2 * FreeRTOS Kernel V10.0.1
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3 * Copyright (C) 2017 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 e961 and e750 are suppressed as a MISRA exception justified because the
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44 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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45 header files above, but not in this file, in order to generate the correct
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46 privileged Vs unprivileged linkage and placement. */
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47 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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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 ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( 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
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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 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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341 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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342 below to enable the use of older kernel aware debuggers. */
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343 typedef tskTCB TCB_t;
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345 /*lint -save -e956 A manual analysis and inspection has been used to determine
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346 which static variables must be declared volatile. */
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348 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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350 /* Lists for ready and blocked tasks. --------------------*/
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351 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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352 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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353 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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354 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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355 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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356 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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358 #if( INCLUDE_vTaskDelete == 1 )
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360 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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361 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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365 #if ( INCLUDE_vTaskSuspend == 1 )
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367 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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371 /* Other file private variables. --------------------------------*/
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372 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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373 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
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374 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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375 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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376 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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377 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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378 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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379 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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380 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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381 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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383 /* Context switches are held pending while the scheduler is suspended. Also,
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384 interrupts must not manipulate the xStateListItem of a TCB, or any of the
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385 lists the xStateListItem can be referenced from, if the scheduler is suspended.
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386 If an interrupt needs to unblock a task while the scheduler is suspended then it
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387 moves the task's event list item into the xPendingReadyList, ready for the
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388 kernel to move the task from the pending ready list into the real ready list
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389 when the scheduler is unsuspended. The pending ready list itself can only be
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390 accessed from a critical section. */
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391 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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393 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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395 PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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396 PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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402 /*-----------------------------------------------------------*/
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404 /* Callback function prototypes. --------------------------*/
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405 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
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407 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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411 #if( configUSE_TICK_HOOK > 0 )
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413 extern void vApplicationTickHook( void );
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417 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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419 extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );
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423 /* File private functions. --------------------------------*/
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426 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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427 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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428 * is in any other state.
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430 #if ( INCLUDE_vTaskSuspend == 1 )
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432 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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434 #endif /* INCLUDE_vTaskSuspend */
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437 * Utility to ready all the lists used by the scheduler. This is called
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438 * automatically upon the creation of the first task.
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440 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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443 * The idle task, which as all tasks is implemented as a never ending loop.
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444 * The idle task is automatically created and added to the ready lists upon
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445 * creation of the first user task.
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447 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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448 * language extensions. The equivalent prototype for this function is:
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450 * void prvIdleTask( void *pvParameters );
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453 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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456 * Utility to free all memory allocated by the scheduler to hold a TCB,
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457 * including the stack pointed to by the TCB.
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459 * This does not free memory allocated by the task itself (i.e. memory
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460 * allocated by calls to pvPortMalloc from within the tasks application code).
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462 #if ( INCLUDE_vTaskDelete == 1 )
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464 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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469 * Used only by the idle task. This checks to see if anything has been placed
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470 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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471 * and its TCB deleted.
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473 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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476 * The currently executing task is entering the Blocked state. Add the task to
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477 * either the current or the overflow delayed task list.
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479 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
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482 * Fills an TaskStatus_t structure with information on each task that is
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483 * referenced from the pxList list (which may be a ready list, a delayed list,
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484 * a suspended list, etc.).
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486 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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487 * NORMAL APPLICATION CODE.
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489 #if ( configUSE_TRACE_FACILITY == 1 )
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491 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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496 * Searches pxList for a task with name pcNameToQuery - returning a handle to
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497 * the task if it is found, or NULL if the task is not found.
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499 #if ( INCLUDE_xTaskGetHandle == 1 )
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501 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
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506 * When a task is created, the stack of the task is filled with a known value.
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507 * This function determines the 'high water mark' of the task stack by
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508 * determining how much of the stack remains at the original preset value.
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510 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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512 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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517 * Return the amount of time, in ticks, that will pass before the kernel will
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518 * next move a task from the Blocked state to the Running state.
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520 * This conditional compilation should use inequality to 0, not equality to 1.
\r
521 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
\r
522 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
\r
523 * set to a value other than 1.
\r
525 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
527 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
\r
532 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
\r
533 * will exit the Blocked state.
\r
535 static void prvResetNextTaskUnblockTime( void );
\r
537 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
540 * Helper function used to pad task names with spaces when printing out
\r
541 * human readable tables of task information.
\r
543 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
\r
548 * Called after a Task_t structure has been allocated either statically or
\r
549 * dynamically to fill in the structure's members.
\r
551 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
552 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
553 const uint32_t ulStackDepth,
\r
554 void * const pvParameters,
\r
555 UBaseType_t uxPriority,
\r
556 TaskHandle_t * const pxCreatedTask,
\r
558 const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
\r
561 * Called after a new task has been created and initialised to place the task
\r
562 * under the control of the scheduler.
\r
564 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
\r
567 * freertos_tasks_c_additions_init() should only be called if the user definable
\r
568 * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
\r
569 * called by the function.
\r
571 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
573 static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
\r
577 /*-----------------------------------------------------------*/
\r
579 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
581 TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
\r
582 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
583 const uint32_t ulStackDepth,
\r
584 void * const pvParameters,
\r
585 UBaseType_t uxPriority,
\r
586 StackType_t * const puxStackBuffer,
\r
587 StaticTask_t * const pxTaskBuffer )
\r
590 TaskHandle_t xReturn;
\r
592 configASSERT( puxStackBuffer != NULL );
\r
593 configASSERT( pxTaskBuffer != NULL );
\r
595 #if( configASSERT_DEFINED == 1 )
\r
597 /* Sanity check that the size of the structure used to declare a
\r
598 variable of type StaticTask_t equals the size of the real task
\r
600 volatile size_t xSize = sizeof( StaticTask_t );
\r
601 configASSERT( xSize == sizeof( TCB_t ) );
\r
603 #endif /* configASSERT_DEFINED */
\r
606 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
\r
608 /* The memory used for the task's TCB and stack are passed into this
\r
609 function - use them. */
\r
610 pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
\r
611 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
\r
613 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 Macro has been consolidated for readability reasons. */
\r
615 /* Tasks can be created statically or dynamically, so note this
\r
616 task was created statically in case the task is later deleted. */
\r
617 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
619 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
621 prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
\r
622 prvAddNewTaskToReadyList( pxNewTCB );
\r
632 #endif /* SUPPORT_STATIC_ALLOCATION */
\r
633 /*-----------------------------------------------------------*/
\r
635 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
637 BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
640 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
642 configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
\r
643 configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
\r
645 if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
\r
647 /* Allocate space for the TCB. Where the memory comes from depends
\r
648 on the implementation of the port malloc function and whether or
\r
649 not static allocation is being used. */
\r
650 pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
\r
652 /* Store the stack location in the TCB. */
\r
653 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
655 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
657 /* Tasks can be created statically or dynamically, so note this
\r
658 task was created statically in case the task is later deleted. */
\r
659 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
661 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
663 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
664 pxTaskDefinition->pcName,
\r
665 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
666 pxTaskDefinition->pvParameters,
\r
667 pxTaskDefinition->uxPriority,
\r
668 pxCreatedTask, pxNewTCB,
\r
669 pxTaskDefinition->xRegions );
\r
671 prvAddNewTaskToReadyList( pxNewTCB );
\r
678 #endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
\r
679 /*-----------------------------------------------------------*/
\r
681 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
683 BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
686 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
688 configASSERT( pxTaskDefinition->puxStackBuffer );
\r
690 if( pxTaskDefinition->puxStackBuffer != NULL )
\r
692 /* Allocate space for the TCB. Where the memory comes from depends
\r
693 on the implementation of the port malloc function and whether or
\r
694 not static allocation is being used. */
\r
695 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
697 if( pxNewTCB != NULL )
\r
699 /* Store the stack location in the TCB. */
\r
700 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
702 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
704 /* Tasks can be created statically or dynamically, so note
\r
705 this task had a statically allocated stack in case it is
\r
706 later deleted. The TCB was allocated dynamically. */
\r
707 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
\r
711 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
712 pxTaskDefinition->pcName,
\r
713 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
714 pxTaskDefinition->pvParameters,
\r
715 pxTaskDefinition->uxPriority,
\r
716 pxCreatedTask, pxNewTCB,
\r
717 pxTaskDefinition->xRegions );
\r
719 prvAddNewTaskToReadyList( pxNewTCB );
\r
727 #endif /* portUSING_MPU_WRAPPERS */
\r
728 /*-----------------------------------------------------------*/
\r
730 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
732 BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
\r
733 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
734 const configSTACK_DEPTH_TYPE usStackDepth,
\r
735 void * const pvParameters,
\r
736 UBaseType_t uxPriority,
\r
737 TaskHandle_t * const pxCreatedTask )
\r
740 BaseType_t xReturn;
\r
742 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
743 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
744 the TCB then the stack. */
\r
745 #if( portSTACK_GROWTH > 0 )
\r
747 /* Allocate space for the TCB. Where the memory comes from depends on
\r
748 the implementation of the port malloc function and whether or not static
\r
749 allocation is being used. */
\r
750 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
752 if( pxNewTCB != NULL )
\r
754 /* Allocate space for the stack used by the task being created.
\r
755 The base of the stack memory stored in the TCB so the task can
\r
756 be deleted later if required. */
\r
757 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
759 if( pxNewTCB->pxStack == NULL )
\r
761 /* Could not allocate the stack. Delete the allocated TCB. */
\r
762 vPortFree( pxNewTCB );
\r
767 #else /* portSTACK_GROWTH */
\r
769 StackType_t *pxStack;
\r
771 /* Allocate space for the stack used by the task being created. */
\r
772 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( pxStack != NULL )
\r
776 /* Allocate space for the TCB. */
\r
777 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e961 MISRA exception as the casts are only redundant for some paths. */
\r
779 if( pxNewTCB != NULL )
\r
781 /* Store the stack location in the TCB. */
\r
782 pxNewTCB->pxStack = pxStack;
\r
786 /* The stack cannot be used as the TCB was not created. Free
\r
788 vPortFree( pxStack );
\r
796 #endif /* portSTACK_GROWTH */
\r
798 if( pxNewTCB != NULL )
\r
800 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 Macro has been consolidated for readability reasons. */
\r
802 /* Tasks can be created statically or dynamically, so note this
\r
803 task was created dynamically in case it is later deleted. */
\r
804 pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
\r
806 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
808 prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
\r
809 prvAddNewTaskToReadyList( pxNewTCB );
\r
814 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
820 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
821 /*-----------------------------------------------------------*/
\r
823 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
824 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
825 const uint32_t ulStackDepth,
\r
826 void * const pvParameters,
\r
827 UBaseType_t uxPriority,
\r
828 TaskHandle_t * const pxCreatedTask,
\r
830 const MemoryRegion_t * const xRegions )
\r
832 StackType_t *pxTopOfStack;
\r
835 #if( portUSING_MPU_WRAPPERS == 1 )
\r
836 /* Should the task be created in privileged mode? */
\r
837 BaseType_t xRunPrivileged;
\r
838 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
840 xRunPrivileged = pdTRUE;
\r
844 xRunPrivileged = pdFALSE;
\r
846 uxPriority &= ~portPRIVILEGE_BIT;
\r
847 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
849 configASSERT( pcName );
\r
851 /* Avoid dependency on memset() if it is not required. */
\r
852 #if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
\r
854 /* Fill the stack with a known value to assist debugging. */
\r
855 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
\r
857 #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
\r
859 /* Calculate the top of stack address. This depends on whether the stack
\r
860 grows from high memory to low (as per the 80x86) or vice versa.
