never
\r
3258 get called - the lock count on the queue will get modified instead. This
\r
3259 means exclusive access to the event list is guaranteed here.
\r
3261 This function assumes that a check has already been made to ensure that
\r
3262 pxEventList is not empty. */
\r
3263 pxUnblockedTCB = listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3264 configASSERT( pxUnblockedTCB );
\r
3265 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
3267 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3269 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3270 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3272 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3274 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
3275 might be set to the blocked task's time out time. If the task is
\r
3276 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
3277 normally left unchanged, because it is automatically reset to a new
\r
3278 value when the tick count equals xNextTaskUnblockTime. However if
\r
3279 tickless idling is used it might be more important to enter sleep mode
\r
3280 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
3281 ensure it is updated at the earliest possible time. */
\r
3282 prvResetNextTaskUnblockTime();
\r
3288 /* The delayed and ready lists cannot be accessed, so hold this task
\r
3289 pending until the scheduler is resumed. */
\r
3290 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
3293 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3295 /* Return true if the task removed from the event list has a higher
\r
3296 priority than the calling task. This allows the calling task to know if
\r
3297 it should force a context switch now. */
\r
3300 /* Mark that a yield is pending in case the user is not using the
\r
3301 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
3302 xYieldPending = pdTRUE;
\r
3306 xReturn = pdFALSE;
\r
3311 /*-----------------------------------------------------------*/
\r
3313 void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
3315 TCB_t *pxUnblockedTCB;
\r
3317 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3318 the event flags implementation. */
\r
3319 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
3321 /* Store the new item value in the event list. */
\r
3322 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3324 /* Remove the event list form the event flag. Interrupts do not access
\r
3326 pxUnblockedTCB = listGET_LIST_ITEM_OWNER( pxEventListItem ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3327 configASSERT( pxUnblockedTCB );
\r
3328 ( void ) uxListRemove( pxEventListItem );
\r
3330 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3332 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
3333 might be set to the blocked task's time out time. If the task is
\r
3334 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
3335 normally left unchanged, because it is automatically reset to a new
\r
3336 value when the tick count equals xNextTaskUnblockTime. However if
\r
3337 tickless idling is used it might be more important to enter sleep mode
\r
3338 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
3339 ensure it is updated at the earliest possible time. */
\r
3340 prvResetNextTaskUnblockTime();
\r
3344 /* Remove the task from the delayed list and add it to the ready list. The
\r
3345 scheduler is suspended so interrupts will not be accessing the ready
\r
3347 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3348 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3350 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3352 /* The unblocked task has a priority above that of the calling task, so
\r
3353 a context switch is required. This function is called with the
\r
3354 scheduler suspended so xYieldPending is set so the context switch
\r
3355 occurs immediately that the scheduler is resumed (unsuspended). */
\r
3356 xYieldPending = pdTRUE;
\r
3359 /*-----------------------------------------------------------*/
\r
3361 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3363 configASSERT( pxTimeOut );
\r
3364 taskENTER_CRITICAL();
\r
3366 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3367 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3369 taskEXIT_CRITICAL();
\r
3371 /*-----------------------------------------------------------*/
\r
3373 void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3375 /* For internal use only as it does not use a critical section. */
\r
3376 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3377 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3379 /*-----------------------------------------------------------*/
\r
3381 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
3383 BaseType_t xReturn;
\r
3385 configASSERT( pxTimeOut );
\r
3386 configASSERT( pxTicksToWait );
\r
3388 taskENTER_CRITICAL();
\r
3390 /* Minor optimisation. The tick count cannot change in this block. */
\r
3391 const TickType_t xConstTickCount = xTickCount;
\r
3392 const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
\r
3394 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
3395 if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
\r
3397 /* The delay was aborted, which is not the same as a time out,
\r
3398 but has the same result. */
\r
3399 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
3405 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3406 if( *pxTicksToWait == portMAX_DELAY )
\r
3408 /* If INCLUDE_vTaskSuspend is set to 1 and the block time
\r
3409 specified is the maximum block time then the task should block
\r
3410 indefinitely, and therefore never time out. */
\r
3411 xReturn = pdFALSE;
\r
3416 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
3418 /* The tick count is greater than the time at which
\r
3419 vTaskSetTimeout() was called, but has also overflowed since
\r
3420 vTaskSetTimeOut() was called. It must have wrapped all the way
\r
3421 around and gone past again. This passed since vTaskSetTimeout()
\r
3425 else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
\r
3427 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
3428 *pxTicksToWait -= xElapsedTime;
\r
3429 vTaskInternalSetTimeOutState( pxTimeOut );
\r
3430 xReturn = pdFALSE;
\r
3434 *pxTicksToWait = 0;
\r
3438 taskEXIT_CRITICAL();
\r
3442 /*-----------------------------------------------------------*/
\r
3444 void vTaskMissedYield( void )
\r
3446 xYieldPending = pdTRUE;
\r
3448 /*-----------------------------------------------------------*/
\r
3450 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3452 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
3454 UBaseType_t uxReturn;
\r
3455 TCB_t const *pxTCB;
\r
3457 if( xTask != NULL )
\r
3460 uxReturn = pxTCB->uxTaskNumber;
\r
3470 #endif /* configUSE_TRACE_FACILITY */
\r
3471 /*-----------------------------------------------------------*/
\r
3473 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3475 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
3479 if( xTask != NULL )
\r
3482 pxTCB->uxTaskNumber = uxHandle;
\r
3486 #endif /* configUSE_TRACE_FACILITY */
\r
3489 * -----------------------------------------------------------
\r
3491 * ----------------------------------------------------------
\r
3493 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
3494 * language extensions. The equivalent prototype for this function is:
\r
3496 * void prvIdleTask( void *pvParameters );
\r
3499 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
3501 /* Stop warnings. */
\r
3502 ( void ) pvParameters;
\r
3504 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
3505 SCHEDULER IS STARTED. **/
\r
3507 /* In case a task that has a secure context deletes itself, in which case
\r
3508 the idle task is responsible for deleting the task's secure context, if
\r
3510 portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE );
\r
3514 /* See if any tasks have deleted themselves - if so then the idle task
\r
3515 is responsible for freeing the deleted task's TCB and stack. */
\r
3516 prvCheckTasksWaitingTermination();
\r
3518 #if ( configUSE_PREEMPTION == 0 )
\r
3520 /* If we are not using preemption we keep forcing a task switch to
\r
3521 see if any other task has become available. If we are using
\r
3522 preemption we don't need to do this as any task becoming available
\r
3523 will automatically get the processor anyway. */
\r
3526 #endif /* configUSE_PREEMPTION */
\r
3528 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
3530 /* When using preemption tasks of equal priority will be
\r
3531 timesliced. If a task that is sharing the idle priority is ready
\r
3532 to run then the idle task should yield before the end of the
\r
3535 A critical region is not required here as we are just reading from
\r
3536 the list, and an occasional incorrect value will not matter. If
\r
3537 the ready list at the idle priority contains more than one task
\r
3538 then a task other than the idle task is ready to execute. */
\r
3539 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
3545 mtCOVERAGE_TEST_MARKER();
\r
3548 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
3550 #if ( configUSE_IDLE_HOOK == 1 )
\r
3552 extern void vApplicationIdleHook( void );
\r
3554 /* Call the user defined function from within the idle task. This
\r
3555 allows the application designer to add background functionality
\r
3556 without the overhead of a separate task.
