2 * FreeRTOS Kernel V10.1.1
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3 * Copyright (C) 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /* Standard includes. */
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32 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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33 all the API functions to use the MPU wrappers. That should only be done when
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34 task.h is included from an application file. */
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35 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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37 /* FreeRTOS includes. */
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38 #include "FreeRTOS.h"
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41 #include "stack_macros.h"
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43 /* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
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44 because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
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45 for the header files above, but not in this file, in order to generate the
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46 correct privileged Vs unprivileged linkage and placement. */
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47 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
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49 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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50 functions but without including stdio.h here. */
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51 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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52 /* At the bottom of this file are two optional functions that can be used
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53 to generate human readable text from the raw data generated by the
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54 uxTaskGetSystemState() function. Note the formatting functions are provided
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55 for convenience only, and are NOT considered part of the kernel. */
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57 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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59 #if( configUSE_PREEMPTION == 0 )
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60 /* If the cooperative scheduler is being used then a yield should not be
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61 performed just because a higher priority task has been woken. */
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62 #define taskYIELD_IF_USING_PREEMPTION()
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64 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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67 /* Values that can be assigned to the ucNotifyState member of the TCB. */
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68 #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )
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69 #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
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70 #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
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73 * The value used to fill the stack of a task when the task is created. This
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74 * is used purely for checking the high water mark for tasks.
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76 #define tskSTACK_FILL_BYTE ( 0xa5U )
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78 /* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using
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79 dynamically allocated RAM, in which case when any task is deleted it is known
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80 that both the task's stack and TCB need to be freed. Sometimes the
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81 FreeRTOSConfig.h settings only allow a task to be created using statically
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82 allocated RAM, in which case when any task is deleted it is known that neither
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83 the task's stack or TCB should be freed. Sometimes the FreeRTOSConfig.h
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84 settings allow a task to be created using either statically or dynamically
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85 allocated RAM, in which case a member of the TCB is used to record whether the
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86 stack and/or TCB were allocated statically or dynamically, so when a task is
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87 deleted the RAM that was allocated dynamically is freed again and no attempt is
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88 made to free the RAM that was allocated statically.
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89 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a
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90 task to be created using either statically or dynamically allocated RAM. Note
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91 that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with
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92 a statically allocated stack and a dynamically allocated TCB.
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93 !!!NOTE!!! If the definition of tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is
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94 changed then the definition of StaticTask_t must also be updated. */
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95 #define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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96 #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
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97 #define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
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98 #define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
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100 /* If any of the following are set then task stacks are filled with a known
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101 value so the high water mark can be determined. If none of the following are
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102 set then don't fill the stack so there is no unnecessary dependency on memset. */
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103 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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104 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 1
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106 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 0
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110 * Macros used by vListTask to indicate which state a task is in.
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112 #define tskRUNNING_CHAR ( 'X' )
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113 #define tskBLOCKED_CHAR ( 'B' )
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114 #define tskREADY_CHAR ( 'R' )
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115 #define tskDELETED_CHAR ( 'D' )
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116 #define tskSUSPENDED_CHAR ( 'S' )
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119 * Some kernel aware debuggers require the data the debugger needs access to be
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120 * global, rather than file scope.
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122 #ifdef portREMOVE_STATIC_QUALIFIER
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126 /* The name allocated to the Idle task. This can be overridden by defining
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127 configIDLE_TASK_NAME in FreeRTOSConfig.h. */
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128 #ifndef configIDLE_TASK_NAME
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129 #define configIDLE_TASK_NAME "IDLE"
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132 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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134 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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135 performed in a generic way that is not optimised to any particular
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136 microcontroller architecture. */
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138 /* uxTopReadyPriority holds the priority of the highest priority ready
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140 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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142 if( ( uxPriority ) > uxTopReadyPriority ) \
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144 uxTopReadyPriority = ( uxPriority ); \
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146 } /* taskRECORD_READY_PRIORITY */
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148 /*-----------------------------------------------------------*/
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150 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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152 UBaseType_t uxTopPriority = uxTopReadyPriority; \
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154 /* Find the highest priority queue that contains ready tasks. */ \
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155 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
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157 configASSERT( uxTopPriority ); \
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161 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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162 the same priority get an equal share of the processor time. */ \
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163 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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164 uxTopReadyPriority = uxTopPriority; \
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165 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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167 /*-----------------------------------------------------------*/
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169 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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170 they are only required when a port optimised method of task selection is
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172 #define taskRESET_READY_PRIORITY( uxPriority )
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173 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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175 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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177 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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178 performed in a way that is tailored to the particular microcontroller
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179 architecture being used. */
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181 /* A port optimised version is provided. Call the port defined macros. */
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182 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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184 /*-----------------------------------------------------------*/
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186 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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188 UBaseType_t uxTopPriority; \
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190 /* Find the highest priority list that contains ready tasks. */ \
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191 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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192 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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193 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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194 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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196 /*-----------------------------------------------------------*/
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198 /* A port optimised version is provided, call it only if the TCB being reset
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199 is being referenced from a ready list. If it is referenced from a delayed
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200 or suspended list then it won't be in a ready list. */
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201 #define taskRESET_READY_PRIORITY( uxPriority ) \
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203 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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205 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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209 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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211 /*-----------------------------------------------------------*/
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213 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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214 count overflows. */
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215 #define taskSWITCH_DELAYED_LISTS() \
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219 /* The delayed tasks list should be empty when the lists are switched. */ \
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220 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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222 pxTemp = pxDelayedTaskList; \
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223 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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224 pxOverflowDelayedTaskList = pxTemp; \
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225 xNumOfOverflows++; \
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226 prvResetNextTaskUnblockTime(); \
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229 /*-----------------------------------------------------------*/
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232 * Place the task represented by pxTCB into the appropriate ready list for
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233 * the task. It is inserted at the end of the list.
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235 #define prvAddTaskToReadyList( pxTCB ) \
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236 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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237 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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238 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
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239 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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240 /*-----------------------------------------------------------*/
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243 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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244 * where NULL is used to indicate that the handle of the currently executing
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245 * task should be used in place of the parameter. This macro simply checks to
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246 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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248 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) )
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250 /* The item value of the event list item is normally used to hold the priority
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251 of the task to which it belongs (coded to allow it to be held in reverse
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252 priority order). However, it is occasionally borrowed for other purposes. It
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253 is important its value is not updated due to a task priority change while it is
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254 being used for another purpose. The following bit definition is used to inform
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255 the scheduler that the value should not be changed - in which case it is the
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256 responsibility of whichever module is using the value to ensure it gets set back
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257 to its original value when it is released. */
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258 #if( configUSE_16_BIT_TICKS == 1 )
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259 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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261 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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265 * Task control block. A task control block (TCB) is allocated for each task,
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266 * and stores task state information, including a pointer to the task's context
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267 * (the task's run time environment, including register values)
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269 typedef struct tskTaskControlBlock /* Using old naming convention so as not to break kernel aware debuggers. */
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271 volatile StackType_t *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
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273 #if ( portUSING_MPU_WRAPPERS == 1 )
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274 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
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277 ListItem_t xStateListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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278 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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279 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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280 StackType_t *pxStack; /*< Points to the start of the stack. */
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281 char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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283 #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
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284 StackType_t *pxEndOfStack; /*< Points to the highest valid address for the stack. */
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287 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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288 UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
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291 #if ( configUSE_TRACE_FACILITY == 1 )
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292 UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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293 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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296 #if ( configUSE_MUTEXES == 1 )
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297 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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298 UBaseType_t uxMutexesHeld;
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301 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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302 TaskHookFunction_t pxTaskTag;
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305 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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306 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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309 #if( configGENERATE_RUN_TIME_STATS == 1 )
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310 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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313 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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314 /* Allocate a Newlib reent structure that is specific to this task.
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315 Note Newlib support has been included by popular demand, but is not
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316 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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317 responsible for resulting newlib operation. User must be familiar with
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318 newlib and must provide system-wide implementations of the necessary
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319 stubs. Be warned that (at the time of writing) the current newlib design
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320 implements a system-wide malloc() that must be provided with locks. */
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321 struct _reent xNewLib_reent;
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324 #if( configUSE_TASK_NOTIFICATIONS == 1 )
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325 volatile uint32_t ulNotifiedValue;
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326 volatile uint8_t ucNotifyState;
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329 /* See the comments above the definition of
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330 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
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331 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
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332 uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
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335 #if( INCLUDE_xTaskAbortDelay == 1 )
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336 uint8_t ucDelayAborted;
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339 #if( configUSE_POSIX_ERRNO == 1 )
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345 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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346 below to enable the use of older kernel aware debuggers. */
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347 typedef tskTCB TCB_t;
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349 /*lint -save -e956 A manual analysis and inspection has been used to determine
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350 which static variables must be declared volatile. */
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351 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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353 /* Lists for ready and blocked tasks. --------------------*/
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354 /* Note xDelayedTaskList1 and xDelayedTaskList2 could be moved to be function
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355 scope - but doing so breaks kernel aware debuggers, and debug scenarios that
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356 require the static qualifier to be removed. */
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357 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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358 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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359 PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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360 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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361 PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
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362 PRIVILEGED_DATA static List_t xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
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364 #if( INCLUDE_vTaskDelete == 1 )
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366 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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367 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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371 #if ( INCLUDE_vTaskSuspend == 1 )
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373 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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377 /* Global POSIX errno. Its value is changed upon context switching to match
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378 the errno of the currently running task. */
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379 #if ( configUSE_POSIX_ERRNO == 1 )
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380 int FreeRTOS_errno = 0;
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383 /* Other file private variables. --------------------------------*/
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384 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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385 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
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386 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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387 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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388 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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389 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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390 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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391 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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392 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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393 PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
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395 /* Context switches are held pending while the scheduler is suspended. Also,
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396 interrupts must not manipulate the xStateListItem of a TCB, or any of the
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397 lists the xStateListItem can be referenced from, if the scheduler is suspended.
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398 If an interrupt needs to unblock a task while the scheduler is suspended then it
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399 moves the task's event list item into the xPendingReadyList, ready for the
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400 kernel to move the task from the pending ready list into the real ready list
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401 when the scheduler is unsuspended. The pending ready list itself can only be
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402 accessed from a critical section. */
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403 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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405 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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407 /* Do not move to function scope as that breaks debug scenarios that
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408 require the the static qualifier to be removed. */
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409 PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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410 PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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416 /*-----------------------------------------------------------*/
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418 /* Callback function prototypes. --------------------------*/
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419 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
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421 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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425 #if( configUSE_TICK_HOOK > 0 )
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427 extern void vApplicationTickHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */
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431 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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433 extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */
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437 /* File private functions. --------------------------------*/
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440 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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441 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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442 * is in any other state.
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444 #if ( INCLUDE_vTaskSuspend == 1 )
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446 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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448 #endif /* INCLUDE_vTaskSuspend */
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451 * Utility to ready all the lists used by the scheduler. This is called
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452 * automatically upon the creation of the first task.
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454 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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457 * The idle task, which as all tasks is implemented as a never ending loop.
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458 * The idle task is automatically created and added to the ready lists upon
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459 * creation of the first user task.
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461 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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462 * language extensions. The equivalent prototype for this function is:
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464 * void prvIdleTask( void *pvParameters );
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467 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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470 * Utility to free all memory allocated by the scheduler to hold a TCB,
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471 * including the stack pointed to by the TCB.
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473 * This does not free memory allocated by the task itself (i.e. memory
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474 * allocated by calls to pvPortMalloc from within the tasks application code).
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476 #if ( INCLUDE_vTaskDelete == 1 )
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478 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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483 * Used only by the idle task. This checks to see if anything has been placed
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484 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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485 * and its TCB deleted.
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487 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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490 * The currently executing task is entering the Blocked state. Add the task to
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491 * either the current or the overflow delayed task list.
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493 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
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496 * Fills an TaskStatus_t structure with information on each task that is
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497 * referenced from the pxList list (which may be a ready list, a delayed list,
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498 * a suspended list, etc.).
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500 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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501 * NORMAL APPLICATION CODE.
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503 #if ( configUSE_TRACE_FACILITY == 1 )
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505 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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510 * Searches pxList for a task with name pcNameToQuery - returning a handle to
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511 * the task if it is found, or NULL if the task is not found.
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513 #if ( INCLUDE_xTaskGetHandle == 1 )
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515 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
\r
520 * When a task is created, the stack of the task is filled with a known value.
\r
521 * This function determines the 'high water mark' of the task stack by
\r
522 * determining how much of the stack remains at the original preset value.
\r
524 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
526 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
\r
531 * Return the amount of time, in ticks, that will pass before the kernel will
\r
532 * next move a task from the Blocked state to the Running state.
\r
534 * This conditional compilation should use inequality to 0, not equality to 1.
\r
535 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
\r
536 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
\r
537 * set to a value other than 1.
\r
539 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
541 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
\r
546 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
\r
547 * will exit the Blocked state.
\r
549 static void prvResetNextTaskUnblockTime( void );
\r
551 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
554 * Helper function used to pad task names with spaces when printing out
\r
555 * human readable tables of task information.
\r
557 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
\r
562 * Called after a Task_t structure has been allocated either statically or
\r
563 * dynamically to fill in the structure's members.
\r
565 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
566 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
567 const uint32_t ulStackDepth,
\r
568 void * const pvParameters,
\r
569 UBaseType_t uxPriority,
\r
570 TaskHandle_t * const pxCreatedTask,
\r
572 const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
\r
575 * Called after a new task has been created and initialised to place the task
\r
576 * under the control of the scheduler.
\r
578 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
\r
581 * freertos_tasks_c_additions_init() should only be called if the user definable
\r
582 * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
\r
583 * called by the function.
