2 FreeRTOS V8.0.0:rc1 - Copyright (C) 2014 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 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to distribute
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28 >>! a combined work that includes FreeRTOS without being obliged to provide
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29 >>! the source code for proprietary components outside of the FreeRTOS
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 /* Standard includes. */
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70 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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71 all the API functions to use the MPU wrappers. That should only be done when
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72 task.h is included from an application file. */
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73 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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75 /* FreeRTOS includes. */
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76 #include "FreeRTOS.h"
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79 #include "StackMacros.h"
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81 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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82 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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83 header files above, but not in this file, in order to generate the correct
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84 privileged Vs unprivileged linkage and placement. */
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85 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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87 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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88 /* At the bottom of this file are two optional functions that can be used
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89 to generate human readable text from the raw data generated by the
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90 uxTaskGetSystemState() function. Note the formatting functions are provided
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91 for convenience only, and are NOT considered part of the kernel. */
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93 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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95 /* Sanity check the configuration. */
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96 #if configUSE_TICKLESS_IDLE != 0
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97 #if INCLUDE_vTaskSuspend != 1
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98 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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99 #endif /* INCLUDE_vTaskSuspend */
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100 #endif /* configUSE_TICKLESS_IDLE */
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103 * Defines the size, in words, of the stack allocated to the idle task.
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105 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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107 #if( configUSE_PREEMPTION == 0 )
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108 /* If the cooperative scheduler is being used then a yield should not be
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109 performed just because a higher priority task has been woken. */
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110 #define taskYIELD_IF_USING_PREEMPTION()
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112 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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116 * Task control block. A task control block (TCB) is allocated for each task,
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117 * and stores task state information, including a pointer to the task's context
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118 * (the task's run time environment, including register values)
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120 typedef struct tskTaskControlBlock
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122 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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124 #if ( portUSING_MPU_WRAPPERS == 1 )
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125 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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128 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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129 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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130 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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131 StackType_t *pxStack; /*< Points to the start of the stack. */
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132 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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134 #if ( portSTACK_GROWTH > 0 )
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135 StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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138 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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139 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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142 #if ( configUSE_TRACE_FACILITY == 1 )
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143 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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144 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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147 #if ( configUSE_MUTEXES == 1 )
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148 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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151 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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152 TaskHookFunction_t pxTaskTag;
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155 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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156 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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159 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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160 /* Allocate a Newlib reent structure that is specific to this task.
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161 Note Newlib support has been included by popular demand, but is not
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162 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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163 responsible for resulting newlib operation. User must be familiar with
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164 newlib and must provide system-wide implementations of the necessary
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165 stubs. Be warned that (at the time of writing) the current newlib design
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166 implements a system-wide malloc() that must be provided with locks. */
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167 struct _reent xNewLib_reent;
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173 * Some kernel aware debuggers require the data the debugger needs access to to
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174 * be global, rather than file scope.
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176 #ifdef portREMOVE_STATIC_QUALIFIER
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180 /*lint -e956 A manual analysis and inspection has been used to determine which
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181 static variables must be declared volatile. */
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183 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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185 /* Lists for ready and blocked tasks. --------------------*/
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186 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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187 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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188 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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189 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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190 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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191 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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193 #if ( INCLUDE_vTaskDelete == 1 )
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195 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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196 PRIVILEGED_DATA static volatile UBaseType_t uxTasksDeleted = ( UBaseType_t ) 0U;
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200 #if ( INCLUDE_vTaskSuspend == 1 )
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202 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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206 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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208 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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212 /* Other file private variables. --------------------------------*/
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213 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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214 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;
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215 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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216 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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217 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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218 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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219 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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220 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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221 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = portMAX_DELAY;
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223 /* Context switches are held pending while the scheduler is suspended. Also,
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224 interrupts must not manipulate the xStateListItem of a TCB, or any of the
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225 lists the xStateListItem can be referenced from, if the scheduler is suspended.
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226 If an interrupt needs to unblock a task while the scheduler is suspended then it
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227 moves the task's event list item into the xPendingReadyList, ready for the
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228 kernel to move the task from the pending ready list into the real ready list
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229 when the scheduler is unsuspended. The pending ready list itself can only be
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230 accessed from a critical section. */
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231 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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233 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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235 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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236 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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242 /* Debugging and trace facilities private variables and macros. ------------*/
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245 * The value used to fill the stack of a task when the task is created. This
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246 * is used purely for checking the high water mark for tasks.
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248 #define tskSTACK_FILL_BYTE ( 0xa5U )
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251 * Macros used by vListTask to indicate which state a task is in.
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253 #define tskBLOCKED_CHAR ( 'B' )
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254 #define tskREADY_CHAR ( 'R' )
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255 #define tskDELETED_CHAR ( 'D' )
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256 #define tskSUSPENDED_CHAR ( 'S' )
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258 /*-----------------------------------------------------------*/
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260 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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262 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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263 performed in a generic way that is not optimised to any particular
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264 microcontroller architecture. */
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266 /* uxTopReadyPriority holds the priority of the highest priority ready
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268 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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270 if( ( uxPriority ) > uxTopReadyPriority ) \
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272 uxTopReadyPriority = ( uxPriority ); \
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274 } /* taskRECORD_READY_PRIORITY */
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276 /*-----------------------------------------------------------*/
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278 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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280 /* Find the highest priority queue that contains ready tasks. */ \
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281 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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283 configASSERT( uxTopReadyPriority ); \
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284 --uxTopReadyPriority; \
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287 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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288 the same priority get an equal share of the processor time. */ \
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289 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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290 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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292 /*-----------------------------------------------------------*/
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294 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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295 they are only required when a port optimised method of task selection is
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297 #define taskRESET_READY_PRIORITY( uxPriority )
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298 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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300 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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302 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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303 performed in a way that is tailored to the particular microcontroller
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304 architecture being used. */
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306 /* A port optimised version is provided. Call the port defined macros. */
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307 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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309 /*-----------------------------------------------------------*/
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311 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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313 UBaseType_t uxTopPriority; \
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315 /* Find the highest priority queue that contains ready tasks. */ \
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316 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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317 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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318 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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319 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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321 /*-----------------------------------------------------------*/
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323 /* A port optimised version is provided, call it only if the TCB being reset
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324 is being referenced from a ready list. If it is referenced from a delayed
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325 or suspended list then it won't be in a ready list. */
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326 #define taskRESET_READY_PRIORITY( uxPriority ) \
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328 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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330 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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334 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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336 /*-----------------------------------------------------------*/
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338 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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339 count overflows. */
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340 #define taskSWITCH_DELAYED_LISTS() \
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344 /* The delayed tasks list should be empty when the lists are switched. */ \
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345 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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347 pxTemp = pxDelayedTaskList; \
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348 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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349 pxOverflowDelayedTaskList = pxTemp; \
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350 xNumOfOverflows++; \
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351 prvResetNextTaskUnblockTime(); \
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354 /*-----------------------------------------------------------*/
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357 * Place the task represented by pxTCB into the appropriate ready list for
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358 * the task. It is inserted at the end of the list.
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360 #define prvAddTaskToReadyList( pxTCB ) \
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361 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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362 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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363 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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364 /*-----------------------------------------------------------*/
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367 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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368 * where NULL is used to indicate that the handle of the currently executing
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369 * task should be used in place of the parameter. This macro simply checks to
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370 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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372 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )
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374 /* The item value of the event list item is normally used to hold the priority
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375 of the task to which it belongs (coded to allow it to be held in reverse
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376 priority order). However, it is occasionally borrowed for other purposes. It
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377 is important its value is not updated due to a task priority change while it is
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378 being used for another purpose. The following bit definition is used to inform
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379 the scheduler that the value should not be changed - in which case it is the
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380 responsibility of whichever module is using the value to ensure it gets set back
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381 to its original value when it is released. */
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382 #if configUSE_16_BIT_TICKS == 1
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383 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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385 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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388 /* Callback function prototypes. --------------------------*/
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389 #if configCHECK_FOR_STACK_OVERFLOW > 0
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390 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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393 #if configUSE_TICK_HOOK > 0
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394 extern void vApplicationTickHook( void );
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397 /* File private functions. --------------------------------*/
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400 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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401 * into the TCB structure.
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403 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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406 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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407 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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408 * is in any other state.
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410 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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413 * Utility to ready all the lists used by the scheduler. This is called
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414 * automatically upon the creation of the first task.
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416 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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419 * The idle task, which as all tasks is implemented as a never ending loop.
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420 * The idle task is automatically created and added to the ready lists upon
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421 * creation of the first user task.
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423 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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424 * language extensions. The equivalent prototype for this function is:
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426 * void prvIdleTask( void *pvParameters );
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429 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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432 * Utility to free all memory allocated by the scheduler to hold a TCB,
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433 * including the stack pointed to by the TCB.
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435 * This does not free memory allocated by the task itself (i.e. memory
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436 * allocated by calls to pvPortMalloc from within the tasks application code).
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438 #if ( INCLUDE_vTaskDelete == 1 )
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440 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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445 * Used only by the idle task. This checks to see if anything has been placed
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446 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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447 * and its TCB deleted.
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449 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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452 * The currently executing task is entering the Blocked state. Add the task to
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453 * either the current or the overflow delayed task list.
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455 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake ) PRIVILEGED_FUNCTION;
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458 * Allocates memory from the heap for a TCB and associated stack. Checks the
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459 * allocation was successful.
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461 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer ) PRIVILEGED_FUNCTION;
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464 * Fills an TaskStatus_t structure with information on each task that is
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465 * referenced from the pxList list (which may be a ready list, a delayed list,
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466 * a suspended list, etc.).
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468 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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469 * NORMAL APPLICATION CODE.
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471 #if ( configUSE_TRACE_FACILITY == 1 )
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473 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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478 * When a task is created, the stack of the task is filled with a known value.
