2 FreeRTOS V8.1.2 - 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 !<<
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28 >>! distribute a combined work that includes FreeRTOS without being !<<
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29 >>! obliged to provide the source code for proprietary components !<<
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30 >>! outside of the FreeRTOS kernel. !<<
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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 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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88 functions but without including stdio.h here. */
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89 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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90 /* At the bottom of this file are two optional functions that can be used
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91 to generate human readable text from the raw data generated by the
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92 uxTaskGetSystemState() function. Note the formatting functions are provided
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93 for convenience only, and are NOT considered part of the kernel. */
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95 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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97 /* Sanity check the configuration. */
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98 #if configUSE_TICKLESS_IDLE != 0
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99 #if INCLUDE_vTaskSuspend != 1
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100 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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101 #endif /* INCLUDE_vTaskSuspend */
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102 #endif /* configUSE_TICKLESS_IDLE */
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105 * Defines the size, in words, of the stack allocated to the idle task.
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107 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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109 #if( configUSE_PREEMPTION == 0 )
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110 /* If the cooperative scheduler is being used then a yield should not be
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111 performed just because a higher priority task has been woken. */
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112 #define taskYIELD_IF_USING_PREEMPTION()
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114 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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117 /* Value that can be assigned to the eNotifyState member of the TCB. */
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120 eNotWaitingNotification,
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121 eWaitingNotification,
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126 * Task control block. A task control block (TCB) is allocated for each task,
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127 * and stores task state information, including a pointer to the task's context
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128 * (the task's run time environment, including register values)
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130 typedef struct tskTaskControlBlock
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132 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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134 #if ( portUSING_MPU_WRAPPERS == 1 )
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135 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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136 BaseType_t xUsingStaticallyAllocatedStack; /* Set to pdTRUE if the stack is a statically allocated array, and pdFALSE if the stack is dynamically allocated. */
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139 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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140 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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141 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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142 StackType_t *pxStack; /*< Points to the start of the stack. */
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143 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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145 #if ( portSTACK_GROWTH > 0 )
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146 StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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149 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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150 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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153 #if ( configUSE_TRACE_FACILITY == 1 )
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154 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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155 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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158 #if ( configUSE_MUTEXES == 1 )
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159 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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160 UBaseType_t uxMutexesHeld;
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163 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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164 TaskHookFunction_t pxTaskTag;
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167 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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168 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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171 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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172 /* Allocate a Newlib reent structure that is specific to this task.
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173 Note Newlib support has been included by popular demand, but is not
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174 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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175 responsible for resulting newlib operation. User must be familiar with
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176 newlib and must provide system-wide implementations of the necessary
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177 stubs. Be warned that (at the time of writing) the current newlib design
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178 implements a system-wide malloc() that must be provided with locks. */
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179 struct _reent xNewLib_reent;
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182 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
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183 volatile uint32_t ulNotifiedValue;
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184 volatile eNotifyValue eNotifyState;
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189 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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190 below to enable the use of older kernel aware debuggers. */
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191 typedef tskTCB TCB_t;
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194 * Some kernel aware debuggers require the data the debugger needs access to to
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195 * be global, rather than file scope.
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197 #ifdef portREMOVE_STATIC_QUALIFIER
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201 /*lint -e956 A manual analysis and inspection has been used to determine which
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202 static variables must be declared volatile. */
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204 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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206 /* Lists for ready and blocked tasks. --------------------*/
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207 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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208 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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209 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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210 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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211 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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212 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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214 #if ( INCLUDE_vTaskDelete == 1 )
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216 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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217 PRIVILEGED_DATA static volatile UBaseType_t uxTasksDeleted = ( UBaseType_t ) 0U;
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221 #if ( INCLUDE_vTaskSuspend == 1 )
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223 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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227 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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229 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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233 /* Other file private variables. --------------------------------*/
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234 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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235 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;
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236 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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237 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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238 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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239 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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240 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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241 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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242 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = portMAX_DELAY;
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244 /* Context switches are held pending while the scheduler is suspended. Also,
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245 interrupts must not manipulate the xGenericListItem of a TCB, or any of the
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246 lists the xGenericListItem can be referenced from, if the scheduler is suspended.
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247 If an interrupt needs to unblock a task while the scheduler is suspended then it
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248 moves the task's event list item into the xPendingReadyList, ready for the
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249 kernel to move the task from the pending ready list into the real ready list
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250 when the scheduler is unsuspended. The pending ready list itself can only be
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251 accessed from a critical section. */
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252 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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254 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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256 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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257 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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263 /* Debugging and trace facilities private variables and macros. ------------*/
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266 * The value used to fill the stack of a task when the task is created. This
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267 * is used purely for checking the high water mark for tasks.
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269 #define tskSTACK_FILL_BYTE ( 0xa5U )
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272 * Macros used by vListTask to indicate which state a task is in.
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274 #define tskBLOCKED_CHAR ( 'B' )
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275 #define tskREADY_CHAR ( 'R' )
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276 #define tskDELETED_CHAR ( 'D' )
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277 #define tskSUSPENDED_CHAR ( 'S' )
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279 /*-----------------------------------------------------------*/
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281 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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283 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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284 performed in a generic way that is not optimised to any particular
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285 microcontroller architecture. */
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287 /* uxTopReadyPriority holds the priority of the highest priority ready
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289 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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291 if( ( uxPriority ) > uxTopReadyPriority ) \
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293 uxTopReadyPriority = ( uxPriority ); \
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295 } /* taskRECORD_READY_PRIORITY */
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297 /*-----------------------------------------------------------*/
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299 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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301 /* Find the highest priority queue that contains ready tasks. */ \
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302 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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304 configASSERT( uxTopReadyPriority ); \
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305 --uxTopReadyPriority; \
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308 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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309 the same priority get an equal share of the processor time. */ \
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310 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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311 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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313 /*-----------------------------------------------------------*/
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315 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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316 they are only required when a port optimised method of task selection is
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318 #define taskRESET_READY_PRIORITY( uxPriority )
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319 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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321 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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323 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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324 performed in a way that is tailored to the particular microcontroller
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325 architecture being used. */
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327 /* A port optimised version is provided. Call the port defined macros. */
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328 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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330 /*-----------------------------------------------------------*/
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332 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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334 UBaseType_t uxTopPriority; \
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336 /* Find the highest priority queue that contains ready tasks. */ \
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337 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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338 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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339 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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340 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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342 /*-----------------------------------------------------------*/
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344 /* A port optimised version is provided, call it only if the TCB being reset
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345 is being referenced from a ready list. If it is referenced from a delayed
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346 or suspended list then it won't be in a ready list. */
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347 #define taskRESET_READY_PRIORITY( uxPriority ) \
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349 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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351 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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355 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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357 /*-----------------------------------------------------------*/
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359 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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360 count overflows. */
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361 #define taskSWITCH_DELAYED_LISTS() \
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365 /* The delayed tasks list should be empty when the lists are switched. */ \
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366 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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368 pxTemp = pxDelayedTaskList; \
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369 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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370 pxOverflowDelayedTaskList = pxTemp; \
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371 xNumOfOverflows++; \
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372 prvResetNextTaskUnblockTime(); \
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375 /*-----------------------------------------------------------*/
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378 * Place the task represented by pxTCB into the appropriate ready list for
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379 * the task. It is inserted at the end of the list.
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381 #define prvAddTaskToReadyList( pxTCB ) \
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382 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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383 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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384 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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385 /*-----------------------------------------------------------*/
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388 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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389 * where NULL is used to indicate that the handle of the currently executing
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390 * task should be used in place of the parameter. This macro simply checks to
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391 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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393 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )
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395 /* The item value of the event list item is normally used to hold the priority
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396 of the task to which it belongs (coded to allow it to be held in reverse
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397 priority order). However, it is occasionally borrowed for other purposes. It
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398 is important its value is not updated due to a task priority change while it is
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399 being used for another purpose. The following bit definition is used to inform
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400 the scheduler that the value should not be changed - in which case it is the
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401 responsibility of whichever module is using the value to ensure it gets set back
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402 to its original value when it is released. */
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403 #if configUSE_16_BIT_TICKS == 1
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404 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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406 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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409 /* Callback function prototypes. --------------------------*/
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410 #if configCHECK_FOR_STACK_OVERFLOW > 0
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411 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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414 #if configUSE_TICK_HOOK > 0
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415 extern void vApplicationTickHook( void );
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418 /* File private functions. --------------------------------*/
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421 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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422 * into the TCB structure.
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424 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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427 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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428 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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429 * is in any other state.
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431 #if ( INCLUDE_vTaskSuspend == 1 )
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432 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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433 #endif /* INCLUDE_vTaskSuspend */
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436 * Utility to ready all the lists used by the scheduler. This is called
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437 * automatically upon the creation of the first task.
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439 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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442 * The idle task, which as all tasks is implemented as a never ending loop.
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443 * The idle task is automatically created and added to the ready lists upon
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444 * creation of the first user task.
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446 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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447 * language extensions. The equivalent prototype for this function is:
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449 * void prvIdleTask( void *pvParameters );
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452 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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455 * Utility to free all memory allocated by the scheduler to hold a TCB,
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456 * including the stack pointed to by the TCB.
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458 * This does not free memory allocated by the task itself (i.e. memory
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459 * allocated by calls to pvPortMalloc from within the tasks application code).
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461 #if ( INCLUDE_vTaskDelete == 1 )
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463 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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468 * Used only by the idle task. This checks to see if anything has been placed
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469 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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470 * and its TCB deleted.
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472 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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475 * The currently executing task is entering the Blocked state. Add the task to
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476 * either the current or the overflow delayed task list.
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478 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake ) PRIVILEGED_FUNCTION;
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481 * Allocates memory from the heap for a TCB and associated stack. Checks the
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482 * allocation was successful.
