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1 /*\r
2     FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.\r
3     All rights reserved\r
4 \r
5     VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
6 \r
7     This file is part of the FreeRTOS distribution.\r
8 \r
9     FreeRTOS is free software; you can redistribute it and/or modify it under\r
10     the terms of the GNU General Public License (version 2) as published by the\r
11     Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.\r
12 \r
13     ***************************************************************************\r
14     >>!   NOTE: The modification to the GPL is included to allow you to     !<<\r
15     >>!   distribute a combined work that includes FreeRTOS without being   !<<\r
16     >>!   obliged to provide the source code for proprietary components     !<<\r
17     >>!   outside of the FreeRTOS kernel.                                   !<<\r
18     ***************************************************************************\r
19 \r
20     FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY\r
21     WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS\r
22     FOR A PARTICULAR PURPOSE.  Full license text is available on the following\r
23     link: http://www.freertos.org/a00114.html\r
24 \r
25     ***************************************************************************\r
26      *                                                                       *\r
27      *    FreeRTOS provides completely free yet professionally developed,    *\r
28      *    robust, strictly quality controlled, supported, and cross          *\r
29      *    platform software that is more than just the market leader, it     *\r
30      *    is the industry's de facto standard.                               *\r
31      *                                                                       *\r
32      *    Help yourself get started quickly while simultaneously helping     *\r
33      *    to support the FreeRTOS project by purchasing a FreeRTOS           *\r
34      *    tutorial book, reference manual, or both:                          *\r
35      *    http://www.FreeRTOS.org/Documentation                              *\r
36      *                                                                       *\r
37     ***************************************************************************\r
38 \r
39     http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading\r
40     the FAQ page "My application does not run, what could be wrong?".  Have you\r
41     defined configASSERT()?\r
42 \r
43     http://www.FreeRTOS.org/support - In return for receiving this top quality\r
44     embedded software for free we request you assist our global community by\r
45     participating in the support forum.\r
46 \r
47     http://www.FreeRTOS.org/training - Investing in training allows your team to\r
48     be as productive as possible as early as possible.  Now you can receive\r
49     FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers\r
50     Ltd, and the world's leading authority on the world's leading RTOS.\r
51 \r
52     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
53     including FreeRTOS+Trace - an indispensable productivity tool, a DOS\r
54     compatible FAT file system, and our tiny thread aware UDP/IP stack.\r
55 \r
56     http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.\r
57     Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.\r
58 \r
59     http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High\r
60     Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS\r
61     licenses offer ticketed support, indemnification and commercial middleware.\r
62 \r
63     http://www.SafeRTOS.com - High Integrity Systems also provide a safety\r
64     engineered and independently SIL3 certified version for use in safety and\r
65     mission critical applications that require provable dependability.\r
66 \r
67     1 tab == 4 spaces!\r
68 */\r
69 \r
70 /* Standard includes. */\r
71 #include <stdlib.h>\r
72 #include <string.h>\r
73 \r
74 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining\r
75 all the API functions to use the MPU wrappers.  That should only be done when\r
76 task.h is included from an application file. */\r
77 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE\r
78 \r
79 /* FreeRTOS includes. */\r
80 #include "FreeRTOS.h"\r
81 #include "task.h"\r
82 #include "timers.h"\r
83 #include "StackMacros.h"\r
84 \r
85 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the\r
86 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the\r
87 header files above, but not in this file, in order to generate the correct\r
88 privileged Vs unprivileged linkage and placement. */\r
89 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */\r
90 \r
91 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting\r
92 functions but without including stdio.h here. */\r
93 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )\r
94         /* At the bottom of this file are two optional functions that can be used\r
95         to generate human readable text from the raw data generated by the\r
96         uxTaskGetSystemState() function.  Note the formatting functions are provided\r
97         for convenience only, and are NOT considered part of the kernel. */\r
98         #include <stdio.h>\r
99 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */\r
100 \r
101 #if( configUSE_PREEMPTION == 0 )\r
102         /* If the cooperative scheduler is being used then a yield should not be\r
103         performed just because a higher priority task has been woken. */\r
104         #define taskYIELD_IF_USING_PREEMPTION()\r
105 #else\r
106         #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()\r
107 #endif\r
108 \r
109 /* Values that can be assigned to the ucNotifyState member of the TCB. */\r
110 #define taskNOT_WAITING_NOTIFICATION    ( ( uint8_t ) 0 )\r
111 #define taskWAITING_NOTIFICATION                ( ( uint8_t ) 1 )\r
112 #define taskNOTIFICATION_RECEIVED               ( ( uint8_t ) 2 )\r
113 \r
114 /*\r
115  * The value used to fill the stack of a task when the task is created.  This\r
116  * is used purely for checking the high water mark for tasks.\r
117  */\r
118 #define tskSTACK_FILL_BYTE      ( 0xa5U )\r
119 \r
120 /* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using\r
121 dynamically allocated RAM, in which case when any task is deleted it is known\r
122 that both the task's stack and TCB need to be freed.  Sometimes the\r
123 FreeRTOSConfig.h settings only allow a task to be created using statically\r
124 allocated RAM, in which case when any task is deleted it is known that neither\r
125 the task's stack or TCB should be freed.  Sometimes the FreeRTOSConfig.h\r
126 settings allow a task to be created using either statically or dynamically\r
127 allocated RAM, in which case a member of the TCB is used to record whether the\r
128 stack and/or TCB were allocated statically or dynamically, so when a task is\r
129 deleted the RAM that was allocated dynamically is freed again and no attempt is\r
130 made to free the RAM that was allocated statically.\r
131 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a\r
132 task to be created using either statically or dynamically allocated RAM.  Note\r
133 that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with\r
134 a statically allocated stack and a dynamically allocated TCB. */\r
135 #define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) || ( portUSING_MPU_WRAPPERS == 1 ) )\r
136 #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB          ( ( uint8_t ) 0 )\r
137 #define tskSTATICALLY_ALLOCATED_STACK_ONLY                      ( ( uint8_t ) 1 )\r
138 #define tskSTATICALLY_ALLOCATED_STACK_AND_TCB           ( ( uint8_t ) 2 )\r
139 \r
140 /*\r
141  * Macros used by vListTask to indicate which state a task is in.\r
142  */\r
143 #define tskBLOCKED_CHAR         ( 'B' )\r
144 #define tskREADY_CHAR           ( 'R' )\r
145 #define tskDELETED_CHAR         ( 'D' )\r
146 #define tskSUSPENDED_CHAR       ( 'S' )\r
147 \r
148 /*\r
149  * Some kernel aware debuggers require the data the debugger needs access to be\r
150  * global, rather than file scope.\r
151  */\r
152 #ifdef portREMOVE_STATIC_QUALIFIER\r
153         #define static\r
154 #endif\r
155 \r
156 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )\r
157 \r
158         /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is\r
159         performed in a generic way that is not optimised to any particular\r
160         microcontroller architecture. */\r
161 \r
162         /* uxTopReadyPriority holds the priority of the highest priority ready\r
163         state task. */\r
164         #define taskRECORD_READY_PRIORITY( uxPriority )                                                                                                         \\r
165         {                                                                                                                                                                                                       \\r
166                 if( ( uxPriority ) > uxTopReadyPriority )                                                                                                               \\r
167                 {                                                                                                                                                                                               \\r
168                         uxTopReadyPriority = ( uxPriority );                                                                                                            \\r
169                 }                                                                                                                                                                                               \\r
170         } /* taskRECORD_READY_PRIORITY */\r
171 \r
172         /*-----------------------------------------------------------*/\r
173 \r
174         #define taskSELECT_HIGHEST_PRIORITY_TASK()                                                                                                                      \\r
175         {                                                                                                                                                                                                       \\r
176         UBaseType_t uxTopPriority = uxTopReadyPriority;                                                                                                         \\r
177                                                                                                                                                                                                                 \\r
178                 /* Find the highest priority queue that contains ready tasks. */                                                                \\r
179                 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) )                                                   \\r
180                 {                                                                                                                                                                                               \\r
181                         configASSERT( uxTopPriority );                                                                                                                          \\r
182                         --uxTopPriority;                                                                                                                                                        \\r
183                 }                                                                                                                                                                                               \\r
184                                                                                                                                                                                                                 \\r
185                 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of                                                \\r
186                 the     same priority get an equal share of the processor time. */                                                                      \\r
187                 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) );                   \\r
188                 uxTopReadyPriority = uxTopPriority;                                                                                                                             \\r
189         } /* taskSELECT_HIGHEST_PRIORITY_TASK */\r
190 \r
191         /*-----------------------------------------------------------*/\r
192 \r
193         /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as\r
194         they are only required when a port optimised method of task selection is\r
195         being used. */\r
196         #define taskRESET_READY_PRIORITY( uxPriority )\r
197         #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )\r
198 \r
199 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */\r
200 \r
201         /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is\r
202         performed in a way that is tailored to the particular microcontroller\r
203         architecture being used. */\r
204 \r
205         /* A port optimised version is provided.  Call the port defined macros. */\r
206         #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )\r
207 \r
208         /*-----------------------------------------------------------*/\r
209 \r
210         #define taskSELECT_HIGHEST_PRIORITY_TASK()                                                                                                              \\r
211         {                                                                                                                                                                                               \\r
212         UBaseType_t uxTopPriority;                                                                                                                                              \\r
213                                                                                                                                                                                                         \\r
214                 /* Find the highest priority list that contains ready tasks. */                                                         \\r
215                 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority );                                                          \\r
216                 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 );         \\r
217                 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) );           \\r
218         } /* taskSELECT_HIGHEST_PRIORITY_TASK() */\r
219 \r
220         /*-----------------------------------------------------------*/\r
221 \r
222         /* A port optimised version is provided, call it only if the TCB being reset\r
223         is being referenced from a ready list.  If it is referenced from a delayed\r
224         or suspended list then it won't be in a ready list. */\r
225         #define taskRESET_READY_PRIORITY( uxPriority )                                                                                                          \\r
226         {                                                                                                                                                                                                       \\r
227                 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 )  \\r
228                 {                                                                                                                                                                                               \\r
229                         portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) );                                                     \\r
230                 }                                                                                                                                                                                               \\r
231         }\r
232 \r
233 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */\r
234 \r
235 /*-----------------------------------------------------------*/\r
236 \r
237 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick\r
238 count overflows. */\r
239 #define taskSWITCH_DELAYED_LISTS()                                                                                                                                      \\r
240 {                                                                                                                                                                                                       \\r
241         List_t *pxTemp;                                                                                                                                                                 \\r
242                                                                                                                                                                                                         \\r
243         /* The delayed tasks list should be empty when the lists are switched. */                                               \\r
244         configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );                                                                             \\r
245                                                                                                                                                                                                         \\r
246         pxTemp = pxDelayedTaskList;                                                                                                                                             \\r
247         pxDelayedTaskList = pxOverflowDelayedTaskList;                                                                                                  \\r
248         pxOverflowDelayedTaskList = pxTemp;                                                                                                                             \\r
249         xNumOfOverflows++;                                                                                                                                                              \\r
250         prvResetNextTaskUnblockTime();                                                                                                                                  \\r
251 }\r
252 \r
253 /*-----------------------------------------------------------*/\r
254 \r
255 /*\r
256  * Place the task represented by pxTCB into the appropriate ready list for\r
257  * the task.  It is inserted at the end of the list.\r
258  */\r
259 #define prvAddTaskToReadyList( pxTCB )                                                                                                                          \\r
260         traceMOVED_TASK_TO_READY_STATE( pxTCB );                                                                                                                \\r
261         taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority );                                                                                             \\r
262         vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \\r
263         tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )\r
264 /*-----------------------------------------------------------*/\r
265 \r
266 /*\r
267  * Several functions take an TaskHandle_t parameter that can optionally be NULL,\r
268  * where NULL is used to indicate that the handle of the currently executing\r
269  * task should be used in place of the parameter.  This macro simply checks to\r
270  * see if the parameter is NULL and returns a pointer to the appropriate TCB.\r
271  */\r
272 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )\r
273 \r
274 /* The item value of the event list item is normally used to hold the priority\r
275 of the task to which it belongs (coded to allow it to be held in reverse\r
276 priority order).  However, it is occasionally borrowed for other purposes.  It\r
277 is important its value is not updated due to a task priority change while it is\r
278 being used for another purpose.  The following bit definition is used to inform\r
279 the scheduler that the value should not be changed - in which case it is the\r
280 responsibility of whichever module is using the value to ensure it gets set back\r
281 to its original value when it is released. */\r
282 #if( configUSE_16_BIT_TICKS == 1 )\r
283         #define taskEVENT_LIST_ITEM_VALUE_IN_USE        0x8000U\r
284 #else\r
285         #define taskEVENT_LIST_ITEM_VALUE_IN_USE        0x80000000UL\r
286 #endif\r
287 \r
288 /*\r
289  * Task control block.  A task control block (TCB) is allocated for each task,\r
290  * and stores task state information, including a pointer to the task's context\r
291  * (the task's run time environment, including register values)\r
292  */\r
293 typedef struct tskTaskControlBlock\r
294 {\r
295         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. */\r
296 \r
297         #if ( portUSING_MPU_WRAPPERS == 1 )\r
298                 xMPU_SETTINGS   xMPUSettings;           /*< The MPU settings are defined as part of the port layer.  THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */\r
299         #endif\r
300 \r
301         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 ). */\r
302         ListItem_t                      xEventListItem;         /*< Used to reference a task from an event list. */\r
303         UBaseType_t                     uxPriority;                     /*< The priority of the task.  0 is the lowest priority. */\r
304         StackType_t                     *pxStack;                       /*< Points to the start of the stack. */\r
305         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. */\r
306 \r
307         #if ( portSTACK_GROWTH > 0 )\r
308                 StackType_t             *pxEndOfStack;          /*< Points to the end of the stack on architectures where the stack grows up from low memory. */\r
309         #endif\r
310 \r
311         #if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
312                 UBaseType_t             uxCriticalNesting;      /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */\r
313         #endif\r
314 \r
315         #if ( configUSE_TRACE_FACILITY == 1 )\r
316                 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. */\r
317                 UBaseType_t             uxTaskNumber;           /*< Stores a number specifically for use by third party trace code. */\r
318         #endif\r
319 \r
320         #if ( configUSE_MUTEXES == 1 )\r
321                 UBaseType_t             uxBasePriority;         /*< The priority last assigned to the task - used by the priority inheritance mechanism. */\r
322                 UBaseType_t             uxMutexesHeld;\r
323         #endif\r
324 \r
325         #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
326                 TaskHookFunction_t pxTaskTag;\r
327         #endif\r
328 \r
329         #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )\r
330                 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];\r
331         #endif\r
332 \r
333         #if( configGENERATE_RUN_TIME_STATS == 1 )\r
334                 uint32_t                ulRunTimeCounter;       /*< Stores the amount of time the task has spent in the Running state. */\r
335         #endif\r
336 \r
337         #if ( configUSE_NEWLIB_REENTRANT == 1 )\r
338                 /* Allocate a Newlib reent structure that is specific to this task.\r
339                 Note Newlib support has been included by popular demand, but is not\r
340                 used by the FreeRTOS maintainers themselves.  FreeRTOS is not\r
341                 responsible for resulting newlib operation.  User must be familiar with\r
342                 newlib and must provide system-wide implementations of the necessary\r
343                 stubs. Be warned that (at the time of writing) the current newlib design\r
344                 implements a system-wide malloc() that must be provided with locks. */\r
345                 struct  _reent xNewLib_reent;\r
346         #endif\r
347 \r
348         #if( configUSE_TASK_NOTIFICATIONS == 1 )\r
349                 volatile uint32_t ulNotifiedValue;\r
350                 volatile uint8_t ucNotifyState;\r
351         #endif\r
352 \r
353         /* See the comments above the definition of\r
354         tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */\r
355         #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )\r
356                 uint8_t ucStaticallyAllocated;          /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */\r
357         #endif\r
358 \r
359         #if( INCLUDE_xTaskAbortDelay == 1 )\r
360                 uint8_t ucDelayAborted;\r
361         #endif\r
362 \r
363 } tskTCB;\r
364 \r
365 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name\r
366 below to enable the use of older kernel aware debuggers. */\r
367 typedef tskTCB TCB_t;\r
368 \r
369 /*lint -e956 A manual analysis and inspection has been used to determine which\r
370 static variables must be declared volatile. */\r
371 \r
372 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;\r
373 \r
374 /* Lists for ready and blocked tasks. --------------------*/\r
375 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */\r
376 PRIVILEGED_DATA static List_t xDelayedTaskList1;                                                /*< Delayed tasks. */\r
377 PRIVILEGED_DATA static List_t xDelayedTaskList2;                                                /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */\r
378 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList;                             /*< Points to the delayed task list currently being used. */\r
379 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. */\r
380 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. */\r
381 \r
382 #if( INCLUDE_vTaskDelete == 1 )\r
383 \r
384         PRIVILEGED_DATA static List_t xTasksWaitingTermination;                         /*< Tasks that have been deleted - but their memory not yet freed. */\r
385         PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;\r
386 \r
387 #endif\r
388 \r
389 #if ( INCLUDE_vTaskSuspend == 1 )\r
390 \r
391         PRIVILEGED_DATA static List_t xSuspendedTaskList;                                       /*< Tasks that are currently suspended. */\r
392 \r
393 #endif\r
394 \r
395 /* Other file private variables. --------------------------------*/\r
396 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks      = ( UBaseType_t ) 0U;\r
397 PRIVILEGED_DATA static volatile TickType_t xTickCount                           = ( TickType_t ) 0U;\r
398 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority          = tskIDLE_PRIORITY;\r
399 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning            = pdFALSE;\r
400 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks                       = ( UBaseType_t ) 0U;\r
401 PRIVILEGED_DATA static volatile BaseType_t xYieldPending                        = pdFALSE;\r
402 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows                      = ( BaseType_t ) 0;\r
403 PRIVILEGED_DATA static UBaseType_t uxTaskNumber                                         = ( UBaseType_t ) 0U;\r
404 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime         = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */\r
405 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. */\r
406 \r
407 /* Context switches are held pending while the scheduler is suspended.  Also,\r
408 interrupts must not manipulate the xStateListItem of a TCB, or any of the\r
409 lists the xStateListItem can be referenced from, if the scheduler is suspended.\r
410 If an interrupt needs to unblock a task while the scheduler is suspended then it\r
411 moves the task's event list item into the xPendingReadyList, ready for the\r
412 kernel to move the task from the pending ready list into the real ready list\r
413 when the scheduler is unsuspended.  The pending ready list itself can only be\r
414 accessed from a critical section. */\r
415 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended        = ( UBaseType_t ) pdFALSE;\r
416 \r
417 #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
418 \r
419         PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL;     /*< Holds the value of a timer/counter the last time a task was switched in. */\r
420         PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL;           /*< Holds the total amount of execution time as defined by the run time counter clock. */\r
421 \r
422 #endif\r
423 \r
424 /*lint +e956 */\r
425 \r
426 /*-----------------------------------------------------------*/\r
427 \r
428 /* Callback function prototypes. --------------------------*/\r
429 #if(  configCHECK_FOR_STACK_OVERFLOW > 0 )\r
430         extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );\r
431 #endif\r
432 \r
433 #if( configUSE_TICK_HOOK > 0 )\r
434         extern void vApplicationTickHook( void );\r
435 #endif\r
436 \r
437 #if( configSUPPORT_STATIC_ALLOCATION == 1 )\r
438         extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );\r
439 #endif\r
440 \r
441 /* File private functions. --------------------------------*/\r
442 \r
443 /**\r
444  * Utility task that simply returns pdTRUE if the task referenced by xTask is\r
445  * currently in the Suspended state, or pdFALSE if the task referenced by xTask\r
446  * is in any other state.\r
447  */\r
448 #if ( INCLUDE_vTaskSuspend == 1 )\r
449         static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;\r
450 #endif /* INCLUDE_vTaskSuspend */\r
451 \r
452 /*\r
453  * Utility to ready all the lists used by the scheduler.  This is called\r
454  * automatically upon the creation of the first task.\r
455  */\r
456 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;\r
457 \r
458 /*\r
459  * The idle task, which as all tasks is implemented as a never ending loop.\r
460  * The idle task is automatically created and added to the ready lists upon\r
461  * creation of the first user task.\r
462  *\r
463  * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific\r
464  * language extensions.  The equivalent prototype for this function is:\r
465  *\r
466  * void prvIdleTask( void *pvParameters );\r
467  *\r
468  */\r
469 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );\r
470 \r
471 /*\r
472  * Utility to free all memory allocated by the scheduler to hold a TCB,\r
473  * including the stack pointed to by the TCB.\r
474  *\r
475  * This does not free memory allocated by the task itself (i.e. memory\r
476  * allocated by calls to pvPortMalloc from within the tasks application code).\r
477  */\r
478 #if ( INCLUDE_vTaskDelete == 1 )\r
479 \r
480         static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;\r
481 \r
482 #endif\r
483 \r
484 /*\r
485  * Used only by the idle task.  This checks to see if anything has been placed\r
486  * in the list of tasks waiting to be deleted.  If so the task is cleaned up\r
