2 * FreeRTOS Kernel V10.2.0
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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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304 struct _reent xNewLib_reent;
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307 #if( configUSE_TASK_NOTIFICATIONS == 1 )
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308 volatile uint32_t ulNotifiedValue;
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309 volatile uint8_t ucNotifyState;
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312 /* See the comments in FreeRTOS.h with the definition of
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313 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
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314 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
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315 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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318 #if( INCLUDE_xTaskAbortDelay == 1 )
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319 uint8_t ucDelayAborted;
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322 #if( configUSE_POSIX_ERRNO == 1 )
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328 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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329 below to enable the use of older kernel aware debuggers. */
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330 typedef tskTCB TCB_t;
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332 /*lint -save -e956 A manual analysis and inspection has been used to determine
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333 which static variables must be declared volatile. */
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334 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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336 /* Lists for ready and blocked tasks. --------------------
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337 xDelayedTaskList1 and xDelayedTaskList2 could be move to function scople but
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338 doing so breaks some kernel aware debuggers and debuggers that rely on removing
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339 the static qualifier. */
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340 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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341 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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342 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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343 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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344 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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345 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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347 #if( INCLUDE_vTaskDelete == 1 )
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349 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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350 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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354 #if ( INCLUDE_vTaskSuspend == 1 )
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356 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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360 /* Global POSIX errno. Its value is changed upon context switching to match
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361 the errno of the currently running task. */
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362 #if ( configUSE_POSIX_ERRNO == 1 )
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363 int FreeRTOS_errno = 0;
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366 /* Other file private variables. --------------------------------*/
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367 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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368 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
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369 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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370 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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371 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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372 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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373 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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374 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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375 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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376 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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378 /* Context switches are held pending while the scheduler is suspended. Also,
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379 interrupts must not manipulate the xStateListItem of a TCB, or any of the
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380 lists the xStateListItem can be referenced from, if the scheduler is suspended.
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381 If an interrupt needs to unblock a task while the scheduler is suspended then it
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382 moves the task's event list item into the xPendingReadyList, ready for the
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383 kernel to move the task from the pending ready list into the real ready list
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384 when the scheduler is unsuspended. The pending ready list itself can only be
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385 accessed from a critical section. */
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386 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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388 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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390 /* Do not move these variables to function scope as doing so prevents the
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391 code working with debuggers that need to remove the static qualifier. */
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392 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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393 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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399 /*-----------------------------------------------------------*/
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401 /* Callback function prototypes. --------------------------*/
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402 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
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404 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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408 #if( configUSE_TICK_HOOK > 0 )
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410 extern void vApplicationTickHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */
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414 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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416 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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420 /* File private functions. --------------------------------*/
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423 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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424 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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425 * is in any other state.
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427 #if ( INCLUDE_vTaskSuspend == 1 )
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429 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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431 #endif /* INCLUDE_vTaskSuspend */
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434 * Utility to ready all the lists used by the scheduler. This is called
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435 * automatically upon the creation of the first task.
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437 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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440 * The idle task, which as all tasks is implemented as a never ending loop.
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441 * The idle task is automatically created and added to the ready lists upon
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442 * creation of the first user task.
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444 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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445 * language extensions. The equivalent prototype for this function is:
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447 * void prvIdleTask( void *pvParameters );
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450 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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453 * Utility to free all memory allocated by the scheduler to hold a TCB,
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454 * including the stack pointed to by the TCB.
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456 * This does not free memory allocated by the task itself (i.e. memory
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457 * allocated by calls to pvPortMalloc from within the tasks application code).
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459 #if ( INCLUDE_vTaskDelete == 1 )
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461 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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466 * Used only by the idle task. This checks to see if anything has been placed
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467 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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468 * and its TCB deleted.
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470 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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473 * The currently executing task is entering the Blocked state. Add the task to
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474 * either the current or the overflow delayed task list.
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476 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
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479 * Fills an TaskStatus_t structure with information on each task that is
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480 * referenced from the pxList list (which may be a ready list, a delayed list,
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481 * a suspended list, etc.).
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483 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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484 * NORMAL APPLICATION CODE.
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486 #if ( configUSE_TRACE_FACILITY == 1 )
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488 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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493 * Searches pxList for a task with name pcNameToQuery - returning a handle to
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494 * the task if it is found, or NULL if the task is not found.
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496 #if ( INCLUDE_xTaskGetHandle == 1 )
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498 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
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503 * When a task is created, the stack of the task is filled with a known value.
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504 * This function determines the 'high water mark' of the task stack by
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505 * determining how much of the stack remains at the original preset value.
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507 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
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509 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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514 * Return the amount of time, in ticks, that will pass before the kernel will
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515 * next move a task from the Blocked state to the Running state.
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517 * This conditional compilation should use inequality to 0, not equality to 1.
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518 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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519 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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520 * set to a value other than 1.
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522 #if ( configUSE_TICKLESS_IDLE != 0 )
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524 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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529 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
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530 * will exit the Blocked state.
\r
532 static void prvResetNextTaskUnblockTime( void );
\r
534 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
537 * Helper function used to pad task names with spaces when printing out
\r
538 * human readable tables of task information.
\r
540 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
\r
545 * Called after a Task_t structure has been allocated either statically or
\r
546 * dynamically to fill in the structure's members.
\r
548 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
549 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
550 const uint32_t ulStackDepth,
\r
551 void * const pvParameters,
\r
552 UBaseType_t uxPriority,
\r
553 TaskHandle_t * const pxCreatedTask,
\r
555 const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
\r
558 * Called after a new task has been created and initialised to place the task
\r
559 * under the control of the scheduler.
\r
561 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
\r
564 * freertos_tasks_c_additions_init() should only be called if the user definable
\r
565 * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
\r
566 * called by the function.
\r
568 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
570 static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
\r
574 /*-----------------------------------------------------------*/
\r
576 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
578 TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
\r
579 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
580 const uint32_t ulStackDepth,
\r
581 void * const pvParameters,
\r
582 UBaseType_t uxPriority,
\r
583 StackType_t * const puxStackBuffer,
\r
584 StaticTask_t * const pxTaskBuffer )
\r
587 TaskHandle_t xReturn;
\r
589 configASSERT( puxStackBuffer != NULL );
\r
590 configASSERT( pxTaskBuffer != NULL );
\r
592 #if( configASSERT_DEFINED == 1 )
\r
594 /* Sanity check that the size of the structure used to declare a
\r
595 variable of type StaticTask_t equals the size of the real task
\r
597 volatile size_t xSize = sizeof( StaticTask_t );
\r
598 configASSERT( xSize == sizeof( TCB_t ) );
\r
599 ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
\r
601 #endif /* configASSERT_DEFINED */
\r
604 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
\r
606 /* The memory used for the task's TCB and stack are passed into this
\r
607 function - use them. */
\r
608 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
609 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
\r
611 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
613 /* Tasks can be created statically or dynamically, so note this
\r
614 task was created statically in case the task is later deleted. */
\r
615 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
617 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
619 prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
\r
620 prvAddNewTaskToReadyList( pxNewTCB );
\r
630 #endif /* SUPPORT_STATIC_ALLOCATION */
\r
631 /*-----------------------------------------------------------*/
\r
633 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
635 BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
638 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
640 configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
\r
641 configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
\r
643 if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
\r
645 /* Allocate space for the TCB. Where the memory comes from depends
\r
646 on the implementation of the port malloc function and whether or
\r
647 not static allocation is being used. */
\r
648 pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
\r
650 /* Store the stack location in the TCB. */
\r
651 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
653 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
655 /* Tasks can be created statically or dynamically, so note this
\r
656 task was created statically in case the task is later deleted. */
\r
657 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
659 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
661 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
662 pxTaskDefinition->pcName,
\r
663 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
664 pxTaskDefinition->pvParameters,
\r
665 pxTaskDefinition->uxPriority,
\r
666 pxCreatedTask, pxNewTCB,
\r
667 pxTaskDefinition->xRegions );
\r
669 prvAddNewTaskToReadyList( pxNewTCB );
\r
676 #endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
\r
677 /*-----------------------------------------------------------*/
\r
679 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
681 BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
684 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
686 configASSERT( pxTaskDefinition->puxStackBuffer );
\r
688 if( pxTaskDefinition->puxStackBuffer != NULL )
\r
690 /* Allocate space for the TCB. Where the memory comes from depends
\r
691 on the implementation of the port malloc function and whether or
\r
692 not static allocation is being used. */
\r
693 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
695 if( pxNewTCB != NULL )
\r
697 /* Store the stack location in the TCB. */
\r
698 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
700 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
702 /* Tasks can be created statically or dynamically, so note
\r
703 this task had a statically allocated stack in case it is
\r
704 later deleted. The TCB was allocated dynamically. */
\r
705 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
\r
707 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
709 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
710 pxTaskDefinition->pcName,
\r
711 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
712 pxTaskDefinition->pvParameters,
\r
713 pxTaskDefinition->uxPriority,
\r
714 pxCreatedTask, pxNewTCB,
\r
715 pxTaskDefinition->xRegions );
\r
717 prvAddNewTaskToReadyList( pxNewTCB );
\r
725 #endif /* portUSING_MPU_WRAPPERS */
\r
726 /*-----------------------------------------------------------*/
\r
728 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
730 BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
\r
731 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
732 const configSTACK_DEPTH_TYPE usStackDepth,
\r
733 void * const pvParameters,
\r
734 UBaseType_t uxPriority,
\r
735 TaskHandle_t * const pxCreatedTask )
\r
738 BaseType_t xReturn;
\r
740 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
741 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
742 the TCB then the stack. */
\r
743 #if( portSTACK_GROWTH > 0 )
\r
745 /* Allocate space for the TCB. Where the memory comes from depends on
\r
746 the implementation of the port malloc function and whether or not static
\r
747 allocation is being used. */
\r
748 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
750 if( pxNewTCB != NULL )
\r
752 /* Allocate space for the stack used by the task being created.
\r
753 The base of the stack memory stored in the TCB so the task can
\r
754 be deleted later if required. */
\r
755 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
757 if( pxNewTCB->pxStack == NULL )
\r
759 /* Could not allocate the stack. Delete the allocated TCB. */
\r
760 vPortFree( pxNewTCB );
\r
765 #else /* portSTACK_GROWTH */
\r
767 StackType_t *pxStack;
\r
769 /* Allocate space for the stack used by the task being created. */
\r
770 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
772 if( pxStack != NULL )
\r
774 /* Allocate space for the TCB. */
\r
775 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
777 if( pxNewTCB != NULL )
\r
779 /* Store the stack location in the TCB. */
\r
780 pxNewTCB->pxStack = pxStack;
\r
784 /* The stack cannot be used as the TCB was not created. Free
\r
786 vPortFree( pxStack );
\r
794 #endif /* portSTACK_GROWTH */
\r
796 if( pxNewTCB != NULL )
\r
798 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
\r
800 /* Tasks can be created statically or dynamically, so note this
\r
801 task was created dynamically in case it is later deleted. */
\r
802 pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
\r
804 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
806 prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
\r
807 prvAddNewTaskToReadyList( pxNewTCB );
\r
812 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
818 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
819 /*-----------------------------------------------------------*/
\r
821 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
822 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
823 const uint32_t ulStackDepth,
\r
824 void * const pvParameters,
\r
825 UBaseType_t uxPriority,
\r
826 TaskHandle_t * const pxCreatedTask,
\r
828 const MemoryRegion_t * const xRegions )
\r
830 StackType_t *pxTopOfStack;
\r
833 #if( portUSING_MPU_WRAPPERS == 1 )
\r
834 /* Should the task be created in privileged mode? */
\r
835 BaseType_t xRunPrivileged;
\r
836 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
838 xRunPrivileged = pdTRUE;
\r
842 xRunPrivileged = pdFALSE;
\r
844 uxPriority &= ~portPRIVILEGE_BIT;
\r
845 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
847 /* Avoid dependency on memset() if it is not required. */
\r
848 #if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
\r
850 /* Fill the stack with a known value to assist debugging. */
\r
851 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
\r
853 #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
\r
855 /* Calculate the top of stack address. This depends on whether the stack
\r
856 grows from high memory to low (as per the 80x86) or vice versa.