\r
861 portSTACK_GROWTH is used to make the result positive or negative as required
\r
863 #if( portSTACK_GROWTH < 0 )
\r
865 pxTopOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
866 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */
\r
868 /* Check the alignment of the calculated top of stack is correct. */
\r
869 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
871 #if( configRECORD_STACK_HIGH_ADDRESS == 1 )
\r
873 /* Also record the stack's high address, which may assist
\r
875 pxNewTCB->pxEndOfStack = pxTopOfStack;
\r
877 #endif /* configRECORD_STACK_HIGH_ADDRESS */
\r
879 #else /* portSTACK_GROWTH */
\r
881 pxTopOfStack = pxNewTCB->pxStack;
\r
883 /* Check the alignment of the stack buffer is correct. */
\r
884 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
886 /* The other extreme of the stack space is required if stack checking is
\r
888 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
890 #endif /* portSTACK_GROWTH */
\r
892 /* Store the task name in the TCB. */
\r
893 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
895 pxNewTCB->pcTaskName[ x ] = pcName[ x ];
\r
897 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
898 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
899 string is not accessible (extremely unlikely). */
\r
900 if( pcName[ x ] == 0x00 )
\r
906 mtCOVERAGE_TEST_MARKER();
\r
910 /* Ensure the name string is terminated in the case that the string length
\r
911 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
912 pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
914 /* This is used as an array index so must ensure it's not too large. First
\r
915 remove the privilege bit if one is present. */
\r
916 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
918 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
922 mtCOVERAGE_TEST_MARKER();
\r
925 pxNewTCB->uxPriority = uxPriority;
\r
926 #if ( configUSE_MUTEXES == 1 )
\r
928 pxNewTCB->uxBasePriority = uxPriority;
\r
929 pxNewTCB->uxMutexesHeld = 0;
\r
931 #endif /* configUSE_MUTEXES */
\r
933 vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
\r
934 vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
\r
936 /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
\r
937 back to the containing TCB from a generic item in a list. */
\r
938 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
\r
940 /* Event lists are always in priority order. */
\r
941 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
942 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
\r
944 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
946 pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
948 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
950 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
952 pxNewTCB->pxTaskTag = NULL;
\r
954 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
956 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
958 pxNewTCB->ulRunTimeCounter = 0UL;
\r
960 #endif /* configGENERATE_RUN_TIME_STATS */
\r
962 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
964 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
\r
968 /* Avoid compiler warning about unreferenced parameter. */
\r
973 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
975 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
977 pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
982 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
984 pxNewTCB->ulNotifiedValue = 0;
\r
985 pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
989 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
991 /* Initialise this task's Newlib reent structure. */
\r
992 _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
\r
996 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
998 pxNewTCB->ucDelayAborted = pdFALSE;
\r
1002 /* Initialize the TCB stack to look as if the task was already running,
\r
1003 but had been interrupted by the scheduler. The return address is set
\r
1004 to the start of the task function. Once the stack has been initialised
\r
1005 the top of stack variable is updated. */
\r
1006 #if( portUSING_MPU_WRAPPERS == 1 )
\r
1008 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1010 #else /* portUSING_MPU_WRAPPERS */
\r
1012 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
1014 #endif /* portUSING_MPU_WRAPPERS */
\r
1016 if( ( void * ) pxCreatedTask != NULL )
\r
1018 /* Pass the handle out in an anonymous way. The handle can be used to
\r
1019 change the created task's priority, delete the created task, etc.*/
\r
1020 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
1024 mtCOVERAGE_TEST_MARKER();
\r
1027 /*-----------------------------------------------------------*/
\r
1029 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
\r
1031 /* Ensure interrupts don't access the task lists while the lists are being
\r
1033 taskENTER_CRITICAL();
\r
1035 uxCurrentNumberOfTasks++;
\r
1036 if( pxCurrentTCB == NULL )
\r
1038 /* There are no other tasks, or all the other tasks are in
\r
1039 the suspended state - make this the current task. */
\r
1040 pxCurrentTCB = pxNewTCB;
\r
1042 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
1044 /* This is the first task to be created so do the preliminary
\r
1045 initialisation required. We will not recover if this call
\r
1046 fails, but we will report the failure. */
\r
1047 prvInitialiseTaskLists();
\r
1051 mtCOVERAGE_TEST_MARKER();
\r
1056 /* If the scheduler is not already running, make this task the
\r
1057 current task if it is the highest priority task to be created
\r
1059 if( xSchedulerRunning == pdFALSE )
\r
1061 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
\r
1063 pxCurrentTCB = pxNewTCB;
\r
1067 mtCOVERAGE_TEST_MARKER();
\r
1072 mtCOVERAGE_TEST_MARKER();
\r
1078 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1080 /* Add a counter into the TCB for tracing only. */
\r
1081 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
1083 #endif /* configUSE_TRACE_FACILITY */
\r
1084 traceTASK_CREATE( pxNewTCB );
\r
1086 prvAddTaskToReadyList( pxNewTCB );
\r
1088 portSETUP_TCB( pxNewTCB );
\r
1090 taskEXIT_CRITICAL();
\r
1092 if( xSchedulerRunning != pdFALSE )
\r
1094 /* If the created task is of a higher priority than the current task
\r
1095 then it should run now. */
\r
1096 if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
\r
1098 taskYIELD_IF_USING_PREEMPTION();
\r
1102 mtCOVERAGE_TEST_MARKER();
\r
1107 mtCOVERAGE_TEST_MARKER();
\r
1110 /*-----------------------------------------------------------*/
\r
1112 #if ( INCLUDE_vTaskDelete == 1 )
\r
1114 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
1118 taskENTER_CRITICAL();
\r
1120 /* If null is passed in here then it is the calling task that is
\r
1122 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
1124 /* Remove task from the ready list. */
\r
1125 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1127 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1131 mtCOVERAGE_TEST_MARKER();
\r
1134 /* Is the task waiting on an event also? */
\r
1135 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1137 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1141 mtCOVERAGE_TEST_MARKER();
\r
1144 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
1145 detect that the task lists need re-generating. This is done before
\r
1146 portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
\r
1150 if( pxTCB == pxCurrentTCB )
\r
1152 /* A task is deleting itself. This cannot complete within the
\r
1153 task itself, as a context switch to another task is required.
\r
1154 Place the task in the termination list. The idle task will
\r
1155 check the termination list and free up any memory allocated by
\r
1156 the scheduler for the TCB and stack of the deleted task. */
\r
1157 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
\r
1159 /* Increment the ucTasksDeleted variable so the idle task knows
\r
1160 there is a task that has been deleted and that it should therefore
\r
1161 check the xTasksWaitingTermination list. */
\r
1162 ++uxDeletedTasksWaitingCleanUp;
\r
1164 /* The pre-delete hook is primarily for the Windows simulator,
\r
1165 in which Windows specific clean up operations are performed,
\r
1166 after which it is not possible to yield away from this task -
\r
1167 hence xYieldPending is used to latch that a context switch is
\r
1169 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
1173 --uxCurrentNumberOfTasks;
\r
1174 prvDeleteTCB( pxTCB );
\r
1176 /* Reset the next expected unblock time in case it referred to
\r
1177 the task that has just been deleted. */
\r
1178 prvResetNextTaskUnblockTime();
\r
1181 traceTASK_DELETE( pxTCB );
\r
1183 taskEXIT_CRITICAL();
\r
1185 /* Force a reschedule if it is the currently running task that has just
\r
1187 if( xSchedulerRunning != pdFALSE )
\r
1189 if( pxTCB == pxCurrentTCB )
\r
1191 configASSERT( uxSchedulerSuspended == 0 );
\r
1192 portYIELD_WITHIN_API();
\r
1196 mtCOVERAGE_TEST_MARKER();
\r
1201 #endif /* INCLUDE_vTaskDelete */
\r
1202 /*-----------------------------------------------------------*/
\r
1204 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
1206 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
1208 TickType_t xTimeToWake;
\r
1209 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
1211 configASSERT( pxPreviousWakeTime );
\r
1212 configASSERT( ( xTimeIncrement > 0U ) );
\r
1213 configASSERT( uxSchedulerSuspended == 0 );
\r
1215 vTaskSuspendAll();
\r
1217 /* Minor optimisation. The tick count cannot change in this
\r
1219 const TickType_t xConstTickCount = xTickCount;
\r
1221 /* Generate the tick time at which the task wants to wake. */
\r
1222 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
1224 if( xConstTickCount < *pxPreviousWakeTime )
\r
1226 /* The tick count has overflowed since this function was
\r
1227 lasted called. In this case the only time we should ever
\r
1228 actually delay is if the wake time has also overflowed,
\r
1229 and the wake time is greater than the tick time. When this
\r
1230 is the case it is as if neither time had overflowed. */
\r
1231 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
1233 xShouldDelay = pdTRUE;
\r
1237 mtCOVERAGE_TEST_MARKER();
\r
1242 /* The tick time has not overflowed. In this case we will
\r
1243 delay if either the wake time has overflowed, and/or the
\r
1244 tick time is less than the wake time. */
\r
1245 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
1247 xShouldDelay = pdTRUE;
\r
1251 mtCOVERAGE_TEST_MARKER();
\r
1255 /* Update the wake time ready for the next call. */
\r
1256 *pxPreviousWakeTime = xTimeToWake;
\r
1258 if( xShouldDelay != pdFALSE )
\r
1260 traceTASK_DELAY_UNTIL( xTimeToWake );
\r
1262 /* prvAddCurrentTaskToDelayedList() needs the block time, not
\r
1263 the time to wake, so subtract the current tick count. */
\r
1264 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
\r
1268 mtCOVERAGE_TEST_MARKER();
\r
1271 xAlreadyYielded = xTaskResumeAll();
\r
1273 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1274 have put ourselves to sleep. */
\r
1275 if( xAlreadyYielded == pdFALSE )
\r
1277 portYIELD_WITHIN_API();
\r
1281 mtCOVERAGE_TEST_MARKER();
\r
1285 #endif /* INCLUDE_vTaskDelayUntil */
\r
1286 /*-----------------------------------------------------------*/
\r
1288 #if ( INCLUDE_vTaskDelay == 1 )
\r
1290 void vTaskDelay( const TickType_t xTicksToDelay )
\r
1292 BaseType_t xAlreadyYielded = pdFALSE;
\r
1294 /* A delay time of zero just forces a reschedule. */
\r
1295 if( xTicksToDelay > ( TickType_t ) 0U )
\r
1297 configASSERT( uxSchedulerSuspended == 0 );
\r
1298 vTaskSuspendAll();
\r
1300 traceTASK_DELAY();
\r
1302 /* A task that is removed from the event list while the
\r
1303 scheduler is suspended will not get placed in the ready
\r
1304 list or removed from the blocked list until the scheduler
\r
1307 This task cannot be in an event list as it is the currently
\r
1308 executing task. */
\r
1309 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
\r
1311 xAlreadyYielded = xTaskResumeAll();
\r
1315 mtCOVERAGE_TEST_MARKER();
\r
1318 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1319 have put ourselves to sleep. */
\r
1320 if( xAlreadyYielded == pdFALSE )
\r
1322 portYIELD_WITHIN_API();
\r
1326 mtCOVERAGE_TEST_MARKER();
\r
1330 #endif /* INCLUDE_vTaskDelay */
\r
1331 /*-----------------------------------------------------------*/
\r
1333 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) )
\r
1335 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1337 eTaskState eReturn;
\r
1338 List_t *pxStateList;
\r
1339 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1341 configASSERT( pxTCB );
\r
1343 if( pxTCB == pxCurrentTCB )
\r
1345 /* The task calling this function is querying its own state. */
\r
1346 eReturn = eRunning;
\r
1350 taskENTER_CRITICAL();
\r
1352 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
\r
1354 taskEXIT_CRITICAL();
\r
1356 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
1358 /* The task being queried is referenced from one of the Blocked
\r
1360 eReturn = eBlocked;
\r
1363 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1364 else if( pxStateList == &xSuspendedTaskList )
\r
1366 /* The task being queried is referenced from the suspended
\r
1367 list. Is it genuinely suspended or is it blocked
\r
1369 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1371 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1373 /* The task does not appear on the vent list item of
\r
1374 and of the RTOS objects, but could still be in the
\r
1375 blocked state if it is waiting on its notification
\r
1376 rather than waiting on an object. */
\r
1377 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1379 eReturn = eBlocked;
\r
1383 eReturn = eSuspended;
\r
1388 eReturn = eSuspended;
\r
1394 eReturn = eBlocked;
\r
1399 #if ( INCLUDE_vTaskDelete == 1 )
\r
1400 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1402 /* The task being queried is referenced from the deleted
\r
1403 tasks list, or it is not referenced from any lists at
\r
1405 eReturn = eDeleted;
\r
1409 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1411 /* If the task is not in any other state, it must be in the
\r
1412 Ready (including pending ready) state. */
\r
1418 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1420 #endif /* INCLUDE_eTaskGetState */
\r
1421 /*-----------------------------------------------------------*/
\r
1423 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1425 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1428 UBaseType_t uxReturn;
\r
1430 taskENTER_CRITICAL();
\r
1432 /* If null is passed in here then it is the priority of the that
\r
1433 called uxTaskPriorityGet() that is being queried. */
\r
1434 pxTCB = prvGetTCBFromHandle( xTask );
\r
1435 uxReturn = pxTCB->uxPriority;
\r
1437 taskEXIT_CRITICAL();
\r
1442 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1443 /*-----------------------------------------------------------*/
\r
1445 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1447 UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )
\r
1450 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1452 /* RTOS ports that support interrupt nesting have the concept of a
\r
1453 maximum system call (or maximum API call) interrupt priority.