\r
3557 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
3558 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
3559 vApplicationIdleHook();
\r
3561 #endif /* configUSE_IDLE_HOOK */
\r
3563 /* This conditional compilation should use inequality to 0, not equality
\r
3564 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
3565 user defined low power mode implementations require
\r
3566 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
3567 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3569 TickType_t xExpectedIdleTime;
\r
3571 /* It is not desirable to suspend then resume the scheduler on
\r
3572 each iteration of the idle task. Therefore, a preliminary
\r
3573 test of the expected idle time is performed without the
\r
3574 scheduler suspended. The result here is not necessarily
\r
3576 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3578 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3580 vTaskSuspendAll();
\r
3582 /* Now the scheduler is suspended, the expected idle
\r
3583 time can be sampled again, and this time its value can
\r
3585 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
3586 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3588 /* Define the following macro to set xExpectedIdleTime to 0
\r
3589 if the application does not want
\r
3590 portSUPPRESS_TICKS_AND_SLEEP() to be called. */
\r
3591 configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
\r
3593 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3595 traceLOW_POWER_IDLE_BEGIN();
\r
3596 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
3597 traceLOW_POWER_IDLE_END();
\r
3601 mtCOVERAGE_TEST_MARKER();
\r
3604 ( void ) xTaskResumeAll();
\r
3608 mtCOVERAGE_TEST_MARKER();
\r
3611 #endif /* configUSE_TICKLESS_IDLE */
\r
3614 /*-----------------------------------------------------------*/
\r
3616 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3618 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
3620 /* The idle task exists in addition to the application tasks. */
\r
3621 const UBaseType_t uxNonApplicationTasks = 1;
\r
3622 eSleepModeStatus eReturn = eStandardSleep;
\r
3624 /* This function must be called from a critical section. */
\r
3626 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
3628 /* A task was made ready while the scheduler was suspended. */
\r
3629 eReturn = eAbortSleep;
\r
3631 else if( xYieldPending != pdFALSE )
\r
3633 /* A yield was pended while the scheduler was suspended. */
\r
3634 eReturn = eAbortSleep;
\r
3638 /* If all the tasks are in the suspended list (which might mean they
\r
3639 have an infinite block time rather than actually being suspended)
\r
3640 then it is safe to turn all clocks off and just wait for external
\r
3642 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
3644 eReturn = eNoTasksWaitingTimeout;
\r
3648 mtCOVERAGE_TEST_MARKER();
\r
3655 #endif /* configUSE_TICKLESS_IDLE */
\r
3656 /*-----------------------------------------------------------*/
\r
3658 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3660 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
3664 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3666 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
3667 configASSERT( pxTCB != NULL );
\r
3668 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3672 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3673 /*-----------------------------------------------------------*/
\r
3675 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3677 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
3679 void *pvReturn = NULL;
\r
3682 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3684 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3685 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3695 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3696 /*-----------------------------------------------------------*/
\r
3698 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3700 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3704 /* If null is passed in here then we are modifying the MPU settings of
\r
3705 the calling task. */
\r
3706 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3708 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3711 #endif /* portUSING_MPU_WRAPPERS */
\r
3712 /*-----------------------------------------------------------*/
\r
3714 static void prvInitialiseTaskLists( void )
\r
3716 UBaseType_t uxPriority;
\r
3718 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3720 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3723 vListInitialise( &xDelayedTaskList1 );
\r
3724 vListInitialise( &xDelayedTaskList2 );
\r
3725 vListInitialise( &xPendingReadyList );
\r
3727 #if ( INCLUDE_vTaskDelete == 1 )
\r
3729 vListInitialise( &xTasksWaitingTermination );
\r
3731 #endif /* INCLUDE_vTaskDelete */
\r
3733 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3735 vListInitialise( &xSuspendedTaskList );
\r
3737 #endif /* INCLUDE_vTaskSuspend */
\r
3739 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3741 pxDelayedTaskList = &xDelayedTaskList1;
\r
3742 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3744 /*-----------------------------------------------------------*/
\r
3746 static void prvCheckTasksWaitingTermination( void )
\r
3749 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3751 #if ( INCLUDE_vTaskDelete == 1 )
\r
3755 /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
\r
3756 being called too often in the idle task. */
\r
3757 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3759 taskENTER_CRITICAL();
\r
3761 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3762 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
3763 --uxCurrentNumberOfTasks;
\r
3764 --uxDeletedTasksWaitingCleanUp;
\r
3766 taskEXIT_CRITICAL();
\r
3768 prvDeleteTCB( pxTCB );
\r
3771 #endif /* INCLUDE_vTaskDelete */
\r
3773 /*-----------------------------------------------------------*/
\r
3775 #if( configUSE_TRACE_FACILITY == 1 )
\r
3777 void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
\r
3781 /* xTask is NULL then get the state of the calling task. */
\r
3782 pxTCB = prvGetTCBFromHandle( xTask );
\r
3784 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3785 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
\r
3786 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3787 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3788 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3790 #if ( configUSE_MUTEXES == 1 )
\r
3792 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3796 pxTaskStatus->uxBasePriority = 0;
\r
3800 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3802 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3806 pxTaskStatus->ulRunTimeCounter = 0;