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479 * This function determines the 'high water mark' of the task stack by
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480 * determining how much of the stack remains at the original preset value.
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482 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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484 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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489 * Return the amount of time, in ticks, that will pass before the kernel will
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490 * next move a task from the Blocked state to the Running state.
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492 * This conditional compilation should use inequality to 0, not equality to 1.
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493 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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494 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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495 * set to a value other than 1.
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497 #if ( configUSE_TICKLESS_IDLE != 0 )
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499 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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504 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
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505 * will exit the Blocked state.
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507 static void prvResetNextTaskUnblockTime( void );
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509 /*-----------------------------------------------------------*/
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511 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, const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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513 BaseType_t xReturn;
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516 configASSERT( pxTaskCode );
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517 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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519 /* Allocate the memory required by the TCB and stack for the new task,
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520 checking that the allocation was successful. */
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521 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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523 if( pxNewTCB != NULL )
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525 StackType_t *pxTopOfStack;
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527 #if( portUSING_MPU_WRAPPERS == 1 )
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528 /* Should the task be created in privileged mode? */
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529 BaseType_t xRunPrivileged;
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530 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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532 xRunPrivileged = pdTRUE;
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536 xRunPrivileged = pdFALSE;
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538 uxPriority &= ~portPRIVILEGE_BIT;
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539 #endif /* portUSING_MPU_WRAPPERS == 1 */
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541 /* Calculate the top of stack address. This depends on whether the
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542 stack grows from high memory to low (as per the 80x86) or vice versa.
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543 portSTACK_GROWTH is used to make the result positive or negative as
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544 required by the port. */
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545 #if( portSTACK_GROWTH < 0 )
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547 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );
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548 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. */
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550 /* Check the alignment of the calculated top of stack is correct. */
\r
551 configASSERT( ( ( ( uint32_t ) pxTopOfStack & ( uint32_t ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
553 #else /* portSTACK_GROWTH */
\r
555 pxTopOfStack = pxNewTCB->pxStack;
\r
557 /* Check the alignment of the stack buffer is correct. */
\r
558 configASSERT( ( ( ( uint32_t ) pxNewTCB->pxStack & ( uint32_t ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
560 /* If we want to use stack checking on architectures that use
\r
561 a positive stack growth direction then we also need to store the
\r
562 other extreme of the stack space. */
\r
563 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
\r
565 #endif /* portSTACK_GROWTH */
\r
567 /* Setup the newly allocated TCB with the initial state of the task. */
\r
568 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
\r
570 /* Initialize the TCB stack to look as if the task was already running,
\r
571 but had been interrupted by the scheduler. The return address is set
\r
572 to the start of the task function. Once the stack has been initialised
\r
573 the top of stack variable is updated. */
\r
574 #if( portUSING_MPU_WRAPPERS == 1 )
\r
576 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
578 #else /* portUSING_MPU_WRAPPERS */
\r
580 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
582 #endif /* portUSING_MPU_WRAPPERS */
\r
584 if( ( void * ) pxCreatedTask != NULL )
\r
586 /* Pass the TCB out - in an anonymous way. The calling function/
\r
587 task can use this as a handle to delete the task later if
\r
589 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
593 mtCOVERAGE_TEST_MARKER();
\r
596 /* Ensure interrupts don't access the task lists while they are being
\r
598 taskENTER_CRITICAL();
\r
600 uxCurrentNumberOfTasks++;
\r
601 if( pxCurrentTCB == NULL )
\r
603 /* There are no other tasks, or all the other tasks are in
\r
604 the suspended state - make this the current task. */
\r
605 pxCurrentTCB = pxNewTCB;
\r
607 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
609 /* This is the first task to be created so do the preliminary
\r
610 initialisation required. We will not recover if this call
\r
611 fails, but we will report the failure. */
\r
612 prvInitialiseTaskLists();
\r
616 mtCOVERAGE_TEST_MARKER();
\r
621 /* If the scheduler is not already running, make this task the
\r
622 current task if it is the highest priority task to be created
\r
624 if( xSchedulerRunning == pdFALSE )
\r
626 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
628 pxCurrentTCB = pxNewTCB;
\r
632 mtCOVERAGE_TEST_MARKER();
\r
637 mtCOVERAGE_TEST_MARKER();
\r
643 #if ( configUSE_TRACE_FACILITY == 1 )
\r
645 /* Add a counter into the TCB for tracing only. */
\r
646 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
648 #endif /* configUSE_TRACE_FACILITY */
\r
649 traceTASK_CREATE( pxNewTCB );
\r
651 prvAddTaskToReadyList( pxNewTCB );
\r
654 portSETUP_TCB( pxNewTCB );
\r
656 taskEXIT_CRITICAL();
\r
660 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
661 traceTASK_CREATE_FAILED();
\r
664 if( xReturn == pdPASS )
\r
666 if( xSchedulerRunning != pdFALSE )
\r
668 /* If the created task is of a higher priority than the current task
\r
669 then it should run now. */
\r
670 if( pxCurrentTCB->uxPriority < uxPriority )
\r
672 taskYIELD_IF_USING_PREEMPTION();
\r
676 mtCOVERAGE_TEST_MARKER();
\r
681 mtCOVERAGE_TEST_MARKER();
\r
687 /*-----------------------------------------------------------*/
\r
689 #if ( INCLUDE_vTaskDelete == 1 )
\r
691 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
695 taskENTER_CRITICAL();
\r
697 /* If null is passed in here then it is the calling task that is
\r
699 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
701 /* Remove task from the ready list and place in the termination list.
\r
702 This will stop the task from be scheduled. The idle task will check
\r
703 the termination list and free up any memory allocated by the
\r
704 scheduler for the TCB and stack. */
\r
705 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
707 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
711 mtCOVERAGE_TEST_MARKER();
\r
714 /* Is the task waiting on an event also? */
\r
715 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
717 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
721 mtCOVERAGE_TEST_MARKER();
\r
724 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
726 /* Increment the ucTasksDeleted variable so the idle task knows
\r
727 there is a task that has been deleted and that it should therefore
\r
728 check the xTasksWaitingTermination list. */
\r
731 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
732 can detect that the task lists need re-generating. */
\r
735 traceTASK_DELETE( pxTCB );
\r
737 taskEXIT_CRITICAL();
\r
739 /* Force a reschedule if it is the currently running task that has just
\r
741 if( xSchedulerRunning != pdFALSE )
\r
743 if( pxTCB == pxCurrentTCB )
\r
745 configASSERT( uxSchedulerSuspended == 0 );
\r
747 /* The pre-delete hook is primarily for the Windows simulator,
\r
748 in which Windows specific clean up operations are performed,
\r
749 after which it is not possible to yield away from this task -
\r
750 hence xYieldPending is used to latch that a context switch is
\r
752 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
753 portYIELD_WITHIN_API();
\r
757 /* Reset the next expected unblock time in case it referred to
\r
758 the task that has just been deleted. */
\r
759 prvResetNextTaskUnblockTime();
\r
764 #endif /* INCLUDE_vTaskDelete */
\r
765 /*-----------------------------------------------------------*/
\r
767 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
769 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
771 TickType_t xTimeToWake;
\r
772 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
774 configASSERT( pxPreviousWakeTime );
\r
775 configASSERT( ( xTimeIncrement > 0U ) );
\r
776 configASSERT( uxSchedulerSuspended == 0 );
\r
780 /* Minor optimisation. The tick count cannot change in this
\r
782 const TickType_t xConstTickCount = xTickCount;
\r
784 /* Generate the tick time at which the task wants to wake. */
\r
785 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
787 if( xConstTickCount < *pxPreviousWakeTime )
\r
789 /* The tick count has overflowed since this function was
\r
790 lasted called. In this case the only time we should ever
\r
791 actually delay is if the wake time has also overflowed,
\r
792 and the wake time is greater than the tick time. When this
\r
793 is the case it is as if neither time had overflowed. */
\r
794 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
796 xShouldDelay = pdTRUE;
\r
800 mtCOVERAGE_TEST_MARKER();
\r
805 /* The tick time has not overflowed. In this case we will
\r
806 delay if either the wake time has overflowed, and/or the
\r
807 tick time is less than the wake time. */
\r
808 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
810 xShouldDelay = pdTRUE;
\r
814 mtCOVERAGE_TEST_MARKER();
\r
818 /* Update the wake time ready for the next call. */
\r
819 *pxPreviousWakeTime = xTimeToWake;
\r
821 if( xShouldDelay != pdFALSE )
\r
823 traceTASK_DELAY_UNTIL();
\r
825 /* Remove the task from the ready list before adding it to the
\r
826 blocked list as the same list item is used for both lists. */
\r
827 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
829 /* The current task must be in a ready list, so there is
\r
830 no need to check, and the port reset macro can be called
\r
832 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
836 mtCOVERAGE_TEST_MARKER();
\r
839 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
843 mtCOVERAGE_TEST_MARKER();
\r
846 xAlreadyYielded = xTaskResumeAll();
\r
848 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
849 have put ourselves to sleep. */
\r
850 if( xAlreadyYielded == pdFALSE )
\r
852 portYIELD_WITHIN_API();
\r
856 mtCOVERAGE_TEST_MARKER();
\r
860 #endif /* INCLUDE_vTaskDelayUntil */
\r
861 /*-----------------------------------------------------------*/
\r
863 #if ( INCLUDE_vTaskDelay == 1 )
\r
865 void vTaskDelay( const TickType_t xTicksToDelay )
\r
867 TickType_t xTimeToWake;
\r