\r
585 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
587 static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
\r
591 /*-----------------------------------------------------------*/
\r
593 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
595 TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
\r
596 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
597 const uint32_t ulStackDepth,
\r
598 void * const pvParameters,
\r
599 UBaseType_t uxPriority,
\r
600 StackType_t * const puxStackBuffer,
\r
601 StaticTask_t * const pxTaskBuffer )
\r
604 TaskHandle_t xReturn;
\r
606 configASSERT( puxStackBuffer != NULL );
\r
607 configASSERT( pxTaskBuffer != NULL );
\r
609 #if( configASSERT_DEFINED == 1 )
\r
611 /* Sanity check that the size of the structure used to declare a
\r
612 variable of type StaticTask_t equals the size of the real task
\r
614 volatile size_t xSize = sizeof( StaticTask_t );
\r
615 configASSERT( xSize == sizeof( TCB_t ) );
\r
616 ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
\r
618 #endif /* configASSERT_DEFINED */
\r
621 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
\r
623 /* The memory used for the task's TCB and stack are passed into this
\r
624 function - use them. */
\r
625 pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
\r
626 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
\r
628 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
630 /* Tasks can be created statically or dynamically, so note this
\r
631 task was created statically in case the task is later deleted. */
\r
632 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
634 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
636 prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
\r
637 prvAddNewTaskToReadyList( pxNewTCB );
\r
647 #endif /* SUPPORT_STATIC_ALLOCATION */
\r
648 /*-----------------------------------------------------------*/
\r
650 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
652 BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
655 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
657 configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
\r
658 configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
\r
660 if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
\r
662 /* Allocate space for the TCB. Where the memory comes from depends
\r
663 on the implementation of the port malloc function and whether or
\r
664 not static allocation is being used. */
\r
665 pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
\r
667 /* Store the stack location in the TCB. */
\r
668 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
670 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
672 /* Tasks can be created statically or dynamically, so note this
\r
673 task was created statically in case the task is later deleted. */
\r
674 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
676 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
678 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
679 pxTaskDefinition->pcName,
\r
680 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
681 pxTaskDefinition->pvParameters,
\r
682 pxTaskDefinition->uxPriority,
\r
683 pxCreatedTask, pxNewTCB,
\r
684 pxTaskDefinition->xRegions );
\r
686 prvAddNewTaskToReadyList( pxNewTCB );
\r
693 #endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
\r
694 /*-----------------------------------------------------------*/
\r
696 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
698 BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
701 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
703 configASSERT( pxTaskDefinition->puxStackBuffer );
\r
705 if( pxTaskDefinition->puxStackBuffer != NULL )
\r
707 /* Allocate space for the TCB. Where the memory comes from depends
\r
708 on the implementation of the port malloc function and whether or
\r
709 not static allocation is being used. */
\r
710 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
712 if( pxNewTCB != NULL )
\r
714 /* Store the stack location in the TCB. */
\r
715 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
717 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
719 /* Tasks can be created statically or dynamically, so note
\r
720 this task had a statically allocated stack in case it is
\r
721 later deleted. The TCB was allocated dynamically. */
\r
722 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
\r
726 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
727 pxTaskDefinition->pcName,
\r
728 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
729 pxTaskDefinition->pvParameters,
\r
730 pxTaskDefinition->uxPriority,
\r
731 pxCreatedTask, pxNewTCB,
\r
732 pxTaskDefinition->xRegions );
\r
734 prvAddNewTaskToReadyList( pxNewTCB );
\r
742 #endif /* portUSING_MPU_WRAPPERS */
\r
743 /*-----------------------------------------------------------*/
\r
745 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
747 BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
\r
748 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
749 const configSTACK_DEPTH_TYPE usStackDepth,
\r
750 void * const pvParameters,
\r
751 UBaseType_t uxPriority,
\r
752 TaskHandle_t * const pxCreatedTask )
\r
755 BaseType_t xReturn;
\r
757 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
758 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
759 the TCB then the stack. */
\r
760 #if( portSTACK_GROWTH > 0 )
\r
762 /* Allocate space for the TCB. Where the memory comes from depends on
\r
763 the implementation of the port malloc function and whether or not static
\r
764 allocation is being used. */
\r
765 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
767 if( pxNewTCB != NULL )
\r
769 /* Allocate space for the stack used by the task being created.
\r
770 The base of the stack memory stored in the TCB so the task can
\r
771 be deleted later if required. */
\r
772 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
774 if( pxNewTCB->pxStack == NULL )
\r
776 /* Could not allocate the stack. Delete the allocated TCB. */
\r
777 vPortFree( pxNewTCB );
\r
782 #else /* portSTACK_GROWTH */
\r
784 StackType_t *pxStack;
\r
786 /* Allocate space for the stack used by the task being created. */
\r
787 pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
\r
789 if( pxStack != NULL )
\r
791 /* Allocate space for the TCB. */
\r
792 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */
\r
794 if( pxNewTCB != NULL )
\r
796 /* Store the stack location in the TCB. */
\r
797 pxNewTCB->pxStack = pxStack;
\r
801 /* The stack cannot be used as the TCB was not created. Free
\r
803 vPortFree( pxStack );
\r
811 #endif /* portSTACK_GROWTH */
\r
813 if( pxNewTCB != NULL )
\r
815 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
\r
817 /* Tasks can be created statically or dynamically, so note this
\r
818 task was created dynamically in case it is later deleted. */
\r
819 pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
\r
821 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
823 prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
\r
824 prvAddNewTaskToReadyList( pxNewTCB );
\r
829 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
835 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
836 /*-----------------------------------------------------------*/
\r
838 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
839 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
840 const uint32_t ulStackDepth,
\r
841 void * const pvParameters,
\r
842 UBaseType_t uxPriority,
\r
843 TaskHandle_t * const pxCreatedTask,
\r
845 const MemoryRegion_t * const xRegions )
\r
847 StackType_t *pxTopOfStack;
\r
850 #if( portUSING_MPU_WRAPPERS == 1 )
\r
851 /* Should the task be created in privileged mode? */
\r
852 BaseType_t xRunPrivileged;
\r
853 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
855 xRunPrivileged = pdTRUE;
\r
859 xRunPrivileged = pdFALSE;
\r
861 uxPriority &= ~portPRIVILEGE_BIT;
\r
862 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
864 configASSERT( pcName );
\r
866 /* Avoid dependency on memset() if it is not required. */
\r
867 #if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
\r
869 /* Fill the stack with a known value to assist debugging. */
\r
870 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
\r
872 #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
\r
874 /* Calculate the top of stack address. This depends on whether the stack
\r
875 grows from high memory to low (as per the 80x86) or vice versa.
\r
876 portSTACK_GROWTH is used to make the result positive or negative as required
\r
878 #if( portSTACK_GROWTH < 0 )
\r
880 pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
\r
881 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 !e9033 !e9078 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. Checked by assert(). */
\r
883 /* Check the alignment of the calculated top of stack is correct. */
\r
884 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
886 #if( configRECORD_STACK_HIGH_ADDRESS == 1 )
\r
888 /* Also record the stack's high address, which may assist
\r
890 pxNewTCB->pxEndOfStack = pxTopOfStack;
\r
892 #endif /* configRECORD_STACK_HIGH_ADDRESS */
\r
894 #else /* portSTACK_GROWTH */
\r
896 pxTopOfStack = pxNewTCB->pxStack;
\r
898 /* Check the alignment of the stack buffer is correct. */
\r
899 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
901 /* The other extreme of the stack space is required if stack checking is
\r
903 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
905 #endif /* portSTACK_GROWTH */
\r
907 /* Store the task name in the TCB. */
\r
908 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
910 pxNewTCB->pcTaskName[ x ] = pcName[ x ];
\r
912 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
913 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
914 string is not accessible (extremely unlikely). */
\r
915 if( pcName[ x ] == ( char ) 0x00 )
\r
921 mtCOVERAGE_TEST_MARKER();
\r
925 /* Ensure the name string is terminated in the case that the string length
\r
926 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
927 pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
929 /* This is used as an array index so must ensure it's not too large. First
\r
930 remove the privilege bit if one is present. */
\r
931 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
933 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
937 mtCOVERAGE_TEST_MARKER();
\r
940 pxNewTCB->uxPriority = uxPriority;
\r
941 #if ( configUSE_MUTEXES == 1 )
\r
943 pxNewTCB->uxBasePriority = uxPriority;
\r
944 pxNewTCB->uxMutexesHeld = 0;
\r
946 #endif /* configUSE_MUTEXES */
\r
948 vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
\r
949 vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
\r
951 /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
\r
952 back to the containing TCB from a generic item in a list. */
\r
953 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
\r
955 /* Event lists are always in priority order. */
\r
956 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
957 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
\r
959 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
961 pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
963 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
965 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
967 pxNewTCB->pxTaskTag = NULL;
\r
969 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
971 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
973 pxNewTCB->ulRunTimeCounter = 0UL;
\r
975 #endif /* configGENERATE_RUN_TIME_STATS */
\r
977 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
979 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
\r
983 /* Avoid compiler warning about unreferenced parameter. */
\r
988 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
990 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
992 pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
997 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
999 pxNewTCB->ulNotifiedValue = 0;
\r
1000 pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
1004 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1006 /* Initialise this task's Newlib reent structure. */
\r
1007 _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
\r
1011 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
1013 pxNewTCB->ucDelayAborted = pdFALSE;
\r
1017 /* Initialize the TCB stack to look as if the task was already running,
\r
1018 but had been interrupted by the scheduler. The return address is set
\r
1019 to the start of the task function. Once the stack has been initialised
\r
1020 the top of stack variable is updated. */
\r
1021 #if( portUSING_MPU_WRAPPERS == 1 )
\r
1023 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1025 #else /* portUSING_MPU_WRAPPERS */
\r
1027 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
1029 #endif /* portUSING_MPU_WRAPPERS */
\r
1031 if( pxCreatedTask != NULL )
\r
1033 /* Pass the handle out in an anonymous way. The handle can be used to
\r
1034 change the created task's priority, delete the created task, etc.*/
\r
1035 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
1039 mtCOVERAGE_TEST_MARKER();
\r
1042 /*-----------------------------------------------------------*/
\r
1044 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
\r
1046 /* Ensure interrupts don't access the task lists while the lists are being
\r
1048 taskENTER_CRITICAL();
\r
1050 uxCurrentNumberOfTasks++;
\r
1051 if( pxCurrentTCB == NULL )
\r
1053 /* There are no other tasks, or all the other tasks are in
\r
1054 the suspended state - make this the current task. */
\r
1055 pxCurrentTCB = pxNewTCB;
\r
1057 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
1059 /* This is the first task to be created so do the preliminary
\r
1060 initialisation required. We will not recover if this call
\r
1061 fails, but we will report the failure. */
\r
1062 prvInitialiseTaskLists();
\r
1066 mtCOVERAGE_TEST_MARKER();
\r
1071 /* If the scheduler is not already running, make this task the
\r
1072 current task if it is the highest priority task to be created
\r
1074 if( xSchedulerRunning == pdFALSE )
\r
1076 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
\r
1078 pxCurrentTCB = pxNewTCB;
\r
1082 mtCOVERAGE_TEST_MARKER();
\r
1087 mtCOVERAGE_TEST_MARKER();
\r
1093 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1095 /* Add a counter into the TCB for tracing only. */
\r
1096 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
1098 #endif /* configUSE_TRACE_FACILITY */
\r
1099 traceTASK_CREATE( pxNewTCB );
\r
1101 prvAddTaskToReadyList( pxNewTCB );
\r
1103 portSETUP_TCB( pxNewTCB );
\r
1105 taskEXIT_CRITICAL();
\r
1107 if( xSchedulerRunning != pdFALSE )
\r
1109 /* If the created task is of a higher priority than the current task
\r
1110 then it should run now. */
\r
1111 if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
\r
1113 taskYIELD_IF_USING_PREEMPTION();
\r
1117 mtCOVERAGE_TEST_MARKER();
\r
1122 mtCOVERAGE_TEST_MARKER();
\r
1125 /*-----------------------------------------------------------*/
\r
1127 #if ( INCLUDE_vTaskDelete == 1 )
\r
1129 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
1133 taskENTER_CRITICAL();
\r
1135 /* If null is passed in here then it is the calling task that is
\r
1137 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
1139 /* Remove task from the ready list. */
\r
1140 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1142 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1146 mtCOVERAGE_TEST_MARKER();
\r
1149 /* Is the task waiting on an event also? */
\r
1150 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1152 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1156 mtCOVERAGE_TEST_MARKER();
\r
1159 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
1160 detect that the task lists need re-generating. This is done before
\r
1161 portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
\r
1165 if( pxTCB == pxCurrentTCB )
\r
1167 /* A task is deleting itself. This cannot complete within the
\r
1168 task itself, as a context switch to another task is required.
