2 FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /* Standard includes. */
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74 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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75 all the API functions to use the MPU wrappers. That should only be done when
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76 task.h is included from an application file. */
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77 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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79 /* FreeRTOS includes. */
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80 #include "FreeRTOS.h"
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83 #include "StackMacros.h"
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85 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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86 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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87 header files above, but not in this file, in order to generate the correct
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88 privileged Vs unprivileged linkage and placement. */
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89 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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91 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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92 functions but without including stdio.h here. */
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93 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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94 /* At the bottom of this file are two optional functions that can be used
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95 to generate human readable text from the raw data generated by the
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96 uxTaskGetSystemState() function. Note the formatting functions are provided
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97 for convenience only, and are NOT considered part of the kernel. */
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99 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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101 /* Sanity check the configuration. */
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102 #if( configUSE_TICKLESS_IDLE != 0 )
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103 #if( INCLUDE_vTaskSuspend != 1 )
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104 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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105 #endif /* INCLUDE_vTaskSuspend */
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106 #endif /* configUSE_TICKLESS_IDLE */
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108 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION != 1 ) )
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109 #error configSUPPORT_STATIC_ALLOCATION must be set to 1 in FreeRTOSConfig.h when the MPU is used.
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113 * Defines the size, in words, of the stack allocated to the idle task.
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115 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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117 #if( configUSE_PREEMPTION == 0 )
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118 /* If the cooperative scheduler is being used then a yield should not be
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119 performed just because a higher priority task has been woken. */
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120 #define taskYIELD_IF_USING_PREEMPTION()
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122 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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125 /* Bits that can be set in tskTCB->ucStaticAllocationFlags to indicate that the
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126 stack and TCB were statically allocated respectively. When these are statically
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127 allocated they won't be freed if the task using the stack and TCB gets
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129 #define taskSTATICALLY_ALLOCATED_STACK ( ( uint8_t ) 0x01 )
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130 #define taskSTATICALLY_ALLOCATED_TCB ( ( uint8_t ) 0x02 )
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133 * Task control block. A task control block (TCB) is allocated for each task,
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134 * and stores task state information, including a pointer to the task's context
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135 * (the task's run time environment, including register values)
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137 typedef struct tskTaskControlBlock
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139 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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141 #if ( portUSING_MPU_WRAPPERS == 1 )
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142 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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145 ListItem_t xGenericListItem; /*< 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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146 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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147 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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148 StackType_t *pxStack; /*< Points to the start of the stack. */
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149 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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151 #if ( portSTACK_GROWTH > 0 )
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152 StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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155 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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156 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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159 #if ( configUSE_TRACE_FACILITY == 1 )
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160 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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161 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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164 #if ( configUSE_MUTEXES == 1 )
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165 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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166 UBaseType_t uxMutexesHeld;
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169 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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170 TaskHookFunction_t pxTaskTag;
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173 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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174 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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177 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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178 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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181 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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182 /* Allocate a Newlib reent structure that is specific to this task.
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183 Note Newlib support has been included by popular demand, but is not
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184 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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185 responsible for resulting newlib operation. User must be familiar with
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186 newlib and must provide system-wide implementations of the necessary
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187 stubs. Be warned that (at the time of writing) the current newlib design
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188 implements a system-wide malloc() that must be provided with locks. */
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189 struct _reent xNewLib_reent;
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192 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
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193 volatile uint32_t ulNotifiedValue;
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194 volatile eNotifyValue eNotifyState;
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197 #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
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198 uint8_t ucStaticAllocationFlags; /* Set to pdTRUE if the stack is a statically allocated array, and pdFALSE if the stack is dynamically allocated. */
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203 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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204 below to enable the use of older kernel aware debuggers. */
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205 typedef tskTCB TCB_t;
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208 * Some kernel aware debuggers require the data the debugger needs access to to
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209 * be global, rather than file scope.
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211 #ifdef portREMOVE_STATIC_QUALIFIER
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215 /*lint -e956 A manual analysis and inspection has been used to determine which
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216 static variables must be declared volatile. */
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218 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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220 /* Lists for ready and blocked tasks. --------------------*/
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221 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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222 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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223 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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224 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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225 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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226 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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228 #if ( INCLUDE_vTaskDelete == 1 )
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230 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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231 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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235 #if ( INCLUDE_vTaskSuspend == 1 )
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237 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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241 /* Other file private variables. --------------------------------*/
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242 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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243 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;
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244 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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245 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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246 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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247 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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248 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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249 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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250 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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251 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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253 /* Context switches are held pending while the scheduler is suspended. Also,
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254 interrupts must not manipulate the xGenericListItem of a TCB, or any of the
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255 lists the xGenericListItem can be referenced from, if the scheduler is suspended.
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256 If an interrupt needs to unblock a task while the scheduler is suspended then it
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257 moves the task's event list item into the xPendingReadyList, ready for the
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258 kernel to move the task from the pending ready list into the real ready list
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259 when the scheduler is unsuspended. The pending ready list itself can only be
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260 accessed from a critical section. */
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261 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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263 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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265 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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266 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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272 /* Debugging and trace facilities private variables and macros. ------------*/
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275 * The value used to fill the stack of a task when the task is created. This
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276 * is used purely for checking the high water mark for tasks.
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278 #define tskSTACK_FILL_BYTE ( 0xa5U )
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281 * Macros used by vListTask to indicate which state a task is in.
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283 #define tskBLOCKED_CHAR ( 'B' )
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284 #define tskREADY_CHAR ( 'R' )
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285 #define tskDELETED_CHAR ( 'D' )
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286 #define tskSUSPENDED_CHAR ( 'S' )
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288 /*-----------------------------------------------------------*/
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290 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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292 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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293 performed in a generic way that is not optimised to any particular
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294 microcontroller architecture. */
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296 /* uxTopReadyPriority holds the priority of the highest priority ready
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298 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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300 if( ( uxPriority ) > uxTopReadyPriority ) \
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302 uxTopReadyPriority = ( uxPriority ); \
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304 } /* taskRECORD_READY_PRIORITY */
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306 /*-----------------------------------------------------------*/
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308 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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310 /* Find the highest priority queue that contains ready tasks. */ \
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311 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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313 configASSERT( uxTopReadyPriority ); \
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314 --uxTopReadyPriority; \
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317 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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318 the same priority get an equal share of the processor time. */ \
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319 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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320 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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322 /*-----------------------------------------------------------*/
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324 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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325 they are only required when a port optimised method of task selection is
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327 #define taskRESET_READY_PRIORITY( uxPriority )
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328 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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330 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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332 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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333 performed in a way that is tailored to the particular microcontroller
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334 architecture being used. */
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336 /* A port optimised version is provided. Call the port defined macros. */
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337 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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339 /*-----------------------------------------------------------*/
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341 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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343 UBaseType_t uxTopPriority; \
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345 /* Find the highest priority list that contains ready tasks. */ \
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346 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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347 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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348 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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349 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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351 /*-----------------------------------------------------------*/
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353 /* A port optimised version is provided, call it only if the TCB being reset
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354 is being referenced from a ready list. If it is referenced from a delayed
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355 or suspended list then it won't be in a ready list. */
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356 #define taskRESET_READY_PRIORITY( uxPriority ) \
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358 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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360 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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364 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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366 /*-----------------------------------------------------------*/
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368 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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369 count overflows. */
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370 #define taskSWITCH_DELAYED_LISTS() \
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374 /* The delayed tasks list should be empty when the lists are switched. */ \
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375 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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377 pxTemp = pxDelayedTaskList; \
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378 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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379 pxOverflowDelayedTaskList = pxTemp; \
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380 xNumOfOverflows++; \
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381 prvResetNextTaskUnblockTime(); \
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384 /*-----------------------------------------------------------*/
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387 * Place the task represented by pxTCB into the appropriate ready list for
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388 * the task. It is inserted at the end of the list.
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390 #define prvAddTaskToReadyList( pxTCB ) \
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391 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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392 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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393 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) ); \
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394 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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395 /*-----------------------------------------------------------*/
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398 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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399 * where NULL is used to indicate that the handle of the currently executing
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400 * task should be used in place of the parameter. This macro simply checks to
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401 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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403 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )
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405 /* The item value of the event list item is normally used to hold the priority
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406 of the task to which it belongs (coded to allow it to be held in reverse
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407 priority order). However, it is occasionally borrowed for other purposes. It
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408 is important its value is not updated due to a task priority change while it is
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409 being used for another purpose. The following bit definition is used to inform
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410 the scheduler that the value should not be changed - in which case it is the
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411 responsibility of whichever module is using the value to ensure it gets set back
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412 to its original value when it is released. */
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413 #if( configUSE_16_BIT_TICKS == 1 )
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414 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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416 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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419 /* Callback function prototypes. --------------------------*/
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420 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
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421 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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424 #if( configUSE_TICK_HOOK > 0 )
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425 extern void vApplicationTickHook( void );
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428 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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429 extern void vApplicationGetIdleTaskMemory( StaticTCB_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint16_t *pusIdleTaskStackSize );
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432 /* File private functions. --------------------------------*/
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435 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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436 * into the TCB structure.
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438 static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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441 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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442 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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443 * is in any other state.
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445 #if ( INCLUDE_vTaskSuspend == 1 )
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446 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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447 #endif /* INCLUDE_vTaskSuspend */
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450 * Utility to ready all the lists used by the scheduler. This is called
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451 * automatically upon the creation of the first task.
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453 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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456 * The idle task, which as all tasks is implemented as a never ending loop.
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457 * The idle task is automatically created and added to the ready lists upon
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458 * creation of the first user task.
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460 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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461 * language extensions. The equivalent prototype for this function is:
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463 * void prvIdleTask( void *pvParameters );
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466 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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469 * Utility to free all memory allocated by the scheduler to hold a TCB,
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470 * including the stack pointed to by the TCB.
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472 * This does not free memory allocated by the task itself (i.e. memory
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473 * allocated by calls to pvPortMalloc from within the tasks application code).
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475 #if ( INCLUDE_vTaskDelete == 1 )
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477 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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482 * Used only by the idle task. This checks to see if anything has been placed
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483 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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484 * and its TCB deleted.
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486 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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489 * The currently executing task is entering the Blocked state. Add the task to
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490 * either the current or the overflow delayed task list.
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492 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake ) PRIVILEGED_FUNCTION;
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495 * Allocates memory from the heap for a TCB and associated stack. Checks the
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496 * allocation was successful.
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498 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer, TCB_t * const pucTCBBuffer ) PRIVILEGED_FUNCTION;
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501 * Fills an TaskStatus_t structure with information on each task that is
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502 * referenced from the pxList list (which may be a ready list, a delayed list,
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503 * a suspended list, etc.).
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505 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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506 * NORMAL APPLICATION CODE.
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508 #if ( configUSE_TRACE_FACILITY == 1 )
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510 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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515 * When a task is created, the stack of the task is filled with a known value.
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516 * This function determines the 'high water mark' of the task stack by
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517 * determining how much of the stack remains at the original preset value.
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519 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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521 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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526 * Return the amount of time, in ticks, that will pass before the kernel will
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527 * next move a task from the Blocked state to the Running state.
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529 * This conditional compilation should use inequality to 0, not equality to 1.
\r
530 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
\r
531 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
\r
532 * set to a value other than 1.
\r
534 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
536 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
\r
541 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
\r
542 * will exit the Blocked state.
\r
544 static void prvResetNextTaskUnblockTime( void );
\r
546 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
549 * Helper function used to pad task names with spaces when printing out
\r
550 * human readable tables of task information.
\r
552 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName );
\r
555 /*-----------------------------------------------------------*/
\r
557 BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, StaticTCB_t * const pxTCBBuffer, const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
559 BaseType_t xReturn;
\r
561 StackType_t *pxTopOfStack;
\r
563 configASSERT( pxTaskCode );
\r
564 configASSERT( ( ( uxPriority & ( UBaseType_t ) ( ~portPRIVILEGE_BIT ) ) < ( UBaseType_t ) configMAX_PRIORITIES ) );
\r
566 /* Allocate the memory required by the TCB and stack for the new task,
\r
567 checking that the allocation was successful. */
\r
568 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer, ( TCB_t* ) pxTCBBuffer ); /*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
570 if( pxNewTCB != NULL )
\r
572 #if( portUSING_MPU_WRAPPERS == 1 )
\r
573 /* Should the task be created in privileged mode? */
\r
574 BaseType_t xRunPrivileged;
\r
575 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
577 xRunPrivileged = pdTRUE;
\r
581 xRunPrivileged = pdFALSE;
\r
583 uxPriority &= ~portPRIVILEGE_BIT;
\r
584 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
586 /* Calculate the top of stack address. This depends on whether the
\r
587 stack grows from high memory to low (as per the 80x86) or vice versa.