\r
1454 Interrupts that are above the maximum system call priority are keep
\r
1455 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1456 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1457 is defined in FreeRTOSConfig.h then
\r
1458 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1459 failure if a FreeRTOS API function is called from an interrupt that has
\r
1460 been assigned a priority above the configured maximum system call
\r
1461 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1462 from interrupts that have been assigned a priority at or (logically)
\r
1463 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1464 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1465 simple as possible. More information (albeit Cortex-M specific) is
\r
1466 provided on the following link:
\r
1467 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1468 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1470 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1472 /* If null is passed in here then it is the priority of the calling
\r
1473 task that is being queried. */
\r
1474 pxTCB = prvGetTCBFromHandle( xTask );
\r
1475 uxReturn = pxTCB->uxPriority;
\r
1477 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1482 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1483 /*-----------------------------------------------------------*/
\r
1485 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1487 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1490 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1491 BaseType_t xYieldRequired = pdFALSE;
\r
1493 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1495 /* Ensure the new priority is valid. */
\r
1496 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1498 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1502 mtCOVERAGE_TEST_MARKER();
\r
1505 taskENTER_CRITICAL();
\r
1507 /* If null is passed in here then it is the priority of the calling
\r
1508 task that is being changed. */
\r
1509 pxTCB = prvGetTCBFromHandle( xTask );
\r
1511 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1513 #if ( configUSE_MUTEXES == 1 )
\r
1515 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1519 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1523 if( uxCurrentBasePriority != uxNewPriority )
\r
1525 /* The priority change may have readied a task of higher
\r
1526 priority than the calling task. */
\r
1527 if( uxNewPriority > uxCurrentBasePriority )
\r
1529 if( pxTCB != pxCurrentTCB )
\r
1531 /* The priority of a task other than the currently
\r
1532 running task is being raised. Is the priority being
\r
1533 raised above that of the running task? */
\r
1534 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1536 xYieldRequired = pdTRUE;
\r
1540 mtCOVERAGE_TEST_MARKER();
\r
1545 /* The priority of the running task is being raised,
\r
1546 but the running task must already be the highest
\r
1547 priority task able to run so no yield is required. */
\r
1550 else if( pxTCB == pxCurrentTCB )
\r
1552 /* Setting the priority of the running task down means
\r
1553 there may now be another task of higher priority that
\r
1554 is ready to execute. */
\r
1555 xYieldRequired = pdTRUE;
\r
1559 /* Setting the priority of any other task down does not
\r
1560 require a yield as the running task must be above the
\r
1561 new priority of the task being modified. */
\r
1564 /* Remember the ready list the task might be referenced from
\r
1565 before its uxPriority member is changed so the
\r
1566 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1567 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1569 #if ( configUSE_MUTEXES == 1 )
\r
1571 /* Only change the priority being used if the task is not
\r
1572 currently using an inherited priority. */
\r
1573 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1575 pxTCB->uxPriority = uxNewPriority;
\r
1579 mtCOVERAGE_TEST_MARKER();
\r
1582 /* The base priority gets set whatever. */
\r
1583 pxTCB->uxBasePriority = uxNewPriority;
\r
1587 pxTCB->uxPriority = uxNewPriority;
\r
1591 /* Only reset the event list item value if the value is not
\r
1592 being used for anything else. */
\r
1593 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1595 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
1599 mtCOVERAGE_TEST_MARKER();
\r
1602 /* If the task is in the blocked or suspended list we need do
\r
1603 nothing more than change its priority variable. However, if
\r
1604 the task is in a ready list it needs to be removed and placed
\r
1605 in the list appropriate to its new priority. */
\r
1606 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1608 /* The task is currently in its ready list - remove before
\r
1609 adding it to it's new ready list. As we are in a critical
\r
1610 section we can do this even if the scheduler is suspended. */
\r
1611 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1613 /* It is known that the task is in its ready list so
\r
1614 there is no need to check again and the port level
\r
1615 reset macro can be called directly. */
\r
1616 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1620 mtCOVERAGE_TEST_MARKER();
\r
1622 prvAddTaskToReadyList( pxTCB );
\r
1626 mtCOVERAGE_TEST_MARKER();
\r
1629 if( xYieldRequired != pdFALSE )
\r
1631 taskYIELD_IF_USING_PREEMPTION();
\r
1635 mtCOVERAGE_TEST_MARKER();
\r
1638 /* Remove compiler warning about unused variables when the port
\r
1639 optimised task selection is not being used. */
\r
1640 ( void ) uxPriorityUsedOnEntry;
\r
1643 taskEXIT_CRITICAL();
\r
1646 #endif /* INCLUDE_vTaskPrioritySet */
\r
1647 /*-----------------------------------------------------------*/
\r
1649 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1651 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1655 taskENTER_CRITICAL();
\r
1657 /* If null is passed in here then it is the running task that is
\r
1658 being suspended. */
\r
1659 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1661 traceTASK_SUSPEND( pxTCB );
\r
1663 /* Remove task from the ready/delayed list and place in the
\r
1664 suspended list. */
\r
1665 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1667 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1671 mtCOVERAGE_TEST_MARKER();
\r
1674 /* Is the task waiting on an event also? */
\r
1675 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1677 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1681 mtCOVERAGE_TEST_MARKER();
\r
1684 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
\r
1686 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1688 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1690 /* The task was blocked to wait for a notification, but is
\r
1691 now suspended, so no notification was received. */
\r
1692 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
1697 taskEXIT_CRITICAL();
\r
1699 if( xSchedulerRunning != pdFALSE )
\r
1701 /* Reset the next expected unblock time in case it referred to the
\r
1702 task that is now in the Suspended state. */
\r
1703 taskENTER_CRITICAL();
\r
1705 prvResetNextTaskUnblockTime();
\r
1707 taskEXIT_CRITICAL();
\r
1711 mtCOVERAGE_TEST_MARKER();
\r
1714 if( pxTCB == pxCurrentTCB )
\r
1716 if( xSchedulerRunning != pdFALSE )
\r
1718 /* The current task has just been suspended. */
\r
1719 configASSERT( uxSchedulerSuspended == 0 );
\r
1720 portYIELD_WITHIN_API();
\r
1724 /* The scheduler is not running, but the task that was pointed
\r
1725 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1726 must be adjusted to point to a different task. */
\r
1727 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1729 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1730 NULL so when the next task is created pxCurrentTCB will
\r
1731 be set to point to it no matter what its relative priority
\r
1733 pxCurrentTCB = NULL;
\r
1737 vTaskSwitchContext();
\r
1743 mtCOVERAGE_TEST_MARKER();
\r
1747 #endif /* INCLUDE_vTaskSuspend */
\r
1748 /*-----------------------------------------------------------*/
\r
1750 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1752 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1754 BaseType_t xReturn = pdFALSE;
\r
1755 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1757 /* Accesses xPendingReadyList so must be called from a critical
\r
1760 /* It does not make sense to check if the calling task is suspended. */
\r
1761 configASSERT( xTask );
\r
1763 /* Is the task being resumed actually in the suspended list? */
\r
1764 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1766 /* Has the task already been resumed from within an ISR? */
\r
1767 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1769 /* Is it in the suspended list because it is in the Suspended
\r
1770 state, or because is is blocked with no timeout? */
\r
1771 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
\r
1777 mtCOVERAGE_TEST_MARKER();
\r
1782 mtCOVERAGE_TEST_MARKER();
\r
1787 mtCOVERAGE_TEST_MARKER();
\r
1791 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1793 #endif /* INCLUDE_vTaskSuspend */
\r
1794 /*-----------------------------------------------------------*/
\r
1796 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1798 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1800 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1802 /* It does not make sense to resume the calling task. */
\r
1803 configASSERT( xTaskToResume );
\r
1805 /* The parameter cannot be NULL as it is impossible to resume the
\r
1806 currently executing task. */
\r
1807 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1809 taskENTER_CRITICAL();
\r
1811 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1813 traceTASK_RESUME( pxTCB );
\r
1815 /* The ready list can be accessed even if the scheduler is
\r
1816 suspended because this is inside a critical section. */
\r
1817 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1818 prvAddTaskToReadyList( pxTCB );
\r
1820 /* A higher priority task may have just been resumed. */
\r
1821 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1823 /* This yield may not cause the task just resumed to run,
\r
1824 but will leave the lists in the correct state for the
\r
1826 taskYIELD_IF_USING_PREEMPTION();
\r
1830 mtCOVERAGE_TEST_MARKER();
\r
1835 mtCOVERAGE_TEST_MARKER();
\r
1838 taskEXIT_CRITICAL();
\r
1842 mtCOVERAGE_TEST_MARKER();
\r
1846 #endif /* INCLUDE_vTaskSuspend */
\r
1848 /*-----------------------------------------------------------*/
\r
1850 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1852 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1854 BaseType_t xYieldRequired = pdFALSE;
\r
1855 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1856 UBaseType_t uxSavedInterruptStatus;
\r
1858 configASSERT( xTaskToResume );
\r
1860 /* RTOS ports that support interrupt nesting have the concept of a
\r
1861 maximum system call (or maximum API call) interrupt priority.
\r
1862 Interrupts that are above the maximum system call priority are keep
\r
1863 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1864 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1865 is defined in FreeRTOSConfig.h then
\r
1866 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1867 failure if a FreeRTOS API function is called from an interrupt that has
\r
1868 been assigned a priority above the configured maximum system call
\r
1869 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1870 from interrupts that have been assigned a priority at or (logically)
\r
1871 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1872 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1873 simple as possible. More information (albeit Cortex-M specific) is
\r
1874 provided on the following link:
\r
1875 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1876 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1878 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1880 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1882 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1884 /* Check the ready lists can be accessed. */
\r
1885 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1887 /* Ready lists can be accessed so move the task from the
\r
1888 suspended list to the ready list directly. */
\r
1889 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1891 xYieldRequired = pdTRUE;
\r
1895 mtCOVERAGE_TEST_MARKER();
\r
1898 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1899 prvAddTaskToReadyList( pxTCB );
\r
1903 /* The delayed or ready lists cannot be accessed so the task
\r
1904 is held in the pending ready list until the scheduler is
\r
1906 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1911 mtCOVERAGE_TEST_MARKER();
\r
1914 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1916 return xYieldRequired;
\r
1919 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1920 /*-----------------------------------------------------------*/
\r
1922 void vTaskStartScheduler( void )
\r
1924 BaseType_t xReturn;
\r
1926 /* Add the idle task at the lowest priority. */
\r
1927 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1929 StaticTask_t *pxIdleTaskTCBBuffer = NULL;
\r
1930 StackType_t *pxIdleTaskStackBuffer = NULL;
\r
1931 uint32_t ulIdleTaskStackSize;
\r
1933 /* The Idle task is created using user provided RAM - obtain the
\r
1934 address of the RAM then create the idle task. */
\r
1935 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
\r
1936 xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
\r
1937 configIDLE_TASK_NAME,
\r
1938 ulIdleTaskStackSize,
\r
1939 ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
\r
1940 ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ),
\r
1941 pxIdleTaskStackBuffer,
\r
1942 pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1944 if( xIdleTaskHandle != NULL )
\r
1955 /* The Idle task is being created using dynamically allocated RAM. */
\r
1956 xReturn = xTaskCreate( prvIdleTask,
\r
1957 configIDLE_TASK_NAME,
\r
1958 configMINIMAL_STACK_SIZE,
\r
1960 ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ),
\r
1961 &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1963 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
1965 #if ( configUSE_TIMERS == 1 )
\r
1967 if( xReturn == pdPASS )
\r
1969 xReturn = xTimerCreateTimerTask();
\r
1973 mtCOVERAGE_TEST_MARKER();
\r
1976 #endif /* configUSE_TIMERS */
\r
1978 if( xReturn == pdPASS )
\r
1980 /* freertos_tasks_c_additions_init() should only be called if the user
\r
1981 definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
\r
1982 the only macro called by the function. */
\r
1983 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
1985 freertos_tasks_c_additions_init();
\r
1989 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1990 before or during the call to xPortStartScheduler(). The stacks of
\r
1991 the created tasks contain a status word with interrupts switched on
\r
1992 so interrupts will automatically get re-enabled when the first task
\r
1994 portDISABLE_INTERRUPTS();
\r
1996 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1998 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1999 structure specific to the task that will run first. */
\r
2000 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2002 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2004 xNextTaskUnblockTime = portMAX_DELAY;
\r
2005 xSchedulerRunning = pdTRUE;
\r
2006 xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
\r
2008 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
2009 macro must be defined to configure the timer/counter used to generate
\r
2010 the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
\r
2011 is set to 0 and the following line fails to build then ensure you do not
\r
2012 have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
\r
2013 FreeRTOSConfig.h file. */
\r
2014 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
2016 traceTASK_SWITCHED_IN();
\r