\r
1169 Place the task in the termination list. The idle task will
\r
1170 check the termination list and free up any memory allocated by
\r
1171 the scheduler for the TCB and stack of the deleted task. */
\r
1172 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
\r
1174 /* Increment the ucTasksDeleted variable so the idle task knows
\r
1175 there is a task that has been deleted and that it should therefore
\r
1176 check the xTasksWaitingTermination list. */
\r
1177 ++uxDeletedTasksWaitingCleanUp;
\r
1179 /* The pre-delete hook is primarily for the Windows simulator,
\r
1180 in which Windows specific clean up operations are performed,
\r
1181 after which it is not possible to yield away from this task -
\r
1182 hence xYieldPending is used to latch that a context switch is
\r
1184 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
1188 --uxCurrentNumberOfTasks;
\r
1189 prvDeleteTCB( pxTCB );
\r
1191 /* Reset the next expected unblock time in case it referred to
\r
1192 the task that has just been deleted. */
\r
1193 prvResetNextTaskUnblockTime();
\r
1196 traceTASK_DELETE( pxTCB );
\r
1198 taskEXIT_CRITICAL();
\r
1200 /* Force a reschedule if it is the currently running task that has just
\r
1202 if( xSchedulerRunning != pdFALSE )
\r
1204 if( pxTCB == pxCurrentTCB )
\r
1206 configASSERT( uxSchedulerSuspended == 0 );
\r
1207 portYIELD_WITHIN_API();
\r
1211 mtCOVERAGE_TEST_MARKER();
\r
1216 #endif /* INCLUDE_vTaskDelete */
\r
1217 /*-----------------------------------------------------------*/
\r
1219 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
1221 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
1223 TickType_t xTimeToWake;
\r
1224 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
1226 configASSERT( pxPreviousWakeTime );
\r
1227 configASSERT( ( xTimeIncrement > 0U ) );
\r
1228 configASSERT( uxSchedulerSuspended == 0 );
\r
1230 vTaskSuspendAll();
\r
1232 /* Minor optimisation. The tick count cannot change in this
\r
1234 const TickType_t xConstTickCount = xTickCount;
\r
1236 /* Generate the tick time at which the task wants to wake. */
\r
1237 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
1239 if( xConstTickCount < *pxPreviousWakeTime )
\r
1241 /* The tick count has overflowed since this function was
\r
1242 lasted called. In this case the only time we should ever
\r
1243 actually delay is if the wake time has also overflowed,
\r
1244 and the wake time is greater than the tick time. When this
\r
1245 is the case it is as if neither time had overflowed. */
\r
1246 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
1248 xShouldDelay = pdTRUE;
\r
1252 mtCOVERAGE_TEST_MARKER();
\r
1257 /* The tick time has not overflowed. In this case we will
\r
1258 delay if either the wake time has overflowed, and/or the
\r
1259 tick time is less than the wake time. */
\r
1260 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
1262 xShouldDelay = pdTRUE;
\r
1266 mtCOVERAGE_TEST_MARKER();
\r
1270 /* Update the wake time ready for the next call. */
\r
1271 *pxPreviousWakeTime = xTimeToWake;
\r
1273 if( xShouldDelay != pdFALSE )
\r
1275 traceTASK_DELAY_UNTIL( xTimeToWake );
\r
1277 /* prvAddCurrentTaskToDelayedList() needs the block time, not
\r
1278 the time to wake, so subtract the current tick count. */
\r
1279 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
\r
1283 mtCOVERAGE_TEST_MARKER();
\r
1286 xAlreadyYielded = xTaskResumeAll();
\r
1288 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1289 have put ourselves to sleep. */
\r
1290 if( xAlreadyYielded == pdFALSE )
\r
1292 portYIELD_WITHIN_API();
\r
1296 mtCOVERAGE_TEST_MARKER();
\r
1300 #endif /* INCLUDE_vTaskDelayUntil */
\r
1301 /*-----------------------------------------------------------*/
\r
1303 #if ( INCLUDE_vTaskDelay == 1 )
\r
1305 void vTaskDelay( const TickType_t xTicksToDelay )
\r
1307 BaseType_t xAlreadyYielded = pdFALSE;
\r
1309 /* A delay time of zero just forces a reschedule. */
\r
1310 if( xTicksToDelay > ( TickType_t ) 0U )
\r
1312 configASSERT( uxSchedulerSuspended == 0 );
\r
1313 vTaskSuspendAll();
\r
1315 traceTASK_DELAY();
\r
1317 /* A task that is removed from the event list while the
\r
1318 scheduler is suspended will not get placed in the ready
\r
1319 list or removed from the blocked list until the scheduler
\r
1322 This task cannot be in an event list as it is the currently
\r
1323 executing task. */
\r
1324 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
\r
1326 xAlreadyYielded = xTaskResumeAll();
\r
1330 mtCOVERAGE_TEST_MARKER();
\r
1333 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1334 have put ourselves to sleep. */
\r
1335 if( xAlreadyYielded == pdFALSE )
\r
1337 portYIELD_WITHIN_API();
\r
1341 mtCOVERAGE_TEST_MARKER();
\r
1345 #endif /* INCLUDE_vTaskDelay */
\r
1346 /*-----------------------------------------------------------*/
\r
1348 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) )
\r
1350 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1352 eTaskState eReturn;
\r
1353 List_t const * pxStateList, *pxDelayedList, *pxOverflowedDelayedList;
\r
1354 const TCB_t * const pxTCB = xTask;
\r
1356 configASSERT( pxTCB );
\r
1358 if( pxTCB == pxCurrentTCB )
\r
1360 /* The task calling this function is querying its own state. */
\r
1361 eReturn = eRunning;
\r
1365 taskENTER_CRITICAL();
\r
1367 pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
\r
1368 pxDelayedList = pxDelayedTaskList;
\r
1369 pxOverflowedDelayedList = pxOverflowDelayedTaskList;
\r
1371 taskEXIT_CRITICAL();
\r
1373 if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
\r
1375 /* The task being queried is referenced from one of the Blocked
\r
1377 eReturn = eBlocked;
\r
1380 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1381 else if( pxStateList == &xSuspendedTaskList )
\r
1383 /* The task being queried is referenced from the suspended
\r
1384 list. Is it genuinely suspended or is it blocked
\r
1386 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1388 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1390 /* The task does not appear on the event list item of
\r
1391 and of the RTOS objects, but could still be in the
\r
1392 blocked state if it is waiting on its notification
\r
1393 rather than waiting on an object. */
\r
1394 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1396 eReturn = eBlocked;
\r
1400 eReturn = eSuspended;
\r
1405 eReturn = eSuspended;
\r
1411 eReturn = eBlocked;
\r
1416 #if ( INCLUDE_vTaskDelete == 1 )
\r
1417 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1419 /* The task being queried is referenced from the deleted
\r
1420 tasks list, or it is not referenced from any lists at
\r
1422 eReturn = eDeleted;
\r
1426 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1428 /* If the task is not in any other state, it must be in the
\r
1429 Ready (including pending ready) state. */
\r
1435 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1437 #endif /* INCLUDE_eTaskGetState */
\r
1438 /*-----------------------------------------------------------*/
\r
1440 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1442 UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
\r
1444 TCB_t const *pxTCB;
\r
1445 UBaseType_t uxReturn;
\r
1447 taskENTER_CRITICAL();
\r
1449 /* If null is passed in here then it is the priority of the task
\r
1450 that called uxTaskPriorityGet() that is being queried. */
\r
1451 pxTCB = prvGetTCBFromHandle( xTask );
\r
1452 uxReturn = pxTCB->uxPriority;
\r
1454 taskEXIT_CRITICAL();
\r
1459 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1460 /*-----------------------------------------------------------*/
\r
1462 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1464 UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
\r
1466 TCB_t const *pxTCB;
\r
1467 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1469 /* RTOS ports that support interrupt nesting have the concept of a
\r
1470 maximum system call (or maximum API call) interrupt priority.
\r
1471 Interrupts that are above the maximum system call priority are keep
\r
1472 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1473 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1474 is defined in FreeRTOSConfig.h then
\r
1475 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1476 failure if a FreeRTOS API function is called from an interrupt that has
\r
1477 been assigned a priority above the configured maximum system call
\r
1478 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1479 from interrupts that have been assigned a priority at or (logically)
\r
1480 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1481 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1482 simple as possible. More information (albeit Cortex-M specific) is
\r
1483 provided on the following link:
\r
1484 https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1485 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1487 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1489 /* If null is passed in here then it is the priority of the calling
\r
1490 task that is being queried. */
\r
1491 pxTCB = prvGetTCBFromHandle( xTask );
\r
1492 uxReturn = pxTCB->uxPriority;
\r
1494 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1499 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1500 /*-----------------------------------------------------------*/
\r
1502 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1504 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1507 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1508 BaseType_t xYieldRequired = pdFALSE;
\r
1510 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1512 /* Ensure the new priority is valid. */
\r
1513 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1515 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1519 mtCOVERAGE_TEST_MARKER();
\r
1522 taskENTER_CRITICAL();
\r
1524 /* If null is passed in here then it is the priority of the calling
\r
1525 task that is being changed. */
\r
1526 pxTCB = prvGetTCBFromHandle( xTask );
\r
1528 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1530 #if ( configUSE_MUTEXES == 1 )
\r
1532 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1536 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1540 if( uxCurrentBasePriority != uxNewPriority )
\r
1542 /* The priority change may have readied a task of higher
\r
1543 priority than the calling task. */
\r
1544 if( uxNewPriority > uxCurrentBasePriority )
\r
1546 if( pxTCB != pxCurrentTCB )
\r
1548 /* The priority of a task other than the currently
\r
1549 running task is being raised. Is the priority being
\r
1550 raised above that of the running task? */
\r
1551 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1553 xYieldRequired = pdTRUE;
\r
1557 mtCOVERAGE_TEST_MARKER();
\r
1562 /* The priority of the running task is being raised,
\r
1563 but the running task must already be the highest
\r
1564 priority task able to run so no yield is required. */
\r
1567 else if( pxTCB == pxCurrentTCB )
\r
1569 /* Setting the priority of the running task down means
\r
1570 there may now be another task of higher priority that
\r
1571 is ready to execute. */
\r
1572 xYieldRequired = pdTRUE;
\r
1576 /* Setting the priority of any other task down does not
\r
1577 require a yield as the running task must be above the
\r
1578 new priority of the task being modified. */
\r
1581 /* Remember the ready list the task might be referenced from
\r
1582 before its uxPriority member is changed so the
\r
1583 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1584 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1586 #if ( configUSE_MUTEXES == 1 )
\r
1588 /* Only change the priority being used if the task is not
\r
1589 currently using an inherited priority. */
\r
1590 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1592 pxTCB->uxPriority = uxNewPriority;
\r
1596 mtCOVERAGE_TEST_MARKER();
\r
1599 /* The base priority gets set whatever. */
\r
1600 pxTCB->uxBasePriority = uxNewPriority;
\r
1604 pxTCB->uxPriority = uxNewPriority;
\r
1608 /* Only reset the event list item value if the value is not
\r
1609 being used for anything else. */
\r
1610 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1612 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
1616 mtCOVERAGE_TEST_MARKER();
\r
1619 /* If the task is in the blocked or suspended list we need do
\r
1620 nothing more than change its priority variable. However, if
\r
1621 the task is in a ready list it needs to be removed and placed
\r
1622 in the list appropriate to its new priority. */
\r
1623 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1625 /* The task is currently in its ready list - remove before
\r
1626 adding it to it's new ready list. As we are in a critical
\r
1627 section we can do this even if the scheduler is suspended. */
\r
1628 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1630 /* It is known that the task is in its ready list so
\r
1631 there is no need to check again and the port level
\r
1632 reset macro can be called directly. */
\r
1633 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1637 mtCOVERAGE_TEST_MARKER();
\r
1639 prvAddTaskToReadyList( pxTCB );
\r
1643 mtCOVERAGE_TEST_MARKER();
\r
1646 if( xYieldRequired != pdFALSE )
\r
1648 taskYIELD_IF_USING_PREEMPTION();
\r
1652 mtCOVERAGE_TEST_MARKER();
\r
1655 /* Remove compiler warning about unused variables when the port
\r
1656 optimised task selection is not being used. */
\r
1657 ( void ) uxPriorityUsedOnEntry;
\r
1660 taskEXIT_CRITICAL();
\r
1663 #endif /* INCLUDE_vTaskPrioritySet */
\r
1664 /*-----------------------------------------------------------*/
\r
1666 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1668 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1672 taskENTER_CRITICAL();
\r
1674 /* If null is passed in here then it is the running task that is
\r
1675 being suspended. */
\r
1676 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1678 traceTASK_SUSPEND( pxTCB );
\r
1680 /* Remove task from the ready/delayed list and place in the
\r
1681 suspended list. */
\r
1682 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1684 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1688 mtCOVERAGE_TEST_MARKER();
\r
1691 /* Is the task waiting on an event also? */
\r
1692 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1694 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1698 mtCOVERAGE_TEST_MARKER();
\r
1701 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
\r
1703 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1705 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1707 /* The task was blocked to wait for a notification, but is
\r
1708 now suspended, so no notification was received. */
\r
1709 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
1714 taskEXIT_CRITICAL();
\r
1716 if( xSchedulerRunning != pdFALSE )
\r
1718 /* Reset the next expected unblock time in case it referred to the
\r
1719 task that is now in the Suspended state. */
\r
1720 taskENTER_CRITICAL();
\r
1722 prvResetNextTaskUnblockTime();
\r
1724 taskEXIT_CRITICAL();
\r
1728 mtCOVERAGE_TEST_MARKER();
\r
1731 if( pxTCB == pxCurrentTCB )
\r
1733 if( xSchedulerRunning != pdFALSE )
\r
1735 /* The current task has just been suspended. */
\r
1736 configASSERT( uxSchedulerSuspended == 0 );
\r
1737 portYIELD_WITHIN_API();
\r
1741 /* The scheduler is not running, but the task that was pointed
\r
1742 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1743 must be adjusted to point to a different task. */
\r
1744 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
\r
1746 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1747 NULL so when the next task is created pxCurrentTCB will
\r
1748 be set to point to it no matter what its relative priority
\r
1750 pxCurrentTCB = NULL;
\r
1754 vTaskSwitchContext();
\r
1760 mtCOVERAGE_TEST_MARKER();
\r
1764 #endif /* INCLUDE_vTaskSuspend */
\r
1765 /*-----------------------------------------------------------*/
\r
1767 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1769 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1771 BaseType_t xReturn = pdFALSE;
\r
1772 const TCB_t * const pxTCB = xTask;
\r
1774 /* Accesses xPendingReadyList so must be called from a critical
\r
1777 /* It does not make sense to check if the calling task is suspended. */
\r
1778 configASSERT( xTask );
\r
1780 /* Is the task being resumed actually in the suspended list? */
\r
1781 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1783 /* Has the task already been resumed from within an ISR? */
\r
1784 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1786 /* Is it in the suspended list because it is in the Suspended
\r
1787 state, or because is is blocked with no timeout? */
\r
1788 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
\r
1794 mtCOVERAGE_TEST_MARKER();
\r
1799 mtCOVERAGE_TEST_MARKER();
\r
1804 mtCOVERAGE_TEST_MARKER();
\r
1808 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1810 #endif /* INCLUDE_vTaskSuspend */
\r
1811 /*-----------------------------------------------------------*/
\r
1813 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1815 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1817 TCB_t * const pxTCB = xTaskToResume;
\r
1819 /* It does not make sense to resume the calling task. */
\r
1820 configASSERT( xTaskToResume );
\r
1822 /* The parameter cannot be NULL as it is impossible to resume the
\r
1823 currently executing task. */
\r
1824 if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) )
\r
1826 taskENTER_CRITICAL();
\r
1828 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1830 traceTASK_RESUME( pxTCB );
\r
1832 /* The ready list can be accessed even if the scheduler is
\r
1833 suspended because this is inside a critical section. */
\r
1834 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1835 prvAddTaskToReadyList( pxTCB );
\r
1837 /* A higher priority task may have just been resumed. */
\r
1838 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1840 /* This yield may not cause the task just resumed to run,
\r
1841 but will leave the lists in the correct state for the
\r
1843 taskYIELD_IF_USING_PREEMPTION();
\r
1847 mtCOVERAGE_TEST_MARKER();
\r
1852 mtCOVERAGE_TEST_MARKER();
\r
1855 taskEXIT_CRITICAL();
\r
1859 mtCOVERAGE_TEST_MARKER();
\r
1863 #endif /* INCLUDE_vTaskSuspend */
\r
1865 /*-----------------------------------------------------------*/
\r
1867 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1869 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1871 BaseType_t xYieldRequired = pdFALSE;
\r
1872 TCB_t * const pxTCB = xTaskToResume;
\r
1873 UBaseType_t uxSavedInterruptStatus;
\r
1875 configASSERT( xTaskToResume );
\r
1877 /* RTOS ports that support interrupt nesting have the concept of a
\r
1878 maximum system call (or maximum API call) interrupt priority.