868 BaseType_t xAlreadyYielded = pdFALSE;
\r
871 /* A delay time of zero just forces a reschedule. */
\r
872 if( xTicksToDelay > ( TickType_t ) 0U )
\r
874 configASSERT( uxSchedulerSuspended == 0 );
\r
879 /* A task that is removed from the event list while the
\r
880 scheduler is suspended will not get placed in the ready
\r
881 list or removed from the blocked list until the scheduler
\r
884 This task cannot be in an event list as it is the currently
\r
887 /* Calculate the time to wake - this may overflow but this is
\r
889 xTimeToWake = xTickCount + xTicksToDelay;
\r
891 /* We must remove ourselves from the ready list before adding
\r
892 ourselves to the blocked list as the same list item is used for
\r
894 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
896 /* The current task must be in a ready list, so there is
\r
897 no need to check, and the port reset macro can be called
\r
899 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
903 mtCOVERAGE_TEST_MARKER();
\r
905 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
907 xAlreadyYielded = xTaskResumeAll();
\r
911 mtCOVERAGE_TEST_MARKER();
\r
914 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
915 have put ourselves to sleep. */
\r
916 if( xAlreadyYielded == pdFALSE )
\r
918 portYIELD_WITHIN_API();
\r
922 mtCOVERAGE_TEST_MARKER();
\r
926 #endif /* INCLUDE_vTaskDelay */
\r
927 /*-----------------------------------------------------------*/
\r
929 #if ( INCLUDE_eTaskGetState == 1 )
\r
931 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
933 eTaskState eReturn;
\r
934 List_t *pxStateList;
\r
935 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
937 configASSERT( pxTCB );
\r
939 if( pxTCB == pxCurrentTCB )
\r
941 /* The task calling this function is querying its own state. */
\r
942 eReturn = eRunning;
\r
946 taskENTER_CRITICAL();
\r
948 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
950 taskEXIT_CRITICAL();
\r
952 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
954 /* The task being queried is referenced from one of the Blocked
\r
956 eReturn = eBlocked;
\r
959 #if ( INCLUDE_vTaskSuspend == 1 )
\r
960 else if( pxStateList == &xSuspendedTaskList )
\r
962 /* The task being queried is referenced from the suspended
\r
963 list. Is it genuinely suspended or is it block
\r
965 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
967 eReturn = eSuspended;
\r
971 eReturn = eBlocked;
\r
976 #if ( INCLUDE_vTaskDelete == 1 )
\r
977 else if( pxStateList == &xTasksWaitingTermination )
\r
979 /* The task being queried is referenced from the deleted
\r
981 eReturn = eDeleted;
\r
987 /* If the task is not in any other state, it must be in the
\r
988 Ready (including pending ready) state. */
\r
996 #endif /* INCLUDE_eTaskGetState */
\r
997 /*-----------------------------------------------------------*/
\r
999 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1001 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1004 UBaseType_t uxReturn;
\r
1006 taskENTER_CRITICAL();
\r
1008 /* If null is passed in here then we are changing the
\r
1009 priority of the calling function. */
\r
1010 pxTCB = prvGetTCBFromHandle( xTask );
\r
1011 uxReturn = pxTCB->uxPriority;
\r
1013 taskEXIT_CRITICAL();
\r
1018 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1019 /*-----------------------------------------------------------*/
\r
1021 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1023 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1026 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1027 BaseType_t xYieldRequired = pdFALSE;
\r
1029 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1031 /* Ensure the new priority is valid. */
\r
1032 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1034 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1038 mtCOVERAGE_TEST_MARKER();
\r
1041 taskENTER_CRITICAL();
\r
1043 /* If null is passed in here then it is the priority of the calling
\r
1044 task that is being changed. */
\r
1045 pxTCB = prvGetTCBFromHandle( xTask );
\r
1047 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1049 #if ( configUSE_MUTEXES == 1 )
\r
1051 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1055 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1059 if( uxCurrentBasePriority != uxNewPriority )
\r
1061 /* The priority change may have readied a task of higher
\r
1062 priority than the calling task. */
\r
1063 if( uxNewPriority > uxCurrentBasePriority )
\r
1065 if( pxTCB != pxCurrentTCB )
\r
1067 /* The priority of a task other than the currently
\r
1068 running task is being raised. Is the priority being
\r
1069 raised above that of the running task? */
\r
1070 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1072 xYieldRequired = pdTRUE;
\r
1076 mtCOVERAGE_TEST_MARKER();
\r
1081 /* The priority of the running task is being raised,
\r
1082 but the running task must already be the highest
\r
1083 priority task able to run so no yield is required. */
\r
1086 else if( pxTCB == pxCurrentTCB )
\r
1088 /* Setting the priority of the running task down means
\r
1089 there may now be another task of higher priority that
\r
1090 is ready to execute. */
\r
1091 xYieldRequired = pdTRUE;
\r
1095 /* Setting the priority of any other task down does not
\r
1096 require a yield as the running task must be above the
\r
1097 new priority of the task being modified. */
\r
1100 /* Remember the ready list the task might be referenced from
\r
1101 before its uxPriority member is changed so the
\r
1102 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1103 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1105 #if ( configUSE_MUTEXES == 1 )
\r
1107 /* Only change the priority being used if the task is not
\r
1108 currently using an inherited priority. */
\r
1109 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1111 pxTCB->uxPriority = uxNewPriority;
\r
1115 mtCOVERAGE_TEST_MARKER();
\r
1118 /* The base priority gets set whatever. */
\r
1119 pxTCB->uxBasePriority = uxNewPriority;
\r
1123 pxTCB->uxPriority = uxNewPriority;
\r
1127 /* Only reset the event list item value if the value is not
\r
1128 being used for anything else. */
\r
1129 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1131 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
1135 mtCOVERAGE_TEST_MARKER();
\r
1138 /* If the task is in the blocked or suspended list we need do
\r
1139 nothing more than change it's priority variable. However, if
\r
1140 the task is in a ready list it needs to be removed and placed
\r
1141 in the list appropriate to its new priority. */
\r
1142 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1144 /* The task is currently in its ready list - remove before adding
\r
1145 it to it's new ready list. As we are in a critical section we
\r
1146 can do this even if the scheduler is suspended. */
\r
1147 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1149 /* It is known that the task is in its ready list so
\r
1150 there is no need to check again and the port level
\r
1151 reset macro can be called directly. */
\r
1152 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1156 mtCOVERAGE_TEST_MARKER();
\r
1158 prvAddTaskToReadyList( pxTCB );
\r
1162 mtCOVERAGE_TEST_MARKER();
\r
1165 if( xYieldRequired == pdTRUE )
\r
1167 taskYIELD_IF_USING_PREEMPTION();
\r
1171 mtCOVERAGE_TEST_MARKER();
\r
1174 /* Remove compiler warning about unused variables when the port
\r
1175 optimised task selection is not being used. */
\r
1176 ( void ) uxPriorityUsedOnEntry;
\r
1179 taskEXIT_CRITICAL();
\r
1182 #endif /* INCLUDE_vTaskPrioritySet */
\r
1183 /*-----------------------------------------------------------*/
\r
1185 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1187 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1191 taskENTER_CRITICAL();
\r
1193 /* If null is passed in here then it is the running task that is
\r
1194 being suspended. */
\r
1195 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1197 traceTASK_SUSPEND( pxTCB );
\r
1199 /* Remove task from the ready/delayed list and place in the
\r
1200 suspended list. */
\r
1201 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1203 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1207 mtCOVERAGE_TEST_MARKER();
\r
1210 /* Is the task waiting on an event also? */
\r
1211 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1213 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1217 mtCOVERAGE_TEST_MARKER();
\r
1220 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1222 taskEXIT_CRITICAL();
\r
1224 if( pxTCB == pxCurrentTCB )
\r
1226 if( xSchedulerRunning != pdFALSE )
\r
1228 /* The current task has just been suspended. */
\r
1229 configASSERT( uxSchedulerSuspended == 0 );
\r
1230 portYIELD_WITHIN_API();
\r
1234 /* The scheduler is not running, but the task that was pointed
\r
1235 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1236 must be adjusted to point to a different task. */
\r
1237 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1239 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1240 NULL so when the next task is created pxCurrentTCB will
\r
1241 be set to point to it no matter what its relative priority
\r
1243 pxCurrentTCB = NULL;
\r
1247 vTaskSwitchContext();
\r
1253 if( xSchedulerRunning != pdFALSE )
\r
1255 /* A task other than the currently running task was suspended,
\r
1256 reset the next expected unblock time in case it referred to the
\r
1257 task that is now in the Suspended state. */
\r
1258 prvResetNextTaskUnblockTime();
\r
1262 mtCOVERAGE_TEST_MARKER();
\r
1267 #endif /* INCLUDE_vTaskSuspend */
\r
1268 /*-----------------------------------------------------------*/
\r
1270 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1272 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1274 BaseType_t xReturn = pdFALSE;
\r
1275 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1277 /* Accesses xPendingReadyList so must be called from a critical
\r
1280 /* It does not make sense to check if the calling task is suspended. */
\r
1281 configASSERT( xTask );
\r
1283 /* Is the task being resumed actually in the suspended list? */
\r
1284 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1286 /* Has the task already been resumed from within an ISR? */
\r
1287 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1289 /* Is it in the suspended list because it is in the Suspended
\r
1290 state, or because is is blocked with no timeout? */
\r
1291 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1297 mtCOVERAGE_TEST_MARKER();
\r
1302 mtCOVERAGE_TEST_MARKER();
\r
1307 mtCOVERAGE_TEST_MARKER();
\r
1311 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1313 #endif /* INCLUDE_vTaskSuspend */
\r
1314 /*-----------------------------------------------------------*/
\r
1316 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1318 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1320 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1322 /* It does not make sense to resume the calling task. */
\r
1323 configASSERT( xTaskToResume );
\r
1325 /* The parameter cannot be NULL as it is impossible to resume the
\r
1326 currently executing task. */
\r
1327 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1329 taskENTER_CRITICAL();
\r
1331 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1333 traceTASK_RESUME( pxTCB );
\r
1335 /* As we are in a critical section we can access the ready
\r
1336 lists even if the scheduler is suspended. */
\r
1337 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1338 prvAddTaskToReadyList( pxTCB );
\r
1340 /* We may have just resumed a higher priority task. */
\r
1341 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1343 /* This yield may not cause the task just resumed to run,
\r
1344 but will leave the lists in the correct state for the
\r
1346 taskYIELD_IF_USING_PREEMPTION();
\r
1350 mtCOVERAGE_TEST_MARKER();
\r
1355 mtCOVERAGE_TEST_MARKER();
\r
1358 taskEXIT_CRITICAL();
\r
1362 mtCOVERAGE_TEST_MARKER();
\r
1366 #endif /* INCLUDE_vTaskSuspend */
\r
1368 /*-----------------------------------------------------------*/
\r
1370 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1372 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1374 BaseType_t xYieldRequired = pdFALSE;
\r
1375 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1376 UBaseType_t uxSavedInterruptStatus;
\r
1378 configASSERT( xTaskToResume );
\r
1380 /* RTOS ports that support interrupt nesting have the concept of a
\r
1381 maximum system call (or maximum API call) interrupt priority.