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484 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer ) PRIVILEGED_FUNCTION;
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487 * Fills an TaskStatus_t structure with information on each task that is
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488 * referenced from the pxList list (which may be a ready list, a delayed list,
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489 * a suspended list, etc.).
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491 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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492 * NORMAL APPLICATION CODE.
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494 #if ( configUSE_TRACE_FACILITY == 1 )
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496 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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501 * When a task is created, the stack of the task is filled with a known value.
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502 * This function determines the 'high water mark' of the task stack by
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503 * determining how much of the stack remains at the original preset value.
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505 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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507 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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512 * Return the amount of time, in ticks, that will pass before the kernel will
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513 * next move a task from the Blocked state to the Running state.
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515 * This conditional compilation should use inequality to 0, not equality to 1.
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516 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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517 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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518 * set to a value other than 1.
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520 #if ( configUSE_TICKLESS_IDLE != 0 )
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522 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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527 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
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528 * will exit the Blocked state.
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530 static void prvResetNextTaskUnblockTime( void );
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532 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
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535 * Helper function used to pad task names with spaces when printing out
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536 * human readable tables of task information.
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538 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName );
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541 /*-----------------------------------------------------------*/
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543 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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545 BaseType_t xReturn;
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547 StackType_t *pxTopOfStack;
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549 configASSERT( pxTaskCode );
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550 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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552 /* Allocate the memory required by the TCB and stack for the new task,
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553 checking that the allocation was successful. */
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554 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
\r
556 if( pxNewTCB != NULL )
\r
558 #if( portUSING_MPU_WRAPPERS == 1 )
\r
559 /* Should the task be created in privileged mode? */
\r
560 BaseType_t xRunPrivileged;
\r
561 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
563 xRunPrivileged = pdTRUE;
\r
567 xRunPrivileged = pdFALSE;
\r
569 uxPriority &= ~portPRIVILEGE_BIT;
\r
571 if( puxStackBuffer != NULL )
\r
573 /* The application provided its own stack. Note this so no
\r
574 attempt is made to delete the stack should that task be
\r
576 pxNewTCB->xUsingStaticallyAllocatedStack = pdTRUE;
\r
580 /* The stack was allocated dynamically. Note this so it can be
\r
581 deleted again if the task is deleted. */
\r
582 pxNewTCB->xUsingStaticallyAllocatedStack = pdFALSE;
\r
584 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
586 /* Calculate the top of stack address. This depends on whether the
\r
587 stack grows from high memory to low (as per the 80x86) or vice versa.
\r
588 portSTACK_GROWTH is used to make the result positive or negative as
\r
589 required by the port. */
\r
590 #if( portSTACK_GROWTH < 0 )
\r
592 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );
\r
593 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */
\r
595 /* Check the alignment of the calculated top of stack is correct. */
\r
596 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
598 #else /* portSTACK_GROWTH */
\r
600 pxTopOfStack = pxNewTCB->pxStack;
\r
602 /* Check the alignment of the stack buffer is correct. */
\r
603 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
605 /* If we want to use stack checking on architectures that use
\r
606 a positive stack growth direction then we also need to store the
\r
607 other extreme of the stack space. */
\r
608 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
\r
610 #endif /* portSTACK_GROWTH */
\r
612 /* Setup the newly allocated TCB with the initial state of the task. */
\r
613 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
\r
615 /* Initialize the TCB stack to look as if the task was already running,
\r
616 but had been interrupted by the scheduler. The return address is set
\r
617 to the start of the task function. Once the stack has been initialised
\r
618 the top of stack variable is updated. */
\r
619 #if( portUSING_MPU_WRAPPERS == 1 )
\r
621 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
623 #else /* portUSING_MPU_WRAPPERS */
\r
625 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
627 #endif /* portUSING_MPU_WRAPPERS */
\r
629 if( ( void * ) pxCreatedTask != NULL )
\r
631 /* Pass the TCB out - in an anonymous way. The calling function/
\r
632 task can use this as a handle to delete the task later if
\r
634 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
638 mtCOVERAGE_TEST_MARKER();
\r
641 /* Ensure interrupts don't access the task lists while they are being
\r
643 taskENTER_CRITICAL();
\r
645 uxCurrentNumberOfTasks++;
\r
646 if( pxCurrentTCB == NULL )
\r
648 /* There are no other tasks, or all the other tasks are in
\r
649 the suspended state - make this the current task. */
\r
650 pxCurrentTCB = pxNewTCB;
\r
652 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
654 /* This is the first task to be created so do the preliminary
\r
655 initialisation required. We will not recover if this call
\r
656 fails, but we will report the failure. */
\r
657 prvInitialiseTaskLists();
\r
661 mtCOVERAGE_TEST_MARKER();
\r
666 /* If the scheduler is not already running, make this task the
\r
667 current task if it is the highest priority task to be created
\r
669 if( xSchedulerRunning == pdFALSE )
\r
671 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
673 pxCurrentTCB = pxNewTCB;
\r
677 mtCOVERAGE_TEST_MARKER();
\r
682 mtCOVERAGE_TEST_MARKER();
\r
688 #if ( configUSE_TRACE_FACILITY == 1 )
\r
690 /* Add a counter into the TCB for tracing only. */
\r
691 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
693 #endif /* configUSE_TRACE_FACILITY */
\r
694 traceTASK_CREATE( pxNewTCB );
\r
696 prvAddTaskToReadyList( pxNewTCB );
\r
699 portSETUP_TCB( pxNewTCB );
\r
701 taskEXIT_CRITICAL();
\r
705 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
706 traceTASK_CREATE_FAILED();
\r
709 if( xReturn == pdPASS )
\r
711 if( xSchedulerRunning != pdFALSE )
\r
713 /* If the created task is of a higher priority than the current task
\r
714 then it should run now. */
\r
715 if( pxCurrentTCB->uxPriority < uxPriority )
\r
717 taskYIELD_IF_USING_PREEMPTION();
\r
721 mtCOVERAGE_TEST_MARKER();
\r
726 mtCOVERAGE_TEST_MARKER();
\r
732 /*-----------------------------------------------------------*/
\r
734 #if ( INCLUDE_vTaskDelete == 1 )
\r
736 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
740 taskENTER_CRITICAL();
\r
742 /* If null is passed in here then it is the calling task that is
\r
744 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
746 /* Remove task from the ready list and place in the termination list.
\r
747 This will stop the task from be scheduled. The idle task will check
\r
748 the termination list and free up any memory allocated by the
\r
749 scheduler for the TCB and stack. */
\r
750 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
752 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
756 mtCOVERAGE_TEST_MARKER();
\r
759 /* Is the task waiting on an event also? */
\r
760 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
762 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
766 mtCOVERAGE_TEST_MARKER();
\r
769 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
771 /* Increment the ucTasksDeleted variable so the idle task knows
\r
772 there is a task that has been deleted and that it should therefore
\r
773 check the xTasksWaitingTermination list. */
\r
776 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
777 can detect that the task lists need re-generating. */
\r
780 traceTASK_DELETE( pxTCB );
\r
782 taskEXIT_CRITICAL();
\r
784 /* Force a reschedule if it is the currently running task that has just
\r
786 if( xSchedulerRunning != pdFALSE )
\r
788 if( pxTCB == pxCurrentTCB )
\r
790 configASSERT( uxSchedulerSuspended == 0 );
\r
792 /* The pre-delete hook is primarily for the Windows simulator,
\r
793 in which Windows specific clean up operations are performed,
\r
794 after which it is not possible to yield away from this task -
\r
795 hence xYieldPending is used to latch that a context switch is
\r
797 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
798 portYIELD_WITHIN_API();
\r
802 /* Reset the next expected unblock time in case it referred to
\r
803 the task that has just been deleted. */
\r
804 taskENTER_CRITICAL();
\r
806 prvResetNextTaskUnblockTime();
\r
808 taskEXIT_CRITICAL();
\r
813 #endif /* INCLUDE_vTaskDelete */
\r
814 /*-----------------------------------------------------------*/
\r
816 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
818 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
820 TickType_t xTimeToWake;
\r
821 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
823 configASSERT( pxPreviousWakeTime );
\r
824 configASSERT( ( xTimeIncrement > 0U ) );
\r
825 configASSERT( uxSchedulerSuspended == 0 );
\r
829 /* Minor optimisation. The tick count cannot change in this
\r
831 const TickType_t xConstTickCount = xTickCount;
\r
833 /* Generate the tick time at which the task wants to wake. */
\r
834 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
836 if( xConstTickCount < *pxPreviousWakeTime )
\r
838 /* The tick count has overflowed since this function was
\r
839 lasted called. In this case the only time we should ever
\r
840 actually delay is if the wake time has also overflowed,
\r
841 and the wake time is greater than the tick time. When this
\r
842 is the case it is as if neither time had overflowed. */
\r
843 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
845 xShouldDelay = pdTRUE;
\r
849 mtCOVERAGE_TEST_MARKER();
\r
854 /* The tick time has not overflowed. In this case we will
\r
855 delay if either the wake time has overflowed, and/or the
\r
856 tick time is less than the wake time. */
\r
857 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
859 xShouldDelay = pdTRUE;
\r