\r
857 portSTACK_GROWTH is used to make the result positive or negative as required
\r
859 #if( portSTACK_GROWTH < 0 )
\r
861 pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
\r
862 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
864 /* Check the alignment of the calculated top of stack is correct. */
\r
865 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
867 #if( configRECORD_STACK_HIGH_ADDRESS == 1 )
\r
869 /* Also record the stack's high address, which may assist
\r
871 pxNewTCB->pxEndOfStack = pxTopOfStack;
\r
873 #endif /* configRECORD_STACK_HIGH_ADDRESS */
\r
875 #else /* portSTACK_GROWTH */
\r
877 pxTopOfStack = pxNewTCB->pxStack;
\r
879 /* Check the alignment of the stack buffer is correct. */
\r
880 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
882 /* The other extreme of the stack space is required if stack checking is
\r
884 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
886 #endif /* portSTACK_GROWTH */
\r
888 /* Store the task name in the TCB. */
\r
889 if( pcName != NULL )
\r
891 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
893 pxNewTCB->pcTaskName[ x ] = pcName[ x ];
\r
895 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
896 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
897 string is not accessible (extremely unlikely). */
\r
898 if( pcName[ x ] == ( char ) 0x00 )
\r
904 mtCOVERAGE_TEST_MARKER();
\r
908 /* Ensure the name string is terminated in the case that the string length
\r
909 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
910 pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
914 /* The task has not been given a name, so just ensure there is a NULL
\r
915 terminator when it is read out. */
\r
916 pxNewTCB->pcTaskName[ 0 ] = 0x00;
\r
919 /* This is used as an array index so must ensure it's not too large. First
\r
920 remove the privilege bit if one is present. */
\r
921 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
923 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
927 mtCOVERAGE_TEST_MARKER();
\r
930 pxNewTCB->uxPriority = uxPriority;
\r
931 #if ( configUSE_MUTEXES == 1 )
\r
933 pxNewTCB->uxBasePriority = uxPriority;
\r
934 pxNewTCB->uxMutexesHeld = 0;
\r
936 #endif /* configUSE_MUTEXES */
\r
938 vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
\r
939 vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
\r
941 /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
\r
942 back to the containing TCB from a generic item in a list. */
\r
943 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
\r
945 /* Event lists are always in priority order. */
\r
946 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
947 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
\r
949 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
951 pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
953 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
955 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
957 pxNewTCB->pxTaskTag = NULL;
\r
959 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
961 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
963 pxNewTCB->ulRunTimeCounter = 0UL;
\r
965 #endif /* configGENERATE_RUN_TIME_STATS */
\r
967 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
969 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
\r
973 /* Avoid compiler warning about unreferenced parameter. */
\r
978 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
980 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
982 pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
987 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
989 pxNewTCB->ulNotifiedValue = 0;
\r
990 pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
994 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
996 /* Initialise this task's Newlib reent structure. */
\r
997 _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
\r
1001 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
1003 pxNewTCB->ucDelayAborted = pdFALSE;
\r
1007 /* Initialize the TCB stack to look as if the task was already running,
\r
1008 but had been interrupted by the scheduler. The return address is set
\r
1009 to the start of the task function. Once the stack has been initialised
\r
1010 the top of stack variable is updated. */
\r
1011 #if( portUSING_MPU_WRAPPERS == 1 )
\r
1013 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1015 #else /* portUSING_MPU_WRAPPERS */
\r
1017 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
1019 #endif /* portUSING_MPU_WRAPPERS */
\r
1021 if( pxCreatedTask != NULL )
\r
1023 /* Pass the handle out in an anonymous way. The handle can be used to
\r
1024 change the created task's priority, delete the created task, etc.*/
\r
1025 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
1029 mtCOVERAGE_TEST_MARKER();
\r
1032 /*-----------------------------------------------------------*/
\r
1034 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
\r
1036 /* Ensure interrupts don't access the task lists while the lists are being
\r
1038 taskENTER_CRITICAL();
\r
1040 uxCurrentNumberOfTasks++;
\r
1041 if( pxCurrentTCB == NULL )
\r
1043 /* There are no other tasks, or all the other tasks are in
\r
1044 the suspended state - make this the current task. */
\r
1045 pxCurrentTCB = pxNewTCB;
\r
1047 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
1049 /* This is the first task to be created so do the preliminary
\r
1050 initialisation required. We will not recover if this call
\r
1051 fails, but we will report the failure. */
\r
1052 prvInitialiseTaskLists();
\r
1056 mtCOVERAGE_TEST_MARKER();
\r
1061 /* If the scheduler is not already running, make this task the
\r
1062 current task if it is the highest priority task to be created
\r
1064 if( xSchedulerRunning == pdFALSE )
\r
1066 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
\r
1068 pxCurrentTCB = pxNewTCB;
\r
1072 mtCOVERAGE_TEST_MARKER();
\r
1077 mtCOVERAGE_TEST_MARKER();
\r
1083 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1085 /* Add a counter into the TCB for tracing only. */
\r
1086 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
1088 #endif /* configUSE_TRACE_FACILITY */
\r
1089 traceTASK_CREATE( pxNewTCB );
\r
1091 prvAddTaskToReadyList( pxNewTCB );
\r
1093 portSETUP_TCB( pxNewTCB );
\r
1095 taskEXIT_CRITICAL();
\r
1097 if( xSchedulerRunning != pdFALSE )
\r
1099 /* If the created task is of a higher priority than the current task
\r
1100 then it should run now. */
\r
1101 if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
\r
1103 taskYIELD_IF_USING_PREEMPTION();
\r
1107 mtCOVERAGE_TEST_MARKER();
\r
1112 mtCOVERAGE_TEST_MARKER();
\r
1115 /*-----------------------------------------------------------*/
\r
1117 #if ( INCLUDE_vTaskDelete == 1 )
\r
1119 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
1123 taskENTER_CRITICAL();
\r
1125 /* If null is passed in here then it is the calling task that is
\r
1127 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
1129 /* Remove task from the ready list. */
\r
1130 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1132 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1136 mtCOVERAGE_TEST_MARKER();
\r
1139 /* Is the task waiting on an event also? */
\r
1140 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1142 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1146 mtCOVERAGE_TEST_MARKER();
\r
1149 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
1150 detect that the task lists need re-generating. This is done before
\r
1151 portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
\r
1155 if( pxTCB == pxCurrentTCB )
\r
1157 /* A task is deleting itself. This cannot complete within the
\r
1158 task itself, as a context switch to another task is required.
\r
1159 Place the task in the termination list. The idle task will
\r
1160 check the termination list and free up any memory allocated by
\r
1161 the scheduler for the TCB and stack of the deleted task. */
\r
1162 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
\r
1164 /* Increment the ucTasksDeleted variable so the idle task knows
\r
1165 there is a task that has been deleted and that it should therefore
\r
1166 check the xTasksWaitingTermination list. */
\r
1167 ++uxDeletedTasksWaitingCleanUp;
\r
1169 /* The pre-delete hook is primarily for the Windows simulator,
\r
1170 in which Windows specific clean up operations are performed,
\r
1171 after which it is not possible to yield away from this task -
\r
1172 hence xYieldPending is used to latch that a context switch is
\r
1174 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
1178 --uxCurrentNumberOfTasks;
\r
1179 prvDeleteTCB( pxTCB );
\r
1181 /* Reset the next expected unblock time in case it referred to
\r
1182 the task that has just been deleted. */
\r
1183 prvResetNextTaskUnblockTime();
\r
1186 traceTASK_DELETE( pxTCB );
\r
1188 taskEXIT_CRITICAL();
\r
1190 /* Force a reschedule if it is the currently running task that has just
\r
1192 if( xSchedulerRunning != pdFALSE )
\r
1194 if( pxTCB == pxCurrentTCB )
\r
1196 configASSERT( uxSchedulerSuspended == 0 );
\r
1197 portYIELD_WITHIN_API();
\r
1201 mtCOVERAGE_TEST_MARKER();
\r
1206 #endif /* INCLUDE_vTaskDelete */
\r
1207 /*-----------------------------------------------------------*/
\r
1209 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
1211 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
1213 TickType_t xTimeToWake;
\r
1214 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
1216 configASSERT( pxPreviousWakeTime );
\r
1217 configASSERT( ( xTimeIncrement > 0U ) );
\r
1218 configASSERT( uxSchedulerSuspended == 0 );
\r
1220 vTaskSuspendAll();
\r
1222 /* Minor optimisation. The tick count cannot change in this
\r
1224 const TickType_t xConstTickCount = xTickCount;
\r
1226 /* Generate the tick time at which the task wants to wake. */
\r
1227 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
1229 if( xConstTickCount < *pxPreviousWakeTime )
\r
1231 /* The tick count has overflowed since this function was
\r
1232 lasted called. In this case the only time we should ever
\r
1233 actually delay is if the wake time has also overflowed,
\r
1234 and the wake time is greater than the tick time. When this
\r
1235 is the case it is as if neither time had overflowed. */
\r
1236 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
1238 xShouldDelay = pdTRUE;
\r
1242 mtCOVERAGE_TEST_MARKER();
\r
1247 /* The tick time has not overflowed. In this case we will
\r
1248 delay if either the wake time has overflowed, and/or the
\r
1249 tick time is less than the wake time. */
\r
1250 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
1252 xShouldDelay = pdTRUE;
\r
1256 mtCOVERAGE_TEST_MARKER();
\r
1260 /* Update the wake time ready for the next call. */
\r
1261 *pxPreviousWakeTime = xTimeToWake;
\r
1263 if( xShouldDelay != pdFALSE )
\r
1265 traceTASK_DELAY_UNTIL( xTimeToWake );
\r
1267 /* prvAddCurrentTaskToDelayedList() needs the block time, not
\r
1268 the time to wake, so subtract the current tick count. */
\r
1269 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
\r
1273 mtCOVERAGE_TEST_MARKER();
\r
1276 xAlreadyYielded = xTaskResumeAll();
\r
1278 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1279 have put ourselves to sleep. */
\r
1280 if( xAlreadyYielded == pdFALSE )
\r
1282 portYIELD_WITHIN_API();
\r
1286 mtCOVERAGE_TEST_MARKER();
\r
1290 #endif /* INCLUDE_vTaskDelayUntil */
\r
1291 /*-----------------------------------------------------------*/
\r
1293 #if ( INCLUDE_vTaskDelay == 1 )
\r
1295 void vTaskDelay( const TickType_t xTicksToDelay )
\r
1297 BaseType_t xAlreadyYielded = pdFALSE;
\r
1299 /* A delay time of zero just forces a reschedule. */
\r
1300 if( xTicksToDelay > ( TickType_t ) 0U )
\r
1302 configASSERT( uxSchedulerSuspended == 0 );
\r
1303 vTaskSuspendAll();
\r
1305 traceTASK_DELAY();
\r
1307 /* A task that is removed from the event list while the
\r
1308 scheduler is suspended will not get placed in the ready
\r
1309 list or removed from the blocked list until the scheduler
\r
1312 This task cannot be in an event list as it is the currently
\r
1313 executing task. */
\r
1314 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
\r
1316 xAlreadyYielded = xTaskResumeAll();
\r
1320 mtCOVERAGE_TEST_MARKER();
\r
1323 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1324 have put ourselves to sleep. */
\r
1325 if( xAlreadyYielded == pdFALSE )
\r
1327 portYIELD_WITHIN_API();
\r
1331 mtCOVERAGE_TEST_MARKER();
\r
1335 #endif /* INCLUDE_vTaskDelay */
\r
1336 /*-----------------------------------------------------------*/
\r
1338 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_xTaskAbortDelay == 1 ) )
\r
1340 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1342 eTaskState eReturn;
\r
1343 List_t const * pxStateList, *pxDelayedList, *pxOverflowedDelayedList;
\r
1344 const TCB_t * const pxTCB = xTask;
\r
1346 configASSERT( pxTCB );
\r
1348 if( pxTCB == pxCurrentTCB )
\r
1350 /* The task calling this function is querying its own state. */
\r
1351 eReturn = eRunning;
\r
1355 taskENTER_CRITICAL();
\r
1357 pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
\r
1358 pxDelayedList = pxDelayedTaskList;
\r
1359 pxOverflowedDelayedList = pxOverflowDelayedTaskList;
\r
1361 taskEXIT_CRITICAL();
\r
1363 if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
\r
1365 /* The task being queried is referenced from one of the Blocked
\r
1367 eReturn = eBlocked;
\r
1370 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1371 else if( pxStateList == &xSuspendedTaskList )
\r
1373 /* The task being queried is referenced from the suspended
\r
1374 list. Is it genuinely suspended or is it blocked
\r
1376 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1378 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1380 /* The task does not appear on the event list item of
\r
1381 and of the RTOS objects, but could still be in the
\r
1382 blocked state if it is waiting on its notification
\r
1383 rather than waiting on an object. */
\r
1384 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1386 eReturn = eBlocked;
\r
1390 eReturn = eSuspended;
\r
1395 eReturn = eSuspended;
\r
1401 eReturn = eBlocked;
\r
1406 #if ( INCLUDE_vTaskDelete == 1 )
\r
1407 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1409 /* The task being queried is referenced from the deleted
\r
1410 tasks list, or it is not referenced from any lists at
\r
1412 eReturn = eDeleted;
\r
1416 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1418 /* If the task is not in any other state, it must be in the
\r
1419 Ready (including pending ready) state. */
\r
1425 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1427 #endif /* INCLUDE_eTaskGetState */
\r
1428 /*-----------------------------------------------------------*/
\r
1430 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1432 UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
\r
1434 TCB_t const *pxTCB;
\r
1435 UBaseType_t uxReturn;
\r
1437 taskENTER_CRITICAL();
\r
1439 /* If null is passed in here then it is the priority of the task
\r
1440 that called uxTaskPriorityGet() that is being queried. */
\r
1441 pxTCB = prvGetTCBFromHandle( xTask );
\r
1442 uxReturn = pxTCB->uxPriority;
\r
1444 taskEXIT_CRITICAL();
\r
1449 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1450 /*-----------------------------------------------------------*/
\r
1452 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1454 UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
\r
1456 TCB_t const *pxTCB;
\r
1457 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1459 /* RTOS ports that support interrupt nesting have the concept of a
\r
1460 maximum system call (or maximum API call) interrupt priority.