\r
588 portSTACK_GROWTH is used to make the result positive or negative as
\r
589 required by the port. */
\r
590 #if( portSTACK_GROWTH < 0 )
\r
592 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );
\r
593 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
595 /* Check the alignment of the calculated top of stack is correct. */
\r
596 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
598 #else /* portSTACK_GROWTH */
\r
600 pxTopOfStack = pxNewTCB->pxStack;
\r
602 /* Check the alignment of the stack buffer is correct. */
\r
603 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
605 /* If we want to use stack checking on architectures that use
\r
606 a positive stack growth direction then we also need to store the
\r
607 other extreme of the stack space. */
\r
608 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
\r
610 #endif /* portSTACK_GROWTH */
\r
612 /* Setup the newly allocated TCB with the initial state of the task. */
\r
613 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
\r
615 /* Initialize the TCB stack to look as if the task was already running,
\r
616 but had been interrupted by the scheduler. The return address is set
\r
617 to the start of the task function. Once the stack has been initialised
\r
618 the top of stack variable is updated. */
\r
619 #if( portUSING_MPU_WRAPPERS == 1 )
\r
621 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
623 #else /* portUSING_MPU_WRAPPERS */
\r
625 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
627 #endif /* portUSING_MPU_WRAPPERS */
\r
629 if( ( void * ) pxCreatedTask != NULL )
\r
631 /* Pass the TCB out - in an anonymous way. The calling function/
\r
632 task can use this as a handle to delete the task later if
\r
634 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
638 mtCOVERAGE_TEST_MARKER();
\r
641 /* Ensure interrupts don't access the task lists while they are being
\r
643 taskENTER_CRITICAL();
\r
645 uxCurrentNumberOfTasks++;
\r
646 if( pxCurrentTCB == NULL )
\r
648 /* There are no other tasks, or all the other tasks are in
\r
649 the suspended state - make this the current task. */
\r
650 pxCurrentTCB = pxNewTCB;
\r
652 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
654 /* This is the first task to be created so do the preliminary
\r
655 initialisation required. We will not recover if this call
\r
656 fails, but we will report the failure. */
\r
657 prvInitialiseTaskLists();
\r
661 mtCOVERAGE_TEST_MARKER();
\r
666 /* If the scheduler is not already running, make this task the
\r
667 current task if it is the highest priority task to be created
\r
669 if( xSchedulerRunning == pdFALSE )
\r
671 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
673 pxCurrentTCB = pxNewTCB;
\r
677 mtCOVERAGE_TEST_MARKER();
\r
682 mtCOVERAGE_TEST_MARKER();
\r
688 #if ( configUSE_TRACE_FACILITY == 1 )
\r
690 /* Add a counter into the TCB for tracing only. */
\r
691 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
693 #endif /* configUSE_TRACE_FACILITY */
\r
694 traceTASK_CREATE( pxNewTCB );
\r
696 prvAddTaskToReadyList( pxNewTCB );
\r
699 portSETUP_TCB( pxNewTCB );
\r
701 taskEXIT_CRITICAL();
\r
705 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
706 traceTASK_CREATE_FAILED();
\r
709 if( xReturn == pdPASS )
\r
711 if( xSchedulerRunning != pdFALSE )
\r
713 /* If the created task is of a higher priority than the current task
\r
714 then it should run now. */
\r
715 if( pxCurrentTCB->uxPriority < uxPriority )
\r
717 taskYIELD_IF_USING_PREEMPTION();
\r
721 mtCOVERAGE_TEST_MARKER();
\r
726 mtCOVERAGE_TEST_MARKER();
\r
732 /*-----------------------------------------------------------*/
\r
734 #if ( INCLUDE_vTaskDelete == 1 )
\r
736 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
740 taskENTER_CRITICAL();
\r
742 /* If null is passed in here then it is the calling task that is
\r
744 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
746 /* Remove task from the ready list. */
\r
747 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
749 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
753 mtCOVERAGE_TEST_MARKER();
\r
756 /* Is the task waiting on an event also? */
\r
757 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
759 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
763 mtCOVERAGE_TEST_MARKER();
\r
766 if( pxTCB == pxCurrentTCB )
\r
768 /* A task is deleting itself. This cannot complete within the
\r
769 task itself, as a context switch to another task is required.
\r
770 Place the task in the termination list. The idle task will
\r
771 check the termination list and free up any memory allocated by
\r
772 the scheduler for the TCB and stack of the deleted task. */
\r
773 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
775 /* Increment the ucTasksDeleted variable so the idle task knows
\r
776 there is a task that has been deleted and that it should therefore
\r
777 check the xTasksWaitingTermination list. */
\r
778 ++uxDeletedTasksWaitingCleanUp;
\r
782 --uxCurrentNumberOfTasks;
\r
783 prvDeleteTCB( pxTCB );
\r
786 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
787 detect that the task lists need re-generating. */
\r
790 traceTASK_DELETE( pxTCB );
\r
792 taskEXIT_CRITICAL();
\r
794 /* Force a reschedule if it is the currently running task that has just
\r
796 if( xSchedulerRunning != pdFALSE )
\r
798 if( pxTCB == pxCurrentTCB )
\r
800 configASSERT( uxSchedulerSuspended == 0 );
\r
802 /* The pre-delete hook is primarily for the Windows simulator,
\r
803 in which Windows specific clean up operations are performed,
\r
804 after which it is not possible to yield away from this task -
\r
805 hence xYieldPending is used to latch that a context switch is
\r
807 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
808 portYIELD_WITHIN_API();
\r
812 /* Reset the next expected unblock time in case it referred to
\r
813 the task that has just been deleted. */
\r
814 taskENTER_CRITICAL();
\r
816 prvResetNextTaskUnblockTime();
\r
818 taskEXIT_CRITICAL();
\r
823 #endif /* INCLUDE_vTaskDelete */
\r
824 /*-----------------------------------------------------------*/
\r
826 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
828 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
830 TickType_t xTimeToWake;
\r
831 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
833 configASSERT( pxPreviousWakeTime );
\r
834 configASSERT( ( xTimeIncrement > 0U ) );
\r
835 configASSERT( uxSchedulerSuspended == 0 );
\r
839 /* Minor optimisation. The tick count cannot change in this
\r
841 const TickType_t xConstTickCount = xTickCount;
\r
843 /* Generate the tick time at which the task wants to wake. */
\r
844 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
846 if( xConstTickCount < *pxPreviousWakeTime )
\r
848 /* The tick count has overflowed since this function was
\r
849 lasted called. In this case the only time we should ever
\r
850 actually delay is if the wake time has also overflowed,
\r
851 and the wake time is greater than the tick time. When this
\r
852 is the case it is as if neither time had overflowed. */
\r
853 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
855 xShouldDelay = pdTRUE;
\r
859 mtCOVERAGE_TEST_MARKER();
\r
864 /* The tick time has not overflowed. In this case we will
\r
865 delay if either the wake time has overflowed, and/or the
\r
866 tick time is less than the wake time. */
\r
867 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
869 xShouldDelay = pdTRUE;
\r
873 mtCOVERAGE_TEST_MARKER();
\r
877 /* Update the wake time ready for the next call. */
\r
878 *pxPreviousWakeTime = xTimeToWake;
\r
880 if( xShouldDelay != pdFALSE )
\r
882 traceTASK_DELAY_UNTIL();
\r
884 /* Remove the task from the ready list before adding it to the
\r
885 blocked list as the same list item is used for both lists. */
\r
886 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
888 /* The current task must be in a ready list, so there is
\r
889 no need to check, and the port reset macro can be called
\r
891 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
895 mtCOVERAGE_TEST_MARKER();
\r
898 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
902 mtCOVERAGE_TEST_MARKER();
\r
905 xAlreadyYielded = xTaskResumeAll();
\r
907 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
908 have put ourselves to sleep. */
\r
909 if( xAlreadyYielded == pdFALSE )
\r
911 portYIELD_WITHIN_API();
\r
915 mtCOVERAGE_TEST_MARKER();
\r
919 #endif /* INCLUDE_vTaskDelayUntil */
\r
920 /*-----------------------------------------------------------*/
\r
922 #if ( INCLUDE_vTaskDelay == 1 )
\r
924 void vTaskDelay( const TickType_t xTicksToDelay )
\r
926 TickType_t xTimeToWake;
\r
927 BaseType_t xAlreadyYielded = pdFALSE;
\r
930 /* A delay time of zero just forces a reschedule. */
\r
931 if( xTicksToDelay > ( TickType_t ) 0U )
\r
933 configASSERT( uxSchedulerSuspended == 0 );
\r
938 /* A task that is removed from the event list while the
\r
939 scheduler is suspended will not get placed in the ready
\r
940 list or removed from the blocked list until the scheduler
\r
943 This task cannot be in an event list as it is the currently
\r
946 /* Calculate the time to wake - this may overflow but this is
\r
948 xTimeToWake = xTickCount + xTicksToDelay;
\r
950 /* We must remove ourselves from the ready list before adding
\r
951 ourselves to the blocked list as the same list item is used for
\r
953 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
955 /* The current task must be in a ready list, so there is
\r
956 no need to check, and the port reset macro can be called
\r
958 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
962 mtCOVERAGE_TEST_MARKER();
\r
964 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
966 xAlreadyYielded = xTaskResumeAll();
\r
970 mtCOVERAGE_TEST_MARKER();
\r
973 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
974 have put ourselves to sleep. */
\r
975 if( xAlreadyYielded == pdFALSE )
\r
977 portYIELD_WITHIN_API();
\r
981 mtCOVERAGE_TEST_MARKER();
\r
985 #endif /* INCLUDE_vTaskDelay */
\r
986 /*-----------------------------------------------------------*/
\r
988 #if ( INCLUDE_eTaskGetState == 1 )
\r
990 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
992 eTaskState eReturn;
\r
993 List_t *pxStateList;
\r
994 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
996 configASSERT( pxTCB );
\r
998 if( pxTCB == pxCurrentTCB )
\r
1000 /* The task calling this function is querying its own state. */
\r
1001 eReturn = eRunning;
\r
1005 taskENTER_CRITICAL();
\r
1007 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
1009 taskEXIT_CRITICAL();
\r
1011 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
1013 /* The task being queried is referenced from one of the Blocked
\r
1015 eReturn = eBlocked;
\r
1018 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1019 else if( pxStateList == &xSuspendedTaskList )
\r
1021 /* The task being queried is referenced from the suspended
\r
1022 list. Is it genuinely suspended or is it block
\r
1024 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1026 eReturn = eSuspended;
\r
1030 eReturn = eBlocked;
\r
1035 #if ( INCLUDE_vTaskDelete == 1 )
\r
1036 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1038 /* The task being queried is referenced from the deleted
\r
1039 tasks list, or it is not referenced from any lists at
\r
1041 eReturn = eDeleted;
\r
1045 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1047 /* If the task is not in any other state, it must be in the
\r
1048 Ready (including pending ready) state. */
\r
1054 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1056 #endif /* INCLUDE_eTaskGetState */
\r
1057 /*-----------------------------------------------------------*/
\r
1059 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1061 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1064 UBaseType_t uxReturn;
\r
1066 taskENTER_CRITICAL();
\r
1068 /* If null is passed in here then it is the priority of the that
\r
1069 called uxTaskPriorityGet() that is being queried. */
\r
1070 pxTCB = prvGetTCBFromHandle( xTask );
\r
1071 uxReturn = pxTCB->uxPriority;
\r
1073 taskEXIT_CRITICAL();
\r
1078 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1079 /*-----------------------------------------------------------*/
\r
1081 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1083 UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )
\r
1086 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1088 /* RTOS ports that support interrupt nesting have the concept of a
\r
1089 maximum system call (or maximum API call) interrupt priority.