863 mtCOVERAGE_TEST_MARKER();
\r
867 /* Update the wake time ready for the next call. */
\r
868 *pxPreviousWakeTime = xTimeToWake;
\r
870 if( xShouldDelay != pdFALSE )
\r
872 traceTASK_DELAY_UNTIL();
\r
874 /* Remove the task from the ready list before adding it to the
\r
875 blocked list as the same list item is used for both lists. */
\r
876 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
878 /* The current task must be in a ready list, so there is
\r
879 no need to check, and the port reset macro can be called
\r
881 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
885 mtCOVERAGE_TEST_MARKER();
\r
888 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
892 mtCOVERAGE_TEST_MARKER();
\r
895 xAlreadyYielded = xTaskResumeAll();
\r
897 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
898 have put ourselves to sleep. */
\r
899 if( xAlreadyYielded == pdFALSE )
\r
901 portYIELD_WITHIN_API();
\r
905 mtCOVERAGE_TEST_MARKER();
\r
909 #endif /* INCLUDE_vTaskDelayUntil */
\r
910 /*-----------------------------------------------------------*/
\r
912 #if ( INCLUDE_vTaskDelay == 1 )
\r
914 void vTaskDelay( const TickType_t xTicksToDelay )
\r
916 TickType_t xTimeToWake;
\r
917 BaseType_t xAlreadyYielded = pdFALSE;
\r
920 /* A delay time of zero just forces a reschedule. */
\r
921 if( xTicksToDelay > ( TickType_t ) 0U )
\r
923 configASSERT( uxSchedulerSuspended == 0 );
\r
928 /* A task that is removed from the event list while the
\r
929 scheduler is suspended will not get placed in the ready
\r
930 list or removed from the blocked list until the scheduler
\r
933 This task cannot be in an event list as it is the currently
\r
936 /* Calculate the time to wake - this may overflow but this is
\r
938 xTimeToWake = xTickCount + xTicksToDelay;
\r
940 /* We must remove ourselves from the ready list before adding
\r
941 ourselves to the blocked list as the same list item is used for
\r
943 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
945 /* The current task must be in a ready list, so there is
\r
946 no need to check, and the port reset macro can be called
\r
948 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
952 mtCOVERAGE_TEST_MARKER();
\r
954 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
956 xAlreadyYielded = xTaskResumeAll();
\r
960 mtCOVERAGE_TEST_MARKER();
\r
963 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
964 have put ourselves to sleep. */
\r
965 if( xAlreadyYielded == pdFALSE )
\r
967 portYIELD_WITHIN_API();
\r
971 mtCOVERAGE_TEST_MARKER();
\r
975 #endif /* INCLUDE_vTaskDelay */
\r
976 /*-----------------------------------------------------------*/
\r
978 #if ( INCLUDE_eTaskGetState == 1 )
\r
980 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
982 eTaskState eReturn;
\r
983 List_t *pxStateList;
\r
984 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
986 configASSERT( pxTCB );
\r
988 if( pxTCB == pxCurrentTCB )
\r
990 /* The task calling this function is querying its own state. */
\r
991 eReturn = eRunning;
\r
995 taskENTER_CRITICAL();
\r
997 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
999 taskEXIT_CRITICAL();
\r
1001 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
1003 /* The task being queried is referenced from one of the Blocked
\r
1005 eReturn = eBlocked;
\r
1008 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1009 else if( pxStateList == &xSuspendedTaskList )
\r
1011 /* The task being queried is referenced from the suspended
\r
1012 list. Is it genuinely suspended or is it block
\r
1014 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1016 eReturn = eSuspended;
\r
1020 eReturn = eBlocked;
\r
1025 #if ( INCLUDE_vTaskDelete == 1 )
\r
1026 else if( pxStateList == &xTasksWaitingTermination )
\r
1028 /* The task being queried is referenced from the deleted
\r
1030 eReturn = eDeleted;
\r
1034 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1036 /* If the task is not in any other state, it must be in the
\r
1037 Ready (including pending ready) state. */
\r
1043 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1045 #endif /* INCLUDE_eTaskGetState */
\r
1046 /*-----------------------------------------------------------*/
\r
1048 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1050 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1053 UBaseType_t uxReturn;
\r
1055 taskENTER_CRITICAL();
\r
1057 /* If null is passed in here then we are changing the
\r
1058 priority of the calling function. */
\r
1059 pxTCB = prvGetTCBFromHandle( xTask );
\r
1060 uxReturn = pxTCB->uxPriority;
\r
1062 taskEXIT_CRITICAL();
\r
1067 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1068 /*-----------------------------------------------------------*/
\r
1070 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1072 UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )
\r
1075 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1077 /* RTOS ports that support interrupt nesting have the concept of a
\r
1078 maximum system call (or maximum API call) interrupt priority.
\r
1079 Interrupts that are above the maximum system call priority are keep
\r
1080 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1081 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1082 is defined in FreeRTOSConfig.h then
\r
1083 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1084 failure if a FreeRTOS API function is called from an interrupt that has
\r
1085 been assigned a priority above the configured maximum system call
\r
1086 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1087 from interrupts that have been assigned a priority at or (logically)
\r
1088 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1089 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1090 simple as possible. More information (albeit Cortex-M specific) is
\r
1091 provided on the following link:
\r
1092 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1093 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1095 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1097 /* If null is passed in here then it is the priority of the calling
\r
1098 task that is being queried. */
\r
1099 pxTCB = prvGetTCBFromHandle( xTask );
\r
1100 uxReturn = pxTCB->uxPriority;
\r
1102 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1107 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1108 /*-----------------------------------------------------------*/
\r
1110 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1112 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1115 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1116 BaseType_t xYieldRequired = pdFALSE;
\r
1118 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1120 /* Ensure the new priority is valid. */
\r
1121 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1123 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1127 mtCOVERAGE_TEST_MARKER();
\r
1130 taskENTER_CRITICAL();
\r
1132 /* If null is passed in here then it is the priority of the calling
\r
1133 task that is being changed. */
\r
1134 pxTCB = prvGetTCBFromHandle( xTask );
\r
1136 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1138 #if ( configUSE_MUTEXES == 1 )
\r
1140 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1144 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1148 if( uxCurrentBasePriority != uxNewPriority )
\r
1150 /* The priority change may have readied a task of higher
\r
1151 priority than the calling task. */
\r
1152 if( uxNewPriority > uxCurrentBasePriority )
\r
1154 if( pxTCB != pxCurrentTCB )
\r
1156 /* The priority of a task other than the currently
\r
1157 running task is being raised. Is the priority being
\r
1158 raised above that of the running task? */
\r
1159 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1161 xYieldRequired = pdTRUE;
\r
1165 mtCOVERAGE_TEST_MARKER();
\r
1170 /* The priority of the running task is being raised,
\r
1171 but the running task must already be the highest
\r
1172 priority task able to run so no yield is required. */
\r
1175 else if( pxTCB == pxCurrentTCB )
\r
1177 /* Setting the priority of the running task down means
\r
1178 there may now be another task of higher priority that
\r
1179 is ready to execute. */
\r
1180 xYieldRequired = pdTRUE;
\r
1184 /* Setting the priority of any other task down does not
\r
1185 require a yield as the running task must be above the
\r
1186 new priority of the task being modified. */
\r
1189 /* Remember the ready list the task might be referenced from
\r
1190 before its uxPriority member is changed so the
\r
1191 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1192 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1194 #if ( configUSE_MUTEXES == 1 )
\r
1196 /* Only change the priority being used if the task is not
\r
1197 currently using an inherited priority. */
\r
1198 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1200 pxTCB->uxPriority = uxNewPriority;
\r
1204 mtCOVERAGE_TEST_MARKER();
\r
1207 /* The base priority gets set whatever. */
\r
1208 pxTCB->uxBasePriority = uxNewPriority;
\r
1212 pxTCB->uxPriority = uxNewPriority;
\r
1216 /* Only reset the event list item value if the value is not
\r
1217 being used for anything else. */
\r
1218 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1220 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
1224 mtCOVERAGE_TEST_MARKER();
\r
1227 /* If the task is in the blocked or suspended list we need do
\r
1228 nothing more than change it's priority variable. However, if
\r
1229 the task is in a ready list it needs to be removed and placed
\r
1230 in the list appropriate to its new priority. */
\r
1231 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1233 /* The task is currently in its ready list - remove before adding
\r
1234 it to it's new ready list. As we are in a critical section we
\r
1235 can do this even if the scheduler is suspended. */
\r
1236 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1238 /* It is known that the task is in its ready list so
\r
1239 there is no need to check again and the port level
\r
1240 reset macro can be called directly. */
\r
1241 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1245 mtCOVERAGE_TEST_MARKER();
\r
1247 prvAddTaskToReadyList( pxTCB );
\r
1251 mtCOVERAGE_TEST_MARKER();
\r
1254 if( xYieldRequired == pdTRUE )
\r
1256 taskYIELD_IF_USING_PREEMPTION();
\r
1260 mtCOVERAGE_TEST_MARKER();
\r
1263 /* Remove compiler warning about unused variables when the port
\r
1264 optimised task selection is not being used. */
\r
1265 ( void ) uxPriorityUsedOnEntry;
\r
1268 taskEXIT_CRITICAL();
\r
1271 #endif /* INCLUDE_vTaskPrioritySet */
\r
1272 /*-----------------------------------------------------------*/
\r
1274 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1276 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1280 taskENTER_CRITICAL();
\r
1282 /* If null is passed in here then it is the running task that is
\r
1283 being suspended. */
\r
1284 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1286 traceTASK_SUSPEND( pxTCB );
\r
1288 /* Remove task from the ready/delayed list and place in the
\r
1289 suspended list. */
\r
1290 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1292 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1296 mtCOVERAGE_TEST_MARKER();
\r
1299 /* Is the task waiting on an event also? */
\r
1300 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1302 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1306 mtCOVERAGE_TEST_MARKER();
\r
1309 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1311 taskEXIT_CRITICAL();
\r
1313 if( pxTCB == pxCurrentTCB )
\r
1315 if( xSchedulerRunning != pdFALSE )
\r
1317 /* The current task has just been suspended. */
\r
1318 configASSERT( uxSchedulerSuspended == 0 );
\r
1319 portYIELD_WITHIN_API();
\r
1323 /* The scheduler is not running, but the task that was pointed
\r
1324 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1325 must be adjusted to point to a different task. */
\r
1326 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1328 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1329 NULL so when the next task is created pxCurrentTCB will
\r
1330 be set to point to it no matter what its relative priority
\r
1332 pxCurrentTCB = NULL;
\r