487  * and its TCB deleted.\r
488  */\r
489 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;\r
490 \r
491 /*\r
492  * The currently executing task is entering the Blocked state.  Add the task to\r
493  * either the current or the overflow delayed task list.\r
494  */\r
495 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;\r
496 \r
497 /*\r
498  * Fills an TaskStatus_t structure with information on each task that is\r
499  * referenced from the pxList list (which may be a ready list, a delayed list,\r
500  * a suspended list, etc.).\r
501  *\r
502  * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM\r
503  * NORMAL APPLICATION CODE.\r
504  */\r
505 #if ( configUSE_TRACE_FACILITY == 1 )\r
506 \r
507         static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;\r
508 \r
509 #endif\r
510 \r
511 /*\r
512  * Searches pxList for a task with name pcNameToQuery - returning a handle to\r
513  * the task if it is found, or NULL if the task is not found.\r
514  */\r
515 #if ( INCLUDE_xTaskGetHandle == 1 )\r
516 \r
517         static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;\r
518 \r
519 #endif\r
520 \r
521 /*\r
522  * When a task is created, the stack of the task is filled with a known value.\r
523  * This function determines the 'high water mark' of the task stack by\r
524  * determining how much of the stack remains at the original preset value.\r
525  */\r
526 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )\r
527 \r
528         static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;\r
529 \r
530 #endif\r
531 \r
532 /*\r
533  * Return the amount of time, in ticks, that will pass before the kernel will\r
534  * next move a task from the Blocked state to the Running state.\r
535  *\r
536  * This conditional compilation should use inequality to 0, not equality to 1.\r
537  * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user\r
538  * defined low power mode implementations require configUSE_TICKLESS_IDLE to be\r
539  * set to a value other than 1.\r
540  */\r
541 #if ( configUSE_TICKLESS_IDLE != 0 )\r
542 \r
543         static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;\r
544 \r
545 #endif\r
546 \r
547 /*\r
548  * Set xNextTaskUnblockTime to the time at which the next Blocked state task\r
549  * will exit the Blocked state.\r
550  */\r
551 static void prvResetNextTaskUnblockTime( void );\r
552 \r
553 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )\r
554 \r
555         /*\r
556          * Helper function used to pad task names with spaces when printing out\r
557          * human readable tables of task information.\r
558          */\r
559         static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;\r
560 \r
561 #endif\r
562 \r
563 /*\r
564  * Called after a Task_t structure has been allocated either statically or\r
565  * dynamically to fill in the structure's members.\r
566  */\r
567 static void prvInitialiseNewTask(       TaskFunction_t pxTaskCode,\r
568                                                                         const char * const pcName,\r
569                                                                         const uint32_t ulStackDepth,\r
570                                                                         void * const pvParameters,\r
571                                                                         UBaseType_t uxPriority,\r
572                                                                         TaskHandle_t * const pxCreatedTask,\r
573                                                                         TCB_t *pxNewTCB,\r
574                                                                         const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */\r
575 \r
576 /*\r
577  * Called after a new task has been created and initialised to place the task\r
578  * under the control of the scheduler.\r
579  */\r
580 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;\r
581 \r
582 /*-----------------------------------------------------------*/\r
583 \r
584 #if( configSUPPORT_STATIC_ALLOCATION == 1 )\r
585 \r
586         TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,\r
587                                                                         const char * const pcName,\r
588                                                                         const uint32_t ulStackDepth,\r
589                                                                         void * const pvParameters,\r
590                                                                         UBaseType_t uxPriority,\r
591                                                                         StackType_t * const puxStackBuffer,\r
592                                                                         StaticTask_t * const pxTaskBuffer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */\r
593         {\r
594         TCB_t *pxNewTCB;\r
595         TaskHandle_t xReturn;\r
596 \r
597                 configASSERT( puxStackBuffer != NULL );\r
598                 configASSERT( pxTaskBuffer != NULL );\r
599 \r
600                 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )\r
601                 {\r
602                         /* The memory used for the task's TCB and stack are passed into this\r
603                         function - use them. */\r
604                         pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */\r
605                         pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;\r
606 \r
607                         #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )\r
608                         {\r
609                                 /* Tasks can be created statically or dynamically, so note this\r
610                                 task was created statically in case the task is later deleted. */\r
611                                 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;\r
612                         }\r
613                         #endif /* configSUPPORT_DYNAMIC_ALLOCATION */\r
614 \r
615                         prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );\r
616                         prvAddNewTaskToReadyList( pxNewTCB );\r
617                 }\r
618                 else\r
619                 {\r
620                         xReturn = NULL;\r
621                 }\r
622 \r
623                 return xReturn;\r
624         }\r
625 \r
626 #endif /* SUPPORT_STATIC_ALLOCATION */\r
627 /*-----------------------------------------------------------*/\r
628 \r
629 #if( portUSING_MPU_WRAPPERS == 1 )\r
630 \r
631         BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )\r
632         {\r
633         TCB_t *pxNewTCB;\r
634         BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;\r
635 \r
636                 configASSERT( pxTaskDefinition->puxStackBuffer );\r
637 \r
638                 if( pxTaskDefinition->puxStackBuffer != NULL )\r
639                 {\r
640                         /* Allocate space for the TCB.  Where the memory comes from depends\r
641                         on the implementation of the port malloc function and whether or\r
642                         not static allocation is being used. */\r
643                         pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );\r
644 \r
645                         if( pxNewTCB != NULL )\r
646                         {\r
647                                 /* Store the stack location in the TCB. */\r
648                                 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;\r
649 \r
650                                 /* Tasks can be created statically or dynamically, so note\r
651                                 this task had a statically allocated stack in case it is\r
652                                 later deleted.  The TCB was allocated dynamically. */\r
653                                 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;\r
654 \r
655                                 prvInitialiseNewTask(   pxTaskDefinition->pvTaskCode,\r
656                                                                                 pxTaskDefinition->pcName,\r
657                                                                                 ( uint32_t ) pxTaskDefinition->usStackDepth,\r
658                                                                                 pxTaskDefinition->pvParameters,\r
659                                                                                 pxTaskDefinition->uxPriority,\r
660                                                                                 pxCreatedTask, pxNewTCB,\r
661                                                                                 pxTaskDefinition->xRegions );\r
662 \r
663                                 prvAddNewTaskToReadyList( pxNewTCB );\r
664                                 xReturn = pdPASS;\r
665                         }\r
666                 }\r
667 \r
668                 return xReturn;\r
669         }\r
670 \r
671 #endif /* portUSING_MPU_WRAPPERS */\r
672 /*-----------------------------------------------------------*/\r
673 \r
674 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )\r
675 \r
676         BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,\r
677                                                         const char * const pcName,\r
678                                                         const uint16_t usStackDepth,\r
679                                                         void * const pvParameters,\r
680                                                         UBaseType_t uxPriority,\r
681                                                         TaskHandle_t * const pxCreatedTask ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */\r
682         {\r
683         TCB_t *pxNewTCB;\r
684         BaseType_t xReturn;\r
685 \r
686                 /* If the stack grows down then allocate the stack then the TCB so the stack\r
687                 does not grow into the TCB.  Likewise if the stack grows up then allocate\r
688                 the TCB then the stack. */\r
689                 #if( portSTACK_GROWTH > 0 )\r
690                 {\r
691                         /* Allocate space for the TCB.  Where the memory comes from depends on\r
692                         the implementation of the port malloc function and whether or not static\r
693                         allocation is being used. */\r
694                         pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );\r
695 \r
696                         if( pxNewTCB != NULL )\r
697                         {\r
698                                 /* Allocate space for the stack used by the task being created.\r
699                                 The base of the stack memory stored in the TCB so the task can\r
700                                 be deleted later if required. */\r
701                                 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
702 \r
703                                 if( pxNewTCB->pxStack == NULL )\r
704                                 {\r
705                                         /* Could not allocate the stack.  Delete the allocated TCB. */\r
706                                         vPortFree( pxNewTCB );\r
707                                         pxNewTCB = NULL;\r
708                                 }\r
709                         }\r
710                 }\r
711                 #else /* portSTACK_GROWTH */\r
712                 {\r
713                 StackType_t *pxStack;\r
714 \r
715                         /* Allocate space for the stack used by the task being created. */\r
716                         pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */\r
717 \r
718                         if( pxStack != NULL )\r
719                         {\r
720                                 /* Allocate space for the TCB. */\r
721                                 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e961 MISRA exception as the casts are only redundant for some paths. */\r
722 \r
723                                 if( pxNewTCB != NULL )\r
724                                 {\r
725                                         /* Store the stack location in the TCB. */\r
726                                         pxNewTCB->pxStack = pxStack;\r
727                                 }\r
728                                 else\r
729                                 {\r
730                                         /* The stack cannot be used as the TCB was not created.  Free\r
731                                         it again. */\r
732                                         vPortFree( pxStack );\r
733                                 }\r
734                         }\r
735                         else\r
736                         {\r
737                                 pxNewTCB = NULL;\r
738                         }\r
739                 }\r
740                 #endif /* portSTACK_GROWTH */\r
741 \r
742                 if( pxNewTCB != NULL )\r
743                 {\r
744                         #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )\r
745                         {\r
746                                 /* Tasks can be created statically or dynamically, so note this\r
747                                 task was created dynamically in case it is later deleted. */\r
748                                 pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;\r
749                         }\r
750                         #endif /* configSUPPORT_STATIC_ALLOCATION */\r
751 \r
752                         prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );\r
753                         prvAddNewTaskToReadyList( pxNewTCB );\r
754                         xReturn = pdPASS;\r
755                 }\r
756                 else\r
757                 {\r
758                         xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;\r
759                 }\r
760 \r
761                 return xReturn;\r
762         }\r
763 \r
764 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */\r
765 /*-----------------------------------------------------------*/\r
766 \r
767 static void prvInitialiseNewTask(       TaskFunction_t pxTaskCode,\r
768                                                                         const char * const pcName,\r
769                                                                         const uint32_t ulStackDepth,\r
770                                                                         void * const pvParameters,\r
771                                                                         UBaseType_t uxPriority,\r
772                                                                         TaskHandle_t * const pxCreatedTask,\r
773                                                                         TCB_t *pxNewTCB,\r
774                                                                         const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */\r
775 {\r
776 StackType_t *pxTopOfStack;\r
777 UBaseType_t x;\r
778 \r
779         #if( portUSING_MPU_WRAPPERS == 1 )\r
780                 /* Should the task be created in privileged mode? */\r
781                 BaseType_t xRunPrivileged;\r
782                 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )\r
783                 {\r
784                         xRunPrivileged = pdTRUE;\r
785                 }\r
786                 else\r
787                 {\r
788                         xRunPrivileged = pdFALSE;\r
789                 }\r
790                 uxPriority &= ~portPRIVILEGE_BIT;\r
791         #endif /* portUSING_MPU_WRAPPERS == 1 */\r
792 \r
793         /* Avoid dependency on memset() if it is not required. */\r
794         #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )\r
795         {\r
796                 /* Fill the stack with a known value to assist debugging. */\r
797                 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );\r
798         }\r
799         #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */\r
800 \r
801         /* Calculate the top of stack address.  This depends on whether the stack\r
802         grows from high memory to low (as per the 80x86) or vice versa.\r
803         portSTACK_GROWTH is used to make the result positive or negative as required\r
804         by the port. */\r
805         #if( portSTACK_GROWTH < 0 )\r
806         {\r
807                 pxTopOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );\r
808                 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 MISRA exception.  Avoiding casts between pointers and integers is not practical.  Size differences accounted for using portPOINTER_SIZE_TYPE type. */\r
809 \r
810                 /* Check the alignment of the calculated top of stack is correct. */\r
811                 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );\r
812         }\r
813         #else /* portSTACK_GROWTH */\r
814         {\r
815                 pxTopOfStack = pxNewTCB->pxStack;\r
816 \r
817                 /* Check the alignment of the stack buffer is correct. */\r
818                 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );\r
819 \r
820                 /* The other extreme of the stack space is required if stack checking is\r
821                 performed. */\r
822                 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );\r
823         }\r
824         #endif /* portSTACK_GROWTH */\r
825 \r
826         /* Store the task name in the TCB. */\r
827         for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )\r
828         {\r
829                 pxNewTCB->pcTaskName[ x ] = pcName[ x ];\r
830 \r
831                 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than\r
832                 configMAX_TASK_NAME_LEN characters just in case the memory after the\r
833                 string is not accessible (extremely unlikely). */\r
834                 if( pcName[ x ] == 0x00 )\r
835                 {\r
836                         break;\r
837                 }\r
838                 else\r
839                 {\r
840                         mtCOVERAGE_TEST_MARKER();\r
841                 }\r
842         }\r
843 \r
844         /* Ensure the name string is terminated in the case that the string length\r
845         was greater or equal to configMAX_TASK_NAME_LEN. */\r
846         pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';\r
847 \r
848         /* This is used as an array index so must ensure it's not too large.  First\r
849         remove the privilege bit if one is present. */\r
850         if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )\r
851         {\r
852                 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;\r
853         }\r
854         else\r
855         {\r
856                 mtCOVERAGE_TEST_MARKER();\r
857         }\r
858 \r
859         pxNewTCB->uxPriority = uxPriority;\r
860         #if ( configUSE_MUTEXES == 1 )\r
861         {\r
862                 pxNewTCB->uxBasePriority = uxPriority;\r
863                 pxNewTCB->uxMutexesHeld = 0;\r
864         }\r
865         #endif /* configUSE_MUTEXES */\r
866 \r
867         vListInitialiseItem( &( pxNewTCB->xStateListItem ) );\r
868         vListInitialiseItem( &( pxNewTCB->xEventListItem ) );\r
869 \r
870         /* Set the pxNewTCB as a link back from the ListItem_t.  This is so we can get\r
871         back to the containing TCB from a generic item in a list. */\r
872         listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );\r
873 \r
874         /* Event lists are always in priority order. */\r
875         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
876         listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );\r
877 \r
878         #if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
879         {\r
880                 pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;\r
881         }\r
882         #endif /* portCRITICAL_NESTING_IN_TCB */\r
883 \r
884         #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
885         {\r
886                 pxNewTCB->pxTaskTag = NULL;\r
887         }\r
888         #endif /* configUSE_APPLICATION_TASK_TAG */\r
889 \r
890         #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
891         {\r
892                 pxNewTCB->ulRunTimeCounter = 0UL;\r
893         }\r
894         #endif /* configGENERATE_RUN_TIME_STATS */\r
895 \r
896         #if ( portUSING_MPU_WRAPPERS == 1 )\r
897         {\r
898                 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );\r
899         }\r
900         #else\r
901         {\r
902                 /* Avoid compiler warning about unreferenced parameter. */\r
903                 ( void ) xRegions;\r
904         }\r
905         #endif\r
906 \r
907         #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )\r
908         {\r
909                 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )\r
910                 {\r
911                         pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;\r
912                 }\r
913         }\r
914         #endif\r
915 \r
916         #if ( configUSE_TASK_NOTIFICATIONS == 1 )\r
917         {\r
918                 pxNewTCB->ulNotifiedValue = 0;\r
919                 pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;\r
920         }\r
921         #endif\r
922 \r
923         #if ( configUSE_NEWLIB_REENTRANT == 1 )\r
924         {\r
925                 /* Initialise this task's Newlib reent structure. */\r
926                 _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );\r
927         }\r
928         #endif\r
929 \r
930         #if( INCLUDE_xTaskAbortDelay == 1 )\r
931         {\r
932                 pxNewTCB->ucDelayAborted = pdFALSE;\r
933         }\r
934         #endif\r
935 \r
936         /* Initialize the TCB stack to look as if the task was already running,\r
937         but had been interrupted by the scheduler.  The return address is set\r
938         to the start of the task function. Once the stack has been initialised\r
939         the     top of stack variable is updated. */\r
940         #if( portUSING_MPU_WRAPPERS == 1 )\r
941         {\r
942                 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );\r
943         }\r
944         #else /* portUSING_MPU_WRAPPERS */\r
945         {\r
946                 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );\r
947         }\r
948         #endif /* portUSING_MPU_WRAPPERS */\r
949 \r
950         if( ( void * ) pxCreatedTask != NULL )\r
951         {\r
952                 /* Pass the handle out in an anonymous way.  The handle can be used to\r
953                 change the created task's priority, delete the created task, etc.*/\r
954                 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;\r
955         }\r
956         else\r
957         {\r
958                 mtCOVERAGE_TEST_MARKER();\r
959         }\r
960 }\r
961 /*-----------------------------------------------------------*/\r
962 \r
963 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )\r
964 {\r
965         /* Ensure interrupts don't access the task lists while the lists are being\r
966         updated. */\r
967         taskENTER_CRITICAL();\r
968         {\r
969                 uxCurrentNumberOfTasks++;\r
970                 if( pxCurrentTCB == NULL )\r
971                 {\r
972                         /* There are no other tasks, or all the other tasks are in\r
973                         the suspended state - make this the current task. */\r
974                         pxCurrentTCB = pxNewTCB;\r
975 \r
976                         if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )\r
977                         {\r
978                                 /* This is the first task to be created so do the preliminary\r
979                                 initialisation required.  We will not recover if this call\r
980                                 fails, but we will report the failure. */\r
981                                 prvInitialiseTaskLists();\r
982                         }\r
983                         else\r
984                         {\r
985                                 mtCOVERAGE_TEST_MARKER();\r
986                         }\r
987                 }\r
988                 else\r
989                 {\r
990                         /* If the scheduler is not already running, make this task the\r
991                         current task if it is the highest priority task to be created\r
992                         so far. */\r
993                         if( xSchedulerRunning == pdFALSE )\r
994                         {\r
995                                 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )\r
996                                 {\r
997                                         pxCurrentTCB = pxNewTCB;\r
998                                 }\r
999                                 else\r
1000                                 {\r
1001                                         mtCOVERAGE_TEST_MARKER();\r
1002                                 }\r
1003                         }\r
1004                         else\r
1005                         {\r
1006                                 mtCOVERAGE_TEST_MARKER();\r
1007                         }\r
1008                 }\r
1009 \r
1010                 uxTaskNumber++;\r
1011 \r
1012                 #if ( configUSE_TRACE_FACILITY == 1 )\r
1013                 {\r
1014                         /* Add a counter into the TCB for tracing only. */\r
1015                         pxNewTCB->uxTCBNumber = uxTaskNumber;\r
1016                 }\r
1017                 #endif /* configUSE_TRACE_FACILITY */\r
1018                 traceTASK_CREATE( pxNewTCB );\r
1019 \r
1020                 prvAddTaskToReadyList( pxNewTCB );\r
1021 \r
1022                 portSETUP_TCB( pxNewTCB );\r
1023         }\r
1024         taskEXIT_CRITICAL();\r
1025 \r
1026         if( xSchedulerRunning != pdFALSE )\r
1027         {\r
1028                 /* If the created task is of a higher priority than the current task\r
1029                 then it should run now. */\r
1030                 if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )\r
1031                 {\r
1032                         taskYIELD_IF_USING_PREEMPTION();\r
1033                 }\r
1034                 else\r
1035                 {\r
1036                         mtCOVERAGE_TEST_MARKER();\r
1037                 }\r
1038         }\r
1039         else\r
1040         {\r
1041                 mtCOVERAGE_TEST_MARKER();\r
1042         }\r
1043 }\r
1044 /*-----------------------------------------------------------*/\r
1045 \r
1046 #if ( INCLUDE_vTaskDelete == 1 )\r
1047 \r
1048         void vTaskDelete( TaskHandle_t xTaskToDelete )\r
1049         {\r
1050         TCB_t *pxTCB;\r
1051 \r
1052                 taskENTER_CRITICAL();\r
1053                 {\r
1054                         /* If null is passed in here then it is the calling task that is\r
1055                         being deleted. */\r
1056                         pxTCB = prvGetTCBFromHandle( xTaskToDelete );\r
1057 \r
1058                         /* Remove task from the ready list. */\r
1059                         if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )\r
1060                         {\r
1061                                 taskRESET_READY_PRIORITY( pxTCB->uxPriority );\r
1062                         }\r
1063                         else\r
1064                         {\r
1065                                 mtCOVERAGE_TEST_MARKER();\r
1066                         }\r
1067 \r
1068                         /* Is the task waiting on an event also? */\r
1069                         if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )\r
1070                         {\r
1071                                 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );\r
1072                         }\r
1073                         else\r
1074                         {\r
1075                                 mtCOVERAGE_TEST_MARKER();\r
1076                         }\r
1077 \r
1078                         /* Increment the uxTaskNumber also so kernel aware debuggers can\r
1079                         detect that the task lists need re-generating.  This is done before\r
1080                         portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will\r
1081                         not return. */\r
1082                         uxTaskNumber++;\r
1083 \r
1084                         if( pxTCB == pxCurrentTCB )\r
1085                         {\r
1086                                 /* A task is deleting itself.  This cannot complete within the\r
1087                                 task itself, as a context switch to another task is required.\r
1088                                 Place the task in the termination list.  The idle task will\r
1089                                 check the termination list and free up any memory allocated by\r
1090                                 the scheduler for the TCB and stack of the deleted task. */\r
1091                                 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );\r
1092 \r
1093                                 /* Increment the ucTasksDeleted variable so the idle task knows\r
1094                                 there is a task that has been deleted and that it should therefore\r
1095                                 check the xTasksWaitingTermination list. */\r
1096                                 ++uxDeletedTasksWaitingCleanUp;\r
1097 \r
1098                                 /* The pre-delete hook is primarily for the Windows simulator,\r
1099                                 in which Windows specific clean up operations are performed,\r
1100                                 after which it is not possible to yield away from this task -\r
1101                                 hence xYieldPending is used to latch that a context switch is\r
1102                                 required. */\r
1103                                 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );\r
1104                         }\r
1105                         else\r
1106                         {\r
1107                                 --uxCurrentNumberOfTasks;\r
1108                                 prvDeleteTCB( pxTCB );\r
1109 \r
1110                                 /* Reset the next expected unblock time in case it referred to\r
1111                                 the task that has just been deleted. */\r
1112                                 prvResetNextTaskUnblockTime();\r
1113                         }\r
1114 \r
1115                         traceTASK_DELETE( pxTCB );\r
1116                 }\r
1117                 taskEXIT_CRITICAL();\r
1118 \r
1119                 /* Force a reschedule if it is the currently running task that has just\r
1120                 been deleted. */\r
1121                 if( xSchedulerRunning != pdFALSE )\r
1122                 {\r
1123                         if( pxTCB == pxCurrentTCB )\r
1124                         {\r
1125                                 configASSERT( uxSchedulerSuspended == 0 );\r
1126                                 portYIELD_WITHIN_API();\r
1127                         }\r
1128                         else\r
1129                         {\r
1130                                 mtCOVERAGE_TEST_MARKER();\r