\r
1090 Interrupts that are above the maximum system call priority are keep
\r
1091 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1092 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1093 is defined in FreeRTOSConfig.h then
\r
1094 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1095 failure if a FreeRTOS API function is called from an interrupt that has
\r
1096 been assigned a priority above the configured maximum system call
\r
1097 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1098 from interrupts that have been assigned a priority at or (logically)
\r
1099 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1100 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1101 simple as possible. More information (albeit Cortex-M specific) is
\r
1102 provided on the following link:
\r
1103 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1104 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1106 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1108 /* If null is passed in here then it is the priority of the calling
\r
1109 task that is being queried. */
\r
1110 pxTCB = prvGetTCBFromHandle( xTask );
\r
1111 uxReturn = pxTCB->uxPriority;
\r
1113 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1118 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1119 /*-----------------------------------------------------------*/
\r
1121 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1123 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1126 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1127 BaseType_t xYieldRequired = pdFALSE;
\r
1129 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1131 /* Ensure the new priority is valid. */
\r
1132 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1134 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1138 mtCOVERAGE_TEST_MARKER();
\r
1141 taskENTER_CRITICAL();
\r
1143 /* If null is passed in here then it is the priority of the calling
\r
1144 task that is being changed. */
\r
1145 pxTCB = prvGetTCBFromHandle( xTask );
\r
1147 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1149 #if ( configUSE_MUTEXES == 1 )
\r
1151 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1155 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1159 if( uxCurrentBasePriority != uxNewPriority )
\r
1161 /* The priority change may have readied a task of higher
\r
1162 priority than the calling task. */
\r
1163 if( uxNewPriority > uxCurrentBasePriority )
\r
1165 if( pxTCB != pxCurrentTCB )
\r
1167 /* The priority of a task other than the currently
\r
1168 running task is being raised. Is the priority being
\r
1169 raised above that of the running task? */
\r
1170 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1172 xYieldRequired = pdTRUE;
\r
1176 mtCOVERAGE_TEST_MARKER();
\r
1181 /* The priority of the running task is being raised,
\r
1182 but the running task must already be the highest
\r
1183 priority task able to run so no yield is required. */
\r
1186 else if( pxTCB == pxCurrentTCB )
\r
1188 /* Setting the priority of the running task down means
\r
1189 there may now be another task of higher priority that
\r
1190 is ready to execute. */
\r
1191 xYieldRequired = pdTRUE;
\r
1195 /* Setting the priority of any other task down does not
\r
1196 require a yield as the running task must be above the
\r
1197 new priority of the task being modified. */
\r
1200 /* Remember the ready list the task might be referenced from
\r
1201 before its uxPriority member is changed so the
\r
1202 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1203 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1205 #if ( configUSE_MUTEXES == 1 )
\r
1207 /* Only change the priority being used if the task is not
\r
1208 currently using an inherited priority. */
\r
1209 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1211 pxTCB->uxPriority = uxNewPriority;
\r
1215 mtCOVERAGE_TEST_MARKER();
\r
1218 /* The base priority gets set whatever. */
\r
1219 pxTCB->uxBasePriority = uxNewPriority;
\r
1223 pxTCB->uxPriority = uxNewPriority;
\r
1227 /* Only reset the event list item value if the value is not
\r
1228 being used for anything else. */
\r
1229 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1231 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
1235 mtCOVERAGE_TEST_MARKER();
\r
1238 /* If the task is in the blocked or suspended list we need do
\r
1239 nothing more than change it's priority variable. However, if
\r
1240 the task is in a ready list it needs to be removed and placed
\r
1241 in the list appropriate to its new priority. */
\r
1242 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1244 /* The task is currently in its ready list - remove before adding
\r
1245 it to it's new ready list. As we are in a critical section we
\r
1246 can do this even if the scheduler is suspended. */
\r
1247 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1249 /* It is known that the task is in its ready list so
\r
1250 there is no need to check again and the port level
\r
1251 reset macro can be called directly. */
\r
1252 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1256 mtCOVERAGE_TEST_MARKER();
\r
1258 prvAddTaskToReadyList( pxTCB );
\r
1262 mtCOVERAGE_TEST_MARKER();
\r
1265 if( xYieldRequired == pdTRUE )
\r
1267 taskYIELD_IF_USING_PREEMPTION();
\r
1271 mtCOVERAGE_TEST_MARKER();
\r
1274 /* Remove compiler warning about unused variables when the port
\r
1275 optimised task selection is not being used. */
\r
1276 ( void ) uxPriorityUsedOnEntry;
\r
1279 taskEXIT_CRITICAL();
\r
1282 #endif /* INCLUDE_vTaskPrioritySet */
\r
1283 /*-----------------------------------------------------------*/
\r
1285 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1287 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1291 taskENTER_CRITICAL();
\r
1293 /* If null is passed in here then it is the running task that is
\r
1294 being suspended. */
\r
1295 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1297 traceTASK_SUSPEND( pxTCB );
\r
1299 /* Remove task from the ready/delayed list and place in the
\r
1300 suspended list. */
\r
1301 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1303 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1307 mtCOVERAGE_TEST_MARKER();
\r
1310 /* Is the task waiting on an event also? */
\r
1311 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1313 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1317 mtCOVERAGE_TEST_MARKER();
\r
1320 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1322 taskEXIT_CRITICAL();
\r
1324 if( pxTCB == pxCurrentTCB )
\r
1326 if( xSchedulerRunning != pdFALSE )
\r
1328 /* The current task has just been suspended. */
\r
1329 configASSERT( uxSchedulerSuspended == 0 );
\r
1330 portYIELD_WITHIN_API();
\r
1334 /* The scheduler is not running, but the task that was pointed
\r
1335 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1336 must be adjusted to point to a different task. */
\r
1337 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1339 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1340 NULL so when the next task is created pxCurrentTCB will
\r
1341 be set to point to it no matter what its relative priority
\r
1343 pxCurrentTCB = NULL;
\r
1347 vTaskSwitchContext();
\r
1353 if( xSchedulerRunning != pdFALSE )
\r
1355 /* A task other than the currently running task was suspended,
\r
1356 reset the next expected unblock time in case it referred to the
\r
1357 task that is now in the Suspended state. */
\r
1358 taskENTER_CRITICAL();
\r
1360 prvResetNextTaskUnblockTime();
\r
1362 taskEXIT_CRITICAL();
\r
1366 mtCOVERAGE_TEST_MARKER();
\r
1371 #endif /* INCLUDE_vTaskSuspend */
\r
1372 /*-----------------------------------------------------------*/
\r
1374 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1376 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1378 BaseType_t xReturn = pdFALSE;
\r
1379 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1381 /* Accesses xPendingReadyList so must be called from a critical
\r
1384 /* It does not make sense to check if the calling task is suspended. */
\r
1385 configASSERT( xTask );
\r
1387 /* Is the task being resumed actually in the suspended list? */
\r
1388 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1390 /* Has the task already been resumed from within an ISR? */
\r
1391 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1393 /* Is it in the suspended list because it is in the Suspended
\r
1394 state, or because is is blocked with no timeout? */
\r
1395 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1401 mtCOVERAGE_TEST_MARKER();
\r
1406 mtCOVERAGE_TEST_MARKER();
\r
1411 mtCOVERAGE_TEST_MARKER();
\r
1415 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1417 #endif /* INCLUDE_vTaskSuspend */
\r
1418 /*-----------------------------------------------------------*/
\r
1420 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1422 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1424 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1426 /* It does not make sense to resume the calling task. */
\r
1427 configASSERT( xTaskToResume );
\r
1429 /* The parameter cannot be NULL as it is impossible to resume the
\r
1430 currently executing task. */
\r
1431 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1433 taskENTER_CRITICAL();
\r
1435 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1437 traceTASK_RESUME( pxTCB );
\r
1439 /* As we are in a critical section we can access the ready
\r
1440 lists even if the scheduler is suspended. */
\r
1441 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1442 prvAddTaskToReadyList( pxTCB );
\r
1444 /* We may have just resumed a higher priority task. */
\r
1445 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1447 /* This yield may not cause the task just resumed to run,
\r
1448 but will leave the lists in the correct state for the
\r
1450 taskYIELD_IF_USING_PREEMPTION();
\r
1454 mtCOVERAGE_TEST_MARKER();
\r
1459 mtCOVERAGE_TEST_MARKER();
\r
1462 taskEXIT_CRITICAL();
\r
1466 mtCOVERAGE_TEST_MARKER();
\r
1470 #endif /* INCLUDE_vTaskSuspend */
\r
1472 /*-----------------------------------------------------------*/
\r
1474 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1476 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1478 BaseType_t xYieldRequired = pdFALSE;
\r
1479 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1480 UBaseType_t uxSavedInterruptStatus;
\r
1482 configASSERT( xTaskToResume );
\r
1484 /* RTOS ports that support interrupt nesting have the concept of a
\r
1485 maximum system call (or maximum API call) interrupt priority.
\r
1486 Interrupts that are above the maximum system call priority are keep
\r
1487 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1488 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1489 is defined in FreeRTOSConfig.h then
\r
1490 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1491 failure if a FreeRTOS API function is called from an interrupt that has
\r
1492 been assigned a priority above the configured maximum system call
\r
1493 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1494 from interrupts that have been assigned a priority at or (logically)
\r
1495 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1496 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1497 simple as possible. More information (albeit Cortex-M specific) is
\r
1498 provided on the following link:
\r
1499 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1500 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1502 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1504 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1506 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1508 /* Check the ready lists can be accessed. */
\r
1509 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1511 /* Ready lists can be accessed so move the task from the
\r
1512 suspended list to the ready list directly. */
\r
1513 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1515 xYieldRequired = pdTRUE;
\r
1519 mtCOVERAGE_TEST_MARKER();
\r
1522 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1523 prvAddTaskToReadyList( pxTCB );
\r
1527 /* The delayed or ready lists cannot be accessed so the task
\r
1528 is held in the pending ready list until the scheduler is
\r
1530 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1535 mtCOVERAGE_TEST_MARKER();
\r
1538 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1540 return xYieldRequired;
\r
1543 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1544 /*-----------------------------------------------------------*/
\r
1546 void vTaskStartScheduler( void )
\r
1548 BaseType_t xReturn;
\r
1549 StaticTCB_t *pxIdleTaskTCBBuffer = NULL;
\r
1550 StackType_t *pxIdleTaskStackBuffer = NULL;
\r
1551 uint16_t usIdleTaskStackSize = tskIDLE_STACK_SIZE;
\r
1553 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1555 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &usIdleTaskStackSize );
\r
1557 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
1559 /* Add the idle task at the lowest priority. */
\r
1560 xReturn = xTaskGenericCreate( prvIdleTask, "IDLE", usIdleTaskStackSize, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle, pxIdleTaskStackBuffer, pxIdleTaskTCBBuffer, NULL ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1562 #if ( configUSE_TIMERS == 1 )
\r
1564 if( xReturn == pdPASS )
\r
1566 xReturn = xTimerCreateTimerTask();
\r
1570 mtCOVERAGE_TEST_MARKER();
\r
1573 #endif /* configUSE_TIMERS */
\r
1575 if( xReturn == pdPASS )
\r
1577 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1578 before or during the call to xPortStartScheduler(). The stacks of
\r
1579 the created tasks contain a status word with interrupts switched on
\r
1580 so interrupts will automatically get re-enabled when the first task
\r
1582 portDISABLE_INTERRUPTS();
\r
1584 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1586 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1587 structure specific to the task that will run first. */
\r
1588 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1590 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1592 xNextTaskUnblockTime = portMAX_DELAY;
\r
1593 xSchedulerRunning = pdTRUE;
\r
1594 xTickCount = ( TickType_t ) 0U;
\r
1596 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1597 macro must be defined to configure the timer/counter used to generate
\r
1598 the run time counter time base. */
\r
1599 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1601 /* Setting up the timer tick is hardware specific and thus in the
\r
1602 portable interface. */
\r
1603 if( xPortStartScheduler() != pdFALSE )
\r
1605 /* Should not reach here as if the scheduler is running the
\r
1606 function will not return. */
\r
1610 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1615 /* This line will only be reached if the kernel could not be started,
\r
1616 because there was not enough FreeRTOS heap to create the idle task
\r
1617 or the timer task. */
\r
1618 configASSERT( xReturn );
\r
1621 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
1622 meaning xIdleTaskHandle is not used anywhere else. */
\r
1623 ( void ) xIdleTaskHandle;
\r
1625 /*-----------------------------------------------------------*/
\r
1627 void vTaskEndScheduler( void )
\r
1629 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1630 routine so the original ISRs can be restored if necessary. The port
\r
1631 layer must ensure interrupts enable bit is left in the correct state. */
\r
1632 portDISABLE_INTERRUPTS();
\r
1633 xSchedulerRunning = pdFALSE;
\r
1634 vPortEndScheduler();
\r
1636 /*----------------------------------------------------------*/
\r
1638 void vTaskSuspendAll( void )
\r
1640 /* A critical section is not required as the variable is of type
\r
1641 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
1642 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1643 http://goo.gl/wu4acr */
\r
1644 ++uxSchedulerSuspended;
\r
1646 /*----------------------------------------------------------*/
\r
1648 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1650 static TickType_t prvGetExpectedIdleTime( void )
\r
1652 TickType_t xReturn;
\r
1653 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
1655 /* uxHigherPriorityReadyTasks takes care of the case where
\r
1656 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
1657 task that are in the Ready state, even though the idle task is
\r
1659 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
1661 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
1663 uxHigherPriorityReadyTasks = pdTRUE;
\r
1668 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
1670 /* When port optimised task selection is used the uxTopReadyPriority
\r
1671 variable is used as a bit map. If bits other than the least
\r
1672 significant bit are set then there are tasks that have a priority
\r
1673 above the idle priority that are in the Ready state. This takes
\r
1674 care of the case where the co-operative scheduler is in use. */
\r
1675 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
1677 uxHigherPriorityReadyTasks = pdTRUE;
\r
1682 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1686 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1688 /* There are other idle priority tasks in the ready state. If
\r
1689 time slicing is used then the very next tick interrupt must be
\r
1693 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
1695 /* There are tasks in the Ready state that have a priority above the
\r
1696 idle priority. This path can only be reached if
\r
1697 configUSE_PREEMPTION is 0. */
\r
1702 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1708 #endif /* configUSE_TICKLESS_IDLE */
\r
1709 /*----------------------------------------------------------*/
\r
1711 BaseType_t xTaskResumeAll( void )
\r
1714 BaseType_t xAlreadyYielded = pdFALSE;
\r
1716 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1717 previous call to vTaskSuspendAll(). */
\r
1718 configASSERT( uxSchedulerSuspended );
\r
1720 /* It is possible that an ISR caused a task to be removed from an event
\r
1721 list while the scheduler was suspended. If this was the case then the
\r
1722 removed task will have been added to the xPendingReadyList. Once the
\r
1723 scheduler has been resumed it is safe to move all the pending ready
\r
1724 tasks from this list into their appropriate ready list. */
\r
1725 taskENTER_CRITICAL();
\r
1727 --uxSchedulerSuspended;
\r
1729 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1731 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
1733 /* Move any readied tasks from the pending list into the
\r
1734 appropriate ready list. */
\r
1735 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1737 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1738 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1739 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1740 prvAddTaskToReadyList( pxTCB );
\r
1742 /* If the moved task has a priority higher than the current
\r
1743 task then a yield must be performed. */
\r
1744 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1746 xYieldPending = pdTRUE;
\r
1750 mtCOVERAGE_TEST_MARKER();
\r
1754 /* If any ticks occurred while the scheduler was suspended then
\r
1755 they should be processed now. This ensures the tick count does
\r
1756 not slip, and that any delayed tasks are resumed at the correct
\r
1758 if( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1760 while( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1762 if( xTaskIncrementTick() != pdFALSE )
\r
1764 xYieldPending = pdTRUE;
\r
1768 mtCOVERAGE_TEST_MARKER();
\r
1775 mtCOVERAGE_TEST_MARKER();
\r
1778 if( xYieldPending == pdTRUE )
\r
1780 #if( configUSE_PREEMPTION != 0 )
\r
1782 xAlreadyYielded = pdTRUE;
\r
1785 taskYIELD_IF_USING_PREEMPTION();
\r
1789 mtCOVERAGE_TEST_MARKER();
\r
1795 mtCOVERAGE_TEST_MARKER();
\r
1798 taskEXIT_CRITICAL();
\r
1800 return xAlreadyYielded;
\r
1802 /*-----------------------------------------------------------*/
\r
1804 TickType_t xTaskGetTickCount( void )
\r
1806 TickType_t xTicks;
\r
1808 /* Critical section required if running on a 16 bit processor. */
\r
1809 portTICK_TYPE_ENTER_CRITICAL();
\r
1811 xTicks = xTickCount;
\r
1813 portTICK_TYPE_EXIT_CRITICAL();
\r
1817 /*-----------------------------------------------------------*/
\r
1819 TickType_t xTaskGetTickCountFromISR( void )
\r
1821 TickType_t xReturn;
\r
1822 UBaseType_t uxSavedInterruptStatus;
\r
1824 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1825 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1826 above the maximum system call priority are kept permanently enabled, even
\r
1827 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1828 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1829 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1830 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1831 assigned a priority above the configured maximum system call priority.