\r
1382 Interrupts that are above the maximum system call priority are keep
\r
1383 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1384 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1385 is defined in FreeRTOSConfig.h then
\r
1386 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1387 failure if a FreeRTOS API function is called from an interrupt that has
\r
1388 been assigned a priority above the configured maximum system call
\r
1389 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1390 from interrupts that have been assigned a priority at or (logically)
\r
1391 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1392 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1393 simple as possible. More information (albeit Cortex-M specific) is
\r
1394 provided on the following link:
\r
1395 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1396 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1398 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1400 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1402 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1404 /* Check the ready lists can be accessed. */
\r
1405 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1407 /* Ready lists can be accessed so move the task from the
\r
1408 suspended list to the ready list directly. */
\r
1409 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1411 xYieldRequired = pdTRUE;
\r
1415 mtCOVERAGE_TEST_MARKER();
\r
1418 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1419 prvAddTaskToReadyList( pxTCB );
\r
1423 /* The delayed or ready lists cannot be accessed so the task
\r
1424 is held in the pending ready list until the scheduler is
\r
1426 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1431 mtCOVERAGE_TEST_MARKER();
\r
1434 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1436 return xYieldRequired;
\r
1439 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1440 /*-----------------------------------------------------------*/
\r
1442 void vTaskStartScheduler( void )
\r
1444 BaseType_t xReturn;
\r
1446 /* Add the idle task at the lowest priority. */
\r
1447 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1449 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1450 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1451 xReturn = xTaskCreate( prvIdleTask, "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1455 /* Create the idle task without storing its handle. */
\r
1456 xReturn = xTaskCreate( prvIdleTask, "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1458 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1460 #if ( configUSE_TIMERS == 1 )
\r
1462 if( xReturn == pdPASS )
\r
1464 xReturn = xTimerCreateTimerTask();
\r
1468 mtCOVERAGE_TEST_MARKER();
\r
1471 #endif /* configUSE_TIMERS */
\r
1473 if( xReturn == pdPASS )
\r
1475 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1476 before or during the call to xPortStartScheduler(). The stacks of
\r
1477 the created tasks contain a status word with interrupts switched on
\r
1478 so interrupts will automatically get re-enabled when the first task
\r
1480 portDISABLE_INTERRUPTS();
\r
1482 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1484 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1485 structure specific to the task that will run first. */
\r
1486 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1488 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1490 xSchedulerRunning = pdTRUE;
\r
1491 xTickCount = ( TickType_t ) 0U;
\r
1493 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1494 macro must be defined to configure the timer/counter used to generate
\r
1495 the run time counter time base. */
\r
1496 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1498 /* Setting up the timer tick is hardware specific and thus in the
\r
1499 portable interface. */
\r
1500 if( xPortStartScheduler() != pdFALSE )
\r
1502 /* Should not reach here as if the scheduler is running the
\r
1503 function will not return. */
\r
1507 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1512 /* This line will only be reached if the kernel could not be started,
\r
1513 because there was not enough FreeRTOS heap to create the idle task
\r
1514 or the timer task. */
\r
1515 configASSERT( xReturn );
\r
1518 /*-----------------------------------------------------------*/
\r
1520 void vTaskEndScheduler( void )
\r
1522 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1523 routine so the original ISRs can be restored if necessary. The port
\r
1524 layer must ensure interrupts enable bit is left in the correct state. */
\r
1525 portDISABLE_INTERRUPTS();
\r
1526 xSchedulerRunning = pdFALSE;
\r
1527 vPortEndScheduler();
\r
1529 /*----------------------------------------------------------*/
\r
1531 void vTaskSuspendAll( void )
\r
1533 /* A critical section is not required as the variable is of type
\r
1534 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
1535 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1536 http://goo.gl/wu4acr */
\r
1537 ++uxSchedulerSuspended;
\r
1539 /*----------------------------------------------------------*/
\r
1541 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1543 static TickType_t prvGetExpectedIdleTime( void )
\r
1545 TickType_t xReturn;
\r
1547 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1551 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1553 /* There are other idle priority tasks in the ready state. If
\r
1554 time slicing is used then the very next tick interrupt must be
\r
1560 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1566 #endif /* configUSE_TICKLESS_IDLE */
\r
1567 /*----------------------------------------------------------*/
\r
1569 BaseType_t xTaskResumeAll( void )
\r
1572 BaseType_t xAlreadyYielded = pdFALSE;
\r
1574 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1575 previous call to vTaskSuspendAll(). */
\r
1576 configASSERT( uxSchedulerSuspended );
\r
1578 /* It is possible that an ISR caused a task to be removed from an event
\r
1579 list while the scheduler was suspended. If this was the case then the
\r
1580 removed task will have been added to the xPendingReadyList. Once the
\r
1581 scheduler has been resumed it is safe to move all the pending ready
\r
1582 tasks from this list into their appropriate ready list. */
\r
1583 taskENTER_CRITICAL();
\r
1585 --uxSchedulerSuspended;
\r
1587 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1589 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
1591 /* Move any readied tasks from the pending list into the
\r
1592 appropriate ready list. */
\r
1593 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1595 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1596 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1597 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1598 prvAddTaskToReadyList( pxTCB );
\r
1600 /* If we have moved a task that has a priority higher than
\r
1601 the current task then we should yield. */
\r
1602 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1604 xYieldPending = pdTRUE;
\r
1608 mtCOVERAGE_TEST_MARKER();
\r
1612 /* If any ticks occurred while the scheduler was suspended then
\r
1613 they should be processed now. This ensures the tick count does
\r
1614 not slip, and that any delayed tasks are resumed at the correct
\r
1616 if( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1618 while( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1620 if( xTaskIncrementTick() != pdFALSE )
\r
1622 xYieldPending = pdTRUE;
\r
1626 mtCOVERAGE_TEST_MARKER();
\r
1633 mtCOVERAGE_TEST_MARKER();
\r
1636 if( xYieldPending == pdTRUE )
\r
1638 #if( configUSE_PREEMPTION != 0 )
\r
1640 xAlreadyYielded = pdTRUE;
\r
1643 taskYIELD_IF_USING_PREEMPTION();
\r
1647 mtCOVERAGE_TEST_MARKER();
\r
1653 mtCOVERAGE_TEST_MARKER();
\r
1656 taskEXIT_CRITICAL();
\r
1658 return xAlreadyYielded;
\r
1660 /*-----------------------------------------------------------*/
\r
1662 TickType_t xTaskGetTickCount( void )
\r
1664 TickType_t xTicks;
\r
1666 /* Critical section required if running on a 16 bit processor. */
\r
1667 taskENTER_CRITICAL();
\r
1669 xTicks = xTickCount;
\r
1671 taskEXIT_CRITICAL();
\r
1675 /*-----------------------------------------------------------*/
\r
1677 TickType_t xTaskGetTickCountFromISR( void )
\r
1679 TickType_t xReturn;
\r
1680 UBaseType_t uxSavedInterruptStatus;
\r
1682 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1683 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1684 above the maximum system call priority are kept permanently enabled, even
\r
1685 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1686 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1687 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1688 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1689 assigned a priority above the configured maximum system call priority.
\r
1690 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1691 that have been assigned a priority at or (logically) below the maximum
\r
1692 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1693 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1694 More information (albeit Cortex-M specific) is provided on the following
\r
1695 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1696 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1698 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1700 xReturn = xTickCount;
\r
1702 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1706 /*-----------------------------------------------------------*/
\r
1708 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
1710 /* A critical section is not required because the variables are of type
\r
1712 return uxCurrentNumberOfTasks;
\r
1714 /*-----------------------------------------------------------*/
\r
1716 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1718 char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery )
\r
1722 /* If null is passed in here then the name of the calling task is being queried. */
\r
1723 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1724 configASSERT( pxTCB );
\r
1725 return &( pxTCB->pcTaskName[ 0 ] );
\r
1728 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1729 /*-----------------------------------------------------------*/
\r
1731 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1733 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
1735 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1737 vTaskSuspendAll();
\r
1739 /* Is there a space in the array for each task in the system? */
\r
1740 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1742 /* Fill in an TaskStatus_t structure with information on each
\r
1743 task in the Ready state. */
\r
1747 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1749 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1751 /* Fill in an TaskStatus_t structure with information on each
\r
1752 task in the Blocked state. */
\r
1753 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
1754 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
1756 #if( INCLUDE_vTaskDelete == 1 )
\r
1758 /* Fill in an TaskStatus_t structure with information on
\r
1759 each task that has been deleted but not yet cleaned up. */
\r
1760 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1764 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1766 /* Fill in an TaskStatus_t structure with information on
\r
1767 each task in the Suspended state. */
\r
1768 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1772 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1774 if( pulTotalRunTime != NULL )
\r
1776 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1777 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
1779 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1785 if( pulTotalRunTime != NULL )
\r
1787 *pulTotalRunTime = 0;
\r
1794 mtCOVERAGE_TEST_MARKER();
\r
1797 ( void ) xTaskResumeAll();
\r
1802 #endif /* configUSE_TRACE_FACILITY */
\r
1803 /*----------------------------------------------------------*/
\r
1805 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1807 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
1809 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1810 started, then xIdleTaskHandle will be NULL. */
\r
1811 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1812 return xIdleTaskHandle;
\r
1815 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1816 /*----------------------------------------------------------*/
\r
1818 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1819 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1820 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1822 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1824 void vTaskStepTick( const TickType_t xTicksToJump )
\r
1826 /* Correct the tick count value after a period during which the tick
\r
1827 was suppressed. Note this does *not* call the tick hook function for
\r
1828 each stepped tick. */
\r
1829 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1830 xTickCount += xTicksToJump;
\r
1831 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
1834 #endif /* configUSE_TICKLESS_IDLE */
\r
1835 /*----------------------------------------------------------*/
\r
1837 BaseType_t xTaskIncrementTick( void )
\r
1840 TickType_t xItemValue;
\r
1841 BaseType_t xSwitchRequired = pdFALSE;
\r
1843 /* Called by the portable layer each time a tick interrupt occurs.