2018 /* Setting up the timer tick is hardware specific and thus in the
\r
2019 portable interface. */
\r
2020 if( xPortStartScheduler() != pdFALSE )
\r
2022 /* Should not reach here as if the scheduler is running the
\r
2023 function will not return. */
\r
2027 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
2032 /* This line will only be reached if the kernel could not be started,
\r
2033 because there was not enough FreeRTOS heap to create the idle task
\r
2034 or the timer task. */
\r
2035 configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
\r
2038 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
2039 meaning xIdleTaskHandle is not used anywhere else. */
\r
2040 ( void ) xIdleTaskHandle;
\r
2042 /*-----------------------------------------------------------*/
\r
2044 void vTaskEndScheduler( void )
\r
2046 /* Stop the scheduler interrupts and call the portable scheduler end
\r
2047 routine so the original ISRs can be restored if necessary. The port
\r
2048 layer must ensure interrupts enable bit is left in the correct state. */
\r
2049 portDISABLE_INTERRUPTS();
\r
2050 xSchedulerRunning = pdFALSE;
\r
2051 vPortEndScheduler();
\r
2053 /*----------------------------------------------------------*/
\r
2055 void vTaskSuspendAll( void )
\r
2057 /* A critical section is not required as the variable is of type
\r
2058 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
2059 post in the FreeRTOS support forum before reporting this as a bug! -
\r
2060 http://goo.gl/wu4acr */
\r
2061 ++uxSchedulerSuspended;
\r
2063 /*----------------------------------------------------------*/
\r
2065 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2067 static TickType_t prvGetExpectedIdleTime( void )
\r
2069 TickType_t xReturn;
\r
2070 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
2072 /* uxHigherPriorityReadyTasks takes care of the case where
\r
2073 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
2074 task that are in the Ready state, even though the idle task is
\r
2076 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
2078 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
2080 uxHigherPriorityReadyTasks = pdTRUE;
\r
2085 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
2087 /* When port optimised task selection is used the uxTopReadyPriority
\r
2088 variable is used as a bit map. If bits other than the least
\r
2089 significant bit are set then there are tasks that have a priority
\r
2090 above the idle priority that are in the Ready state. This takes
\r
2091 care of the case where the co-operative scheduler is in use. */
\r
2092 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
2094 uxHigherPriorityReadyTasks = pdTRUE;
\r
2099 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
2103 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
2105 /* There are other idle priority tasks in the ready state. If
\r
2106 time slicing is used then the very next tick interrupt must be
\r
2110 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
2112 /* There are tasks in the Ready state that have a priority above the
\r
2113 idle priority. This path can only be reached if
\r
2114 configUSE_PREEMPTION is 0. */
\r
2119 xReturn = xNextTaskUnblockTime - xTickCount;
\r
2125 #endif /* configUSE_TICKLESS_IDLE */
\r
2126 /*----------------------------------------------------------*/
\r
2128 BaseType_t xTaskResumeAll( void )
\r
2130 TCB_t *pxTCB = NULL;
\r
2131 BaseType_t xAlreadyYielded = pdFALSE;
\r
2133 /* If uxSchedulerSuspended is zero then this function does not match a
\r
2134 previous call to vTaskSuspendAll(). */
\r
2135 configASSERT( uxSchedulerSuspended );
\r
2137 /* It is possible that an ISR caused a task to be removed from an event
\r
2138 list while the scheduler was suspended. If this was the case then the
\r
2139 removed task will have been added to the xPendingReadyList. Once the
\r
2140 scheduler has been resumed it is safe to move all the pending ready
\r
2141 tasks from this list into their appropriate ready list. */
\r
2142 taskENTER_CRITICAL();
\r
2144 --uxSchedulerSuspended;
\r
2146 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2148 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
2150 /* Move any readied tasks from the pending list into the
\r
2151 appropriate ready list. */
\r
2152 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
2154 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
2155 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2156 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2157 prvAddTaskToReadyList( pxTCB );
\r
2159 /* If the moved task has a priority higher than the current
\r
2160 task then a yield must be performed. */
\r
2161 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2163 xYieldPending = pdTRUE;
\r
2167 mtCOVERAGE_TEST_MARKER();
\r
2171 if( pxTCB != NULL )
\r
2173 /* A task was unblocked while the scheduler was suspended,
\r
2174 which may have prevented the next unblock time from being
\r
2175 re-calculated, in which case re-calculate it now. Mainly
\r
2176 important for low power tickless implementations, where
\r
2177 this can prevent an unnecessary exit from low power
\r
2179 prvResetNextTaskUnblockTime();
\r
2182 /* If any ticks occurred while the scheduler was suspended then
\r
2183 they should be processed now. This ensures the tick count does
\r
2184 not slip, and that any delayed tasks are resumed at the correct
\r
2187 UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */
\r
2189 if( uxPendedCounts > ( UBaseType_t ) 0U )
\r
2193 if( xTaskIncrementTick() != pdFALSE )
\r
2195 xYieldPending = pdTRUE;
\r
2199 mtCOVERAGE_TEST_MARKER();
\r
2202 } while( uxPendedCounts > ( UBaseType_t ) 0U );
\r
2204 uxPendedTicks = 0;
\r
2208 mtCOVERAGE_TEST_MARKER();
\r
2212 if( xYieldPending != pdFALSE )
\r
2214 #if( configUSE_PREEMPTION != 0 )
\r
2216 xAlreadyYielded = pdTRUE;
\r
2219 taskYIELD_IF_USING_PREEMPTION();
\r
2223 mtCOVERAGE_TEST_MARKER();
\r
2229 mtCOVERAGE_TEST_MARKER();
\r
2232 taskEXIT_CRITICAL();
\r
2234 return xAlreadyYielded;
\r
2236 /*-----------------------------------------------------------*/
\r
2238 TickType_t xTaskGetTickCount( void )
\r
2240 TickType_t xTicks;
\r
2242 /* Critical section required if running on a 16 bit processor. */
\r
2243 portTICK_TYPE_ENTER_CRITICAL();
\r
2245 xTicks = xTickCount;
\r
2247 portTICK_TYPE_EXIT_CRITICAL();
\r
2251 /*-----------------------------------------------------------*/
\r
2253 TickType_t xTaskGetTickCountFromISR( void )
\r
2255 TickType_t xReturn;
\r
2256 UBaseType_t uxSavedInterruptStatus;
\r
2258 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
2259 system call (or maximum API call) interrupt priority. Interrupts that are
\r
2260 above the maximum system call priority are kept permanently enabled, even
\r
2261 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
2262 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
2263 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
2264 failure if a FreeRTOS API function is called from an interrupt that has been
\r
2265 assigned a priority above the configured maximum system call priority.
\r
2266 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
2267 that have been assigned a priority at or (logically) below the maximum
\r
2268 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
2269 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
2270 More information (albeit Cortex-M specific) is provided on the following
\r
2271 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
2272 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
2274 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
2276 xReturn = xTickCount;
\r
2278 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2282 /*-----------------------------------------------------------*/
\r
2284 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
2286 /* A critical section is not required because the variables are of type
\r
2288 return uxCurrentNumberOfTasks;
\r
2290 /*-----------------------------------------------------------*/
\r
2292 char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2296 /* If null is passed in here then the name of the calling task is being
\r
2298 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2299 configASSERT( pxTCB );
\r
2300 return &( pxTCB->pcTaskName[ 0 ] );
\r
2302 /*-----------------------------------------------------------*/
\r
2304 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2306 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
\r
2308 TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
\r
2312 /* This function is called with the scheduler suspended. */
\r
2314 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2316 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2320 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2322 /* Check each character in the name looking for a match or
\r
2324 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2326 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
2328 if( cNextChar != pcNameToQuery[ x ] )
\r
2330 /* Characters didn't match. */
\r
2333 else if( cNextChar == 0x00 )
\r
2335 /* Both strings terminated, a match must have been
\r
2337 pxReturn = pxNextTCB;
\r
2342 mtCOVERAGE_TEST_MARKER();
\r
2346 if( pxReturn != NULL )
\r
2348 /* The handle has been found. */
\r
2352 } while( pxNextTCB != pxFirstTCB );
\r
2356 mtCOVERAGE_TEST_MARKER();
\r
2362 #endif /* INCLUDE_xTaskGetHandle */
\r
2363 /*-----------------------------------------------------------*/
\r
2365 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2367 TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2369 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
2372 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
\r
2373 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
\r
2375 vTaskSuspendAll();
\r
2377 /* Search the ready lists. */
\r
2381 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
2383 if( pxTCB != NULL )
\r
2385 /* Found the handle. */
\r
2389 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2391 /* Search the delayed lists. */
\r
2392 if( pxTCB == NULL )
\r
2394 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
2397 if( pxTCB == NULL )
\r
2399 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
2402 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2404 if( pxTCB == NULL )
\r
2406 /* Search the suspended list. */
\r
2407 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
2412 #if( INCLUDE_vTaskDelete == 1 )
\r
2414 if( pxTCB == NULL )
\r
2416 /* Search the deleted list. */
\r
2417 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
2422 ( void ) xTaskResumeAll();
\r
2424 return ( TaskHandle_t ) pxTCB;
\r
2427 #endif /* INCLUDE_xTaskGetHandle */
\r
2428 /*-----------------------------------------------------------*/
\r
2430 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2432 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
2434 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
2436 vTaskSuspendAll();
\r
2438 /* Is there a space in the array for each task in the system? */
\r
2439 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2441 /* Fill in an TaskStatus_t structure with information on each
\r
2442 task in the Ready state. */
\r
2446 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2448 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2450 /* Fill in an TaskStatus_t structure with information on each
\r
2451 task in the Blocked state. */
\r
2452 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2453 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2455 #if( INCLUDE_vTaskDelete == 1 )
\r
2457 /* Fill in an TaskStatus_t structure with information on
\r
2458 each task that has been deleted but not yet cleaned up. */
\r
2459 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2463 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2465 /* Fill in an TaskStatus_t structure with information on
\r
2466 each task in the Suspended state. */
\r
2467 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2471 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
2473 if( pulTotalRunTime != NULL )
\r
2475 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2476 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2478 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2484 if( pulTotalRunTime != NULL )
\r
2486 *pulTotalRunTime = 0;
\r
2493 mtCOVERAGE_TEST_MARKER();
\r
2496 ( void ) xTaskResumeAll();
\r
2501 #endif /* configUSE_TRACE_FACILITY */
\r
2502 /*----------------------------------------------------------*/
\r
2504 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2506 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2508 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2509 started, then xIdleTaskHandle will be NULL. */
\r
2510 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2511 return xIdleTaskHandle;
\r
2514 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2515 /*----------------------------------------------------------*/
\r
2517 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2518 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2519 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2521 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2523 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2525 /* Correct the tick count value after a period during which the tick
\r
2526 was suppressed. Note this does *not* call the tick hook function for
\r
2527 each stepped tick. */
\r
2528 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2529 xTickCount += xTicksToJump;
\r
2530 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2533 #endif /* configUSE_TICKLESS_IDLE */
\r
2534 /*----------------------------------------------------------*/
\r
2536 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
2538 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
\r
2540 TCB_t *pxTCB = ( TCB_t * ) xTask;
\r
2541 BaseType_t xReturn;
\r
2543 configASSERT( pxTCB );
\r
2545 vTaskSuspendAll();
\r
2547 /* A task can only be prematurely removed from the Blocked state if
\r
2548 it is actually in the Blocked state. */
\r
2549 if( eTaskGetState( xTask ) == eBlocked )
\r
2553 /* Remove the reference to the task from the blocked list. An
\r
2554 interrupt won't touch the xStateListItem because the
\r
2555 scheduler is suspended. */
\r
2556 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2558 /* Is the task waiting on an event also? If so remove it from
\r
2559 the event list too. Interrupts can touch the event list item,
\r
2560 even though the scheduler is suspended, so a critical section
\r
2562 taskENTER_CRITICAL();
\r
2564 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2566 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2567 pxTCB->ucDelayAborted = pdTRUE;
\r
2571 mtCOVERAGE_TEST_MARKER();
\r
2574 taskEXIT_CRITICAL();
\r
2576 /* Place the unblocked task into the appropriate ready list. */
\r
2577 prvAddTaskToReadyList( pxTCB );
\r
2579 /* A task being unblocked cannot cause an immediate context
\r
2580 switch if preemption is turned off. */
\r
2581 #if ( configUSE_PREEMPTION == 1 )
\r
2583 /* Preemption is on, but a context switch should only be
\r
2584 performed if the unblocked task has a priority that is
\r
2585 equal to or higher than the currently executing task. */
\r
2586 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2588 /* Pend the yield to be performed when the scheduler
\r
2589 is unsuspended. */
\r
2590 xYieldPending = pdTRUE;
\r
2594 mtCOVERAGE_TEST_MARKER();
\r
2597 #endif /* configUSE_PREEMPTION */
\r
2604 ( void ) xTaskResumeAll();
\r
2609 #endif /* INCLUDE_xTaskAbortDelay */
\r
2610 /*----------------------------------------------------------*/
\r
2612 BaseType_t xTaskIncrementTick( void )
\r
2615 TickType_t xItemValue;
\r
2616 BaseType_t xSwitchRequired = pdFALSE;
\r
2618 /* Called by the portable layer each time a tick interrupt occurs.