\r
3810 /* Obtaining the task state is a little fiddly, so is only done if the
\r
3811 value of eState passed into this function is eInvalid - otherwise the
\r
3812 state is just set to whatever is passed in. */
\r
3813 if( eState != eInvalid )
\r
3815 if( pxTCB == pxCurrentTCB )
\r
3817 pxTaskStatus->eCurrentState = eRunning;
\r
3821 pxTaskStatus->eCurrentState = eState;
\r
3823 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3825 /* If the task is in the suspended list then there is a
\r
3826 chance it is actually just blocked indefinitely - so really
\r
3827 it should be reported as being in the Blocked state. */
\r
3828 if( eState == eSuspended )
\r
3830 vTaskSuspendAll();
\r
3832 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3834 pxTaskStatus->eCurrentState = eBlocked;
\r
3837 ( void ) xTaskResumeAll();
\r
3840 #endif /* INCLUDE_vTaskSuspend */
\r
3845 pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
\r
3848 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3849 parameter is provided to allow it to be skipped. */
\r
3850 if( xGetFreeStackSpace != pdFALSE )
\r
3852 #if ( portSTACK_GROWTH > 0 )
\r
3854 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3858 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3864 pxTaskStatus->usStackHighWaterMark = 0;
\r
3868 #endif /* configUSE_TRACE_FACILITY */
\r
3869 /*-----------------------------------------------------------*/
\r
3871 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3873 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3875 configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
\r
3876 UBaseType_t uxTask = 0;
\r
3878 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3880 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3882 /* Populate an TaskStatus_t structure within the
\r
3883 pxTaskStatusArray array for each task that is referenced from
\r
3884 pxList. See the definition of TaskStatus_t in task.h for the
\r
3885 meaning of each TaskStatus_t structure member. */
\r
3888 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3889 vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3891 } while( pxNextTCB != pxFirstTCB );
\r
3895 mtCOVERAGE_TEST_MARKER();
\r
3901 #endif /* configUSE_TRACE_FACILITY */
\r
3902 /*-----------------------------------------------------------*/
\r
3904 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
\r
3906 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3908 uint32_t ulCount = 0U;
\r
3910 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3912 pucStackByte -= portSTACK_GROWTH;
\r
3916 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3918 return ( configSTACK_DEPTH_TYPE ) ulCount;
\r
3921 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) */
\r
3922 /*-----------------------------------------------------------*/
\r
3924 #if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 )
\r
3926 /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the
\r
3927 same except for their return type. Using configSTACK_DEPTH_TYPE allows the
\r
3928 user to determine the return type. It gets around the problem of the value
\r
3929 overflowing on 8-bit types without breaking backward compatibility for
\r
3930 applications that expect an 8-bit return type. */
\r
3931 configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask )
\r
3934 uint8_t *pucEndOfStack;
\r
3935 configSTACK_DEPTH_TYPE uxReturn;
\r
3937 /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are
\r
3938 the same except for their return type. Using configSTACK_DEPTH_TYPE
\r
3939 allows the user to determine the return type. It gets around the
\r
3940 problem of the value overflowing on 8-bit types without breaking
\r
3941 backward compatibility for applications that expect an 8-bit return
\r
3944 pxTCB = prvGetTCBFromHandle( xTask );
\r
3946 #if portSTACK_GROWTH < 0
\r
3948 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3952 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3956 uxReturn = prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3961 #endif /* INCLUDE_uxTaskGetStackHighWaterMark2 */
\r
3962 /*-----------------------------------------------------------*/
\r
3964 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3966 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3969 uint8_t *pucEndOfStack;
\r
3970 UBaseType_t uxReturn;
\r
3972 pxTCB = prvGetTCBFromHandle( xTask );
\r
3974 #if portSTACK_GROWTH < 0
\r
3976 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3980 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3984 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3989 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3990 /*-----------------------------------------------------------*/
\r
3992 #if ( INCLUDE_vTaskDelete == 1 )
\r
3994 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3996 /* This call is required specifically for the TriCore port. It must be
\r
3997 above the vPortFree() calls. The call is also used by ports/demos that
\r
3998 want to allocate and clean RAM statically. */
\r
3999 portCLEAN_UP_TCB( pxTCB );
\r
4001 /* Free up the memory allocated by the scheduler for the task. It is up
\r
4002 to the task to free any memory allocated at the application level.
\r
4003 See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
\r
4004 for additional information. */
\r
4005 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
4007 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
4009 #endif /* configUSE_NEWLIB_REENTRANT */
\r
4011 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
\r
4013 /* The task can only have been allocated dynamically - free both
\r
4014 the stack and TCB. */
\r
4015 vPortFree( pxTCB->pxStack );
\r
4016 vPortFree( pxTCB );
\r
4018 #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
4020 /* The task could have been allocated statically or dynamically, so
\r
4021 check what was statically allocated before trying to free the
\r
4023 if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
\r
4025 /* Both the stack and TCB were allocated dynamically, so both
\r
4027 vPortFree( pxTCB->pxStack );
\r
4028 vPortFree( pxTCB );
\r
4030 else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
\r
4032 /* Only the stack was statically allocated, so the TCB is the
\r
4033 only memory that must be freed. */
\r
4034 vPortFree( pxTCB );
\r
4038 /* Neither the stack nor the TCB were allocated dynamically, so
\r
4039 nothing needs to be freed. */
\r
4040 configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
\r
4041 mtCOVERAGE_TEST_MARKER();
\r
4044 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