\r
1844 Increments the tick then checks to see if the new tick value will cause any
\r
1845 tasks to be unblocked. */
\r
1846 traceTASK_INCREMENT_TICK( xTickCount );
\r
1847 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1849 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1850 delayed lists if it wraps to 0. */
\r
1854 /* Minor optimisation. The tick count cannot change in this
\r
1856 const TickType_t xConstTickCount = xTickCount;
\r
1858 if( xConstTickCount == ( TickType_t ) 0U )
\r
1860 taskSWITCH_DELAYED_LISTS();
\r
1864 mtCOVERAGE_TEST_MARKER();
\r
1867 /* See if this tick has made a timeout expire. Tasks are stored in
\r
1868 the queue in the order of their wake time - meaning once one task
\r
1869 has been found whose block time has not expired there is no need to
\r
1870 look any further down the list. */
\r
1871 if( xConstTickCount >= xNextTaskUnblockTime )
\r
1875 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1877 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
1878 to the maximum possible value so it is extremely
\r
1880 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1881 next time through. */
\r
1882 xNextTaskUnblockTime = portMAX_DELAY;
\r
1887 /* The delayed list is not empty, get the value of the
\r
1888 item at the head of the delayed list. This is the time
\r
1889 at which the task at the head of the delayed list must
\r
1890 be removed from the Blocked state. */
\r
1891 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1892 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1894 if( xConstTickCount < xItemValue )
\r
1896 /* It is not time to unblock this item yet, but the
\r
1897 item value is the time at which the task at the head
\r
1898 of the blocked list must be removed from the Blocked
\r
1899 state - so record the item value in
\r
1900 xNextTaskUnblockTime. */
\r
1901 xNextTaskUnblockTime = xItemValue;
\r
1906 mtCOVERAGE_TEST_MARKER();
\r
1909 /* It is time to remove the item from the Blocked state. */
\r
1910 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1912 /* Is the task waiting on an event also? If so remove
\r
1913 it from the event list. */
\r
1914 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1916 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1920 mtCOVERAGE_TEST_MARKER();
\r
1923 /* Place the unblocked task into the appropriate ready
\r
1925 prvAddTaskToReadyList( pxTCB );
\r
1927 /* A task being unblocked cannot cause an immediate
\r
1928 context switch if preemption is turned off. */
\r
1929 #if ( configUSE_PREEMPTION == 1 )
\r
1931 /* Preemption is on, but a context switch should
\r
1932 only be performed if the unblocked task has a
\r
1933 priority that is equal to or higher than the
\r
1934 currently executing task. */
\r
1935 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1937 xSwitchRequired = pdTRUE;
\r
1941 mtCOVERAGE_TEST_MARKER();
\r
1944 #endif /* configUSE_PREEMPTION */
\r
1950 /* Tasks of equal priority to the currently running task will share
\r
1951 processing time (time slice) if preemption is on, and the application
\r
1952 writer has not explicitly turned time slicing off. */
\r
1953 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
1955 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
1957 xSwitchRequired = pdTRUE;
\r
1961 mtCOVERAGE_TEST_MARKER();
\r
1964 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
1966 #if ( configUSE_TICK_HOOK == 1 )
\r
1968 /* Guard against the tick hook being called when the pended tick
\r
1969 count is being unwound (when the scheduler is being unlocked). */
\r
1970 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
1972 vApplicationTickHook();
\r
1976 mtCOVERAGE_TEST_MARKER();
\r
1979 #endif /* configUSE_TICK_HOOK */
\r
1985 /* The tick hook gets called at regular intervals, even if the
\r
1986 scheduler is locked. */
\r
1987 #if ( configUSE_TICK_HOOK == 1 )
\r
1989 vApplicationTickHook();
\r
1994 #if ( configUSE_PREEMPTION == 1 )
\r
1996 if( xYieldPending != pdFALSE )
\r
1998 xSwitchRequired = pdTRUE;
\r
2002 mtCOVERAGE_TEST_MARKER();
\r
2005 #endif /* configUSE_PREEMPTION */
\r
2007 return xSwitchRequired;
\r
2009 /*-----------------------------------------------------------*/
\r
2011 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2013 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2017 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2019 if( xTask == NULL )
\r
2021 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2025 xTCB = ( TCB_t * ) xTask;
\r
2028 /* Save the hook function in the TCB. A critical section is required as
\r
2029 the value can be accessed from an interrupt. */
\r
2030 taskENTER_CRITICAL();
\r
2031 xTCB->pxTaskTag = pxHookFunction;
\r
2032 taskEXIT_CRITICAL();
\r
2035 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2036 /*-----------------------------------------------------------*/
\r
2038 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2040 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2043 TaskHookFunction_t xReturn;
\r
2045 /* If xTask is NULL then we are setting our own task hook. */
\r
2046 if( xTask == NULL )
\r
2048 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2052 xTCB = ( TCB_t * ) xTask;
\r
2055 /* Save the hook function in the TCB. A critical section is required as
\r
2056 the value can be accessed from an interrupt. */
\r
2057 taskENTER_CRITICAL();
\r
2059 xReturn = xTCB->pxTaskTag;
\r
2061 taskEXIT_CRITICAL();
\r
2066 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2067 /*-----------------------------------------------------------*/
\r
2069 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2071 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2074 BaseType_t xReturn;
\r
2076 /* If xTask is NULL then we are calling our own task hook. */
\r
2077 if( xTask == NULL )
\r
2079 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2083 xTCB = ( TCB_t * ) xTask;
\r
2086 if( xTCB->pxTaskTag != NULL )
\r
2088 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2098 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2099 /*-----------------------------------------------------------*/
\r
2101 void vTaskSwitchContext( void )
\r
2103 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2105 /* The scheduler is currently suspended - do not allow a context
\r
2107 xYieldPending = pdTRUE;
\r
2111 xYieldPending = pdFALSE;
\r
2112 traceTASK_SWITCHED_OUT();
\r
2114 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2116 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2117 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2119 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2122 /* Add the amount of time the task has been running to the
\r
2123 accumulated time so far. The time the task started running was
\r
2124 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2125 protection here so count values are only valid until the timer
\r
2126 overflows. The guard against negative values is to protect
\r
2127 against suspect run time stat counter implementations - which
\r
2128 are provided by the application, not the kernel. */
\r
2129 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2131 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2135 mtCOVERAGE_TEST_MARKER();
\r
2137 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2139 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2141 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
2142 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
2144 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2146 traceTASK_SWITCHED_IN();
\r
2148 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2150 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2151 structure specific to this task. */
\r
2152 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2154 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2157 /*-----------------------------------------------------------*/
\r
2159 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2161 TickType_t xTimeToWake;
\r
2163 configASSERT( pxEventList );
\r
2165 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2166 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2168 /* Place the event list item of the TCB in the appropriate event list.