1131                         }\r
1132                 }\r
1133         }\r
1134 \r
1135 #endif /* INCLUDE_vTaskDelete */\r
1136 /*-----------------------------------------------------------*/\r
1137 \r
1138 #if ( INCLUDE_vTaskDelayUntil == 1 )\r
1139 \r
1140         void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )\r
1141         {\r
1142         TickType_t xTimeToWake;\r
1143         BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;\r
1144 \r
1145                 configASSERT( pxPreviousWakeTime );\r
1146                 configASSERT( ( xTimeIncrement > 0U ) );\r
1147                 configASSERT( uxSchedulerSuspended == 0 );\r
1148 \r
1149                 vTaskSuspendAll();\r
1150                 {\r
1151                         /* Minor optimisation.  The tick count cannot change in this\r
1152                         block. */\r
1153                         const TickType_t xConstTickCount = xTickCount;\r
1154 \r
1155                         /* Generate the tick time at which the task wants to wake. */\r
1156                         xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;\r
1157 \r
1158                         if( xConstTickCount < *pxPreviousWakeTime )\r
1159                         {\r
1160                                 /* The tick count has overflowed since this function was\r
1161                                 lasted called.  In this case the only time we should ever\r
1162                                 actually delay is if the wake time has also     overflowed,\r
1163                                 and the wake time is greater than the tick time.  When this\r
1164                                 is the case it is as if neither time had overflowed. */\r
1165                                 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )\r
1166                                 {\r
1167                                         xShouldDelay = pdTRUE;\r
1168                                 }\r
1169                                 else\r
1170                                 {\r
1171                                         mtCOVERAGE_TEST_MARKER();\r
1172                                 }\r
1173                         }\r
1174                         else\r
1175                         {\r
1176                                 /* The tick time has not overflowed.  In this case we will\r
1177                                 delay if either the wake time has overflowed, and/or the\r
1178                                 tick time is less than the wake time. */\r
1179                                 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )\r
1180                                 {\r
1181                                         xShouldDelay = pdTRUE;\r
1182                                 }\r
1183                                 else\r
1184                                 {\r
1185                                         mtCOVERAGE_TEST_MARKER();\r
1186                                 }\r
1187                         }\r
1188 \r
1189                         /* Update the wake time ready for the next call. */\r
1190                         *pxPreviousWakeTime = xTimeToWake;\r
1191 \r
1192                         if( xShouldDelay != pdFALSE )\r
1193                         {\r
1194                                 traceTASK_DELAY_UNTIL( xTimeToWake );\r
1195 \r
1196                                 /* prvAddCurrentTaskToDelayedList() needs the block time, not\r
1197                                 the time to wake, so subtract the current tick count. */\r
1198                                 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );\r
1199                         }\r
1200                         else\r
1201                         {\r
1202                                 mtCOVERAGE_TEST_MARKER();\r
1203                         }\r
1204                 }\r
1205                 xAlreadyYielded = xTaskResumeAll();\r
1206 \r
1207                 /* Force a reschedule if xTaskResumeAll has not already done so, we may\r
1208                 have put ourselves to sleep. */\r
1209                 if( xAlreadyYielded == pdFALSE )\r
1210                 {\r
1211                         portYIELD_WITHIN_API();\r
1212                 }\r
1213                 else\r
1214                 {\r
1215                         mtCOVERAGE_TEST_MARKER();\r
1216                 }\r
1217         }\r
1218 \r
1219 #endif /* INCLUDE_vTaskDelayUntil */\r
1220 /*-----------------------------------------------------------*/\r
1221 \r
1222 #if ( INCLUDE_vTaskDelay == 1 )\r
1223 \r
1224         void vTaskDelay( const TickType_t xTicksToDelay )\r
1225         {\r
1226         BaseType_t xAlreadyYielded = pdFALSE;\r
1227 \r
1228                 /* A delay time of zero just forces a reschedule. */\r
1229                 if( xTicksToDelay > ( TickType_t ) 0U )\r
1230                 {\r
1231                         configASSERT( uxSchedulerSuspended == 0 );\r
1232                         vTaskSuspendAll();\r
1233                         {\r
1234                                 traceTASK_DELAY();\r
1235 \r
1236                                 /* A task that is removed from the event list while the\r
1237                                 scheduler is suspended will not get placed in the ready\r
1238                                 list or removed from the blocked list until the scheduler\r
1239                                 is resumed.\r
1240 \r
1241                                 This task cannot be in an event list as it is the currently\r
1242                                 executing task. */\r
1243                                 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );\r
1244                         }\r
1245                         xAlreadyYielded = xTaskResumeAll();\r
1246                 }\r
1247                 else\r
1248                 {\r
1249                         mtCOVERAGE_TEST_MARKER();\r
1250                 }\r
1251 \r
1252                 /* Force a reschedule if xTaskResumeAll has not already done so, we may\r
1253                 have put ourselves to sleep. */\r
1254                 if( xAlreadyYielded == pdFALSE )\r
1255                 {\r
1256                         portYIELD_WITHIN_API();\r
1257                 }\r
1258                 else\r
1259                 {\r
1260                         mtCOVERAGE_TEST_MARKER();\r
1261                 }\r
1262         }\r
1263 \r
1264 #endif /* INCLUDE_vTaskDelay */\r
1265 /*-----------------------------------------------------------*/\r
1266 \r
1267 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) )\r
1268 \r
1269         eTaskState eTaskGetState( TaskHandle_t xTask )\r
1270         {\r
1271         eTaskState eReturn;\r
1272         List_t *pxStateList;\r
1273         const TCB_t * const pxTCB = ( TCB_t * ) xTask;\r
1274 \r
1275                 configASSERT( pxTCB );\r
1276 \r
1277                 if( pxTCB == pxCurrentTCB )\r
1278                 {\r
1279                         /* The task calling this function is querying its own state. */\r
1280                         eReturn = eRunning;\r
1281                 }\r
1282                 else\r
1283                 {\r
1284                         taskENTER_CRITICAL();\r
1285                         {\r
1286                                 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );\r
1287                         }\r
1288                         taskEXIT_CRITICAL();\r
1289 \r
1290                         if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )\r
1291                         {\r
1292                                 /* The task being queried is referenced from one of the Blocked\r
1293                                 lists. */\r
1294                                 eReturn = eBlocked;\r
1295                         }\r
1296 \r
1297                         #if ( INCLUDE_vTaskSuspend == 1 )\r
1298                                 else if( pxStateList == &xSuspendedTaskList )\r
1299                                 {\r
1300                                         /* The task being queried is referenced from the suspended\r
1301                                         list.  Is it genuinely suspended or is it block\r
1302                                         indefinitely? */\r
1303                                         if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )\r
1304                                         {\r
1305                                                 eReturn = eSuspended;\r
1306                                         }\r
1307                                         else\r
1308                                         {\r
1309                                                 eReturn = eBlocked;\r
1310                                         }\r
1311                                 }\r
1312                         #endif\r
1313 \r
1314                         #if ( INCLUDE_vTaskDelete == 1 )\r
1315                                 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )\r
1316                                 {\r
1317                                         /* The task being queried is referenced from the deleted\r
1318                                         tasks list, or it is not referenced from any lists at\r
1319                                         all. */\r
1320                                         eReturn = eDeleted;\r
1321                                 }\r
1322                         #endif\r
1323 \r
1324                         else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */\r
1325                         {\r
1326                                 /* If the task is not in any other state, it must be in the\r
1327                                 Ready (including pending ready) state. */\r
1328                                 eReturn = eReady;\r
1329                         }\r
1330                 }\r
1331 \r
1332                 return eReturn;\r
1333         } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */\r
1334 \r
1335 #endif /* INCLUDE_eTaskGetState */\r
1336 /*-----------------------------------------------------------*/\r
1337 \r
1338 #if ( INCLUDE_uxTaskPriorityGet == 1 )\r
1339 \r
1340         UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )\r
1341         {\r
1342         TCB_t *pxTCB;\r
1343         UBaseType_t uxReturn;\r
1344 \r
1345                 taskENTER_CRITICAL();\r
1346                 {\r
1347                         /* If null is passed in here then it is the priority of the that\r
1348                         called uxTaskPriorityGet() that is being queried. */\r
1349                         pxTCB = prvGetTCBFromHandle( xTask );\r
1350                         uxReturn = pxTCB->uxPriority;\r
1351                 }\r
1352                 taskEXIT_CRITICAL();\r
1353 \r
1354                 return uxReturn;\r
1355         }\r
1356 \r
1357 #endif /* INCLUDE_uxTaskPriorityGet */\r
1358 /*-----------------------------------------------------------*/\r
1359 \r
1360 #if ( INCLUDE_uxTaskPriorityGet == 1 )\r
1361 \r
1362         UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )\r
1363         {\r
1364         TCB_t *pxTCB;\r
1365         UBaseType_t uxReturn, uxSavedInterruptState;\r
1366 \r
1367                 /* RTOS ports that support interrupt nesting have the concept of a\r
1368                 maximum system call (or maximum API call) interrupt priority.\r
1369                 Interrupts that are     above the maximum system call priority are keep\r
1370                 permanently enabled, even when the RTOS kernel is in a critical section,\r
1371                 but cannot make any calls to FreeRTOS API functions.  If configASSERT()\r
1372                 is defined in FreeRTOSConfig.h then\r
1373                 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion\r
1374                 failure if a FreeRTOS API function is called from an interrupt that has\r
1375                 been assigned a priority above the configured maximum system call\r
1376                 priority.  Only FreeRTOS functions that end in FromISR can be called\r
1377                 from interrupts that have been assigned a priority at or (logically)\r
1378                 below the maximum system call interrupt priority.  FreeRTOS maintains a\r
1379                 separate interrupt safe API to ensure interrupt entry is as fast and as\r
1380                 simple as possible.  More information (albeit Cortex-M specific) is\r
1381                 provided on the following link:\r
1382                 http://www.freertos.org/RTOS-Cortex-M3-M4.html */\r
1383                 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();\r
1384 \r
1385                 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();\r
1386                 {\r
1387                         /* If null is passed in here then it is the priority of the calling\r
1388                         task that is being queried. */\r
1389                         pxTCB = prvGetTCBFromHandle( xTask );\r
1390                         uxReturn = pxTCB->uxPriority;\r
1391                 }\r
1392                 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );\r
1393 \r
1394                 return uxReturn;\r
1395         }\r
1396 \r
1397 #endif /* INCLUDE_uxTaskPriorityGet */\r
1398 /*-----------------------------------------------------------*/\r
1399 \r
1400 #if ( INCLUDE_vTaskPrioritySet == 1 )\r
1401 \r
1402         void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )\r
1403         {\r
1404         TCB_t *pxTCB;\r
1405         UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;\r
1406         BaseType_t xYieldRequired = pdFALSE;\r
1407 \r
1408                 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );\r
1409 \r
1410                 /* Ensure the new priority is valid. */\r
1411                 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )\r
1412                 {\r
1413                         uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;\r
1414                 }\r
1415                 else\r
1416                 {\r
1417                         mtCOVERAGE_TEST_MARKER();\r
1418                 }\r
1419 \r
1420                 taskENTER_CRITICAL();\r
1421                 {\r
1422                         /* If null is passed in here then it is the priority of the calling\r
1423                         task that is being changed. */\r
1424                         pxTCB = prvGetTCBFromHandle( xTask );\r
1425 \r
1426                         traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );\r
1427 \r
1428                         #if ( configUSE_MUTEXES == 1 )\r
1429                         {\r
1430                                 uxCurrentBasePriority = pxTCB->uxBasePriority;\r
1431                         }\r
1432                         #else\r
1433                         {\r
1434                                 uxCurrentBasePriority = pxTCB->uxPriority;\r
1435                         }\r
1436                         #endif\r
1437 \r
1438                         if( uxCurrentBasePriority != uxNewPriority )\r
1439                         {\r
1440                                 /* The priority change may have readied a task of higher\r
1441                                 priority than the calling task. */\r
1442                                 if( uxNewPriority > uxCurrentBasePriority )\r
1443                                 {\r
1444                                         if( pxTCB != pxCurrentTCB )\r
1445                                         {\r
1446                                                 /* The priority of a task other than the currently\r
1447                                                 running task is being raised.  Is the priority being\r
1448                                                 raised above that of the running task? */\r
1449                                                 if( uxNewPriority >= pxCurrentTCB->uxPriority )\r
1450                                                 {\r
1451                                                         xYieldRequired = pdTRUE;\r
1452                                                 }\r
1453                                                 else\r
1454                                                 {\r
1455                                                         mtCOVERAGE_TEST_MARKER();\r
1456                                                 }\r
1457                                         }\r
1458                                         else\r
1459                                         {\r
1460                                                 /* The priority of the running task is being raised,\r
1461                                                 but the running task must already be the highest\r
1462                                                 priority task able to run so no yield is required. */\r
1463                                         }\r
1464                                 }\r
1465                                 else if( pxTCB == pxCurrentTCB )\r
1466                                 {\r
1467                                         /* Setting the priority of the running task down means\r
1468                                         there may now be another task of higher priority that\r
1469                                         is ready to execute. */\r
1470                                         xYieldRequired = pdTRUE;\r
1471                                 }\r
1472                                 else\r
1473                                 {\r
1474                                         /* Setting the priority of any other task down does not\r
1475                                         require a yield as the running task must be above the\r
1476                                         new priority of the task being modified. */\r
1477                                 }\r
1478 \r
1479                                 /* Remember the ready list the task might be referenced from\r
1480                                 before its uxPriority member is changed so the\r
1481                                 taskRESET_READY_PRIORITY() macro can function correctly. */\r
1482                                 uxPriorityUsedOnEntry = pxTCB->uxPriority;\r
1483 \r
1484                                 #if ( configUSE_MUTEXES == 1 )\r
1485                                 {\r
1486                                         /* Only change the priority being used if the task is not\r
1487                                         currently using an inherited priority. */\r
1488                                         if( pxTCB->uxBasePriority == pxTCB->uxPriority )\r
1489                                         {\r
1490                                                 pxTCB->uxPriority = uxNewPriority;\r
1491                                         }\r
1492                                         else\r
1493                                         {\r
1494                                                 mtCOVERAGE_TEST_MARKER();\r
1495                                         }\r
1496 \r
1497                                         /* The base priority gets set whatever. */\r
1498                                         pxTCB->uxBasePriority = uxNewPriority;\r
1499                                 }\r
1500                                 #else\r
1501                                 {\r
1502                                         pxTCB->uxPriority = uxNewPriority;\r
1503                                 }\r
1504                                 #endif\r
1505 \r
1506                                 /* Only reset the event list item value if the value is not\r
1507                                 being used for anything else. */\r
1508                                 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )\r
1509                                 {\r
1510                                         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
1511                                 }\r
1512                                 else\r
1513                                 {\r
1514                                         mtCOVERAGE_TEST_MARKER();\r
1515                                 }\r
1516 \r
1517                                 /* If the task is in the blocked or suspended list we need do\r
1518                                 nothing more than change it's priority variable. However, if\r
1519                                 the task is in a ready list it needs to be removed and placed\r
1520                                 in the list appropriate to its new priority. */\r
1521                                 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )\r
1522                                 {\r
1523                                         /* The task is currently in its ready list - remove before adding\r
1524                                         it to it's new ready list.  As we are in a critical section we\r
1525                                         can do this even if the scheduler is suspended. */\r
1526                                         if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )\r
1527                                         {\r
1528                                                 /* It is known that the task is in its ready list so\r
1529                                                 there is no need to check again and the port level\r
1530                                                 reset macro can be called directly. */\r
1531                                                 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );\r
1532                                         }\r
1533                                         else\r
1534                                         {\r
1535                                                 mtCOVERAGE_TEST_MARKER();\r
1536                                         }\r
1537                                         prvAddTaskToReadyList( pxTCB );\r
1538                                 }\r
1539                                 else\r
1540                                 {\r
1541                                         mtCOVERAGE_TEST_MARKER();\r
1542                                 }\r
1543 \r
1544                                 if( xYieldRequired != pdFALSE )\r
1545                                 {\r
1546                                         taskYIELD_IF_USING_PREEMPTION();\r
1547                                 }\r
1548                                 else\r
1549                                 {\r
1550                                         mtCOVERAGE_TEST_MARKER();\r
1551                                 }\r
1552 \r
1553                                 /* Remove compiler warning about unused variables when the port\r
1554                                 optimised task selection is not being used. */\r
1555                                 ( void ) uxPriorityUsedOnEntry;\r
1556                         }\r
1557                 }\r
1558                 taskEXIT_CRITICAL();\r
1559         }\r
1560 \r
1561 #endif /* INCLUDE_vTaskPrioritySet */\r
1562 /*-----------------------------------------------------------*/\r
1563 \r
1564 #if ( INCLUDE_vTaskSuspend == 1 )\r
1565 \r
1566         void vTaskSuspend( TaskHandle_t xTaskToSuspend )\r
1567         {\r
1568         TCB_t *pxTCB;\r
1569 \r
1570                 taskENTER_CRITICAL();\r
1571                 {\r
1572                         /* If null is passed in here then it is the running task that is\r
1573                         being suspended. */\r
1574                         pxTCB = prvGetTCBFromHandle( xTaskToSuspend );\r
1575 \r
1576                         traceTASK_SUSPEND( pxTCB );\r
1577 \r
1578                         /* Remove task from the ready/delayed list and place in the\r
1579                         suspended list. */\r
1580                         if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )\r
1581                         {\r
1582                                 taskRESET_READY_PRIORITY( pxTCB->uxPriority );\r
1583                         }\r
1584                         else\r
1585                         {\r
1586                                 mtCOVERAGE_TEST_MARKER();\r
1587                         }\r
1588 \r
1589                         /* Is the task waiting on an event also? */\r
1590                         if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )\r
1591                         {\r
1592                                 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );\r
1593                         }\r
1594                         else\r
1595                         {\r
1596                                 mtCOVERAGE_TEST_MARKER();\r
1597                         }\r
1598 \r
1599                         vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );\r
1600                 }\r
1601                 taskEXIT_CRITICAL();\r
1602 \r
1603                 if( xSchedulerRunning != pdFALSE )\r
1604                 {\r
1605                         /* Reset the next expected unblock time in case it referred to the\r
1606                         task that is now in the Suspended state. */\r
1607                         taskENTER_CRITICAL();\r
1608                         {\r
1609                                 prvResetNextTaskUnblockTime();\r
1610                         }\r
1611                         taskEXIT_CRITICAL();\r
1612                 }\r
1613                 else\r
1614                 {\r
1615                         mtCOVERAGE_TEST_MARKER();\r
1616                 }\r
1617 \r
1618                 if( pxTCB == pxCurrentTCB )\r
1619                 {\r
1620                         if( xSchedulerRunning != pdFALSE )\r
1621                         {\r
1622                                 /* The current task has just been suspended. */\r
1623                                 configASSERT( uxSchedulerSuspended == 0 );\r
1624                                 portYIELD_WITHIN_API();\r
1625                         }\r
1626                         else\r
1627                         {\r
1628                                 /* The scheduler is not running, but the task that was pointed\r
1629                                 to by pxCurrentTCB has just been suspended and pxCurrentTCB\r
1630                                 must be adjusted to point to a different task. */\r
1631                                 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )\r
1632                                 {\r
1633                                         /* No other tasks are ready, so set pxCurrentTCB back to\r
1634                                         NULL so when the next task is created pxCurrentTCB will\r
1635                                         be set to point to it no matter what its relative priority\r
1636                                         is. */\r
1637                                         pxCurrentTCB = NULL;\r
1638                                 }\r
1639                                 else\r
1640                                 {\r
1641                                         vTaskSwitchContext();\r
1642                                 }\r
1643                         }\r
1644                 }\r
1645                 else\r
1646                 {\r
1647                         mtCOVERAGE_TEST_MARKER();\r
1648                 }\r
1649         }\r
1650 \r
1651 #endif /* INCLUDE_vTaskSuspend */\r
1652 /*-----------------------------------------------------------*/\r
1653 \r
1654 #if ( INCLUDE_vTaskSuspend == 1 )\r
1655 \r
1656         static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )\r
1657         {\r
1658         BaseType_t xReturn = pdFALSE;\r
1659         const TCB_t * const pxTCB = ( TCB_t * ) xTask;\r
1660 \r
1661                 /* Accesses xPendingReadyList so must be called from a critical\r
1662                 section. */\r
1663 \r
1664                 /* It does not make sense to check if the calling task is suspended. */\r
1665                 configASSERT( xTask );\r
1666 \r
1667                 /* Is the task being resumed actually in the suspended list? */\r
1668                 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )\r
1669                 {\r
1670                         /* Has the task already been resumed from within an ISR? */\r
1671                         if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )\r
1672                         {\r
1673                                 /* Is it in the suspended list because it is in the     Suspended\r
1674                                 state, or because is is blocked with no timeout? */\r
1675                                 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )\r
1676                                 {\r
1677                                         xReturn = pdTRUE;\r
1678                                 }\r
1679                                 else\r
1680                                 {\r
1681                                         mtCOVERAGE_TEST_MARKER();\r
1682                                 }\r
1683                         }\r
1684                         else\r
1685                         {\r
1686                                 mtCOVERAGE_TEST_MARKER();\r
1687                         }\r
1688                 }\r
1689                 else\r
1690                 {\r
1691                         mtCOVERAGE_TEST_MARKER();\r
1692                 }\r
1693 \r
1694                 return xReturn;\r
1695         } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */\r
1696 \r
1697 #endif /* INCLUDE_vTaskSuspend */\r
1698 /*-----------------------------------------------------------*/\r
1699 \r
1700 #if ( INCLUDE_vTaskSuspend == 1 )\r
1701 \r
1702         void vTaskResume( TaskHandle_t xTaskToResume )\r
1703         {\r
1704         TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;\r
1705 \r
1706                 /* It does not make sense to resume the calling task. */\r
1707                 configASSERT( xTaskToResume );\r
1708 \r
1709                 /* The parameter cannot be NULL as it is impossible to resume the\r
1710                 currently executing task. */\r
1711                 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )\r
1712                 {\r
1713                         taskENTER_CRITICAL();\r
1714                         {\r
1715                                 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )\r
1716                                 {\r
1717                                         traceTASK_RESUME( pxTCB );\r
1718 \r
1719                                         /* As we are in a critical section we can access the ready\r
1720                                         lists even if the scheduler is suspended. */\r
1721                                         ( void ) uxListRemove(  &( pxTCB->xStateListItem ) );\r
1722                                         prvAddTaskToReadyList( pxTCB );\r
1723 \r
1724                                         /* We may have just resumed a higher priority task. */\r
1725                                         if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
1726                                         {\r
1727                                                 /* This yield may not cause the task just resumed to run,\r