\r
1832 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1833 that have been assigned a priority at or (logically) below the maximum
\r
1834 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1835 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1836 More information (albeit Cortex-M specific) is provided on the following
\r
1837 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1838 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1840 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
1842 xReturn = xTickCount;
\r
1844 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1848 /*-----------------------------------------------------------*/
\r
1850 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
1852 /* A critical section is not required because the variables are of type
\r
1854 return uxCurrentNumberOfTasks;
\r
1856 /*-----------------------------------------------------------*/
\r
1858 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1860 char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
1864 /* If null is passed in here then the name of the calling task is being queried. */
\r
1865 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1866 configASSERT( pxTCB );
\r
1867 return &( pxTCB->pcTaskName[ 0 ] );
\r
1870 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1871 /*-----------------------------------------------------------*/
\r
1873 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1875 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
1877 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1879 vTaskSuspendAll();
\r
1881 /* Is there a space in the array for each task in the system? */
\r
1882 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1884 /* Fill in an TaskStatus_t structure with information on each
\r
1885 task in the Ready state. */
\r
1889 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1891 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1893 /* Fill in an TaskStatus_t structure with information on each
\r
1894 task in the Blocked state. */
\r
1895 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
1896 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
1898 #if( INCLUDE_vTaskDelete == 1 )
\r
1900 /* Fill in an TaskStatus_t structure with information on
\r
1901 each task that has been deleted but not yet cleaned up. */
\r
1902 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1906 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1908 /* Fill in an TaskStatus_t structure with information on
\r
1909 each task in the Suspended state. */
\r
1910 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1914 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1916 if( pulTotalRunTime != NULL )
\r
1918 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1919 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
1921 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1927 if( pulTotalRunTime != NULL )
\r
1929 *pulTotalRunTime = 0;
\r
1936 mtCOVERAGE_TEST_MARKER();
\r
1939 ( void ) xTaskResumeAll();
\r
1944 #endif /* configUSE_TRACE_FACILITY */
\r
1945 /*----------------------------------------------------------*/
\r
1947 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1949 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
1951 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1952 started, then xIdleTaskHandle will be NULL. */
\r
1953 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1954 return xIdleTaskHandle;
\r
1957 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1958 /*----------------------------------------------------------*/
\r
1960 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1961 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1962 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1964 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1966 void vTaskStepTick( const TickType_t xTicksToJump )
\r
1968 /* Correct the tick count value after a period during which the tick
\r
1969 was suppressed. Note this does *not* call the tick hook function for
\r
1970 each stepped tick. */
\r
1971 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1972 xTickCount += xTicksToJump;
\r
1973 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
1976 #endif /* configUSE_TICKLESS_IDLE */
\r
1977 /*----------------------------------------------------------*/
\r
1979 BaseType_t xTaskIncrementTick( void )
\r
1982 TickType_t xItemValue;
\r
1983 BaseType_t xSwitchRequired = pdFALSE;
\r
1985 /* Called by the portable layer each time a tick interrupt occurs.
\r
1986 Increments the tick then checks to see if the new tick value will cause any
\r
1987 tasks to be unblocked. */
\r
1988 traceTASK_INCREMENT_TICK( xTickCount );
\r
1989 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1991 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1992 delayed lists if it wraps to 0. */
\r
1996 /* Minor optimisation. The tick count cannot change in this
\r
1998 const TickType_t xConstTickCount = xTickCount;
\r
2000 if( xConstTickCount == ( TickType_t ) 0U )
\r
2002 taskSWITCH_DELAYED_LISTS();
\r
2006 mtCOVERAGE_TEST_MARKER();
\r
2009 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2010 the queue in the order of their wake time - meaning once one task
\r
2011 has been found whose block time has not expired there is no need to
\r
2012 look any further down the list. */
\r
2013 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2017 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2019 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2020 to the maximum possible value so it is extremely
\r
2022 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2023 next time through. */
\r
2024 xNextTaskUnblockTime = portMAX_DELAY;
\r
2029 /* The delayed list is not empty, get the value of the
\r
2030 item at the head of the delayed list. This is the time
\r
2031 at which the task at the head of the delayed list must
\r
2032 be removed from the Blocked state. */
\r
2033 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
2034 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
2036 if( xConstTickCount < xItemValue )
\r
2038 /* It is not time to unblock this item yet, but the
\r
2039 item value is the time at which the task at the head
\r
2040 of the blocked list must be removed from the Blocked
\r
2041 state - so record the item value in
\r
2042 xNextTaskUnblockTime. */
\r
2043 xNextTaskUnblockTime = xItemValue;
\r
2048 mtCOVERAGE_TEST_MARKER();
\r
2051 /* It is time to remove the item from the Blocked state. */
\r
2052 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2054 /* Is the task waiting on an event also? If so remove
\r
2055 it from the event list. */
\r
2056 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2058 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2062 mtCOVERAGE_TEST_MARKER();
\r
2065 /* Place the unblocked task into the appropriate ready
\r
2067 prvAddTaskToReadyList( pxTCB );
\r
2069 /* A task being unblocked cannot cause an immediate
\r
2070 context switch if preemption is turned off. */
\r
2071 #if ( configUSE_PREEMPTION == 1 )
\r
2073 /* Preemption is on, but a context switch should
\r
2074 only be performed if the unblocked task has a
\r
2075 priority that is equal to or higher than the
\r
2076 currently executing task. */
\r
2077 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2079 xSwitchRequired = pdTRUE;
\r
2083 mtCOVERAGE_TEST_MARKER();
\r
2086 #endif /* configUSE_PREEMPTION */
\r
2092 /* Tasks of equal priority to the currently running task will share
\r
2093 processing time (time slice) if preemption is on, and the application
\r
2094 writer has not explicitly turned time slicing off. */
\r
2095 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2097 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2099 xSwitchRequired = pdTRUE;
\r
2103 mtCOVERAGE_TEST_MARKER();
\r
2106 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2108 #if ( configUSE_TICK_HOOK == 1 )
\r
2110 /* Guard against the tick hook being called when the pended tick
\r
2111 count is being unwound (when the scheduler is being unlocked). */
\r
2112 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2114 vApplicationTickHook();
\r
2118 mtCOVERAGE_TEST_MARKER();
\r
2121 #endif /* configUSE_TICK_HOOK */
\r
2127 /* The tick hook gets called at regular intervals, even if the
\r
2128 scheduler is locked. */
\r
2129 #if ( configUSE_TICK_HOOK == 1 )
\r
2131 vApplicationTickHook();
\r
2136 #if ( configUSE_PREEMPTION == 1 )
\r
2138 if( xYieldPending != pdFALSE )
\r
2140 xSwitchRequired = pdTRUE;
\r
2144 mtCOVERAGE_TEST_MARKER();
\r
2147 #endif /* configUSE_PREEMPTION */
\r
2149 return xSwitchRequired;
\r
2151 /*-----------------------------------------------------------*/
\r
2153 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2155 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2159 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2161 if( xTask == NULL )
\r
2163 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2167 xTCB = ( TCB_t * ) xTask;
\r
2170 /* Save the hook function in the TCB. A critical section is required as
\r
2171 the value can be accessed from an interrupt. */
\r
2172 taskENTER_CRITICAL();
\r
2173 xTCB->pxTaskTag = pxHookFunction;
\r
2174 taskEXIT_CRITICAL();
\r
2177 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2178 /*-----------------------------------------------------------*/
\r
2180 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2182 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2185 TaskHookFunction_t xReturn;
\r
2187 /* If xTask is NULL then we are setting our own task hook. */
\r
2188 if( xTask == NULL )
\r
2190 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2194 xTCB = ( TCB_t * ) xTask;
\r
2197 /* Save the hook function in the TCB. A critical section is required as
\r
2198 the value can be accessed from an interrupt. */
\r
2199 taskENTER_CRITICAL();
\r
2201 xReturn = xTCB->pxTaskTag;
\r
2203 taskEXIT_CRITICAL();
\r
2208 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2209 /*-----------------------------------------------------------*/
\r
2211 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2213 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2216 BaseType_t xReturn;
\r
2218 /* If xTask is NULL then we are calling our own task hook. */
\r
2219 if( xTask == NULL )
\r
2221 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2225 xTCB = ( TCB_t * ) xTask;
\r
2228 if( xTCB->pxTaskTag != NULL )
\r
2230 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2240 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2241 /*-----------------------------------------------------------*/
\r
2243 void vTaskSwitchContext( void )
\r
2245 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2247 /* The scheduler is currently suspended - do not allow a context
\r
2249 xYieldPending = pdTRUE;
\r
2253 xYieldPending = pdFALSE;
\r
2254 traceTASK_SWITCHED_OUT();
\r
2256 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2258 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2259 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2261 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2264 /* Add the amount of time the task has been running to the
\r
2265 accumulated time so far. The time the task started running was
\r
2266 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2267 protection here so count values are only valid until the timer
\r
2268 overflows. The guard against negative values is to protect
\r
2269 against suspect run time stat counter implementations - which
\r
2270 are provided by the application, not the kernel. */
\r
2271 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2273 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2277 mtCOVERAGE_TEST_MARKER();
\r
2279 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2281 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2283 /* Check for stack overflow, if configured. */
\r
2284 taskCHECK_FOR_STACK_OVERFLOW();
\r
2286 /* Select a new task to run using either the generic C or port
\r
2287 optimised asm code. */
\r
2288 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2289 traceTASK_SWITCHED_IN();
\r
2291 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2293 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2294 structure specific to this task. */
\r
2295 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2297 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2300 /*-----------------------------------------------------------*/
\r
2302 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2304 TickType_t xTimeToWake;
\r
2306 configASSERT( pxEventList );
\r
2308 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2309 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2311 /* Place the event list item of the TCB in the appropriate event list.