\r
2169 This is placed in the list in priority order so the highest priority task
\r
2170 is the first to be woken by the event. The queue that contains the event
\r
2171 list is locked, preventing simultaneous access from interrupts. */
\r
2172 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2174 /* The task must be removed from from the ready list before it is added to
\r
2175 the blocked list as the same list item is used for both lists. Exclusive
\r
2176 access to the ready lists guaranteed because the scheduler is locked. */
\r
2177 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2179 /* The current task must be in a ready list, so there is no need to
\r
2180 check, and the port reset macro can be called directly. */
\r
2181 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2185 mtCOVERAGE_TEST_MARKER();
\r
2188 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2190 if( xTicksToWait == portMAX_DELAY )
\r
2192 /* Add the task to the suspended task list instead of a delayed task
\r
2193 list to ensure the task is not woken by a timing event. It will
\r
2194 block indefinitely. */
\r
2195 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2199 /* Calculate the time at which the task should be woken if the event
\r
2200 does not occur. This may overflow but this doesn't matter, the
\r
2201 scheduler will handle it. */
\r
2202 xTimeToWake = xTickCount + xTicksToWait;
\r
2203 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2206 #else /* INCLUDE_vTaskSuspend */
\r
2208 /* Calculate the time at which the task should be woken if the event does
\r
2209 not occur. This may overflow but this doesn't matter, the scheduler
\r
2210 will handle it. */
\r
2211 xTimeToWake = xTickCount + xTicksToWait;
\r
2212 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2214 #endif /* INCLUDE_vTaskSuspend */
\r
2216 /*-----------------------------------------------------------*/
\r
2218 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2220 TickType_t xTimeToWake;
\r
2222 configASSERT( pxEventList );
\r
2224 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2225 the event groups implementation. */
\r
2226 configASSERT( uxSchedulerSuspended != 0 );
\r
2228 /* Store the item value in the event list item. It is safe to access the
\r
2229 event list item here as interrupts won't access the event list item of a
\r
2230 task that is not in the Blocked state. */
\r
2231 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2233 /* Place the event list item of the TCB at the end of the appropriate event
\r
2234 list. It is safe to access the event list here because it is part of an
\r
2235 event group implementation - and interrupts don't access event groups
\r
2236 directly (instead they access them indirectly by pending function calls to
\r
2237 the task level). */
\r
2238 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2240 /* The task must be removed from the ready list before it is added to the
\r
2241 blocked list. Exclusive access can be assured to the ready list as the
\r
2242 scheduler is locked. */
\r
2243 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2245 /* The current task must be in a ready list, so there is no need to
\r
2246 check, and the port reset macro can be called directly. */
\r
2247 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2251 mtCOVERAGE_TEST_MARKER();
\r
2254 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2256 if( xTicksToWait == portMAX_DELAY )
\r
2258 /* Add the task to the suspended task list instead of a delayed task
\r
2259 list to ensure it is not woken by a timing event. It will block
\r
2261 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2265 /* Calculate the time at which the task should be woken if the event
\r
2266 does not occur. This may overflow but this doesn't matter, the
\r
2267 kernel will manage it correctly. */
\r
2268 xTimeToWake = xTickCount + xTicksToWait;
\r
2269 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2272 #else /* INCLUDE_vTaskSuspend */
\r
2274 /* Calculate the time at which the task should be woken if the event does
\r
2275 not occur. This may overflow but this doesn't matter, the kernel
\r
2276 will manage it correctly. */
\r
2277 xTimeToWake = xTickCount + xTicksToWait;
\r
2278 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2280 #endif /* INCLUDE_vTaskSuspend */
\r
2282 /*-----------------------------------------------------------*/
\r
2284 #if configUSE_TIMERS == 1
\r
2286 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2288 TickType_t xTimeToWake;
\r
2290 configASSERT( pxEventList );
\r
2292 /* This function should not be called by application code hence the
\r
2293 'Restricted' in its name. It is not part of the public API. It is
\r
2294 designed for use by kernel code, and has special calling requirements -
\r
2295 it should be called from a critical section. */
\r
2298 /* Place the event list item of the TCB in the appropriate event list.
\r
2299 In this case it is assume that this is the only task that is going to
\r
2300 be waiting on this event list, so the faster vListInsertEnd() function
\r
2301 can be used in place of vListInsert. */
\r
2302 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2304 /* We must remove this task from the ready list before adding it to the
\r
2305 blocked list as the same list item is used for both lists. This
\r
2306 function is called form a critical section. */
\r
2307 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2309 /* The current task must be in a ready list, so there is no need to
\r
2310 check, and the port reset macro can be called directly. */
\r
2311 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2315 mtCOVERAGE_TEST_MARKER();
\r
2318 /* Calculate the time at which the task should be woken if the event does
\r
2319 not occur. This may overflow but this doesn't matter. */
\r
2320 xTimeToWake = xTickCount + xTicksToWait;
\r
2322 traceTASK_DELAY_UNTIL();
\r
2323 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2326 #endif /* configUSE_TIMERS */
\r
2327 /*-----------------------------------------------------------*/
\r
2329 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
2331 TCB_t *pxUnblockedTCB;
\r
2332 BaseType_t xReturn;
\r
2334 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
2335 called from a critical section within an ISR. */
\r
2337 /* The event list is sorted in priority order, so the first in the list can
\r
2338 be removed as it is known to be the highest priority. Remove the TCB from
\r
2339 the delayed list, and add it to the ready list.
\r
2341 If an event is for a queue that is locked then this function will never
\r
2342 get called - the lock count on the queue will get modified instead. This
\r
2343 means exclusive access to the event list is guaranteed here.
\r
2345 This function assumes that a check has already been made to ensure that
\r
2346 pxEventList is not empty. */
\r
2347 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2348 configASSERT( pxUnblockedTCB );
\r
2349 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2351 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2353 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2354 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2358 /* The delayed and ready lists cannot be accessed, so hold this task
\r
2359 pending until the scheduler is resumed. */
\r
2360 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2363 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2365 /* Return true if the task removed from the event list has a higher
\r
2366 priority than the calling task. This allows the calling task to know if
\r
2367 it should force a context switch now. */
\r
2370 /* Mark that a yield is pending in case the user is not using the
\r
2371 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2372 xYieldPending = pdTRUE;
\r
2376 xReturn = pdFALSE;
\r
2381 /*-----------------------------------------------------------*/
\r
2383 BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
2385 TCB_t *pxUnblockedTCB;
\r
2386 BaseType_t xReturn;
\r
2388 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2389 the event flags implementation. */
\r
2390 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
2392 /* Store the new item value in the event list. */
\r
2393 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2395 /* Remove the event list form the event flag. Interrupts do not access
\r
2397 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2398 configASSERT( pxUnblockedTCB );
\r
2399 ( void ) uxListRemove( pxEventListItem );
\r
2401 /* Remove the task from the delayed list and add it to the ready list. The
\r
2402 scheduler is suspended so interrupts will not be accessing the ready
\r
2404 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2405 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2407 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2409 /* Return true if the task removed from the event list has
\r
2410 a higher priority than the calling task. This allows
\r
2411 the calling task to know if it should force a context
\r
2415 /* Mark that a yield is pending in case the user is not using the
\r
2416 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2417 xYieldPending = pdTRUE;
\r
2421 xReturn = pdFALSE;
\r
2426 /*-----------------------------------------------------------*/
\r
2428 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
2430 configASSERT( pxTimeOut );
\r
2431 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2432 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2434 /*-----------------------------------------------------------*/
\r
2436 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
2438 BaseType_t xReturn;
\r
2440 configASSERT( pxTimeOut );
\r
2441 configASSERT( pxTicksToWait );
\r
2443 taskENTER_CRITICAL();
\r
2445 /* Minor optimisation. The tick count cannot change in this block. */
\r
2446 const TickType_t xConstTickCount = xTickCount;
\r
2448 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2449 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2450 the maximum block time then the task should block indefinitely, and
\r
2451 therefore never time out. */
\r
2452 if( *pxTicksToWait == portMAX_DELAY )
\r
2454 xReturn = pdFALSE;
\r
2456 else /* We are not blocking indefinitely, perform the checks below. */
\r
2459 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2461 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2462 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2463 It must have wrapped all the way around and gone past us again. This
\r
2464 passed since vTaskSetTimeout() was called. */
\r
2467 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2469 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2470 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2471 vTaskSetTimeOutState( pxTimeOut );
\r
2472 xReturn = pdFALSE;
\r
2479 taskEXIT_CRITICAL();
\r
2483 /*-----------------------------------------------------------*/
\r
2485 void vTaskMissedYield( void )
\r
2487 xYieldPending = pdTRUE;
\r
2489 /*-----------------------------------------------------------*/
\r
2491 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2493 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
2495 UBaseType_t uxReturn;
\r
2498 if( xTask != NULL )
\r
2500 pxTCB = ( TCB_t * ) xTask;
\r
2501 uxReturn = pxTCB->uxTaskNumber;
\r
2511 #endif /* configUSE_TRACE_FACILITY */
\r
2512 /*-----------------------------------------------------------*/
\r
2514 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2516 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
2520 if( xTask != NULL )
\r
2522 pxTCB = ( TCB_t * ) xTask;
\r
2523 pxTCB->uxTaskNumber = uxHandle;
\r
2527 #endif /* configUSE_TRACE_FACILITY */
\r
2530 * -----------------------------------------------------------
\r
2532 * ----------------------------------------------------------
\r
2534 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2535 * language extensions. The equivalent prototype for this function is:
\r
2537 * void prvIdleTask( void *pvParameters );
\r
2540 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2542 /* Stop warnings. */
\r
2543 ( void ) pvParameters;
\r
2547 /* See if any tasks have been deleted. */
\r
2548 prvCheckTasksWaitingTermination();
\r
2550 #if ( configUSE_PREEMPTION == 0 )
\r
2552 /* If we are not using preemption we keep forcing a task switch to
\r
2553 see if any other task has become available. If we are using
\r
2554 preemption we don't need to do this as any task becoming available
\r
2555 will automatically get the processor anyway. */
\r
2558 #endif /* configUSE_PREEMPTION */
\r
2560 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2562 /* When using preemption tasks of equal priority will be
\r
2563 timesliced. If a task that is sharing the idle priority is ready
\r
2564 to run then the idle task should yield before the end of the
\r
2567 A critical region is not required here as we are just reading from
\r
2568 the list, and an occasional incorrect value will not matter. If
\r
2569 the ready list at the idle priority contains more than one task
\r
2570 then a task other than the idle task is ready to execute. */
\r
2571 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
2577 mtCOVERAGE_TEST_MARKER();
\r
2580 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2582 #if ( configUSE_IDLE_HOOK == 1 )
\r
2584 extern void vApplicationIdleHook( void );
\r
2586 /* Call the user defined function from within the idle task. This
\r
2587 allows the application designer to add background functionality
\r
2588 without the overhead of a separate task.