\r
1461 Interrupts that are above the maximum system call priority are keep
\r
1462 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1463 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1464 is defined in FreeRTOSConfig.h then
\r
1465 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1466 failure if a FreeRTOS API function is called from an interrupt that has
\r
1467 been assigned a priority above the configured maximum system call
\r
1468 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1469 from interrupts that have been assigned a priority at or (logically)
\r
1470 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1471 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1472 simple as possible. More information (albeit Cortex-M specific) is
\r
1473 provided on the following link:
\r
1474 https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1475 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1477 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1479 /* If null is passed in here then it is the priority of the calling
\r
1480 task that is being queried. */
\r
1481 pxTCB = prvGetTCBFromHandle( xTask );
\r
1482 uxReturn = pxTCB->uxPriority;
\r
1484 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1489 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1490 /*-----------------------------------------------------------*/
\r
1492 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1494 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1497 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1498 BaseType_t xYieldRequired = pdFALSE;
\r
1500 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1502 /* Ensure the new priority is valid. */
\r
1503 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1505 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1509 mtCOVERAGE_TEST_MARKER();
\r
1512 taskENTER_CRITICAL();
\r
1514 /* If null is passed in here then it is the priority of the calling
\r
1515 task that is being changed. */
\r
1516 pxTCB = prvGetTCBFromHandle( xTask );
\r
1518 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1520 #if ( configUSE_MUTEXES == 1 )
\r
1522 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1526 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1530 if( uxCurrentBasePriority != uxNewPriority )
\r
1532 /* The priority change may have readied a task of higher
\r
1533 priority than the calling task. */
\r
1534 if( uxNewPriority > uxCurrentBasePriority )
\r
1536 if( pxTCB != pxCurrentTCB )
\r
1538 /* The priority of a task other than the currently
\r
1539 running task is being raised. Is the priority being
\r
1540 raised above that of the running task? */
\r
1541 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1543 xYieldRequired = pdTRUE;
\r
1547 mtCOVERAGE_TEST_MARKER();
\r
1552 /* The priority of the running task is being raised,
\r
1553 but the running task must already be the highest
\r
1554 priority task able to run so no yield is required. */
\r
1557 else if( pxTCB == pxCurrentTCB )
\r
1559 /* Setting the priority of the running task down means
\r
1560 there may now be another task of higher priority that
\r
1561 is ready to execute. */
\r
1562 xYieldRequired = pdTRUE;
\r
1566 /* Setting the priority of any other task down does not
\r
1567 require a yield as the running task must be above the
\r
1568 new priority of the task being modified. */
\r
1571 /* Remember the ready list the task might be referenced from
\r
1572 before its uxPriority member is changed so the
\r
1573 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1574 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1576 #if ( configUSE_MUTEXES == 1 )
\r
1578 /* Only change the priority being used if the task is not
\r
1579 currently using an inherited priority. */
\r
1580 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1582 pxTCB->uxPriority = uxNewPriority;
\r
1586 mtCOVERAGE_TEST_MARKER();
\r
1589 /* The base priority gets set whatever. */
\r
1590 pxTCB->uxBasePriority = uxNewPriority;
\r
1594 pxTCB->uxPriority = uxNewPriority;
\r
1598 /* Only reset the event list item value if the value is not
\r
1599 being used for anything else. */
\r
1600 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1602 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
1606 mtCOVERAGE_TEST_MARKER();
\r
1609 /* If the task is in the blocked or suspended list we need do
\r
1610 nothing more than change its priority variable. However, if
\r
1611 the task is in a ready list it needs to be removed and placed
\r
1612 in the list appropriate to its new priority. */
\r
1613 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1615 /* The task is currently in its ready list - remove before
\r
1616 adding it to it's new ready list. As we are in a critical
\r
1617 section we can do this even if the scheduler is suspended. */
\r
1618 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1620 /* It is known that the task is in its ready list so
\r
1621 there is no need to check again and the port level
\r
1622 reset macro can be called directly. */
\r
1623 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1627 mtCOVERAGE_TEST_MARKER();
\r
1629 prvAddTaskToReadyList( pxTCB );
\r
1633 mtCOVERAGE_TEST_MARKER();
\r
1636 if( xYieldRequired != pdFALSE )
\r
1638 taskYIELD_IF_USING_PREEMPTION();
\r
1642 mtCOVERAGE_TEST_MARKER();
\r
1645 /* Remove compiler warning about unused variables when the port
\r
1646 optimised task selection is not being used. */
\r
1647 ( void ) uxPriorityUsedOnEntry;
\r
1650 taskEXIT_CRITICAL();
\r
1653 #endif /* INCLUDE_vTaskPrioritySet */
\r
1654 /*-----------------------------------------------------------*/
\r
1656 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1658 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1662 taskENTER_CRITICAL();
\r
1664 /* If null is passed in here then it is the running task that is
\r
1665 being suspended. */
\r
1666 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1668 traceTASK_SUSPEND( pxTCB );
\r
1670 /* Remove task from the ready/delayed list and place in the
\r
1671 suspended list. */
\r
1672 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1674 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1678 mtCOVERAGE_TEST_MARKER();
\r
1681 /* Is the task waiting on an event also? */
\r
1682 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1684 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1688 mtCOVERAGE_TEST_MARKER();
\r
1691 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
\r
1693 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1695 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1697 /* The task was blocked to wait for a notification, but is
\r
1698 now suspended, so no notification was received. */
\r
1699 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
1704 taskEXIT_CRITICAL();
\r
1706 if( xSchedulerRunning != pdFALSE )
\r
1708 /* Reset the next expected unblock time in case it referred to the
\r
1709 task that is now in the Suspended state. */
\r
1710 taskENTER_CRITICAL();
\r
1712 prvResetNextTaskUnblockTime();
\r
1714 taskEXIT_CRITICAL();
\r
1718 mtCOVERAGE_TEST_MARKER();
\r
1721 if( pxTCB == pxCurrentTCB )
\r
1723 if( xSchedulerRunning != pdFALSE )
\r
1725 /* The current task has just been suspended. */
\r
1726 configASSERT( uxSchedulerSuspended == 0 );
\r
1727 portYIELD_WITHIN_API();
\r
1731 /* The scheduler is not running, but the task that was pointed
\r
1732 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1733 must be adjusted to point to a different task. */
\r
1734 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
\r
1736 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1737 NULL so when the next task is created pxCurrentTCB will
\r
1738 be set to point to it no matter what its relative priority
\r
1740 pxCurrentTCB = NULL;
\r
1744 vTaskSwitchContext();
\r
1750 mtCOVERAGE_TEST_MARKER();
\r
1754 #endif /* INCLUDE_vTaskSuspend */
\r
1755 /*-----------------------------------------------------------*/
\r
1757 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1759 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1761 BaseType_t xReturn = pdFALSE;
\r
1762 const TCB_t * const pxTCB = xTask;
\r
1764 /* Accesses xPendingReadyList so must be called from a critical
\r
1767 /* It does not make sense to check if the calling task is suspended. */
\r
1768 configASSERT( xTask );
\r
1770 /* Is the task being resumed actually in the suspended list? */
\r
1771 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1773 /* Has the task already been resumed from within an ISR? */
\r
1774 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1776 /* Is it in the suspended list because it is in the Suspended
\r
1777 state, or because is is blocked with no timeout? */
\r
1778 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
\r
1784 mtCOVERAGE_TEST_MARKER();
\r
1789 mtCOVERAGE_TEST_MARKER();
\r
1794 mtCOVERAGE_TEST_MARKER();
\r
1798 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1800 #endif /* INCLUDE_vTaskSuspend */
\r
1801 /*-----------------------------------------------------------*/
\r
1803 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1805 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1807 TCB_t * const pxTCB = xTaskToResume;
\r
1809 /* It does not make sense to resume the calling task. */
\r
1810 configASSERT( xTaskToResume );
\r
1812 /* The parameter cannot be NULL as it is impossible to resume the
\r
1813 currently executing task. */
\r
1814 if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) )
\r
1816 taskENTER_CRITICAL();
\r
1818 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1820 traceTASK_RESUME( pxTCB );
\r
1822 /* The ready list can be accessed even if the scheduler is
\r
1823 suspended because this is inside a critical section. */
\r
1824 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1825 prvAddTaskToReadyList( pxTCB );
\r
1827 /* A higher priority task may have just been resumed. */
\r
1828 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1830 /* This yield may not cause the task just resumed to run,
\r
1831 but will leave the lists in the correct state for the
\r
1833 taskYIELD_IF_USING_PREEMPTION();
\r
1837 mtCOVERAGE_TEST_MARKER();
\r
1842 mtCOVERAGE_TEST_MARKER();
\r
1845 taskEXIT_CRITICAL();
\r
1849 mtCOVERAGE_TEST_MARKER();
\r
1853 #endif /* INCLUDE_vTaskSuspend */
\r
1855 /*-----------------------------------------------------------*/
\r
1857 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1859 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1861 BaseType_t xYieldRequired = pdFALSE;
\r
1862 TCB_t * const pxTCB = xTaskToResume;
\r
1863 UBaseType_t uxSavedInterruptStatus;
\r
1865 configASSERT( xTaskToResume );
\r
1867 /* RTOS ports that support interrupt nesting have the concept of a
\r
1868 maximum system call (or maximum API call) interrupt priority.
\r
1869 Interrupts that are above the maximum system call priority are keep
\r
1870 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1871 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1872 is defined in FreeRTOSConfig.h then
\r
1873 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1874 failure if a FreeRTOS API function is called from an interrupt that has
\r
1875 been assigned a priority above the configured maximum system call
\r
1876 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1877 from interrupts that have been assigned a priority at or (logically)
\r
1878 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1879 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1880 simple as possible. More information (albeit Cortex-M specific) is
\r
1881 provided on the following link:
\r
1882 https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1883 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1885 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1887 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1889 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1891 /* Check the ready lists can be accessed. */
\r
1892 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1894 /* Ready lists can be accessed so move the task from the
\r
1895 suspended list to the ready list directly. */
\r
1896 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1898 xYieldRequired = pdTRUE;
\r
1902 mtCOVERAGE_TEST_MARKER();
\r
1905 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1906 prvAddTaskToReadyList( pxTCB );
\r
1910 /* The delayed or ready lists cannot be accessed so the task
\r
1911 is held in the pending ready list until the scheduler is
\r
1913 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1918 mtCOVERAGE_TEST_MARKER();
\r
1921 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1923 return xYieldRequired;
\r
1926 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1927 /*-----------------------------------------------------------*/
\r
1929 void vTaskStartScheduler( void )
\r
1931 BaseType_t xReturn;
\r
1933 /* Add the idle task at the lowest priority. */
\r
1934 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1936 StaticTask_t *pxIdleTaskTCBBuffer = NULL;
\r
1937 StackType_t *pxIdleTaskStackBuffer = NULL;
\r
1938 uint32_t ulIdleTaskStackSize;
\r
1940 /* The Idle task is created using user provided RAM - obtain the
\r
1941 address of the RAM then create the idle task. */
\r
1942 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
\r
1943 xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
\r
1944 configIDLE_TASK_NAME,
\r
1945 ulIdleTaskStackSize,
\r
1946 ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
\r
1947 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
1948 pxIdleTaskStackBuffer,
\r
1949 pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1951 if( xIdleTaskHandle != NULL )
\r
1962 /* The Idle task is being created using dynamically allocated RAM. */
\r
1963 xReturn = xTaskCreate( prvIdleTask,
\r
1964 configIDLE_TASK_NAME,
\r
1965 configMINIMAL_STACK_SIZE,
\r
1967 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
1968 &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1970 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
1972 #if ( configUSE_TIMERS == 1 )
\r
1974 if( xReturn == pdPASS )
\r
1976 xReturn = xTimerCreateTimerTask();
\r
1980 mtCOVERAGE_TEST_MARKER();
\r
1983 #endif /* configUSE_TIMERS */
\r
1985 if( xReturn == pdPASS )
\r
1987 /* freertos_tasks_c_additions_init() should only be called if the user
\r
1988 definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
\r
1989 the only macro called by the function. */
\r
1990 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
1992 freertos_tasks_c_additions_init();
\r
1996 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1997 before or during the call to xPortStartScheduler(). The stacks of
\r
1998 the created tasks contain a status word with interrupts switched on
\r
1999 so interrupts will automatically get re-enabled when the first task
\r
2001 portDISABLE_INTERRUPTS();
\r
2003 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2005 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2006 structure specific to the task that will run first. */
\r
2007 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2009 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2011 xNextTaskUnblockTime = portMAX_DELAY;
\r
2012 xSchedulerRunning = pdTRUE;
\r
2013 xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
\r
2015 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
2016 macro must be defined to configure the timer/counter used to generate
\r
2017 the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
\r
2018 is set to 0 and the following line fails to build then ensure you do not
\r
2019 have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
\r
2020 FreeRTOSConfig.h file. */
\r
2021 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
2023 traceTASK_SWITCHED_IN();
\r
2025 /* Setting up the timer tick is hardware specific and thus in the
\r
2026 portable interface. */