\r
2312 This is placed in the list in priority order so the highest priority task
\r
2313 is the first to be woken by the event. The queue that contains the event
\r
2314 list is locked, preventing simultaneous access from interrupts. */
\r
2315 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2317 /* The task must be removed from from the ready list before it is added to
\r
2318 the blocked list as the same list item is used for both lists. Exclusive
\r
2319 access to the ready lists guaranteed because the scheduler is locked. */
\r
2320 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2322 /* The current task must be in a ready list, so there is no need to
\r
2323 check, and the port reset macro can be called directly. */
\r
2324 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2328 mtCOVERAGE_TEST_MARKER();
\r
2331 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2333 if( xTicksToWait == portMAX_DELAY )
\r
2335 /* Add the task to the suspended task list instead of a delayed task
\r
2336 list to ensure the task is not woken by a timing event. It will
\r
2337 block indefinitely. */
\r
2338 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2342 /* Calculate the time at which the task should be woken if the event
\r
2343 does not occur. This may overflow but this doesn't matter, the
\r
2344 scheduler will handle it. */
\r
2345 xTimeToWake = xTickCount + xTicksToWait;
\r
2346 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2349 #else /* INCLUDE_vTaskSuspend */
\r
2351 /* Calculate the time at which the task should be woken if the event does
\r
2352 not occur. This may overflow but this doesn't matter, the scheduler
\r
2353 will handle it. */
\r
2354 xTimeToWake = xTickCount + xTicksToWait;
\r
2355 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2357 #endif /* INCLUDE_vTaskSuspend */
\r
2359 /*-----------------------------------------------------------*/
\r
2361 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2363 TickType_t xTimeToWake;
\r
2365 configASSERT( pxEventList );
\r
2367 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2368 the event groups implementation. */
\r
2369 configASSERT( uxSchedulerSuspended != 0 );
\r
2371 /* Store the item value in the event list item. It is safe to access the
\r
2372 event list item here as interrupts won't access the event list item of a
\r
2373 task that is not in the Blocked state. */
\r
2374 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2376 /* Place the event list item of the TCB at the end of the appropriate event
\r
2377 list. It is safe to access the event list here because it is part of an
\r
2378 event group implementation - and interrupts don't access event groups
\r
2379 directly (instead they access them indirectly by pending function calls to
\r
2380 the task level). */
\r
2381 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2383 /* The task must be removed from the ready list before it is added to the
\r
2384 blocked list. Exclusive access can be assured to the ready list as the
\r
2385 scheduler is locked. */
\r
2386 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2388 /* The current task must be in a ready list, so there is no need to
\r
2389 check, and the port reset macro can be called directly. */
\r
2390 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2394 mtCOVERAGE_TEST_MARKER();
\r
2397 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2399 if( xTicksToWait == portMAX_DELAY )
\r
2401 /* Add the task to the suspended task list instead of a delayed task
\r
2402 list to ensure it is not woken by a timing event. It will block
\r
2404 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2408 /* Calculate the time at which the task should be woken if the event
\r
2409 does not occur. This may overflow but this doesn't matter, the
\r
2410 kernel will manage it correctly. */
\r
2411 xTimeToWake = xTickCount + xTicksToWait;
\r
2412 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2415 #else /* INCLUDE_vTaskSuspend */
\r
2417 /* Calculate the time at which the task should be woken if the event does
\r
2418 not occur. This may overflow but this doesn't matter, the kernel
\r
2419 will manage it correctly. */
\r
2420 xTimeToWake = xTickCount + xTicksToWait;
\r
2421 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2423 #endif /* INCLUDE_vTaskSuspend */
\r
2425 /*-----------------------------------------------------------*/
\r
2427 #if configUSE_TIMERS == 1
\r
2429 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2431 TickType_t xTimeToWake;
\r
2433 configASSERT( pxEventList );
\r
2435 /* This function should not be called by application code hence the
\r
2436 'Restricted' in its name. It is not part of the public API. It is
\r
2437 designed for use by kernel code, and has special calling requirements -
\r
2438 it should be called with the scheduler suspended. */
\r
2441 /* Place the event list item of the TCB in the appropriate event list.
\r
2442 In this case it is assume that this is the only task that is going to
\r
2443 be waiting on this event list, so the faster vListInsertEnd() function
\r
2444 can be used in place of vListInsert. */
\r
2445 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2447 /* We must remove this task from the ready list before adding it to the
\r
2448 blocked list as the same list item is used for both lists. This
\r
2449 function is called with the scheduler locked so interrupts will not
\r
2450 access the lists at the same time. */
\r
2451 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2453 /* The current task must be in a ready list, so there is no need to
\r
2454 check, and the port reset macro can be called directly. */
\r
2455 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2459 mtCOVERAGE_TEST_MARKER();
\r
2462 /* If vTaskSuspend() is available then the suspended task list is also
\r
2463 available and a task that is blocking indefinitely can enter the
\r
2464 suspended state (it is not really suspended as it will re-enter the
\r
2465 Ready state when the event it is waiting indefinitely for occurs).
\r
2466 Blocking indefinitely is useful when using tickless idle mode as when
\r
2467 all tasks are blocked indefinitely all timers can be turned off. */
\r
2468 #if( INCLUDE_vTaskSuspend == 1 )
\r
2470 if( xWaitIndefinitely == pdTRUE )
\r
2472 /* Add the task to the suspended task list instead of a delayed
\r
2473 task list to ensure the task is not woken by a timing event. It
\r
2474 will block indefinitely. */
\r
2475 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2479 /* Calculate the time at which the task should be woken if the
\r
2480 event does not occur. This may overflow but this doesn't
\r
2482 xTimeToWake = xTickCount + xTicksToWait;
\r
2483 traceTASK_DELAY_UNTIL();
\r
2484 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2489 /* Calculate the time at which the task should be woken if the event
\r
2490 does not occur. This may overflow but this doesn't matter. */
\r
2491 xTimeToWake = xTickCount + xTicksToWait;
\r
2492 traceTASK_DELAY_UNTIL();
\r
2493 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2495 /* Remove compiler warnings when INCLUDE_vTaskSuspend() is not
\r
2497 ( void ) xWaitIndefinitely;
\r
2502 #endif /* configUSE_TIMERS */
\r
2503 /*-----------------------------------------------------------*/
\r
2505 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
2507 TCB_t *pxUnblockedTCB;
\r
2508 BaseType_t xReturn;
\r
2510 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
2511 called from a critical section within an ISR. */
\r
2513 /* The event list is sorted in priority order, so the first in the list can
\r
2514 be removed as it is known to be the highest priority. Remove the TCB from
\r
2515 the delayed list, and add it to the ready list.
\r
2517 If an event is for a queue that is locked then this function will never
\r
2518 get called - the lock count on the queue will get modified instead. This
\r
2519 means exclusive access to the event list is guaranteed here.
\r
2521 This function assumes that a check has already been made to ensure that
\r
2522 pxEventList is not empty. */
\r
2523 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2524 configASSERT( pxUnblockedTCB );
\r
2525 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2527 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2529 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2530 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2534 /* The delayed and ready lists cannot be accessed, so hold this task
\r
2535 pending until the scheduler is resumed. */
\r
2536 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2539 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2541 /* Return true if the task removed from the event list has a higher
\r
2542 priority than the calling task. This allows the calling task to know if
\r
2543 it should force a context switch now. */
\r
2546 /* Mark that a yield is pending in case the user is not using the
\r
2547 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2548 xYieldPending = pdTRUE;
\r
2552 xReturn = pdFALSE;
\r
2555 #if( configUSE_TICKLESS_IDLE != 0 )
\r
2557 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
2558 might be set to the blocked task's time out time. If the task is
\r
2559 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
2560 normally left unchanged, because it is automatically reset to a new
\r
2561 value when the tick count equals xNextTaskUnblockTime. However if
\r
2562 tickless idling is used it might be more important to enter sleep mode
\r
2563 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
2564 ensure it is updated at the earliest possible time. */
\r
2565 prvResetNextTaskUnblockTime();
\r
2571 /*-----------------------------------------------------------*/
\r
2573 BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
2575 TCB_t *pxUnblockedTCB;
\r
2576 BaseType_t xReturn;
\r
2578 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2579 the event flags implementation. */
\r
2580 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
2582 /* Store the new item value in the event list. */
\r
2583 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2585 /* Remove the event list form the event flag. Interrupts do not access
\r
2587 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2588 configASSERT( pxUnblockedTCB );
\r
2589 ( void ) uxListRemove( pxEventListItem );
\r
2591 /* Remove the task from the delayed list and add it to the ready list. The
\r
2592 scheduler is suspended so interrupts will not be accessing the ready
\r
2594 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2595 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2597 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2599 /* Return true if the task removed from the event list has
\r
2600 a higher priority than the calling task. This allows
\r
2601 the calling task to know if it should force a context
\r
2605 /* Mark that a yield is pending in case the user is not using the
\r
2606 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2607 xYieldPending = pdTRUE;
\r
2611 xReturn = pdFALSE;
\r
2616 /*-----------------------------------------------------------*/
\r
2618 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
2620 configASSERT( pxTimeOut );
\r
2621 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2622 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2624 /*-----------------------------------------------------------*/
\r
2626 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
2628 BaseType_t xReturn;
\r
2630 configASSERT( pxTimeOut );
\r
2631 configASSERT( pxTicksToWait );
\r
2633 taskENTER_CRITICAL();
\r
2635 /* Minor optimisation. The tick count cannot change in this block. */
\r
2636 const TickType_t xConstTickCount = xTickCount;
\r
2638 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2639 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2640 the maximum block time then the task should block indefinitely, and
\r
2641 therefore never time out. */
\r
2642 if( *pxTicksToWait == portMAX_DELAY )
\r
2644 xReturn = pdFALSE;
\r
2646 else /* We are not blocking indefinitely, perform the checks below. */
\r
2649 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2651 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2652 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2653 It must have wrapped all the way around and gone past us again. This
\r
2654 passed since vTaskSetTimeout() was called. */
\r
2657 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2659 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2660 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2661 vTaskSetTimeOutState( pxTimeOut );
\r
2662 xReturn = pdFALSE;
\r
2669 taskEXIT_CRITICAL();
\r
2673 /*-----------------------------------------------------------*/
\r
2675 void vTaskMissedYield( void )
\r
2677 xYieldPending = pdTRUE;
\r
2679 /*-----------------------------------------------------------*/
\r
2681 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2683 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
2685 UBaseType_t uxReturn;
\r
2688 if( xTask != NULL )
\r
2690 pxTCB = ( TCB_t * ) xTask;
\r
2691 uxReturn = pxTCB->uxTaskNumber;
\r
2701 #endif /* configUSE_TRACE_FACILITY */
\r
2702 /*-----------------------------------------------------------*/
\r
2704 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2706 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
2710 if( xTask != NULL )
\r
2712 pxTCB = ( TCB_t * ) xTask;
\r
2713 pxTCB->uxTaskNumber = uxHandle;
\r
2717 #endif /* configUSE_TRACE_FACILITY */
\r
2720 * -----------------------------------------------------------
\r
2722 * ----------------------------------------------------------
\r
2724 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2725 * language extensions. The equivalent prototype for this function is:
\r
2727 * void prvIdleTask( void *pvParameters );
\r
2730 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2732 /* Stop warnings. */
\r
2733 ( void ) pvParameters;
\r
2735 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
2736 SCHEDULER IS STARTED. **/
\r
2740 /* See if any tasks have deleted themselves - if so then the idle task
\r
2741 is responsible for freeing the deleted task's TCB and stack. */
\r
2742 prvCheckTasksWaitingTermination();
\r
2744 #if ( configUSE_PREEMPTION == 0 )
\r
2746 /* If we are not using preemption we keep forcing a task switch to
\r
2747 see if any other task has become available. If we are using
\r
2748 preemption we don't need to do this as any task becoming available
\r
2749 will automatically get the processor anyway. */
\r
2752 #endif /* configUSE_PREEMPTION */
\r
2754 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2756 /* When using preemption tasks of equal priority will be
\r
2757 timesliced. If a task that is sharing the idle priority is ready
\r
2758 to run then the idle task should yield before the end of the
\r
2761 A critical region is not required here as we are just reading from
\r
2762 the list, and an occasional incorrect value will not matter. If
\r
2763 the ready list at the idle priority contains more than one task
\r
2764 then a task other than the idle task is ready to execute. */
\r
2765 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
2771 mtCOVERAGE_TEST_MARKER();
\r
2774 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2776 #if ( configUSE_IDLE_HOOK == 1 )
\r
2778 extern void vApplicationIdleHook( void );
\r
2780 /* Call the user defined function from within the idle task. This
\r
2781 allows the application designer to add background functionality
\r
2782 without the overhead of a separate task.