\r
2589 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2590 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2591 vApplicationIdleHook();
\r
2593 #endif /* configUSE_IDLE_HOOK */
\r
2595 /* This conditional compilation should use inequality to 0, not equality
\r
2596 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2597 user defined low power mode implementations require
\r
2598 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2599 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2601 TickType_t xExpectedIdleTime;
\r
2603 /* It is not desirable to suspend then resume the scheduler on
\r
2604 each iteration of the idle task. Therefore, a preliminary
\r
2605 test of the expected idle time is performed without the
\r
2606 scheduler suspended. The result here is not necessarily
\r
2608 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2610 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2612 vTaskSuspendAll();
\r
2614 /* Now the scheduler is suspended, the expected idle
\r
2615 time can be sampled again, and this time its value can
\r
2617 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2618 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2620 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2622 traceLOW_POWER_IDLE_BEGIN();
\r
2623 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2624 traceLOW_POWER_IDLE_END();
\r
2628 mtCOVERAGE_TEST_MARKER();
\r
2631 ( void ) xTaskResumeAll();
\r
2635 mtCOVERAGE_TEST_MARKER();
\r
2638 #endif /* configUSE_TICKLESS_IDLE */
\r
2641 /*-----------------------------------------------------------*/
\r
2643 #if configUSE_TICKLESS_IDLE != 0
\r
2645 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2647 eSleepModeStatus eReturn = eStandardSleep;
\r
2649 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2651 /* A task was made ready while the scheduler was suspended. */
\r
2652 eReturn = eAbortSleep;
\r
2654 else if( xYieldPending != pdFALSE )
\r
2656 /* A yield was pended while the scheduler was suspended. */
\r
2657 eReturn = eAbortSleep;
\r
2661 #if configUSE_TIMERS == 0
\r
2663 /* The idle task exists in addition to the application tasks. */
\r
2664 const UBaseType_t uxNonApplicationTasks = 1;
\r
2666 /* If timers are not being used and all the tasks are in the
\r
2667 suspended list (which might mean they have an infinite block
\r
2668 time rather than actually being suspended) then it is safe to
\r
2669 turn all clocks off and just wait for external interrupts. */
\r
2670 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2672 eReturn = eNoTasksWaitingTimeout;
\r
2676 mtCOVERAGE_TEST_MARKER();
\r
2679 #endif /* configUSE_TIMERS */
\r
2684 #endif /* configUSE_TICKLESS_IDLE */
\r
2685 /*-----------------------------------------------------------*/
\r
2687 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
2691 /* Store the task name in the TCB. */
\r
2692 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2694 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2696 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2697 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2698 string is not accessible (extremely unlikely). */
\r
2699 if( pcName[ x ] == 0x00 )
\r
2705 mtCOVERAGE_TEST_MARKER();
\r
2709 /* Ensure the name string is terminated in the case that the string length
\r
2710 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2711 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
2713 /* This is used as an array index so must ensure it's not too large. First
\r
2714 remove the privilege bit if one is present. */
\r
2715 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
2717 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
2721 mtCOVERAGE_TEST_MARKER();
\r
2724 pxTCB->uxPriority = uxPriority;
\r
2725 #if ( configUSE_MUTEXES == 1 )
\r
2727 pxTCB->uxBasePriority = uxPriority;
\r
2729 #endif /* configUSE_MUTEXES */
\r
2731 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2732 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2734 /* Set the pxTCB as a link back from the ListItem_t. This is so we can get
\r
2735 back to the containing TCB from a generic item in a list. */
\r
2736 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2738 /* Event lists are always in priority order. */
\r
2739 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
2740 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2742 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2744 pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
2746 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2748 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2750 pxTCB->pxTaskTag = NULL;
\r
2752 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2754 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2756 pxTCB->ulRunTimeCounter = 0UL;
\r
2758 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2760 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2762 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2764 #else /* portUSING_MPU_WRAPPERS */
\r
2766 ( void ) xRegions;
\r
2767 ( void ) usStackDepth;
\r
2769 #endif /* portUSING_MPU_WRAPPERS */
\r
2771 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2773 /* Initialise this task's Newlib reent structure. */
\r
2774 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2776 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2778 /*-----------------------------------------------------------*/
\r
2780 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2782 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
2786 /* If null is passed in here then we are deleting ourselves. */
\r
2787 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2789 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2792 #endif /* portUSING_MPU_WRAPPERS */
\r
2793 /*-----------------------------------------------------------*/
\r
2795 static void prvInitialiseTaskLists( void )
\r
2797 UBaseType_t uxPriority;
\r
2799 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
2801 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
2804 vListInitialise( &xDelayedTaskList1 );
\r
2805 vListInitialise( &xDelayedTaskList2 );
\r
2806 vListInitialise( &xPendingReadyList );
\r
2808 #if ( INCLUDE_vTaskDelete == 1 )
\r
2810 vListInitialise( &xTasksWaitingTermination );
\r
2812 #endif /* INCLUDE_vTaskDelete */
\r
2814 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2816 vListInitialise( &xSuspendedTaskList );
\r
2818 #endif /* INCLUDE_vTaskSuspend */
\r
2820 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2822 pxDelayedTaskList = &xDelayedTaskList1;
\r
2823 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2825 /*-----------------------------------------------------------*/
\r
2827 static void prvCheckTasksWaitingTermination( void )
\r
2829 #if ( INCLUDE_vTaskDelete == 1 )
\r
2831 BaseType_t xListIsEmpty;
\r
2833 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2834 too often in the idle task. */
\r
2835 while( uxTasksDeleted > ( UBaseType_t ) 0U )
\r
2837 vTaskSuspendAll();
\r
2839 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2841 ( void ) xTaskResumeAll();
\r
2843 if( xListIsEmpty == pdFALSE )
\r
2847 taskENTER_CRITICAL();
\r
2849 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
2850 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2851 --uxCurrentNumberOfTasks;
\r
2854 taskEXIT_CRITICAL();
\r
2856 prvDeleteTCB( pxTCB );
\r
2860 mtCOVERAGE_TEST_MARKER();
\r
2864 #endif /* vTaskDelete */
\r
2866 /*-----------------------------------------------------------*/
\r
2868 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake )
\r
2870 /* The list item will be inserted in wake time order. */
\r
2871 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2873 if( xTimeToWake < xTickCount )
\r
2875 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2876 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2880 /* The wake time has not overflowed, so the current block list is used. */
\r
2881 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2883 /* If the task entering the blocked state was placed at the head of the
\r
2884 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2886 if( xTimeToWake < xNextTaskUnblockTime )
\r
2888 xNextTaskUnblockTime = xTimeToWake;
\r
2892 mtCOVERAGE_TEST_MARKER();
\r
2896 /*-----------------------------------------------------------*/
\r
2898 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer )
\r
2902 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2903 the implementation of the port malloc function. */
\r
2904 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
2906 if( pxNewTCB != NULL )
\r
2908 /* Allocate space for the stack used by the task being created.
\r
2909 The base of the stack memory stored in the TCB so the task can
\r
2910 be deleted later if required. */
\r
2911 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
2913 if( pxNewTCB->pxStack == NULL )
\r
2915 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2916 vPortFree( pxNewTCB );
\r
2921 /* Avoid dependency on memset() if it is not required. */
\r
2922 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2924 /* Just to help debugging. */
\r
2925 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );
\r
2927 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
2933 /*-----------------------------------------------------------*/
\r
2935 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2937 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
2939 volatile TCB_t *pxNextTCB, *pxFirstTCB;
\r
2940 UBaseType_t uxTask = 0;
\r
2942 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2944 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2946 /* Populate an TaskStatus_t structure within the
\r
2947 pxTaskStatusArray array for each task that is referenced from
\r
2948 pxList. See the definition of TaskStatus_t in task.h for the
\r
2949 meaning of each TaskStatus_t structure member. */
\r
2952 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2954 pxTaskStatusArray[ uxTask ].xHandle = ( TaskHandle_t ) pxNextTCB;
\r
2955 pxTaskStatusArray[ uxTask ].pcTaskName = ( const char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
2956 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
2957 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
2958 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
2960 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2962 /* If the task is in the suspended list then there is a chance
\r
2963 it is actually just blocked indefinitely - so really it should
\r
2964 be reported as being in the Blocked state. */
\r
2965 if( eState == eSuspended )
\r
2967 if( listLIST_ITEM_CONTAINER( &( pxNextTCB->xEventListItem ) ) != NULL )
\r
2969 pxTaskStatusArray[ uxTask ].eCurrentState = eBlocked;
\r
2973 #endif /* INCLUDE_vTaskSuspend */
\r
2975 #if ( configUSE_MUTEXES == 1 )
\r
2977 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
2981 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
2985 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2987 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
2991 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
2995 #if ( portSTACK_GROWTH > 0 )
\r
2997 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxEndOfStack );
\r
3001 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxStack );
\r
3007 } while( pxNextTCB != pxFirstTCB );
\r
3011 mtCOVERAGE_TEST_MARKER();
\r
3017 #endif /* configUSE_TRACE_FACILITY */
\r
3018 /*-----------------------------------------------------------*/
\r
3020 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3022 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3024 uint32_t ulCount = 0U;
\r
3026 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
3028 pucStackByte -= portSTACK_GROWTH;
\r
3032 ulCount /= ( uint32_t ) sizeof( StackType_t );
\r
3034 return ( uint16_t ) ulCount;
\r
3037 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3038 /*-----------------------------------------------------------*/
\r
3040 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3042 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3045 uint8_t *pucEndOfStack;
\r
3046 UBaseType_t uxReturn;
\r
3048 pxTCB = prvGetTCBFromHandle( xTask );
\r
3050 #if portSTACK_GROWTH < 0
\r
3052 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3056 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3060 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3065 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3066 /*-----------------------------------------------------------*/
\r
3068 #if ( INCLUDE_vTaskDelete == 1 )
\r
3070 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3072 /* This call is required specifically for the TriCore port. It must be
\r
3073 above the vPortFree() calls. The call is also used by ports/demos that
\r
3074 want to allocate and clean RAM statically. */
\r
3075 portCLEAN_UP_TCB( pxTCB );
\r
3077 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
3078 the task to free any memory allocated at the application level. */
\r
3079 vPortFreeAligned( pxTCB->pxStack );
\r
3080 vPortFree( pxTCB );
\r
3083 #endif /* INCLUDE_vTaskDelete */
\r
3084 /*-----------------------------------------------------------*/
\r
3086 static void prvResetNextTaskUnblockTime( void )
\r
3090 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3092 /* The new current delayed list is empty. Set
\r
3093 xNextTaskUnblockTime to the maximum possible value so it is
\r
3094 extremely unlikely that the
\r
3095 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3096 there is an item in the delayed list. */
\r
3097 xNextTaskUnblockTime = portMAX_DELAY;
\r
3101 /* The new current delayed list is not empty, get the value of
\r
3102 the item at the head of the delayed list. This is the time at
\r
3103 which the task at the head of the delayed list should be removed
\r
3104 from the Blocked state. */
\r
3105 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3106 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) );
\r
3109 /*-----------------------------------------------------------*/
\r
3111 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3113 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3115 TaskHandle_t xReturn;
\r
3117 /* A critical section is not required as this is not called from
\r
3118 an interrupt and the current TCB will always be the same for any
\r
3119 individual execution thread. */
\r
3120 xReturn = pxCurrentTCB;
\r
3125 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3126 /*-----------------------------------------------------------*/
\r
3128 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3130 BaseType_t xTaskGetSchedulerState( void )
\r
3132 BaseType_t xReturn;
\r
3134 if( xSchedulerRunning == pdFALSE )
\r
3136 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3140 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3142 xReturn = taskSCHEDULER_RUNNING;
\r
3146 xReturn = taskSCHEDULER_SUSPENDED;
\r
3153 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3154 /*-----------------------------------------------------------*/
\r
3156 #if ( configUSE_MUTEXES == 1 )
\r
3158 void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3160 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3162 /* If the mutex was given back by an interrupt while the queue was
\r
3163 locked then the mutex holder might now be NULL. */
\r
3164 if( pxMutexHolder != NULL )
\r
3166 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3168 /* Adjust the mutex holder state to account for its new
\r
3169 priority. Only reset the event list item value if the value is
\r
3170 not being used for anything else. */
\r
3171 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3173 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
3177 mtCOVERAGE_TEST_MARKER();
\r
3180 /* If the task being modified is in the ready state it will need to
\r
3181 be moved into a new list. */
\r
3182 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
3184 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3186 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3190 mtCOVERAGE_TEST_MARKER();
\r
3193 /* Inherit the priority before being moved into the new list. */
\r
3194 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3195 prvAddTaskToReadyList( pxTCB );
\r
3199 /* Just inherit the priority. */
\r
3200 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3203 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
3207 mtCOVERAGE_TEST_MARKER();
\r
3212 mtCOVERAGE_TEST_MARKER();
\r
3216 #endif /* configUSE_MUTEXES */
\r
3217 /*-----------------------------------------------------------*/
\r
3219 #if ( configUSE_MUTEXES == 1 )
\r
3221 void vTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3223 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3225 if( pxMutexHolder != NULL )
\r
3227 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3229 /* We must be the running task to be able to give the mutex back.