\r
2027 if( xPortStartScheduler() != pdFALSE )
\r
2029 /* Should not reach here as if the scheduler is running the
\r
2030 function will not return. */
\r
2034 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
2039 /* This line will only be reached if the kernel could not be started,
\r
2040 because there was not enough FreeRTOS heap to create the idle task
\r
2041 or the timer task. */
\r
2042 configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
\r
2045 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
2046 meaning xIdleTaskHandle is not used anywhere else. */
\r
2047 ( void ) xIdleTaskHandle;
\r
2049 /*-----------------------------------------------------------*/
\r
2051 void vTaskEndScheduler( void )
\r
2053 /* Stop the scheduler interrupts and call the portable scheduler end
\r
2054 routine so the original ISRs can be restored if necessary. The port
\r
2055 layer must ensure interrupts enable bit is left in the correct state. */
\r
2056 portDISABLE_INTERRUPTS();
\r
2057 xSchedulerRunning = pdFALSE;
\r
2058 vPortEndScheduler();
\r
2060 /*----------------------------------------------------------*/
\r
2062 void vTaskSuspendAll( void )
\r
2064 /* A critical section is not required as the variable is of type
\r
2065 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
2066 post in the FreeRTOS support forum before reporting this as a bug! -
\r
2067 http://goo.gl/wu4acr */
\r
2068 ++uxSchedulerSuspended;
\r
2070 /*----------------------------------------------------------*/
\r
2072 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2074 static TickType_t prvGetExpectedIdleTime( void )
\r
2076 TickType_t xReturn;
\r
2077 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
2079 /* uxHigherPriorityReadyTasks takes care of the case where
\r
2080 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
2081 task that are in the Ready state, even though the idle task is
\r
2083 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
2085 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
2087 uxHigherPriorityReadyTasks = pdTRUE;
\r
2092 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
2094 /* When port optimised task selection is used the uxTopReadyPriority
\r
2095 variable is used as a bit map. If bits other than the least
\r
2096 significant bit are set then there are tasks that have a priority
\r
2097 above the idle priority that are in the Ready state. This takes
\r
2098 care of the case where the co-operative scheduler is in use. */
\r
2099 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
2101 uxHigherPriorityReadyTasks = pdTRUE;
\r
2106 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
2110 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
2112 /* There are other idle priority tasks in the ready state. If
\r
2113 time slicing is used then the very next tick interrupt must be
\r
2117 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
2119 /* There are tasks in the Ready state that have a priority above the
\r
2120 idle priority. This path can only be reached if
\r
2121 configUSE_PREEMPTION is 0. */
\r
2126 xReturn = xNextTaskUnblockTime - xTickCount;
\r
2132 #endif /* configUSE_TICKLESS_IDLE */
\r
2133 /*----------------------------------------------------------*/
\r
2135 BaseType_t xTaskResumeAll( void )
\r
2137 TCB_t *pxTCB = NULL;
\r
2138 BaseType_t xAlreadyYielded = pdFALSE;
\r
2140 /* If uxSchedulerSuspended is zero then this function does not match a
\r
2141 previous call to vTaskSuspendAll(). */
\r
2142 configASSERT( uxSchedulerSuspended );
\r
2144 /* It is possible that an ISR caused a task to be removed from an event
\r
2145 list while the scheduler was suspended. If this was the case then the
\r
2146 removed task will have been added to the xPendingReadyList. Once the
\r
2147 scheduler has been resumed it is safe to move all the pending ready
\r
2148 tasks from this list into their appropriate ready list. */
\r
2149 taskENTER_CRITICAL();
\r
2151 --uxSchedulerSuspended;
\r
2153 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2155 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
2157 /* Move any readied tasks from the pending list into the
\r
2158 appropriate ready list. */
\r
2159 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
2161 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
2162 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2163 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2164 prvAddTaskToReadyList( pxTCB );
\r
2166 /* If the moved task has a priority higher than the current
\r
2167 task then a yield must be performed. */
\r
2168 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2170 xYieldPending = pdTRUE;
\r
2174 mtCOVERAGE_TEST_MARKER();
\r
2178 if( pxTCB != NULL )
\r
2180 /* A task was unblocked while the scheduler was suspended,
\r
2181 which may have prevented the next unblock time from being
\r
2182 re-calculated, in which case re-calculate it now. Mainly
\r
2183 important for low power tickless implementations, where
\r
2184 this can prevent an unnecessary exit from low power
\r
2186 prvResetNextTaskUnblockTime();
\r
2189 /* If any ticks occurred while the scheduler was suspended then
\r
2190 they should be processed now. This ensures the tick count does
\r
2191 not slip, and that any delayed tasks are resumed at the correct
\r
2194 UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */
\r
2196 if( uxPendedCounts > ( UBaseType_t ) 0U )
\r
2200 if( xTaskIncrementTick() != pdFALSE )
\r
2202 xYieldPending = pdTRUE;
\r
2206 mtCOVERAGE_TEST_MARKER();
\r
2209 } while( uxPendedCounts > ( UBaseType_t ) 0U );
\r
2211 uxPendedTicks = 0;
\r
2215 mtCOVERAGE_TEST_MARKER();
\r
2219 if( xYieldPending != pdFALSE )
\r
2221 #if( configUSE_PREEMPTION != 0 )
\r
2223 xAlreadyYielded = pdTRUE;
\r
2226 taskYIELD_IF_USING_PREEMPTION();
\r
2230 mtCOVERAGE_TEST_MARKER();
\r
2236 mtCOVERAGE_TEST_MARKER();
\r
2239 taskEXIT_CRITICAL();
\r
2241 return xAlreadyYielded;
\r
2243 /*-----------------------------------------------------------*/
\r
2245 TickType_t xTaskGetTickCount( void )
\r
2247 TickType_t xTicks;
\r
2249 /* Critical section required if running on a 16 bit processor. */
\r
2250 portTICK_TYPE_ENTER_CRITICAL();
\r
2252 xTicks = xTickCount;
\r
2254 portTICK_TYPE_EXIT_CRITICAL();
\r
2258 /*-----------------------------------------------------------*/
\r
2260 TickType_t xTaskGetTickCountFromISR( void )
\r
2262 TickType_t xReturn;
\r
2263 UBaseType_t uxSavedInterruptStatus;
\r
2265 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
2266 system call (or maximum API call) interrupt priority. Interrupts that are
\r
2267 above the maximum system call priority are kept permanently enabled, even
\r
2268 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
2269 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
2270 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
2271 failure if a FreeRTOS API function is called from an interrupt that has been
\r
2272 assigned a priority above the configured maximum system call priority.
\r
2273 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
2274 that have been assigned a priority at or (logically) below the maximum
\r
2275 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
2276 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
2277 More information (albeit Cortex-M specific) is provided on the following
\r
2278 link: https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
2279 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
2281 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
2283 xReturn = xTickCount;
\r
2285 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2289 /*-----------------------------------------------------------*/
\r
2291 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
2293 /* A critical section is not required because the variables are of type
\r
2295 return uxCurrentNumberOfTasks;
\r
2297 /*-----------------------------------------------------------*/
\r
2299 char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2303 /* If null is passed in here then the name of the calling task is being
\r
2305 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2306 configASSERT( pxTCB );
\r
2307 return &( pxTCB->pcTaskName[ 0 ] );
\r
2309 /*-----------------------------------------------------------*/
\r
2311 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2313 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
\r
2315 TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
\r
2318 BaseType_t xBreakLoop;
\r
2320 /* This function is called with the scheduler suspended. */
\r
2322 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2324 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
2328 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
2330 /* Check each character in the name looking for a match or
\r
2332 xBreakLoop = pdFALSE;
\r
2333 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2335 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
2337 if( cNextChar != pcNameToQuery[ x ] )
\r
2339 /* Characters didn't match. */
\r
2340 xBreakLoop = pdTRUE;
\r
2342 else if( cNextChar == ( char ) 0x00 )
\r
2344 /* Both strings terminated, a match must have been
\r
2346 pxReturn = pxNextTCB;
\r
2347 xBreakLoop = pdTRUE;
\r
2351 mtCOVERAGE_TEST_MARKER();
\r
2354 if( xBreakLoop != pdFALSE )
\r
2360 if( pxReturn != NULL )
\r
2362 /* The handle has been found. */
\r
2366 } while( pxNextTCB != pxFirstTCB );
\r
2370 mtCOVERAGE_TEST_MARKER();
\r
2376 #endif /* INCLUDE_xTaskGetHandle */
\r
2377 /*-----------------------------------------------------------*/
\r
2379 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2381 TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2383 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
2386 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
\r
2387 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
\r
2389 vTaskSuspendAll();
\r
2391 /* Search the ready lists. */
\r
2395 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
2397 if( pxTCB != NULL )
\r
2399 /* Found the handle. */
\r
2403 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2405 /* Search the delayed lists. */
\r
2406 if( pxTCB == NULL )
\r
2408 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
2411 if( pxTCB == NULL )
\r
2413 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
2416 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2418 if( pxTCB == NULL )
\r
2420 /* Search the suspended list. */
\r
2421 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
2426 #if( INCLUDE_vTaskDelete == 1 )
\r
2428 if( pxTCB == NULL )
\r
2430 /* Search the deleted list. */
\r
2431 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
2436 ( void ) xTaskResumeAll();
\r
2441 #endif /* INCLUDE_xTaskGetHandle */
\r
2442 /*-----------------------------------------------------------*/
\r
2444 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2446 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
2448 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
2450 vTaskSuspendAll();
\r
2452 /* Is there a space in the array for each task in the system? */
\r
2453 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2455 /* Fill in an TaskStatus_t structure with information on each
\r
2456 task in the Ready state. */
\r
2460 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2462 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2464 /* Fill in an TaskStatus_t structure with information on each
\r
2465 task in the Blocked state. */
\r
2466 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2467 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2469 #if( INCLUDE_vTaskDelete == 1 )
\r
2471 /* Fill in an TaskStatus_t structure with information on
\r
2472 each task that has been deleted but not yet cleaned up. */
\r
2473 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2477 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2479 /* Fill in an TaskStatus_t structure with information on
\r
2480 each task in the Suspended state. */
\r
2481 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2485 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
2487 if( pulTotalRunTime != NULL )
\r
2489 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2490 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2492 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2498 if( pulTotalRunTime != NULL )
\r
2500 *pulTotalRunTime = 0;
\r
2507 mtCOVERAGE_TEST_MARKER();
\r
2510 ( void ) xTaskResumeAll();
\r
2515 #endif /* configUSE_TRACE_FACILITY */
\r
2516 /*----------------------------------------------------------*/
\r
2518 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2520 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2522 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2523 started, then xIdleTaskHandle will be NULL. */
\r
2524 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2525 return xIdleTaskHandle;
\r
2528 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2529 /*----------------------------------------------------------*/
\r
2531 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2532 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2533 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2535 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2537 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2539 /* Correct the tick count value after a period during which the tick
\r
2540 was suppressed. Note this does *not* call the tick hook function for
\r
2541 each stepped tick. */
\r
2542 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2543 xTickCount += xTicksToJump;
\r
2544 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2547 #endif /* configUSE_TICKLESS_IDLE */
\r
2548 /*----------------------------------------------------------*/
\r
2550 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
2552 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
\r
2554 TCB_t *pxTCB = xTask;
\r
2555 BaseType_t xReturn;
\r
2557 configASSERT( pxTCB );
\r
2559 vTaskSuspendAll();
\r
2561 /* A task can only be prematurely removed from the Blocked state if
\r
2562 it is actually in the Blocked state. */
\r
2563 if( eTaskGetState( xTask ) == eBlocked )
\r
2567 /* Remove the reference to the task from the blocked list. An
\r
2568 interrupt won't touch the xStateListItem because the
\r
2569 scheduler is suspended. */
\r
2570 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2572 /* Is the task waiting on an event also? If so remove it from
\r
2573 the event list too. Interrupts can touch the event list item,
\r
2574 even though the scheduler is suspended, so a critical section
\r
2576 taskENTER_CRITICAL();
\r
2578 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2580 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2581 pxTCB->ucDelayAborted = pdTRUE;
\r
2585 mtCOVERAGE_TEST_MARKER();
\r
2588 taskEXIT_CRITICAL();
\r
2590 /* Place the unblocked task into the appropriate ready list. */
\r
2591 prvAddTaskToReadyList( pxTCB );
\r
2593 /* A task being unblocked cannot cause an immediate context
\r
2594 switch if preemption is turned off. */
\r
2595 #if ( configUSE_PREEMPTION == 1 )
\r
2597 /* Preemption is on, but a context switch should only be
\r
2598 performed if the unblocked task has a priority that is
\r
2599 equal to or higher than the currently executing task. */
\r
2600 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2602 /* Pend the yield to be performed when the scheduler
\r
2603 is unsuspended. */
\r
2604 xYieldPending = pdTRUE;
\r
2608 mtCOVERAGE_TEST_MARKER();
\r
2611 #endif /* configUSE_PREEMPTION */
\r
2618 ( void ) xTaskResumeAll();
\r
2623 #endif /* INCLUDE_xTaskAbortDelay */
\r
2624 /*----------------------------------------------------------*/
\r
2626 BaseType_t xTaskIncrementTick( void )
\r
2629 TickType_t xItemValue;
\r
2630 BaseType_t xSwitchRequired = pdFALSE;
\r
2632 /* Called by the portable layer each time a tick interrupt occurs.