\r
2783 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2784 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2785 vApplicationIdleHook();
\r
2787 #endif /* configUSE_IDLE_HOOK */
\r
2789 /* This conditional compilation should use inequality to 0, not equality
\r
2790 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2791 user defined low power mode implementations require
\r
2792 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2793 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2795 TickType_t xExpectedIdleTime;
\r
2797 /* It is not desirable to suspend then resume the scheduler on
\r
2798 each iteration of the idle task. Therefore, a preliminary
\r
2799 test of the expected idle time is performed without the
\r
2800 scheduler suspended. The result here is not necessarily
\r
2802 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2804 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2806 vTaskSuspendAll();
\r
2808 /* Now the scheduler is suspended, the expected idle
\r
2809 time can be sampled again, and this time its value can
\r
2811 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2812 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2814 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2816 traceLOW_POWER_IDLE_BEGIN();
\r
2817 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2818 traceLOW_POWER_IDLE_END();
\r
2822 mtCOVERAGE_TEST_MARKER();
\r
2825 ( void ) xTaskResumeAll();
\r
2829 mtCOVERAGE_TEST_MARKER();
\r
2832 #endif /* configUSE_TICKLESS_IDLE */
\r
2835 /*-----------------------------------------------------------*/
\r
2837 #if( configUSE_TICKLESS_IDLE != 0 )
\r
2839 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2841 /* The idle task exists in addition to the application tasks. */
\r
2842 const UBaseType_t uxNonApplicationTasks = 1;
\r
2843 eSleepModeStatus eReturn = eStandardSleep;
\r
2845 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2847 /* A task was made ready while the scheduler was suspended. */
\r
2848 eReturn = eAbortSleep;
\r
2850 else if( xYieldPending != pdFALSE )
\r
2852 /* A yield was pended while the scheduler was suspended. */
\r
2853 eReturn = eAbortSleep;
\r
2857 /* If all the tasks are in the suspended list (which might mean they
\r
2858 have an infinite block time rather than actually being suspended)
\r
2859 then it is safe to turn all clocks off and just wait for external
\r
2861 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2863 eReturn = eNoTasksWaitingTimeout;
\r
2867 mtCOVERAGE_TEST_MARKER();
\r
2874 #endif /* configUSE_TICKLESS_IDLE */
\r
2875 /*-----------------------------------------------------------*/
\r
2877 static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2881 /* Store the task name in the TCB. */
\r
2882 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2884 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2886 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2887 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2888 string is not accessible (extremely unlikely). */
\r
2889 if( pcName[ x ] == 0x00 )
\r
2895 mtCOVERAGE_TEST_MARKER();
\r
2899 /* Ensure the name string is terminated in the case that the string length
\r
2900 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2901 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
2903 /* This is used as an array index so must ensure it's not too large. First
\r
2904 remove the privilege bit if one is present. */
\r
2905 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
2907 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
2911 mtCOVERAGE_TEST_MARKER();
\r
2914 pxTCB->uxPriority = uxPriority;
\r
2915 #if ( configUSE_MUTEXES == 1 )
\r
2917 pxTCB->uxBasePriority = uxPriority;
\r
2918 pxTCB->uxMutexesHeld = 0;
\r
2920 #endif /* configUSE_MUTEXES */
\r
2922 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2923 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2925 /* Set the pxTCB as a link back from the ListItem_t. This is so we can get
\r
2926 back to the containing TCB from a generic item in a list. */
\r
2927 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2929 /* Event lists are always in priority order. */
\r
2930 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2931 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2933 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2935 pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
2937 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2939 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2941 pxTCB->pxTaskTag = NULL;
\r
2943 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2945 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2947 pxTCB->ulRunTimeCounter = 0UL;
\r
2949 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2951 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2953 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2955 #else /* portUSING_MPU_WRAPPERS */
\r
2957 ( void ) xRegions;
\r
2958 ( void ) usStackDepth;
\r
2960 #endif /* portUSING_MPU_WRAPPERS */
\r
2962 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
2964 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
2966 pxTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
2971 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
2973 pxTCB->ulNotifiedValue = 0;
\r
2974 pxTCB->eNotifyState = eNotWaitingNotification;
\r
2978 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2980 /* Initialise this task's Newlib reent structure. */
\r
2981 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2983 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2985 /*-----------------------------------------------------------*/
\r
2987 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
2989 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
2993 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
2995 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
2996 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3000 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3001 /*-----------------------------------------------------------*/
\r
3003 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3005 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
3007 void *pvReturn = NULL;
\r
3010 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3012 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3013 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3023 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3024 /*-----------------------------------------------------------*/
\r
3026 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3028 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3032 /* If null is passed in here then we are modifying the MPU settings of
\r
3033 the calling task. */
\r
3034 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3036 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3039 #endif /* portUSING_MPU_WRAPPERS */
\r
3040 /*-----------------------------------------------------------*/
\r
3042 static void prvInitialiseTaskLists( void )
\r
3044 UBaseType_t uxPriority;
\r
3046 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3048 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3051 vListInitialise( &xDelayedTaskList1 );
\r
3052 vListInitialise( &xDelayedTaskList2 );
\r
3053 vListInitialise( &xPendingReadyList );
\r
3055 #if ( INCLUDE_vTaskDelete == 1 )
\r
3057 vListInitialise( &xTasksWaitingTermination );
\r
3059 #endif /* INCLUDE_vTaskDelete */
\r
3061 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3063 vListInitialise( &xSuspendedTaskList );
\r
3065 #endif /* INCLUDE_vTaskSuspend */
\r
3067 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3069 pxDelayedTaskList = &xDelayedTaskList1;
\r
3070 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3072 /*-----------------------------------------------------------*/
\r
3074 static void prvCheckTasksWaitingTermination( void )
\r
3077 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3079 #if ( INCLUDE_vTaskDelete == 1 )
\r
3081 BaseType_t xListIsEmpty;
\r
3083 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
3084 too often in the idle task. */
\r
3085 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3087 vTaskSuspendAll();
\r
3089 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
3091 ( void ) xTaskResumeAll();
\r
3093 if( xListIsEmpty == pdFALSE )
\r
3097 taskENTER_CRITICAL();
\r
3099 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
3100 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
3101 --uxCurrentNumberOfTasks;
\r
3102 --uxDeletedTasksWaitingCleanUp;
\r
3104 taskEXIT_CRITICAL();
\r
3106 prvDeleteTCB( pxTCB );
\r
3110 mtCOVERAGE_TEST_MARKER();
\r
3114 #endif /* INCLUDE_vTaskDelete */
\r
3116 /*-----------------------------------------------------------*/
\r
3118 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake )
\r
3120 /* The list item will be inserted in wake time order. */
\r
3121 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
3123 if( xTimeToWake < xTickCount )
\r
3125 /* Wake time has overflowed. Place this item in the overflow list. */
\r
3126 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3130 /* The wake time has not overflowed, so the current block list is used. */
\r
3131 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3133 /* If the task entering the blocked state was placed at the head of the
\r
3134 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
3136 if( xTimeToWake < xNextTaskUnblockTime )
\r
3138 xNextTaskUnblockTime = xTimeToWake;
\r
3142 mtCOVERAGE_TEST_MARKER();
\r
3146 /*-----------------------------------------------------------*/
\r
3148 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer, TCB_t * const pxTCBBuffer )
\r
3152 #if( ( configASSERT_DEFINED == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
3154 /* Sanity check that the size of the structure used to declare a
\r
3155 variable of type StaticTCB_t matches the size of the actual TCB_t
\r
3157 volatile size_t xSize = sizeof( StaticTCB_t );
\r
3158 configASSERT( xSize == sizeof( TCB_t ) );
\r
3160 #endif /* configASSERT_DEFINED */
\r
3162 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
3163 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
3164 the TCB then the stack. */
\r
3165 #if( portSTACK_GROWTH > 0 )
\r
3167 /* Allocate space for the TCB. Where the memory comes from depends on
\r
3168 the implementation of the port malloc function. */
\r
3169 pxNewTCB = ( TCB_t * ) pvPortMallocAligned( sizeof( TCB_t ), pxTCBBuffer );
\r
3171 if( pxNewTCB != NULL )
\r
3173 /* Allocate space for the stack used by the task being created.
\r
3174 The base of the stack memory stored in the TCB so the task can
\r
3175 be deleted later if required. */
\r
3176 pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3178 if( pxNewTCB->pxStack == NULL )
\r
3180 /* Could not allocate the stack. Delete the allocated TCB - if
\r
3181 it was allocated dynamically. */
\r
3182 if( pxTCBBuffer == NULL )
\r
3184 vPortFree( pxNewTCB );
\r
3190 #else /* portSTACK_GROWTH */
\r
3192 StackType_t *pxStack;
\r
3194 /* Allocate space for the stack used by the task being created. */
\r
3195 pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3197 if( pxStack != NULL )
\r
3199 /* Allocate space for the TCB. */
\r
3200 pxNewTCB = ( TCB_t * ) pvPortMallocAligned( sizeof( TCB_t ), pxTCBBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some paths. */
\r
3202 if( pxNewTCB != NULL )
\r
3204 /* Store the stack location in the TCB. */
\r
3205 pxNewTCB->pxStack = pxStack;
\r
3209 /* The stack cannot be used as the TCB was not created. Free it
\r
3211 if( puxStackBuffer == NULL )
\r
3213 vPortFree( pxStack );
\r
3217 mtCOVERAGE_TEST_MARKER();
\r
3226 #endif /* portSTACK_GROWTH */
\r
3228 if( pxNewTCB != NULL )
\r
3230 /* Avoid dependency on memset() if it is not required. */
\r
3231 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3233 /* Just to help debugging. */
\r
3234 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );
\r
3236 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
3238 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
3240 pxNewTCB->ucStaticAllocationFlags = 0;
\r
3242 if( puxStackBuffer != NULL )
\r
3244 /* The application provided its own stack - note the fact so no
\r
3245 attempt is made to delete the stack if the task is deleted. */
\r
3246 pxNewTCB->ucStaticAllocationFlags |= taskSTATICALLY_ALLOCATED_STACK;
\r
3250 mtCOVERAGE_TEST_MARKER();
\r
3253 if( pxTCBBuffer != NULL )
\r
3255 /* The application provided its own TCB. Note the fact so no
\r
3256 attempt is made to delete the TCB if the task is deleted. */
\r
3257 pxNewTCB->ucStaticAllocationFlags |= taskSTATICALLY_ALLOCATED_TCB;
\r
3261 mtCOVERAGE_TEST_MARKER();
\r
3264 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
3269 /*-----------------------------------------------------------*/
\r
3271 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3273 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3275 volatile TCB_t *pxNextTCB, *pxFirstTCB;
\r
3276 UBaseType_t uxTask = 0;
\r
3278 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3280 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
3282 /* Populate an TaskStatus_t structure within the
\r
3283 pxTaskStatusArray array for each task that is referenced from
\r
3284 pxList. See the definition of TaskStatus_t in task.h for the
\r
3285 meaning of each TaskStatus_t structure member. */
\r
3288 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
3290 pxTaskStatusArray[ uxTask ].xHandle = ( TaskHandle_t ) pxNextTCB;
\r
3291 pxTaskStatusArray[ uxTask ].pcTaskName = ( const char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
3292 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
3293 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
3294 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
3296 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3298 /* If the task is in the suspended list then there is a chance
\r
3299 it is actually just blocked indefinitely - so really it should
\r
3300 be reported as being in the Blocked state. */
\r
3301 if( eState == eSuspended )
\r
3303 if( listLIST_ITEM_CONTAINER( &( pxNextTCB->xEventListItem ) ) != NULL )
\r
3305 pxTaskStatusArray[ uxTask ].eCurrentState = eBlocked;
\r
3309 #endif /* INCLUDE_vTaskSuspend */
\r
3311 #if ( configUSE_MUTEXES == 1 )
\r
3313 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
3317 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
3321 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3323 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
3327 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
3331 #if ( portSTACK_GROWTH > 0 )
\r
3333 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxEndOfStack );
\r
3337 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxStack );
\r
3343 } while( pxNextTCB != pxFirstTCB );
\r
3347 mtCOVERAGE_TEST_MARKER();
\r
3353 #endif /* configUSE_TRACE_FACILITY */
\r
3354 /*-----------------------------------------------------------*/
\r
3356 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3358 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3360 uint32_t ulCount = 0U;
\r
3362 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3364 pucStackByte -= portSTACK_GROWTH;
\r
3368 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3370 return ( uint16_t ) ulCount;
\r
3373 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3374 /*-----------------------------------------------------------*/
\r
3376 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3378 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3381 uint8_t *pucEndOfStack;
\r
3382 UBaseType_t uxReturn;
\r
3384 pxTCB = prvGetTCBFromHandle( xTask );
\r
3386 #if portSTACK_GROWTH < 0
\r
3388 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3392 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3396 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3401 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3402 /*-----------------------------------------------------------*/
\r
3404 #if ( INCLUDE_vTaskDelete == 1 )
\r
3406 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3408 /* This call is required specifically for the TriCore port. It must be
\r
3409 above the vPortFree() calls. The call is also used by ports/demos that
\r
3410 want to allocate and clean RAM statically. */
\r
3411 portCLEAN_UP_TCB( pxTCB );
\r
3413 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3414 to the task to free any memory allocated at the application level. */
\r
3415 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3417 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3419 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3421 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
3423 /* Only free the stack and TCB if they were allocated dynamically in
\r
3424 the first place. */
\r
3425 if( ( pxTCB->ucStaticAllocationFlags & taskSTATICALLY_ALLOCATED_STACK ) == ( UBaseType_t ) 0 )
\r
3427 vPortFreeAligned( pxTCB->pxStack );
\r
3431 mtCOVERAGE_TEST_MARKER();
\r
3434 if( ( pxTCB->ucStaticAllocationFlags & taskSTATICALLY_ALLOCATED_TCB ) == ( UBaseType_t ) 0 )
\r
3436 vPortFreeAligned( pxTCB );
\r
3440 mtCOVERAGE_TEST_MARKER();
\r
3445 vPortFreeAligned( pxTCB->pxStack );
\r
3446 vPortFree( pxTCB );
\r
3451 #endif /* INCLUDE_vTaskDelete */
\r
3452 /*-----------------------------------------------------------*/
\r
3454 static void prvResetNextTaskUnblockTime( void )
\r
3458 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3460 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3461 the maximum possible value so it is extremely unlikely that the
\r
3462 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3463 there is an item in the delayed list. */
\r
3464 xNextTaskUnblockTime = portMAX_DELAY;
\r
3468 /* The new current delayed list is not empty, get the value of
\r
3469 the item at the head of the delayed list. This is the time at
\r
3470 which the task at the head of the delayed list should be removed
\r
3471 from the Blocked state. */
\r
3472 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3473 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) );
\r
3476 /*-----------------------------------------------------------*/
\r
3478 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3480 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3482 TaskHandle_t xReturn;
\r
3484 /* A critical section is not required as this is not called from
\r
3485 an interrupt and the current TCB will always be the same for any
\r
3486 individual execution thread. */
\r
3487 xReturn = pxCurrentTCB;
\r
3492 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3493 /*-----------------------------------------------------------*/
\r
3495 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3497 BaseType_t xTaskGetSchedulerState( void )
\r
3499 BaseType_t xReturn;
\r
3501 if( xSchedulerRunning == pdFALSE )
\r
3503 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3507 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3509 xReturn = taskSCHEDULER_RUNNING;
\r
3513 xReturn = taskSCHEDULER_SUSPENDED;
\r
3520 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3521 /*-----------------------------------------------------------*/
\r
3523 #if ( configUSE_MUTEXES == 1 )
\r
3525 void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3527 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3529 /* If the mutex was given back by an interrupt while the queue was
\r
3530 locked then the mutex holder might now be NULL. */
\r
3531 if( pxMutexHolder != NULL )
\r
3533 /* If the holder of the mutex has a priority below the priority of
\r
3534 the task attempting to obtain the mutex then it will temporarily
\r
3535 inherit the priority of the task attempting to obtain the mutex. */
\r
3536 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3538 /* Adjust the mutex holder state to account for its new
\r
3539 priority. Only reset the event list item value if the value is
\r
3540 not being used for anything else. */
\r
3541 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3543 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3547 mtCOVERAGE_TEST_MARKER();
\r
3550 /* If the task being modified is in the ready state it will need
\r
3551 to be moved into a new list. */
\r
3552 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
3554 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3556 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3560 mtCOVERAGE_TEST_MARKER();
\r
3563 /* Inherit the priority before being moved into the new list. */
\r
3564 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3565 prvAddTaskToReadyList( pxTCB );
\r
3569 /* Just inherit the priority. */
\r
3570 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3573 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
3577 mtCOVERAGE_TEST_MARKER();
\r
3582 mtCOVERAGE_TEST_MARKER();
\r
3586 #endif /* configUSE_MUTEXES */
\r
3587 /*-----------------------------------------------------------*/
\r
3589 #if ( configUSE_MUTEXES == 1 )
\r
3591 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3593 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3594 BaseType_t xReturn = pdFALSE;
\r
3596 if( pxMutexHolder != NULL )
\r
3598 /* A task can only have an inherited priority if it holds the mutex.