\r
2619 Increments the tick then checks to see if the new tick value will cause any
\r
2620 tasks to be unblocked. */
\r
2621 traceTASK_INCREMENT_TICK( xTickCount );
\r
2622 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2624 /* Minor optimisation. The tick count cannot change in this
\r
2626 const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
\r
2628 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2629 delayed lists if it wraps to 0. */
\r
2630 xTickCount = xConstTickCount;
\r
2632 if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
\r
2634 taskSWITCH_DELAYED_LISTS();
\r
2638 mtCOVERAGE_TEST_MARKER();
\r
2641 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2642 the queue in the order of their wake time - meaning once one task
\r
2643 has been found whose block time has not expired there is no need to
\r
2644 look any further down the list. */
\r
2645 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2649 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2651 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2652 to the maximum possible value so it is extremely
\r
2654 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2655 next time through. */
\r
2656 xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2661 /* The delayed list is not empty, get the value of the
\r
2662 item at the head of the delayed list. This is the time
\r
2663 at which the task at the head of the delayed list must
\r
2664 be removed from the Blocked state. */
\r
2665 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
2666 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
\r
2668 if( xConstTickCount < xItemValue )
\r
2670 /* It is not time to unblock this item yet, but the
\r
2671 item value is the time at which the task at the head
\r
2672 of the blocked list must be removed from the Blocked
\r
2673 state - so record the item value in
\r
2674 xNextTaskUnblockTime. */
\r
2675 xNextTaskUnblockTime = xItemValue;
\r
2680 mtCOVERAGE_TEST_MARKER();
\r
2683 /* It is time to remove the item from the Blocked state. */
\r
2684 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2686 /* Is the task waiting on an event also? If so remove
\r
2687 it from the event list. */
\r
2688 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2690 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2694 mtCOVERAGE_TEST_MARKER();
\r
2697 /* Place the unblocked task into the appropriate ready
\r
2699 prvAddTaskToReadyList( pxTCB );
\r
2701 /* A task being unblocked cannot cause an immediate
\r
2702 context switch if preemption is turned off. */
\r
2703 #if ( configUSE_PREEMPTION == 1 )
\r
2705 /* Preemption is on, but a context switch should
\r
2706 only be performed if the unblocked task has a
\r
2707 priority that is equal to or higher than the
\r
2708 currently executing task. */
\r
2709 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2711 xSwitchRequired = pdTRUE;
\r
2715 mtCOVERAGE_TEST_MARKER();
\r
2718 #endif /* configUSE_PREEMPTION */
\r
2723 /* Tasks of equal priority to the currently running task will share
\r
2724 processing time (time slice) if preemption is on, and the application
\r
2725 writer has not explicitly turned time slicing off. */
\r
2726 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2728 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2730 xSwitchRequired = pdTRUE;
\r
2734 mtCOVERAGE_TEST_MARKER();
\r
2737 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2739 #if ( configUSE_TICK_HOOK == 1 )
\r
2741 /* Guard against the tick hook being called when the pended tick
\r
2742 count is being unwound (when the scheduler is being unlocked). */
\r
2743 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2745 vApplicationTickHook();
\r
2749 mtCOVERAGE_TEST_MARKER();
\r
2752 #endif /* configUSE_TICK_HOOK */
\r
2758 /* The tick hook gets called at regular intervals, even if the
\r
2759 scheduler is locked. */
\r
2760 #if ( configUSE_TICK_HOOK == 1 )
\r
2762 vApplicationTickHook();
\r
2767 #if ( configUSE_PREEMPTION == 1 )
\r
2769 if( xYieldPending != pdFALSE )
\r
2771 xSwitchRequired = pdTRUE;
\r
2775 mtCOVERAGE_TEST_MARKER();
\r
2778 #endif /* configUSE_PREEMPTION */
\r
2780 return xSwitchRequired;
\r
2782 /*-----------------------------------------------------------*/
\r
2784 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2786 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2790 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2792 if( xTask == NULL )
\r
2794 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2798 xTCB = ( TCB_t * ) xTask;
\r
2801 /* Save the hook function in the TCB. A critical section is required as
\r
2802 the value can be accessed from an interrupt. */
\r
2803 taskENTER_CRITICAL();
\r
2805 xTCB->pxTaskTag = pxHookFunction;
\r
2807 taskEXIT_CRITICAL();
\r
2810 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2811 /*-----------------------------------------------------------*/
\r
2813 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2815 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2818 TaskHookFunction_t xReturn;
\r
2820 /* If xTask is NULL then we are setting our own task hook. */
\r
2821 if( xTask == NULL )
\r
2823 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2827 xTCB = ( TCB_t * ) xTask;
\r
2830 /* Save the hook function in the TCB. A critical section is required as
\r
2831 the value can be accessed from an interrupt. */
\r
2832 taskENTER_CRITICAL();
\r
2834 xReturn = xTCB->pxTaskTag;
\r
2836 taskEXIT_CRITICAL();
\r
2841 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2842 /*-----------------------------------------------------------*/
\r
2844 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2846 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2849 BaseType_t xReturn;
\r
2851 /* If xTask is NULL then we are calling our own task hook. */
\r
2852 if( xTask == NULL )
\r
2854 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2858 xTCB = ( TCB_t * ) xTask;
\r
2861 if( xTCB->pxTaskTag != NULL )
\r
2863 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2873 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2874 /*-----------------------------------------------------------*/
\r
2876 void vTaskSwitchContext( void )
\r
2878 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2880 /* The scheduler is currently suspended - do not allow a context
\r
2882 xYieldPending = pdTRUE;
\r
2886 xYieldPending = pdFALSE;
\r
2887 traceTASK_SWITCHED_OUT();
\r
2889 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2891 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2892 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2894 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2897 /* Add the amount of time the task has been running to the
\r
2898 accumulated time so far. The time the task started running was
\r
2899 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2900 protection here so count values are only valid until the timer
\r
2901 overflows. The guard against negative values is to protect
\r
2902 against suspect run time stat counter implementations - which
\r
2903 are provided by the application, not the kernel. */
\r
2904 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2906 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2910 mtCOVERAGE_TEST_MARKER();
\r
2912 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2914 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2916 /* Check for stack overflow, if configured. */
\r
2917 taskCHECK_FOR_STACK_OVERFLOW();
\r
2919 /* Select a new task to run using either the generic C or port
\r
2920 optimised asm code. */
\r
2921 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2922 traceTASK_SWITCHED_IN();
\r
2924 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2926 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2927 structure specific to this task. */
\r
2928 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2930 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2933 /*-----------------------------------------------------------*/
\r
2935 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2937 configASSERT( pxEventList );
\r
2939 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2940 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2942 /* Place the event list item of the TCB in the appropriate event list.
\r
2943 This is placed in the list in priority order so the highest priority task
\r
2944 is the first to be woken by the event. The queue that contains the event
\r
2945 list is locked, preventing simultaneous access from interrupts. */
\r
2946 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2948 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2950 /*-----------------------------------------------------------*/
\r
2952 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2954 configASSERT( pxEventList );
\r
2956 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2957 the event groups implementation. */
\r
2958 configASSERT( uxSchedulerSuspended != 0 );
\r
2960 /* Store the item value in the event list item. It is safe to access the
\r
2961 event list item here as interrupts won't access the event list item of a
\r
2962 task that is not in the Blocked state. */
\r
2963 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2965 /* Place the event list item of the TCB at the end of the appropriate event
\r
2966 list. It is safe to access the event list here because it is part of an
\r
2967 event group implementation - and interrupts don't access event groups
\r
2968 directly (instead they access them indirectly by pending function calls to
\r
2969 the task level). */
\r
2970 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2972 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2974 /*-----------------------------------------------------------*/
\r
2976 #if( configUSE_TIMERS == 1 )
\r
2978 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2980 configASSERT( pxEventList );
\r
2982 /* This function should not be called by application code hence the
\r
2983 'Restricted' in its name. It is not part of the public API. It is
\r
2984 designed for use by kernel code, and has special calling requirements -
\r
2985 it should be called with the scheduler suspended. */
\r
2988 /* Place the event list item of the TCB in the appropriate event list.
\r
2989 In this case it is assume that this is the only task that is going to
\r
2990 be waiting on this event list, so the faster vListInsertEnd() function
\r
2991 can be used in place of vListInsert. */
\r
2992 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2994 /* If the task should block indefinitely then set the block time to a
\r
2995 value that will be recognised as an indefinite delay inside the
\r
2996 prvAddCurrentTaskToDelayedList() function. */
\r
2997 if( xWaitIndefinitely != pdFALSE )
\r
2999 xTicksToWait = portMAX_DELAY;
\r
3002 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
\r
3003 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
\r
3006 #endif /* configUSE_TIMERS */
\r
3007 /*-----------------------------------------------------------*/
\r
3009 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
3011 TCB_t *pxUnblockedTCB;
\r
3012 BaseType_t xReturn;
\r
3014 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
3015 called from a critical section within an ISR. */
\r
3017 /* The event list is sorted in priority order, so the first in the list can
\r
3018 be removed as it is known to be the highest priority. Remove the TCB from
\r
3019 the delayed list, and add it to the ready list.
\r
3021 If an event is for a queue that is locked then this function will never
\r
3022 get called - the lock count on the queue will get modified instead. This
\r
3023 means exclusive access to the event list is guaranteed here.
\r
3025 This function assumes that a check has already been made to ensure that
\r
3026 pxEventList is not empty. */
\r
3027 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
3028 configASSERT( pxUnblockedTCB );
\r
3029 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
3031 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3033 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3034 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3038 /* The delayed and ready lists cannot be accessed, so hold this task
\r
3039 pending until the scheduler is resumed. */
\r
3040 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
3043 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3045 /* Return true if the task removed from the event list has a higher
\r
3046 priority than the calling task. This allows the calling task to know if
\r
3047 it should force a context switch now. */
\r
3050 /* Mark that a yield is pending in case the user is not using the
\r
3051 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
3052 xYieldPending = pdTRUE;
\r
3056 xReturn = pdFALSE;
\r
3059 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3061 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
3062 might be set to the blocked task's time out time. If the task is
\r
3063 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
3064 normally left unchanged, because it is automatically reset to a new
\r
3065 value when the tick count equals xNextTaskUnblockTime. However if
\r
3066 tickless idling is used it might be more important to enter sleep mode
\r
3067 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
3068 ensure it is updated at the earliest possible time. */
\r
3069 prvResetNextTaskUnblockTime();
\r
3075 /*-----------------------------------------------------------*/
\r
3077 void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
3079 TCB_t *pxUnblockedTCB;
\r
3081 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3082 the event flags implementation. */
\r
3083 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
3085 /* Store the new item value in the event list. */
\r
3086 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3088 /* Remove the event list form the event flag. Interrupts do not access
\r
3090 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
3091 configASSERT( pxUnblockedTCB );
\r
3092 ( void ) uxListRemove( pxEventListItem );
\r
3094 /* Remove the task from the delayed list and add it to the ready list. The
\r
3095 scheduler is suspended so interrupts will not be accessing the ready
\r
3097 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3098 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3100 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3102 /* The unblocked task has a priority above that of the calling task, so
\r
3103 a context switch is required. This function is called with the
\r
3104 scheduler suspended so xYieldPending is set so the context switch
\r
3105 occurs immediately that the scheduler is resumed (unsuspended). */
\r
3106 xYieldPending = pdTRUE;
\r
3109 /*-----------------------------------------------------------*/
\r
3111 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3113 configASSERT( pxTimeOut );
\r
3114 taskENTER_CRITICAL();
\r
3116 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3117 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3119 taskEXIT_CRITICAL();
\r
3121 /*-----------------------------------------------------------*/
\r
3123 void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3125 /* For internal use only as it does not use a critical section. */
\r
3126 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3127 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3129 /*-----------------------------------------------------------*/
\r
3131 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
3133 BaseType_t xReturn;
\r
3135 configASSERT( pxTimeOut );
\r
3136 configASSERT( pxTicksToWait );
\r
3138 taskENTER_CRITICAL();
\r
3140 /* Minor optimisation. The tick count cannot change in this block. */
\r
3141 const TickType_t xConstTickCount = xTickCount;
\r
3142 const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
\r
3144 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
3145 if( pxCurrentTCB->ucDelayAborted != pdFALSE )
\r
3147 /* The delay was aborted, which is not the same as a time out,
\r
3148 but has the same result. */
\r
3149 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
3155 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3156 if( *pxTicksToWait == portMAX_DELAY )
\r
3158 /* If INCLUDE_vTaskSuspend is set to 1 and the block time
\r
3159 specified is the maximum block time then the task should block
\r
3160 indefinitely, and therefore never time out. */
\r
3161 xReturn = pdFALSE;
\r
3166 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
3168 /* The tick count is greater than the time at which
\r
3169 vTaskSetTimeout() was called, but has also overflowed since
\r
3170 vTaskSetTimeOut() was called. It must have wrapped all the way
\r
3171 around and gone past again. This passed since vTaskSetTimeout()
\r
3175 else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
\r
3177 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
3178 *pxTicksToWait -= xElapsedTime;
\r
3179 vTaskInternalSetTimeOutState( pxTimeOut );
\r
3180 xReturn = pdFALSE;
\r
3184 *pxTicksToWait = 0;
\r
3188 taskEXIT_CRITICAL();
\r
3192 /*-----------------------------------------------------------*/
\r
3194 void vTaskMissedYield( void )
\r
3196 xYieldPending = pdTRUE;
\r
3198 /*-----------------------------------------------------------*/
\r
3200 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3202 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
3204 UBaseType_t uxReturn;
\r
3207 if( xTask != NULL )
\r
3209 pxTCB = ( TCB_t * ) xTask;
\r
3210 uxReturn = pxTCB->uxTaskNumber;
\r
3220 #endif /* configUSE_TRACE_FACILITY */
\r
3221 /*-----------------------------------------------------------*/
\r
3223 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3225 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
3229 if( xTask != NULL )
\r
3231 pxTCB = ( TCB_t * ) xTask;
\r
3232 pxTCB->uxTaskNumber = uxHandle;
\r
3236 #endif /* configUSE_TRACE_FACILITY */
\r
3239 * -----------------------------------------------------------
\r
3241 * ----------------------------------------------------------
\r
3243 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
3244 * language extensions. The equivalent prototype for this function is:
\r
3246 * void prvIdleTask( void *pvParameters );
\r
3249 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
3251 /* Stop warnings. */
\r
3252 ( void ) pvParameters;
\r
3254 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
3255 SCHEDULER IS STARTED. **/
\r
3257 /* In case a task that has a secure context deletes itself, in which case
\r
3258 the idle task is responsible for deleting the task's secure context, if
\r
3260 portTASK_CALLS_SECURE_FUNCTIONS();
\r
3264 /* See if any tasks have deleted themselves - if so then the idle task
\r
3265 is responsible for freeing the deleted task's TCB and stack. */
\r
3266 prvCheckTasksWaitingTermination();
\r
3268 #if ( configUSE_PREEMPTION == 0 )
\r
3270 /* If we are not using preemption we keep forcing a task switch to
\r
3271 see if any other task has become available. If we are using
\r
3272 preemption we don't need to do this as any task becoming available
\r
3273 will automatically get the processor anyway. */
\r
3276 #endif /* configUSE_PREEMPTION */
\r
3278 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
3280 /* When using preemption tasks of equal priority will be
\r
3281 timesliced. If a task that is sharing the idle priority is ready
\r
3282 to run then the idle task should yield before the end of the
\r
3285 A critical region is not required here as we are just reading from
\r
3286 the list, and an occasional incorrect value will not matter. If
\r
3287 the ready list at the idle priority contains more than one task
\r
3288 then a task other than the idle task is ready to execute. */
\r
3289 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
3295 mtCOVERAGE_TEST_MARKER();
\r
3298 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
3300 #if ( configUSE_IDLE_HOOK == 1 )
\r
3302 extern void vApplicationIdleHook( void );
\r
3304 /* Call the user defined function from within the idle task. This
\r
3305 allows the application designer to add background functionality
\r
3306 without the overhead of a separate task.