\r
3230 Remove ourselves from the ready list we currently appear in. */
\r
3231 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3233 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3237 mtCOVERAGE_TEST_MARKER();
\r
3240 /* Disinherit the priority before adding the task into the new
\r
3242 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3243 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3245 /* Only reset the event list item value if the value is not
\r
3246 being used for anything else. */
\r
3247 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3249 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
3253 mtCOVERAGE_TEST_MARKER();
\r
3255 prvAddTaskToReadyList( pxTCB );
\r
3259 mtCOVERAGE_TEST_MARKER();
\r
3264 mtCOVERAGE_TEST_MARKER();
\r
3268 #endif /* configUSE_MUTEXES */
\r
3269 /*-----------------------------------------------------------*/
\r
3271 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3273 void vTaskEnterCritical( void )
\r
3275 portDISABLE_INTERRUPTS();
\r
3277 if( xSchedulerRunning != pdFALSE )
\r
3279 ( pxCurrentTCB->uxCriticalNesting )++;
\r
3283 mtCOVERAGE_TEST_MARKER();
\r
3287 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3288 /*-----------------------------------------------------------*/
\r
3290 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3292 void vTaskExitCritical( void )
\r
3294 if( xSchedulerRunning != pdFALSE )
\r
3296 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
3298 ( pxCurrentTCB->uxCriticalNesting )--;
\r
3300 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
3302 portENABLE_INTERRUPTS();
\r
3306 mtCOVERAGE_TEST_MARKER();
\r
3311 mtCOVERAGE_TEST_MARKER();
\r
3316 mtCOVERAGE_TEST_MARKER();
\r
3320 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3321 /*-----------------------------------------------------------*/
\r
3323 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
3325 void vTaskList( char * pcWriteBuffer )
\r
3327 TaskStatus_t *pxTaskStatusArray;
\r
3328 volatile UBaseType_t uxArraySize, x;
\r
3334 * This function is provided for convenience only, and is used by many
\r
3335 * of the demo applications. Do not consider it to be part of the
\r
3338 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
3339 * uxTaskGetSystemState() output into a human readable table that
\r
3340 * displays task names, states and stack usage.
\r
3342 * vTaskList() has a dependency on the sprintf() C library function that
\r
3343 * might bloat the code size, use a lot of stack, and provide different
\r
3344 * results on different platforms. An alternative, tiny, third party,
\r
3345 * and limited functionality implementation of sprintf() is provided in
\r
3346 * many of the FreeRTOS/Demo sub-directories in a file called
\r
3347 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
3348 * snprintf() implementation!).
\r
3350 * It is recommended that production systems call uxTaskGetSystemState()
\r
3351 * directly to get access to raw stats data, rather than indirectly
\r
3352 * through a call to vTaskList().
\r
3356 /* Make sure the write buffer does not contain a string. */
\r
3357 *pcWriteBuffer = 0x00;
\r
3359 /* Take a snapshot of the number of tasks in case it changes while this
\r
3360 function is executing. */
\r
3361 uxArraySize = uxCurrentNumberOfTasks;
\r
3363 /* Allocate an array index for each task. */
\r
3364 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3366 if( pxTaskStatusArray != NULL )
\r
3368 /* Generate the (binary) data. */
\r
3369 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
3371 /* Create a human readable table from the binary data. */
\r
3372 for( x = 0; x < uxArraySize; x++ )
\r
3374 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
3376 case eReady: cStatus = tskREADY_CHAR;
\r
3379 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
3382 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
3385 case eDeleted: cStatus = tskDELETED_CHAR;
\r
3388 default: /* Should not get here, but it is included
\r
3389 to prevent static checking errors. */
\r
3394 sprintf( pcWriteBuffer, "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
3395 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3398 /* Free the array again. */
\r
3399 vPortFree( pxTaskStatusArray );
\r
3403 mtCOVERAGE_TEST_MARKER();
\r
3407 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */
\r
3408 /*----------------------------------------------------------*/
\r
3410 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
3412 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
3414 TaskStatus_t *pxTaskStatusArray;
\r
3415 volatile UBaseType_t uxArraySize, x;
\r
3416 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
3421 * This function is provided for convenience only, and is used by many
\r
3422 * of the demo applications. Do not consider it to be part of the
\r
3425 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
3426 * of the uxTaskGetSystemState() output into a human readable table that
\r
3427 * displays the amount of time each task has spent in the Running state
\r
3428 * in both absolute and percentage terms.
\r
3430 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
3431 * function that might bloat the code size, use a lot of stack, and
\r
3432 * provide different results on different platforms. An alternative,
\r
3433 * tiny, third party, and limited functionality implementation of
\r
3434 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3435 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3436 * a full snprintf() implementation!).
\r
3438 * It is recommended that production systems call uxTaskGetSystemState()
\r
3439 * directly to get access to raw stats data, rather than indirectly
\r
3440 * through a call to vTaskGetRunTimeStats().
\r
3443 /* Make sure the write buffer does not contain a string. */
\r
3444 *pcWriteBuffer = 0x00;
\r
3446 /* Take a snapshot of the number of tasks in case it changes while this
\r
3447 function is executing. */
\r
3448 uxArraySize = uxCurrentNumberOfTasks;
\r
3450 /* Allocate an array index for each task. */
\r
3451 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3453 if( pxTaskStatusArray != NULL )
\r
3455 /* Generate the (binary) data. */
\r
3456 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
3458 /* For percentage calculations. */
\r
3459 ulTotalTime /= 100UL;
\r
3461 /* Avoid divide by zero errors. */
\r
3462 if( ulTotalTime > 0 )
\r
3464 /* Create a human readable table from the binary data. */
\r
3465 for( x = 0; x < uxArraySize; x++ )
\r
3467 /* What percentage of the total run time has the task used?
\r
3468 This will always be rounded down to the nearest integer.
\r
3469 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
3470 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
3472 if( ulStatsAsPercentage > 0UL )
\r
3474 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3476 sprintf( pcWriteBuffer, "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
3480 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3481 printf() library can be used. */
\r
3482 sprintf( pcWriteBuffer, "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
3488 /* If the percentage is zero here then the task has
\r
3489 consumed less than 1% of the total run time. */
\r
3490 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3492 sprintf( pcWriteBuffer, "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3496 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3497 printf() library can be used. */
\r
3498 sprintf( pcWriteBuffer, "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3503 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3508 mtCOVERAGE_TEST_MARKER();
\r
3511 /* Free the array again. */
\r
3512 vPortFree( pxTaskStatusArray );
\r
3516 mtCOVERAGE_TEST_MARKER();
\r
3520 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */
\r
3521 /*-----------------------------------------------------------*/
\r
3523 TickType_t uxTaskResetEventItemValue( void )
\r
3525 TickType_t uxReturn;
\r
3527 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
3529 /* Reset the event list item to its normal value - so it can be used with
\r
3530 queues and semaphores. */
\r
3531 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
3535 /*-----------------------------------------------------------*/
\r
3537 #ifdef FREERTOS_MODULE_TEST
\r
3538 #include "tasks_test_access_functions.h"
\r
projects / freertos / blob