4047 #endif /* INCLUDE_vTaskDelete */
\r
4048 /*-----------------------------------------------------------*/
\r
4050 static void prvResetNextTaskUnblockTime( void )
\r
4054 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
4056 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
4057 the maximum possible value so it is extremely unlikely that the
\r
4058 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
4059 there is an item in the delayed list. */
\r
4060 xNextTaskUnblockTime = portMAX_DELAY;
\r
4064 /* The new current delayed list is not empty, get the value of
\r
4065 the item at the head of the delayed list. This is the time at
\r
4066 which the task at the head of the delayed list should be removed
\r
4067 from the Blocked state. */
\r
4068 ( pxTCB ) = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
4069 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
\r
4072 /*-----------------------------------------------------------*/
\r
4074 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
4076 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
4078 TaskHandle_t xReturn;
\r
4080 /* A critical section is not required as this is not called from
\r
4081 an interrupt and the current TCB will always be the same for any
\r
4082 individual execution thread. */
\r
4083 xReturn = pxCurrentTCB;
\r
4088 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
4089 /*-----------------------------------------------------------*/
\r
4091 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
4093 BaseType_t xTaskGetSchedulerState( void )
\r
4095 BaseType_t xReturn;
\r
4097 if( xSchedulerRunning == pdFALSE )
\r
4099 xReturn = taskSCHEDULER_NOT_STARTED;
\r
4103 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4105 xReturn = taskSCHEDULER_RUNNING;
\r
4109 xReturn = taskSCHEDULER_SUSPENDED;
\r
4116 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
4117 /*-----------------------------------------------------------*/
\r
4119 #if ( configUSE_MUTEXES == 1 )
\r
4121 BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
4123 TCB_t * const pxMutexHolderTCB = pxMutexHolder;
\r
4124 BaseType_t xReturn = pdFALSE;
\r
4126 /* If the mutex was given back by an interrupt while the queue was
\r
4127 locked then the mutex holder might now be NULL. _RB_ Is this still
\r
4128 needed as interrupts can no longer use mutexes? */
\r
4129 if( pxMutexHolder != NULL )
\r
4131 /* If the holder of the mutex has a priority below the priority of
\r
4132 the task attempting to obtain the mutex then it will temporarily
\r
4133 inherit the priority of the task attempting to obtain the mutex. */
\r
4134 if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
4136 /* Adjust the mutex holder state to account for its new
\r
4137 priority. Only reset the event list item value if the value is
\r
4138 not being used for anything else. */
\r
4139 if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
4141 listSET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
4145 mtCOVERAGE_TEST_MARKER();
\r
4148 /* If the task being modified is in the ready state it will need
\r
4149 to be moved into a new list. */
\r
4150 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
\r
4152 if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4154 /* It is known that the task is in its ready list so
\r
4155 there is no need to check again and the port level
\r
4156 reset macro can be called directly. */
\r
4157 portRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority, uxTopReadyPriority );
\r
4161 mtCOVERAGE_TEST_MARKER();
\r
4164 /* Inherit the priority before being moved into the new list. */
\r
4165 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
4166 prvAddTaskToReadyList( pxMutexHolderTCB );
\r
4170 /* Just inherit the priority. */
\r
4171 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
4174 traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
\r
4176 /* Inheritance occurred. */
\r
4181 if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
\r
4183 /* The base priority of the mutex holder is lower than the
\r
4184 priority of the task attempting to take the mutex, but the
\r
4185 current priority of the mutex holder is not lower than the
\r
4186 priority of the task attempting to take the mutex.
\r
4187 Therefore the mutex holder must have already inherited a
\r
4188 priority, but inheritance would have occurred if that had
\r
4189 not been the case. */
\r
4194 mtCOVERAGE_TEST_MARKER();
\r
4200 mtCOVERAGE_TEST_MARKER();
\r
4206 #endif /* configUSE_MUTEXES */
\r
4207 /*-----------------------------------------------------------*/
\r
4209 #if ( configUSE_MUTEXES == 1 )
\r
4211 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
4213 TCB_t * const pxTCB = pxMutexHolder;
\r
4214 BaseType_t xReturn = pdFALSE;
\r
4216 if( pxMutexHolder != NULL )
\r
4218 /* A task can only have an inherited priority if it holds the mutex.
\r
4219 If the mutex is held by a task then it cannot be given from an
\r
4220 interrupt, and if a mutex is given by the holding task then it must
\r
4221 be the running state task. */
\r
4222 configASSERT( pxTCB == pxCurrentTCB );
\r
4223 configASSERT( pxTCB->uxMutexesHeld );
\r
4224 ( pxTCB->uxMutexesHeld )--;
\r
4226 /* Has the holder of the mutex inherited the priority of another
\r
4228 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
4230 /* Only disinherit if no other mutexes are held. */
\r
4231 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
4233 /* A task can only have an inherited priority if it holds
\r
4234 the mutex. If the mutex is held by a task then it cannot be
\r
4235 given from an interrupt, and if a mutex is given by the
\r
4236 holding task then it must be the running state task. Remove
\r
4237 the holding task from the ready/delayed list. */
\r
4238 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4240 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
4244 mtCOVERAGE_TEST_MARKER();
\r
4247 /* Disinherit the priority before adding the task into the
\r
4248 new ready list. */
\r
4249 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4250 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
4252 /* Reset the event list item value. It cannot be in use for
\r
4253 any other purpose if this task is running, and it must be
\r
4254 running to give back the mutex. */
\r
4255 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. */
\r
4256 prvAddTaskToReadyList( pxTCB );
\r
4258 /* Return true to indicate that a context switch is required.
\r
4259 This is only actually required in the corner case whereby
\r
4260 multiple mutexes were held and the mutexes were given back
\r
4261 in an order different to that in which they were taken.