\r
2633 Increments the tick then checks to see if the new tick value will cause any
\r
2634 tasks to be unblocked. */
\r
2635 traceTASK_INCREMENT_TICK( xTickCount );
\r
2636 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2638 /* Minor optimisation. The tick count cannot change in this
\r
2640 const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
\r
2642 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2643 delayed lists if it wraps to 0. */
\r
2644 xTickCount = xConstTickCount;
\r
2646 if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
\r
2648 taskSWITCH_DELAYED_LISTS();
\r
2652 mtCOVERAGE_TEST_MARKER();
\r
2655 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2656 the queue in the order of their wake time - meaning once one task
\r
2657 has been found whose block time has not expired there is no need to
\r
2658 look any further down the list. */
\r
2659 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2663 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2665 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2666 to the maximum possible value so it is extremely
\r
2668 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2669 next time through. */
\r
2670 xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2675 /* The delayed list is not empty, get the value of the
\r
2676 item at the head of the delayed list. This is the time
\r
2677 at which the task at the head of the delayed list must
\r
2678 be removed from the Blocked state. */
\r
2679 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
2680 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
\r
2682 if( xConstTickCount < xItemValue )
\r
2684 /* It is not time to unblock this item yet, but the
\r
2685 item value is the time at which the task at the head
\r
2686 of the blocked list must be removed from the Blocked
\r
2687 state - so record the item value in
\r
2688 xNextTaskUnblockTime. */
\r
2689 xNextTaskUnblockTime = xItemValue;
\r
2690 break; /*lint !e9011 Code structure here is deedmed easier to understand with multiple breaks. */
\r
2694 mtCOVERAGE_TEST_MARKER();
\r
2697 /* It is time to remove the item from the Blocked state. */
\r
2698 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2700 /* Is the task waiting on an event also? If so remove
\r
2701 it from the event list. */
\r
2702 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2704 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2708 mtCOVERAGE_TEST_MARKER();
\r
2711 /* Place the unblocked task into the appropriate ready
\r
2713 prvAddTaskToReadyList( pxTCB );
\r
2715 /* A task being unblocked cannot cause an immediate
\r
2716 context switch if preemption is turned off. */
\r
2717 #if ( configUSE_PREEMPTION == 1 )
\r
2719 /* Preemption is on, but a context switch should
\r
2720 only be performed if the unblocked task has a
\r
2721 priority that is equal to or higher than the
\r
2722 currently executing task. */
\r
2723 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2725 xSwitchRequired = pdTRUE;
\r
2729 mtCOVERAGE_TEST_MARKER();
\r
2732 #endif /* configUSE_PREEMPTION */
\r
2737 /* Tasks of equal priority to the currently running task will share
\r
2738 processing time (time slice) if preemption is on, and the application
\r
2739 writer has not explicitly turned time slicing off. */
\r
2740 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2742 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2744 xSwitchRequired = pdTRUE;
\r
2748 mtCOVERAGE_TEST_MARKER();
\r
2751 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2753 #if ( configUSE_TICK_HOOK == 1 )
\r
2755 /* Guard against the tick hook being called when the pended tick
\r
2756 count is being unwound (when the scheduler is being unlocked). */
\r
2757 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2759 vApplicationTickHook();
\r
2763 mtCOVERAGE_TEST_MARKER();
\r
2766 #endif /* configUSE_TICK_HOOK */
\r
2772 /* The tick hook gets called at regular intervals, even if the
\r
2773 scheduler is locked. */
\r
2774 #if ( configUSE_TICK_HOOK == 1 )
\r
2776 vApplicationTickHook();
\r
2781 #if ( configUSE_PREEMPTION == 1 )
\r
2783 if( xYieldPending != pdFALSE )
\r
2785 xSwitchRequired = pdTRUE;
\r
2789 mtCOVERAGE_TEST_MARKER();
\r
2792 #endif /* configUSE_PREEMPTION */
\r
2794 return xSwitchRequired;
\r
2796 /*-----------------------------------------------------------*/
\r
2798 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2800 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2804 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2806 if( xTask == NULL )
\r
2808 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2815 /* Save the hook function in the TCB. A critical section is required as
\r
2816 the value can be accessed from an interrupt. */
\r
2817 taskENTER_CRITICAL();
\r
2819 xTCB->pxTaskTag = pxHookFunction;
\r
2821 taskEXIT_CRITICAL();
\r
2824 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2825 /*-----------------------------------------------------------*/
\r
2827 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2829 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2832 TaskHookFunction_t xReturn;
\r
2834 /* If xTask is NULL then set the calling task's hook. */
\r
2835 pxTCB = prvGetTCBFromHandle( xTask );
\r
2837 /* Save the hook function in the TCB. A critical section is required as
\r
2838 the value can be accessed from an interrupt. */
\r
2839 taskENTER_CRITICAL();
\r
2841 xReturn = pxTCB->pxTaskTag;
\r
2843 taskEXIT_CRITICAL();
\r
2848 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2849 /*-----------------------------------------------------------*/
\r
2851 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2853 TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask )
\r
2856 TaskHookFunction_t xReturn;
\r
2857 UBaseType_t uxSavedInterruptStatus;
\r
2859 /* If xTask is NULL then set the calling task's hook. */
\r
2860 pxTCB = prvGetTCBFromHandle( xTask );
\r
2862 /* Save the hook function in the TCB. A critical section is required as
\r
2863 the value can be accessed from an interrupt. */
\r
2864 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
2866 xReturn = pxTCB->pxTaskTag;
\r
2868 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2873 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2874 /*-----------------------------------------------------------*/
\r
2876 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2878 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2881 BaseType_t xReturn;
\r
2883 /* If xTask is NULL then we are calling our own task hook. */
\r
2884 if( xTask == NULL )
\r
2886 xTCB = pxCurrentTCB;
\r
2893 if( xTCB->pxTaskTag != NULL )
\r
2895 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2905 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2906 /*-----------------------------------------------------------*/
\r
2908 void vTaskSwitchContext( void )
\r
2910 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2912 /* The scheduler is currently suspended - do not allow a context
\r
2914 xYieldPending = pdTRUE;
\r
2918 xYieldPending = pdFALSE;
\r
2919 traceTASK_SWITCHED_OUT();
\r
2921 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2923 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2924 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2926 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2929 /* Add the amount of time the task has been running to the
\r
2930 accumulated time so far. The time the task started running was
\r
2931 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2932 protection here so count values are only valid until the timer
\r
2933 overflows. The guard against negative values is to protect
\r
2934 against suspect run time stat counter implementations - which
\r
2935 are provided by the application, not the kernel. */
\r
2936 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2938 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2942 mtCOVERAGE_TEST_MARKER();
\r
2944 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2946 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2948 /* Check for stack overflow, if configured. */
\r
2949 taskCHECK_FOR_STACK_OVERFLOW();
\r
2951 /* Before the currently running task is switched out, save its errno. */
\r
2952 #if( configUSE_POSIX_ERRNO == 1 )
\r
2954 pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
\r
2958 /* Select a new task to run using either the generic C or port
\r
2959 optimised asm code. */
\r
2960 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
2961 traceTASK_SWITCHED_IN();
\r
2963 /* After the new task is switched in, update the global errno. */
\r
2964 #if( configUSE_POSIX_ERRNO == 1 )
\r
2966 FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
\r
2970 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2972 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2973 structure specific to this task. */
\r
2974 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2976 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2979 /*-----------------------------------------------------------*/
\r
2981 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2983 configASSERT( pxEventList );
\r
2985 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2986 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2988 /* Place the event list item of the TCB in the appropriate event list.
\r
2989 This is placed in the list in priority order so the highest priority task
\r
2990 is the first to be woken by the event. The queue that contains the event
\r
2991 list is locked, preventing simultaneous access from interrupts. */
\r
2992 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2994 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2996 /*-----------------------------------------------------------*/
\r
2998 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
3000 configASSERT( pxEventList );
\r
3002 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3003 the event groups implementation. */
\r
3004 configASSERT( uxSchedulerSuspended != 0 );
\r
3006 /* Store the item value in the event list item. It is safe to access the
\r
3007 event list item here as interrupts won't access the event list item of a
\r
3008 task that is not in the Blocked state. */
\r
3009 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3011 /* Place the event list item of the TCB at the end of the appropriate event
\r
3012 list. It is safe to access the event list here because it is part of an
\r
3013 event group implementation - and interrupts don't access event groups
\r
3014 directly (instead they access them indirectly by pending function calls to
\r
3015 the task level). */
\r
3016 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3018 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
3020 /*-----------------------------------------------------------*/
\r
3022 #if( configUSE_TIMERS == 1 )
\r
3024 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
3026 configASSERT( pxEventList );
\r
3028 /* This function should not be called by application code hence the
\r
3029 'Restricted' in its name. It is not part of the public API. It is
\r
3030 designed for use by kernel code, and has special calling requirements -
\r
3031 it should be called with the scheduler suspended. */
\r
3034 /* Place the event list item of the TCB in the appropriate event list.
\r
3035 In this case it is assume that this is the only task that is going to
\r
3036 be waiting on this event list, so the faster vListInsertEnd() function
\r
3037 can be used in place of vListInsert. */
\r
3038 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3040 /* If the task should block indefinitely then set the block time to a
\r
3041 value that will be recognised as an indefinite delay inside the
\r
3042 prvAddCurrentTaskToDelayedList() function. */
\r
3043 if( xWaitIndefinitely != pdFALSE )
\r
3045 xTicksToWait = portMAX_DELAY;
\r
3048 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
\r
3049 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
\r
3052 #endif /* configUSE_TIMERS */
\r
3053 /*-----------------------------------------------------------*/
\r
3055 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
3057 TCB_t *pxUnblockedTCB;
\r
3058 BaseType_t xReturn;
\r
3060 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
3061 called from a critical section within an ISR. */
\r
3063 /* The event list is sorted in priority order, so the first in the list can
\r
3064 be removed as it is known to be the highest priority. Remove the TCB from
\r
3065 the delayed list, and add it to the ready list.
\r
3067 If an event is for a queue that is locked then this function will never
\r
3068 get called - the lock count on the queue will get modified instead. This
\r
3069 means exclusive access to the event list is guaranteed here.
\r
3071 This function assumes that a check has already been made to ensure that
\r
3072 pxEventList is not empty. */
\r
3073 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
3074 configASSERT( pxUnblockedTCB );
\r
3075 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
3077 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3079 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3080 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3082 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3084 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
3085 might be set to the blocked task's time out time. If the task is
\r
3086 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
3087 normally left unchanged, because it is automatically reset to a new
\r
3088 value when the tick count equals xNextTaskUnblockTime. However if
\r
3089 tickless idling is used it might be more important to enter sleep mode
\r
3090 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
3091 ensure it is updated at the earliest possible time. */
\r
3092 prvResetNextTaskUnblockTime();
\r
3098 /* The delayed and ready lists cannot be accessed, so hold this task
\r
3099 pending until the scheduler is resumed. */
\r
3100 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
3103 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3105 /* Return true if the task removed from the event list has a higher
\r
3106 priority than the calling task. This allows the calling task to know if
\r
3107 it should force a context switch now. */
\r
3110 /* Mark that a yield is pending in case the user is not using the
\r
3111 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
3112 xYieldPending = pdTRUE;
\r
3116 xReturn = pdFALSE;
\r
3121 /*-----------------------------------------------------------*/
\r
3123 void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
3125 TCB_t *pxUnblockedTCB;
\r
3127 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3128 the event flags implementation. */
\r
3129 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
3131 /* Store the new item value in the event list. */
\r
3132 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3134 /* Remove the event list form the event flag. Interrupts do not access
\r
3136 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
3137 configASSERT( pxUnblockedTCB );
\r
3138 ( void ) uxListRemove( pxEventListItem );
\r
3140 /* Remove the task from the delayed list and add it to the ready list. The
\r
3141 scheduler is suspended so interrupts will not be accessing the ready
\r
3143 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3144 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3146 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3148 /* The unblocked task has a priority above that of the calling task, so
\r
3149 a context switch is required. This function is called with the
\r
3150 scheduler suspended so xYieldPending is set so the context switch
\r
3151 occurs immediately that the scheduler is resumed (unsuspended). */
\r
3152 xYieldPending = pdTRUE;
\r
3155 /*-----------------------------------------------------------*/
\r
3157 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3159 configASSERT( pxTimeOut );
\r
3160 taskENTER_CRITICAL();
\r
3162 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3163 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3165 taskEXIT_CRITICAL();
\r
3167 /*-----------------------------------------------------------*/
\r
3169 void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3171 /* For internal use only as it does not use a critical section. */
\r
3172 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3173 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3175 /*-----------------------------------------------------------*/
\r
3177 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
3179 BaseType_t xReturn;
\r
3181 configASSERT( pxTimeOut );
\r
3182 configASSERT( pxTicksToWait );
\r
3184 taskENTER_CRITICAL();
\r
3186 /* Minor optimisation. The tick count cannot change in this block. */
\r
3187 const TickType_t xConstTickCount = xTickCount;
\r
3188 const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
\r
3190 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
3191 if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
\r
3193 /* The delay was aborted, which is not the same as a time out,
\r
3194 but has the same result. */
\r
3195 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
3201 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3202 if( *pxTicksToWait == portMAX_DELAY )
\r
3204 /* If INCLUDE_vTaskSuspend is set to 1 and the block time
\r
3205 specified is the maximum block time then the task should block
\r
3206 indefinitely, and therefore never time out. */
\r
3207 xReturn = pdFALSE;
\r
3212 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
3214 /* The tick count is greater than the time at which
\r
3215 vTaskSetTimeout() was called, but has also overflowed since
\r
3216 vTaskSetTimeOut() was called. It must have wrapped all the way
\r
3217 around and gone past again. This passed since vTaskSetTimeout()
\r
3221 else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
\r
3223 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
3224 *pxTicksToWait -= xElapsedTime;
\r
3225 vTaskInternalSetTimeOutState( pxTimeOut );
\r
3226 xReturn = pdFALSE;
\r
3230 *pxTicksToWait = 0;
\r
3234 taskEXIT_CRITICAL();
\r
3238 /*-----------------------------------------------------------*/
\r
3240 void vTaskMissedYield( void )
\r
3242 xYieldPending = pdTRUE;
\r
3244 /*-----------------------------------------------------------*/
\r
3246 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3248 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
3250 UBaseType_t uxReturn;
\r
3251 TCB_t const *pxTCB;
\r
3253 if( xTask != NULL )
\r
3256 uxReturn = pxTCB->uxTaskNumber;
\r
3266 #endif /* configUSE_TRACE_FACILITY */
\r
3267 /*-----------------------------------------------------------*/
\r
3269 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3271 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
3275 if( xTask != NULL )
\r
3278 pxTCB->uxTaskNumber = uxHandle;
\r
3282 #endif /* configUSE_TRACE_FACILITY */
\r
3285 * -----------------------------------------------------------
\r
3287 * ----------------------------------------------------------
\r
3289 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
3290 * language extensions. The equivalent prototype for this function is:
\r
3292 * void prvIdleTask( void *pvParameters );
\r
3295 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
3297 /* Stop warnings. */
\r
3298 ( void ) pvParameters;
\r
3300 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
3301 SCHEDULER IS STARTED. **/
\r
3303 /* In case a task that has a secure context deletes itself, in which case
\r
3304 the idle task is responsible for deleting the task's secure context, if
\r
3306 portTASK_CALLS_SECURE_FUNCTIONS();
\r
3310 /* See if any tasks have deleted themselves - if so then the idle task
\r
3311 is responsible for freeing the deleted task's TCB and stack. */
\r
3312 prvCheckTasksWaitingTermination();
\r
3314 #if ( configUSE_PREEMPTION == 0 )
\r
3316 /* If we are not using preemption we keep forcing a task switch to
\r
3317 see if any other task has become available. If we are using
\r
3318 preemption we don't need to do this as any task becoming available
\r
3319 will automatically get the processor anyway. */
\r
3322 #endif /* configUSE_PREEMPTION */
\r
3324 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
3326 /* When using preemption tasks of equal priority will be
\r
3327 timesliced. If a task that is sharing the idle priority is ready
\r
3328 to run then the idle task should yield before the end of the
\r
3331 A critical region is not required here as we are just reading from
\r
3332 the list, and an occasional incorrect value will not matter. If
\r
3333 the ready list at the idle priority contains more than one task
\r
3334 then a task other than the idle task is ready to execute. */
\r
3335 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
3341 mtCOVERAGE_TEST_MARKER();
\r
3344 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
3346 #if ( configUSE_IDLE_HOOK == 1 )
\r
3348 extern void vApplicationIdleHook( void );
\r
3350 /* Call the user defined function from within the idle task. This
\r
3351 allows the application designer to add background functionality
\r
3352 without the overhead of a separate task.