1336 vTaskSwitchContext();
\r
1342 if( xSchedulerRunning != pdFALSE )
\r
1344 /* A task other than the currently running task was suspended,
\r
1345 reset the next expected unblock time in case it referred to the
\r
1346 task that is now in the Suspended state. */
\r
1347 taskENTER_CRITICAL();
\r
1349 prvResetNextTaskUnblockTime();
\r
1351 taskEXIT_CRITICAL();
\r
1355 mtCOVERAGE_TEST_MARKER();
\r
1360 #endif /* INCLUDE_vTaskSuspend */
\r
1361 /*-----------------------------------------------------------*/
\r
1363 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1365 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1367 BaseType_t xReturn = pdFALSE;
\r
1368 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1370 /* Accesses xPendingReadyList so must be called from a critical
\r
1373 /* It does not make sense to check if the calling task is suspended. */
\r
1374 configASSERT( xTask );
\r
1376 /* Is the task being resumed actually in the suspended list? */
\r
1377 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1379 /* Has the task already been resumed from within an ISR? */
\r
1380 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1382 /* Is it in the suspended list because it is in the Suspended
\r
1383 state, or because is is blocked with no timeout? */
\r
1384 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1390 mtCOVERAGE_TEST_MARKER();
\r
1395 mtCOVERAGE_TEST_MARKER();
\r
1400 mtCOVERAGE_TEST_MARKER();
\r
1404 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1406 #endif /* INCLUDE_vTaskSuspend */
\r
1407 /*-----------------------------------------------------------*/
\r
1409 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1411 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1413 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1415 /* It does not make sense to resume the calling task. */
\r
1416 configASSERT( xTaskToResume );
\r
1418 /* The parameter cannot be NULL as it is impossible to resume the
\r
1419 currently executing task. */
\r
1420 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1422 taskENTER_CRITICAL();
\r
1424 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1426 traceTASK_RESUME( pxTCB );
\r
1428 /* As we are in a critical section we can access the ready
\r
1429 lists even if the scheduler is suspended. */
\r
1430 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1431 prvAddTaskToReadyList( pxTCB );
\r
1433 /* We may have just resumed a higher priority task. */
\r
1434 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1436 /* This yield may not cause the task just resumed to run,
\r
1437 but will leave the lists in the correct state for the
\r
1439 taskYIELD_IF_USING_PREEMPTION();
\r
1443 mtCOVERAGE_TEST_MARKER();
\r
1448 mtCOVERAGE_TEST_MARKER();
\r
1451 taskEXIT_CRITICAL();
\r
1455 mtCOVERAGE_TEST_MARKER();
\r
1459 #endif /* INCLUDE_vTaskSuspend */
\r
1461 /*-----------------------------------------------------------*/
\r
1463 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1465 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1467 BaseType_t xYieldRequired = pdFALSE;
\r
1468 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1469 UBaseType_t uxSavedInterruptStatus;
\r
1471 configASSERT( xTaskToResume );
\r
1473 /* RTOS ports that support interrupt nesting have the concept of a
\r
1474 maximum system call (or maximum API call) interrupt priority.
\r
1475 Interrupts that are above the maximum system call priority are keep
\r
1476 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1477 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1478 is defined in FreeRTOSConfig.h then
\r
1479 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1480 failure if a FreeRTOS API function is called from an interrupt that has
\r
1481 been assigned a priority above the configured maximum system call
\r
1482 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1483 from interrupts that have been assigned a priority at or (logically)
\r
1484 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1485 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1486 simple as possible. More information (albeit Cortex-M specific) is
\r
1487 provided on the following link:
\r
1488 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1489 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1491 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1493 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1495 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1497 /* Check the ready lists can be accessed. */
\r
1498 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1500 /* Ready lists can be accessed so move the task from the
\r
1501 suspended list to the ready list directly. */
\r
1502 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1504 xYieldRequired = pdTRUE;
\r
1508 mtCOVERAGE_TEST_MARKER();
\r
1511 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1512 prvAddTaskToReadyList( pxTCB );
\r
1516 /* The delayed or ready lists cannot be accessed so the task
\r
1517 is held in the pending ready list until the scheduler is
\r
1519 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1524 mtCOVERAGE_TEST_MARKER();
\r
1527 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1529 return xYieldRequired;
\r
1532 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1533 /*-----------------------------------------------------------*/
\r
1535 void vTaskStartScheduler( void )
\r
1537 BaseType_t xReturn;
\r
1539 /* Add the idle task at the lowest priority. */
\r
1540 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1542 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1543 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1544 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
1548 /* Create the idle task without storing its handle. */
\r
1549 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
1551 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1553 #if ( configUSE_TIMERS == 1 )
\r
1555 if( xReturn == pdPASS )
\r
1557 xReturn = xTimerCreateTimerTask();
\r
1561 mtCOVERAGE_TEST_MARKER();
\r
1564 #endif /* configUSE_TIMERS */
\r
1566 if( xReturn == pdPASS )
\r
1568 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1569 before or during the call to xPortStartScheduler(). The stacks of
\r
1570 the created tasks contain a status word with interrupts switched on
\r
1571 so interrupts will automatically get re-enabled when the first task
\r
1573 portDISABLE_INTERRUPTS();
\r
1575 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1577 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1578 structure specific to the task that will run first. */
\r
1579 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1581 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1583 xSchedulerRunning = pdTRUE;
\r
1584 xTickCount = ( TickType_t ) 0U;
\r
1586 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1587 macro must be defined to configure the timer/counter used to generate
\r
1588 the run time counter time base. */
\r
1589 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1591 /* Setting up the timer tick is hardware specific and thus in the
\r
1592 portable interface. */
\r
1593 if( xPortStartScheduler() != pdFALSE )
\r
1595 /* Should not reach here as if the scheduler is running the
\r
1596 function will not return. */
\r
1600 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1605 /* This line will only be reached if the kernel could not be started,
\r
1606 because there was not enough FreeRTOS heap to create the idle task
\r
1607 or the timer task. */
\r
1608 configASSERT( xReturn );
\r
1611 /*-----------------------------------------------------------*/
\r
1613 void vTaskEndScheduler( void )
\r
1615 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1616 routine so the original ISRs can be restored if necessary. The port
\r
1617 layer must ensure interrupts enable bit is left in the correct state. */
\r
1618 portDISABLE_INTERRUPTS();
\r
1619 xSchedulerRunning = pdFALSE;
\r
1620 vPortEndScheduler();
\r
1622 /*----------------------------------------------------------*/
\r
1624 void vTaskSuspendAll( void )
\r
1626 /* A critical section is not required as the variable is of type
\r
1627 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
1628 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1629 http://goo.gl/wu4acr */
\r
1630 ++uxSchedulerSuspended;
\r
1632 /*----------------------------------------------------------*/
\r
1634 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1636 static TickType_t prvGetExpectedIdleTime( void )
\r
1638 TickType_t xReturn;
\r
1640 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1644 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1646 /* There are other idle priority tasks in the ready state. If
\r
1647 time slicing is used then the very next tick interrupt must be
\r
1653 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1659 #endif /* configUSE_TICKLESS_IDLE */
\r
1660 /*----------------------------------------------------------*/
\r
1662 BaseType_t xTaskResumeAll( void )
\r
1665 BaseType_t xAlreadyYielded = pdFALSE;
\r
1667 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1668 previous call to vTaskSuspendAll(). */
\r
1669 configASSERT( uxSchedulerSuspended );
\r
1671 /* It is possible that an ISR caused a task to be removed from an event
\r
1672 list while the scheduler was suspended. If this was the case then the
\r
1673 removed task will have been added to the xPendingReadyList. Once the
\r
1674 scheduler has been resumed it is safe to move all the pending ready
\r
1675 tasks from this list into their appropriate ready list. */
\r
1676 taskENTER_CRITICAL();
\r
1678 --uxSchedulerSuspended;
\r
1680 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1682 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
1684 /* Move any readied tasks from the pending list into the
\r
1685 appropriate ready list. */
\r
1686 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1688 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1689 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1690 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1691 prvAddTaskToReadyList( pxTCB );
\r
1693 /* If the moved task has a priority higher than the current
\r
1694 task then a yield must be performed. */
\r
1695 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1697 xYieldPending = pdTRUE;
\r
1701 mtCOVERAGE_TEST_MARKER();
\r
1705 /* If any ticks occurred while the scheduler was suspended then
\r
1706 they should be processed now. This ensures the tick count does
\r
1707 not slip, and that any delayed tasks are resumed at the correct
\r
1709 if( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1711 while( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1713 if( xTaskIncrementTick() != pdFALSE )
\r
1715 xYieldPending = pdTRUE;
\r
1719 mtCOVERAGE_TEST_MARKER();
\r
1726 mtCOVERAGE_TEST_MARKER();
\r
1729 if( xYieldPending == pdTRUE )
\r
1731 #if( configUSE_PREEMPTION != 0 )
\r
1733 xAlreadyYielded = pdTRUE;
\r
1736 taskYIELD_IF_USING_PREEMPTION();
\r
1740 mtCOVERAGE_TEST_MARKER();
\r
1746 mtCOVERAGE_TEST_MARKER();
\r
1749 taskEXIT_CRITICAL();
\r
1751 return xAlreadyYielded;
\r
1753 /*-----------------------------------------------------------*/
\r
1755 TickType_t xTaskGetTickCount( void )
\r
1757 TickType_t xTicks;
\r
1759 /* Critical section required if running on a 16 bit processor. */
\r
1760 portTICK_TYPE_ENTER_CRITICAL();
\r
1762 xTicks = xTickCount;
\r
1764 portTICK_TYPE_EXIT_CRITICAL();
\r
1768 /*-----------------------------------------------------------*/
\r
1770 TickType_t xTaskGetTickCountFromISR( void )
\r
1772 TickType_t xReturn;
\r
1773 UBaseType_t uxSavedInterruptStatus;
\r
1775 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1776 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1777 above the maximum system call priority are kept permanently enabled, even
\r
1778 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1779 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1780 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1781 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1782 assigned a priority above the configured maximum system call priority.