\r
3307 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
3308 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
3309 vApplicationIdleHook();
\r
3311 #endif /* configUSE_IDLE_HOOK */
\r
3313 /* This conditional compilation should use inequality to 0, not equality
\r
3314 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
3315 user defined low power mode implementations require
\r
3316 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
3317 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3319 TickType_t xExpectedIdleTime;
\r
3321 /* It is not desirable to suspend then resume the scheduler on
\r
3322 each iteration of the idle task. Therefore, a preliminary
\r
3323 test of the expected idle time is performed without the
\r
3324 scheduler suspended. The result here is not necessarily
\r
3326 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3328 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3330 vTaskSuspendAll();
\r
3332 /* Now the scheduler is suspended, the expected idle
\r
3333 time can be sampled again, and this time its value can
\r
3335 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
3336 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3338 /* Define the following macro to set xExpectedIdleTime to 0
\r
3339 if the application does not want
\r
3340 portSUPPRESS_TICKS_AND_SLEEP() to be called. */
\r
3341 configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
\r
3343 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3345 traceLOW_POWER_IDLE_BEGIN();
\r
3346 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
3347 traceLOW_POWER_IDLE_END();
\r
3351 mtCOVERAGE_TEST_MARKER();
\r
3354 ( void ) xTaskResumeAll();
\r
3358 mtCOVERAGE_TEST_MARKER();
\r
3361 #endif /* configUSE_TICKLESS_IDLE */
\r
3364 /*-----------------------------------------------------------*/
\r
3366 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3368 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
3370 /* The idle task exists in addition to the application tasks. */
\r
3371 const UBaseType_t uxNonApplicationTasks = 1;
\r
3372 eSleepModeStatus eReturn = eStandardSleep;
\r
3374 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
3376 /* A task was made ready while the scheduler was suspended. */
\r
3377 eReturn = eAbortSleep;
\r
3379 else if( xYieldPending != pdFALSE )
\r
3381 /* A yield was pended while the scheduler was suspended. */
\r
3382 eReturn = eAbortSleep;
\r
3386 /* If all the tasks are in the suspended list (which might mean they
\r
3387 have an infinite block time rather than actually being suspended)
\r
3388 then it is safe to turn all clocks off and just wait for external
\r
3390 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
3392 eReturn = eNoTasksWaitingTimeout;
\r
3396 mtCOVERAGE_TEST_MARKER();
\r
3403 #endif /* configUSE_TICKLESS_IDLE */
\r
3404 /*-----------------------------------------------------------*/
\r
3406 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3408 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
3412 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3414 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
3415 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3419 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3420 /*-----------------------------------------------------------*/
\r
3422 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3424 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
3426 void *pvReturn = NULL;
\r
3429 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3431 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3432 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3442 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3443 /*-----------------------------------------------------------*/
\r
3445 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3447 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3451 /* If null is passed in here then we are modifying the MPU settings of
\r
3452 the calling task. */
\r
3453 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3455 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3458 #endif /* portUSING_MPU_WRAPPERS */
\r
3459 /*-----------------------------------------------------------*/
\r
3461 static void prvInitialiseTaskLists( void )
\r
3463 UBaseType_t uxPriority;
\r
3465 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3467 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3470 vListInitialise( &xDelayedTaskList1 );
\r
3471 vListInitialise( &xDelayedTaskList2 );
\r
3472 vListInitialise( &xPendingReadyList );
\r
3474 #if ( INCLUDE_vTaskDelete == 1 )
\r
3476 vListInitialise( &xTasksWaitingTermination );
\r
3478 #endif /* INCLUDE_vTaskDelete */
\r
3480 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3482 vListInitialise( &xSuspendedTaskList );
\r
3484 #endif /* INCLUDE_vTaskSuspend */
\r
3486 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3488 pxDelayedTaskList = &xDelayedTaskList1;
\r
3489 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3491 /*-----------------------------------------------------------*/
\r
3493 static void prvCheckTasksWaitingTermination( void )
\r
3496 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3498 #if ( INCLUDE_vTaskDelete == 1 )
\r
3502 /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
\r
3503 being called too often in the idle task. */
\r
3504 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3506 taskENTER_CRITICAL();
\r
3508 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
3509 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
3510 --uxCurrentNumberOfTasks;
\r
3511 --uxDeletedTasksWaitingCleanUp;
\r
3513 taskEXIT_CRITICAL();
\r
3515 prvDeleteTCB( pxTCB );
\r
3518 #endif /* INCLUDE_vTaskDelete */
\r
3520 /*-----------------------------------------------------------*/
\r
3522 #if( configUSE_TRACE_FACILITY == 1 )
\r
3524 void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
\r
3528 /* xTask is NULL then get the state of the calling task. */
\r
3529 pxTCB = prvGetTCBFromHandle( xTask );
\r
3531 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3532 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
\r
3533 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3534 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3535 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3537 #if ( configUSE_MUTEXES == 1 )
\r
3539 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3543 pxTaskStatus->uxBasePriority = 0;
\r
3547 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3549 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3553 pxTaskStatus->ulRunTimeCounter = 0;
\r
3557 /* Obtaining the task state is a little fiddly, so is only done if the
\r
3558 value of eState passed into this function is eInvalid - otherwise the
\r
3559 state is just set to whatever is passed in. */
\r
3560 if( eState != eInvalid )
\r
3562 if( pxTCB == pxCurrentTCB )
\r
3564 pxTaskStatus->eCurrentState = eRunning;
\r
3568 pxTaskStatus->eCurrentState = eState;
\r
3570 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3572 /* If the task is in the suspended list then there is a
\r
3573 chance it is actually just blocked indefinitely - so really
\r
3574 it should be reported as being in the Blocked state. */
\r
3575 if( eState == eSuspended )
\r
3577 vTaskSuspendAll();
\r
3579 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3581 pxTaskStatus->eCurrentState = eBlocked;
\r
3584 ( void ) xTaskResumeAll();
\r
3587 #endif /* INCLUDE_vTaskSuspend */
\r
3592 pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
\r
3595 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3596 parameter is provided to allow it to be skipped. */
\r
3597 if( xGetFreeStackSpace != pdFALSE )
\r
3599 #if ( portSTACK_GROWTH > 0 )
\r
3601 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3605 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3611 pxTaskStatus->usStackHighWaterMark = 0;
\r
3615 #endif /* configUSE_TRACE_FACILITY */
\r
3616 /*-----------------------------------------------------------*/
\r
3618 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3620 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3622 configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
\r
3623 UBaseType_t uxTask = 0;
\r
3625 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3627 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
3629 /* Populate an TaskStatus_t structure within the
\r
3630 pxTaskStatusArray array for each task that is referenced from
\r
3631 pxList. See the definition of TaskStatus_t in task.h for the
\r
3632 meaning of each TaskStatus_t structure member. */
\r
3635 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
3636 vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3638 } while( pxNextTCB != pxFirstTCB );
\r
3642 mtCOVERAGE_TEST_MARKER();
\r
3648 #endif /* configUSE_TRACE_FACILITY */
\r
3649 /*-----------------------------------------------------------*/
\r
3651 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3653 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3655 uint32_t ulCount = 0U;
\r
3657 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3659 pucStackByte -= portSTACK_GROWTH;
\r
3663 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3665 return ( configSTACK_DEPTH_TYPE ) ulCount;
\r
3668 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3669 /*-----------------------------------------------------------*/
\r
3671 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3673 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3676 uint8_t *pucEndOfStack;
\r
3677 UBaseType_t uxReturn;
\r
3679 pxTCB = prvGetTCBFromHandle( xTask );
\r
3681 #if portSTACK_GROWTH < 0
\r
3683 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3687 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3691 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3696 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3697 /*-----------------------------------------------------------*/
\r
3699 #if ( INCLUDE_vTaskDelete == 1 )
\r
3701 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3703 /* This call is required specifically for the TriCore port. It must be
\r
3704 above the vPortFree() calls. The call is also used by ports/demos that
\r
3705 want to allocate and clean RAM statically. */
\r
3706 portCLEAN_UP_TCB( pxTCB );
\r
3708 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3709 to the task to free any memory allocated at the application level. */
\r
3710 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3712 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3714 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3716 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
\r
3718 /* The task can only have been allocated dynamically - free both
\r
3719 the stack and TCB. */
\r
3720 vPortFree( pxTCB->pxStack );
\r
3721 vPortFree( pxTCB );
\r
3723 #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 Macro has been consolidated for readability reasons. */
\r
3725 /* The task could have been allocated statically or dynamically, so
\r
3726 check what was statically allocated before trying to free the
\r
3728 if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
\r
3730 /* Both the stack and TCB were allocated dynamically, so both
\r
3732 vPortFree( pxTCB->pxStack );
\r
3733 vPortFree( pxTCB );
\r
3735 else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
\r
3737 /* Only the stack was statically allocated, so the TCB is the
\r
3738 only memory that must be freed. */
\r
3739 vPortFree( pxTCB );
\r
3743 /* Neither the stack nor the TCB were allocated dynamically, so
\r
3744 nothing needs to be freed. */
\r
3745 configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
\r
3746 mtCOVERAGE_TEST_MARKER();
\r
3749 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
3752 #endif /* INCLUDE_vTaskDelete */
\r
3753 /*-----------------------------------------------------------*/
\r
3755 static void prvResetNextTaskUnblockTime( void )
\r
3759 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3761 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3762 the maximum possible value so it is extremely unlikely that the
\r
3763 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3764 there is an item in the delayed list. */
\r
3765 xNextTaskUnblockTime = portMAX_DELAY;
\r
3769 /* The new current delayed list is not empty, get the value of
\r
3770 the item at the head of the delayed list. This is the time at
\r
3771 which the task at the head of the delayed list should be removed
\r
3772 from the Blocked state. */
\r
3773 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3774 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
\r
3777 /*-----------------------------------------------------------*/
\r
3779 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3781 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3783 TaskHandle_t xReturn;
\r
3785 /* A critical section is not required as this is not called from
\r
3786 an interrupt and the current TCB will always be the same for any
\r
3787 individual execution thread. */
\r
3788 xReturn = pxCurrentTCB;
\r
3793 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3794 /*-----------------------------------------------------------*/
\r
3796 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3798 BaseType_t xTaskGetSchedulerState( void )
\r
3800 BaseType_t xReturn;
\r
3802 if( xSchedulerRunning == pdFALSE )
\r
3804 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3808 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3810 xReturn = taskSCHEDULER_RUNNING;
\r
3814 xReturn = taskSCHEDULER_SUSPENDED;
\r
3821 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3822 /*-----------------------------------------------------------*/
\r
3824 #if ( configUSE_MUTEXES == 1 )
\r
3826 BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3828 TCB_t * const pxMutexHolderTCB = ( TCB_t * ) pxMutexHolder;
\r
3829 BaseType_t xReturn = pdFALSE;
\r
3831 /* If the mutex was given back by an interrupt while the queue was
\r
3832 locked then the mutex holder might now be NULL. _RB_ Is this still
\r
3833 needed as interrupts can no longer use mutexes? */
\r
3834 if( pxMutexHolder != NULL )
\r
3836 /* If the holder of the mutex has a priority below the priority of
\r
3837 the task attempting to obtain the mutex then it will temporarily
\r
3838 inherit the priority of the task attempting to obtain the mutex. */
\r
3839 if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3841 /* Adjust the mutex holder state to account for its new
\r
3842 priority. Only reset the event list item value if the value is
\r
3843 not being used for anything else. */
\r
3844 if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3846 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
3850 mtCOVERAGE_TEST_MARKER();
\r
3853 /* If the task being modified is in the ready state it will need
\r
3854 to be moved into a new list. */
\r
3855 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
\r
3857 if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3859 taskRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority );
\r
3863 mtCOVERAGE_TEST_MARKER();
\r
3866 /* Inherit the priority before being moved into the new list. */
\r
3867 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3868 prvAddTaskToReadyList( pxMutexHolderTCB );
\r
3872 /* Just inherit the priority. */
\r
3873 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3876 traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
\r
3878 /* Inheritance occurred. */
\r
3883 if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
\r
3885 /* The base priority of the mutex holder is lower than the
\r
3886 priority of the task attempting to take the mutex, but the
\r
3887 current priority of the mutex holder is not lower than the
\r
3888 priority of the task attempting to take the mutex.