1728                                                 but will leave the lists in the correct state for the\r
1729                                                 next yield. */\r
1730                                                 taskYIELD_IF_USING_PREEMPTION();\r
1731                                         }\r
1732                                         else\r
1733                                         {\r
1734                                                 mtCOVERAGE_TEST_MARKER();\r
1735                                         }\r
1736                                 }\r
1737                                 else\r
1738                                 {\r
1739                                         mtCOVERAGE_TEST_MARKER();\r
1740                                 }\r
1741                         }\r
1742                         taskEXIT_CRITICAL();\r
1743                 }\r
1744                 else\r
1745                 {\r
1746                         mtCOVERAGE_TEST_MARKER();\r
1747                 }\r
1748         }\r
1749 \r
1750 #endif /* INCLUDE_vTaskSuspend */\r
1751 \r
1752 /*-----------------------------------------------------------*/\r
1753 \r
1754 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )\r
1755 \r
1756         BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )\r
1757         {\r
1758         BaseType_t xYieldRequired = pdFALSE;\r
1759         TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;\r
1760         UBaseType_t uxSavedInterruptStatus;\r
1761 \r
1762                 configASSERT( xTaskToResume );\r
1763 \r
1764                 /* RTOS ports that support interrupt nesting have the concept of a\r
1765                 maximum system call (or maximum API call) interrupt priority.\r
1766                 Interrupts that are     above the maximum system call priority are keep\r
1767                 permanently enabled, even when the RTOS kernel is in a critical section,\r
1768                 but cannot make any calls to FreeRTOS API functions.  If configASSERT()\r
1769                 is defined in FreeRTOSConfig.h then\r
1770                 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion\r
1771                 failure if a FreeRTOS API function is called from an interrupt that has\r
1772                 been assigned a priority above the configured maximum system call\r
1773                 priority.  Only FreeRTOS functions that end in FromISR can be called\r
1774                 from interrupts that have been assigned a priority at or (logically)\r
1775                 below the maximum system call interrupt priority.  FreeRTOS maintains a\r
1776                 separate interrupt safe API to ensure interrupt entry is as fast and as\r
1777                 simple as possible.  More information (albeit Cortex-M specific) is\r
1778                 provided on the following link:\r
1779                 http://www.freertos.org/RTOS-Cortex-M3-M4.html */\r
1780                 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();\r
1781 \r
1782                 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();\r
1783                 {\r
1784                         if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )\r
1785                         {\r
1786                                 traceTASK_RESUME_FROM_ISR( pxTCB );\r
1787 \r
1788                                 /* Check the ready lists can be accessed. */\r
1789                                 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
1790                                 {\r
1791                                         /* Ready lists can be accessed so move the task from the\r
1792                                         suspended list to the ready list directly. */\r
1793                                         if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
1794                                         {\r
1795                                                 xYieldRequired = pdTRUE;\r
1796                                         }\r
1797                                         else\r
1798                                         {\r
1799                                                 mtCOVERAGE_TEST_MARKER();\r
1800                                         }\r
1801 \r
1802                                         ( void ) uxListRemove( &( pxTCB->xStateListItem ) );\r
1803                                         prvAddTaskToReadyList( pxTCB );\r
1804                                 }\r
1805                                 else\r
1806                                 {\r
1807                                         /* The delayed or ready lists cannot be accessed so the task\r
1808                                         is held in the pending ready list until the scheduler is\r
1809                                         unsuspended. */\r
1810                                         vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );\r
1811                                 }\r
1812                         }\r
1813                         else\r
1814                         {\r
1815                                 mtCOVERAGE_TEST_MARKER();\r
1816                         }\r
1817                 }\r
1818                 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );\r
1819 \r
1820                 return xYieldRequired;\r
1821         }\r
1822 \r
1823 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */\r
1824 /*-----------------------------------------------------------*/\r
1825 \r
1826 void vTaskStartScheduler( void )\r
1827 {\r
1828 BaseType_t xReturn;\r
1829 \r
1830         /* Add the idle task at the lowest priority. */\r
1831         #if( configSUPPORT_STATIC_ALLOCATION == 1 )\r
1832         {\r
1833                 StaticTask_t *pxIdleTaskTCBBuffer = NULL;\r
1834                 StackType_t *pxIdleTaskStackBuffer = NULL;\r
1835                 uint32_t ulIdleTaskStackSize;\r
1836 \r
1837                 /* The Idle task is created using user provided RAM - obtain the\r
1838                 address of the RAM then create the idle task. */\r
1839                 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );\r
1840                 xIdleTaskHandle = xTaskCreateStatic(    prvIdleTask,\r
1841                                                                                                 "IDLE",\r
1842                                                                                                 ulIdleTaskStackSize,\r
1843                                                                                                 ( void * ) NULL,\r
1844                                                                                                 ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ),\r
1845                                                                                                 pxIdleTaskStackBuffer,\r
1846                                                                                                 pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */\r
1847 \r
1848                 if( xIdleTaskHandle != NULL )\r
1849                 {\r
1850                         xReturn = pdPASS;\r
1851                 }\r
1852                 else\r
1853                 {\r
1854                         xReturn = pdFAIL;\r
1855                 }\r
1856         }\r
1857         #else\r
1858         {\r
1859                 /* The Idle task is being created using dynamically allocated RAM. */\r
1860                 xReturn = xTaskCreate(  prvIdleTask,\r
1861                                                                 "IDLE", configMINIMAL_STACK_SIZE,\r
1862                                                                 ( void * ) NULL,\r
1863                                                                 ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ),\r
1864                                                                 &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */\r
1865         }\r
1866         #endif /* configSUPPORT_STATIC_ALLOCATION */\r
1867 \r
1868         #if ( configUSE_TIMERS == 1 )\r
1869         {\r
1870                 if( xReturn == pdPASS )\r
1871                 {\r
1872                         xReturn = xTimerCreateTimerTask();\r
1873                 }\r
1874                 else\r
1875                 {\r
1876                         mtCOVERAGE_TEST_MARKER();\r
1877                 }\r
1878         }\r
1879         #endif /* configUSE_TIMERS */\r
1880 \r
1881         if( xReturn == pdPASS )\r
1882         {\r
1883                 /* Interrupts are turned off here, to ensure a tick does not occur\r
1884                 before or during the call to xPortStartScheduler().  The stacks of\r
1885                 the created tasks contain a status word with interrupts switched on\r
1886                 so interrupts will automatically get re-enabled when the first task\r
1887                 starts to run. */\r
1888                 portDISABLE_INTERRUPTS();\r
1889 \r
1890                 #if ( configUSE_NEWLIB_REENTRANT == 1 )\r
1891                 {\r
1892                         /* Switch Newlib's _impure_ptr variable to point to the _reent\r
1893                         structure specific to the task that will run first. */\r
1894                         _impure_ptr = &( pxCurrentTCB->xNewLib_reent );\r
1895                 }\r
1896                 #endif /* configUSE_NEWLIB_REENTRANT */\r
1897 \r
1898                 xNextTaskUnblockTime = portMAX_DELAY;\r
1899                 xSchedulerRunning = pdTRUE;\r
1900                 xTickCount = ( TickType_t ) 0U;\r
1901 \r
1902                 /* If configGENERATE_RUN_TIME_STATS is defined then the following\r
1903                 macro must be defined to configure the timer/counter used to generate\r
1904                 the run time counter time base. */\r
1905                 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();\r
1906 \r
1907                 /* Setting up the timer tick is hardware specific and thus in the\r
1908                 portable interface. */\r
1909                 if( xPortStartScheduler() != pdFALSE )\r
1910                 {\r
1911                         /* Should not reach here as if the scheduler is running the\r
1912                         function will not return. */\r
1913                 }\r
1914                 else\r
1915                 {\r
1916                         /* Should only reach here if a task calls xTaskEndScheduler(). */\r
1917                 }\r
1918         }\r
1919         else\r
1920         {\r
1921                 /* This line will only be reached if the kernel could not be started,\r
1922                 because there was not enough FreeRTOS heap to create the idle task\r
1923                 or the timer task. */\r
1924                 configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );\r
1925         }\r
1926 \r
1927         /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,\r
1928         meaning xIdleTaskHandle is not used anywhere else. */\r
1929         ( void ) xIdleTaskHandle;\r
1930 }\r
1931 /*-----------------------------------------------------------*/\r
1932 \r
1933 void vTaskEndScheduler( void )\r
1934 {\r
1935         /* Stop the scheduler interrupts and call the portable scheduler end\r
1936         routine so the original ISRs can be restored if necessary.  The port\r
1937         layer must ensure interrupts enable     bit is left in the correct state. */\r
1938         portDISABLE_INTERRUPTS();\r
1939         xSchedulerRunning = pdFALSE;\r
1940         vPortEndScheduler();\r
1941 }\r
1942 /*----------------------------------------------------------*/\r
1943 \r
1944 void vTaskSuspendAll( void )\r
1945 {\r
1946         /* A critical section is not required as the variable is of type\r
1947         BaseType_t.  Please read Richard Barry's reply in the following link to a\r
1948         post in the FreeRTOS support forum before reporting this as a bug! -\r
1949         http://goo.gl/wu4acr */\r
1950         ++uxSchedulerSuspended;\r
1951 }\r
1952 /*----------------------------------------------------------*/\r
1953 \r
1954 #if ( configUSE_TICKLESS_IDLE != 0 )\r
1955 \r
1956         static TickType_t prvGetExpectedIdleTime( void )\r
1957         {\r
1958         TickType_t xReturn;\r
1959         UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;\r
1960 \r
1961                 /* uxHigherPriorityReadyTasks takes care of the case where\r
1962                 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority\r
1963                 task that are in the Ready state, even though the idle task is\r
1964                 running. */\r
1965                 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )\r
1966                 {\r
1967                         if( uxTopReadyPriority > tskIDLE_PRIORITY )\r
1968                         {\r
1969                                 uxHigherPriorityReadyTasks = pdTRUE;\r
1970                         }\r
1971                 }\r
1972                 #else\r
1973                 {\r
1974                         const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;\r
1975 \r
1976                         /* When port optimised task selection is used the uxTopReadyPriority\r
1977                         variable is used as a bit map.  If bits other than the least\r
1978                         significant bit are set then there are tasks that have a priority\r
1979                         above the idle priority that are in the Ready state.  This takes\r
1980                         care of the case where the co-operative scheduler is in use. */\r
1981                         if( uxTopReadyPriority > uxLeastSignificantBit )\r
1982                         {\r
1983                                 uxHigherPriorityReadyTasks = pdTRUE;\r
1984                         }\r
1985                 }\r
1986                 #endif\r
1987 \r
1988                 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )\r
1989                 {\r
1990                         xReturn = 0;\r
1991                 }\r
1992                 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )\r
1993                 {\r
1994                         /* There are other idle priority tasks in the ready state.  If\r
1995                         time slicing is used then the very next tick interrupt must be\r
1996                         processed. */\r
1997                         xReturn = 0;\r
1998                 }\r
1999                 else if( uxHigherPriorityReadyTasks != pdFALSE )\r
2000                 {\r
2001                         /* There are tasks in the Ready state that have a priority above the\r
2002                         idle priority.  This path can only be reached if\r
2003                         configUSE_PREEMPTION is 0. */\r
2004                         xReturn = 0;\r
2005                 }\r
2006                 else\r
2007                 {\r
2008                         xReturn = xNextTaskUnblockTime - xTickCount;\r
2009                 }\r
2010 \r
2011                 return xReturn;\r
2012         }\r
2013 \r
2014 #endif /* configUSE_TICKLESS_IDLE */\r
2015 /*----------------------------------------------------------*/\r
2016 \r
2017 BaseType_t xTaskResumeAll( void )\r
2018 {\r
2019 TCB_t *pxTCB = NULL;\r
2020 BaseType_t xAlreadyYielded = pdFALSE;\r
2021 \r
2022         /* If uxSchedulerSuspended is zero then this function does not match a\r
2023         previous call to vTaskSuspendAll(). */\r
2024         configASSERT( uxSchedulerSuspended );\r
2025 \r
2026         /* It is possible that an ISR caused a task to be removed from an event\r
2027         list while the scheduler was suspended.  If this was the case then the\r
2028         removed task will have been added to the xPendingReadyList.  Once the\r
2029         scheduler has been resumed it is safe to move all the pending ready\r
2030         tasks from this list into their appropriate ready list. */\r
2031         taskENTER_CRITICAL();\r
2032         {\r
2033                 --uxSchedulerSuspended;\r
2034 \r
2035                 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
2036                 {\r
2037                         if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )\r
2038                         {\r
2039                                 /* Move any readied tasks from the pending list into the\r
2040                                 appropriate ready list. */\r
2041                                 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )\r
2042                                 {\r
2043                                         pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );\r
2044                                         ( void ) uxListRemove( &( pxTCB->xEventListItem ) );\r
2045                                         ( void ) uxListRemove( &( pxTCB->xStateListItem ) );\r
2046                                         prvAddTaskToReadyList( pxTCB );\r
2047 \r
2048                                         /* If the moved task has a priority higher than the current\r
2049                                         task then a yield must be performed. */\r
2050                                         if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
2051                                         {\r
2052                                                 xYieldPending = pdTRUE;\r
2053                                         }\r
2054                                         else\r
2055                                         {\r
2056                                                 mtCOVERAGE_TEST_MARKER();\r
2057                                         }\r
2058                                 }\r
2059 \r
2060                                 if( pxTCB != NULL )\r
2061                                 {\r
2062                                         /* A task was unblocked while the scheduler was suspended,\r
2063                                         which may have prevented the next unblock time from being\r
2064                                         re-calculated, in which case re-calculate it now.  Mainly\r
2065                                         important for low power tickless implementations, where\r
2066                                         this can prevent an unnecessary exit from low power\r
2067                                         state. */\r
2068                                         prvResetNextTaskUnblockTime();\r
2069                                 }\r
2070 \r
2071                                 /* If any ticks occurred while the scheduler was suspended then\r
2072                                 they should be processed now.  This ensures the tick count does\r
2073                                 not     slip, and that any delayed tasks are resumed at the correct\r
2074                                 time. */\r
2075                                 {\r
2076                                         UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */\r
2077 \r
2078                                         if( uxPendedCounts > ( UBaseType_t ) 0U )\r
2079                                         {\r
2080                                                 do\r
2081                                                 {\r
2082                                                         if( xTaskIncrementTick() != pdFALSE )\r
2083                                                         {\r
2084                                                                 xYieldPending = pdTRUE;\r
2085                                                         }\r
2086                                                         else\r
2087                                                         {\r
2088                                                                 mtCOVERAGE_TEST_MARKER();\r
2089                                                         }\r
2090                                                         --uxPendedCounts;\r
2091                                                 } while( uxPendedCounts > ( UBaseType_t ) 0U );\r
2092 \r
2093                                                 uxPendedTicks = 0;\r
2094                                         }\r
2095                                         else\r
2096                                         {\r
2097                                                 mtCOVERAGE_TEST_MARKER();\r
2098                                         }\r
2099                                 }\r
2100 \r
2101                                 if( xYieldPending != pdFALSE )\r
2102                                 {\r
2103                                         #if( configUSE_PREEMPTION != 0 )\r
2104                                         {\r
2105                                                 xAlreadyYielded = pdTRUE;\r
2106                                         }\r
2107                                         #endif\r
2108                                         taskYIELD_IF_USING_PREEMPTION();\r
2109                                 }\r
2110                                 else\r
2111                                 {\r
2112                                         mtCOVERAGE_TEST_MARKER();\r
2113                                 }\r
2114                         }\r
2115                 }\r
2116                 else\r
2117                 {\r
2118                         mtCOVERAGE_TEST_MARKER();\r
2119                 }\r
2120         }\r
2121         taskEXIT_CRITICAL();\r
2122 \r
2123         return xAlreadyYielded;\r
2124 }\r
2125 /*-----------------------------------------------------------*/\r
2126 \r
2127 TickType_t xTaskGetTickCount( void )\r
2128 {\r
2129 TickType_t xTicks;\r
2130 \r
2131         /* Critical section required if running on a 16 bit processor. */\r
2132         portTICK_TYPE_ENTER_CRITICAL();\r
2133         {\r
2134                 xTicks = xTickCount;\r
2135         }\r
2136         portTICK_TYPE_EXIT_CRITICAL();\r
2137 \r
2138         return xTicks;\r
2139 }\r
2140 /*-----------------------------------------------------------*/\r
2141 \r
2142 TickType_t xTaskGetTickCountFromISR( void )\r
2143 {\r
2144 TickType_t xReturn;\r
2145 UBaseType_t uxSavedInterruptStatus;\r
2146 \r
2147         /* RTOS ports that support interrupt nesting have the concept of a maximum\r
2148         system call (or maximum API call) interrupt priority.  Interrupts that are\r
2149         above the maximum system call priority are kept permanently enabled, even\r
2150         when the RTOS kernel is in a critical section, but cannot make any calls to\r
2151         FreeRTOS API functions.  If configASSERT() is defined in FreeRTOSConfig.h\r
2152         then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion\r
2153         failure if a FreeRTOS API function is called from an interrupt that has been\r
2154         assigned a priority above the configured maximum system call priority.\r
2155         Only FreeRTOS functions that end in FromISR can be called from interrupts\r
2156         that have been assigned a priority at or (logically) below the maximum\r
2157         system call     interrupt priority.  FreeRTOS maintains a separate interrupt\r
2158         safe API to ensure interrupt entry is as fast and as simple as possible.\r
2159         More information (albeit Cortex-M specific) is provided on the following\r
2160         link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */\r
2161         portASSERT_IF_INTERRUPT_PRIORITY_INVALID();\r
2162 \r
2163         uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();\r
2164         {\r
2165                 xReturn = xTickCount;\r
2166         }\r
2167         portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );\r
2168 \r
2169         return xReturn;\r
2170 }\r
2171 /*-----------------------------------------------------------*/\r
2172 \r
2173 UBaseType_t uxTaskGetNumberOfTasks( void )\r
2174 {\r
2175         /* A critical section is not required because the variables are of type\r
2176         BaseType_t. */\r
2177         return uxCurrentNumberOfTasks;\r
2178 }\r
2179 /*-----------------------------------------------------------*/\r
2180 \r
2181 char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */\r
2182 {\r
2183 TCB_t *pxTCB;\r
2184 \r
2185         /* If null is passed in here then the name of the calling task is being\r
2186         queried. */\r
2187         pxTCB = prvGetTCBFromHandle( xTaskToQuery );\r
2188         configASSERT( pxTCB );\r
2189         return &( pxTCB->pcTaskName[ 0 ] );\r
2190 }\r
2191 /*-----------------------------------------------------------*/\r
2192 \r
2193 #if ( INCLUDE_xTaskGetHandle == 1 )\r
2194 \r
2195         static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )\r
2196         {\r
2197         TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;\r
2198         UBaseType_t x;\r
2199         char cNextChar;\r
2200 \r
2201                 /* This function is called with the scheduler suspended. */\r
2202 \r
2203                 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )\r
2204                 {\r
2205                         listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );\r
2206 \r
2207                         do\r
2208                         {\r
2209                                 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );\r
2210 \r
2211                                 /* Check each character in the name looking for a match or\r
2212                                 mismatch. */\r
2213                                 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )\r
2214                                 {\r
2215                                         cNextChar = pxNextTCB->pcTaskName[ x ];\r
2216 \r
2217                                         if( cNextChar != pcNameToQuery[ x ] )\r
2218                                         {\r
2219                                                 /* Characters didn't match. */\r
2220                                                 break;\r
2221                                         }\r
2222                                         else if( cNextChar == 0x00 )\r
2223                                         {\r
2224                                                 /* Both strings terminated, a match must have been\r
2225                                                 found. */\r
2226                                                 pxReturn = pxNextTCB;\r
2227                                                 break;\r
2228                                         }\r
2229                                         else\r
2230                                         {\r
2231                                                 mtCOVERAGE_TEST_MARKER();\r
2232                                         }\r
2233                                 }\r
2234 \r
2235                                 if( pxReturn != NULL )\r
2236                                 {\r
2237                                         /* The handle has been found. */\r
2238                                         break;\r
2239                                 }\r
2240 \r
2241                         } while( pxNextTCB != pxFirstTCB );\r
2242                 }\r
2243                 else\r
2244                 {\r
2245                         mtCOVERAGE_TEST_MARKER();\r
2246                 }\r
2247 \r
2248                 return pxReturn;\r
2249         }\r
2250 \r
2251 #endif /* INCLUDE_xTaskGetHandle */\r
2252 /*-----------------------------------------------------------*/\r
2253 \r
2254 #if ( INCLUDE_xTaskGetHandle == 1 )\r
2255 \r
2256         TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */\r
2257         {\r
2258         UBaseType_t uxQueue = configMAX_PRIORITIES;\r
2259         TCB_t* pxTCB;\r
2260 \r
2261                 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */\r
2262                 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );\r
2263 \r
2264                 vTaskSuspendAll();\r
2265                 {\r
2266                         /* Search the ready lists. */\r
2267                         do\r
2268                         {\r
2269                                 uxQueue--;\r
2270                                 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );\r
2271 \r
2272                                 if( pxTCB != NULL )\r
2273                                 {\r
2274                                         /* Found the handle. */\r
2275                                         break;\r
2276                                 }\r
2277 \r
2278                         } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */\r
2279 \r
2280                         /* Search the delayed lists. */\r
2281                         if( pxTCB == NULL )\r
2282                         {\r
2283                                 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );\r
2284                         }\r
2285 \r
2286                         if( pxTCB == NULL )\r
2287                         {\r
2288                                 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );\r
2289                         }\r
2290 \r
2291                         #if ( INCLUDE_vTaskSuspend == 1 )\r
2292                         {\r
2293                                 if( pxTCB == NULL )\r
2294                                 {\r
2295                                         /* Search the suspended list. */\r
2296                                         pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );\r
2297                                 }\r
2298                         }\r
2299                         #endif\r
2300 \r
2301                         #if( INCLUDE_vTaskDelete == 1 )\r
2302                         {\r
2303                                 if( pxTCB == NULL )\r
2304                                 {\r
2305                                         /* Search the deleted list. */\r
2306                                         pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );\r
2307                                 }\r
2308                         }\r
2309                         #endif\r
2310                 }\r
2311                 ( void ) xTaskResumeAll();\r
2312 \r
2313                 return ( TaskHandle_t ) pxTCB;\r
2314         }\r
2315 \r
2316 #endif /* INCLUDE_xTaskGetHandle */\r
2317 /*-----------------------------------------------------------*/\r
2318 \r
2319 #if ( configUSE_TRACE_FACILITY == 1 )\r
2320 \r
2321         UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )\r
2322         {\r
2323         UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;\r
2324 \r
2325                 vTaskSuspendAll();\r
2326                 {\r
2327                         /* Is there a space in the array for each task in the system? */\r
2328                         if( uxArraySize >= uxCurrentNumberOfTasks )\r
2329                         {\r
2330                                 /* Fill in an TaskStatus_t structure with information on each\r
2331                                 task in the Ready state. */\r
2332                                 do\r
2333                                 {\r
2334                                         uxQueue--;\r
2335                                         uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );\r
2336 \r