\r
4262 If a context switch did not occur when the first mutex was
\r
4263 returned, even if a task was waiting on it, then a context
\r
4264 switch should occur when the last mutex is returned whether
\r
4265 a task is waiting on it or not. */
\r
4270 mtCOVERAGE_TEST_MARKER();
\r
4275 mtCOVERAGE_TEST_MARKER();
\r
4280 mtCOVERAGE_TEST_MARKER();
\r
4286 #endif /* configUSE_MUTEXES */
\r
4287 /*-----------------------------------------------------------*/
\r
4289 #if ( configUSE_MUTEXES == 1 )
\r
4291 void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask )
\r
4293 TCB_t * const pxTCB = pxMutexHolder;
\r
4294 UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
\r
4295 const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
\r
4297 if( pxMutexHolder != NULL )
\r
4299 /* If pxMutexHolder is not NULL then the holder must hold at least
\r
4301 configASSERT( pxTCB->uxMutexesHeld );
\r
4303 /* Determine the priority to which the priority of the task that
\r
4304 holds the mutex should be set. This will be the greater of the
\r
4305 holding task's base priority and the priority of the highest
\r
4306 priority task that is waiting to obtain the mutex. */
\r
4307 if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
\r
4309 uxPriorityToUse = uxHighestPriorityWaitingTask;
\r
4313 uxPriorityToUse = pxTCB->uxBasePriority;
\r
4316 /* Does the priority need to change? */
\r
4317 if( pxTCB->uxPriority != uxPriorityToUse )
\r
4319 /* Only disinherit if no other mutexes are held. This is a
\r
4320 simplification in the priority inheritance implementation. If
\r
4321 the task that holds the mutex is also holding other mutexes then
\r
4322 the other mutexes may have caused the priority inheritance. */
\r
4323 if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
\r
4325 /* If a task has timed out because it already holds the
\r
4326 mutex it was trying to obtain then it cannot of inherited
\r
4327 its own priority. */
\r
4328 configASSERT( pxTCB != pxCurrentTCB );
\r
4330 /* Disinherit the priority, remembering the previous
\r
4331 priority to facilitate determining the subject task's
\r
4333 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4334 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
4335 pxTCB->uxPriority = uxPriorityToUse;
\r
4337 /* Only reset the event list item value if the value is not
\r
4338 being used for anything else. */
\r
4339 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
4341 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriorityToUse ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
4345 mtCOVERAGE_TEST_MARKER();
\r
4348 /* If the running task is not the task that holds the mutex
\r
4349 then the task that holds the mutex could be in either the
\r
4350 Ready, Blocked or Suspended states. Only remove the task
\r
4351 from its current state list if it is in the Ready state as
\r
4352 the task's priority is going to change and there is one
\r
4353 Ready list per priority. */
\r
4354 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
4356 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4358 /* It is known that the task is in its ready list so
\r
4359 there is no need to check again and the port level
\r
4360 reset macro can be called directly. */
\r
4361 portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
\r
4365 mtCOVERAGE_TEST_MARKER();
\r
4368 prvAddTaskToReadyList( pxTCB );
\r
4372 mtCOVERAGE_TEST_MARKER();
\r
4377 mtCOVERAGE_TEST_MARKER();
\r
4382 mtCOVERAGE_TEST_MARKER();
\r
4387 mtCOVERAGE_TEST_MARKER();
\r
4391 #endif /* configUSE_MUTEXES */
\r
4392 /*-----------------------------------------------------------*/
\r
4394 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4396 void vTaskEnterCritical( void )
\r
4398 portDISABLE_INTERRUPTS();
\r
4400 if( xSchedulerRunning != pdFALSE )
\r
4402 ( pxCurrentTCB->uxCriticalNesting )++;
\r
4404 /* This is not the interrupt safe version of the enter critical
\r
4405 function so assert() if it is being called from an interrupt
\r
4406 context. Only API functions that end in "FromISR" can be used in an
\r
4407 interrupt. Only assert if the critical nesting count is 1 to
\r
4408 protect against recursive calls if the assert function also uses a
\r
4409 critical section. */
\r
4410 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
4412 portASSERT_IF_IN_ISR();
\r
4417 mtCOVERAGE_TEST_MARKER();
\r
4421 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4422 /*-----------------------------------------------------------*/
\r
4424 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4426 void vTaskExitCritical( void )
\r
4428 if( xSchedulerRunning != pdFALSE )
\r
4430 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
4432 ( pxCurrentTCB->uxCriticalNesting )--;
\r
4434 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
4436 portENABLE_INTERRUPTS();
\r
4440 mtCOVERAGE_TEST_MARKER();
\r
4445 mtCOVERAGE_TEST_MARKER();
\r
4450 mtCOVERAGE_TEST_MARKER();
\r
4454 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4455 /*-----------------------------------------------------------*/
\r
4457 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
4459 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
4463 /* Start by copying the entire string. */
\r
4464 strcpy( pcBuffer, pcTaskName );
\r
4466 /* Pad the end of the string with spaces to ensure columns line up when
\r
4468 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
4470 pcBuffer[ x ] = ' ';
\r
4474 pcBuffer[ x ] = ( char ) 0x00;
\r
4476 /* Return the new end of string. */
\r
4477 return &( pcBuffer[ x ] );
\r
4480 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
4481 /*-----------------------------------------------------------*/
\r
4483 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4485 void vTaskList( char * pcWriteBuffer )
\r
4487 TaskStatus_t *pxTaskStatusArray;
\r
4488 UBaseType_t uxArraySize, x;
\r
4494 * This function is provided for convenience only, and is used by many
\r
4495 * of the demo applications. Do not consider it to be part of the
\r
4498 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
4499 * uxTaskGetSystemState() output into a human readable table that
\r
4500 * displays task names, states and stack usage.
\r
4502 * vTaskList() has a dependency on the sprintf() C library function that
\r
4503 * might bloat the code size, use a lot of stack, and provide different
\r
4504 * results on different platforms. An alternative, tiny, third party,
\r
4505 * and limited functionality implementation of sprintf() is provided in
\r
4506 * many of the FreeRTOS/Demo sub-directories in a file called
\r
4507 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
4508 * snprintf() implementation!).
\r
4510 * It is recommended that production systems call uxTaskGetSystemState()
\r
4511 * directly to get access to raw stats data, rather than indirectly
\r
4512 * through a call to vTaskList().
\r
4516 /* Make sure the write buffer does not contain a string. */
\r
4517 *pcWriteBuffer = ( char ) 0x00;
\r
4519 /* Take a snapshot of the number of tasks in case it changes while this
\r
4520 function is executing. */
\r
4521 uxArraySize = uxCurrentNumberOfTasks;
\r
4523 /* Allocate an array index for each task. NOTE! if
\r
4524 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4525 equate to NULL. */
\r
4526 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
\r
4528 if( pxTaskStatusArray != NULL )
\r
4530 /* Generate the (binary) data. */
\r
4531 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
4533 /* Create a human readable table from the binary data. */
\r
4534 for( x = 0; x < uxArraySize; x++ )
\r
4536 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
4538 case eRunning: cStatus = tskRUNNING_CHAR;
\r
4541 case eReady: cStatus = tskREADY_CHAR;
\r
4544 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
4547 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
4550 case eDeleted: cStatus = tskDELETED_CHAR;
\r
4553 case eInvalid: /* Fall through. */
\r
4554 default: /* Should not get here, but it is included
\r
4555 to prevent static checking errors. */
\r
4556 cStatus = ( char ) 0x00;
\r
4560 /* Write the task name to the string, padding with spaces so it
\r
4561 can be printed in tabular form more easily. */
\r
4562 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4564 /* Write the rest of the string. */
\r
4565 sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4566 pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
\r
4569 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4570 is 0 then vPortFree() will be #defined to nothing. */
\r
4571 vPortFree( pxTaskStatusArray );
\r
4575 mtCOVERAGE_TEST_MARKER();
\r
4579 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
4580 /*----------------------------------------------------------*/
\r
4582 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4584 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
4586 TaskStatus_t *pxTaskStatusArray;
\r
4587 UBaseType_t uxArraySize, x;
\r
4588 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
4590 #if( configUSE_TRACE_FACILITY != 1 )
\r
4592 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
4599 * This function is provided for convenience only, and is used by many
\r
4600 * of the demo applications. Do not consider it to be part of the
\r
4603 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
4604 * of the uxTaskGetSystemState() output into a human readable table that
\r
4605 * displays the amount of time each task has spent in the Running state
\r
4606 * in both absolute and percentage terms.