\r
3599 If the mutex is held by a task then it cannot be given from an
\r
3600 interrupt, and if a mutex is given by the holding task then it must
\r
3601 be the running state task. */
\r
3602 configASSERT( pxTCB == pxCurrentTCB );
\r
3604 configASSERT( pxTCB->uxMutexesHeld );
\r
3605 ( pxTCB->uxMutexesHeld )--;
\r
3607 /* Has the holder of the mutex inherited the priority of another
\r
3609 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3611 /* Only disinherit if no other mutexes are held. */
\r
3612 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3614 /* A task can only have an inherited priority if it holds
\r
3615 the mutex. If the mutex is held by a task then it cannot be
\r
3616 given from an interrupt, and if a mutex is given by the
\r
3617 holding task then it must be the running state task. Remove
\r
3618 the holding task from the ready list. */
\r
3619 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3621 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3625 mtCOVERAGE_TEST_MARKER();
\r
3628 /* Disinherit the priority before adding the task into the
\r
3629 new ready list. */
\r
3630 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3631 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3633 /* Reset the event list item value. It cannot be in use for
\r
3634 any other purpose if this task is running, and it must be
\r
3635 running to give back the mutex. */
\r
3636 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
3637 prvAddTaskToReadyList( pxTCB );
\r
3639 /* Return true to indicate that a context switch is required.
\r
3640 This is only actually required in the corner case whereby
\r
3641 multiple mutexes were held and the mutexes were given back
\r
3642 in an order different to that in which they were taken.
\r
3643 If a context switch did not occur when the first mutex was
\r
3644 returned, even if a task was waiting on it, then a context
\r
3645 switch should occur when the last mutex is returned whether
\r
3646 a task is waiting on it or not. */
\r
3651 mtCOVERAGE_TEST_MARKER();
\r
3656 mtCOVERAGE_TEST_MARKER();
\r
3661 mtCOVERAGE_TEST_MARKER();
\r
3667 #endif /* configUSE_MUTEXES */
\r
3668 /*-----------------------------------------------------------*/
\r
3670 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3672 void vTaskEnterCritical( void )
\r
3674 portDISABLE_INTERRUPTS();
\r
3676 if( xSchedulerRunning != pdFALSE )
\r
3678 ( pxCurrentTCB->uxCriticalNesting )++;
\r
3680 /* This is not the interrupt safe version of the enter critical
\r
3681 function so assert() if it is being called from an interrupt
\r
3682 context. Only API functions that end in "FromISR" can be used in an
\r
3683 interrupt. Only assert if the critical nesting count is 1 to
\r
3684 protect against recursive calls if the assert function also uses a
\r
3685 critical section. */
\r
3686 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
3688 portASSERT_IF_IN_ISR();
\r
3693 mtCOVERAGE_TEST_MARKER();
\r
3697 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3698 /*-----------------------------------------------------------*/
\r
3700 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3702 void vTaskExitCritical( void )
\r
3704 if( xSchedulerRunning != pdFALSE )
\r
3706 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
3708 ( pxCurrentTCB->uxCriticalNesting )--;
\r
3710 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
3712 portENABLE_INTERRUPTS();
\r
3716 mtCOVERAGE_TEST_MARKER();
\r
3721 mtCOVERAGE_TEST_MARKER();
\r
3726 mtCOVERAGE_TEST_MARKER();
\r
3730 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3731 /*-----------------------------------------------------------*/
\r
3733 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3735 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
3739 /* Start by copying the entire string. */
\r
3740 strcpy( pcBuffer, pcTaskName );
\r
3742 /* Pad the end of the string with spaces to ensure columns line up when
\r
3744 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
3746 pcBuffer[ x ] = ' ';
\r
3750 pcBuffer[ x ] = 0x00;
\r
3752 /* Return the new end of string. */
\r
3753 return &( pcBuffer[ x ] );
\r
3756 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
3757 /*-----------------------------------------------------------*/
\r
3759 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3761 void vTaskList( char * pcWriteBuffer )
\r
3763 TaskStatus_t *pxTaskStatusArray;
\r
3764 volatile UBaseType_t uxArraySize, x;
\r
3770 * This function is provided for convenience only, and is used by many
\r
3771 * of the demo applications. Do not consider it to be part of the
\r
3774 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
3775 * uxTaskGetSystemState() output into a human readable table that
\r
3776 * displays task names, states and stack usage.
\r
3778 * vTaskList() has a dependency on the sprintf() C library function that
\r
3779 * might bloat the code size, use a lot of stack, and provide different
\r
3780 * results on different platforms. An alternative, tiny, third party,
\r
3781 * and limited functionality implementation of sprintf() is provided in
\r
3782 * many of the FreeRTOS/Demo sub-directories in a file called
\r
3783 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
3784 * snprintf() implementation!).
\r
3786 * It is recommended that production systems call uxTaskGetSystemState()
\r
3787 * directly to get access to raw stats data, rather than indirectly
\r
3788 * through a call to vTaskList().
\r
3792 /* Make sure the write buffer does not contain a string. */
\r
3793 *pcWriteBuffer = 0x00;
\r
3795 /* Take a snapshot of the number of tasks in case it changes while this
\r
3796 function is executing. */
\r
3797 uxArraySize = uxCurrentNumberOfTasks;
\r
3799 /* Allocate an array index for each task. */
\r
3800 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3802 if( pxTaskStatusArray != NULL )
\r
3804 /* Generate the (binary) data. */
\r
3805 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
3807 /* Create a human readable table from the binary data. */
\r
3808 for( x = 0; x < uxArraySize; x++ )
\r
3810 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
3812 case eReady: cStatus = tskREADY_CHAR;
\r
3815 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
3818 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
3821 case eDeleted: cStatus = tskDELETED_CHAR;
\r
3824 default: /* Should not get here, but it is included
\r
3825 to prevent static checking errors. */
\r
3830 /* Write the task name to the string, padding with spaces so it
\r
3831 can be printed in tabular form more easily. */
\r
3832 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3834 /* Write the rest of the string. */
\r
3835 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
3836 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3839 /* Free the array again. */
\r
3840 vPortFree( pxTaskStatusArray );
\r
3844 mtCOVERAGE_TEST_MARKER();
\r
3848 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3849 /*----------------------------------------------------------*/
\r
3851 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3853 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
3855 TaskStatus_t *pxTaskStatusArray;
\r
3856 volatile UBaseType_t uxArraySize, x;
\r
3857 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
3859 #if( configUSE_TRACE_FACILITY != 1 )
\r
3861 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
3868 * This function is provided for convenience only, and is used by many
\r
3869 * of the demo applications. Do not consider it to be part of the
\r
3872 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
3873 * of the uxTaskGetSystemState() output into a human readable table that
\r
3874 * displays the amount of time each task has spent in the Running state
\r
3875 * in both absolute and percentage terms.
\r
3877 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
3878 * function that might bloat the code size, use a lot of stack, and
\r
3879 * provide different results on different platforms. An alternative,
\r
3880 * tiny, third party, and limited functionality implementation of
\r
3881 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3882 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3883 * a full snprintf() implementation!).
\r
3885 * It is recommended that production systems call uxTaskGetSystemState()
\r
3886 * directly to get access to raw stats data, rather than indirectly
\r
3887 * through a call to vTaskGetRunTimeStats().
\r
3890 /* Make sure the write buffer does not contain a string. */
\r
3891 *pcWriteBuffer = 0x00;
\r
3893 /* Take a snapshot of the number of tasks in case it changes while this
\r
3894 function is executing. */
\r
3895 uxArraySize = uxCurrentNumberOfTasks;
\r
3897 /* Allocate an array index for each task. */
\r
3898 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3900 if( pxTaskStatusArray != NULL )
\r
3902 /* Generate the (binary) data. */
\r
3903 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
3905 /* For percentage calculations. */
\r
3906 ulTotalTime /= 100UL;
\r
3908 /* Avoid divide by zero errors. */
\r
3909 if( ulTotalTime > 0 )
\r
3911 /* Create a human readable table from the binary data. */
\r
3912 for( x = 0; x < uxArraySize; x++ )
\r
3914 /* What percentage of the total run time has the task used?