\r
1783 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1784 that have been assigned a priority at or (logically) below the maximum
\r
1785 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1786 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1787 More information (albeit Cortex-M specific) is provided on the following
\r
1788 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1789 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1791 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
1793 xReturn = xTickCount;
\r
1795 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1799 /*-----------------------------------------------------------*/
\r
1801 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
1803 /* A critical section is not required because the variables are of type
\r
1805 return uxCurrentNumberOfTasks;
\r
1807 /*-----------------------------------------------------------*/
\r
1809 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1811 char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
1815 /* If null is passed in here then the name of the calling task is being queried. */
\r
1816 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1817 configASSERT( pxTCB );
\r
1818 return &( pxTCB->pcTaskName[ 0 ] );
\r
1821 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1822 /*-----------------------------------------------------------*/
\r
1824 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1826 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
1828 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1830 vTaskSuspendAll();
\r
1832 /* Is there a space in the array for each task in the system? */
\r
1833 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1835 /* Fill in an TaskStatus_t structure with information on each
\r
1836 task in the Ready state. */
\r
1840 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1842 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1844 /* Fill in an TaskStatus_t structure with information on each
\r
1845 task in the Blocked state. */
\r
1846 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
1847 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
1849 #if( INCLUDE_vTaskDelete == 1 )
\r
1851 /* Fill in an TaskStatus_t structure with information on
\r
1852 each task that has been deleted but not yet cleaned up. */
\r
1853 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1857 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1859 /* Fill in an TaskStatus_t structure with information on
\r
1860 each task in the Suspended state. */
\r
1861 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1865 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1867 if( pulTotalRunTime != NULL )
\r
1869 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1870 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
1872 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1878 if( pulTotalRunTime != NULL )
\r
1880 *pulTotalRunTime = 0;
\r
1887 mtCOVERAGE_TEST_MARKER();
\r
1890 ( void ) xTaskResumeAll();
\r
1895 #endif /* configUSE_TRACE_FACILITY */
\r
1896 /*----------------------------------------------------------*/
\r
1898 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1900 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
1902 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1903 started, then xIdleTaskHandle will be NULL. */
\r
1904 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1905 return xIdleTaskHandle;
\r
1908 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1909 /*----------------------------------------------------------*/
\r
1911 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1912 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1913 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1915 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1917 void vTaskStepTick( const TickType_t xTicksToJump )
\r
1919 /* Correct the tick count value after a period during which the tick
\r
1920 was suppressed. Note this does *not* call the tick hook function for
\r
1921 each stepped tick. */
\r
1922 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1923 xTickCount += xTicksToJump;
\r
1924 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
1927 #endif /* configUSE_TICKLESS_IDLE */
\r
1928 /*----------------------------------------------------------*/
\r
1930 BaseType_t xTaskIncrementTick( void )
\r
1933 TickType_t xItemValue;
\r
1934 BaseType_t xSwitchRequired = pdFALSE;
\r
1936 /* Called by the portable layer each time a tick interrupt occurs.
\r
1937 Increments the tick then checks to see if the new tick value will cause any
\r
1938 tasks to be unblocked. */
\r
1939 traceTASK_INCREMENT_TICK( xTickCount );
\r
1940 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1942 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1943 delayed lists if it wraps to 0. */
\r
1947 /* Minor optimisation. The tick count cannot change in this
\r
1949 const TickType_t xConstTickCount = xTickCount;
\r
1951 if( xConstTickCount == ( TickType_t ) 0U )
\r
1953 taskSWITCH_DELAYED_LISTS();
\r
1957 mtCOVERAGE_TEST_MARKER();
\r
1960 /* See if this tick has made a timeout expire. Tasks are stored in
\r
1961 the queue in the order of their wake time - meaning once one task
\r
1962 has been found whose block time has not expired there is no need to
\r
1963 look any further down the list. */
\r
1964 if( xConstTickCount >= xNextTaskUnblockTime )
\r
1968 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1970 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
1971 to the maximum possible value so it is extremely
\r
1973 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1974 next time through. */
\r
1975 xNextTaskUnblockTime = portMAX_DELAY;
\r
1980 /* The delayed list is not empty, get the value of the
\r
1981 item at the head of the delayed list. This is the time
\r
1982 at which the task at the head of the delayed list must
\r
1983 be removed from the Blocked state. */
\r
1984 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1985 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1987 if( xConstTickCount < xItemValue )
\r
1989 /* It is not time to unblock this item yet, but the
\r
1990 item value is the time at which the task at the head
\r
1991 of the blocked list must be removed from the Blocked
\r
1992 state - so record the item value in
\r
1993 xNextTaskUnblockTime. */
\r
1994 xNextTaskUnblockTime = xItemValue;
\r
1999 mtCOVERAGE_TEST_MARKER();
\r
2002 /* It is time to remove the item from the Blocked state. */
\r
2003 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2005 /* Is the task waiting on an event also? If so remove
\r
2006 it from the event list. */
\r
2007 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2009 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2013 mtCOVERAGE_TEST_MARKER();
\r
2016 /* Place the unblocked task into the appropriate ready
\r
2018 prvAddTaskToReadyList( pxTCB );
\r
2020 /* A task being unblocked cannot cause an immediate
\r
2021 context switch if preemption is turned off. */
\r
2022 #if ( configUSE_PREEMPTION == 1 )
\r
2024 /* Preemption is on, but a context switch should
\r
2025 only be performed if the unblocked task has a
\r
2026 priority that is equal to or higher than the
\r
2027 currently executing task. */
\r
2028 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2030 xSwitchRequired = pdTRUE;
\r
2034 mtCOVERAGE_TEST_MARKER();
\r
2037 #endif /* configUSE_PREEMPTION */
\r
2043 /* Tasks of equal priority to the currently running task will share
\r
2044 processing time (time slice) if preemption is on, and the application
\r
2045 writer has not explicitly turned time slicing off. */
\r
2046 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2048 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2050 xSwitchRequired = pdTRUE;
\r
2054 mtCOVERAGE_TEST_MARKER();
\r
2057 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2059 #if ( configUSE_TICK_HOOK == 1 )
\r
2061 /* Guard against the tick hook being called when the pended tick
\r
2062 count is being unwound (when the scheduler is being unlocked). */
\r
2063 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2065 vApplicationTickHook();
\r
2069 mtCOVERAGE_TEST_MARKER();
\r
2072 #endif /* configUSE_TICK_HOOK */
\r
2078 /* The tick hook gets called at regular intervals, even if the
\r
2079 scheduler is locked. */
\r
2080 #if ( configUSE_TICK_HOOK == 1 )
\r
2082 vApplicationTickHook();
\r
2087 #if ( configUSE_PREEMPTION == 1 )
\r
2089 if( xYieldPending != pdFALSE )
\r
2091 xSwitchRequired = pdTRUE;
\r
2095 mtCOVERAGE_TEST_MARKER();
\r
2098 #endif /* configUSE_PREEMPTION */
\r
2100 return xSwitchRequired;
\r
2102 /*-----------------------------------------------------------*/
\r
2104 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2106 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2110 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2112 if( xTask == NULL )
\r
2114 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2118 xTCB = ( TCB_t * ) xTask;
\r
2121 /* Save the hook function in the TCB. A critical section is required as
\r
2122 the value can be accessed from an interrupt. */
\r
2123 taskENTER_CRITICAL();
\r
2124 xTCB->pxTaskTag = pxHookFunction;
\r
2125 taskEXIT_CRITICAL();
\r
2128 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2129 /*-----------------------------------------------------------*/
\r
2131 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2133 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2136 TaskHookFunction_t xReturn;
\r
2138 /* If xTask is NULL then we are setting our own task hook. */
\r
2139 if( xTask == NULL )
\r
2141 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2145 xTCB = ( TCB_t * ) xTask;
\r
2148 /* Save the hook function in the TCB. A critical section is required as
\r
2149 the value can be accessed from an interrupt. */
\r
2150 taskENTER_CRITICAL();
\r
2152 xReturn = xTCB->pxTaskTag;
\r
2154 taskEXIT_CRITICAL();
\r
2159 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2160 /*-----------------------------------------------------------*/
\r
2162 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2164 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2167 BaseType_t xReturn;
\r
2169 /* If xTask is NULL then we are calling our own task hook. */
\r
2170 if( xTask == NULL )
\r
2172 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2176 xTCB = ( TCB_t * ) xTask;
\r
2179 if( xTCB->pxTaskTag != NULL )
\r
2181 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2191 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2192 /*-----------------------------------------------------------*/
\r
2194 void vTaskSwitchContext( void )
\r
2196 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2198 /* The scheduler is currently suspended - do not allow a context
\r
2200 xYieldPending = pdTRUE;
\r
2204 xYieldPending = pdFALSE;
\r
2205 traceTASK_SWITCHED_OUT();
\r
2207 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2209 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2210 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2212 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2215 /* Add the amount of time the task has been running to the
\r
2216 accumulated time so far. The time the task started running was
\r
2217 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2218 protection here so count values are only valid until the timer
\r
2219 overflows. The guard against negative values is to protect
\r
2220 against suspect run time stat counter implementations - which
\r
2221 are provided by the application, not the kernel. */
\r
2222 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2224 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2228 mtCOVERAGE_TEST_MARKER();
\r
2230 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2232 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2234 /* Check for stack overflow, if configured. */
\r
2235 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
2236 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
2238 /* Select a new task to run using either the generic C or port
\r
2239 optimised asm code. */
\r
2240 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2241 traceTASK_SWITCHED_IN();
\r
2243 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2245 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2246 structure specific to this task. */
\r
2247 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2249 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2252 /*-----------------------------------------------------------*/
\r
2254 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2256 TickType_t xTimeToWake;
\r
2258 configASSERT( pxEventList );
\r
2260 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2261 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2263 /* Place the event list item of the TCB in the appropriate event list.