2337                                 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */\r
2338 \r
2339                                 /* Fill in an TaskStatus_t structure with information on each\r
2340                                 task in the Blocked state. */\r
2341                                 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );\r
2342                                 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );\r
2343 \r
2344                                 #if( INCLUDE_vTaskDelete == 1 )\r
2345                                 {\r
2346                                         /* Fill in an TaskStatus_t structure with information on\r
2347                                         each task that has been deleted but not yet cleaned up. */\r
2348                                         uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );\r
2349                                 }\r
2350                                 #endif\r
2351 \r
2352                                 #if ( INCLUDE_vTaskSuspend == 1 )\r
2353                                 {\r
2354                                         /* Fill in an TaskStatus_t structure with information on\r
2355                                         each task in the Suspended state. */\r
2356                                         uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );\r
2357                                 }\r
2358                                 #endif\r
2359 \r
2360                                 #if ( configGENERATE_RUN_TIME_STATS == 1)\r
2361                                 {\r
2362                                         if( pulTotalRunTime != NULL )\r
2363                                         {\r
2364                                                 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE\r
2365                                                         portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );\r
2366                                                 #else\r
2367                                                         *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();\r
2368                                                 #endif\r
2369                                         }\r
2370                                 }\r
2371                                 #else\r
2372                                 {\r
2373                                         if( pulTotalRunTime != NULL )\r
2374                                         {\r
2375                                                 *pulTotalRunTime = 0;\r
2376                                         }\r
2377                                 }\r
2378                                 #endif\r
2379                         }\r
2380                         else\r
2381                         {\r
2382                                 mtCOVERAGE_TEST_MARKER();\r
2383                         }\r
2384                 }\r
2385                 ( void ) xTaskResumeAll();\r
2386 \r
2387                 return uxTask;\r
2388         }\r
2389 \r
2390 #endif /* configUSE_TRACE_FACILITY */\r
2391 /*----------------------------------------------------------*/\r
2392 \r
2393 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )\r
2394 \r
2395         TaskHandle_t xTaskGetIdleTaskHandle( void )\r
2396         {\r
2397                 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been\r
2398                 started, then xIdleTaskHandle will be NULL. */\r
2399                 configASSERT( ( xIdleTaskHandle != NULL ) );\r
2400                 return xIdleTaskHandle;\r
2401         }\r
2402 \r
2403 #endif /* INCLUDE_xTaskGetIdleTaskHandle */\r
2404 /*----------------------------------------------------------*/\r
2405 \r
2406 /* This conditional compilation should use inequality to 0, not equality to 1.\r
2407 This is to ensure vTaskStepTick() is available when user defined low power mode\r
2408 implementations require configUSE_TICKLESS_IDLE to be set to a value other than\r
2409 1. */\r
2410 #if ( configUSE_TICKLESS_IDLE != 0 )\r
2411 \r
2412         void vTaskStepTick( const TickType_t xTicksToJump )\r
2413         {\r
2414                 /* Correct the tick count value after a period during which the tick\r
2415                 was suppressed.  Note this does *not* call the tick hook function for\r
2416                 each stepped tick. */\r
2417                 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );\r
2418                 xTickCount += xTicksToJump;\r
2419                 traceINCREASE_TICK_COUNT( xTicksToJump );\r
2420         }\r
2421 \r
2422 #endif /* configUSE_TICKLESS_IDLE */\r
2423 /*----------------------------------------------------------*/\r
2424 \r
2425 #if ( INCLUDE_xTaskAbortDelay == 1 )\r
2426 \r
2427         BaseType_t xTaskAbortDelay( TaskHandle_t xTask )\r
2428         {\r
2429         TCB_t *pxTCB = ( TCB_t * ) xTask;\r
2430         BaseType_t xReturn = pdFALSE;\r
2431 \r
2432                 configASSERT( pxTCB );\r
2433 \r
2434                 vTaskSuspendAll();\r
2435                 {\r
2436                         /* A task can only be prematurely removed from the Blocked state if\r
2437                         it is actually in the Blocked state. */\r
2438                         if( eTaskGetState( xTask ) == eBlocked )\r
2439                         {\r
2440                                 /* Remove the reference to the task from the blocked list.  An\r
2441                                 interrupt won't touch the xStateListItem because the\r
2442                                 scheduler is suspended. */\r
2443                                 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );\r
2444 \r
2445                                 /* Is the task waiting on an event also?  If so remove it from\r
2446                                 the event list too.  Interrupts can touch the event list item,\r
2447                                 even though the scheduler is suspended, so a critical section\r
2448                                 is used. */\r
2449                                 taskENTER_CRITICAL();\r
2450                                 {\r
2451                                         if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )\r
2452                                         {\r
2453                                                 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );\r
2454                                                 pxTCB->ucDelayAborted = pdTRUE;\r
2455                                         }\r
2456                                         else\r
2457                                         {\r
2458                                                 mtCOVERAGE_TEST_MARKER();\r
2459                                         }\r
2460                                 }\r
2461                                 taskEXIT_CRITICAL();\r
2462 \r
2463                                 /* Place the unblocked task into the appropriate ready list. */\r
2464                                 prvAddTaskToReadyList( pxTCB );\r
2465 \r
2466                                 /* A task being unblocked cannot cause an immediate context\r
2467                                 switch if preemption is turned off. */\r
2468                                 #if (  configUSE_PREEMPTION == 1 )\r
2469                                 {\r
2470                                         /* Preemption is on, but a context switch should only be\r
2471                                         performed if the unblocked task has a priority that is\r
2472                                         equal to or higher than the currently executing task. */\r
2473                                         if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )\r
2474                                         {\r
2475                                                 /* Pend the yield to be performed when the scheduler\r
2476                                                 is unsuspended. */\r
2477                                                 xYieldPending = pdTRUE;\r
2478                                         }\r
2479                                         else\r
2480                                         {\r
2481                                                 mtCOVERAGE_TEST_MARKER();\r
2482                                         }\r
2483                                 }\r
2484                                 #endif /* configUSE_PREEMPTION */\r
2485                         }\r
2486                         else\r
2487                         {\r
2488                                 mtCOVERAGE_TEST_MARKER();\r
2489                         }\r
2490                 }\r
2491                 xTaskResumeAll();\r
2492 \r
2493                 return xReturn;\r
2494         }\r
2495 \r
2496 #endif /* INCLUDE_xTaskAbortDelay */\r
2497 /*----------------------------------------------------------*/\r
2498 \r
2499 BaseType_t xTaskIncrementTick( void )\r
2500 {\r
2501 TCB_t * pxTCB;\r
2502 TickType_t xItemValue;\r
2503 BaseType_t xSwitchRequired = pdFALSE;\r
2504 \r
2505         /* Called by the portable layer each time a tick interrupt occurs.\r
2506         Increments the tick then checks to see if the new tick value will cause any\r
2507         tasks to be unblocked. */\r
2508         traceTASK_INCREMENT_TICK( xTickCount );\r
2509         if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
2510         {\r
2511                 /* Minor optimisation.  The tick count cannot change in this\r
2512                 block. */\r
2513                 const TickType_t xConstTickCount = xTickCount + 1;\r
2514 \r
2515                 /* Increment the RTOS tick, switching the delayed and overflowed\r
2516                 delayed lists if it wraps to 0. */\r
2517                 xTickCount = xConstTickCount;\r
2518 \r
2519                 if( xConstTickCount == ( TickType_t ) 0U )\r
2520                 {\r
2521                         taskSWITCH_DELAYED_LISTS();\r
2522                 }\r
2523                 else\r
2524                 {\r
2525                         mtCOVERAGE_TEST_MARKER();\r
2526                 }\r
2527 \r
2528                 /* See if this tick has made a timeout expire.  Tasks are stored in\r
2529                 the     queue in the order of their wake time - meaning once one task\r
2530                 has been found whose block time has not expired there is no need to\r
2531                 look any further down the list. */\r
2532                 if( xConstTickCount >= xNextTaskUnblockTime )\r
2533                 {\r
2534                         for( ;; )\r
2535                         {\r
2536                                 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )\r
2537                                 {\r
2538                                         /* The delayed list is empty.  Set xNextTaskUnblockTime\r
2539                                         to the maximum possible value so it is extremely\r
2540                                         unlikely that the\r
2541                                         if( xTickCount >= xNextTaskUnblockTime ) test will pass\r
2542                                         next time through. */\r
2543                                         xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */\r
2544                                         break;\r
2545                                 }\r
2546                                 else\r
2547                                 {\r
2548                                         /* The delayed list is not empty, get the value of the\r
2549                                         item at the head of the delayed list.  This is the time\r
2550                                         at which the task at the head of the delayed list must\r
2551                                         be removed from the Blocked state. */\r
2552                                         pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );\r
2553                                         xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );\r
2554 \r
2555                                         if( xConstTickCount < xItemValue )\r
2556                                         {\r
2557                                                 /* It is not time to unblock this item yet, but the\r
2558                                                 item value is the time at which the task at the head\r
2559                                                 of the blocked list must be removed from the Blocked\r
2560                                                 state - so record the item value in\r
2561                                                 xNextTaskUnblockTime. */\r
2562                                                 xNextTaskUnblockTime = xItemValue;\r
2563                                                 break;\r
2564                                         }\r
2565                                         else\r
2566                                         {\r
2567                                                 mtCOVERAGE_TEST_MARKER();\r
2568                                         }\r
2569 \r
2570                                         /* It is time to remove the item from the Blocked state. */\r
2571                                         ( void ) uxListRemove( &( pxTCB->xStateListItem ) );\r
2572 \r
2573                                         /* Is the task waiting on an event also?  If so remove\r
2574                                         it from the event list. */\r
2575                                         if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )\r
2576                                         {\r
2577                                                 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );\r
2578                                         }\r
2579                                         else\r
2580                                         {\r
2581                                                 mtCOVERAGE_TEST_MARKER();\r
2582                                         }\r
2583 \r
2584                                         /* Place the unblocked task into the appropriate ready\r
2585                                         list. */\r
2586                                         prvAddTaskToReadyList( pxTCB );\r
2587 \r
2588                                         /* A task being unblocked cannot cause an immediate\r
2589                                         context switch if preemption is turned off. */\r
2590                                         #if (  configUSE_PREEMPTION == 1 )\r
2591                                         {\r
2592                                                 /* Preemption is on, but a context switch should\r
2593                                                 only be performed if the unblocked task has a\r
2594                                                 priority that is equal to or higher than the\r
2595                                                 currently executing task. */\r
2596                                                 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
2597                                                 {\r
2598                                                         xSwitchRequired = pdTRUE;\r
2599                                                 }\r
2600                                                 else\r
2601                                                 {\r
2602                                                         mtCOVERAGE_TEST_MARKER();\r
2603                                                 }\r
2604                                         }\r
2605                                         #endif /* configUSE_PREEMPTION */\r
2606                                 }\r
2607                         }\r
2608                 }\r
2609 \r
2610                 /* Tasks of equal priority to the currently running task will share\r
2611                 processing time (time slice) if preemption is on, and the application\r
2612                 writer has not explicitly turned time slicing off. */\r
2613                 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )\r
2614                 {\r
2615                         if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )\r
2616                         {\r
2617                                 xSwitchRequired = pdTRUE;\r
2618                         }\r
2619                         else\r
2620                         {\r
2621                                 mtCOVERAGE_TEST_MARKER();\r
2622                         }\r
2623                 }\r
2624                 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */\r
2625 \r
2626                 #if ( configUSE_TICK_HOOK == 1 )\r
2627                 {\r
2628                         /* Guard against the tick hook being called when the pended tick\r
2629                         count is being unwound (when the scheduler is being unlocked). */\r
2630                         if( uxPendedTicks == ( UBaseType_t ) 0U )\r
2631                         {\r
2632                                 vApplicationTickHook();\r
2633                         }\r
2634                         else\r
2635                         {\r
2636                                 mtCOVERAGE_TEST_MARKER();\r
2637                         }\r
2638                 }\r
2639                 #endif /* configUSE_TICK_HOOK */\r
2640         }\r
2641         else\r
2642         {\r
2643                 ++uxPendedTicks;\r
2644 \r
2645                 /* The tick hook gets called at regular intervals, even if the\r
2646                 scheduler is locked. */\r
2647                 #if ( configUSE_TICK_HOOK == 1 )\r
2648                 {\r
2649                         vApplicationTickHook();\r
2650                 }\r
2651                 #endif\r
2652         }\r
2653 \r
2654         #if ( configUSE_PREEMPTION == 1 )\r
2655         {\r
2656                 if( xYieldPending != pdFALSE )\r
2657                 {\r
2658                         xSwitchRequired = pdTRUE;\r
2659                 }\r
2660                 else\r
2661                 {\r
2662                         mtCOVERAGE_TEST_MARKER();\r
2663                 }\r
2664         }\r
2665         #endif /* configUSE_PREEMPTION */\r
2666 \r
2667         return xSwitchRequired;\r
2668 }\r
2669 /*-----------------------------------------------------------*/\r
2670 \r
2671 #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
2672 \r
2673         void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )\r
2674         {\r
2675         TCB_t *xTCB;\r
2676 \r
2677                 /* If xTask is NULL then it is the task hook of the calling task that is\r
2678                 getting set. */\r
2679                 if( xTask == NULL )\r
2680                 {\r
2681                         xTCB = ( TCB_t * ) pxCurrentTCB;\r
2682                 }\r
2683                 else\r
2684                 {\r
2685                         xTCB = ( TCB_t * ) xTask;\r
2686                 }\r
2687 \r
2688                 /* Save the hook function in the TCB.  A critical section is required as\r
2689                 the value can be accessed from an interrupt. */\r
2690                 taskENTER_CRITICAL();\r
2691                         xTCB->pxTaskTag = pxHookFunction;\r
2692                 taskEXIT_CRITICAL();\r
2693         }\r
2694 \r
2695 #endif /* configUSE_APPLICATION_TASK_TAG */\r
2696 /*-----------------------------------------------------------*/\r
2697 \r
2698 #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
2699 \r
2700         TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )\r
2701         {\r
2702         TCB_t *xTCB;\r
2703         TaskHookFunction_t xReturn;\r
2704 \r
2705                 /* If xTask is NULL then we are setting our own task hook. */\r
2706                 if( xTask == NULL )\r
2707                 {\r
2708                         xTCB = ( TCB_t * ) pxCurrentTCB;\r
2709                 }\r
2710                 else\r
2711                 {\r
2712                         xTCB = ( TCB_t * ) xTask;\r
2713                 }\r
2714 \r
2715                 /* Save the hook function in the TCB.  A critical section is required as\r
2716                 the value can be accessed from an interrupt. */\r
2717                 taskENTER_CRITICAL();\r
2718                 {\r
2719                         xReturn = xTCB->pxTaskTag;\r
2720                 }\r
2721                 taskEXIT_CRITICAL();\r
2722 \r
2723                 return xReturn;\r
2724         }\r
2725 \r
2726 #endif /* configUSE_APPLICATION_TASK_TAG */\r
2727 /*-----------------------------------------------------------*/\r
2728 \r
2729 #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
2730 \r
2731         BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )\r
2732         {\r
2733         TCB_t *xTCB;\r
2734         BaseType_t xReturn;\r
2735 \r
2736                 /* If xTask is NULL then we are calling our own task hook. */\r
2737                 if( xTask == NULL )\r
2738                 {\r
2739                         xTCB = ( TCB_t * ) pxCurrentTCB;\r
2740                 }\r
2741                 else\r
2742                 {\r
2743                         xTCB = ( TCB_t * ) xTask;\r
2744                 }\r
2745 \r
2746                 if( xTCB->pxTaskTag != NULL )\r
2747                 {\r
2748                         xReturn = xTCB->pxTaskTag( pvParameter );\r
2749                 }\r
2750                 else\r
2751                 {\r
2752                         xReturn = pdFAIL;\r
2753                 }\r
2754 \r
2755                 return xReturn;\r
2756         }\r
2757 \r
2758 #endif /* configUSE_APPLICATION_TASK_TAG */\r
2759 /*-----------------------------------------------------------*/\r
2760 \r
2761 void vTaskSwitchContext( void )\r
2762 {\r
2763         if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )\r
2764         {\r
2765                 /* The scheduler is currently suspended - do not allow a context\r
2766                 switch. */\r
2767                 xYieldPending = pdTRUE;\r
2768         }\r
2769         else\r
2770         {\r
2771                 xYieldPending = pdFALSE;\r
2772                 traceTASK_SWITCHED_OUT();\r
2773 \r
2774                 #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
2775                 {\r
2776                                 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE\r
2777                                         portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );\r
2778                                 #else\r
2779                                         ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();\r
2780                                 #endif\r
2781 \r
2782                                 /* Add the amount of time the task has been running to the\r
2783                                 accumulated time so far.  The time the task started running was\r
2784                                 stored in ulTaskSwitchedInTime.  Note that there is no overflow\r
2785                                 protection here so count values are only valid until the timer\r
2786                                 overflows.  The guard against negative values is to protect\r
2787                                 against suspect run time stat counter implementations - which\r
2788                                 are provided by the application, not the kernel. */\r
2789                                 if( ulTotalRunTime > ulTaskSwitchedInTime )\r
2790                                 {\r
2791                                         pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );\r
2792                                 }\r
2793                                 else\r
2794                                 {\r
2795                                         mtCOVERAGE_TEST_MARKER();\r
2796                                 }\r
2797                                 ulTaskSwitchedInTime = ulTotalRunTime;\r
2798                 }\r
2799                 #endif /* configGENERATE_RUN_TIME_STATS */\r
2800 \r
2801                 /* Check for stack overflow, if configured. */\r
2802                 taskCHECK_FOR_STACK_OVERFLOW();\r
2803 \r
2804                 /* Select a new task to run using either the generic C or port\r
2805                 optimised asm code. */\r
2806                 taskSELECT_HIGHEST_PRIORITY_TASK();\r
2807                 traceTASK_SWITCHED_IN();\r
2808 \r
2809                 #if ( configUSE_NEWLIB_REENTRANT == 1 )\r
2810                 {\r
2811                         /* Switch Newlib's _impure_ptr variable to point to the _reent\r
2812                         structure specific to this task. */\r
2813                         _impure_ptr = &( pxCurrentTCB->xNewLib_reent );\r
2814                 }\r
2815                 #endif /* configUSE_NEWLIB_REENTRANT */\r
2816         }\r
2817 }\r
2818 /*-----------------------------------------------------------*/\r
2819 \r
2820 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )\r
2821 {\r
2822         configASSERT( pxEventList );\r
2823 \r
2824         /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE\r
2825         SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */\r
2826 \r
2827         /* Place the event list item of the TCB in the appropriate event list.\r
2828         This is placed in the list in priority order so the highest priority task\r
2829         is the first to be woken by the event.  The queue that contains the event\r
2830         list is locked, preventing simultaneous access from interrupts. */\r
2831         vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );\r
2832 \r
2833         prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );\r
2834 }\r
2835 /*-----------------------------------------------------------*/\r
2836 \r
2837 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )\r
2838 {\r
2839         configASSERT( pxEventList );\r
2840 \r
2841         /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED.  It is used by\r
2842         the event groups implementation. */\r
2843         configASSERT( uxSchedulerSuspended != 0 );\r
2844 \r
2845         /* Store the item value in the event list item.  It is safe to access the\r
2846         event list item here as interrupts won't access the event list item of a\r
2847         task that is not in the Blocked state. */\r
2848         listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );\r
2849 \r
2850         /* Place the event list item of the TCB at the end of the appropriate event\r
2851         list.  It is safe to access the event list here because it is part of an\r
2852         event group implementation - and interrupts don't access event groups\r
2853         directly (instead they access them indirectly by pending function calls to\r
2854         the task level). */\r
2855         vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );\r
2856 \r
2857         prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );\r
2858 }\r
2859 /*-----------------------------------------------------------*/\r
2860 \r
2861 #if( configUSE_TIMERS == 1 )\r
2862 \r
2863         void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )\r
2864         {\r
2865                 configASSERT( pxEventList );\r
2866 \r
2867                 /* This function should not be called by application code hence the\r
2868                 'Restricted' in its name.  It is not part of the public API.  It is\r
2869                 designed for use by kernel code, and has special calling requirements -\r
2870                 it should be called with the scheduler suspended. */\r
2871 \r
2872 \r
2873                 /* Place the event list item of the TCB in the appropriate event list.\r
2874                 In this case it is assume that this is the only task that is going to\r
2875                 be waiting on this event list, so the faster vListInsertEnd() function\r
2876                 can be used in place of vListInsert. */\r
2877                 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );\r
2878 \r
2879                 /* If the task should block indefinitely then set the block time to a\r
2880                 value that will be recognised as an indefinite delay inside the\r
2881                 prvAddCurrentTaskToDelayedList() function. */\r
2882                 if( xWaitIndefinitely != pdFALSE )\r
2883                 {\r
2884                         xTicksToWait = portMAX_DELAY;\r
2885                 }\r
2886 \r
2887                 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );\r
2888                 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );\r
2889         }\r
2890 \r
2891 #endif /* configUSE_TIMERS */\r
2892 /*-----------------------------------------------------------*/\r
2893 \r
2894 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )\r
2895 {\r
2896 TCB_t *pxUnblockedTCB;\r
2897 BaseType_t xReturn;\r
2898 \r
2899         /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION.  It can also be\r
2900         called from a critical section within an ISR. */\r
2901 \r
2902         /* The event list is sorted in priority order, so the first in the list can\r
2903         be removed as it is known to be the highest priority.  Remove the TCB from\r
2904         the delayed list, and add it to the ready list.\r
2905 \r
2906         If an event is for a queue that is locked then this function will never\r
2907         get called - the lock count on the queue will get modified instead.  This\r
2908         means exclusive access to the event list is guaranteed here.\r
2909 \r
2910         This function assumes that a check has already been made to ensure that\r
2911         pxEventList is not empty. */\r
2912         pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );\r
2913         configASSERT( pxUnblockedTCB );\r
2914         ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );\r
2915 \r
2916         if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
2917         {\r
2918                 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );\r
2919                 prvAddTaskToReadyList( pxUnblockedTCB );\r
2920         }\r
2921         else\r
2922         {\r
2923                 /* The delayed and ready lists cannot be accessed, so hold this task\r
2924                 pending until the scheduler is resumed. */\r
2925                 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );\r
2926         }\r
2927 \r
2928         if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )\r
2929         {\r
2930                 /* Return true if the task removed from the event list has a higher\r
2931                 priority than the calling task.  This allows the calling task to know if\r
2932                 it should force a context switch now. */\r
2933                 xReturn = pdTRUE;\r
2934 \r
2935                 /* Mark that a yield is pending in case the user is not using the\r
2936                 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */\r
2937                 xYieldPending = pdTRUE;\r
2938         }\r
2939         else\r
2940         {\r
2941                 xReturn = pdFALSE;\r
2942         }\r
2943 \r
2944         #if( configUSE_TICKLESS_IDLE != 0 )\r
2945         {\r
2946                 /* If a task is blocked on a kernel object then xNextTaskUnblockTime\r