\r
1879 Interrupts that are above the maximum system call priority are keep
\r
1880 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1881 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1882 is defined in FreeRTOSConfig.h then
\r
1883 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1884 failure if a FreeRTOS API function is called from an interrupt that has
\r
1885 been assigned a priority above the configured maximum system call
\r
1886 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1887 from interrupts that have been assigned a priority at or (logically)
\r
1888 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1889 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1890 simple as possible. More information (albeit Cortex-M specific) is
\r
1891 provided on the following link:
\r
1892 https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1893 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1895 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1897 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1899 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1901 /* Check the ready lists can be accessed. */
\r
1902 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1904 /* Ready lists can be accessed so move the task from the
\r
1905 suspended list to the ready list directly. */
\r
1906 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1908 xYieldRequired = pdTRUE;
\r
1912 mtCOVERAGE_TEST_MARKER();
\r
1915 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1916 prvAddTaskToReadyList( pxTCB );
\r
1920 /* The delayed or ready lists cannot be accessed so the task
\r
1921 is held in the pending ready list until the scheduler is
\r
1923 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1928 mtCOVERAGE_TEST_MARKER();
\r
1931 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1933 return xYieldRequired;
\r
1936 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1937 /*-----------------------------------------------------------*/
\r
1939 void vTaskStartScheduler( void )
\r
1941 BaseType_t xReturn;
\r
1943 /* Add the idle task at the lowest priority. */
\r
1944 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1946 StaticTask_t *pxIdleTaskTCBBuffer = NULL;
\r
1947 StackType_t *pxIdleTaskStackBuffer = NULL;
\r
1948 uint32_t ulIdleTaskStackSize;
\r
1950 /* The Idle task is created using user provided RAM - obtain the
\r
1951 address of the RAM then create the idle task. */
\r
1952 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
\r
1953 xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
\r
1954 configIDLE_TASK_NAME,
\r
1955 ulIdleTaskStackSize,
\r
1956 ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
\r
1957 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
1958 pxIdleTaskStackBuffer,
\r
1959 pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1961 if( xIdleTaskHandle != NULL )
\r
1972 /* The Idle task is being created using dynamically allocated RAM. */
\r
1973 xReturn = xTaskCreate( prvIdleTask,
\r
1974 configIDLE_TASK_NAME,
\r
1975 configMINIMAL_STACK_SIZE,
\r
1977 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
1978 &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1980 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
1982 #if ( configUSE_TIMERS == 1 )
\r
1984 if( xReturn == pdPASS )
\r
1986 xReturn = xTimerCreateTimerTask();
\r
1990 mtCOVERAGE_TEST_MARKER();
\r
1993 #endif /* configUSE_TIMERS */
\r
1995 if( xReturn == pdPASS )
\r
1997 /* freertos_tasks_c_additions_init() should only be called if the user
\r
1998 definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
\r
1999 the only macro called by the function. */
\r
2000 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
2002 freertos_tasks_c_additions_init();
\r
2006 /* Interrupts are turned off here, to ensure a tick does not occur
\r
2007 before or during the call to xPortStartScheduler(). The stacks of
\r
2008 the created tasks contain a status word with interrupts switched on
\r
2009 so interrupts will automatically get re-enabled when the first task
\r
2011 portDISABLE_INTERRUPTS();
\r
2013 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2015 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2016 structure specific to the task that will run first. */
\r
2017 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2019 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2021 xNextTaskUnblockTime = portMAX_DELAY;
\r
2022 xSchedulerRunning = pdTRUE;
\r
2023 xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
\r
2025 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
2026 macro must be defined to configure the timer/counter used to generate
\r
2027 the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
\r
2028 is set to 0 and the following line fails to build then ensure you do not
\r
2029 have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
\r
2030 FreeRTOSConfig.h file. */
\r
2031 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
2033 traceTASK_SWITCHED_IN();
\r
2035 /* Setting up the timer tick is hardware specific and thus in the
\r
2036 portable interface. */
\r
2037 if( xPortStartScheduler() != pdFALSE )
\r
2039 /* Should not reach here as if the scheduler is running the
\r
2040 function will not return. */
\r
2044 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
2049 /* This line will only be reached if the kernel could not be started,
\r
2050 because there was not enough FreeRTOS heap to create the idle task
\r
2051 or the timer task. */
\r
2052 configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
\r
2055 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
2056 meaning xIdleTaskHandle is not used anywhere else. */
\r
2057 ( void ) xIdleTaskHandle;
\r
2059 /*-----------------------------------------------------------*/
\r
2061 void vTaskEndScheduler( void )
\r
2063 /* Stop the scheduler interrupts and call the portable scheduler end
\r
2064 routine so the original ISRs can be restored if necessary. The port
\r
2065 layer must ensure interrupts enable bit is left in the correct state. */
\r
2066 portDISABLE_INTERRUPTS();
\r
2067 xSchedulerRunning = pdFALSE;
\r
2068 vPortEndScheduler();
\r
2070 /*----------------------------------------------------------*/
\r
2072 void vTaskSuspendAll( void )
\r
2074 /* A critical section is not required as the variable is of type
\r
2075 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
2076 post in the FreeRTOS support forum before reporting this as a bug! -
\r
2077 http://goo.gl/wu4acr */
\r
2078 ++uxSchedulerSuspended;
\r
2080 /*----------------------------------------------------------*/
\r
2082 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2084 static TickType_t prvGetExpectedIdleTime( void )
\r
2086 TickType_t xReturn;
\r
2087 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
2089 /* uxHigherPriorityReadyTasks takes care of the case where
\r
2090 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
2091 task that are in the Ready state, even though the idle task is
\r
2093 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
2095 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
2097 uxHigherPriorityReadyTasks = pdTRUE;
\r
2102 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
2104 /* When port optimised task selection is used the uxTopReadyPriority
\r
2105 variable is used as a bit map. If bits other than the least
\r
2106 significant bit are set then there are tasks that have a priority
\r
2107 above the idle priority that are in the Ready state. This takes
\r
2108 care of the case where the co-operative scheduler is in use. */
\r
2109 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
2111 uxHigherPriorityReadyTasks = pdTRUE;
\r
2116 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
2120 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
2122 /* There are other idle priority tasks in the ready state. If
\r
2123 time slicing is used then the very next tick interrupt must be
\r
2127 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
2129 /* There are tasks in the Ready state that have a priority above the
\r
2130 idle priority. This path can only be reached if
\r
2131 configUSE_PREEMPTION is 0. */
\r
2136 xReturn = xNextTaskUnblockTime - xTickCount;
\r
2142 #endif /* configUSE_TICKLESS_IDLE */
\r
2143 /*----------------------------------------------------------*/
\r
2145 BaseType_t xTaskResumeAll( void )
\r
2147 TCB_t *pxTCB = NULL;
\r
2148 BaseType_t xAlreadyYielded = pdFALSE;
\r
2150 /* If uxSchedulerSuspended is zero then this function does not match a
\r
2151 previous call to vTaskSuspendAll(). */
\r
2152 configASSERT( uxSchedulerSuspended );
\r
2154 /* It is possible that an ISR caused a task to be removed from an event
\r
2155 list while the scheduler was suspended. If this was the case then the
\r
2156 removed task will have been added to the xPendingReadyList. Once the
\r
2157 scheduler has been resumed it is safe to move all the pending ready
\r
2158 tasks from this list into their appropriate ready list. */
\r
2159 taskENTER_CRITICAL();
\r
2161 --uxSchedulerSuspended;
\r
2163 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2165 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
2167 /* Move any readied tasks from the pending list into the
\r
2168 appropriate ready list. */
\r
2169 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
2171 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2172 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2173 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2174 prvAddTaskToReadyList( pxTCB );
\r
2176 /* If the moved task has a priority higher than the current
\r
2177 task then a yield must be performed. */
\r
2178 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2180 xYieldPending = pdTRUE;
\r
2184 mtCOVERAGE_TEST_MARKER();
\r
2188 if( pxTCB != NULL )
\r
2190 /* A task was unblocked while the scheduler was suspended,
\r
2191 which may have prevented the next unblock time from being
\r
2192 re-calculated, in which case re-calculate it now. Mainly
\r
2193 important for low power tickless implementations, where
\r
2194 this can prevent an unnecessary exit from low power
\r
2196 prvResetNextTaskUnblockTime();
\r
2199 /* If any ticks occurred while the scheduler was suspended then
\r
2200 they should be processed now. This ensures the tick count does
\r
2201 not slip, and that any delayed tasks are resumed at the correct
\r
2204 UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */
\r
2206 if( uxPendedCounts > ( UBaseType_t ) 0U )
\r
2210 if( xTaskIncrementTick() != pdFALSE )
\r
2212 xYieldPending = pdTRUE;
\r
2216 mtCOVERAGE_TEST_MARKER();
\r
2219 } while( uxPendedCounts > ( UBaseType_t ) 0U );
\r
2221 uxPendedTicks = 0;
\r
2225 mtCOVERAGE_TEST_MARKER();
\r
2229 if( xYieldPending != pdFALSE )
\r
2231 #if( configUSE_PREEMPTION != 0 )
\r
2233 xAlreadyYielded = pdTRUE;
\r
2236 taskYIELD_IF_USING_PREEMPTION();
\r
2240 mtCOVERAGE_TEST_MARKER();
\r
2246 mtCOVERAGE_TEST_MARKER();
\r
2249 taskEXIT_CRITICAL();
\r
2251 return xAlreadyYielded;
\r
2253 /*-----------------------------------------------------------*/
\r
2255 TickType_t xTaskGetTickCount( void )
\r
2257 TickType_t xTicks;
\r
2259 /* Critical section required if running on a 16 bit processor. */
\r
2260 portTICK_TYPE_ENTER_CRITICAL();
\r
2262 xTicks = xTickCount;
\r
2264 portTICK_TYPE_EXIT_CRITICAL();
\r
2268 /*-----------------------------------------------------------*/
\r
2270 TickType_t xTaskGetTickCountFromISR( void )
\r
2272 TickType_t xReturn;
\r
2273 UBaseType_t uxSavedInterruptStatus;
\r
2275 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
2276 system call (or maximum API call) interrupt priority. Interrupts that are
\r
2277 above the maximum system call priority are kept permanently enabled, even
\r
2278 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
2279 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
2280 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
2281 failure if a FreeRTOS API function is called from an interrupt that has been
\r
2282 assigned a priority above the configured maximum system call priority.
\r
2283 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
2284 that have been assigned a priority at or (logically) below the maximum
\r
2285 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
2286 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
2287 More information (albeit Cortex-M specific) is provided on the following
\r
2288 link: https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
2289 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
2291 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
2293 xReturn = xTickCount;
\r
2295 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2299 /*-----------------------------------------------------------*/
\r
2301 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
2303 /* A critical section is not required because the variables are of type
\r
2305 return uxCurrentNumberOfTasks;
\r
2307 /*-----------------------------------------------------------*/
\r
2309 char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2313 /* If null is passed in here then the name of the calling task is being
\r
2315 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2316 configASSERT( pxTCB );
\r
2317 return &( pxTCB->pcTaskName[ 0 ] );
\r
2319 /*-----------------------------------------------------------*/
\r
2321 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2323 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
\r
2325 TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
\r
2328 BaseType_t xBreakLoop;
\r
2330 /* This function is called with the scheduler suspended. */
\r
2332 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2334 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2338 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2340 /* Check each character in the name looking for a match or
\r
2342 xBreakLoop = pdFALSE;
\r
2343 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2345 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
2347 if( cNextChar != pcNameToQuery[ x ] )
\r
2349 /* Characters didn't match. */
\r
2350 xBreakLoop = pdTRUE;
\r
2352 else if( cNextChar == ( char ) 0x00 )
\r
2354 /* Both strings terminated, a match must have been
\r
2356 pxReturn = pxNextTCB;
\r
2357 xBreakLoop = pdTRUE;
\r
2361 mtCOVERAGE_TEST_MARKER();
\r
2364 if( xBreakLoop != pdFALSE )
\r
2370 if( pxReturn != NULL )
\r
2372 /* The handle has been found. */
\r
2376 } while( pxNextTCB != pxFirstTCB );
\r
2380 mtCOVERAGE_TEST_MARKER();
\r
2386 #endif /* INCLUDE_xTaskGetHandle */
\r
2387 /*-----------------------------------------------------------*/
\r
2389 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2391 TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2393 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
2396 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
\r
2397 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
\r
2399 vTaskSuspendAll();
\r
2401 /* Search the ready lists. */
\r
2405 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
2407 if( pxTCB != NULL )
\r
2409 /* Found the handle. */
\r
2413 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2415 /* Search the delayed lists. */
\r
2416 if( pxTCB == NULL )
\r
2418 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
2421 if( pxTCB == NULL )
\r
2423 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
2426 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2428 if( pxTCB == NULL )
\r
2430 /* Search the suspended list. */
\r
2431 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
2436 #if( INCLUDE_vTaskDelete == 1 )
\r
2438 if( pxTCB == NULL )
\r
2440 /* Search the deleted list. */
\r
2441 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
2446 ( void ) xTaskResumeAll();
\r
2451 #endif /* INCLUDE_xTaskGetHandle */
\r
2452 /*-----------------------------------------------------------*/
\r
2454 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2456 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
2458 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
2460 vTaskSuspendAll();
\r
2462 /* Is there a space in the array for each task in the system? */
\r
2463 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2465 /* Fill in an TaskStatus_t structure with information on each
\r
2466 task in the Ready state. */
\r
2470 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2472 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2474 /* Fill in an TaskStatus_t structure with information on each
\r
2475 task in the Blocked state. */
\r
2476 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2477 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2479 #if( INCLUDE_vTaskDelete == 1 )
\r
2481 /* Fill in an TaskStatus_t structure with information on
\r
2482 each task that has been deleted but not yet cleaned up. */
\r
2483 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2487 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2489 /* Fill in an TaskStatus_t structure with information on
\r
2490 each task in the Suspended state. */
\r
2491 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2495 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
2497 if( pulTotalRunTime != NULL )
\r
2499 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2500 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2502 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2508 if( pulTotalRunTime != NULL )
\r
2510 *pulTotalRunTime = 0;
\r
2517 mtCOVERAGE_TEST_MARKER();
\r
2520 ( void ) xTaskResumeAll();
\r
2525 #endif /* configUSE_TRACE_FACILITY */
\r
2526 /*----------------------------------------------------------*/
\r
2528 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2530 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2532 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2533 started, then xIdleTaskHandle will be NULL. */
\r
2534 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2535 return xIdleTaskHandle;
\r
2538 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2539 /*----------------------------------------------------------*/
\r
2541 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2542 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2543 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2545 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2547 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2549 /* Correct the tick count value after a period during which the tick
\r
2550 was suppressed. Note this does *not* call the tick hook function for
\r
2551 each stepped tick. */
\r
2552 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2553 xTickCount += xTicksToJump;
\r
2554 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2557 #endif /* configUSE_TICKLESS_IDLE */
\r
2558 /*----------------------------------------------------------*/
\r
2560 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
2562 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
\r
2564 TCB_t *pxTCB = xTask;
\r
2565 BaseType_t xReturn;
\r
2567 configASSERT( pxTCB );
\r
2569 vTaskSuspendAll();
\r
2571 /* A task can only be prematurely removed from the Blocked state if
\r
2572 it is actually in the Blocked state. */
\r
2573 if( eTaskGetState( xTask ) == eBlocked )
\r
2577 /* Remove the reference to the task from the blocked list. An
\r
2578 interrupt won't touch the xStateListItem because the
\r
2579 scheduler is suspended. */
\r
2580 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2582 /* Is the task waiting on an event also? If so remove it from
\r
2583 the event list too. Interrupts can touch the event list item,
\r
2584 even though the scheduler is suspended, so a critical section
\r
2586 taskENTER_CRITICAL();
\r
2588 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2590 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2591 pxTCB->ucDelayAborted = pdTRUE;
\r
2595 mtCOVERAGE_TEST_MARKER();
\r
2598 taskEXIT_CRITICAL();
\r
2600 /* Place the unblocked task into the appropriate ready list. */
\r
2601 prvAddTaskToReadyList( pxTCB );
\r
2603 /* A task being unblocked cannot cause an immediate context
\r
2604 switch if preemption is turned off. */
\r
2605 #if ( configUSE_PREEMPTION == 1 )
\r
2607 /* Preemption is on, but a context switch should only be
\r
2608 performed if the unblocked task has a priority that is
\r
2609 equal to or higher than the currently executing task. */
\r
2610 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2612 /* Pend the yield to be performed when the scheduler
\r
2613 is unsuspended. */
\r
2614 xYieldPending = pdTRUE;
\r
2618 mtCOVERAGE_TEST_MARKER();
\r
2621 #endif /* configUSE_PREEMPTION */
\r
2628 ( void ) xTaskResumeAll();
\r
2633 #endif /* INCLUDE_xTaskAbortDelay */
\r
2634 /*----------------------------------------------------------*/
\r
2636 BaseType_t xTaskIncrementTick( void )
\r
2639 TickType_t xItemValue;
\r
2640 BaseType_t xSwitchRequired = pdFALSE;
\r
2642 /* Called by the portable layer each time a tick interrupt occurs.