\r
3889 Therefore the mutex holder must have already inherited a
\r
3890 priority, but inheritance would have occurred if that had
\r
3891 not been the case. */
\r
3896 mtCOVERAGE_TEST_MARKER();
\r
3902 mtCOVERAGE_TEST_MARKER();
\r
3908 #endif /* configUSE_MUTEXES */
\r
3909 /*-----------------------------------------------------------*/
\r
3911 #if ( configUSE_MUTEXES == 1 )
\r
3913 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3915 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3916 BaseType_t xReturn = pdFALSE;
\r
3918 if( pxMutexHolder != NULL )
\r
3920 /* A task can only have an inherited priority if it holds the mutex.
\r
3921 If the mutex is held by a task then it cannot be given from an
\r
3922 interrupt, and if a mutex is given by the holding task then it must
\r
3923 be the running state task. */
\r
3924 configASSERT( pxTCB == pxCurrentTCB );
\r
3925 configASSERT( pxTCB->uxMutexesHeld );
\r
3926 ( pxTCB->uxMutexesHeld )--;
\r
3928 /* Has the holder of the mutex inherited the priority of another
\r
3930 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3932 /* Only disinherit if no other mutexes are held. */
\r
3933 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3935 /* A task can only have an inherited priority if it holds
\r
3936 the mutex. If the mutex is held by a task then it cannot be
\r
3937 given from an interrupt, and if a mutex is given by the
\r
3938 holding task then it must be the running state task. Remove
\r
3939 the holding task from the ready list. */
\r
3940 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3942 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3946 mtCOVERAGE_TEST_MARKER();
\r
3949 /* Disinherit the priority before adding the task into the
\r
3950 new ready list. */
\r
3951 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3952 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3954 /* Reset the event list item value. It cannot be in use for
\r
3955 any other purpose if this task is running, and it must be
\r
3956 running to give back the mutex. */
\r
3957 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
3958 prvAddTaskToReadyList( pxTCB );
\r
3960 /* Return true to indicate that a context switch is required.
\r
3961 This is only actually required in the corner case whereby
\r
3962 multiple mutexes were held and the mutexes were given back
\r
3963 in an order different to that in which they were taken.
\r
3964 If a context switch did not occur when the first mutex was
\r
3965 returned, even if a task was waiting on it, then a context
\r
3966 switch should occur when the last mutex is returned whether
\r
3967 a task is waiting on it or not. */
\r
3972 mtCOVERAGE_TEST_MARKER();
\r
3977 mtCOVERAGE_TEST_MARKER();
\r
3982 mtCOVERAGE_TEST_MARKER();
\r
3988 #endif /* configUSE_MUTEXES */
\r
3989 /*-----------------------------------------------------------*/
\r
3991 #if ( configUSE_MUTEXES == 1 )
\r
3993 void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask )
\r
3995 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3996 UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
\r
3997 const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
\r
3999 if( pxMutexHolder != NULL )
\r
4001 /* If pxMutexHolder is not NULL then the holder must hold at least
\r
4003 configASSERT( pxTCB->uxMutexesHeld );
\r
4005 /* Determine the priority to which the priority of the task that
\r
4006 holds the mutex should be set. This will be the greater of the
\r
4007 holding task's base priority and the priority of the highest
\r
4008 priority task that is waiting to obtain the mutex. */
\r
4009 if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
\r
4011 uxPriorityToUse = uxHighestPriorityWaitingTask;
\r
4015 uxPriorityToUse = pxTCB->uxBasePriority;
\r
4018 /* Does the priority need to change? */
\r
4019 if( pxTCB->uxPriority != uxPriorityToUse )
\r
4021 /* Only disinherit if no other mutexes are held. This is a
\r
4022 simplification in the priority inheritance implementation. If
\r
4023 the task that holds the mutex is also holding other mutexes then
\r
4024 the other mutexes may have caused the priority inheritance. */
\r
4025 if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
\r
4027 /* If a task has timed out because it already holds the
\r
4028 mutex it was trying to obtain then it cannot of inherited
\r
4029 its own priority. */
\r
4030 configASSERT( pxTCB != pxCurrentTCB );
\r
4032 /* Disinherit the priority, remembering the previous
\r
4033 priority to facilitate determining the subject task's
\r
4035 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4036 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
4037 pxTCB->uxPriority = uxPriorityToUse;
\r
4039 /* Only reset the event list item value if the value is not
\r
4040 being used for anything else. */
\r
4041 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
4043 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
4047 mtCOVERAGE_TEST_MARKER();
\r
4050 /* If the running task is not the task that holds the mutex
\r
4051 then the task that holds the mutex could be in either the
\r
4052 Ready, Blocked or Suspended states. Only remove the task
\r
4053 from its current state list if it is in the Ready state as
\r
4054 the task's priority is going to change and there is one
\r
4055 Ready list per priority. */
\r
4056 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
4058 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4060 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
4064 mtCOVERAGE_TEST_MARKER();
\r
4067 prvAddTaskToReadyList( pxTCB );
\r
4071 mtCOVERAGE_TEST_MARKER();
\r
4076 mtCOVERAGE_TEST_MARKER();
\r
4081 mtCOVERAGE_TEST_MARKER();
\r
4086 mtCOVERAGE_TEST_MARKER();
\r
4090 #endif /* configUSE_MUTEXES */
\r
4091 /*-----------------------------------------------------------*/
\r
4093 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4095 void vTaskEnterCritical( void )
\r
4097 portDISABLE_INTERRUPTS();
\r
4099 if( xSchedulerRunning != pdFALSE )
\r
4101 ( pxCurrentTCB->uxCriticalNesting )++;
\r
4103 /* This is not the interrupt safe version of the enter critical
\r
4104 function so assert() if it is being called from an interrupt
\r
4105 context. Only API functions that end in "FromISR" can be used in an
\r
4106 interrupt. Only assert if the critical nesting count is 1 to
\r
4107 protect against recursive calls if the assert function also uses a
\r
4108 critical section. */
\r
4109 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
4111 portASSERT_IF_IN_ISR();
\r
4116 mtCOVERAGE_TEST_MARKER();
\r
4120 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4121 /*-----------------------------------------------------------*/
\r
4123 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4125 void vTaskExitCritical( void )
\r
4127 if( xSchedulerRunning != pdFALSE )
\r
4129 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
4131 ( pxCurrentTCB->uxCriticalNesting )--;
\r
4133 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
4135 portENABLE_INTERRUPTS();
\r
4139 mtCOVERAGE_TEST_MARKER();
\r
4144 mtCOVERAGE_TEST_MARKER();
\r
4149 mtCOVERAGE_TEST_MARKER();
\r
4153 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4154 /*-----------------------------------------------------------*/
\r
4156 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
4158 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
4162 /* Start by copying the entire string. */
\r
4163 strcpy( pcBuffer, pcTaskName );
\r
4165 /* Pad the end of the string with spaces to ensure columns line up when
\r
4167 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
4169 pcBuffer[ x ] = ' ';
\r
4173 pcBuffer[ x ] = 0x00;
\r
4175 /* Return the new end of string. */
\r
4176 return &( pcBuffer[ x ] );
\r
4179 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
4180 /*-----------------------------------------------------------*/
\r
4182 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4184 void vTaskList( char * pcWriteBuffer )
\r
4186 TaskStatus_t *pxTaskStatusArray;
\r
4187 volatile UBaseType_t uxArraySize, x;
\r
4193 * This function is provided for convenience only, and is used by many
\r
4194 * of the demo applications. Do not consider it to be part of the
\r
4197 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
4198 * uxTaskGetSystemState() output into a human readable table that
\r
4199 * displays task names, states and stack usage.
\r
4201 * vTaskList() has a dependency on the sprintf() C library function that
\r
4202 * might bloat the code size, use a lot of stack, and provide different
\r
4203 * results on different platforms. An alternative, tiny, third party,
\r
4204 * and limited functionality implementation of sprintf() is provided in
\r
4205 * many of the FreeRTOS/Demo sub-directories in a file called
\r
4206 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
4207 * snprintf() implementation!).
\r
4209 * It is recommended that production systems call uxTaskGetSystemState()
\r
4210 * directly to get access to raw stats data, rather than indirectly
\r
4211 * through a call to vTaskList().
\r
4215 /* Make sure the write buffer does not contain a string. */
\r
4216 *pcWriteBuffer = 0x00;
\r
4218 /* Take a snapshot of the number of tasks in case it changes while this
\r
4219 function is executing. */
\r
4220 uxArraySize = uxCurrentNumberOfTasks;
\r
4222 /* Allocate an array index for each task. NOTE! if
\r
4223 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4224 equate to NULL. */
\r
4225 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
4227 if( pxTaskStatusArray != NULL )
\r
4229 /* Generate the (binary) data. */
\r
4230 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
4232 /* Create a human readable table from the binary data. */
\r
4233 for( x = 0; x < uxArraySize; x++ )
\r
4235 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
4237 case eRunning: cStatus = tskRUNNING_CHAR;
\r
4240 case eReady: cStatus = tskREADY_CHAR;
\r
4243 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
4246 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
4249 case eDeleted: cStatus = tskDELETED_CHAR;
\r
4252 default: /* Should not get here, but it is included
\r
4253 to prevent static checking errors. */
\r
4258 /* Write the task name to the string, padding with spaces so it
\r
4259 can be printed in tabular form more easily. */
\r
4260 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4262 /* Write the rest of the string. */
\r
4263 sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
4264 pcWriteBuffer += strlen( pcWriteBuffer );
\r
4267 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4268 is 0 then vPortFree() will be #defined to nothing. */
\r
4269 vPortFree( pxTaskStatusArray );
\r
4273 mtCOVERAGE_TEST_MARKER();
\r
4277 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
4278 /*----------------------------------------------------------*/
\r
4280 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4282 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
4284 TaskStatus_t *pxTaskStatusArray;
\r
4285 volatile UBaseType_t uxArraySize, x;
\r
4286 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
4288 #if( configUSE_TRACE_FACILITY != 1 )
\r
4290 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
4297 * This function is provided for convenience only, and is used by many
\r
4298 * of the demo applications. Do not consider it to be part of the
\r
4301 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
4302 * of the uxTaskGetSystemState() output into a human readable table that
\r
4303 * displays the amount of time each task has spent in the Running state
\r
4304 * in both absolute and percentage terms.
\r
4306 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
4307 * function that might bloat the code size, use a lot of stack, and
\r
4308 * provide different results on different platforms. An alternative,
\r
4309 * tiny, third party, and limited functionality implementation of
\r
4310 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
4311 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
4312 * a full snprintf() implementation!).
\r
4314 * It is recommended that production systems call uxTaskGetSystemState()
\r
4315 * directly to get access to raw stats data, rather than indirectly
\r
4316 * through a call to vTaskGetRunTimeStats().
\r
4319 /* Make sure the write buffer does not contain a string. */
\r
4320 *pcWriteBuffer = 0x00;
\r
4322 /* Take a snapshot of the number of tasks in case it changes while this
\r
4323 function is executing. */
\r
4324 uxArraySize = uxCurrentNumberOfTasks;
\r
4326 /* Allocate an array index for each task. NOTE! If
\r
4327 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4328 equate to NULL. */
\r
4329 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
4331 if( pxTaskStatusArray != NULL )
\r
4333 /* Generate the (binary) data. */
\r
4334 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
4336 /* For percentage calculations. */
\r
4337 ulTotalTime /= 100UL;
\r
4339 /* Avoid divide by zero errors. */
\r
4340 if( ulTotalTime > 0 )
\r
4342 /* Create a human readable table from the binary data. */
\r
4343 for( x = 0; x < uxArraySize; x++ )
\r
4345 /* What percentage of the total run time has the task used?