\r
3353 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
3354 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
3355 vApplicationIdleHook();
\r
3357 #endif /* configUSE_IDLE_HOOK */
\r
3359 /* This conditional compilation should use inequality to 0, not equality
\r
3360 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
3361 user defined low power mode implementations require
\r
3362 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
3363 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3365 TickType_t xExpectedIdleTime;
\r
3367 /* It is not desirable to suspend then resume the scheduler on
\r
3368 each iteration of the idle task. Therefore, a preliminary
\r
3369 test of the expected idle time is performed without the
\r
3370 scheduler suspended. The result here is not necessarily
\r
3372 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3374 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3376 vTaskSuspendAll();
\r
3378 /* Now the scheduler is suspended, the expected idle
\r
3379 time can be sampled again, and this time its value can
\r
3381 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
3382 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3384 /* Define the following macro to set xExpectedIdleTime to 0
\r
3385 if the application does not want
\r
3386 portSUPPRESS_TICKS_AND_SLEEP() to be called. */
\r
3387 configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
\r
3389 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3391 traceLOW_POWER_IDLE_BEGIN();
\r
3392 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
3393 traceLOW_POWER_IDLE_END();
\r
3397 mtCOVERAGE_TEST_MARKER();
\r
3400 ( void ) xTaskResumeAll();
\r
3404 mtCOVERAGE_TEST_MARKER();
\r
3407 #endif /* configUSE_TICKLESS_IDLE */
\r
3410 /*-----------------------------------------------------------*/
\r
3412 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3414 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
3416 /* The idle task exists in addition to the application tasks. */
\r
3417 const UBaseType_t uxNonApplicationTasks = 1;
\r
3418 eSleepModeStatus eReturn = eStandardSleep;
\r
3420 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
3422 /* A task was made ready while the scheduler was suspended. */
\r
3423 eReturn = eAbortSleep;
\r
3425 else if( xYieldPending != pdFALSE )
\r
3427 /* A yield was pended while the scheduler was suspended. */
\r
3428 eReturn = eAbortSleep;
\r
3432 /* If all the tasks are in the suspended list (which might mean they
\r
3433 have an infinite block time rather than actually being suspended)
\r
3434 then it is safe to turn all clocks off and just wait for external
\r
3436 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
3438 eReturn = eNoTasksWaitingTimeout;
\r
3442 mtCOVERAGE_TEST_MARKER();
\r
3449 #endif /* configUSE_TICKLESS_IDLE */
\r
3450 /*-----------------------------------------------------------*/
\r
3452 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3454 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
3458 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3460 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
3461 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3465 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3466 /*-----------------------------------------------------------*/
\r
3468 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3470 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
3472 void *pvReturn = NULL;
\r
3475 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3477 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3478 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3488 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3489 /*-----------------------------------------------------------*/
\r
3491 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3493 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3497 /* If null is passed in here then we are modifying the MPU settings of
\r
3498 the calling task. */
\r
3499 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3501 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3504 #endif /* portUSING_MPU_WRAPPERS */
\r
3505 /*-----------------------------------------------------------*/
\r
3507 static void prvInitialiseTaskLists( void )
\r
3509 UBaseType_t uxPriority;
\r
3511 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3513 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3516 vListInitialise( &xDelayedTaskList1 );
\r
3517 vListInitialise( &xDelayedTaskList2 );
\r
3518 vListInitialise( &xPendingReadyList );
\r
3520 #if ( INCLUDE_vTaskDelete == 1 )
\r
3522 vListInitialise( &xTasksWaitingTermination );
\r
3524 #endif /* INCLUDE_vTaskDelete */
\r
3526 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3528 vListInitialise( &xSuspendedTaskList );
\r
3530 #endif /* INCLUDE_vTaskSuspend */
\r
3532 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3534 pxDelayedTaskList = &xDelayedTaskList1;
\r
3535 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3537 /*-----------------------------------------------------------*/
\r
3539 static void prvCheckTasksWaitingTermination( void )
\r
3542 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3544 #if ( INCLUDE_vTaskDelete == 1 )
\r
3548 /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
\r
3549 being called too often in the idle task. */
\r
3550 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3552 taskENTER_CRITICAL();
\r
3554 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
3555 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
3556 --uxCurrentNumberOfTasks;
\r
3557 --uxDeletedTasksWaitingCleanUp;
\r
3559 taskEXIT_CRITICAL();
\r
3561 prvDeleteTCB( pxTCB );
\r
3564 #endif /* INCLUDE_vTaskDelete */
\r
3566 /*-----------------------------------------------------------*/
\r
3568 #if( configUSE_TRACE_FACILITY == 1 )
\r
3570 void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
\r
3574 /* xTask is NULL then get the state of the calling task. */
\r
3575 pxTCB = prvGetTCBFromHandle( xTask );
\r
3577 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3578 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
\r
3579 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3580 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3581 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3583 #if ( configUSE_MUTEXES == 1 )
\r
3585 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3589 pxTaskStatus->uxBasePriority = 0;
\r
3593 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3595 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3599 pxTaskStatus->ulRunTimeCounter = 0;
\r
3603 /* Obtaining the task state is a little fiddly, so is only done if the
\r
3604 value of eState passed into this function is eInvalid - otherwise the
\r
3605 state is just set to whatever is passed in. */
\r
3606 if( eState != eInvalid )
\r
3608 if( pxTCB == pxCurrentTCB )
\r
3610 pxTaskStatus->eCurrentState = eRunning;
\r
3614 pxTaskStatus->eCurrentState = eState;
\r
3616 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3618 /* If the task is in the suspended list then there is a
\r
3619 chance it is actually just blocked indefinitely - so really
\r
3620 it should be reported as being in the Blocked state. */
\r
3621 if( eState == eSuspended )
\r
3623 vTaskSuspendAll();
\r
3625 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3627 pxTaskStatus->eCurrentState = eBlocked;
\r
3630 ( void ) xTaskResumeAll();
\r
3633 #endif /* INCLUDE_vTaskSuspend */
\r
3638 pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
\r
3641 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3642 parameter is provided to allow it to be skipped. */
\r
3643 if( xGetFreeStackSpace != pdFALSE )
\r
3645 #if ( portSTACK_GROWTH > 0 )
\r
3647 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3651 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3657 pxTaskStatus->usStackHighWaterMark = 0;
\r
3661 #endif /* configUSE_TRACE_FACILITY */
\r
3662 /*-----------------------------------------------------------*/
\r
3664 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3666 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3668 configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
\r
3669 UBaseType_t uxTask = 0;
\r
3671 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3673 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
3675 /* Populate an TaskStatus_t structure within the
\r
3676 pxTaskStatusArray array for each task that is referenced from
\r
3677 pxList. See the definition of TaskStatus_t in task.h for the
\r
3678 meaning of each TaskStatus_t structure member. */
\r
3681 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
3682 vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3684 } while( pxNextTCB != pxFirstTCB );
\r
3688 mtCOVERAGE_TEST_MARKER();
\r
3694 #endif /* configUSE_TRACE_FACILITY */
\r
3695 /*-----------------------------------------------------------*/
\r
3697 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
\r
3699 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3701 uint32_t ulCount = 0U;
\r
3703 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3705 pucStackByte -= portSTACK_GROWTH;
\r
3709 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3711 return ( configSTACK_DEPTH_TYPE ) ulCount;
\r
3714 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) */
\r
3715 /*-----------------------------------------------------------*/
\r
3717 #if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 )
\r
3719 /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the
\r
3720 same except for their return type. Using configSTACK_DEPTH_TYPE allows the
\r
3721 user to determine the return type. It gets around the problem of the value
\r
3722 overflowing on 8-bit types without breaking backward compatibility for
\r
3723 applications that expect an 8-bit return type. */
\r
3724 configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask )
\r
3727 uint8_t *pucEndOfStack;
\r
3728 configSTACK_DEPTH_TYPE uxReturn;
\r
3730 /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are
\r
3731 the same except for their return type. Using configSTACK_DEPTH_TYPE
\r
3732 allows the user to determine the return type. It gets around the
\r
3733 problem of the value overflowing on 8-bit types without breaking
\r
3734 backward compatibility for applications that expect an 8-bit return
\r
3737 pxTCB = prvGetTCBFromHandle( xTask );
\r
3739 #if portSTACK_GROWTH < 0
\r
3741 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3745 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3749 uxReturn = prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3754 #endif /* INCLUDE_uxTaskGetStackHighWaterMark2 */
\r
3755 /*-----------------------------------------------------------*/
\r
3757 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3759 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3762 uint8_t *pucEndOfStack;
\r
3763 UBaseType_t uxReturn;
\r
3765 pxTCB = prvGetTCBFromHandle( xTask );
\r
3767 #if portSTACK_GROWTH < 0
\r
3769 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3773 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3777 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3782 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3783 /*-----------------------------------------------------------*/
\r
3785 #if ( INCLUDE_vTaskDelete == 1 )
\r
3787 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3789 /* This call is required specifically for the TriCore port. It must be
\r
3790 above the vPortFree() calls. The call is also used by ports/demos that
\r
3791 want to allocate and clean RAM statically. */
\r
3792 portCLEAN_UP_TCB( pxTCB );
\r
3794 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3795 to the task to free any memory allocated at the application level. */
\r
3796 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3798 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3800 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3802 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
\r
3804 /* The task can only have been allocated dynamically - free both
\r
3805 the stack and TCB. */
\r
3806 vPortFree( pxTCB->pxStack );
\r
3807 vPortFree( pxTCB );
\r
3809 #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
3811 /* The task could have been allocated statically or dynamically, so
\r
3812 check what was statically allocated before trying to free the
\r
3814 if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
\r
3816 /* Both the stack and TCB were allocated dynamically, so both
\r
3818 vPortFree( pxTCB->pxStack );
\r
3819 vPortFree( pxTCB );
\r
3821 else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
\r
3823 /* Only the stack was statically allocated, so the TCB is the
\r
3824 only memory that must be freed. */
\r
3825 vPortFree( pxTCB );
\r
3829 /* Neither the stack nor the TCB were allocated dynamically, so
\r
3830 nothing needs to be freed. */
\r
3831 configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
\r
3832 mtCOVERAGE_TEST_MARKER();
\r
3835 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
3838 #endif /* INCLUDE_vTaskDelete */
\r
3839 /*-----------------------------------------------------------*/
\r
3841 static void prvResetNextTaskUnblockTime( void )
\r
3845 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3847 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3848 the maximum possible value so it is extremely unlikely that the
\r
3849 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3850 there is an item in the delayed list. */
\r
3851 xNextTaskUnblockTime = portMAX_DELAY;
\r
3855 /* The new current delayed list is not empty, get the value of
\r
3856 the item at the head of the delayed list. This is the time at
\r
3857 which the task at the head of the delayed list should be removed
\r
3858 from the Blocked state. */
\r
3859 ( 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
3860 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
\r
3863 /*-----------------------------------------------------------*/
\r
3865 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3867 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3869 TaskHandle_t xReturn;
\r
3871 /* A critical section is not required as this is not called from
\r
3872 an interrupt and the current TCB will always be the same for any
\r
3873 individual execution thread. */
\r
3874 xReturn = pxCurrentTCB;
\r
3879 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3880 /*-----------------------------------------------------------*/
\r
3882 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3884 BaseType_t xTaskGetSchedulerState( void )
\r
3886 BaseType_t xReturn;
\r
3888 if( xSchedulerRunning == pdFALSE )
\r
3890 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3894 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3896 xReturn = taskSCHEDULER_RUNNING;
\r
3900 xReturn = taskSCHEDULER_SUSPENDED;
\r
3907 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3908 /*-----------------------------------------------------------*/
\r
3910 #if ( configUSE_MUTEXES == 1 )
\r
3912 BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3914 TCB_t * const pxMutexHolderTCB = pxMutexHolder;
\r
3915 BaseType_t xReturn = pdFALSE;
\r
3917 /* If the mutex was given back by an interrupt while the queue was
\r
3918 locked then the mutex holder might now be NULL. _RB_ Is this still
\r
3919 needed as interrupts can no longer use mutexes? */
\r
3920 if( pxMutexHolder != NULL )
\r
3922 /* If the holder of the mutex has a priority below the priority of
\r
3923 the task attempting to obtain the mutex then it will temporarily
\r
3924 inherit the priority of the task attempting to obtain the mutex. */
\r
3925 if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3927 /* Adjust the mutex holder state to account for its new
\r
3928 priority. Only reset the event list item value if the value is
\r
3929 not being used for anything else. */
\r
3930 if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3932 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
3936 mtCOVERAGE_TEST_MARKER();
\r
3939 /* If the task being modified is in the ready state it will need
\r
3940 to be moved into a new list. */
\r
3941 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
\r
3943 if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3945 taskRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority );
\r
3949 mtCOVERAGE_TEST_MARKER();
\r
3952 /* Inherit the priority before being moved into the new list. */
\r
3953 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3954 prvAddTaskToReadyList( pxMutexHolderTCB );
\r
3958 /* Just inherit the priority. */
\r
3959 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3962 traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
\r
3964 /* Inheritance occurred. */
\r
3969 if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
\r
3971 /* The base priority of the mutex holder is lower than the
\r
3972 priority of the task attempting to take the mutex, but the
\r
3973 current priority of the mutex holder is not lower than the
\r
3974 priority of the task attempting to take the mutex.