\r
3915 This will always be rounded down to the nearest integer.
\r
3916 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
3917 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
3919 /* Write the task name to the string, padding with
\r
3920 spaces so it can be printed in tabular form more
\r
3922 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3924 if( ulStatsAsPercentage > 0UL )
\r
3926 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3928 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
3932 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3933 printf() library can be used. */
\r
3934 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
3940 /* If the percentage is zero here then the task has
\r
3941 consumed less than 1% of the total run time. */
\r
3942 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3944 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3948 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3949 printf() library can be used. */
\r
3950 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3955 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3960 mtCOVERAGE_TEST_MARKER();
\r
3963 /* Free the array again. */
\r
3964 vPortFree( pxTaskStatusArray );
\r
3968 mtCOVERAGE_TEST_MARKER();
\r
3972 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3973 /*-----------------------------------------------------------*/
\r
3975 TickType_t uxTaskResetEventItemValue( void )
\r
3977 TickType_t uxReturn;
\r
3979 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
3981 /* Reset the event list item to its normal value - so it can be used with
\r
3982 queues and semaphores. */
\r
3983 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
3987 /*-----------------------------------------------------------*/
\r
3989 #if ( configUSE_MUTEXES == 1 )
\r
3991 void *pvTaskIncrementMutexHeldCount( void )
\r
3993 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
3994 then pxCurrentTCB will be NULL. */
\r
3995 if( pxCurrentTCB != NULL )
\r
3997 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4000 return pxCurrentTCB;
\r
4003 #endif /* configUSE_MUTEXES */
\r
4004 /*-----------------------------------------------------------*/
\r
4006 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4008 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
4010 TickType_t xTimeToWake;
\r
4011 uint32_t ulReturn;
\r
4013 taskENTER_CRITICAL();
\r
4015 /* Only block if the notification count is not already non-zero. */
\r
4016 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
4018 /* Mark this task as waiting for a notification. */
\r
4019 pxCurrentTCB->eNotifyState = eWaitingNotification;
\r
4021 if( xTicksToWait > ( TickType_t ) 0 )
\r
4023 /* The task is going to block. First it must be removed
\r
4024 from the ready list. */
\r
4025 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
4027 /* The current task must be in a ready list, so there is
\r
4028 no need to check, and the port reset macro can be called
\r
4030 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
4034 mtCOVERAGE_TEST_MARKER();
\r
4037 #if ( INCLUDE_vTaskSuspend == 1 )
\r
4039 if( xTicksToWait == portMAX_DELAY )
\r
4041 /* Add the task to the suspended task list instead
\r
4042 of a delayed task list to ensure the task is not
\r
4043 woken by a timing event. It will block
\r
4045 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
4049 /* Calculate the time at which the task should be
\r
4050 woken if no notification events occur. This may
\r
4051 overflow but this doesn't matter, the scheduler will
\r
4053 xTimeToWake = xTickCount + xTicksToWait;
\r
4054 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
4057 #else /* INCLUDE_vTaskSuspend */
\r
4059 /* Calculate the time at which the task should be
\r
4060 woken if the event does not occur. This may
\r
4061 overflow but this doesn't matter, the scheduler will
\r
4063 xTimeToWake = xTickCount + xTicksToWait;
\r
4064 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
4066 #endif /* INCLUDE_vTaskSuspend */
\r
4068 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4070 /* All ports are written to allow a yield in a critical
\r
4071 section (some will yield immediately, others wait until the
\r
4072 critical section exits) - but it is not something that
\r
4073 application code should ever do. */
\r
4074 portYIELD_WITHIN_API();
\r
4078 mtCOVERAGE_TEST_MARKER();
\r
4083 mtCOVERAGE_TEST_MARKER();
\r
4086 taskEXIT_CRITICAL();
\r
4088 taskENTER_CRITICAL();
\r
4090 traceTASK_NOTIFY_TAKE();
\r
4091 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4093 if( ulReturn != 0UL )
\r
4095 if( xClearCountOnExit != pdFALSE )
\r
4097 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4101 ( pxCurrentTCB->ulNotifiedValue )--;
\r
4106 mtCOVERAGE_TEST_MARKER();
\r
4109 pxCurrentTCB->eNotifyState = eNotWaitingNotification;
\r
4111 taskEXIT_CRITICAL();
\r
4116 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4117 /*-----------------------------------------------------------*/
\r
4119 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4121 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4123 TickType_t xTimeToWake;
\r
4124 BaseType_t xReturn;
\r
4126 taskENTER_CRITICAL();
\r
4128 /* Only block if a notification is not already pending. */
\r
4129 if( pxCurrentTCB->eNotifyState != eNotified )
\r
4131 /* Clear bits in the task's notification value as bits may get
\r
4132 set by the notifying task or interrupt. This can be used to
\r
4133 clear the value to zero. */
\r
4134 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4136 /* Mark this task as waiting for a notification. */
\r
4137 pxCurrentTCB->eNotifyState = eWaitingNotification;
\r
4139 if( xTicksToWait > ( TickType_t ) 0 )
\r
4141 /* The task is going to block. First it must be removed
\r
4142 from the ready list. */
\r
4143 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
4145 /* The current task must be in a ready list, so there is
\r
4146 no need to check, and the port reset macro can be called
\r
4148 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
4152 mtCOVERAGE_TEST_MARKER();
\r
4155 #if ( INCLUDE_vTaskSuspend == 1 )
\r
4157 if( xTicksToWait == portMAX_DELAY )
\r
4159 /* Add the task to the suspended task list instead
\r
4160 of a delayed task list to ensure the task is not
\r
4161 woken by a timing event. It will block
\r
4163 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
4167 /* Calculate the time at which the task should be
\r
4168 woken if no notification events occur. This may
\r
4169 overflow but this doesn't matter, the scheduler will
\r
4171 xTimeToWake = xTickCount + xTicksToWait;
\r
4172 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
4175 #else /* INCLUDE_vTaskSuspend */
\r
4177 /* Calculate the time at which the task should be
\r
4178 woken if the event does not occur. This may
\r
4179 overflow but this doesn't matter, the scheduler will
\r
4181 xTimeToWake = xTickCount + xTicksToWait;
\r
4182 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
4184 #endif /* INCLUDE_vTaskSuspend */
\r
4186 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4188 /* All ports are written to allow a yield in a critical
\r
4189 section (some will yield immediately, others wait until the
\r
4190 critical section exits) - but it is not something that
\r
4191 application code should ever do. */
\r
4192 portYIELD_WITHIN_API();
\r
4196 mtCOVERAGE_TEST_MARKER();
\r
4201 mtCOVERAGE_TEST_MARKER();
\r
4204 taskEXIT_CRITICAL();
\r
4206 taskENTER_CRITICAL();
\r
4208 traceTASK_NOTIFY_WAIT();
\r
4210 if( pulNotificationValue != NULL )
\r
4212 /* Output the current notification value, which may or may not
\r
4214 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4217 /* If eNotifyValue is set then either the task never entered the
\r
4218 blocked state (because a notification was already pending) or the
\r
4219 task unblocked because of a notification. Otherwise the task
\r
4220 unblocked because of a timeout. */
\r
4221 if( pxCurrentTCB->eNotifyState == eWaitingNotification )
\r
4223 /* A notification was not received. */
\r
4224 xReturn = pdFALSE;
\r
4228 /* A notification was already pending or a notification was
\r
4229 received while the task was waiting. */
\r
4230 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4234 pxCurrentTCB->eNotifyState = eNotWaitingNotification;
\r
4236 taskEXIT_CRITICAL();
\r
4241 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4242 /*-----------------------------------------------------------*/
\r
4244 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4246 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4249 eNotifyValue eOriginalNotifyState;
\r
4250 BaseType_t xReturn = pdPASS;
\r
4252 configASSERT( xTaskToNotify );
\r
4253 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4255 taskENTER_CRITICAL();
\r
4257 if( pulPreviousNotificationValue != NULL )
\r
4259 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4262 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4264 pxTCB->eNotifyState = eNotified;
\r
4269 pxTCB->ulNotifiedValue |= ulValue;
\r
4273 ( pxTCB->ulNotifiedValue )++;
\r
4276 case eSetValueWithOverwrite :
\r
4277 pxTCB->ulNotifiedValue = ulValue;
\r
4280 case eSetValueWithoutOverwrite :
\r
4281 if( eOriginalNotifyState != eNotified )
\r
4283 pxTCB->ulNotifiedValue = ulValue;
\r
4287 /* The value could not be written to the task. */
\r
4293 /* The task is being notified without its notify value being
\r
4298 traceTASK_NOTIFY();
\r
4300 /* If the task is in the blocked state specifically to wait for a
\r
4301 notification then unblock it now. */
\r
4302 if( eOriginalNotifyState == eWaitingNotification )
\r
4304 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4305 prvAddTaskToReadyList( pxTCB );
\r
4307 /* The task should not have been on an event list. */
\r
4308 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4310 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4312 /* If a task is blocked waiting for a notification then
\r
4313 xNextTaskUnblockTime might be set to the blocked task's time
\r
4314 out time. If the task is unblocked for a reason other than
\r
4315 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4316 because it will automatically get reset to a new value when
\r
4317 the tick count equals xNextTaskUnblockTime. However if
\r
4318 tickless idling is used it might be more important to enter
\r
4319 sleep mode at the earliest possible time - so reset
\r
4320 xNextTaskUnblockTime here to ensure it is updated at the
\r
4321 earliest possible time. */
\r
4322 prvResetNextTaskUnblockTime();
\r
4326 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4328 /* The notified task has a priority above the currently
\r
4329 executing task so a yield is required. */
\r
4330 taskYIELD_IF_USING_PREEMPTION();
\r
4334 mtCOVERAGE_TEST_MARKER();
\r
4339 mtCOVERAGE_TEST_MARKER();
\r
4342 taskEXIT_CRITICAL();
\r
4347 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4348 /*-----------------------------------------------------------*/
\r
4350 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4352 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4355 eNotifyValue eOriginalNotifyState;
\r
4356 BaseType_t xReturn = pdPASS;
\r
4357 UBaseType_t uxSavedInterruptStatus;
\r
4359 configASSERT( xTaskToNotify );
\r
4361 /* RTOS ports that support interrupt nesting have the concept of a
\r
4362 maximum system call (or maximum API call) interrupt priority.
\r
4363 Interrupts that are above the maximum system call priority are keep
\r
4364 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4365 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4366 is defined in FreeRTOSConfig.h then
\r
4367 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4368 failure if a FreeRTOS API function is called from an interrupt that has
\r
4369 been assigned a priority above the configured maximum system call
\r
4370 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4371 from interrupts that have been assigned a priority at or (logically)
\r
4372 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4373 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4374 simple as possible. More information (albeit Cortex-M specific) is
\r
4375 provided on the following link:
\r
4376 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4377 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4379 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4381 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4383 if( pulPreviousNotificationValue != NULL )
\r
4385 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4388 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4389 pxTCB->eNotifyState = eNotified;
\r
4394 pxTCB->ulNotifiedValue |= ulValue;
\r
4398 ( pxTCB->ulNotifiedValue )++;
\r
4401 case eSetValueWithOverwrite :
\r
4402 pxTCB->ulNotifiedValue = ulValue;
\r
4405 case eSetValueWithoutOverwrite :
\r
4406 if( eOriginalNotifyState != eNotified )
\r
4408 pxTCB->ulNotifiedValue = ulValue;
\r
4412 /* The value could not be written to the task. */
\r
4418 /* The task is being notified without its notify value being
\r
4423 traceTASK_NOTIFY_FROM_ISR();
\r
4425 /* If the task is in the blocked state specifically to wait for a
\r
4426 notification then unblock it now. */
\r
4427 if( eOriginalNotifyState == eWaitingNotification )
\r
4429 /* The task should not have been on an event list. */
\r
4430 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4432 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4434 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4435 prvAddTaskToReadyList( pxTCB );
\r
4439 /* The delayed and ready lists cannot be accessed, so hold
\r
4440 this task pending until the scheduler is resumed. */
\r
4441 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4444 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4446 /* The notified task has a priority above the currently
\r
4447 executing task so a yield is required. */
\r
4448 if( pxHigherPriorityTaskWoken != NULL )
\r
4450 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4454 /* Mark that a yield is pending in case the user is not
\r
4455 using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
4456 safe FreeRTOS function. */
\r
4457 xYieldPending = pdTRUE;
\r
4462 mtCOVERAGE_TEST_MARKER();
\r
4466 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4471 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4472 /*-----------------------------------------------------------*/
\r
4474 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4476 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4479 eNotifyValue eOriginalNotifyState;
\r
4480 UBaseType_t uxSavedInterruptStatus;
\r
4482 configASSERT( xTaskToNotify );
\r
4484 /* RTOS ports that support interrupt nesting have the concept of a
\r
4485 maximum system call (or maximum API call) interrupt priority.
\r
4486 Interrupts that are above the maximum system call priority are keep
\r
4487 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4488 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4489 is defined in FreeRTOSConfig.h then
\r
4490 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4491 failure if a FreeRTOS API function is called from an interrupt that has
\r
4492 been assigned a priority above the configured maximum system call
\r
4493 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4494 from interrupts that have been assigned a priority at or (logically)
\r
4495 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4496 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4497 simple as possible. More information (albeit Cortex-M specific) is
\r
4498 provided on the following link:
\r
4499 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4500 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4502 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4504 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4506 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4507 pxTCB->eNotifyState = eNotified;
\r
4509 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4511 ( pxTCB->ulNotifiedValue )++;
\r
4513 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
4515 /* If the task is in the blocked state specifically to wait for a
\r
4516 notification then unblock it now. */
\r
4517 if( eOriginalNotifyState == eWaitingNotification )
\r
4519 /* The task should not have been on an event list. */
\r
4520 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4522 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4524 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4525 prvAddTaskToReadyList( pxTCB );
\r
4529 /* The delayed and ready lists cannot be accessed, so hold
\r
4530 this task pending until the scheduler is resumed. */
\r
4531 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4534 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4536 /* The notified task has a priority above the currently
\r
4537 executing task so a yield is required. */
\r
4538 if( pxHigherPriorityTaskWoken != NULL )
\r
4540 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4544 /* Mark that a yield is pending in case the user is not
\r
4545 using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
4546 safe FreeRTOS function. */
\r
4547 xYieldPending = pdTRUE;
\r
4552 mtCOVERAGE_TEST_MARKER();
\r
4556 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4559 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4561 /*-----------------------------------------------------------*/
\r
4563 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4565 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
4568 BaseType_t xReturn;
\r
4570 /* If null is passed in here then it is the calling task that is having
\r
4571 its notification state cleared. */
\r
4572 pxTCB = prvGetTCBFromHandle( xTask );
\r
4574 taskENTER_CRITICAL();
\r
4576 if( pxTCB->eNotifyState == eNotified )
\r
4578 pxTCB->eNotifyState = eNotWaitingNotification;
\r
4586 taskEXIT_CRITICAL();
\r
4591 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4592 /*-----------------------------------------------------------*/
\r
4595 #ifdef FREERTOS_MODULE_TEST
\r
4596 #include "tasks_test_access_functions.h"
\r
projects / freertos / blob