\r
2264 This is placed in the list in priority order so the highest priority task
\r
2265 is the first to be woken by the event. The queue that contains the event
\r
2266 list is locked, preventing simultaneous access from interrupts. */
\r
2267 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2269 /* The task must be removed from from the ready list before it is added to
\r
2270 the blocked list as the same list item is used for both lists. Exclusive
\r
2271 access to the ready lists guaranteed because the scheduler is locked. */
\r
2272 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2274 /* The current task must be in a ready list, so there is no need to
\r
2275 check, and the port reset macro can be called directly. */
\r
2276 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2280 mtCOVERAGE_TEST_MARKER();
\r
2283 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2285 if( xTicksToWait == portMAX_DELAY )
\r
2287 /* Add the task to the suspended task list instead of a delayed task
\r
2288 list to ensure the task is not woken by a timing event. It will
\r
2289 block indefinitely. */
\r
2290 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2294 /* Calculate the time at which the task should be woken if the event
\r
2295 does not occur. This may overflow but this doesn't matter, the
\r
2296 scheduler will handle it. */
\r
2297 xTimeToWake = xTickCount + xTicksToWait;
\r
2298 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2301 #else /* INCLUDE_vTaskSuspend */
\r
2303 /* Calculate the time at which the task should be woken if the event does
\r
2304 not occur. This may overflow but this doesn't matter, the scheduler
\r
2305 will handle it. */
\r
2306 xTimeToWake = xTickCount + xTicksToWait;
\r
2307 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2309 #endif /* INCLUDE_vTaskSuspend */
\r
2311 /*-----------------------------------------------------------*/
\r
2313 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2315 TickType_t xTimeToWake;
\r
2317 configASSERT( pxEventList );
\r
2319 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2320 the event groups implementation. */
\r
2321 configASSERT( uxSchedulerSuspended != 0 );
\r
2323 /* Store the item value in the event list item. It is safe to access the
\r
2324 event list item here as interrupts won't access the event list item of a
\r
2325 task that is not in the Blocked state. */
\r
2326 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2328 /* Place the event list item of the TCB at the end of the appropriate event
\r
2329 list. It is safe to access the event list here because it is part of an
\r
2330 event group implementation - and interrupts don't access event groups
\r
2331 directly (instead they access them indirectly by pending function calls to
\r
2332 the task level). */
\r
2333 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2335 /* The task must be removed from the ready list before it is added to the
\r
2336 blocked list. Exclusive access can be assured to the ready list as the
\r
2337 scheduler is locked. */
\r
2338 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2340 /* The current task must be in a ready list, so there is no need to
\r
2341 check, and the port reset macro can be called directly. */
\r
2342 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2346 mtCOVERAGE_TEST_MARKER();
\r
2349 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2351 if( xTicksToWait == portMAX_DELAY )
\r
2353 /* Add the task to the suspended task list instead of a delayed task
\r
2354 list to ensure it is not woken by a timing event. It will block
\r
2356 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2360 /* Calculate the time at which the task should be woken if the event
\r
2361 does not occur. This may overflow but this doesn't matter, the
\r
2362 kernel will manage it correctly. */
\r
2363 xTimeToWake = xTickCount + xTicksToWait;
\r
2364 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2367 #else /* INCLUDE_vTaskSuspend */
\r
2369 /* Calculate the time at which the task should be woken if the event does
\r
2370 not occur. This may overflow but this doesn't matter, the kernel
\r
2371 will manage it correctly. */
\r
2372 xTimeToWake = xTickCount + xTicksToWait;
\r
2373 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2375 #endif /* INCLUDE_vTaskSuspend */
\r
2377 /*-----------------------------------------------------------*/
\r
2379 #if configUSE_TIMERS == 1
\r
2381 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2383 TickType_t xTimeToWake;
\r
2385 configASSERT( pxEventList );
\r
2387 /* This function should not be called by application code hence the
\r
2388 'Restricted' in its name. It is not part of the public API. It is
\r
2389 designed for use by kernel code, and has special calling requirements -
\r
2390 it should be called from a critical section. */
\r
2393 /* Place the event list item of the TCB in the appropriate event list.
\r
2394 In this case it is assume that this is the only task that is going to
\r
2395 be waiting on this event list, so the faster vListInsertEnd() function
\r
2396 can be used in place of vListInsert. */
\r
2397 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2399 /* We must remove this task from the ready list before adding it to the
\r
2400 blocked list as the same list item is used for both lists. This
\r
2401 function is called form a critical section. */
\r
2402 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2404 /* The current task must be in a ready list, so there is no need to
\r
2405 check, and the port reset macro can be called directly. */
\r
2406 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2410 mtCOVERAGE_TEST_MARKER();
\r
2413 /* Calculate the time at which the task should be woken if the event does
\r
2414 not occur. This may overflow but this doesn't matter. */
\r
2415 xTimeToWake = xTickCount + xTicksToWait;
\r
2417 traceTASK_DELAY_UNTIL();
\r
2418 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2421 #endif /* configUSE_TIMERS */
\r
2422 /*-----------------------------------------------------------*/
\r
2424 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
2426 TCB_t *pxUnblockedTCB;
\r
2427 BaseType_t xReturn;
\r
2429 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
2430 called from a critical section within an ISR. */
\r
2432 /* The event list is sorted in priority order, so the first in the list can
\r
2433 be removed as it is known to be the highest priority. Remove the TCB from
\r
2434 the delayed list, and add it to the ready list.
\r
2436 If an event is for a queue that is locked then this function will never
\r
2437 get called - the lock count on the queue will get modified instead. This
\r
2438 means exclusive access to the event list is guaranteed here.
\r
2440 This function assumes that a check has already been made to ensure that
\r
2441 pxEventList is not empty. */
\r
2442 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2443 configASSERT( pxUnblockedTCB );
\r
2444 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2446 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2448 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2449 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2453 /* The delayed and ready lists cannot be accessed, so hold this task
\r
2454 pending until the scheduler is resumed. */
\r
2455 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2458 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2460 /* Return true if the task removed from the event list has a higher
\r
2461 priority than the calling task. This allows the calling task to know if
\r
2462 it should force a context switch now. */
\r
2465 /* Mark that a yield is pending in case the user is not using the
\r
2466 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2467 xYieldPending = pdTRUE;
\r
2471 xReturn = pdFALSE;
\r
2474 #if( configUSE_TICKLESS_IDLE == 1 )
\r
2476 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
2477 might be set to the blocked task's time out time. If the task is
\r
2478 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
2479 normally left unchanged, because it is automatically get reset to a new
\r
2480 value when the tick count equals xNextTaskUnblockTime. However if
\r
2481 tickless idling is used it might be more important to enter sleep mode
\r
2482 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
2483 ensure it is updated at the earliest possible time. */
\r
2484 prvResetNextTaskUnblockTime();
\r
2490 /*-----------------------------------------------------------*/
\r
2492 BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
2494 TCB_t *pxUnblockedTCB;
\r
2495 BaseType_t xReturn;
\r
2497 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2498 the event flags implementation. */
\r
2499 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
2501 /* Store the new item value in the event list. */
\r
2502 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2504 /* Remove the event list form the event flag. Interrupts do not access
\r
2506 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2507 configASSERT( pxUnblockedTCB );
\r
2508 ( void ) uxListRemove( pxEventListItem );
\r
2510 /* Remove the task from the delayed list and add it to the ready list. The
\r
2511 scheduler is suspended so interrupts will not be accessing the ready
\r
2513 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2514 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2516 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2518 /* Return true if the task removed from the event list has
\r
2519 a higher priority than the calling task. This allows
\r
2520 the calling task to know if it should force a context
\r
2524 /* Mark that a yield is pending in case the user is not using the
\r
2525 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2526 xYieldPending = pdTRUE;
\r
2530 xReturn = pdFALSE;
\r
2535 /*-----------------------------------------------------------*/
\r
2537 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
2539 configASSERT( pxTimeOut );
\r
2540 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2541 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2543 /*-----------------------------------------------------------*/
\r
2545 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
2547 BaseType_t xReturn;
\r
2549 configASSERT( pxTimeOut );
\r
2550 configASSERT( pxTicksToWait );
\r
2552 taskENTER_CRITICAL();
\r
2554 /* Minor optimisation. The tick count cannot change in this block. */
\r
2555 const TickType_t xConstTickCount = xTickCount;
\r
2557 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2558 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2559 the maximum block time then the task should block indefinitely, and
\r
2560 therefore never time out. */
\r
2561 if( *pxTicksToWait == portMAX_DELAY )
\r
2563 xReturn = pdFALSE;
\r
2565 else /* We are not blocking indefinitely, perform the checks below. */
\r
2568 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2570 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2571 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2572 It must have wrapped all the way around and gone past us again. This
\r
2573 passed since vTaskSetTimeout() was called. */
\r
2576 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2578 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2579 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2580 vTaskSetTimeOutState( pxTimeOut );
\r
2581 xReturn = pdFALSE;
\r
2588 taskEXIT_CRITICAL();
\r
2592 /*-----------------------------------------------------------*/
\r
2594 void vTaskMissedYield( void )
\r
2596 xYieldPending = pdTRUE;
\r
2598 /*-----------------------------------------------------------*/
\r
2600 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2602 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
2604 UBaseType_t uxReturn;
\r
2607 if( xTask != NULL )
\r
2609 pxTCB = ( TCB_t * ) xTask;
\r
2610 uxReturn = pxTCB->uxTaskNumber;
\r
2620 #endif /* configUSE_TRACE_FACILITY */
\r
2621 /*-----------------------------------------------------------*/
\r
2623 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2625 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
2629 if( xTask != NULL )
\r
2631 pxTCB = ( TCB_t * ) xTask;
\r
2632 pxTCB->uxTaskNumber = uxHandle;
\r
2636 #endif /* configUSE_TRACE_FACILITY */
\r
2639 * -----------------------------------------------------------
\r
2641 * ----------------------------------------------------------
\r
2643 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2644 * language extensions. The equivalent prototype for this function is:
\r
2646 * void prvIdleTask( void *pvParameters );
\r
2649 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2651 /* Stop warnings. */
\r
2652 ( void ) pvParameters;
\r
2656 /* See if any tasks have been deleted. */
\r
2657 prvCheckTasksWaitingTermination();
\r
2659 #if ( configUSE_PREEMPTION == 0 )
\r
2661 /* If we are not using preemption we keep forcing a task switch to
\r
2662 see if any other task has become available. If we are using
\r
2663 preemption we don't need to do this as any task becoming available
\r
2664 will automatically get the processor anyway. */
\r
2667 #endif /* configUSE_PREEMPTION */
\r
2669 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2671 /* When using preemption tasks of equal priority will be
\r
2672 timesliced. If a task that is sharing the idle priority is ready
\r
2673 to run then the idle task should yield before the end of the
\r
2676 A critical region is not required here as we are just reading from
\r
2677 the list, and an occasional incorrect value will not matter. If
\r
2678 the ready list at the idle priority contains more than one task
\r
2679 then a task other than the idle task is ready to execute. */
\r
2680 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
2686 mtCOVERAGE_TEST_MARKER();
\r
2689 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2691 #if ( configUSE_IDLE_HOOK == 1 )
\r
2693 extern void vApplicationIdleHook( void );
\r
2695 /* Call the user defined function from within the idle task. This
\r
2696 allows the application designer to add background functionality
\r
2697 without the overhead of a separate task.