\r
3975 Therefore the mutex holder must have already inherited a
\r
3976 priority, but inheritance would have occurred if that had
\r
3977 not been the case. */
\r
3982 mtCOVERAGE_TEST_MARKER();
\r
3988 mtCOVERAGE_TEST_MARKER();
\r
3994 #endif /* configUSE_MUTEXES */
\r
3995 /*-----------------------------------------------------------*/
\r
3997 #if ( configUSE_MUTEXES == 1 )
\r
3999 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
4001 TCB_t * const pxTCB = pxMutexHolder;
\r
4002 BaseType_t xReturn = pdFALSE;
\r
4004 if( pxMutexHolder != NULL )
\r
4006 /* A task can only have an inherited priority if it holds the mutex.
\r
4007 If the mutex is held by a task then it cannot be given from an
\r
4008 interrupt, and if a mutex is given by the holding task then it must
\r
4009 be the running state task. */
\r
4010 configASSERT( pxTCB == pxCurrentTCB );
\r
4011 configASSERT( pxTCB->uxMutexesHeld );
\r
4012 ( pxTCB->uxMutexesHeld )--;
\r
4014 /* Has the holder of the mutex inherited the priority of another
\r
4016 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
4018 /* Only disinherit if no other mutexes are held. */
\r
4019 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
4021 /* A task can only have an inherited priority if it holds
\r
4022 the mutex. If the mutex is held by a task then it cannot be
\r
4023 given from an interrupt, and if a mutex is given by the
\r
4024 holding task then it must be the running state task. Remove
\r
4025 the holding task from the ready list. */
\r
4026 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4028 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
4032 mtCOVERAGE_TEST_MARKER();
\r
4035 /* Disinherit the priority before adding the task into the
\r
4036 new ready list. */
\r
4037 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4038 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
4040 /* Reset the event list item value. It cannot be in use for
\r
4041 any other purpose if this task is running, and it must be
\r
4042 running to give back the mutex. */
\r
4043 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
4044 prvAddTaskToReadyList( pxTCB );
\r
4046 /* Return true to indicate that a context switch is required.
\r
4047 This is only actually required in the corner case whereby
\r
4048 multiple mutexes were held and the mutexes were given back
\r
4049 in an order different to that in which they were taken.
\r
4050 If a context switch did not occur when the first mutex was
\r
4051 returned, even if a task was waiting on it, then a context
\r
4052 switch should occur when the last mutex is returned whether
\r
4053 a task is waiting on it or not. */
\r
4058 mtCOVERAGE_TEST_MARKER();
\r
4063 mtCOVERAGE_TEST_MARKER();
\r
4068 mtCOVERAGE_TEST_MARKER();
\r
4074 #endif /* configUSE_MUTEXES */
\r
4075 /*-----------------------------------------------------------*/
\r
4077 #if ( configUSE_MUTEXES == 1 )
\r
4079 void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask )
\r
4081 TCB_t * const pxTCB = pxMutexHolder;
\r
4082 UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
\r
4083 const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
\r
4085 if( pxMutexHolder != NULL )
\r
4087 /* If pxMutexHolder is not NULL then the holder must hold at least
\r
4089 configASSERT( pxTCB->uxMutexesHeld );
\r
4091 /* Determine the priority to which the priority of the task that
\r
4092 holds the mutex should be set. This will be the greater of the
\r
4093 holding task's base priority and the priority of the highest
\r
4094 priority task that is waiting to obtain the mutex. */
\r
4095 if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
\r
4097 uxPriorityToUse = uxHighestPriorityWaitingTask;
\r
4101 uxPriorityToUse = pxTCB->uxBasePriority;
\r
4104 /* Does the priority need to change? */
\r
4105 if( pxTCB->uxPriority != uxPriorityToUse )
\r
4107 /* Only disinherit if no other mutexes are held. This is a
\r
4108 simplification in the priority inheritance implementation. If
\r
4109 the task that holds the mutex is also holding other mutexes then
\r
4110 the other mutexes may have caused the priority inheritance. */
\r
4111 if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
\r
4113 /* If a task has timed out because it already holds the
\r
4114 mutex it was trying to obtain then it cannot of inherited
\r
4115 its own priority. */
\r
4116 configASSERT( pxTCB != pxCurrentTCB );
\r
4118 /* Disinherit the priority, remembering the previous
\r
4119 priority to facilitate determining the subject task's
\r
4121 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4122 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
4123 pxTCB->uxPriority = uxPriorityToUse;
\r
4125 /* Only reset the event list item value if the value is not
\r
4126 being used for anything else. */
\r
4127 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
4129 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
4133 mtCOVERAGE_TEST_MARKER();
\r
4136 /* If the running task is not the task that holds the mutex
\r
4137 then the task that holds the mutex could be in either the
\r
4138 Ready, Blocked or Suspended states. Only remove the task
\r
4139 from its current state list if it is in the Ready state as
\r
4140 the task's priority is going to change and there is one
\r
4141 Ready list per priority. */
\r
4142 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
4144 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4146 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
4150 mtCOVERAGE_TEST_MARKER();
\r
4153 prvAddTaskToReadyList( pxTCB );
\r
4157 mtCOVERAGE_TEST_MARKER();
\r
4162 mtCOVERAGE_TEST_MARKER();
\r
4167 mtCOVERAGE_TEST_MARKER();
\r
4172 mtCOVERAGE_TEST_MARKER();
\r
4176 #endif /* configUSE_MUTEXES */
\r
4177 /*-----------------------------------------------------------*/
\r
4179 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4181 void vTaskEnterCritical( void )
\r
4183 portDISABLE_INTERRUPTS();
\r
4185 if( xSchedulerRunning != pdFALSE )
\r
4187 ( pxCurrentTCB->uxCriticalNesting )++;
\r
4189 /* This is not the interrupt safe version of the enter critical
\r
4190 function so assert() if it is being called from an interrupt
\r
4191 context. Only API functions that end in "FromISR" can be used in an
\r
4192 interrupt. Only assert if the critical nesting count is 1 to
\r
4193 protect against recursive calls if the assert function also uses a
\r
4194 critical section. */
\r
4195 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
4197 portASSERT_IF_IN_ISR();
\r
4202 mtCOVERAGE_TEST_MARKER();
\r
4206 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4207 /*-----------------------------------------------------------*/
\r
4209 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4211 void vTaskExitCritical( void )
\r
4213 if( xSchedulerRunning != pdFALSE )
\r
4215 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
4217 ( pxCurrentTCB->uxCriticalNesting )--;
\r
4219 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
4221 portENABLE_INTERRUPTS();
\r
4225 mtCOVERAGE_TEST_MARKER();
\r
4230 mtCOVERAGE_TEST_MARKER();
\r
4235 mtCOVERAGE_TEST_MARKER();
\r
4239 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4240 /*-----------------------------------------------------------*/
\r
4242 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
4244 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
4248 /* Start by copying the entire string. */
\r
4249 strcpy( pcBuffer, pcTaskName );
\r
4251 /* Pad the end of the string with spaces to ensure columns line up when
\r
4253 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
4255 pcBuffer[ x ] = ' ';
\r
4259 pcBuffer[ x ] = ( char ) 0x00;
\r
4261 /* Return the new end of string. */
\r
4262 return &( pcBuffer[ x ] );
\r
4265 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
4266 /*-----------------------------------------------------------*/
\r
4268 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4270 void vTaskList( char * pcWriteBuffer )
\r
4272 TaskStatus_t *pxTaskStatusArray;
\r
4273 UBaseType_t uxArraySize, x;
\r
4279 * This function is provided for convenience only, and is used by many
\r
4280 * of the demo applications. Do not consider it to be part of the
\r
4283 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
4284 * uxTaskGetSystemState() output into a human readable table that
\r
4285 * displays task names, states and stack usage.
\r
4287 * vTaskList() has a dependency on the sprintf() C library function that
\r
4288 * might bloat the code size, use a lot of stack, and provide different
\r
4289 * results on different platforms. An alternative, tiny, third party,
\r
4290 * and limited functionality implementation of sprintf() is provided in
\r
4291 * many of the FreeRTOS/Demo sub-directories in a file called
\r
4292 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
4293 * snprintf() implementation!).
\r
4295 * It is recommended that production systems call uxTaskGetSystemState()
\r
4296 * directly to get access to raw stats data, rather than indirectly
\r
4297 * through a call to vTaskList().
\r
4301 /* Make sure the write buffer does not contain a string. */
\r
4302 *pcWriteBuffer = ( char ) 0x00;
\r
4304 /* Take a snapshot of the number of tasks in case it changes while this
\r
4305 function is executing. */
\r
4306 uxArraySize = uxCurrentNumberOfTasks;
\r
4308 /* Allocate an array index for each task. NOTE! if
\r
4309 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4310 equate to NULL. */
\r
4311 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
4313 if( pxTaskStatusArray != NULL )
\r
4315 /* Generate the (binary) data. */
\r
4316 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
4318 /* Create a human readable table from the binary data. */
\r
4319 for( x = 0; x < uxArraySize; x++ )
\r
4321 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
4323 case eRunning: cStatus = tskRUNNING_CHAR;
\r
4326 case eReady: cStatus = tskREADY_CHAR;
\r
4329 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
4332 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
4335 case eDeleted: cStatus = tskDELETED_CHAR;
\r
4338 case eInvalid: /* Fall through. */
\r
4339 default: /* Should not get here, but it is included
\r
4340 to prevent static checking errors. */
\r
4341 cStatus = ( char ) 0x00;
\r
4345 /* Write the task name to the string, padding with spaces so it
\r
4346 can be printed in tabular form more easily. */
\r
4347 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4349 /* Write the rest of the string. */
\r
4350 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
4351 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
4354 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4355 is 0 then vPortFree() will be #defined to nothing. */
\r
4356 vPortFree( pxTaskStatusArray );
\r
4360 mtCOVERAGE_TEST_MARKER();
\r
4364 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
4365 /*----------------------------------------------------------*/
\r
4367 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4369 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
4371 TaskStatus_t *pxTaskStatusArray;
\r
4372 UBaseType_t uxArraySize, x;
\r
4373 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
4375 #if( configUSE_TRACE_FACILITY != 1 )
\r
4377 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
4384 * This function is provided for convenience only, and is used by many
\r
4385 * of the demo applications. Do not consider it to be part of the
\r
4388 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
4389 * of the uxTaskGetSystemState() output into a human readable table that
\r
4390 * displays the amount of time each task has spent in the Running state
\r
4391 * in both absolute and percentage terms.
\r
4393 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
4394 * function that might bloat the code size, use a lot of stack, and
\r
4395 * provide different results on different platforms. An alternative,
\r
4396 * tiny, third party, and limited functionality implementation of
\r
4397 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
4398 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
4399 * a full snprintf() implementation!).
\r
4401 * It is recommended that production systems call uxTaskGetSystemState()
\r
4402 * directly to get access to raw stats data, rather than indirectly
\r
4403 * through a call to vTaskGetRunTimeStats().
\r
4406 /* Make sure the write buffer does not contain a string. */
\r
4407 *pcWriteBuffer = ( char ) 0x00;
\r
4409 /* Take a snapshot of the number of tasks in case it changes while this
\r
4410 function is executing. */
\r
4411 uxArraySize = uxCurrentNumberOfTasks;
\r
4413 /* Allocate an array index for each task. NOTE! If
\r
4414 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4415 equate to NULL. */
\r
4416 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
4418 if( pxTaskStatusArray != NULL )
\r
4420 /* Generate the (binary) data. */
\r
4421 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
4423 /* For percentage calculations. */
\r
4424 ulTotalTime /= 100UL;
\r
4426 /* Avoid divide by zero errors. */
\r
4427 if( ulTotalTime > 0UL )
\r
4429 /* Create a human readable table from the binary data. */
\r
4430 for( x = 0; x < uxArraySize; x++ )
\r
4432 /* What percentage of the total run time has the task used?