\r
4346 This will always be rounded down to the nearest integer.
\r
4347 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
4348 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
4350 /* Write the task name to the string, padding with
\r
4351 spaces so it can be printed in tabular form more
\r
4353 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4355 if( ulStatsAsPercentage > 0UL )
\r
4357 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4359 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
4363 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4364 printf() library can be used. */
\r
4365 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
4371 /* If the percentage is zero here then the task has
\r
4372 consumed less than 1% of the total run time. */
\r
4373 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4375 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4379 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4380 printf() library can be used. */
\r
4381 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4386 pcWriteBuffer += strlen( pcWriteBuffer );
\r
4391 mtCOVERAGE_TEST_MARKER();
\r
4394 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4395 is 0 then vPortFree() will be #defined to nothing. */
\r
4396 vPortFree( pxTaskStatusArray );
\r
4400 mtCOVERAGE_TEST_MARKER();
\r
4404 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
\r
4405 /*-----------------------------------------------------------*/
\r
4407 TickType_t uxTaskResetEventItemValue( void )
\r
4409 TickType_t uxReturn;
\r
4411 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
4413 /* Reset the event list item to its normal value - so it can be used with
\r
4414 queues and semaphores. */
\r
4415 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
4419 /*-----------------------------------------------------------*/
\r
4421 #if ( configUSE_MUTEXES == 1 )
\r
4423 void *pvTaskIncrementMutexHeldCount( void )
\r
4425 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
4426 then pxCurrentTCB will be NULL. */
\r
4427 if( pxCurrentTCB != NULL )
\r
4429 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4432 return pxCurrentTCB;
\r
4435 #endif /* configUSE_MUTEXES */
\r
4436 /*-----------------------------------------------------------*/
\r
4438 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4440 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
4442 uint32_t ulReturn;
\r
4444 taskENTER_CRITICAL();
\r
4446 /* Only block if the notification count is not already non-zero. */
\r
4447 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
4449 /* Mark this task as waiting for a notification. */
\r
4450 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4452 if( xTicksToWait > ( TickType_t ) 0 )
\r
4454 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4455 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4457 /* All ports are written to allow a yield in a critical
\r
4458 section (some will yield immediately, others wait until the
\r
4459 critical section exits) - but it is not something that
\r
4460 application code should ever do. */
\r
4461 portYIELD_WITHIN_API();
\r
4465 mtCOVERAGE_TEST_MARKER();
\r
4470 mtCOVERAGE_TEST_MARKER();
\r
4473 taskEXIT_CRITICAL();
\r
4475 taskENTER_CRITICAL();
\r
4477 traceTASK_NOTIFY_TAKE();
\r
4478 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4480 if( ulReturn != 0UL )
\r
4482 if( xClearCountOnExit != pdFALSE )
\r
4484 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4488 pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
\r
4493 mtCOVERAGE_TEST_MARKER();
\r
4496 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4498 taskEXIT_CRITICAL();
\r
4503 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4504 /*-----------------------------------------------------------*/
\r
4506 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4508 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4510 BaseType_t xReturn;
\r
4512 taskENTER_CRITICAL();
\r
4514 /* Only block if a notification is not already pending. */
\r
4515 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4517 /* Clear bits in the task's notification value as bits may get
\r
4518 set by the notifying task or interrupt. This can be used to
\r
4519 clear the value to zero. */
\r
4520 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4522 /* Mark this task as waiting for a notification. */
\r
4523 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4525 if( xTicksToWait > ( TickType_t ) 0 )
\r
4527 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4528 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4530 /* All ports are written to allow a yield in a critical
\r
4531 section (some will yield immediately, others wait until the
\r
4532 critical section exits) - but it is not something that
\r
4533 application code should ever do. */
\r
4534 portYIELD_WITHIN_API();
\r
4538 mtCOVERAGE_TEST_MARKER();
\r
4543 mtCOVERAGE_TEST_MARKER();
\r
4546 taskEXIT_CRITICAL();
\r
4548 taskENTER_CRITICAL();
\r
4550 traceTASK_NOTIFY_WAIT();
\r
4552 if( pulNotificationValue != NULL )
\r
4554 /* Output the current notification value, which may or may not
\r
4556 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4559 /* If ucNotifyValue is set then either the task never entered the
\r
4560 blocked state (because a notification was already pending) or the
\r
4561 task unblocked because of a notification. Otherwise the task
\r
4562 unblocked because of a timeout. */
\r
4563 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4565 /* A notification was not received. */
\r
4566 xReturn = pdFALSE;
\r
4570 /* A notification was already pending or a notification was
\r
4571 received while the task was waiting. */
\r
4572 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4576 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4578 taskEXIT_CRITICAL();
\r
4583 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4584 /*-----------------------------------------------------------*/
\r
4586 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4588 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4591 BaseType_t xReturn = pdPASS;
\r
4592 uint8_t ucOriginalNotifyState;
\r
4594 configASSERT( xTaskToNotify );
\r
4595 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4597 taskENTER_CRITICAL();
\r
4599 if( pulPreviousNotificationValue != NULL )
\r
4601 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4604 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4606 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4611 pxTCB->ulNotifiedValue |= ulValue;
\r
4615 ( pxTCB->ulNotifiedValue )++;
\r
4618 case eSetValueWithOverwrite :
\r
4619 pxTCB->ulNotifiedValue = ulValue;
\r
4622 case eSetValueWithoutOverwrite :
\r
4623 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4625 pxTCB->ulNotifiedValue = ulValue;
\r
4629 /* The value could not be written to the task. */
\r
4635 /* The task is being notified without its notify value being
\r
4640 traceTASK_NOTIFY();
\r
4642 /* If the task is in the blocked state specifically to wait for a
\r
4643 notification then unblock it now. */
\r
4644 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4646 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4647 prvAddTaskToReadyList( pxTCB );
\r
4649 /* The task should not have been on an event list. */
\r
4650 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4652 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4654 /* If a task is blocked waiting for a notification then
\r
4655 xNextTaskUnblockTime might be set to the blocked task's time
\r
4656 out time. If the task is unblocked for a reason other than
\r
4657 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4658 because it will automatically get reset to a new value when
\r
4659 the tick count equals xNextTaskUnblockTime. However if
\r
4660 tickless idling is used it might be more important to enter
\r
4661 sleep mode at the earliest possible time - so reset
\r
4662 xNextTaskUnblockTime here to ensure it is updated at the
\r
4663 earliest possible time. */
\r
4664 prvResetNextTaskUnblockTime();
\r
4668 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4670 /* The notified task has a priority above the currently
\r
4671 executing task so a yield is required. */
\r
4672 taskYIELD_IF_USING_PREEMPTION();
\r
4676 mtCOVERAGE_TEST_MARKER();
\r
4681 mtCOVERAGE_TEST_MARKER();
\r
4684 taskEXIT_CRITICAL();
\r
4689 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4690 /*-----------------------------------------------------------*/
\r
4692 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4694 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4697 uint8_t ucOriginalNotifyState;
\r
4698 BaseType_t xReturn = pdPASS;
\r
4699 UBaseType_t uxSavedInterruptStatus;
\r
4701 configASSERT( xTaskToNotify );
\r
4703 /* RTOS ports that support interrupt nesting have the concept of a
\r
4704 maximum system call (or maximum API call) interrupt priority.
\r
4705 Interrupts that are above the maximum system call priority are keep
\r
4706 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4707 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4708 is defined in FreeRTOSConfig.h then
\r
4709 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4710 failure if a FreeRTOS API function is called from an interrupt that has
\r
4711 been assigned a priority above the configured maximum system call
\r
4712 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4713 from interrupts that have been assigned a priority at or (logically)
\r
4714 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4715 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4716 simple as possible. More information (albeit Cortex-M specific) is
\r
4717 provided on the following link:
\r
4718 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4719 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4721 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4723 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4725 if( pulPreviousNotificationValue != NULL )
\r
4727 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4730 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4731 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4736 pxTCB->ulNotifiedValue |= ulValue;
\r
4740 ( pxTCB->ulNotifiedValue )++;
\r
4743 case eSetValueWithOverwrite :
\r
4744 pxTCB->ulNotifiedValue = ulValue;
\r
4747 case eSetValueWithoutOverwrite :
\r
4748 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4750 pxTCB->ulNotifiedValue = ulValue;
\r
4754 /* The value could not be written to the task. */
\r
4760 /* The task is being notified without its notify value being
\r
4765 traceTASK_NOTIFY_FROM_ISR();
\r
4767 /* If the task is in the blocked state specifically to wait for a
\r
4768 notification then unblock it now. */
\r
4769 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4771 /* The task should not have been on an event list. */
\r
4772 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4774 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4776 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4777 prvAddTaskToReadyList( pxTCB );
\r
4781 /* The delayed and ready lists cannot be accessed, so hold
\r
4782 this task pending until the scheduler is resumed. */
\r
4783 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4786 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4788 /* The notified task has a priority above the currently
\r
4789 executing task so a yield is required. */
\r
4790 if( pxHigherPriorityTaskWoken != NULL )
\r
4792 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4795 /* Mark that a yield is pending in case the user is not
\r
4796 using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
4797 safe FreeRTOS function. */
\r
4798 xYieldPending = pdTRUE;
\r
4802 mtCOVERAGE_TEST_MARKER();
\r
4806 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4811 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4812 /*-----------------------------------------------------------*/
\r
4814 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4816 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4819 uint8_t ucOriginalNotifyState;
\r
4820 UBaseType_t uxSavedInterruptStatus;
\r
4822 configASSERT( xTaskToNotify );
\r
4824 /* RTOS ports that support interrupt nesting have the concept of a
\r
4825 maximum system call (or maximum API call) interrupt priority.
\r
4826 Interrupts that are above the maximum system call priority are keep
\r
4827 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4828 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4829 is defined in FreeRTOSConfig.h then
\r
4830 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4831 failure if a FreeRTOS API function is called from an interrupt that has
\r
4832 been assigned a priority above the configured maximum system call
\r
4833 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4834 from interrupts that have been assigned a priority at or (logically)
\r
4835 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4836 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4837 simple as possible. More information (albeit Cortex-M specific) is
\r
4838 provided on the following link:
\r
4839 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4840 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4842 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4844 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4846 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4847 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4849 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4851 ( pxTCB->ulNotifiedValue )++;
\r
4853 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
4855 /* If the task is in the blocked state specifically to wait for a
\r
4856 notification then unblock it now. */
\r
4857 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4859 /* The task should not have been on an event list. */
\r
4860 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4862 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4864 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4865 prvAddTaskToReadyList( pxTCB );
\r
4869 /* The delayed and ready lists cannot be accessed, so hold
\r
4870 this task pending until the scheduler is resumed. */
\r
4871 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4874 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4876 /* The notified task has a priority above the currently
\r
4877 executing task so a yield is required. */
\r
4878 if( pxHigherPriorityTaskWoken != NULL )
\r
4880 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4883 /* Mark that a yield is pending in case the user is not
\r
4884 using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
4885 safe FreeRTOS function. */
\r
4886 xYieldPending = pdTRUE;
\r
4890 mtCOVERAGE_TEST_MARKER();
\r
4894 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4897 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4899 /*-----------------------------------------------------------*/
\r
4901 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4903 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
4906 BaseType_t xReturn;
\r
4908 /* If null is passed in here then it is the calling task that is having
\r
4909 its notification state cleared. */
\r
4910 pxTCB = prvGetTCBFromHandle( xTask );
\r
4912 taskENTER_CRITICAL();
\r
4914 if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
\r
4916 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4924 taskEXIT_CRITICAL();
\r
4929 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4930 /*-----------------------------------------------------------*/
\r
4933 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
\r
4935 TickType_t xTimeToWake;
\r
4936 const TickType_t xConstTickCount = xTickCount;
\r
4938 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
4940 /* About to enter a delayed list, so ensure the ucDelayAborted flag is
\r
4941 reset to pdFALSE so it can be detected as having been set to pdTRUE
\r
4942 when the task leaves the Blocked state. */
\r
4943 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
4947 /* Remove the task from the ready list before adding it to the blocked list
\r
4948 as the same list item is used for both lists. */
\r
4949 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4951 /* The current task must be in a ready list, so there is no need to
\r
4952 check, and the port reset macro can be called directly. */
\r
4953 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
4957 mtCOVERAGE_TEST_MARKER();
\r
4960 #if ( INCLUDE_vTaskSuspend == 1 )
\r
4962 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
\r
4964 /* Add the task to the suspended task list instead of a delayed task
\r
4965 list to ensure it is not woken by a timing event. It will block
\r
4967 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4971 /* Calculate the time at which the task should be woken if the event
\r
4972 does not occur. This may overflow but this doesn't matter, the
\r
4973 kernel will manage it correctly. */
\r
4974 xTimeToWake = xConstTickCount + xTicksToWait;
\r
4976 /* The list item will be inserted in wake time order. */
\r
4977 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
4979 if( xTimeToWake < xConstTickCount )
\r
4981 /* Wake time has overflowed. Place this item in the overflow
\r
4983 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4987 /* The wake time has not overflowed, so the current block list
\r
4989 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4991 /* If the task entering the blocked state was placed at the
\r
4992 head of the list of blocked tasks then xNextTaskUnblockTime
\r
4993 needs to be updated too. */
\r
4994 if( xTimeToWake < xNextTaskUnblockTime )
\r
4996 xNextTaskUnblockTime = xTimeToWake;
\r
5000 mtCOVERAGE_TEST_MARKER();
\r
5005 #else /* INCLUDE_vTaskSuspend */
\r
5007 /* Calculate the time at which the task should be woken if the event
\r
5008 does not occur. This may overflow but this doesn't matter, the kernel
\r
5009 will manage it correctly. */
\r
5010 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5012 /* The list item will be inserted in wake time order. */
\r
5013 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5015 if( xTimeToWake < xConstTickCount )
\r
5017 /* Wake time has overflowed. Place this item in the overflow list. */
\r
5018 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5022 /* The wake time has not overflowed, so the current block list is used. */
\r
5023 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5025 /* If the task entering the blocked state was placed at the head of the
\r
5026 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
5028 if( xTimeToWake < xNextTaskUnblockTime )
\r
5030 xNextTaskUnblockTime = xTimeToWake;
\r
5034 mtCOVERAGE_TEST_MARKER();
\r
5038 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
\r
5039 ( void ) xCanBlockIndefinitely;
\r
5041 #endif /* INCLUDE_vTaskSuspend */
\r
5044 /* Code below here allows additional code to be inserted into this source file,
\r
5045 especially where access to file scope functions and data is needed (for example
\r
5046 when performing module tests). */
\r
5048 #ifdef FREERTOS_MODULE_TEST
\r
5049 #include "tasks_test_access_functions.h"
\r
5053 #if( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
\r
5055 #include "freertos_tasks_c_additions.h"
\r
5057 static void freertos_tasks_c_additions_init( void )
\r
5059 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
5060 FREERTOS_TASKS_C_ADDITIONS_INIT();
\r
projects / freertos / blob