\r
2698 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2699 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2700 vApplicationIdleHook();
\r
2702 #endif /* configUSE_IDLE_HOOK */
\r
2704 /* This conditional compilation should use inequality to 0, not equality
\r
2705 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2706 user defined low power mode implementations require
\r
2707 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2708 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2710 TickType_t xExpectedIdleTime;
\r
2712 /* It is not desirable to suspend then resume the scheduler on
\r
2713 each iteration of the idle task. Therefore, a preliminary
\r
2714 test of the expected idle time is performed without the
\r
2715 scheduler suspended. The result here is not necessarily
\r
2717 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2719 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2721 vTaskSuspendAll();
\r
2723 /* Now the scheduler is suspended, the expected idle
\r
2724 time can be sampled again, and this time its value can
\r
2726 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2727 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2729 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2731 traceLOW_POWER_IDLE_BEGIN();
\r
2732 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2733 traceLOW_POWER_IDLE_END();
\r
2737 mtCOVERAGE_TEST_MARKER();
\r
2740 ( void ) xTaskResumeAll();
\r
2744 mtCOVERAGE_TEST_MARKER();
\r
2747 #endif /* configUSE_TICKLESS_IDLE */
\r
2750 /*-----------------------------------------------------------*/
\r
2752 #if configUSE_TICKLESS_IDLE != 0
\r
2754 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2756 eSleepModeStatus eReturn = eStandardSleep;
\r
2758 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2760 /* A task was made ready while the scheduler was suspended. */
\r
2761 eReturn = eAbortSleep;
\r
2763 else if( xYieldPending != pdFALSE )
\r
2765 /* A yield was pended while the scheduler was suspended. */
\r
2766 eReturn = eAbortSleep;
\r
2770 #if configUSE_TIMERS == 0
\r
2772 /* The idle task exists in addition to the application tasks. */
\r
2773 const UBaseType_t uxNonApplicationTasks = 1;
\r
2775 /* If timers are not being used and all the tasks are in the
\r
2776 suspended list (which might mean they have an infinite block
\r
2777 time rather than actually being suspended) then it is safe to
\r
2778 turn all clocks off and just wait for external interrupts. */
\r
2779 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2781 eReturn = eNoTasksWaitingTimeout;
\r
2785 mtCOVERAGE_TEST_MARKER();
\r
2788 #endif /* configUSE_TIMERS */
\r
2793 #endif /* configUSE_TICKLESS_IDLE */
\r
2794 /*-----------------------------------------------------------*/
\r
2796 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
2800 /* Store the task name in the TCB. */
\r
2801 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2803 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2805 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2806 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2807 string is not accessible (extremely unlikely). */
\r
2808 if( pcName[ x ] == 0x00 )
\r
2814 mtCOVERAGE_TEST_MARKER();
\r
2818 /* Ensure the name string is terminated in the case that the string length
\r
2819 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2820 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
2822 /* This is used as an array index so must ensure it's not too large. First
\r
2823 remove the privilege bit if one is present. */
\r
2824 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
2826 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
2830 mtCOVERAGE_TEST_MARKER();
\r
2833 pxTCB->uxPriority = uxPriority;
\r
2834 #if ( configUSE_MUTEXES == 1 )
\r
2836 pxTCB->uxBasePriority = uxPriority;
\r
2837 pxTCB->uxMutexesHeld = 0;
\r
2839 #endif /* configUSE_MUTEXES */
\r
2841 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2842 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2844 /* Set the pxTCB as a link back from the ListItem_t. This is so we can get
\r
2845 back to the containing TCB from a generic item in a list. */
\r
2846 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2848 /* Event lists are always in priority order. */
\r
2849 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
2850 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2852 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2854 pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
2856 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2858 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2860 pxTCB->pxTaskTag = NULL;
\r
2862 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2864 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2866 pxTCB->ulRunTimeCounter = 0UL;
\r
2868 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2870 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2872 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2874 #else /* portUSING_MPU_WRAPPERS */
\r
2876 ( void ) xRegions;
\r
2877 ( void ) usStackDepth;
\r
2879 #endif /* portUSING_MPU_WRAPPERS */
\r
2881 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
2883 pxTCB->ulNotifiedValue = 0;
\r
2884 pxTCB->eNotifyState = eNotWaitingNotification;
\r
2888 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2890 /* Initialise this task's Newlib reent structure. */
\r
2891 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2893 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2895 /*-----------------------------------------------------------*/
\r
2897 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2899 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
2903 /* If null is passed in here then we are deleting ourselves. */
\r
2904 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2906 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2909 #endif /* portUSING_MPU_WRAPPERS */
\r
2910 /*-----------------------------------------------------------*/
\r
2912 static void prvInitialiseTaskLists( void )
\r
2914 UBaseType_t uxPriority;
\r
2916 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
2918 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
2921 vListInitialise( &xDelayedTaskList1 );
\r
2922 vListInitialise( &xDelayedTaskList2 );
\r
2923 vListInitialise( &xPendingReadyList );
\r
2925 #if ( INCLUDE_vTaskDelete == 1 )
\r
2927 vListInitialise( &xTasksWaitingTermination );
\r
2929 #endif /* INCLUDE_vTaskDelete */
\r
2931 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2933 vListInitialise( &xSuspendedTaskList );
\r
2935 #endif /* INCLUDE_vTaskSuspend */
\r
2937 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2939 pxDelayedTaskList = &xDelayedTaskList1;
\r
2940 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2942 /*-----------------------------------------------------------*/
\r
2944 static void prvCheckTasksWaitingTermination( void )
\r
2946 #if ( INCLUDE_vTaskDelete == 1 )
\r
2948 BaseType_t xListIsEmpty;
\r
2950 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2951 too often in the idle task. */
\r
2952 while( uxTasksDeleted > ( UBaseType_t ) 0U )
\r
2954 vTaskSuspendAll();
\r
2956 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2958 ( void ) xTaskResumeAll();
\r
2960 if( xListIsEmpty == pdFALSE )
\r
2964 taskENTER_CRITICAL();
\r
2966 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
2967 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2968 --uxCurrentNumberOfTasks;
\r
2971 taskEXIT_CRITICAL();
\r
2973 prvDeleteTCB( pxTCB );
\r
2977 mtCOVERAGE_TEST_MARKER();
\r
2981 #endif /* vTaskDelete */
\r
2983 /*-----------------------------------------------------------*/
\r
2985 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake )
\r
2987 /* The list item will be inserted in wake time order. */
\r
2988 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2990 if( xTimeToWake < xTickCount )
\r
2992 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2993 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2997 /* The wake time has not overflowed, so the current block list is used. */
\r
2998 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3000 /* If the task entering the blocked state was placed at the head of the
\r
3001 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
3003 if( xTimeToWake < xNextTaskUnblockTime )
\r
3005 xNextTaskUnblockTime = xTimeToWake;
\r
3009 mtCOVERAGE_TEST_MARKER();
\r
3013 /*-----------------------------------------------------------*/
\r
3015 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer )
\r
3019 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
3020 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
3021 the TCB then the stack. */
\r
3022 #if( portSTACK_GROWTH > 0 )
\r
3024 /* Allocate space for the TCB. Where the memory comes from depends on
\r
3025 the implementation of the port malloc function. */
\r
3026 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
3028 if( pxNewTCB != NULL )
\r
3030 /* Allocate space for the stack used by the task being created.