\r
4433 This will always be rounded down to the nearest integer.
\r
4434 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
4435 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
4437 /* Write the task name to the string, padding with
\r
4438 spaces so it can be printed in tabular form more
\r
4440 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4442 if( ulStatsAsPercentage > 0UL )
\r
4444 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4446 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
4450 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4451 printf() library can be used. */
\r
4452 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
4458 /* If the percentage is zero here then the task has
\r
4459 consumed less than 1% of the total run time. */
\r
4460 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4462 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4466 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4467 printf() library can be used. */
\r
4468 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
4473 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
4478 mtCOVERAGE_TEST_MARKER();
\r
4481 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4482 is 0 then vPortFree() will be #defined to nothing. */
\r
4483 vPortFree( pxTaskStatusArray );
\r
4487 mtCOVERAGE_TEST_MARKER();
\r
4491 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
\r
4492 /*-----------------------------------------------------------*/
\r
4494 TickType_t uxTaskResetEventItemValue( void )
\r
4496 TickType_t uxReturn;
\r
4498 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
4500 /* Reset the event list item to its normal value - so it can be used with
\r
4501 queues and semaphores. */
\r
4502 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
4506 /*-----------------------------------------------------------*/
\r
4508 #if ( configUSE_MUTEXES == 1 )
\r
4510 TaskHandle_t pvTaskIncrementMutexHeldCount( void )
\r
4512 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
4513 then pxCurrentTCB will be NULL. */
\r
4514 if( pxCurrentTCB != NULL )
\r
4516 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4519 return pxCurrentTCB;
\r
4522 #endif /* configUSE_MUTEXES */
\r
4523 /*-----------------------------------------------------------*/
\r
4525 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4527 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
4529 uint32_t ulReturn;
\r
4531 taskENTER_CRITICAL();
\r
4533 /* Only block if the notification count is not already non-zero. */
\r
4534 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
4536 /* Mark this task as waiting for a notification. */
\r
4537 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4539 if( xTicksToWait > ( TickType_t ) 0 )
\r
4541 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4542 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4544 /* All ports are written to allow a yield in a critical
\r
4545 section (some will yield immediately, others wait until the
\r
4546 critical section exits) - but it is not something that
\r
4547 application code should ever do. */
\r
4548 portYIELD_WITHIN_API();
\r
4552 mtCOVERAGE_TEST_MARKER();
\r
4557 mtCOVERAGE_TEST_MARKER();
\r
4560 taskEXIT_CRITICAL();
\r
4562 taskENTER_CRITICAL();
\r
4564 traceTASK_NOTIFY_TAKE();
\r
4565 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4567 if( ulReturn != 0UL )
\r
4569 if( xClearCountOnExit != pdFALSE )
\r
4571 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4575 pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
\r
4580 mtCOVERAGE_TEST_MARKER();
\r
4583 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4585 taskEXIT_CRITICAL();
\r
4590 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4591 /*-----------------------------------------------------------*/
\r
4593 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4595 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4597 BaseType_t xReturn;
\r
4599 taskENTER_CRITICAL();
\r
4601 /* Only block if a notification is not already pending. */
\r
4602 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4604 /* Clear bits in the task's notification value as bits may get
\r
4605 set by the notifying task or interrupt. This can be used to
\r
4606 clear the value to zero. */
\r
4607 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4609 /* Mark this task as waiting for a notification. */
\r
4610 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4612 if( xTicksToWait > ( TickType_t ) 0 )
\r
4614 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4615 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4617 /* All ports are written to allow a yield in a critical
\r
4618 section (some will yield immediately, others wait until the
\r
4619 critical section exits) - but it is not something that
\r
4620 application code should ever do. */
\r
4621 portYIELD_WITHIN_API();
\r
4625 mtCOVERAGE_TEST_MARKER();
\r
4630 mtCOVERAGE_TEST_MARKER();
\r
4633 taskEXIT_CRITICAL();
\r
4635 taskENTER_CRITICAL();
\r
4637 traceTASK_NOTIFY_WAIT();
\r
4639 if( pulNotificationValue != NULL )
\r
4641 /* Output the current notification value, which may or may not
\r
4643 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4646 /* If ucNotifyValue is set then either the task never entered the
\r
4647 blocked state (because a notification was already pending) or the
\r
4648 task unblocked because of a notification. Otherwise the task
\r
4649 unblocked because of a timeout. */
\r
4650 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4652 /* A notification was not received. */
\r
4653 xReturn = pdFALSE;
\r
4657 /* A notification was already pending or a notification was
\r
4658 received while the task was waiting. */
\r
4659 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4663 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4665 taskEXIT_CRITICAL();
\r
4670 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4671 /*-----------------------------------------------------------*/
\r
4673 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4675 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4678 BaseType_t xReturn = pdPASS;
\r
4679 uint8_t ucOriginalNotifyState;
\r
4681 configASSERT( xTaskToNotify );
\r
4682 pxTCB = xTaskToNotify;
\r
4684 taskENTER_CRITICAL();
\r
4686 if( pulPreviousNotificationValue != NULL )
\r
4688 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4691 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4693 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4698 pxTCB->ulNotifiedValue |= ulValue;
\r
4702 ( pxTCB->ulNotifiedValue )++;
\r
4705 case eSetValueWithOverwrite :
\r
4706 pxTCB->ulNotifiedValue = ulValue;
\r
4709 case eSetValueWithoutOverwrite :
\r
4710 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4712 pxTCB->ulNotifiedValue = ulValue;
\r
4716 /* The value could not be written to the task. */
\r
4722 /* The task is being notified without its notify value being
\r
4727 /* Should not get here if all enums are handled.
\r
4728 Artificially force an assert by testing a value the
\r
4729 compiler can't assume is const. */
\r
4730 configASSERT( pxTCB->ulNotifiedValue == ~0UL );
\r
4735 traceTASK_NOTIFY();
\r
4737 /* If the task is in the blocked state specifically to wait for a
\r
4738 notification then unblock it now. */
\r
4739 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4741 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4742 prvAddTaskToReadyList( pxTCB );
\r
4744 /* The task should not have been on an event list. */
\r
4745 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4747 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4749 /* If a task is blocked waiting for a notification then
\r
4750 xNextTaskUnblockTime might be set to the blocked task's time
\r
4751 out time. If the task is unblocked for a reason other than
\r
4752 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4753 because it will automatically get reset to a new value when
\r
4754 the tick count equals xNextTaskUnblockTime. However if
\r
4755 tickless idling is used it might be more important to enter
\r
4756 sleep mode at the earliest possible time - so reset
\r
4757 xNextTaskUnblockTime here to ensure it is updated at the
\r
4758 earliest possible time. */
\r
4759 prvResetNextTaskUnblockTime();
\r
4763 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4765 /* The notified task has a priority above the currently
\r
4766 executing task so a yield is required. */
\r
4767 taskYIELD_IF_USING_PREEMPTION();
\r
4771 mtCOVERAGE_TEST_MARKER();
\r
4776 mtCOVERAGE_TEST_MARKER();
\r
4779 taskEXIT_CRITICAL();
\r
4784 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4785 /*-----------------------------------------------------------*/
\r
4787 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4789 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4792 uint8_t ucOriginalNotifyState;
\r
4793 BaseType_t xReturn = pdPASS;
\r
4794 UBaseType_t uxSavedInterruptStatus;
\r
4796 configASSERT( xTaskToNotify );
\r
4798 /* RTOS ports that support interrupt nesting have the concept of a
\r
4799 maximum system call (or maximum API call) interrupt priority.
\r
4800 Interrupts that are above the maximum system call priority are keep
\r
4801 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4802 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4803 is defined in FreeRTOSConfig.h then
\r
4804 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4805 failure if a FreeRTOS API function is called from an interrupt that has
\r
4806 been assigned a priority above the configured maximum system call
\r
4807 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4808 from interrupts that have been assigned a priority at or (logically)
\r
4809 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4810 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4811 simple as possible. More information (albeit Cortex-M specific) is
\r
4812 provided on the following link:
\r
4813 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4814 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4816 pxTCB = xTaskToNotify;
\r
4818 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4820 if( pulPreviousNotificationValue != NULL )
\r
4822 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4825 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4826 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4831 pxTCB->ulNotifiedValue |= ulValue;
\r
4835 ( pxTCB->ulNotifiedValue )++;
\r
4838 case eSetValueWithOverwrite :
\r
4839 pxTCB->ulNotifiedValue = ulValue;
\r
4842 case eSetValueWithoutOverwrite :
\r
4843 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4845 pxTCB->ulNotifiedValue = ulValue;
\r
4849 /* The value could not be written to the task. */
\r
4855 /* The task is being notified without its notify value being
\r
4860 /* Should not get here if all enums are handled.
\r
4861 Artificially force an assert by testing a value the
\r
4862 compiler can't assume is const. */
\r
4863 configASSERT( pxTCB->ulNotifiedValue == ~0UL );
\r
4867 traceTASK_NOTIFY_FROM_ISR();
\r
4869 /* If the task is in the blocked state specifically to wait for a
\r
4870 notification then unblock it now. */
\r
4871 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4873 /* The task should not have been on an event list. */
\r
4874 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4876 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4878 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4879 prvAddTaskToReadyList( pxTCB );
\r
4883 /* The delayed and ready lists cannot be accessed, so hold
\r
4884 this task pending until the scheduler is resumed. */
\r
4885 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4888 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4890 /* The notified task has a priority above the currently
\r
4891 executing task so a yield is required. */
\r
4892 if( pxHigherPriorityTaskWoken != NULL )
\r
4894 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4897 /* Mark that a yield is pending in case the user is not
\r
4898 using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
4899 safe FreeRTOS function. */
\r
4900 xYieldPending = pdTRUE;
\r
4904 mtCOVERAGE_TEST_MARKER();
\r
4908 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4913 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4914 /*-----------------------------------------------------------*/
\r
4916 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4918 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4921 uint8_t ucOriginalNotifyState;
\r
4922 UBaseType_t uxSavedInterruptStatus;
\r
4924 configASSERT( xTaskToNotify );
\r
4926 /* RTOS ports that support interrupt nesting have the concept of a
\r
4927 maximum system call (or maximum API call) interrupt priority.
\r
4928 Interrupts that are above the maximum system call priority are keep
\r
4929 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4930 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4931 is defined in FreeRTOSConfig.h then
\r
4932 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4933 failure if a FreeRTOS API function is called from an interrupt that has
\r
4934 been assigned a priority above the configured maximum system call
\r
4935 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4936 from interrupts that have been assigned a priority at or (logically)
\r
4937 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4938 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4939 simple as possible. More information (albeit Cortex-M specific) is
\r
4940 provided on the following link:
\r
4941 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4942 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4944 pxTCB = xTaskToNotify;
\r
4946 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4948 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4949 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4951 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4953 ( pxTCB->ulNotifiedValue )++;
\r
4955 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
4957 /* If the task is in the blocked state specifically to wait for a
\r
4958 notification then unblock it now. */
\r
4959 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4961 /* The task should not have been on an event list. */
\r
4962 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4964 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4966 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4967 prvAddTaskToReadyList( pxTCB );
\r
4971 /* The delayed and ready lists cannot be accessed, so hold
\r
4972 this task pending until the scheduler is resumed. */
\r
4973 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4976 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4978 /* The notified task has a priority above the currently
\r
4979 executing task so a yield is required. */
\r
4980 if( pxHigherPriorityTaskWoken != NULL )
\r
4982 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4985 /* Mark that a yield is pending in case the user is not
\r
4986 using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
4987 safe FreeRTOS function. */
\r
4988 xYieldPending = pdTRUE;
\r
4992 mtCOVERAGE_TEST_MARKER();
\r
4996 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4999 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5001 /*-----------------------------------------------------------*/
\r
5003 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
5005 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
5008 BaseType_t xReturn;
\r
5010 /* If null is passed in here then it is the calling task that is having
\r
5011 its notification state cleared. */
\r
5012 pxTCB = prvGetTCBFromHandle( xTask );
\r
5014 taskENTER_CRITICAL();
\r
5016 if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
\r
5018 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
5026 taskEXIT_CRITICAL();
\r
5031 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5032 /*-----------------------------------------------------------*/
\r
5034 #if( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
\r
5035 TickType_t xTaskGetIdleRunTimeCounter( void )
\r
5037 return xIdleTaskHandle->ulRunTimeCounter;
\r
5040 /*-----------------------------------------------------------*/
\r
5042 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
\r
5044 TickType_t xTimeToWake;
\r
5045 const TickType_t xConstTickCount = xTickCount;
\r
5047 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
5049 /* About to enter a delayed list, so ensure the ucDelayAborted flag is
\r
5050 reset to pdFALSE so it can be detected as having been set to pdTRUE
\r
5051 when the task leaves the Blocked state. */
\r
5052 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
5056 /* Remove the task from the ready list before adding it to the blocked list
\r
5057 as the same list item is used for both lists. */
\r
5058 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
5060 /* The current task must be in a ready list, so there is no need to
\r
5061 check, and the port reset macro can be called directly. */
\r
5062 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
5066 mtCOVERAGE_TEST_MARKER();
\r
5069 #if ( INCLUDE_vTaskSuspend == 1 )
\r
5071 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
\r
5073 /* Add the task to the suspended task list instead of a delayed task
\r
5074 list to ensure it is not woken by a timing event. It will block
\r
5076 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5080 /* Calculate the time at which the task should be woken if the event
\r
5081 does not occur. This may overflow but this doesn't matter, the
\r
5082 kernel will manage it correctly. */
\r
5083 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5085 /* The list item will be inserted in wake time order. */
\r
5086 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5088 if( xTimeToWake < xConstTickCount )
\r
5090 /* Wake time has overflowed. Place this item in the overflow
\r
5092 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5096 /* The wake time has not overflowed, so the current block list
\r
5098 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5100 /* If the task entering the blocked state was placed at the
\r
5101 head of the list of blocked tasks then xNextTaskUnblockTime
\r
5102 needs to be updated too. */
\r
5103 if( xTimeToWake < xNextTaskUnblockTime )
\r
5105 xNextTaskUnblockTime = xTimeToWake;
\r
5109 mtCOVERAGE_TEST_MARKER();
\r
5114 #else /* INCLUDE_vTaskSuspend */
\r
5116 /* Calculate the time at which the task should be woken if the event
\r
5117 does not occur. This may overflow but this doesn't matter, the kernel
\r
5118 will manage it correctly. */
\r
5119 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5121 /* The list item will be inserted in wake time order. */
\r
5122 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5124 if( xTimeToWake < xConstTickCount )
\r
5126 /* Wake time has overflowed. Place this item in the overflow list. */
\r
5127 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5131 /* The wake time has not overflowed, so the current block list is used. */
\r
5132 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5134 /* If the task entering the blocked state was placed at the head of the
\r
5135 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
5137 if( xTimeToWake < xNextTaskUnblockTime )
\r
5139 xNextTaskUnblockTime = xTimeToWake;
\r
5143 mtCOVERAGE_TEST_MARKER();
\r
5147 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
\r
5148 ( void ) xCanBlockIndefinitely;
\r
5150 #endif /* INCLUDE_vTaskSuspend */
\r
5153 /* Code below here allows additional code to be inserted into this source file,
\r
5154 especially where access to file scope functions and data is needed (for example
\r
5155 when performing module tests). */
\r
5157 #ifdef FREERTOS_MODULE_TEST
\r
5158 #include "tasks_test_access_functions.h"
\r
5162 #if( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
\r
5164 #include "freertos_tasks_c_additions.h"
\r
5166 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
5167 static void freertos_tasks_c_additions_init( void )
\r
5169 FREERTOS_TASKS_C_ADDITIONS_INIT();
\r
projects / freertos / blob