\r
4608 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
4609 * function that might bloat the code size, use a lot of stack, and
\r
4610 * provide different results on different platforms. An alternative,
\r
4611 * tiny, third party, and limited functionality implementation of
\r
4612 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
4613 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
4614 * a full snprintf() implementation!).
\r
4616 * It is recommended that production systems call uxTaskGetSystemState()
\r
4617 * directly to get access to raw stats data, rather than indirectly
\r
4618 * through a call to vTaskGetRunTimeStats().
\r
4621 /* Make sure the write buffer does not contain a string. */
\r
4622 *pcWriteBuffer = ( char ) 0x00;
\r
4624 /* Take a snapshot of the number of tasks in case it changes while this
\r
4625 function is executing. */
\r
4626 uxArraySize = uxCurrentNumberOfTasks;
\r
4628 /* Allocate an array index for each task. NOTE! If
\r
4629 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4630 equate to NULL. */
\r
4631 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
\r
4633 if( pxTaskStatusArray != NULL )
\r
4635 /* Generate the (binary) data. */
\r
4636 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
4638 /* For percentage calculations. */
\r
4639 ulTotalTime /= 100UL;
\r
4641 /* Avoid divide by zero errors. */
\r
4642 if( ulTotalTime > 0UL )
\r
4644 /* Create a human readable table from the binary data. */
\r
4645 for( x = 0; x < uxArraySize; x++ )
\r
4647 /* What percentage of the total run time has the task used?
\r
4648 This will always be rounded down to the nearest integer.
\r
4649 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
4650 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
4652 /* Write the task name to the string, padding with
\r
4653 spaces so it can be printed in tabular form more
\r
4655 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4657 if( ulStatsAsPercentage > 0UL )
\r
4659 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4661 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
4665 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4666 printf() library can be used. */
\r
4667 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4673 /* If the percentage is zero here then the task has
\r
4674 consumed less than 1% of the total run time. */
\r
4675 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4677 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4681 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4682 printf() library can be used. */
\r
4683 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4688 pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
\r
4693 mtCOVERAGE_TEST_MARKER();
\r
4696 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4697 is 0 then vPortFree() will be #defined to nothing. */
\r
4698 vPortFree( pxTaskStatusArray );
\r
4702 mtCOVERAGE_TEST_MARKER();
\r
4706 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
\r
4707 /*-----------------------------------------------------------*/
\r
4709 TickType_t uxTaskResetEventItemValue( void )
\r
4711 TickType_t uxReturn;
\r
4713 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
4715 /* Reset the event list item to its normal value - so it can be used with
\r
4716 queues and semaphores. */
\r
4717 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
4721 /*-----------------------------------------------------------*/
\r
4723 #if ( configUSE_MUTEXES == 1 )
\r
4725 TaskHandle_t pvTaskIncrementMutexHeldCount( void )
\r
4727 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
4728 then pxCurrentTCB will be NULL. */
\r
4729 if( pxCurrentTCB != NULL )
\r
4731 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4734 return pxCurrentTCB;
\r
4737 #endif /* configUSE_MUTEXES */
\r
4738 /*-----------------------------------------------------------*/
\r
4740 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4742 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
4744 uint32_t ulReturn;
\r
4746 taskENTER_CRITICAL();
\r
4748 /* Only block if the notification count is not already non-zero. */
\r
4749 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
4751 /* Mark this task as waiting for a notification. */
\r
4752 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4754 if( xTicksToWait > ( TickType_t ) 0 )
\r
4756 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4757 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4759 /* All ports are written to allow a yield in a critical
\r
4760 section (some will yield immediately, others wait until the
\r
4761 critical section exits) - but it is not something that
\r
4762 application code should ever do. */
\r
4763 portYIELD_WITHIN_API();
\r
4767 mtCOVERAGE_TEST_MARKER();
\r
4772 mtCOVERAGE_TEST_MARKER();
\r
4775 taskEXIT_CRITICAL();
\r
4777 taskENTER_CRITICAL();
\r
4779 traceTASK_NOTIFY_TAKE();
\r
4780 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4782 if( ulReturn != 0UL )
\r
4784 if( xClearCountOnExit != pdFALSE )
\r
4786 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4790 pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
\r
4795 mtCOVERAGE_TEST_MARKER();
\r
4798 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4800 taskEXIT_CRITICAL();
\r
4805 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4806 /*-----------------------------------------------------------*/
\r
4808 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4810 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4812 BaseType_t xReturn;
\r
4814 taskENTER_CRITICAL();
\r
4816 /* Only block if a notification is not already pending. */
\r
4817 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4819 /* Clear bits in the task's notification value as bits may get
\r
4820 set by the notifying task or interrupt. This can be used to
\r
4821 clear the value to zero. */
\r
4822 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4824 /* Mark this task as waiting for a notification. */
\r
4825 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4827 if( xTicksToWait > ( TickType_t ) 0 )
\r
4829 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4830 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4832 /* All ports are written to allow a yield in a critical
\r
4833 section (some will yield immediately, others wait until the
\r
4834 critical section exits) - but it is not something that
\r
4835 application code should ever do. */
\r
4836 portYIELD_WITHIN_API();
\r
4840 mtCOVERAGE_TEST_MARKER();
\r
4845 mtCOVERAGE_TEST_MARKER();
\r
4848 taskEXIT_CRITICAL();
\r
4850 taskENTER_CRITICAL();
\r
4852 traceTASK_NOTIFY_WAIT();
\r
4854 if( pulNotificationValue != NULL )
\r
4856 /* Output the current notification value, which may or may not
\r
4858 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4861 /* If ucNotifyValue is set then either the task never entered the
\r
4862 blocked state (because a notification was already pending) or the
\r
4863 task unblocked because of a notification. Otherwise the task
\r
4864 unblocked because of a timeout. */
\r
4865 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4867 /* A notification was not received. */
\r
4868 xReturn = pdFALSE;
\r
4872 /* A notification was already pending or a notification was
\r
4873 received while the task was waiting. */
\r
4874 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4878 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4880 taskEXIT_CRITICAL();
\r
4885 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4886 /*-----------------------------------------------------------*/
\r
4888 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4890 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4893 BaseType_t xReturn = pdPASS;
\r
4894 uint8_t ucOriginalNotifyState;
\r
4896 configASSERT( xTaskToNotify );
\r
4897 pxTCB = xTaskToNotify;
\r
4899 taskENTER_CRITICAL();
\r
4901 if( pulPreviousNotificationValue != NULL )
\r
4903 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4906 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4908 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4913 pxTCB->ulNotifiedValue |= ulValue;
\r
4917 ( pxTCB->ulNotifiedValue )++;
\r
4920 case eSetValueWithOverwrite :
\r
4921 pxTCB->ulNotifiedValue = ulValue;
\r
4924 case eSetValueWithoutOverwrite :
\r
4925 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4927 pxTCB->ulNotifiedValue = ulValue;
\r
4931 /* The value could not be written to the task. */
\r
4937 /* The task is being notified without its notify value being
\r
4942 /* Should not get here if all enums are handled.