2947                 might be set to the blocked task's time out time.  If the task is\r
2948                 unblocked for a reason other than a timeout xNextTaskUnblockTime is\r
2949                 normally left unchanged, because it is automatically reset to a new\r
2950                 value when the tick count equals xNextTaskUnblockTime.  However if\r
2951                 tickless idling is used it might be more important to enter sleep mode\r
2952                 at the earliest possible time - so reset xNextTaskUnblockTime here to\r
2953                 ensure it is updated at the earliest possible time. */\r
2954                 prvResetNextTaskUnblockTime();\r
2955         }\r
2956         #endif\r
2957 \r
2958         return xReturn;\r
2959 }\r
2960 /*-----------------------------------------------------------*/\r
2961 \r
2962 BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )\r
2963 {\r
2964 TCB_t *pxUnblockedTCB;\r
2965 BaseType_t xReturn;\r
2966 \r
2967         /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED.  It is used by\r
2968         the event flags implementation. */\r
2969         configASSERT( uxSchedulerSuspended != pdFALSE );\r
2970 \r
2971         /* Store the new item value in the event list. */\r
2972         listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );\r
2973 \r
2974         /* Remove the event list form the event flag.  Interrupts do not access\r
2975         event flags. */\r
2976         pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );\r
2977         configASSERT( pxUnblockedTCB );\r
2978         ( void ) uxListRemove( pxEventListItem );\r
2979 \r
2980         /* Remove the task from the delayed list and add it to the ready list.  The\r
2981         scheduler is suspended so interrupts will not be accessing the ready\r
2982         lists. */\r
2983         ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );\r
2984         prvAddTaskToReadyList( pxUnblockedTCB );\r
2985 \r
2986         if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )\r
2987         {\r
2988                 /* Return true if the task removed from the event list has\r
2989                 a higher priority than the calling task.  This allows\r
2990                 the calling task to know if it should force a context\r
2991                 switch now. */\r
2992                 xReturn = pdTRUE;\r
2993 \r
2994                 /* Mark that a yield is pending in case the user is not using the\r
2995                 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */\r
2996                 xYieldPending = pdTRUE;\r
2997         }\r
2998         else\r
2999         {\r
3000                 xReturn = pdFALSE;\r
3001         }\r
3002 \r
3003         return xReturn;\r
3004 }\r
3005 /*-----------------------------------------------------------*/\r
3006 \r
3007 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )\r
3008 {\r
3009         configASSERT( pxTimeOut );\r
3010         pxTimeOut->xOverflowCount = xNumOfOverflows;\r
3011         pxTimeOut->xTimeOnEntering = xTickCount;\r
3012 }\r
3013 /*-----------------------------------------------------------*/\r
3014 \r
3015 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )\r
3016 {\r
3017 BaseType_t xReturn;\r
3018 \r
3019         configASSERT( pxTimeOut );\r
3020         configASSERT( pxTicksToWait );\r
3021 \r
3022         taskENTER_CRITICAL();\r
3023         {\r
3024                 /* Minor optimisation.  The tick count cannot change in this block. */\r
3025                 const TickType_t xConstTickCount = xTickCount;\r
3026 \r
3027                 #if( INCLUDE_xTaskAbortDelay == 1 )\r
3028                         if( pxCurrentTCB->ucDelayAborted != pdFALSE )\r
3029                         {\r
3030                                 /* The delay was aborted, which is not the same as a time out,\r
3031                                 but has the same result. */\r
3032                                 pxCurrentTCB->ucDelayAborted = pdFALSE;\r
3033                                 xReturn = pdTRUE;\r
3034                         }\r
3035                         else\r
3036                 #endif\r
3037 \r
3038                 #if ( INCLUDE_vTaskSuspend == 1 )\r
3039                         if( *pxTicksToWait == portMAX_DELAY )\r
3040                         {\r
3041                                 /* If INCLUDE_vTaskSuspend is set to 1 and the block time\r
3042                                 specified is the maximum block time then the task should block\r
3043                                 indefinitely, and therefore never time out. */\r
3044                                 xReturn = pdFALSE;\r
3045                         }\r
3046                         else\r
3047                 #endif\r
3048 \r
3049                 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */\r
3050                 {\r
3051                         /* The tick count is greater than the time at which\r
3052                         vTaskSetTimeout() was called, but has also overflowed since\r
3053                         vTaskSetTimeOut() was called.  It must have wrapped all the way\r
3054                         around and gone past again. This passed since vTaskSetTimeout()\r
3055                         was called. */\r
3056                         xReturn = pdTRUE;\r
3057                 }\r
3058                 else if( ( ( TickType_t ) ( xConstTickCount - pxTimeOut->xTimeOnEntering ) ) < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */\r
3059                 {\r
3060                         /* Not a genuine timeout. Adjust parameters for time remaining. */\r
3061                         *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );\r
3062                         vTaskSetTimeOutState( pxTimeOut );\r
3063                         xReturn = pdFALSE;\r
3064                 }\r
3065                 else\r
3066                 {\r
3067                         xReturn = pdTRUE;\r
3068                 }\r
3069         }\r
3070         taskEXIT_CRITICAL();\r
3071 \r
3072         return xReturn;\r
3073 }\r
3074 /*-----------------------------------------------------------*/\r
3075 \r
3076 void vTaskMissedYield( void )\r
3077 {\r
3078         xYieldPending = pdTRUE;\r
3079 }\r
3080 /*-----------------------------------------------------------*/\r
3081 \r
3082 #if ( configUSE_TRACE_FACILITY == 1 )\r
3083 \r
3084         UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )\r
3085         {\r
3086         UBaseType_t uxReturn;\r
3087         TCB_t *pxTCB;\r
3088 \r
3089                 if( xTask != NULL )\r
3090                 {\r
3091                         pxTCB = ( TCB_t * ) xTask;\r
3092                         uxReturn = pxTCB->uxTaskNumber;\r
3093                 }\r
3094                 else\r
3095                 {\r
3096                         uxReturn = 0U;\r
3097                 }\r
3098 \r
3099                 return uxReturn;\r
3100         }\r
3101 \r
3102 #endif /* configUSE_TRACE_FACILITY */\r
3103 /*-----------------------------------------------------------*/\r
3104 \r
3105 #if ( configUSE_TRACE_FACILITY == 1 )\r
3106 \r
3107         void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )\r
3108         {\r
3109         TCB_t *pxTCB;\r
3110 \r
3111                 if( xTask != NULL )\r
3112                 {\r
3113                         pxTCB = ( TCB_t * ) xTask;\r
3114                         pxTCB->uxTaskNumber = uxHandle;\r
3115                 }\r
3116         }\r
3117 \r
3118 #endif /* configUSE_TRACE_FACILITY */\r
3119 \r
3120 /*\r
3121  * -----------------------------------------------------------\r
3122  * The Idle task.\r
3123  * ----------------------------------------------------------\r
3124  *\r
3125  * The portTASK_FUNCTION() macro is used to allow port/compiler specific\r
3126  * language extensions.  The equivalent prototype for this function is:\r
3127  *\r
3128  * void prvIdleTask( void *pvParameters );\r
3129  *\r
3130  */\r
3131 static portTASK_FUNCTION( prvIdleTask, pvParameters )\r
3132 {\r
3133         /* Stop warnings. */\r
3134         ( void ) pvParameters;\r
3135 \r
3136         /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE\r
3137         SCHEDULER IS STARTED. **/\r
3138 \r
3139         for( ;; )\r
3140         {\r
3141                 /* See if any tasks have deleted themselves - if so then the idle task\r
3142                 is responsible for freeing the deleted task's TCB and stack. */\r
3143                 prvCheckTasksWaitingTermination();\r
3144 \r
3145                 #if ( configUSE_PREEMPTION == 0 )\r
3146                 {\r
3147                         /* If we are not using preemption we keep forcing a task switch to\r
3148                         see if any other task has become available.  If we are using\r
3149                         preemption we don't need to do this as any task becoming available\r
3150                         will automatically get the processor anyway. */\r
3151                         taskYIELD();\r
3152                 }\r
3153                 #endif /* configUSE_PREEMPTION */\r
3154 \r
3155                 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )\r
3156                 {\r
3157                         /* When using preemption tasks of equal priority will be\r
3158                         timesliced.  If a task that is sharing the idle priority is ready\r
3159                         to run then the idle task should yield before the end of the\r
3160                         timeslice.\r
3161 \r
3162                         A critical region is not required here as we are just reading from\r
3163                         the list, and an occasional incorrect value will not matter.  If\r
3164                         the ready list at the idle priority contains more than one task\r
3165                         then a task other than the idle task is ready to execute. */\r
3166                         if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )\r
3167                         {\r
3168                                 taskYIELD();\r
3169                         }\r
3170                         else\r
3171                         {\r
3172                                 mtCOVERAGE_TEST_MARKER();\r
3173                         }\r
3174                 }\r
3175                 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */\r
3176 \r
3177                 #if ( configUSE_IDLE_HOOK == 1 )\r
3178                 {\r
3179                         extern void vApplicationIdleHook( void );\r
3180 \r
3181                         /* Call the user defined function from within the idle task.  This\r
3182                         allows the application designer to add background functionality\r
3183                         without the overhead of a separate task.\r
3184                         NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,\r
3185                         CALL A FUNCTION THAT MIGHT BLOCK. */\r
3186                         vApplicationIdleHook();\r
3187                 }\r
3188                 #endif /* configUSE_IDLE_HOOK */\r
3189 \r
3190                 /* This conditional compilation should use inequality to 0, not equality\r
3191                 to 1.  This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when\r
3192                 user defined low power mode     implementations require\r
3193                 configUSE_TICKLESS_IDLE to be set to a value other than 1. */\r
3194                 #if ( configUSE_TICKLESS_IDLE != 0 )\r
3195                 {\r
3196                 TickType_t xExpectedIdleTime;\r
3197 \r
3198                         /* It is not desirable to suspend then resume the scheduler on\r
3199                         each iteration of the idle task.  Therefore, a preliminary\r
3200                         test of the expected idle time is performed without the\r
3201                         scheduler suspended.  The result here is not necessarily\r
3202                         valid. */\r
3203                         xExpectedIdleTime = prvGetExpectedIdleTime();\r
3204 \r
3205                         if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )\r
3206                         {\r
3207                                 vTaskSuspendAll();\r
3208                                 {\r
3209                                         /* Now the scheduler is suspended, the expected idle\r
3210                                         time can be sampled again, and this time its value can\r
3211                                         be used. */\r
3212                                         configASSERT( xNextTaskUnblockTime >= xTickCount );\r
3213                                         xExpectedIdleTime = prvGetExpectedIdleTime();\r
3214 \r
3215                                         if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )\r
3216                                         {\r
3217                                                 traceLOW_POWER_IDLE_BEGIN();\r
3218                                                 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );\r
3219                                                 traceLOW_POWER_IDLE_END();\r
3220                                         }\r
3221                                         else\r
3222                                         {\r
3223                                                 mtCOVERAGE_TEST_MARKER();\r
3224                                         }\r
3225                                 }\r
3226                                 ( void ) xTaskResumeAll();\r
3227                         }\r
3228                         else\r
3229                         {\r
3230                                 mtCOVERAGE_TEST_MARKER();\r
3231                         }\r
3232                 }\r
3233                 #endif /* configUSE_TICKLESS_IDLE */\r
3234         }\r
3235 }\r
3236 /*-----------------------------------------------------------*/\r
3237 \r
3238 #if( configUSE_TICKLESS_IDLE != 0 )\r
3239 \r
3240         eSleepModeStatus eTaskConfirmSleepModeStatus( void )\r
3241         {\r
3242         /* The idle task exists in addition to the application tasks. */\r
3243         const UBaseType_t uxNonApplicationTasks = 1;\r
3244         eSleepModeStatus eReturn = eStandardSleep;\r
3245 \r
3246                 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )\r
3247                 {\r
3248                         /* A task was made ready while the scheduler was suspended. */\r
3249                         eReturn = eAbortSleep;\r
3250                 }\r
3251                 else if( xYieldPending != pdFALSE )\r
3252                 {\r
3253                         /* A yield was pended while the scheduler was suspended. */\r
3254                         eReturn = eAbortSleep;\r
3255                 }\r
3256                 else\r
3257                 {\r
3258                         /* If all the tasks are in the suspended list (which might mean they\r
3259                         have an infinite block time rather than actually being suspended)\r
3260                         then it is safe to turn all clocks off and just wait for external\r
3261                         interrupts. */\r
3262                         if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )\r
3263                         {\r
3264                                 eReturn = eNoTasksWaitingTimeout;\r
3265                         }\r
3266                         else\r
3267                         {\r
3268                                 mtCOVERAGE_TEST_MARKER();\r
3269                         }\r
3270                 }\r
3271 \r
3272                 return eReturn;\r
3273         }\r
3274 \r
3275 #endif /* configUSE_TICKLESS_IDLE */\r
3276 /*-----------------------------------------------------------*/\r
3277 \r
3278 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )\r
3279 \r
3280         void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )\r
3281         {\r
3282         TCB_t *pxTCB;\r
3283 \r
3284                 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )\r
3285                 {\r
3286                         pxTCB = prvGetTCBFromHandle( xTaskToSet );\r
3287                         pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;\r
3288                 }\r
3289         }\r
3290 \r
3291 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */\r
3292 /*-----------------------------------------------------------*/\r
3293 \r
3294 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )\r
3295 \r
3296         void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )\r
3297         {\r
3298         void *pvReturn = NULL;\r
3299         TCB_t *pxTCB;\r
3300 \r
3301                 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )\r
3302                 {\r
3303                         pxTCB = prvGetTCBFromHandle( xTaskToQuery );\r
3304                         pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];\r
3305                 }\r
3306                 else\r
3307                 {\r
3308                         pvReturn = NULL;\r
3309                 }\r
3310 \r
3311                 return pvReturn;\r
3312         }\r
3313 \r
3314 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */\r
3315 /*-----------------------------------------------------------*/\r
3316 \r
3317 #if ( portUSING_MPU_WRAPPERS == 1 )\r
3318 \r
3319         void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )\r
3320         {\r
3321         TCB_t *pxTCB;\r
3322 \r
3323                 /* If null is passed in here then we are modifying the MPU settings of\r
3324                 the calling task. */\r
3325                 pxTCB = prvGetTCBFromHandle( xTaskToModify );\r
3326 \r
3327                 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );\r
3328         }\r
3329 \r
3330 #endif /* portUSING_MPU_WRAPPERS */\r
3331 /*-----------------------------------------------------------*/\r
3332 \r
3333 static void prvInitialiseTaskLists( void )\r
3334 {\r
3335 UBaseType_t uxPriority;\r
3336 \r
3337         for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )\r
3338         {\r
3339                 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );\r
3340         }\r
3341 \r
3342         vListInitialise( &xDelayedTaskList1 );\r
3343         vListInitialise( &xDelayedTaskList2 );\r
3344         vListInitialise( &xPendingReadyList );\r
3345 \r
3346         #if ( INCLUDE_vTaskDelete == 1 )\r
3347         {\r
3348                 vListInitialise( &xTasksWaitingTermination );\r
3349         }\r
3350         #endif /* INCLUDE_vTaskDelete */\r
3351 \r
3352         #if ( INCLUDE_vTaskSuspend == 1 )\r
3353         {\r
3354                 vListInitialise( &xSuspendedTaskList );\r
3355         }\r
3356         #endif /* INCLUDE_vTaskSuspend */\r
3357 \r
3358         /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList\r
3359         using list2. */\r
3360         pxDelayedTaskList = &xDelayedTaskList1;\r
3361         pxOverflowDelayedTaskList = &xDelayedTaskList2;\r
3362 }\r
3363 /*-----------------------------------------------------------*/\r
3364 \r
3365 static void prvCheckTasksWaitingTermination( void )\r
3366 {\r
3367 \r
3368         /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/\r
3369 \r
3370         #if ( INCLUDE_vTaskDelete == 1 )\r
3371         {\r
3372                 BaseType_t xListIsEmpty;\r
3373 \r
3374                 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called\r
3375                 too often in the idle task. */\r
3376                 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )\r
3377                 {\r
3378                         vTaskSuspendAll();\r
3379                         {\r
3380                                 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );\r
3381                         }\r
3382                         ( void ) xTaskResumeAll();\r
3383 \r
3384                         if( xListIsEmpty == pdFALSE )\r
3385                         {\r
3386                                 TCB_t *pxTCB;\r
3387 \r
3388                                 taskENTER_CRITICAL();\r
3389                                 {\r
3390                                         pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );\r
3391                                         ( void ) uxListRemove( &( pxTCB->xStateListItem ) );\r
3392                                         --uxCurrentNumberOfTasks;\r
3393                                         --uxDeletedTasksWaitingCleanUp;\r
3394                                 }\r
3395                                 taskEXIT_CRITICAL();\r
3396 \r
3397                                 prvDeleteTCB( pxTCB );\r
3398                         }\r
3399                         else\r
3400                         {\r
3401                                 mtCOVERAGE_TEST_MARKER();\r
3402                         }\r
3403                 }\r
3404         }\r
3405         #endif /* INCLUDE_vTaskDelete */\r
3406 }\r
3407 /*-----------------------------------------------------------*/\r
3408 \r
3409 #if( configUSE_TRACE_FACILITY == 1 )\r
3410 \r
3411         void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )\r
3412         {\r
3413         TCB_t *pxTCB;\r
3414 \r
3415                 /* xTask is NULL then get the state of the calling task. */\r
3416                 pxTCB = prvGetTCBFromHandle( xTask );\r
3417 \r
3418                 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;\r
3419                 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );\r
3420                 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;\r
3421                 pxTaskStatus->pxStackBase = pxTCB->pxStack;\r
3422                 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;\r
3423 \r
3424                 #if ( INCLUDE_vTaskSuspend == 1 )\r
3425                 {\r
3426                         /* If the task is in the suspended list then there is a chance it is\r
3427                         actually just blocked indefinitely - so really it should be reported as\r
3428                         being in the Blocked state. */\r
3429                         if( pxTaskStatus->eCurrentState == eSuspended )\r
3430                         {\r
3431                                 vTaskSuspendAll();\r
3432                                 {\r
3433                                         if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )\r
3434                                         {\r
3435                                                 pxTaskStatus->eCurrentState = eBlocked;\r
3436                                         }\r
3437                                 }\r
3438                                 xTaskResumeAll();\r
3439                         }\r
3440                 }\r
3441                 #endif /* INCLUDE_vTaskSuspend */\r
3442 \r
3443                 #if ( configUSE_MUTEXES == 1 )\r
3444                 {\r
3445                         pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;\r
3446                 }\r
3447                 #else\r
3448                 {\r
3449                         pxTaskStatus->uxBasePriority = 0;\r
3450                 }\r
3451                 #endif\r
3452 \r
3453                 #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
3454                 {\r
3455                         pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;\r
3456                 }\r
3457                 #else\r
3458                 {\r
3459                         pxTaskStatus->ulRunTimeCounter = 0;\r
3460                 }\r
3461                 #endif\r
3462 \r
3463                 /* Obtaining the task state is a little fiddly, so is only done if the value\r
3464                 of eState passed into this function is eInvalid - otherwise the state is\r
3465                 just set to whatever is passed in. */\r
3466                 if( eState != eInvalid )\r
3467                 {\r
3468                         pxTaskStatus->eCurrentState = eState;\r
3469                 }\r
3470                 else\r
3471                 {\r
3472                         pxTaskStatus->eCurrentState = eTaskGetState( xTask );\r
3473                 }\r
3474 \r
3475                 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace\r
3476                 parameter is provided to allow it to be skipped. */\r
3477                 if( xGetFreeStackSpace != pdFALSE )\r
3478                 {\r
3479                         #if ( portSTACK_GROWTH > 0 )\r
3480                         {\r
3481                                 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );\r
3482                         }\r
3483                         #else\r
3484                         {\r
3485                                 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );\r
3486                         }\r
3487                         #endif\r
3488                 }\r
3489                 else\r
3490                 {\r
3491                         pxTaskStatus->usStackHighWaterMark = 0;\r
3492                 }\r
3493         }\r
3494 \r
3495 #endif /* configUSE_TRACE_FACILITY */\r
3496 /*-----------------------------------------------------------*/\r
3497 \r
3498 #if ( configUSE_TRACE_FACILITY == 1 )\r
3499 \r
3500         static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )\r
3501         {\r
3502         volatile TCB_t *pxNextTCB, *pxFirstTCB;\r
3503         UBaseType_t uxTask = 0;\r
3504 \r
3505                 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )\r
3506                 {\r
3507                         listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );\r
3508 \r
3509                         /* Populate an TaskStatus_t structure within the\r
3510                         pxTaskStatusArray array for each task that is referenced from\r
3511                         pxList.  See the definition of TaskStatus_t in task.h for the\r
3512                         meaning of each TaskStatus_t structure member. */\r
3513                         do\r
3514                         {\r
3515                                 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );\r
3516                                 vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );\r
3517                                 uxTask++;\r
3518                         } while( pxNextTCB != pxFirstTCB );\r
3519                 }\r
3520                 else\r
3521                 {\r
3522                         mtCOVERAGE_TEST_MARKER();\r
3523                 }\r
3524 \r
3525                 return uxTask;\r
3526         }\r
3527 \r
3528 #endif /* configUSE_TRACE_FACILITY */\r
3529 /*-----------------------------------------------------------*/\r
3530 \r
3531 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )\r
3532 \r
3533         static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )\r
3534         {\r
3535         uint32_t ulCount = 0U;\r
3536 \r
3537                 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )\r
3538                 {\r
3539                         pucStackByte -= portSTACK_GROWTH;\r
3540                         ulCount++;\r
3541                 }\r
3542 \r
3543                 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */\r
3544 \r
3545                 return ( uint16_t ) ulCount;\r
3546         }\r
3547 \r
3548 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */\r
3549 /*-----------------------------------------------------------*/\r
3550 \r
3551 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )\r
3552 \r
3553         UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )\r
3554         {\r
3555         TCB_t *pxTCB;\r
3556         uint8_t *pucEndOfStack;\r
3557         UBaseType_t uxReturn;\r
3558 \r
3559                 pxTCB = prvGetTCBFromHandle( xTask );\r
3560 \r
3561                 #if portSTACK_GROWTH < 0\r
3562                 {\r
3563                         pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;\r
3564                 }\r
3565                 #else\r
3566                 {\r
3567                         pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;\r
3568                 }\r
3569                 #endif\r
3570 \r
3571                 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );\r
3572 \r
3573                 return uxReturn;\r
3574         }\r
3575 \r
3576 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */\r
3577 /*-----------------------------------------------------------*/\r
3578 \r
3579 #if ( INCLUDE_vTaskDelete == 1 )\r
3580 \r
3581         static void prvDeleteTCB( TCB_t *pxTCB )\r
3582         {\r
3583                 /* This call is required specifically for the TriCore port.  It must be\r
3584                 above the vPortFree() calls.  The call is also used by ports/demos that\r
3585                 want to allocate and clean RAM statically. */\r
3586                 portCLEAN_UP_TCB( pxTCB );\r
3587 \r
3588                 /* Free up the memory allocated by the scheduler for the task.  It is up\r
3589                 to the task to free any memory allocated at the application level. */\r
3590                 #if ( configUSE_NEWLIB_REENTRANT == 1 )\r
3591                 {\r
3592                         _reclaim_reent( &( pxTCB->xNewLib_reent ) );\r
3593                 }\r
3594                 #endif /* configUSE_NEWLIB_REENTRANT */\r
3595 \r
3596                 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )\r
3597                 {\r
3598                         /* The task can only have been allocated dynamically - free both\r
3599                         the stack and TCB. */\r
3600                         vPortFree( pxTCB->pxStack );\r
3601                         vPortFree( pxTCB );\r
3602                 }\r
3603                 #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE == 1 )\r
3604                 {\r
3605                         /* The task could have been allocated statically or dynamically, so\r
3606                         check what was statically allocated before trying to free the\r
3607                         memory. */\r
3608                         if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )\r
3609                         {\r
3610                                 /* Both the stack and TCB were allocated dynamically, so both\r
3611                                 must be freed. */\r
3612                                 vPortFree( pxTCB->pxStack );\r
3613                                 vPortFree( pxTCB );\r
3614                         }\r
3615                         else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )\r
3616                         {\r
3617                                 /* Only the stack was statically allocated, so the TCB is the\r
3618                                 only memory that must be freed. */\r
3619                                 vPortFree( pxTCB );\r
3620                         }\r
3621                         else\r
3622                         {\r
3623                                 /* Neither the stack nor the TCB were allocated dynamically, so\r
3624                                 nothing needs to be freed. */\r
3625                                 configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB     )\r