\r
2643 Increments the tick then checks to see if the new tick value will cause any
\r
2644 tasks to be unblocked. */
\r
2645 traceTASK_INCREMENT_TICK( xTickCount );
\r
2646 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2648 /* Minor optimisation. The tick count cannot change in this
\r
2650 const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
\r
2652 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2653 delayed lists if it wraps to 0. */
\r
2654 xTickCount = xConstTickCount;
\r
2656 if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
\r
2658 taskSWITCH_DELAYED_LISTS();
\r
2662 mtCOVERAGE_TEST_MARKER();
\r
2665 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2666 the queue in the order of their wake time - meaning once one task
\r
2667 has been found whose block time has not expired there is no need to
\r
2668 look any further down the list. */
\r
2669 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2673 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2675 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2676 to the maximum possible value so it is extremely
\r
2678 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2679 next time through. */
\r
2680 xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2685 /* The delayed list is not empty, get the value of the
\r
2686 item at the head of the delayed list. This is the time
\r
2687 at which the task at the head of the delayed list must
\r
2688 be removed from the Blocked state. */
\r
2689 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2690 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
\r
2692 if( xConstTickCount < xItemValue )
\r
2694 /* It is not time to unblock this item yet, but the
\r
2695 item value is the time at which the task at the head
\r
2696 of the blocked list must be removed from the Blocked
\r
2697 state - so record the item value in
\r
2698 xNextTaskUnblockTime. */
\r
2699 xNextTaskUnblockTime = xItemValue;
\r
2700 break; /*lint !e9011 Code structure here is deedmed easier to understand with multiple breaks. */
\r
2704 mtCOVERAGE_TEST_MARKER();
\r
2707 /* It is time to remove the item from the Blocked state. */
\r
2708 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2710 /* Is the task waiting on an event also? If so remove
\r
2711 it from the event list. */
\r
2712 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2714 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2718 mtCOVERAGE_TEST_MARKER();
\r
2721 /* Place the unblocked task into the appropriate ready
\r
2723 prvAddTaskToReadyList( pxTCB );
\r
2725 /* A task being unblocked cannot cause an immediate
\r
2726 context switch if preemption is turned off. */
\r
2727 #if ( configUSE_PREEMPTION == 1 )
\r
2729 /* Preemption is on, but a context switch should
\r
2730 only be performed if the unblocked task has a
\r
2731 priority that is equal to or higher than the
\r
2732 currently executing task. */
\r
2733 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2735 xSwitchRequired = pdTRUE;
\r
2739 mtCOVERAGE_TEST_MARKER();
\r
2742 #endif /* configUSE_PREEMPTION */
\r
2747 /* Tasks of equal priority to the currently running task will share
\r
2748 processing time (time slice) if preemption is on, and the application
\r
2749 writer has not explicitly turned time slicing off. */
\r
2750 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2752 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2754 xSwitchRequired = pdTRUE;
\r
2758 mtCOVERAGE_TEST_MARKER();
\r
2761 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2763 #if ( configUSE_TICK_HOOK == 1 )
\r
2765 /* Guard against the tick hook being called when the pended tick
\r
2766 count is being unwound (when the scheduler is being unlocked). */
\r
2767 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2769 vApplicationTickHook();
\r
2773 mtCOVERAGE_TEST_MARKER();
\r
2776 #endif /* configUSE_TICK_HOOK */
\r
2782 /* The tick hook gets called at regular intervals, even if the
\r
2783 scheduler is locked. */
\r
2784 #if ( configUSE_TICK_HOOK == 1 )
\r
2786 vApplicationTickHook();
\r
2791 #if ( configUSE_PREEMPTION == 1 )
\r
2793 if( xYieldPending != pdFALSE )
\r
2795 xSwitchRequired = pdTRUE;
\r
2799 mtCOVERAGE_TEST_MARKER();
\r
2802 #endif /* configUSE_PREEMPTION */
\r
2804 return xSwitchRequired;
\r
2806 /*-----------------------------------------------------------*/
\r
2808 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2810 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2814 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2816 if( xTask == NULL )
\r
2818 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2825 /* Save the hook function in the TCB. A critical section is required as
\r
2826 the value can be accessed from an interrupt. */
\r
2827 taskENTER_CRITICAL();
\r
2829 xTCB->pxTaskTag = pxHookFunction;
\r
2831 taskEXIT_CRITICAL();
\r
2834 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2835 /*-----------------------------------------------------------*/
\r
2837 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2839 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2842 TaskHookFunction_t xReturn;
\r
2844 /* If xTask is NULL then we are setting our own task hook. */
\r
2845 if( xTask == NULL )
\r
2847 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2854 /* Save the hook function in the TCB. A critical section is required as
\r
2855 the value can be accessed from an interrupt. */
\r
2856 taskENTER_CRITICAL();
\r
2858 xReturn = xTCB->pxTaskTag;
\r
2860 taskEXIT_CRITICAL();
\r
2865 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2866 /*-----------------------------------------------------------*/
\r
2868 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2870 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2873 BaseType_t xReturn;
\r
2875 /* If xTask is NULL then we are calling our own task hook. */
\r
2876 if( xTask == NULL )
\r
2878 xTCB = pxCurrentTCB;
\r
2885 if( xTCB->pxTaskTag != NULL )
\r
2887 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2897 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2898 /*-----------------------------------------------------------*/
\r
2900 void vTaskSwitchContext( void )
\r
2902 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2904 /* The scheduler is currently suspended - do not allow a context
\r
2906 xYieldPending = pdTRUE;
\r
2910 xYieldPending = pdFALSE;
\r
2911 traceTASK_SWITCHED_OUT();
\r
2913 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2915 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2916 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2918 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2921 /* Add the amount of time the task has been running to the
\r
2922 accumulated time so far. The time the task started running was
\r
2923 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2924 protection here so count values are only valid until the timer
\r
2925 overflows. The guard against negative values is to protect
\r
2926 against suspect run time stat counter implementations - which
\r
2927 are provided by the application, not the kernel. */
\r
2928 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2930 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2934 mtCOVERAGE_TEST_MARKER();
\r
2936 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2938 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2940 /* Check for stack overflow, if configured. */
\r
2941 taskCHECK_FOR_STACK_OVERFLOW();
\r
2943 /* Before the currently running task is switched out, save its errno. */
\r
2944 #if( configUSE_POSIX_ERRNO == 1 )
\r
2946 pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
\r
2950 /* Select a new task to run using either the generic C or port
\r
2951 optimised asm code. */
\r
2952 taskSELECT_HIGHEST_PRIORITY_TASK(); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2953 traceTASK_SWITCHED_IN();
\r
2955 /* After the new task is switched in, update the global errno. */
\r
2956 #if( configUSE_POSIX_ERRNO == 1 )
\r
2958 FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
\r
2962 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2964 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2965 structure specific to this task. */
\r
2966 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2968 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2971 /*-----------------------------------------------------------*/
\r
2973 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2975 configASSERT( pxEventList );
\r
2977 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2978 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2980 /* Place the event list item of the TCB in the appropriate event list.
\r
2981 This is placed in the list in priority order so the highest priority task
\r
2982 is the first to be woken by the event. The queue that contains the event
\r
2983 list is locked, preventing simultaneous access from interrupts. */
\r
2984 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2986 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2988 /*-----------------------------------------------------------*/
\r
2990 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2992 configASSERT( pxEventList );
\r
2994 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2995 the event groups implementation. */
\r
2996 configASSERT( uxSchedulerSuspended != 0 );
\r
2998 /* Store the item value in the event list item. It is safe to access the
\r
2999 event list item here as interrupts won't access the event list item of a
\r
3000 task that is not in the Blocked state. */
\r
3001 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3003 /* Place the event list item of the TCB at the end of the appropriate event
\r
3004 list. It is safe to access the event list here because it is part of an
\r
3005 event group implementation - and interrupts don't access event groups
\r
3006 directly (instead they access them indirectly by pending function calls to
\r
3007 the task level). */
\r
3008 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3010 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
3012 /*-----------------------------------------------------------*/
\r
3014 #if( configUSE_TIMERS == 1 )
\r
3016 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
3018 configASSERT( pxEventList );
\r
3020 /* This function should not be called by application code hence the
\r
3021 'Restricted' in its name. It is not part of the public API. It is
\r
3022 designed for use by kernel code, and has special calling requirements -
\r
3023 it should be called with the scheduler suspended. */
\r
3026 /* Place the event list item of the TCB in the appropriate event list.
\r
3027 In this case it is assume that this is the only task that is going to
\r
3028 be waiting on this event list, so the faster vListInsertEnd() function
\r
3029 can be used in place of vListInsert. */
\r
3030 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3032 /* If the task should block indefinitely then set the block time to a
\r
3033 value that will be recognised as an indefinite delay inside the
\r
3034 prvAddCurrentTaskToDelayedList() function. */
\r
3035 if( xWaitIndefinitely != pdFALSE )
\r
3037 xTicksToWait = portMAX_DELAY;
\r
3040 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
\r
3041 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
\r
3044 #endif /* configUSE_TIMERS */
\r
3045 /*-----------------------------------------------------------*/
\r
3047 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
3049 TCB_t *pxUnblockedTCB;
\r
3050 BaseType_t xReturn;
\r
3052 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
3053 called from a critical section within an ISR. */
\r
3055 /* The event list is sorted in priority order, so the first in the list can
\r
3056 be removed as it is known to be the highest priority. Remove the TCB from
\r
3057 the delayed list, and add it to the ready list.
\r
3059 If an event is for a queue that is locked then this function will never
\r
3060 get called - the lock count on the queue will get modified instead. This
\r
3061 means exclusive access to the event list is guaranteed here.