\r
4943 Artificially force an assert by testing a value the
\r
4944 compiler can't assume is const. */
\r
4945 configASSERT( pxTCB->ulNotifiedValue == ~0UL );
\r
4950 traceTASK_NOTIFY();
\r
4952 /* If the task is in the blocked state specifically to wait for a
\r
4953 notification then unblock it now. */
\r
4954 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4956 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4957 prvAddTaskToReadyList( pxTCB );
\r
4959 /* The task should not have been on an event list. */
\r
4960 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4962 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4964 /* If a task is blocked waiting for a notification then
\r
4965 xNextTaskUnblockTime might be set to the blocked task's time
\r
4966 out time. If the task is unblocked for a reason other than
\r
4967 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4968 because it will automatically get reset to a new value when
\r
4969 the tick count equals xNextTaskUnblockTime. However if
\r
4970 tickless idling is used it might be more important to enter
\r
4971 sleep mode at the earliest possible time - so reset
\r
4972 xNextTaskUnblockTime here to ensure it is updated at the
\r
4973 earliest possible time. */
\r
4974 prvResetNextTaskUnblockTime();
\r
4978 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4980 /* The notified task has a priority above the currently
\r
4981 executing task so a yield is required. */
\r
4982 taskYIELD_IF_USING_PREEMPTION();
\r
4986 mtCOVERAGE_TEST_MARKER();
\r
4991 mtCOVERAGE_TEST_MARKER();
\r
4994 taskEXIT_CRITICAL();
\r
4999 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5000 /*-----------------------------------------------------------*/
\r
5002 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
5004 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
5007 uint8_t ucOriginalNotifyState;
\r
5008 BaseType_t xReturn = pdPASS;
\r
5009 UBaseType_t uxSavedInterruptStatus;
\r
5011 configASSERT( xTaskToNotify );
\r
5013 /* RTOS ports that support interrupt nesting have the concept of a
\r
5014 maximum system call (or maximum API call) interrupt priority.
\r
5015 Interrupts that are above the maximum system call priority are keep
\r
5016 permanently enabled, even when the RTOS kernel is in a critical section,
\r
5017 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
5018 is defined in FreeRTOSConfig.h then
\r
5019 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
5020 failure if a FreeRTOS API function is called from an interrupt that has
\r
5021 been assigned a priority above the configured maximum system call
\r
5022 priority. Only FreeRTOS functions that end in FromISR can be called
\r
5023 from interrupts that have been assigned a priority at or (logically)
\r
5024 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
5025 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
5026 simple as possible. More information (albeit Cortex-M specific) is
\r
5027 provided on the following link:
\r
5028 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
5029 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
5031 pxTCB = xTaskToNotify;
\r
5033 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
5035 if( pulPreviousNotificationValue != NULL )
\r
5037 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
5040 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
5041 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
5046 pxTCB->ulNotifiedValue |= ulValue;
\r
5050 ( pxTCB->ulNotifiedValue )++;
\r
5053 case eSetValueWithOverwrite :
\r
5054 pxTCB->ulNotifiedValue = ulValue;
\r
5057 case eSetValueWithoutOverwrite :
\r
5058 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
5060 pxTCB->ulNotifiedValue = ulValue;
\r
5064 /* The value could not be written to the task. */
\r
5070 /* The task is being notified without its notify value being
\r
5075 /* Should not get here if all enums are handled.
\r
5076 Artificially force an assert by testing a value the
\r
5077 compiler can't assume is const. */
\r
5078 configASSERT( pxTCB->ulNotifiedValue == ~0UL );
\r
5082 traceTASK_NOTIFY_FROM_ISR();
\r
5084 /* If the task is in the blocked state specifically to wait for a
\r
5085 notification then unblock it now. */
\r
5086 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
5088 /* The task should not have been on an event list. */
\r
5089 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
5091 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
5093 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
5094 prvAddTaskToReadyList( pxTCB );
\r
5098 /* The delayed and ready lists cannot be accessed, so hold
\r
5099 this task pending until the scheduler is resumed. */
\r
5100 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
5103 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
5105 /* The notified task has a priority above the currently
\r
5106 executing task so a yield is required. */
\r
5107 if( pxHigherPriorityTaskWoken != NULL )
\r
5109 *pxHigherPriorityTaskWoken = pdTRUE;
\r
5112 /* Mark that a yield is pending in case the user is not
\r
5113 using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
5114 safe FreeRTOS function. */
\r
5115 xYieldPending = pdTRUE;
\r
5119 mtCOVERAGE_TEST_MARKER();
\r
5123 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
5128 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5129 /*-----------------------------------------------------------*/
\r
5131 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
5133 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
5136 uint8_t ucOriginalNotifyState;
\r
5137 UBaseType_t uxSavedInterruptStatus;
\r
5139 configASSERT( xTaskToNotify );
\r
5141 /* RTOS ports that support interrupt nesting have the concept of a
\r
5142 maximum system call (or maximum API call) interrupt priority.