3626                                 mtCOVERAGE_TEST_MARKER();\r
3627                         }\r
3628                 }\r
3629                 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */\r
3630         }\r
3631 \r
3632 #endif /* INCLUDE_vTaskDelete */\r
3633 /*-----------------------------------------------------------*/\r
3634 \r
3635 static void prvResetNextTaskUnblockTime( void )\r
3636 {\r
3637 TCB_t *pxTCB;\r
3638 \r
3639         if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )\r
3640         {\r
3641                 /* The new current delayed list is empty.  Set xNextTaskUnblockTime to\r
3642                 the maximum possible value so it is     extremely unlikely that the\r
3643                 if( xTickCount >= xNextTaskUnblockTime ) test will pass until\r
3644                 there is an item in the delayed list. */\r
3645                 xNextTaskUnblockTime = portMAX_DELAY;\r
3646         }\r
3647         else\r
3648         {\r
3649                 /* The new current delayed list is not empty, get the value of\r
3650                 the item at the head of the delayed list.  This is the time at\r
3651                 which the task at the head of the delayed list should be removed\r
3652                 from the Blocked state. */\r
3653                 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );\r
3654                 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );\r
3655         }\r
3656 }\r
3657 /*-----------------------------------------------------------*/\r
3658 \r
3659 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )\r
3660 \r
3661         TaskHandle_t xTaskGetCurrentTaskHandle( void )\r
3662         {\r
3663         TaskHandle_t xReturn;\r
3664 \r
3665                 /* A critical section is not required as this is not called from\r
3666                 an interrupt and the current TCB will always be the same for any\r
3667                 individual execution thread. */\r
3668                 xReturn = pxCurrentTCB;\r
3669 \r
3670                 return xReturn;\r
3671         }\r
3672 \r
3673 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */\r
3674 /*-----------------------------------------------------------*/\r
3675 \r
3676 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )\r
3677 \r
3678         BaseType_t xTaskGetSchedulerState( void )\r
3679         {\r
3680         BaseType_t xReturn;\r
3681 \r
3682                 if( xSchedulerRunning == pdFALSE )\r
3683                 {\r
3684                         xReturn = taskSCHEDULER_NOT_STARTED;\r
3685                 }\r
3686                 else\r
3687                 {\r
3688                         if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
3689                         {\r
3690                                 xReturn = taskSCHEDULER_RUNNING;\r
3691                         }\r
3692                         else\r
3693                         {\r
3694                                 xReturn = taskSCHEDULER_SUSPENDED;\r
3695                         }\r
3696                 }\r
3697 \r
3698                 return xReturn;\r
3699         }\r
3700 \r
3701 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */\r
3702 /*-----------------------------------------------------------*/\r
3703 \r
3704 #if ( configUSE_MUTEXES == 1 )\r
3705 \r
3706         void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )\r
3707         {\r
3708         TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;\r
3709 \r
3710                 /* If the mutex was given back by an interrupt while the queue was\r
3711                 locked then the mutex holder might now be NULL. */\r
3712                 if( pxMutexHolder != NULL )\r
3713                 {\r
3714                         /* If the holder of the mutex has a priority below the priority of\r
3715                         the task attempting to obtain the mutex then it will temporarily\r
3716                         inherit the priority of the task attempting to obtain the mutex. */\r
3717                         if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )\r
3718                         {\r
3719                                 /* Adjust the mutex holder state to account for its new\r
3720                                 priority.  Only reset the event list item value if the value is\r
3721                                 not     being used for anything else. */\r
3722                                 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )\r
3723                                 {\r
3724                                         listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */\r
3725                                 }\r
3726                                 else\r
3727                                 {\r
3728                                         mtCOVERAGE_TEST_MARKER();\r
3729                                 }\r
3730 \r
3731                                 /* If the task being modified is in the ready state it will need\r
3732                                 to be moved into a new list. */\r
3733                                 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )\r
3734                                 {\r
3735                                         if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )\r
3736                                         {\r
3737                                                 taskRESET_READY_PRIORITY( pxTCB->uxPriority );\r
3738                                         }\r
3739                                         else\r
3740                                         {\r
3741                                                 mtCOVERAGE_TEST_MARKER();\r
3742                                         }\r
3743 \r
3744                                         /* Inherit the priority before being moved into the new list. */\r
3745                                         pxTCB->uxPriority = pxCurrentTCB->uxPriority;\r
3746                                         prvAddTaskToReadyList( pxTCB );\r
3747                                 }\r
3748                                 else\r
3749                                 {\r
3750                                         /* Just inherit the priority. */\r
3751                                         pxTCB->uxPriority = pxCurrentTCB->uxPriority;\r
3752                                 }\r
3753 \r
3754                                 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );\r
3755                         }\r
3756                         else\r
3757                         {\r
3758                                 mtCOVERAGE_TEST_MARKER();\r
3759                         }\r
3760                 }\r
3761                 else\r
3762                 {\r
3763                         mtCOVERAGE_TEST_MARKER();\r
3764                 }\r
3765         }\r
3766 \r
3767 #endif /* configUSE_MUTEXES */\r
3768 /*-----------------------------------------------------------*/\r
3769 \r
3770 #if ( configUSE_MUTEXES == 1 )\r
3771 \r
3772         BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )\r
3773         {\r
3774         TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;\r
3775         BaseType_t xReturn = pdFALSE;\r
3776 \r
3777                 if( pxMutexHolder != NULL )\r
3778                 {\r
3779                         /* A task can only have an inherited priority if it holds the mutex.\r
3780                         If the mutex is held by a task then it cannot be given from an\r
3781                         interrupt, and if a mutex is given by the holding task then it must\r
3782                         be the running state task. */\r
3783                         configASSERT( pxTCB == pxCurrentTCB );\r
3784 \r
3785                         configASSERT( pxTCB->uxMutexesHeld );\r
3786                         ( pxTCB->uxMutexesHeld )--;\r
3787 \r
3788                         /* Has the holder of the mutex inherited the priority of another\r
3789                         task? */\r
3790                         if( pxTCB->uxPriority != pxTCB->uxBasePriority )\r
3791                         {\r
3792                                 /* Only disinherit if no other mutexes are held. */\r
3793                                 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )\r
3794                                 {\r
3795                                         /* A task can only have an inherited priority if it holds\r
3796                                         the mutex.  If the mutex is held by a task then it cannot be\r
3797                                         given from an interrupt, and if a mutex is given by the\r
3798                                         holding task then it must be the running state task.  Remove\r
3799                                         the     holding task from the ready     list. */\r
3800                                         if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )\r
3801                                         {\r
3802                                                 taskRESET_READY_PRIORITY( pxTCB->uxPriority );\r
3803                                         }\r
3804                                         else\r
3805                                         {\r
3806                                                 mtCOVERAGE_TEST_MARKER();\r
3807                                         }\r
3808 \r
3809                                         /* Disinherit the priority before adding the task into the\r
3810                                         new     ready list. */\r
3811                                         traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );\r
3812                                         pxTCB->uxPriority = pxTCB->uxBasePriority;\r
3813 \r
3814                                         /* Reset the event list item value.  It cannot be in use for\r
3815                                         any other purpose if this task is running, and it must be\r
3816                                         running to give back the mutex. */\r
3817                                         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
3818                                         prvAddTaskToReadyList( pxTCB );\r
3819 \r
3820                                         /* Return true to indicate that a context switch is required.\r
3821                                         This is only actually required in the corner case whereby\r
3822                                         multiple mutexes were held and the mutexes were given back\r
3823                                         in an order different to that in which they were taken.\r
3824                                         If a context switch did not occur when the first mutex was\r
3825                                         returned, even if a task was waiting on it, then a context\r
3826                                         switch should occur when the last mutex is returned whether\r
3827                                         a task is waiting on it or not. */\r
3828                                         xReturn = pdTRUE;\r
3829                                 }\r
3830                                 else\r
3831                                 {\r
3832                                         mtCOVERAGE_TEST_MARKER();\r
3833                                 }\r
3834                         }\r
3835                         else\r
3836                         {\r
3837                                 mtCOVERAGE_TEST_MARKER();\r
3838                         }\r
3839                 }\r
3840                 else\r
3841                 {\r
3842                         mtCOVERAGE_TEST_MARKER();\r
3843                 }\r
3844 \r
3845                 return xReturn;\r
3846         }\r
3847 \r
3848 #endif /* configUSE_MUTEXES */\r
3849 /*-----------------------------------------------------------*/\r
3850 \r
3851 #if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
3852 \r
3853         void vTaskEnterCritical( void )\r
3854         {\r
3855                 portDISABLE_INTERRUPTS();\r
3856 \r
3857                 if( xSchedulerRunning != pdFALSE )\r
3858                 {\r
3859                         ( pxCurrentTCB->uxCriticalNesting )++;\r
3860 \r
3861                         /* This is not the interrupt safe version of the enter critical\r
3862                         function so     assert() if it is being called from an interrupt\r
3863                         context.  Only API functions that end in "FromISR" can be used in an\r
3864                         interrupt.  Only assert if the critical nesting count is 1 to\r
3865                         protect against recursive calls if the assert function also uses a\r
3866                         critical section. */\r
3867                         if( pxCurrentTCB->uxCriticalNesting == 1 )\r
3868                         {\r
3869                                 portASSERT_IF_IN_ISR();\r
3870                         }\r
3871                 }\r
3872                 else\r
3873                 {\r
3874                         mtCOVERAGE_TEST_MARKER();\r
3875                 }\r
3876         }\r
3877 \r
3878 #endif /* portCRITICAL_NESTING_IN_TCB */\r
3879 /*-----------------------------------------------------------*/\r
3880 \r
3881 #if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
3882 \r
3883         void vTaskExitCritical( void )\r
3884         {\r
3885                 if( xSchedulerRunning != pdFALSE )\r
3886                 {\r
3887                         if( pxCurrentTCB->uxCriticalNesting > 0U )\r
3888                         {\r
3889                                 ( pxCurrentTCB->uxCriticalNesting )--;\r
3890 \r
3891                                 if( pxCurrentTCB->uxCriticalNesting == 0U )\r
3892                                 {\r
3893                                         portENABLE_INTERRUPTS();\r
3894                                 }\r
3895                                 else\r
3896                                 {\r
3897                                         mtCOVERAGE_TEST_MARKER();\r
3898                                 }\r
3899                         }\r
3900                         else\r
3901                         {\r
3902                                 mtCOVERAGE_TEST_MARKER();\r
3903                         }\r
3904                 }\r
3905                 else\r
3906                 {\r
3907                         mtCOVERAGE_TEST_MARKER();\r
3908                 }\r
3909         }\r
3910 \r
3911 #endif /* portCRITICAL_NESTING_IN_TCB */\r
3912 /*-----------------------------------------------------------*/\r
3913 \r
3914 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )\r
3915 \r
3916         static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )\r
3917         {\r
3918         size_t x;\r
3919 \r
3920                 /* Start by copying the entire string. */\r
3921                 strcpy( pcBuffer, pcTaskName );\r
3922 \r
3923                 /* Pad the end of the string with spaces to ensure columns line up when\r
3924                 printed out. */\r
3925                 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )\r
3926                 {\r
3927                         pcBuffer[ x ] = ' ';\r
3928                 }\r
3929 \r
3930                 /* Terminate. */\r
3931                 pcBuffer[ x ] = 0x00;\r
3932 \r
3933                 /* Return the new end of string. */\r
3934                 return &( pcBuffer[ x ] );\r
3935         }\r
3936 \r
3937 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */\r
3938 /*-----------------------------------------------------------*/\r
3939 \r
3940 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )\r
3941 \r
3942         void vTaskList( char * pcWriteBuffer )\r
3943         {\r
3944         TaskStatus_t *pxTaskStatusArray;\r
3945         volatile UBaseType_t uxArraySize, x;\r
3946         char cStatus;\r
3947 \r
3948                 /*\r
3949                  * PLEASE NOTE:\r
3950                  *\r
3951                  * This function is provided for convenience only, and is used by many\r
3952                  * of the demo applications.  Do not consider it to be part of the\r
3953                  * scheduler.\r
3954                  *\r
3955                  * vTaskList() calls uxTaskGetSystemState(), then formats part of the\r
3956                  * uxTaskGetSystemState() output into a human readable table that\r
3957                  * displays task names, states and stack usage.\r
3958                  *\r
3959                  * vTaskList() has a dependency on the sprintf() C library function that\r
3960                  * might bloat the code size, use a lot of stack, and provide different\r
3961                  * results on different platforms.  An alternative, tiny, third party,\r
3962                  * and limited functionality implementation of sprintf() is provided in\r
3963                  * many of the FreeRTOS/Demo sub-directories in a file called\r
3964                  * printf-stdarg.c (note printf-stdarg.c does not provide a full\r
3965                  * snprintf() implementation!).\r
3966                  *\r
3967                  * It is recommended that production systems call uxTaskGetSystemState()\r
3968                  * directly to get access to raw stats data, rather than indirectly\r
3969                  * through a call to vTaskList().\r
3970                  */\r
3971 \r
3972 \r
3973                 /* Make sure the write buffer does not contain a string. */\r
3974                 *pcWriteBuffer = 0x00;\r
3975 \r
3976                 /* Take a snapshot of the number of tasks in case it changes while this\r
3977                 function is executing. */\r
3978                 uxArraySize = uxCurrentNumberOfTasks;\r
3979 \r
3980                 /* Allocate an array index for each task.  NOTE!  if\r
3981                 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will\r
3982                 equate to NULL. */\r
3983                 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );\r
3984 \r
3985                 if( pxTaskStatusArray != NULL )\r
3986                 {\r
3987                         /* Generate the (binary) data. */\r
3988                         uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );\r
3989 \r
3990                         /* Create a human readable table from the binary data. */\r
3991                         for( x = 0; x < uxArraySize; x++ )\r
3992                         {\r
3993                                 switch( pxTaskStatusArray[ x ].eCurrentState )\r
3994                                 {\r
3995                                         case eReady:            cStatus = tskREADY_CHAR;\r
3996                                                                                 break;\r
3997 \r
3998                                         case eBlocked:          cStatus = tskBLOCKED_CHAR;\r
3999                                                                                 break;\r
4000 \r
4001                                         case eSuspended:        cStatus = tskSUSPENDED_CHAR;\r
4002                                                                                 break;\r
4003 \r
4004                                         case eDeleted:          cStatus = tskDELETED_CHAR;\r
4005                                                                                 break;\r
4006 \r
4007                                         default:                        /* Should not get here, but it is included\r
4008                                                                                 to prevent static checking errors. */\r
4009                                                                                 cStatus = 0x00;\r
4010                                                                                 break;\r
4011                                 }\r
4012 \r
4013                                 /* Write the task name to the string, padding with spaces so it\r
4014                                 can be printed in tabular form more easily. */\r
4015                                 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );\r
4016 \r
4017                                 /* Write the rest of the string. */\r
4018                                 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 );\r
4019                                 pcWriteBuffer += strlen( pcWriteBuffer );\r
4020                         }\r
4021 \r
4022                         /* Free the array again.  NOTE!  If configSUPPORT_DYNAMIC_ALLOCATION\r
4023                         is 0 then vPortFree() will be #defined to nothing. */\r
4024                         vPortFree( pxTaskStatusArray );\r
4025                 }\r
4026                 else\r
4027                 {\r
4028                         mtCOVERAGE_TEST_MARKER();\r
4029                 }\r
4030         }\r
4031 \r
4032 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */\r
4033 /*----------------------------------------------------------*/\r
4034 \r
4035 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )\r
4036 \r
4037         void vTaskGetRunTimeStats( char *pcWriteBuffer )\r
4038         {\r
4039         TaskStatus_t *pxTaskStatusArray;\r
4040         volatile UBaseType_t uxArraySize, x;\r
4041         uint32_t ulTotalTime, ulStatsAsPercentage;\r
4042 \r
4043                 #if( configUSE_TRACE_FACILITY != 1 )\r
4044                 {\r
4045                         #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().\r
4046                 }\r
4047                 #endif\r
4048 \r
4049                 /*\r
4050                  * PLEASE NOTE:\r
4051                  *\r
4052                  * This function is provided for convenience only, and is used by many\r
4053                  * of the demo applications.  Do not consider it to be part of the\r
4054                  * scheduler.\r
4055                  *\r
4056                  * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part\r
4057                  * of the uxTaskGetSystemState() output into a human readable table that\r
4058                  * displays the amount of time each task has spent in the Running state\r
4059                  * in both absolute and percentage terms.\r
4060                  *\r
4061                  * vTaskGetRunTimeStats() has a dependency on the sprintf() C library\r
4062                  * function that might bloat the code size, use a lot of stack, and\r
4063                  * provide different results on different platforms.  An alternative,\r
4064                  * tiny, third party, and limited functionality implementation of\r
4065                  * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in\r
4066                  * a file called printf-stdarg.c (note printf-stdarg.c does not provide\r
4067                  * a full snprintf() implementation!).\r
4068                  *\r
4069                  * It is recommended that production systems call uxTaskGetSystemState()\r
4070                  * directly to get access to raw stats data, rather than indirectly\r
4071                  * through a call to vTaskGetRunTimeStats().\r
4072                  */\r
4073 \r
4074                 /* Make sure the write buffer does not contain a string. */\r
4075                 *pcWriteBuffer = 0x00;\r
4076 \r
4077                 /* Take a snapshot of the number of tasks in case it changes while this\r
4078                 function is executing. */\r
4079                 uxArraySize = uxCurrentNumberOfTasks;\r
4080 \r
4081                 /* Allocate an array index for each task.  NOTE!  If\r
4082                 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will\r
4083                 equate to NULL. */\r
4084                 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );\r
4085 \r
4086                 if( pxTaskStatusArray != NULL )\r
4087                 {\r
4088                         /* Generate the (binary) data. */\r
4089                         uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );\r
4090 \r
4091                         /* For percentage calculations. */\r
4092                         ulTotalTime /= 100UL;\r
4093 \r
4094                         /* Avoid divide by zero errors. */\r
4095                         if( ulTotalTime > 0 )\r
4096                         {\r
4097                                 /* Create a human readable table from the binary data. */\r
4098                                 for( x = 0; x < uxArraySize; x++ )\r
4099                                 {\r
4100                                         /* What percentage of the total run time has the task used?\r
4101                                         This will always be rounded down to the nearest integer.\r
4102                                         ulTotalRunTimeDiv100 has already been divided by 100. */\r
4103                                         ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;\r
4104 \r
4105                                         /* Write the task name to the string, padding with\r
4106                                         spaces so it can be printed in tabular form more\r
4107                                         easily. */\r
4108                                         pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );\r
4109 \r
4110                                         if( ulStatsAsPercentage > 0UL )\r
4111                                         {\r
4112                                                 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED\r
4113                                                 {\r
4114                                                         sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );\r
4115                                                 }\r
4116                                                 #else\r
4117                                                 {\r
4118                                                         /* sizeof( int ) == sizeof( long ) so a smaller\r
4119                                                         printf() library can be used. */\r
4120                                                         sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );\r
4121                                                 }\r
4122                                                 #endif\r
4123                                         }\r
4124                                         else\r
4125                                         {\r
4126                                                 /* If the percentage is zero here then the task has\r
4127                                                 consumed less than 1% of the total run time. */\r
4128                                                 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED\r
4129                                                 {\r
4130                                                         sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );\r
4131                                                 }\r
4132                                                 #else\r
4133                                                 {\r
4134                                                         /* sizeof( int ) == sizeof( long ) so a smaller\r
4135                                                         printf() library can be used. */\r
4136                                                         sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );\r
4137                                                 }\r
4138                                                 #endif\r
4139                                         }\r
4140 \r
4141                                         pcWriteBuffer += strlen( pcWriteBuffer );\r
4142                                 }\r
4143                         }\r
4144                         else\r
4145                         {\r
4146                                 mtCOVERAGE_TEST_MARKER();\r
4147                         }\r
4148 \r
4149                         /* Free the array again.  NOTE!  If configSUPPORT_DYNAMIC_ALLOCATION\r
4150                         is 0 then vPortFree() will be #defined to nothing. */\r
4151                         vPortFree( pxTaskStatusArray );\r
4152                 }\r
4153                 else\r
4154                 {\r
4155                         mtCOVERAGE_TEST_MARKER();\r
4156                 }\r
4157         }\r
4158 \r
4159 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */\r
4160 /*-----------------------------------------------------------*/\r
4161 \r
4162 TickType_t uxTaskResetEventItemValue( void )\r
4163 {\r
4164 TickType_t uxReturn;\r
4165 \r
4166         uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );\r
4167 \r
4168         /* Reset the event list item to its normal value - so it can be used with\r
4169         queues and semaphores. */\r
4170         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
4171 \r
4172         return uxReturn;\r
4173 }\r
4174 /*-----------------------------------------------------------*/\r
4175 \r
4176 #if ( configUSE_MUTEXES == 1 )\r
4177 \r
4178         void *pvTaskIncrementMutexHeldCount( void )\r
4179         {\r
4180                 /* If xSemaphoreCreateMutex() is called before any tasks have been created\r
4181                 then pxCurrentTCB will be NULL. */\r
4182                 if( pxCurrentTCB != NULL )\r
4183                 {\r
4184                         ( pxCurrentTCB->uxMutexesHeld )++;\r
4185                 }\r
4186 \r
4187                 return pxCurrentTCB;\r
4188         }\r
4189 \r
4190 #endif /* configUSE_MUTEXES */\r
4191 /*-----------------------------------------------------------*/\r
4192 \r
4193 #if( configUSE_TASK_NOTIFICATIONS == 1 )\r
4194 \r
4195         uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )\r
4196         {\r
4197         uint32_t ulReturn;\r
4198 \r
4199                 taskENTER_CRITICAL();\r
4200                 {\r
4201                         /* Only block if the notification count is not already non-zero. */\r
4202                         if( pxCurrentTCB->ulNotifiedValue == 0UL )\r
4203                         {\r
4204                                 /* Mark this task as waiting for a notification. */\r
4205                                 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;\r
4206 \r
4207                                 if( xTicksToWait > ( TickType_t ) 0 )\r
4208                                 {\r
4209                                         prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );\r
4210                                         traceTASK_NOTIFY_TAKE_BLOCK();\r
4211 \r
4212                                         /* All ports are written to allow a yield in a critical\r
4213                                         section (some will yield immediately, others wait until the\r
4214                                         critical section exits) - but it is not something that\r
4215                                         application code should ever do. */\r
4216                                         portYIELD_WITHIN_API();\r
4217                                 }\r
4218                                 else\r
4219                                 {\r
4220                                         mtCOVERAGE_TEST_MARKER();\r