\r
3063 This function assumes that a check has already been made to ensure that
\r
3064 pxEventList is not empty. */
\r
3065 pxUnblockedTCB = listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3066 configASSERT( pxUnblockedTCB );
\r
3067 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
3069 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3071 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3072 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3076 /* The delayed and ready lists cannot be accessed, so hold this task
\r
3077 pending until the scheduler is resumed. */
\r
3078 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
3081 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3083 /* Return true if the task removed from the event list has a higher
\r
3084 priority than the calling task. This allows the calling task to know if
\r
3085 it should force a context switch now. */
\r
3088 /* Mark that a yield is pending in case the user is not using the
\r
3089 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
3090 xYieldPending = pdTRUE;
\r
3094 xReturn = pdFALSE;
\r
3097 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3099 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
3100 might be set to the blocked task's time out time. If the task is
\r
3101 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
3102 normally left unchanged, because it is automatically reset to a new
\r
3103 value when the tick count equals xNextTaskUnblockTime. However if
\r
3104 tickless idling is used it might be more important to enter sleep mode
\r
3105 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
3106 ensure it is updated at the earliest possible time. */
\r
3107 prvResetNextTaskUnblockTime();
\r
3113 /*-----------------------------------------------------------*/
\r
3115 void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
3117 TCB_t *pxUnblockedTCB;
\r
3119 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3120 the event flags implementation. */
\r
3121 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
3123 /* Store the new item value in the event list. */
\r
3124 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3126 /* Remove the event list form the event flag. Interrupts do not access
\r
3128 pxUnblockedTCB = listGET_LIST_ITEM_OWNER( pxEventListItem ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3129 configASSERT( pxUnblockedTCB );
\r
3130 ( void ) uxListRemove( pxEventListItem );
\r
3132 /* Remove the task from the delayed list and add it to the ready list. The
\r
3133 scheduler is suspended so interrupts will not be accessing the ready
\r
3135 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3136 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3138 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3140 /* The unblocked task has a priority above that of the calling task, so
\r
3141 a context switch is required. This function is called with the
\r
3142 scheduler suspended so xYieldPending is set so the context switch
\r
3143 occurs immediately that the scheduler is resumed (unsuspended). */
\r
3144 xYieldPending = pdTRUE;
\r
3147 /*-----------------------------------------------------------*/
\r
3149 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3151 configASSERT( pxTimeOut );
\r
3152 taskENTER_CRITICAL();
\r
3154 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3155 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3157 taskEXIT_CRITICAL();
\r
3159 /*-----------------------------------------------------------*/
\r
3161 void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3163 /* For internal use only as it does not use a critical section. */
\r
3164 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3165 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3167 /*-----------------------------------------------------------*/
\r
3169 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
3171 BaseType_t xReturn;
\r
3173 configASSERT( pxTimeOut );
\r
3174 configASSERT( pxTicksToWait );
\r
3176 taskENTER_CRITICAL();
\r
3178 /* Minor optimisation. The tick count cannot change in this block. */
\r
3179 const TickType_t xConstTickCount = xTickCount;
\r
3180 const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
\r
3182 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
3183 if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
\r
3185 /* The delay was aborted, which is not the same as a time out,
\r
3186 but has the same result. */
\r
3187 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
3193 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3194 if( *pxTicksToWait == portMAX_DELAY )
\r
3196 /* If INCLUDE_vTaskSuspend is set to 1 and the block time
\r
3197 specified is the maximum block time then the task should block
\r
3198 indefinitely, and therefore never time out. */
\r
3199 xReturn = pdFALSE;
\r
3204 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
3206 /* The tick count is greater than the time at which
\r
3207 vTaskSetTimeout() was called, but has also overflowed since
\r
3208 vTaskSetTimeOut() was called. It must have wrapped all the way
\r
3209 around and gone past again. This passed since vTaskSetTimeout()
\r
3213 else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
\r
3215 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
3216 *pxTicksToWait -= xElapsedTime;
\r
3217 vTaskInternalSetTimeOutState( pxTimeOut );
\r
3218 xReturn = pdFALSE;
\r
3222 *pxTicksToWait = 0;
\r
3226 taskEXIT_CRITICAL();
\r
3230 /*-----------------------------------------------------------*/
\r
3232 void vTaskMissedYield( void )
\r
3234 xYieldPending = pdTRUE;
\r
3236 /*-----------------------------------------------------------*/
\r
3238 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3240 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
3242 UBaseType_t uxReturn;
\r
3243 TCB_t const *pxTCB;
\r
3245 if( xTask != NULL )
\r
3248 uxReturn = pxTCB->uxTaskNumber;
\r
3258 #endif /* configUSE_TRACE_FACILITY */
\r
3259 /*-----------------------------------------------------------*/
\r
3261 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3263 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
3267 if( xTask != NULL )
\r
3270 pxTCB->uxTaskNumber = uxHandle;
\r
3274 #endif /* configUSE_TRACE_FACILITY */
\r
3277 * -----------------------------------------------------------
\r
3279 * ----------------------------------------------------------
\r
3281 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
3282 * language extensions. The equivalent prototype for this function is:
\r
3284 * void prvIdleTask( void *pvParameters );
\r
3287 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
3289 /* Stop warnings. */
\r
3290 ( void ) pvParameters;
\r
3292 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
3293 SCHEDULER IS STARTED. **/
\r
3295 /* In case a task that has a secure context deletes itself, in which case
\r
3296 the idle task is responsible for deleting the task's secure context, if
\r
3298 portTASK_CALLS_SECURE_FUNCTIONS();
\r
3302 /* See if any tasks have deleted themselves - if so then the idle task
\r
3303 is responsible for freeing the deleted task's TCB and stack. */
\r
3304 prvCheckTasksWaitingTermination();
\r
3306 #if ( configUSE_PREEMPTION == 0 )
\r
3308 /* If we are not using preemption we keep forcing a task switch to
\r
3309 see if any other task has become available. If we are using
\r
3310 preemption we don't need to do this as any task becoming available
\r
3311 will automatically get the processor anyway. */
\r
3314 #endif /* configUSE_PREEMPTION */
\r
3316 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
3318 /* When using preemption tasks of equal priority will be
\r
3319 timesliced. If a task that is sharing the idle priority is ready
\r
3320 to run then the idle task should yield before the end of the
\r
3323 A critical region is not required here as we are just reading from
\r
3324 the list, and an occasional incorrect value will not matter. If
\r
3325 the ready list at the idle priority contains more than one task
\r
3326 then a task other than the idle task is ready to execute. */
\r
3327 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
3333 mtCOVERAGE_TEST_MARKER();
\r
3336 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
3338 #if ( configUSE_IDLE_HOOK == 1 )
\r
3340 extern void vApplicationIdleHook( void );
\r
3342 /* Call the user defined function from within the idle task. This
\r
3343 allows the application designer to add background functionality
\r
3344 without the overhead of a separate task.
\r
3345 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
3346 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
3347 vApplicationIdleHook();
\r
3349 #endif /* configUSE_IDLE_HOOK */
\r
3351 /* This conditional compilation should use inequality to 0, not equality
\r
3352 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
3353 user defined low power mode implementations require
\r
3354 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
3355 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3357 TickType_t xExpectedIdleTime;
\r
3359 /* It is not desirable to suspend then resume the scheduler on
\r
3360 each iteration of the idle task. Therefore, a preliminary
\r
3361 test of the expected idle time is performed without the
\r
3362 scheduler suspended. The result here is not necessarily
\r
3364 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3366 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3368 vTaskSuspendAll();
\r
3370 /* Now the scheduler is suspended, the expected idle
\r
3371 time can be sampled again, and this time its value can
\r
3373 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
3374 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3376 /* Define the following macro to set xExpectedIdleTime to 0
\r
3377 if the application does not want
\r
3378 portSUPPRESS_TICKS_AND_SLEEP() to be called. */
\r
3379 configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
\r
3381 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3383 traceLOW_POWER_IDLE_BEGIN();
\r
3384 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
3385 traceLOW_POWER_IDLE_END();
\r
3389 mtCOVERAGE_TEST_MARKER();
\r
3392 ( void ) xTaskResumeAll();
\r
3396 mtCOVERAGE_TEST_MARKER();
\r
3399 #endif /* configUSE_TICKLESS_IDLE */
\r
3402 /*-----------------------------------------------------------*/
\r
3404 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3406 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
3408 /* The idle task exists in addition to the application tasks. */
\r
3409 const UBaseType_t uxNonApplicationTasks = 1;
\r
3410 eSleepModeStatus eReturn = eStandardSleep;
\r
3412 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
3414 /* A task was made ready while the scheduler was suspended. */
\r
3415 eReturn = eAbortSleep;
\r
3417 else if( xYieldPending != pdFALSE )
\r
3419 /* A yield was pended while the scheduler was suspended. */
\r
3420 eReturn = eAbortSleep;
\r
3424 /* If all the tasks are in the suspended list (which might mean they
\r
3425 have an infinite block time rather than actually being suspended)
\r
3426 then it is safe to turn all clocks off and just wait for external
\r
3428 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
3430 eReturn = eNoTasksWaitingTimeout;
\r
3434 mtCOVERAGE_TEST_MARKER();
\r
3441 #endif /* configUSE_TICKLESS_IDLE */
\r
3442 /*-----------------------------------------------------------*/
\r
3444 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3446 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
3450 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3452 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
3453 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3457 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3458 /*-----------------------------------------------------------*/
\r
3460 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3462 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
3464 void *pvReturn = NULL;
\r
3467 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3469 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3470 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3480 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3481 /*-----------------------------------------------------------*/
\r
3483 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3485 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3489 /* If null is passed in here then we are modifying the MPU settings of
\r
3490 the calling task. */
\r
3491 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3493 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3496 #endif /* portUSING_MPU_WRAPPERS */
\r
3497 /*-----------------------------------------------------------*/
\r
3499 static void prvInitialiseTaskLists( void )
\r
3501 UBaseType_t uxPriority;
\r
3503 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3505 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3508 vListInitialise( &xDelayedTaskList1 );
\r
3509 vListInitialise( &xDelayedTaskList2 );
\r
3510 vListInitialise( &xPendingReadyList );
\r
3512 #if ( INCLUDE_vTaskDelete == 1 )
\r
3514 vListInitialise( &xTasksWaitingTermination );
\r
3516 #endif /* INCLUDE_vTaskDelete */
\r
3518 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3520 vListInitialise( &xSuspendedTaskList );
\r
3522 #endif /* INCLUDE_vTaskSuspend */
\r
3524 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3526 pxDelayedTaskList = &xDelayedTaskList1;
\r
3527 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3529 /*-----------------------------------------------------------*/
\r
3531 static void prvCheckTasksWaitingTermination( void )
\r
3534 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3536 #if ( INCLUDE_vTaskDelete == 1 )
\r
3540 /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
\r
3541 being called too often in the idle task. */
\r
3542 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3544 taskENTER_CRITICAL();
\r
3546 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3547 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
3548 --uxCurrentNumberOfTasks;
\r
3549 --uxDeletedTasksWaitingCleanUp;
\r
3551 taskEXIT_CRITICAL();
\r
3553 prvDeleteTCB( pxTCB );
\r
3556 #endif /* INCLUDE_vTaskDelete */
\r
3558 /*-----------------------------------------------------------*/
\r
3560 #if( configUSE_TRACE_FACILITY == 1 )
\r
3562 void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
\r
3566 /* xTask is NULL then get the state of the calling task. */
\r
3567 pxTCB = prvGetTCBFromHandle( xTask );
\r
3569 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3570 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
\r
3571 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3572 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3573 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3575 #if ( configUSE_MUTEXES == 1 )
\r
3577 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3581 pxTaskStatus->uxBasePriority = 0;
\r
3585 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3587 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3591 pxTaskStatus->ulRunTimeCounter = 0;
\r
3595 /* Obtaining the task state is a little fiddly, so is only done if the
\r
3596 value of eState passed into this function is eInvalid - otherwise the
\r
3597 state is just set to whatever is passed in. */
\r
3598 if( eState != eInvalid )
\r
3600 if( pxTCB == pxCurrentTCB )
\r
3602 pxTaskStatus->eCurrentState = eRunning;
\r
3606 pxTaskStatus->eCurrentState = eState;
\r
3608 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3610 /* If the task is in the suspended list then there is a
\r
3611 chance it is actually just blocked indefinitely - so really
\r
3612 it should be reported as being in the Blocked state. */
\r
3613 if( eState == eSuspended )
\r
3615 vTaskSuspendAll();
\r
3617 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3619 pxTaskStatus->eCurrentState = eBlocked;
\r
3622 ( void ) xTaskResumeAll();
\r
3625 #endif /* INCLUDE_vTaskSuspend */
\r
3630 pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
\r
3633 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3634 parameter is provided to allow it to be skipped. */
\r
3635 if( xGetFreeStackSpace != pdFALSE )
\r
3637 #if ( portSTACK_GROWTH > 0 )
\r
3639 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3643 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3649 pxTaskStatus->usStackHighWaterMark = 0;
\r
3653 #endif /* configUSE_TRACE_FACILITY */
\r
3654 /*-----------------------------------------------------------*/
\r
3656 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3658 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3660 configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
\r
3661 UBaseType_t uxTask = 0;
\r
3663 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3665 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3667 /* Populate an TaskStatus_t structure within the
\r
3668 pxTaskStatusArray array for each task that is referenced from
\r
3669 pxList. See the definition of TaskStatus_t in task.h for the
\r
3670 meaning of each TaskStatus_t structure member. */
\r
3673 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3674 vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3676 } while( pxNextTCB != pxFirstTCB );
\r
3680 mtCOVERAGE_TEST_MARKER();
\r
3686 #endif /* configUSE_TRACE_FACILITY */
\r
3687 /*-----------------------------------------------------------*/
\r
3689 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3691 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3693 uint32_t ulCount = 0U;
\r
3695 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3697 pucStackByte -= portSTACK_GROWTH;
\r
3701 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3703 return ( configSTACK_DEPTH_TYPE ) ulCount;
\r
3706 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3707 /*-----------------------------------------------------------*/
\r
3709 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3711 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3714 uint8_t *pucEndOfStack;
\r
3715 UBaseType_t uxReturn;
\r
3717 pxTCB = prvGetTCBFromHandle( xTask );
\r
3719 #if portSTACK_GROWTH < 0
\r
3721 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3725 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3729 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3734 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3735 /*-----------------------------------------------------------*/
\r
3737 #if ( INCLUDE_vTaskDelete == 1 )
\r
3739 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3741 /* This call is required specifically for the TriCore port. It must be
\r
3742 above the vPortFree() calls. The call is also used by ports/demos that
\r
3743 want to allocate and clean RAM statically. */
\r
3744 portCLEAN_UP_TCB( pxTCB );
\r
3746 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3747 to the task to free any memory allocated at the application level. */
\r
3748 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3750 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3752 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3754 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
\r
3756 /* The task can only have been allocated dynamically - free both
\r
3757 the stack and TCB. */
\r
3758 vPortFree( pxTCB->pxStack );
\r
3759 vPortFree( pxTCB );
\r
3761 #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
3763 /* The task could have been allocated statically or dynamically, so
\r
3764 check what was statically allocated before trying to free the
\r
3766 if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
\r
3768 /* Both the stack and TCB were allocated dynamically, so both
\r
3770 vPortFree( pxTCB->pxStack );
\r
3771 vPortFree( pxTCB );
\r
3773 else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
\r
3775 /* Only the stack was statically allocated, so the TCB is the
\r
3776 only memory that must be freed. */
\r
3777 vPortFree( pxTCB );
\r
3781 /* Neither the stack nor the TCB were allocated dynamically, so
\r
3782 nothing needs to be freed. */
\r
3783 configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
\r
3784 mtCOVERAGE_TEST_MARKER();
\r
3787 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
3790 #endif /* INCLUDE_vTaskDelete */
\r
3791 /*-----------------------------------------------------------*/
\r
3793 static void prvResetNextTaskUnblockTime( void )
\r
3797 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3799 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3800 the maximum possible value so it is extremely unlikely that the
\r
3801 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3802 there is an item in the delayed list. */
\r
3803 xNextTaskUnblockTime = portMAX_DELAY;
\r
3807 /* The new current delayed list is not empty, get the value of
\r
3808 the item at the head of the delayed list. This is the time at
\r
3809 which the task at the head of the delayed list should be removed
\r
3810 from the Blocked state. */
\r
3811 ( pxTCB ) = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3812 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
\r
3815 /*-----------------------------------------------------------*/
\r
3817 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3819 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3821 TaskHandle_t xReturn;
\r
3823 /* A critical section is not required as this is not called from
\r
3824 an interrupt and the current TCB will always be the same for any
\r
3825 individual execution thread. */
\r
3826 xReturn = pxCurrentTCB;
\r
3831 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3832 /*-----------------------------------------------------------*/
\r
3834 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3836 BaseType_t xTaskGetSchedulerState( void )
\r
3838 BaseType_t xReturn;
\r
3840 if( xSchedulerRunning == pdFALSE )
\r
3842 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3846 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3848 xReturn = taskSCHEDULER_RUNNING;
\r
3852 xReturn = taskSCHEDULER_SUSPENDED;
\r
3859 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3860 /*-----------------------------------------------------------*/
\r
3862 #if ( configUSE_MUTEXES == 1 )
\r
3864 BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3866 TCB_t * const pxMutexHolderTCB = pxMutexHolder;
\r
3867 BaseType_t xReturn = pdFALSE;
\r
3869 /* If the mutex was given back by an interrupt while the queue was
\r
3870 locked then the mutex holder might now be NULL. _RB_ Is this still
\r
3871 needed as interrupts can no longer use mutexes? */
\r
3872 if( pxMutexHolder != NULL )
\r
3874 /* If the holder of the mutex has a priority below the priority of
\r
3875 the task attempting to obtain the mutex then it will temporarily
\r
3876 inherit the priority of the task attempting to obtain the mutex. */
\r
3877 if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3879 /* Adjust the mutex holder state to account for its new
\r
3880 priority. Only reset the event list item value if the value is
\r
3881 not being used for anything else. */
\r
3882 if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3884 listSET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3888 mtCOVERAGE_TEST_MARKER();
\r
3891 /* If the task being modified is in the ready state it will need
\r
3892 to be moved into a new list. */
\r
3893 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
\r
3895 if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3897 taskRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority );
\r
3901 mtCOVERAGE_TEST_MARKER();
\r
3904 /* Inherit the priority before being moved into the new list. */
\r
3905 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3906 prvAddTaskToReadyList( pxMutexHolderTCB );
\r
3910 /* Just inherit the priority. */
\r
3911 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3914 traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
\r
3916 /* Inheritance occurred. */
\r
3921 if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
\r
3923 /* The base priority of the mutex holder is lower than the
\r
3924 priority of the task attempting to take the mutex, but the
\r
3925 current priority of the mutex holder is not lower than the
\r
3926 priority of the task attempting to take the mutex.