\r
5143 Interrupts that are above the maximum system call priority are keep
\r
5144 permanently enabled, even when the RTOS kernel is in a critical section,
\r
5145 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
5146 is defined in FreeRTOSConfig.h then
\r
5147 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
5148 failure if a FreeRTOS API function is called from an interrupt that has
\r
5149 been assigned a priority above the configured maximum system call
\r
5150 priority. Only FreeRTOS functions that end in FromISR can be called
\r
5151 from interrupts that have been assigned a priority at or (logically)
\r
5152 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
5153 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
5154 simple as possible. More information (albeit Cortex-M specific) is
\r
5155 provided on the following link:
\r
5156 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
5157 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
5159 pxTCB = xTaskToNotify;
\r
5161 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
5163 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
5164 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
5166 /* 'Giving' is equivalent to incrementing a count in a counting
\r
5168 ( pxTCB->ulNotifiedValue )++;
\r
5170 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
5172 /* If the task is in the blocked state specifically to wait for a
\r
5173 notification then unblock it now. */
\r
5174 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
5176 /* The task should not have been on an event list. */
\r
5177 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
5179 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
5181 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
5182 prvAddTaskToReadyList( pxTCB );
\r
5186 /* The delayed and ready lists cannot be accessed, so hold
\r
5187 this task pending until the scheduler is resumed. */
\r
5188 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
5191 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
5193 /* The notified task has a priority above the currently
\r
5194 executing task so a yield is required. */
\r
5195 if( pxHigherPriorityTaskWoken != NULL )
\r
5197 *pxHigherPriorityTaskWoken = pdTRUE;
\r
5200 /* Mark that a yield is pending in case the user is not
\r
5201 using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
5202 safe FreeRTOS function. */
\r
5203 xYieldPending = pdTRUE;
\r
5207 mtCOVERAGE_TEST_MARKER();
\r
5211 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
5214 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5215 /*-----------------------------------------------------------*/
\r
5217 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
5219 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
5222 BaseType_t xReturn;
\r
5224 /* If null is passed in here then it is the calling task that is having
\r
5225 its notification state cleared. */
\r
5226 pxTCB = prvGetTCBFromHandle( xTask );
\r
5228 taskENTER_CRITICAL();
\r
5230 if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
\r
5232 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
5240 taskEXIT_CRITICAL();
\r
5245 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5246 /*-----------------------------------------------------------*/
\r
5248 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
5250 uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear )
\r
5253 uint32_t ulReturn;
\r
5255 /* If null is passed in here then it is the calling task that is having
\r
5256 its notification state cleared. */
\r
5257 pxTCB = prvGetTCBFromHandle( xTask );
\r
5259 taskENTER_CRITICAL();
\r
5261 /* Return the notification as it was before the bits were cleared,
\r
5262 then clear the bit mask. */
\r
5263 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
5264 pxTCB->ulNotifiedValue &= ~ulBitsToClear;
\r
5266 taskEXIT_CRITICAL();
\r
5271 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5272 /*-----------------------------------------------------------*/
\r
5274 #if( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
\r
5276 uint32_t ulTaskGetIdleRunTimeCounter( void )
\r
5278 return xIdleTaskHandle->ulRunTimeCounter;
\r
5282 /*-----------------------------------------------------------*/
\r
5284 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
\r
5286 TickType_t xTimeToWake;
\r
5287 const TickType_t xConstTickCount = xTickCount;
\r
5289 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
5291 /* About to enter a delayed list, so ensure the ucDelayAborted flag is
\r
5292 reset to pdFALSE so it can be detected as having been set to pdTRUE
\r
5293 when the task leaves the Blocked state. */
\r
5294 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
5298 /* Remove the task from the ready list before adding it to the blocked list
\r
5299 as the same list item is used for both lists. */
\r
5300 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
5302 /* The current task must be in a ready list, so there is no need to
\r
5303 check, and the port reset macro can be called directly. */
\r
5304 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); /*lint !e931 pxCurrentTCB cannot change as it is the calling task. pxCurrentTCB->uxPriority and uxTopReadyPriority cannot change as called with scheduler suspended or in a critical section. */
\r
5308 mtCOVERAGE_TEST_MARKER();
\r
5311 #if ( INCLUDE_vTaskSuspend == 1 )
\r
5313 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
\r
5315 /* Add the task to the suspended task list instead of a delayed task
\r
5316 list to ensure it is not woken by a timing event. It will block
\r
5318 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5322 /* Calculate the time at which the task should be woken if the event
\r
5323 does not occur. This may overflow but this doesn't matter, the
\r
5324 kernel will manage it correctly. */
\r
5325 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5327 /* The list item will be inserted in wake time order. */
\r
5328 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5330 if( xTimeToWake < xConstTickCount )
\r
5332 /* Wake time has overflowed. Place this item in the overflow
\r
5334 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5338 /* The wake time has not overflowed, so the current block list
\r
5340 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5342 /* If the task entering the blocked state was placed at the
\r
5343 head of the list of blocked tasks then xNextTaskUnblockTime
\r
5344 needs to be updated too. */
\r
5345 if( xTimeToWake < xNextTaskUnblockTime )
\r
5347 xNextTaskUnblockTime = xTimeToWake;
\r
5351 mtCOVERAGE_TEST_MARKER();
\r
5356 #else /* INCLUDE_vTaskSuspend */
\r
5358 /* Calculate the time at which the task should be woken if the event
\r
5359 does not occur. This may overflow but this doesn't matter, the kernel
\r
5360 will manage it correctly. */
\r
5361 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5363 /* The list item will be inserted in wake time order. */
\r
5364 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5366 if( xTimeToWake < xConstTickCount )
\r
5368 /* Wake time has overflowed. Place this item in the overflow list. */
\r
5369 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5373 /* The wake time has not overflowed, so the current block list is used. */
\r
5374 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5376 /* If the task entering the blocked state was placed at the head of the
\r
5377 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
5379 if( xTimeToWake < xNextTaskUnblockTime )
\r
5381 xNextTaskUnblockTime = xTimeToWake;
\r
5385 mtCOVERAGE_TEST_MARKER();
\r
5389 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
\r
5390 ( void ) xCanBlockIndefinitely;
\r
5392 #endif /* INCLUDE_vTaskSuspend */
\r
5395 /* Code below here allows additional code to be inserted into this source file,
\r
5396 especially where access to file scope functions and data is needed (for example
\r
5397 when performing module tests). */
\r
5399 #ifdef FREERTOS_MODULE_TEST
\r
5400 #include "tasks_test_access_functions.h"
\r
5404 #if( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
\r
5406 #include "freertos_tasks_c_additions.h"
\r
5408 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
5409 static void freertos_tasks_c_additions_init( void )
\r
5411 FREERTOS_TASKS_C_ADDITIONS_INIT();
\r
projects / freertos / blob