4221                                 }\r
4222                         }\r
4223                         else\r
4224                         {\r
4225                                 mtCOVERAGE_TEST_MARKER();\r
4226                         }\r
4227                 }\r
4228                 taskEXIT_CRITICAL();\r
4229 \r
4230                 taskENTER_CRITICAL();\r
4231                 {\r
4232                         traceTASK_NOTIFY_TAKE();\r
4233                         ulReturn = pxCurrentTCB->ulNotifiedValue;\r
4234 \r
4235                         if( ulReturn != 0UL )\r
4236                         {\r
4237                                 if( xClearCountOnExit != pdFALSE )\r
4238                                 {\r
4239                                         pxCurrentTCB->ulNotifiedValue = 0UL;\r
4240                                 }\r
4241                                 else\r
4242                                 {\r
4243                                         pxCurrentTCB->ulNotifiedValue = ulReturn - 1;\r
4244                                 }\r
4245                         }\r
4246                         else\r
4247                         {\r
4248                                 mtCOVERAGE_TEST_MARKER();\r
4249                         }\r
4250 \r
4251                         pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;\r
4252                 }\r
4253                 taskEXIT_CRITICAL();\r
4254 \r
4255                 return ulReturn;\r
4256         }\r
4257 \r
4258 #endif /* configUSE_TASK_NOTIFICATIONS */\r
4259 /*-----------------------------------------------------------*/\r
4260 \r
4261 #if( configUSE_TASK_NOTIFICATIONS == 1 )\r
4262 \r
4263         BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )\r
4264         {\r
4265         BaseType_t xReturn;\r
4266 \r
4267                 taskENTER_CRITICAL();\r
4268                 {\r
4269                         /* Only block if a notification is not already pending. */\r
4270                         if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )\r
4271                         {\r
4272                                 /* Clear bits in the task's notification value as bits may get\r
4273                                 set     by the notifying task or interrupt.  This can be used to\r
4274                                 clear the value to zero. */\r
4275                                 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;\r
4276 \r
4277                                 /* Mark this task as waiting for a notification. */\r
4278                                 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;\r
4279 \r
4280                                 if( xTicksToWait > ( TickType_t ) 0 )\r
4281                                 {\r
4282                                         prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );\r
4283                                         traceTASK_NOTIFY_WAIT_BLOCK();\r
4284 \r
4285                                         /* All ports are written to allow a yield in a critical\r
4286                                         section (some will yield immediately, others wait until the\r
4287                                         critical section exits) - but it is not something that\r
4288                                         application code should ever do. */\r
4289                                         portYIELD_WITHIN_API();\r
4290                                 }\r
4291                                 else\r
4292                                 {\r
4293                                         mtCOVERAGE_TEST_MARKER();\r
4294                                 }\r
4295                         }\r
4296                         else\r
4297                         {\r
4298                                 mtCOVERAGE_TEST_MARKER();\r
4299                         }\r
4300                 }\r
4301                 taskEXIT_CRITICAL();\r
4302 \r
4303                 taskENTER_CRITICAL();\r
4304                 {\r
4305                         traceTASK_NOTIFY_WAIT();\r
4306 \r
4307                         if( pulNotificationValue != NULL )\r
4308                         {\r
4309                                 /* Output the current notification value, which may or may not\r
4310                                 have changed. */\r
4311                                 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;\r
4312                         }\r
4313 \r
4314                         /* If ucNotifyValue is set then either the task never entered the\r
4315                         blocked state (because a notification was already pending) or the\r
4316                         task unblocked because of a notification.  Otherwise the task\r
4317                         unblocked because of a timeout. */\r
4318                         if( pxCurrentTCB->ucNotifyState == taskWAITING_NOTIFICATION )\r
4319                         {\r
4320                                 /* A notification was not received. */\r
4321                                 xReturn = pdFALSE;\r
4322                         }\r
4323                         else\r
4324                         {\r
4325                                 /* A notification was already pending or a notification was\r
4326                                 received while the task was waiting. */\r
4327                                 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;\r
4328                                 xReturn = pdTRUE;\r
4329                         }\r
4330 \r
4331                         pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;\r
4332                 }\r
4333                 taskEXIT_CRITICAL();\r
4334 \r
4335                 return xReturn;\r
4336         }\r
4337 \r
4338 #endif /* configUSE_TASK_NOTIFICATIONS */\r
4339 /*-----------------------------------------------------------*/\r
4340 \r
4341 #if( configUSE_TASK_NOTIFICATIONS == 1 )\r
4342 \r
4343         BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )\r
4344         {\r
4345         TCB_t * pxTCB;\r
4346         BaseType_t xReturn = pdPASS;\r
4347         uint8_t ucOriginalNotifyState;\r
4348 \r
4349                 configASSERT( xTaskToNotify );\r
4350                 pxTCB = ( TCB_t * ) xTaskToNotify;\r
4351 \r
4352                 taskENTER_CRITICAL();\r
4353                 {\r
4354                         if( pulPreviousNotificationValue != NULL )\r
4355                         {\r
4356                                 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;\r
4357                         }\r
4358 \r
4359                         ucOriginalNotifyState = pxTCB->ucNotifyState;\r
4360 \r
4361                         pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;\r
4362 \r
4363                         switch( eAction )\r
4364                         {\r
4365                                 case eSetBits   :\r
4366                                         pxTCB->ulNotifiedValue |= ulValue;\r
4367                                         break;\r
4368 \r
4369                                 case eIncrement :\r
4370                                         ( pxTCB->ulNotifiedValue )++;\r
4371                                         break;\r
4372 \r
4373                                 case eSetValueWithOverwrite     :\r
4374                                         pxTCB->ulNotifiedValue = ulValue;\r
4375                                         break;\r
4376 \r
4377                                 case eSetValueWithoutOverwrite :\r
4378                                         if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )\r
4379                                         {\r
4380                                                 pxTCB->ulNotifiedValue = ulValue;\r
4381                                         }\r
4382                                         else\r
4383                                         {\r
4384                                                 /* The value could not be written to the task. */\r
4385                                                 xReturn = pdFAIL;\r
4386                                         }\r
4387                                         break;\r
4388 \r
4389                                 case eNoAction:\r
4390                                         /* The task is being notified without its notify value being\r
4391                                         updated. */\r
4392                                         break;\r
4393                         }\r
4394 \r
4395                         traceTASK_NOTIFY();\r
4396 \r
4397                         /* If the task is in the blocked state specifically to wait for a\r
4398                         notification then unblock it now. */\r
4399                         if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )\r
4400                         {\r
4401                                 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );\r
4402                                 prvAddTaskToReadyList( pxTCB );\r
4403 \r
4404                                 /* The task should not have been on an event list. */\r
4405                                 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );\r
4406 \r
4407                                 #if( configUSE_TICKLESS_IDLE != 0 )\r
4408                                 {\r
4409                                         /* If a task is blocked waiting for a notification then\r
4410                                         xNextTaskUnblockTime might be set to the blocked task's time\r
4411                                         out time.  If the task is unblocked for a reason other than\r
4412                                         a timeout xNextTaskUnblockTime is normally left unchanged,\r
4413                                         because it will automatically get reset to a new value when\r
4414                                         the tick count equals xNextTaskUnblockTime.  However if\r
4415                                         tickless idling is used it might be more important to enter\r
4416                                         sleep mode at the earliest possible time - so reset\r
4417                                         xNextTaskUnblockTime here to ensure it is updated at the\r
4418                                         earliest possible time. */\r
4419                                         prvResetNextTaskUnblockTime();\r
4420                                 }\r
4421                                 #endif\r
4422 \r
4423                                 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )\r
4424                                 {\r
4425                                         /* The notified task has a priority above the currently\r
4426                                         executing task so a yield is required. */\r
4427                                         taskYIELD_IF_USING_PREEMPTION();\r
4428                                 }\r
4429                                 else\r
4430                                 {\r
4431                                         mtCOVERAGE_TEST_MARKER();\r
4432                                 }\r
4433                         }\r
4434                         else\r
4435                         {\r
4436                                 mtCOVERAGE_TEST_MARKER();\r
4437                         }\r
4438                 }\r
4439                 taskEXIT_CRITICAL();\r
4440 \r
4441                 return xReturn;\r
4442         }\r
4443 \r
4444 #endif /* configUSE_TASK_NOTIFICATIONS */\r
4445 /*-----------------------------------------------------------*/\r
4446 \r
4447 #if( configUSE_TASK_NOTIFICATIONS == 1 )\r
4448 \r
4449         BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )\r
4450         {\r
4451         TCB_t * pxTCB;\r
4452         uint8_t ucOriginalNotifyState;\r
4453         BaseType_t xReturn = pdPASS;\r
4454         UBaseType_t uxSavedInterruptStatus;\r
4455 \r
4456                 configASSERT( xTaskToNotify );\r
4457 \r
4458                 /* RTOS ports that support interrupt nesting have the concept of a\r
4459                 maximum system call (or maximum API call) interrupt priority.\r
4460                 Interrupts that are     above the maximum system call priority are keep\r
4461                 permanently enabled, even when the RTOS kernel is in a critical section,\r
4462                 but cannot make any calls to FreeRTOS API functions.  If configASSERT()\r
4463                 is defined in FreeRTOSConfig.h then\r
4464                 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion\r
4465                 failure if a FreeRTOS API function is called from an interrupt that has\r
4466                 been assigned a priority above the configured maximum system call\r
4467                 priority.  Only FreeRTOS functions that end in FromISR can be called\r
4468                 from interrupts that have been assigned a priority at or (logically)\r
4469                 below the maximum system call interrupt priority.  FreeRTOS maintains a\r
4470                 separate interrupt safe API to ensure interrupt entry is as fast and as\r
4471                 simple as possible.  More information (albeit Cortex-M specific) is\r
4472                 provided on the following link:\r
4473                 http://www.freertos.org/RTOS-Cortex-M3-M4.html */\r
4474                 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();\r
4475 \r
4476                 pxTCB = ( TCB_t * ) xTaskToNotify;\r
4477 \r
4478                 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();\r
4479                 {\r
4480                         if( pulPreviousNotificationValue != NULL )\r
4481                         {\r
4482                                 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;\r
4483                         }\r
4484 \r
4485                         ucOriginalNotifyState = pxTCB->ucNotifyState;\r
4486                         pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;\r
4487 \r
4488                         switch( eAction )\r
4489                         {\r
4490                                 case eSetBits   :\r
4491                                         pxTCB->ulNotifiedValue |= ulValue;\r
4492                                         break;\r
4493 \r
4494                                 case eIncrement :\r
4495                                         ( pxTCB->ulNotifiedValue )++;\r
4496                                         break;\r
4497 \r
4498                                 case eSetValueWithOverwrite     :\r
4499                                         pxTCB->ulNotifiedValue = ulValue;\r
4500                                         break;\r
4501 \r
4502                                 case eSetValueWithoutOverwrite :\r
4503                                         if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )\r
4504                                         {\r
4505                                                 pxTCB->ulNotifiedValue = ulValue;\r
4506                                         }\r
4507                                         else\r
4508                                         {\r
4509                                                 /* The value could not be written to the task. */\r
4510                                                 xReturn = pdFAIL;\r
4511                                         }\r
4512                                         break;\r
4513 \r
4514                                 case eNoAction :\r
4515                                         /* The task is being notified without its notify value being\r
4516                                         updated. */\r
4517                                         break;\r
4518                         }\r
4519 \r
4520                         traceTASK_NOTIFY_FROM_ISR();\r
4521 \r
4522                         /* If the task is in the blocked state specifically to wait for a\r
4523                         notification then unblock it now. */\r
4524                         if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )\r
4525                         {\r
4526                                 /* The task should not have been on an event list. */\r
4527                                 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );\r
4528 \r
4529                                 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
4530                                 {\r
4531                                         ( void ) uxListRemove( &( pxTCB->xStateListItem ) );\r
4532                                         prvAddTaskToReadyList( pxTCB );\r
4533                                 }\r
4534                                 else\r
4535                                 {\r
4536                                         /* The delayed and ready lists cannot be accessed, so hold\r
4537                                         this task pending until the scheduler is resumed. */\r
4538                                         vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );\r
4539                                 }\r
4540 \r
4541                                 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )\r
4542                                 {\r
4543                                         /* The notified task has a priority above the currently\r
4544                                         executing task so a yield is required. */\r
4545                                         if( pxHigherPriorityTaskWoken != NULL )\r
4546                                         {\r
4547                                                 *pxHigherPriorityTaskWoken = pdTRUE;\r
4548                                         }\r
4549                                         else\r
4550                                         {\r
4551                                                 /* Mark that a yield is pending in case the user is not\r
4552                                                 using the "xHigherPriorityTaskWoken" parameter to an ISR\r
4553                                                 safe FreeRTOS function. */\r
4554                                                 xYieldPending = pdTRUE;\r
4555                                         }\r
4556                                 }\r
4557                                 else\r
4558                                 {\r
4559                                         mtCOVERAGE_TEST_MARKER();\r
4560                                 }\r
4561                         }\r
4562                 }\r
4563                 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );\r
4564 \r
4565                 return xReturn;\r
4566         }\r
4567 \r
4568 #endif /* configUSE_TASK_NOTIFICATIONS */\r
4569 /*-----------------------------------------------------------*/\r
4570 \r
4571 #if( configUSE_TASK_NOTIFICATIONS == 1 )\r
4572 \r
4573         void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )\r
4574         {\r
4575         TCB_t * pxTCB;\r
4576         uint8_t ucOriginalNotifyState;\r
4577         UBaseType_t uxSavedInterruptStatus;\r
4578 \r
4579                 configASSERT( xTaskToNotify );\r
4580 \r
4581                 /* RTOS ports that support interrupt nesting have the concept of a\r
4582                 maximum system call (or maximum API call) interrupt priority.\r
4583                 Interrupts that are     above the maximum system call priority are keep\r
4584                 permanently enabled, even when the RTOS kernel is in a critical section,\r
4585                 but cannot make any calls to FreeRTOS API functions.  If configASSERT()\r
4586                 is defined in FreeRTOSConfig.h then\r
4587                 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion\r
4588                 failure if a FreeRTOS API function is called from an interrupt that has\r
4589                 been assigned a priority above the configured maximum system call\r
4590                 priority.  Only FreeRTOS functions that end in FromISR can be called\r
4591                 from interrupts that have been assigned a priority at or (logically)\r
4592                 below the maximum system call interrupt priority.  FreeRTOS maintains a\r
4593                 separate interrupt safe API to ensure interrupt entry is as fast and as\r
4594                 simple as possible.  More information (albeit Cortex-M specific) is\r
4595                 provided on the following link:\r
4596                 http://www.freertos.org/RTOS-Cortex-M3-M4.html */\r
4597                 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();\r
4598 \r
4599                 pxTCB = ( TCB_t * ) xTaskToNotify;\r
4600 \r
4601                 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();\r
4602                 {\r
4603                         ucOriginalNotifyState = pxTCB->ucNotifyState;\r
4604                         pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;\r
4605 \r
4606                         /* 'Giving' is equivalent to incrementing a count in a counting\r
4607                         semaphore. */\r
4608                         ( pxTCB->ulNotifiedValue )++;\r
4609 \r
4610                         traceTASK_NOTIFY_GIVE_FROM_ISR();\r
4611 \r
4612                         /* If the task is in the blocked state specifically to wait for a\r
4613                         notification then unblock it now. */\r
4614                         if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )\r
4615                         {\r
4616                                 /* The task should not have been on an event list. */\r
4617                                 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );\r
4618 \r
4619                                 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
4620                                 {\r
4621                                         ( void ) uxListRemove( &( pxTCB->xStateListItem ) );\r
4622                                         prvAddTaskToReadyList( pxTCB );\r
4623                                 }\r
4624                                 else\r
4625                                 {\r
4626                                         /* The delayed and ready lists cannot be accessed, so hold\r
4627                                         this task pending until the scheduler is resumed. */\r
4628                                         vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );\r
4629                                 }\r
4630 \r
4631                                 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )\r
4632                                 {\r
4633                                         /* The notified task has a priority above the currently\r
4634                                         executing task so a yield is required. */\r
4635                                         if( pxHigherPriorityTaskWoken != NULL )\r
4636                                         {\r
4637                                                 *pxHigherPriorityTaskWoken = pdTRUE;\r
4638                                         }\r
4639                                         else\r
4640                                         {\r
4641                                                 /* Mark that a yield is pending in case the user is not\r
4642                                                 using the "xHigherPriorityTaskWoken" parameter in an ISR\r
4643                                                 safe FreeRTOS function. */\r
4644                                                 xYieldPending = pdTRUE;\r
4645                                         }\r
4646                                 }\r
4647                                 else\r
4648                                 {\r
4649                                         mtCOVERAGE_TEST_MARKER();\r
4650                                 }\r
4651                         }\r
4652                 }\r
4653                 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );\r
4654         }\r
4655 \r
4656 #endif /* configUSE_TASK_NOTIFICATIONS */\r
4657 \r
4658 /*-----------------------------------------------------------*/\r
4659 \r
4660 #if( configUSE_TASK_NOTIFICATIONS == 1 )\r
4661 \r
4662         BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )\r
4663         {\r
4664         TCB_t *pxTCB;\r
4665         BaseType_t xReturn;\r
4666 \r
4667                 /* If null is passed in here then it is the calling task that is having\r
4668                 its notification state cleared. */\r
4669                 pxTCB = prvGetTCBFromHandle( xTask );\r
4670 \r
4671                 taskENTER_CRITICAL();\r
4672                 {\r
4673                         if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )\r
4674                         {\r
4675                                 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;\r
4676                                 xReturn = pdPASS;\r
4677                         }\r
4678                         else\r
4679                         {\r
4680                                 xReturn = pdFAIL;\r
4681                         }\r
4682                 }\r
4683                 taskEXIT_CRITICAL();\r
4684 \r
4685                 return xReturn;\r
4686         }\r
4687 \r
4688 #endif /* configUSE_TASK_NOTIFICATIONS */\r
4689 /*-----------------------------------------------------------*/\r
4690 \r
4691 \r
4692 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )\r
4693 {\r
4694 TickType_t xTimeToWake;\r
4695 const TickType_t xConstTickCount = xTickCount;\r
4696 \r
4697         #if( INCLUDE_xTaskAbortDelay == 1 )\r
4698         {\r
4699                 /* About to enter a delayed list, so ensure the ucDelayAborted flag is\r
4700                 reset to pdFALSE so it can be detected as having been set to pdTRUE\r
4701                 when the task leaves the Blocked state. */\r
4702                 pxCurrentTCB->ucDelayAborted = pdFALSE;\r
4703         }\r
4704         #endif\r
4705 \r
4706         /* Remove the task from the ready list before adding it to the blocked list\r
4707         as the same list item is used for both lists. */\r
4708         if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )\r
4709         {\r
4710                 /* The current task must be in a ready list, so there is no need to\r
4711                 check, and the port reset macro can be called directly. */\r
4712                 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );\r
4713         }\r
4714         else\r
4715         {\r
4716                 mtCOVERAGE_TEST_MARKER();\r
4717         }\r
4718 \r
4719         #if ( INCLUDE_vTaskSuspend == 1 )\r
4720         {\r
4721                 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )\r
4722                 {\r
4723                         /* Add the task to the suspended task list instead of a delayed task\r
4724                         list to ensure it is not woken by a timing event.  It will block\r
4725                         indefinitely. */\r
4726                         vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );\r
4727                 }\r
4728                 else\r
4729                 {\r
4730                         /* Calculate the time at which the task should be woken if the event\r
4731                         does not occur.  This may overflow but this doesn't matter, the\r
4732                         kernel will manage it correctly. */\r
4733                         xTimeToWake = xConstTickCount + xTicksToWait;\r
4734 \r
4735                         /* The list item will be inserted in wake time order. */\r
4736                         listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );\r
4737 \r
4738                         if( xTimeToWake < xConstTickCount )\r
4739                         {\r
4740                                 /* Wake time has overflowed.  Place this item in the overflow\r
4741                                 list. */\r
4742                                 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );\r
4743                         }\r
4744                         else\r
4745                         {\r
4746                                 /* The wake time has not overflowed, so the current block list\r
4747                                 is used. */\r
4748                                 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );\r
4749 \r
4750                                 /* If the task entering the blocked state was placed at the\r
4751                                 head of the list of blocked tasks then xNextTaskUnblockTime\r
4752                                 needs to be updated too. */\r
4753                                 if( xTimeToWake < xNextTaskUnblockTime )\r
4754                                 {\r
4755                                         xNextTaskUnblockTime = xTimeToWake;\r
4756                                 }\r
4757                                 else\r
4758                                 {\r
4759                                         mtCOVERAGE_TEST_MARKER();\r
4760                                 }\r
4761                         }\r
4762                 }\r
4763         }\r
4764         #else /* INCLUDE_vTaskSuspend */\r
4765         {\r
4766                 /* Calculate the time at which the task should be woken if the event\r
4767                 does not occur.  This may overflow but this doesn't matter, the kernel\r
4768                 will manage it correctly. */\r
4769                 xTimeToWake = xConstTickCount + xTicksToWait;\r
4770 \r
4771                 /* The list item will be inserted in wake time order. */\r
4772                 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );\r
4773 \r
4774                 if( xTimeToWake < xConstTickCount )\r
4775                 {\r
4776                         /* Wake time has overflowed.  Place this item in the overflow list. */\r
4777                         vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );\r
4778                 }\r
4779                 else\r
4780                 {\r
4781                         /* The wake time has not overflowed, so the current block list is used. */\r
4782                         vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );\r
4783 \r
4784                         /* If the task entering the blocked state was placed at the head of the\r
4785                         list of blocked tasks then xNextTaskUnblockTime needs to be updated\r
4786                         too. */\r
4787                         if( xTimeToWake < xNextTaskUnblockTime )\r
4788                         {\r
4789                                 xNextTaskUnblockTime = xTimeToWake;\r
4790                         }\r
4791                         else\r
4792                         {\r
4793                                 mtCOVERAGE_TEST_MARKER();\r
4794                         }\r
4795                 }\r
4796 \r
4797                 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */\r
4798                 ( void ) xCanBlockIndefinitely;\r
4799         }\r
4800         #endif /* INCLUDE_vTaskSuspend */\r
4801 }\r
4802 \r
4803 \r
4804 #ifdef FREERTOS_MODULE_TEST\r
4805         #include "tasks_test_access_functions.h"\r
4806 #endif\r
4807 \r