\r
3927 Therefore the mutex holder must have already inherited a
\r
3928 priority, but inheritance would have occurred if that had
\r
3929 not been the case. */
\r
3934 mtCOVERAGE_TEST_MARKER();
\r
3940 mtCOVERAGE_TEST_MARKER();
\r
3946 #endif /* configUSE_MUTEXES */
\r
3947 /*-----------------------------------------------------------*/
\r
3949 #if ( configUSE_MUTEXES == 1 )
\r
3951 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3953 TCB_t * const pxTCB = pxMutexHolder;
\r
3954 BaseType_t xReturn = pdFALSE;
\r
3956 if( pxMutexHolder != NULL )
\r
3958 /* A task can only have an inherited priority if it holds the mutex.
\r
3959 If the mutex is held by a task then it cannot be given from an
\r
3960 interrupt, and if a mutex is given by the holding task then it must
\r
3961 be the running state task. */
\r
3962 configASSERT( pxTCB == pxCurrentTCB );
\r
3963 configASSERT( pxTCB->uxMutexesHeld );
\r
3964 ( pxTCB->uxMutexesHeld )--;
\r
3966 /* Has the holder of the mutex inherited the priority of another
\r
3968 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3970 /* Only disinherit if no other mutexes are held. */
\r
3971 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3973 /* A task can only have an inherited priority if it holds
\r
3974 the mutex. If the mutex is held by a task then it cannot be
\r
3975 given from an interrupt, and if a mutex is given by the
\r
3976 holding task then it must be the running state task. Remove
\r
3977 the holding task from the ready list. */
\r
3978 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3980 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3984 mtCOVERAGE_TEST_MARKER();
\r
3987 /* Disinherit the priority before adding the task into the
\r
3988 new ready list. */
\r
3989 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3990 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3992 /* Reset the event list item value. It cannot be in use for
\r
3993 any other purpose if this task is running, and it must be
\r
3994 running to give back the mutex. */
\r
3995 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
3996 prvAddTaskToReadyList( pxTCB );
\r
3998 /* Return true to indicate that a context switch is required.
\r
3999 This is only actually required in the corner case whereby
\r
4000 multiple mutexes were held and the mutexes were given back
\r
4001 in an order different to that in which they were taken.
\r
4002 If a context switch did not occur when the first mutex was
\r
4003 returned, even if a task was waiting on it, then a context
\r
4004 switch should occur when the last mutex is returned whether
\r
4005 a task is waiting on it or not. */
\r
4010 mtCOVERAGE_TEST_MARKER();
\r
4015 mtCOVERAGE_TEST_MARKER();
\r
4020 mtCOVERAGE_TEST_MARKER();
\r
4026 #endif /* configUSE_MUTEXES */
\r
4027 /*-----------------------------------------------------------*/
\r
4029 #if ( configUSE_MUTEXES == 1 )
\r
4031 void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask )
\r
4033 TCB_t * const pxTCB = pxMutexHolder;
\r
4034 UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
\r
4035 const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
\r
4037 if( pxMutexHolder != NULL )
\r
4039 /* If pxMutexHolder is not NULL then the holder must hold at least
\r
4041 configASSERT( pxTCB->uxMutexesHeld );
\r
4043 /* Determine the priority to which the priority of the task that
\r
4044 holds the mutex should be set. This will be the greater of the
\r
4045 holding task's base priority and the priority of the highest
\r
4046 priority task that is waiting to obtain the mutex. */
\r
4047 if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
\r
4049 uxPriorityToUse = uxHighestPriorityWaitingTask;
\r
4053 uxPriorityToUse = pxTCB->uxBasePriority;
\r
4056 /* Does the priority need to change? */
\r
4057 if( pxTCB->uxPriority != uxPriorityToUse )
\r
4059 /* Only disinherit if no other mutexes are held. This is a
\r
4060 simplification in the priority inheritance implementation. If
\r
4061 the task that holds the mutex is also holding other mutexes then
\r
4062 the other mutexes may have caused the priority inheritance. */
\r
4063 if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
\r
4065 /* If a task has timed out because it already holds the
\r
4066 mutex it was trying to obtain then it cannot of inherited
\r
4067 its own priority. */
\r
4068 configASSERT( pxTCB != pxCurrentTCB );
\r
4070 /* Disinherit the priority, remembering the previous
\r
4071 priority to facilitate determining the subject task's
\r
4073 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4074 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
4075 pxTCB->uxPriority = uxPriorityToUse;
\r
4077 /* Only reset the event list item value if the value is not
\r
4078 being used for anything else. */
\r
4079 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
4081 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriorityToUse ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
4085 mtCOVERAGE_TEST_MARKER();
\r
4088 /* If the running task is not the task that holds the mutex
\r
4089 then the task that holds the mutex could be in either the
\r
4090 Ready, Blocked or Suspended states. Only remove the task
\r
4091 from its current state list if it is in the Ready state as
\r
4092 the task's priority is going to change and there is one
\r
4093 Ready list per priority. */
\r
4094 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
4096 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4098 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
4102 mtCOVERAGE_TEST_MARKER();
\r
4105 prvAddTaskToReadyList( pxTCB );
\r
4109 mtCOVERAGE_TEST_MARKER();
\r
4114 mtCOVERAGE_TEST_MARKER();
\r
4119 mtCOVERAGE_TEST_MARKER();
\r
4124 mtCOVERAGE_TEST_MARKER();
\r
4128 #endif /* configUSE_MUTEXES */
\r
4129 /*-----------------------------------------------------------*/
\r
4131 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4133 void vTaskEnterCritical( void )
\r
4135 portDISABLE_INTERRUPTS();
\r
4137 if( xSchedulerRunning != pdFALSE )
\r
4139 ( pxCurrentTCB->uxCriticalNesting )++;
\r
4141 /* This is not the interrupt safe version of the enter critical
\r
4142 function so assert() if it is being called from an interrupt
\r
4143 context. Only API functions that end in "FromISR" can be used in an
\r
4144 interrupt. Only assert if the critical nesting count is 1 to
\r
4145 protect against recursive calls if the assert function also uses a
\r
4146 critical section. */
\r
4147 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
4149 portASSERT_IF_IN_ISR();
\r
4154 mtCOVERAGE_TEST_MARKER();
\r
4158 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4159 /*-----------------------------------------------------------*/
\r
4161 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4163 void vTaskExitCritical( void )
\r
4165 if( xSchedulerRunning != pdFALSE )
\r
4167 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
4169 ( pxCurrentTCB->uxCriticalNesting )--;
\r
4171 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
4173 portENABLE_INTERRUPTS();
\r
4177 mtCOVERAGE_TEST_MARKER();
\r
4182 mtCOVERAGE_TEST_MARKER();
\r
4187 mtCOVERAGE_TEST_MARKER();
\r
4191 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4192 /*-----------------------------------------------------------*/
\r
4194 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
4196 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
4200 /* Start by copying the entire string. */
\r
4201 strcpy( pcBuffer, pcTaskName );
\r
4203 /* Pad the end of the string with spaces to ensure columns line up when
\r
4205 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
4207 pcBuffer[ x ] = ' ';
\r
4211 pcBuffer[ x ] = ( char ) 0x00;
\r
4213 /* Return the new end of string. */
\r
4214 return &( pcBuffer[ x ] );
\r
4217 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
4218 /*-----------------------------------------------------------*/
\r
4220 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4222 void vTaskList( char * pcWriteBuffer )
\r
4224 TaskStatus_t *pxTaskStatusArray;
\r
4225 UBaseType_t uxArraySize, x;
\r
4231 * This function is provided for convenience only, and is used by many
\r
4232 * of the demo applications. Do not consider it to be part of the
\r
4235 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
4236 * uxTaskGetSystemState() output into a human readable table that
\r
4237 * displays task names, states and stack usage.
\r
4239 * vTaskList() has a dependency on the sprintf() C library function that
\r
4240 * might bloat the code size, use a lot of stack, and provide different
\r
4241 * results on different platforms. An alternative, tiny, third party,
\r
4242 * and limited functionality implementation of sprintf() is provided in
\r
4243 * many of the FreeRTOS/Demo sub-directories in a file called
\r
4244 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
4245 * snprintf() implementation!).
\r
4247 * It is recommended that production systems call uxTaskGetSystemState()
\r
4248 * directly to get access to raw stats data, rather than indirectly
\r
4249 * through a call to vTaskList().
\r
4253 /* Make sure the write buffer does not contain a string. */
\r
4254 *pcWriteBuffer = ( char ) 0x00;
\r
4256 /* Take a snapshot of the number of tasks in case it changes while this
\r
4257 function is executing. */
\r
4258 uxArraySize = uxCurrentNumberOfTasks;
\r
4260 /* Allocate an array index for each task. NOTE! if
\r
4261 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4262 equate to NULL. */
\r
4263 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
\r
4265 if( pxTaskStatusArray != NULL )
\r
4267 /* Generate the (binary) data. */
\r
4268 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
4270 /* Create a human readable table from the binary data. */
\r
4271 for( x = 0; x < uxArraySize; x++ )
\r
4273 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
4275 case eRunning: cStatus = tskRUNNING_CHAR;
\r
4278 case eReady: cStatus = tskREADY_CHAR;
\r
4281 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
4284 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
4287 case eDeleted: cStatus = tskDELETED_CHAR;
\r
4290 case eInvalid: /* Fall through. */
\r
4291 default: /* Should not get here, but it is included
\r
4292 to prevent static checking errors. */
\r
4293 cStatus = ( char ) 0x00;
\r
4297 /* Write the task name to the string, padding with spaces so it
\r
4298 can be printed in tabular form more easily. */
\r
4299 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4301 /* Write the rest of the string. */
\r
4302 sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4303 pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
\r
4306 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4307 is 0 then vPortFree() will be #defined to nothing. */
\r
4308 vPortFree( pxTaskStatusArray );
\r
4312 mtCOVERAGE_TEST_MARKER();
\r
4316 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
4317 /*----------------------------------------------------------*/
\r
4319 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4321 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
4323 TaskStatus_t *pxTaskStatusArray;
\r
4324 UBaseType_t uxArraySize, x;
\r
4325 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
4327 #if( configUSE_TRACE_FACILITY != 1 )
\r
4329 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
4336 * This function is provided for convenience only, and is used by many
\r
4337 * of the demo applications. Do not consider it to be part of the
\r
4340 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
4341 * of the uxTaskGetSystemState() output into a human readable table that
\r
4342 * displays the amount of time each task has spent in the Running state
\r
4343 * in both absolute and percentage terms.
\r
4345 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
4346 * function that might bloat the code size, use a lot of stack, and
\r
4347 * provide different results on different platforms. An alternative,
\r
4348 * tiny, third party, and limited functionality implementation of
\r
4349 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
4350 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
4351 * a full snprintf() implementation!).
\r
4353 * It is recommended that production systems call uxTaskGetSystemState()
\r
4354 * directly to get access to raw stats data, rather than indirectly
\r
4355 * through a call to vTaskGetRunTimeStats().
\r
4358 /* Make sure the write buffer does not contain a string. */
\r
4359 *pcWriteBuffer = ( char ) 0x00;
\r
4361 /* Take a snapshot of the number of tasks in case it changes while this
\r
4362 function is executing. */
\r
4363 uxArraySize = uxCurrentNumberOfTasks;
\r
4365 /* Allocate an array index for each task. NOTE! If
\r
4366 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4367 equate to NULL. */
\r
4368 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
\r
4370 if( pxTaskStatusArray != NULL )
\r
4372 /* Generate the (binary) data. */
\r
4373 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
4375 /* For percentage calculations. */
\r
4376 ulTotalTime /= 100UL;
\r
4378 /* Avoid divide by zero errors. */
\r
4379 if( ulTotalTime > 0UL )
\r
4381 /* Create a human readable table from the binary data. */
\r
4382 for( x = 0; x < uxArraySize; x++ )
\r
4384 /* What percentage of the total run time has the task used?
\r
4385 This will always be rounded down to the nearest integer.
\r
4386 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
4387 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
4389 /* Write the task name to the string, padding with
\r
4390 spaces so it can be printed in tabular form more
\r
4392 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4394 if( ulStatsAsPercentage > 0UL )
\r
4396 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4398 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
4402 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4403 printf() library can be used. */
\r
4404 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4410 /* If the percentage is zero here then the task has
\r
4411 consumed less than 1% of the total run time. */
\r
4412 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4414 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4418 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4419 printf() library can be used. */
\r
4420 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4425 pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
\r
4430 mtCOVERAGE_TEST_MARKER();
\r
4433 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4434 is 0 then vPortFree() will be #defined to nothing. */
\r
4435 vPortFree( pxTaskStatusArray );
\r
4439 mtCOVERAGE_TEST_MARKER();
\r
4443 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
\r
4444 /*-----------------------------------------------------------*/
\r
4446 TickType_t uxTaskResetEventItemValue( void )
\r
4448 TickType_t uxReturn;
\r
4450 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
4452 /* Reset the event list item to its normal value - so it can be used with
\r
4453 queues and semaphores. */
\r
4454 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
4458 /*-----------------------------------------------------------*/
\r
4460 #if ( configUSE_MUTEXES == 1 )
\r
4462 TaskHandle_t pvTaskIncrementMutexHeldCount( void )
\r
4464 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
4465 then pxCurrentTCB will be NULL. */
\r
4466 if( pxCurrentTCB != NULL )
\r
4468 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4471 return pxCurrentTCB;
\r
4474 #endif /* configUSE_MUTEXES */
\r
4475 /*-----------------------------------------------------------*/
\r
4477 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4479 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
4481 uint32_t ulReturn;
\r
4483 taskENTER_CRITICAL();
\r
4485 /* Only block if the notification count is not already non-zero. */
\r
4486 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
4488 /* Mark this task as waiting for a notification. */
\r
4489 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4491 if( xTicksToWait > ( TickType_t ) 0 )
\r
4493 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4494 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4496 /* All ports are written to allow a yield in a critical
\r
4497 section (some will yield immediately, others wait until the
\r
4498 critical section exits) - but it is not something that
\r
4499 application code should ever do. */
\r
4500 portYIELD_WITHIN_API();
\r
4504 mtCOVERAGE_TEST_MARKER();
\r
4509 mtCOVERAGE_TEST_MARKER();
\r
4512 taskEXIT_CRITICAL();
\r
4514 taskENTER_CRITICAL();
\r
4516 traceTASK_NOTIFY_TAKE();
\r
4517 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4519 if( ulReturn != 0UL )
\r
4521 if( xClearCountOnExit != pdFALSE )
\r
4523 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4527 pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
\r
4532 mtCOVERAGE_TEST_MARKER();
\r
4535 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4537 taskEXIT_CRITICAL();
\r
4542 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4543 /*-----------------------------------------------------------*/
\r
4545 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4547 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4549 BaseType_t xReturn;
\r
4551 taskENTER_CRITICAL();
\r
4553 /* Only block if a notification is not already pending. */
\r
4554 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4556 /* Clear bits in the task's notification value as bits may get
\r
4557 set by the notifying task or interrupt. This can be used to
\r
4558 clear the value to zero. */
\r
4559 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4561 /* Mark this task as waiting for a notification. */
\r
4562 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4564 if( xTicksToWait > ( TickType_t ) 0 )
\r
4566 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4567 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4569 /* All ports are written to allow a yield in a critical
\r
4570 section (some will yield immediately, others wait until the
\r
4571 critical section exits) - but it is not something that
\r
4572 application code should ever do. */
\r
4573 portYIELD_WITHIN_API();
\r
4577 mtCOVERAGE_TEST_MARKER();
\r
4582 mtCOVERAGE_TEST_MARKER();
\r
4585 taskEXIT_CRITICAL();
\r
4587 taskENTER_CRITICAL();
\r
4589 traceTASK_NOTIFY_WAIT();
\r
4591 if( pulNotificationValue != NULL )
\r
4593 /* Output the current notification value, which may or may not
\r
4595 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4598 /* If ucNotifyValue is set then either the task never entered the
\r
4599 blocked state (because a notification was already pending) or the
\r
4600 task unblocked because of a notification. Otherwise the task
\r
4601 unblocked because of a timeout. */
\r
4602 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4604 /* A notification was not received. */
\r
4605 xReturn = pdFALSE;
\r
4609 /* A notification was already pending or a notification was
\r
4610 received while the task was waiting. */
\r
4611 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4615 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4617 taskEXIT_CRITICAL();
\r
4622 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4623 /*-----------------------------------------------------------*/
\r
4625 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4627 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4630 BaseType_t xReturn = pdPASS;
\r
4631 uint8_t ucOriginalNotifyState;
\r
4633 configASSERT( xTaskToNotify );
\r
4634 pxTCB = xTaskToNotify;
\r
4636 taskENTER_CRITICAL();
\r
4638 if( pulPreviousNotificationValue != NULL )
\r
4640 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4643 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4645 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4650 pxTCB->ulNotifiedValue |= ulValue;
\r
4654 ( pxTCB->ulNotifiedValue )++;
\r
4657 case eSetValueWithOverwrite :
\r
4658 pxTCB->ulNotifiedValue = ulValue;
\r
4661 case eSetValueWithoutOverwrite :
\r
4662 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4664 pxTCB->ulNotifiedValue = ulValue;
\r
4668 /* The value could not be written to the task. */
\r
4674 /* The task is being notified without its notify value being
\r
4679 /* Should not get here if all enums are handled.
\r
4680 Artificially force an assert by testing a value the
\r
4681 compiler can't assume is const. */
\r
4682 configASSERT( pxTCB->ulNotifiedValue == ~0UL );
\r
4687 traceTASK_NOTIFY();
\r
4689 /* If the task is in the blocked state specifically to wait for a
\r
4690 notification then unblock it now. */
\r
4691 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4693 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4694 prvAddTaskToReadyList( pxTCB );
\r
4696 /* The task should not have been on an event list. */
\r
4697 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4699 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4701 /* If a task is blocked waiting for a notification then
\r
4702 xNextTaskUnblockTime might be set to the blocked task's time
\r
4703 out time. If the task is unblocked for a reason other than
\r
4704 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4705 because it will automatically get reset to a new value when
\r
4706 the tick count equals xNextTaskUnblockTime. However if
\r
4707 tickless idling is used it might be more important to enter
\r
4708 sleep mode at the earliest possible time - so reset
\r
4709 xNextTaskUnblockTime here to ensure it is updated at the
\r
4710 earliest possible time. */
\r
4711 prvResetNextTaskUnblockTime();
\r
4715 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4717 /* The notified task has a priority above the currently
\r
4718 executing task so a yield is required. */
\r
4719 taskYIELD_IF_USING_PREEMPTION();
\r
4723 mtCOVERAGE_TEST_MARKER();
\r
4728 mtCOVERAGE_TEST_MARKER();
\r
4731 taskEXIT_CRITICAL();
\r
4736 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4737 /*-----------------------------------------------------------*/
\r
4739 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4741 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4744 uint8_t ucOriginalNotifyState;
\r
4745 BaseType_t xReturn = pdPASS;
\r
4746 UBaseType_t uxSavedInterruptStatus;
\r
4748 configASSERT( xTaskToNotify );
\r
4750 /* RTOS ports that support interrupt nesting have the concept of a
\r
4751 maximum system call (or maximum API call) interrupt priority.
\r
4752 Interrupts that are above the maximum system call priority are keep
\r
4753 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4754 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4755 is defined in FreeRTOSConfig.h then
\r
4756 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4757 failure if a FreeRTOS API function is called from an interrupt that has
\r
4758 been assigned a priority above the configured maximum system call
\r
4759 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4760 from interrupts that have been assigned a priority at or (logically)
\r
4761 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4762 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4763 simple as possible. More information (albeit Cortex-M specific) is
\r
4764 provided on the following link:
\r
4765 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4766 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4768 pxTCB = xTaskToNotify;
\r
4770 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4772 if( pulPreviousNotificationValue != NULL )
\r
4774 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4777 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4778 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4783 pxTCB->ulNotifiedValue |= ulValue;
\r
4787 ( pxTCB->ulNotifiedValue )++;
\r
4790 case eSetValueWithOverwrite :
\r
4791 pxTCB->ulNotifiedValue = ulValue;
\r
4794 case eSetValueWithoutOverwrite :
\r
4795 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4797 pxTCB->ulNotifiedValue = ulValue;
\r
4801 /* The value could not be written to the task. */
\r
4807 /* The task is being notified without its notify value being
\r
4812 /* Should not get here if all enums are handled.
\r
4813 Artificially force an assert by testing a value the
\r
4814 compiler can't assume is const. */
\r
4815 configASSERT( pxTCB->ulNotifiedValue == ~0UL );
\r
4819 traceTASK_NOTIFY_FROM_ISR();
\r
4821 /* If the task is in the blocked state specifically to wait for a
\r
4822 notification then unblock it now. */
\r
4823 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4825 /* The task should not have been on an event list. */
\r
4826 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4828 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4830 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4831 prvAddTaskToReadyList( pxTCB );
\r
4835 /* The delayed and ready lists cannot be accessed, so hold
\r
4836 this task pending until the scheduler is resumed. */
\r
4837 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4840 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4842 /* The notified task has a priority above the currently
\r
4843 executing task so a yield is required. */
\r
4844 if( pxHigherPriorityTaskWoken != NULL )
\r
4846 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4849 /* Mark that a yield is pending in case the user is not
\r
4850 using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
4851 safe FreeRTOS function. */
\r
4852 xYieldPending = pdTRUE;
\r
4856 mtCOVERAGE_TEST_MARKER();
\r
4860 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4865 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4866 /*-----------------------------------------------------------*/
\r
4868 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4870 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4873 uint8_t ucOriginalNotifyState;
\r
4874 UBaseType_t uxSavedInterruptStatus;
\r
4876 configASSERT( xTaskToNotify );
\r
4878 /* RTOS ports that support interrupt nesting have the concept of a
\r
4879 maximum system call (or maximum API call) interrupt priority.
\r
4880 Interrupts that are above the maximum system call priority are keep
\r
4881 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4882 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4883 is defined in FreeRTOSConfig.h then
\r
4884 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4885 failure if a FreeRTOS API function is called from an interrupt that has
\r
4886 been assigned a priority above the configured maximum system call
\r
4887 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4888 from interrupts that have been assigned a priority at or (logically)
\r
4889 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4890 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4891 simple as possible. More information (albeit Cortex-M specific) is
\r
4892 provided on the following link:
\r
4893 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4894 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4896 pxTCB = xTaskToNotify;
\r
4898 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4900 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4901 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4903 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4905 ( pxTCB->ulNotifiedValue )++;
\r
4907 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
4909 /* If the task is in the blocked state specifically to wait for a
\r
4910 notification then unblock it now. */
\r
4911 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4913 /* The task should not have been on an event list. */
\r
4914 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4916 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4918 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4919 prvAddTaskToReadyList( pxTCB );
\r
4923 /* The delayed and ready lists cannot be accessed, so hold
\r
4924 this task pending until the scheduler is resumed. */
\r
4925 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4928 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4930 /* The notified task has a priority above the currently
\r
4931 executing task so a yield is required. */
\r
4932 if( pxHigherPriorityTaskWoken != NULL )
\r
4934 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4937 /* Mark that a yield is pending in case the user is not
\r
4938 using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
4939 safe FreeRTOS function. */
\r
4940 xYieldPending = pdTRUE;
\r
4944 mtCOVERAGE_TEST_MARKER();
\r
4948 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4951 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4953 /*-----------------------------------------------------------*/
\r
4955 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4957 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
4960 BaseType_t xReturn;
\r
4962 /* If null is passed in here then it is the calling task that is having
\r
4963 its notification state cleared. */
\r
4964 pxTCB = prvGetTCBFromHandle( xTask );
\r
4966 taskENTER_CRITICAL();
\r
4968 if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
\r
4970 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4978 taskEXIT_CRITICAL();
\r
4983 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4984 /*-----------------------------------------------------------*/
\r
4987 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
\r
4989 TickType_t xTimeToWake;
\r
4990 const TickType_t xConstTickCount = xTickCount;
\r
4992 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
4994 /* About to enter a delayed list, so ensure the ucDelayAborted flag is
\r
4995 reset to pdFALSE so it can be detected as having been set to pdTRUE
\r
4996 when the task leaves the Blocked state. */
\r
4997 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
5001 /* Remove the task from the ready list before adding it to the blocked list
\r
5002 as the same list item is used for both lists. */
\r
5003 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
5005 /* The current task must be in a ready list, so there is no need to
\r
5006 check, and the port reset macro can be called directly. */
\r
5007 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); /*lint !e931 pxCurrentTCB cannot change as it is the calling task. pxCurrentTCB->uxPriority and uxTopReadyPriority cannot change as called with scheduler suspended or in a critical section. */
\r
5011 mtCOVERAGE_TEST_MARKER();
\r
5014 #if ( INCLUDE_vTaskSuspend == 1 )
\r
5016 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
\r
5018 /* Add the task to the suspended task list instead of a delayed task
\r
5019 list to ensure it is not woken by a timing event. It will block
\r
5021 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5025 /* Calculate the time at which the task should be woken if the event
\r
5026 does not occur. This may overflow but this doesn't matter, the
\r
5027 kernel will manage it correctly. */
\r
5028 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5030 /* The list item will be inserted in wake time order. */
\r
5031 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5033 if( xTimeToWake < xConstTickCount )
\r
5035 /* Wake time has overflowed. Place this item in the overflow
\r
5037 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5041 /* The wake time has not overflowed, so the current block list
\r
5043 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5045 /* If the task entering the blocked state was placed at the
\r
5046 head of the list of blocked tasks then xNextTaskUnblockTime
\r
5047 needs to be updated too. */
\r
5048 if( xTimeToWake < xNextTaskUnblockTime )
\r
5050 xNextTaskUnblockTime = xTimeToWake;
\r
5054 mtCOVERAGE_TEST_MARKER();
\r
5059 #else /* INCLUDE_vTaskSuspend */
\r
5061 /* Calculate the time at which the task should be woken if the event
\r
5062 does not occur. This may overflow but this doesn't matter, the kernel
\r
5063 will manage it correctly. */
\r
5064 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5066 /* The list item will be inserted in wake time order. */
\r
5067 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5069 if( xTimeToWake < xConstTickCount )
\r
5071 /* Wake time has overflowed. Place this item in the overflow list. */
\r
5072 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5076 /* The wake time has not overflowed, so the current block list is used. */
\r
5077 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5079 /* If the task entering the blocked state was placed at the head of the
\r
5080 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
5082 if( xTimeToWake < xNextTaskUnblockTime )
\r
5084 xNextTaskUnblockTime = xTimeToWake;
\r
5088 mtCOVERAGE_TEST_MARKER();
\r
5092 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
\r
5093 ( void ) xCanBlockIndefinitely;
\r
5095 #endif /* INCLUDE_vTaskSuspend */
\r
5098 /* Code below here allows additional code to be inserted into this source file,
\r
5099 especially where access to file scope functions and data is needed (for example
\r
5100 when performing module tests). */
\r
5102 #ifdef FREERTOS_MODULE_TEST
\r
5103 #include "tasks_test_access_functions.h"
\r
5107 #if( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
\r
5109 #include "freertos_tasks_c_additions.h"
\r
5111 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
5112 static void freertos_tasks_c_additions_init( void )
\r
5114 FREERTOS_TASKS_C_ADDITIONS_INIT();
\r
projects / freertos / blob