\r
3031 The base of the stack memory stored in the TCB so the task can
\r
3032 be deleted later if required. */
\r
3033 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
3035 if( pxNewTCB->pxStack == NULL )
\r
3037 /* Could not allocate the stack. Delete the allocated TCB. */
\r
3038 vPortFree( pxNewTCB );
\r
3043 #else /* portSTACK_GROWTH */
\r
3045 StackType_t *pxStack;
\r
3047 /* Allocate space for the stack used by the task being created. */
\r
3048 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
3050 if( pxStack != NULL )
\r
3052 /* Allocate space for the TCB. Where the memory comes from depends
\r
3053 on the implementation of the port malloc function. */
\r
3054 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
3056 if( pxNewTCB != NULL )
\r
3058 /* Store the stack location in the TCB. */
\r
3059 pxNewTCB->pxStack = pxStack;
\r
3063 /* The stack cannot be used as the TCB was not created. Free it
\r
3065 vPortFree( pxStack );
\r
3073 #endif /* portSTACK_GROWTH */
\r
3075 if( pxNewTCB != NULL )
\r
3077 /* Avoid dependency on memset() if it is not required. */
\r
3078 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3080 /* Just to help debugging. */
\r
3081 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );
\r
3083 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
3088 /*-----------------------------------------------------------*/
\r
3090 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3092 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3094 volatile TCB_t *pxNextTCB, *pxFirstTCB;
\r
3095 UBaseType_t uxTask = 0;
\r
3097 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3099 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
3101 /* Populate an TaskStatus_t structure within the
\r
3102 pxTaskStatusArray array for each task that is referenced from
\r
3103 pxList. See the definition of TaskStatus_t in task.h for the
\r
3104 meaning of each TaskStatus_t structure member. */
\r
3107 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
3109 pxTaskStatusArray[ uxTask ].xHandle = ( TaskHandle_t ) pxNextTCB;
\r
3110 pxTaskStatusArray[ uxTask ].pcTaskName = ( const char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
3111 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
3112 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
3113 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
3115 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3117 /* If the task is in the suspended list then there is a chance
\r
3118 it is actually just blocked indefinitely - so really it should
\r
3119 be reported as being in the Blocked state. */
\r
3120 if( eState == eSuspended )
\r
3122 if( listLIST_ITEM_CONTAINER( &( pxNextTCB->xEventListItem ) ) != NULL )
\r
3124 pxTaskStatusArray[ uxTask ].eCurrentState = eBlocked;
\r
3128 #endif /* INCLUDE_vTaskSuspend */
\r
3130 #if ( configUSE_MUTEXES == 1 )
\r
3132 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
3136 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
3140 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3142 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
3146 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
3150 #if ( portSTACK_GROWTH > 0 )
\r
3152 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxEndOfStack );
\r
3156 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxStack );
\r
3162 } while( pxNextTCB != pxFirstTCB );
\r
3166 mtCOVERAGE_TEST_MARKER();
\r
3172 #endif /* configUSE_TRACE_FACILITY */
\r
3173 /*-----------------------------------------------------------*/
\r
3175 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3177 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3179 uint32_t ulCount = 0U;
\r
3181 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3183 pucStackByte -= portSTACK_GROWTH;
\r
3187 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3189 return ( uint16_t ) ulCount;
\r
3192 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3193 /*-----------------------------------------------------------*/
\r
3195 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3197 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3200 uint8_t *pucEndOfStack;
\r
3201 UBaseType_t uxReturn;
\r
3203 pxTCB = prvGetTCBFromHandle( xTask );
\r
3205 #if portSTACK_GROWTH < 0
\r
3207 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3211 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3215 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3220 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3221 /*-----------------------------------------------------------*/
\r
3223 #if ( INCLUDE_vTaskDelete == 1 )
\r
3225 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3227 /* This call is required specifically for the TriCore port. It must be
\r
3228 above the vPortFree() calls. The call is also used by ports/demos that
\r
3229 want to allocate and clean RAM statically. */
\r
3230 portCLEAN_UP_TCB( pxTCB );
\r
3232 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3233 to the task to free any memory allocated at the application level. */
\r
3234 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3236 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3238 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3240 #if( portUSING_MPU_WRAPPERS == 1 )
\r
3242 /* Only free the stack if it was allocated dynamically in the first
\r
3244 if( pxTCB->xUsingStaticallyAllocatedStack == pdFALSE )
\r
3246 vPortFreeAligned( pxTCB->pxStack );
\r
3251 vPortFreeAligned( pxTCB->pxStack );
\r
3255 vPortFree( pxTCB );
\r
3258 #endif /* INCLUDE_vTaskDelete */
\r
3259 /*-----------------------------------------------------------*/
\r
3261 static void prvResetNextTaskUnblockTime( void )
\r
3265 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3267 /* The new current delayed list is empty. Set
\r
3268 xNextTaskUnblockTime to the maximum possible value so it is
\r
3269 extremely unlikely that the
\r
3270 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3271 there is an item in the delayed list. */
\r
3272 xNextTaskUnblockTime = portMAX_DELAY;
\r
3276 /* The new current delayed list is not empty, get the value of
\r
3277 the item at the head of the delayed list. This is the time at
\r
3278 which the task at the head of the delayed list should be removed
\r
3279 from the Blocked state. */
\r
3280 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3281 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) );
\r
3284 /*-----------------------------------------------------------*/
\r
3286 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3288 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3290 TaskHandle_t xReturn;
\r
3292 /* A critical section is not required as this is not called from
\r
3293 an interrupt and the current TCB will always be the same for any
\r
3294 individual execution thread. */
\r
3295 xReturn = pxCurrentTCB;
\r
3300 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3301 /*-----------------------------------------------------------*/
\r
3303 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3305 BaseType_t xTaskGetSchedulerState( void )
\r
3307 BaseType_t xReturn;
\r
3309 if( xSchedulerRunning == pdFALSE )
\r
3311 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3315 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3317 xReturn = taskSCHEDULER_RUNNING;
\r
3321 xReturn = taskSCHEDULER_SUSPENDED;
\r
3328 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3329 /*-----------------------------------------------------------*/
\r
3331 #if ( configUSE_MUTEXES == 1 )
\r
3333 void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3335 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3337 /* If the mutex was given back by an interrupt while the queue was
\r
3338 locked then the mutex holder might now be NULL. */
\r
3339 if( pxMutexHolder != NULL )
\r
3341 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3343 /* Adjust the mutex holder state to account for its new
\r
3344 priority. Only reset the event list item value if the value is
\r
3345 not being used for anything else. */
\r
3346 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3348 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
3352 mtCOVERAGE_TEST_MARKER();
\r
3355 /* If the task being modified is in the ready state it will need to
\r
3356 be moved into a new list. */
\r
3357 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
3359 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3361 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3365 mtCOVERAGE_TEST_MARKER();
\r
3368 /* Inherit the priority before being moved into the new list. */
\r
3369 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3370 prvAddTaskToReadyList( pxTCB );
\r
3374 /* Just inherit the priority. */
\r
3375 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3378 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
3382 mtCOVERAGE_TEST_MARKER();
\r
3387 mtCOVERAGE_TEST_MARKER();
\r
3391 #endif /* configUSE_MUTEXES */
\r
3392 /*-----------------------------------------------------------*/
\r
3394 #if ( configUSE_MUTEXES == 1 )
\r
3396 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3398 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3399 BaseType_t xReturn = pdFALSE;
\r
3401 if( pxMutexHolder != NULL )
\r
3403 configASSERT( pxTCB->uxMutexesHeld );
\r
3404 ( pxTCB->uxMutexesHeld )--;
\r
3406 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3408 /* Only disinherit if no other mutexes are held. */
\r
3409 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3411 /* A task can only have an inhertied priority if it holds
\r
3412 the mutex. If the mutex is held by a task then it cannot be
\r
3413 given from an interrupt, and if a mutex is given by the
\r
3414 holding task then it must be the running state task. Remove
\r
3415 the holding task from the ready list. */
\r
3416 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3418 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3422 mtCOVERAGE_TEST_MARKER();
\r
3425 /* Disinherit the priority before adding the task into the
\r
3426 new ready list. */
\r
3427 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3428 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3430 /* Reset the event list item value. It cannot be in use for
\r
3431 any other purpose if this task is running, and it must be
\r
3432 running to give back the mutex. */
\r
3433 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
3434 prvAddTaskToReadyList( pxTCB );
\r
3436 /* Return true to indicate that a context switch is required.
\r
3437 This is only actually required in the corner case whereby
\r
3438 multiple mutexes were held and the mutexes were given back
\r
3439 in an order different to that in which they were taken.
\r
3440 If a context switch did not occur when the first mutex was
\r
3441 returned, even if a task was waiting on it, then a context
\r
3442 switch should occur when the last mutex is returned whether
\r
3443 a task is waiting on it or not. */
\r
3448 mtCOVERAGE_TEST_MARKER();
\r
3453 mtCOVERAGE_TEST_MARKER();
\r
3458 mtCOVERAGE_TEST_MARKER();
\r
3464 #endif /* configUSE_MUTEXES */
\r
3465 /*-----------------------------------------------------------*/
\r
3467 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3469 void vTaskEnterCritical( void )
\r
3471 portDISABLE_INTERRUPTS();
\r
3473 if( xSchedulerRunning != pdFALSE )
\r
3475 ( pxCurrentTCB->uxCriticalNesting )++;
\r
3477 /* This is not the interrupt safe version of the enter critical
\r
3478 function so assert() if it is being called from an interrupt
\r
3479 context. Only API functions that end in "FromISR" can be used in an
\r
3480 interrupt. Only assert if the critical nesting count is 1 to
\r
3481 protect against recursive calls if the assert function also uses a
\r
3482 critical section. */
\r
3483 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
3485 portASSERT_IF_IN_ISR();
\r
3491 mtCOVERAGE_TEST_MARKER();
\r
3495 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3496 /*-----------------------------------------------------------*/
\r
3498 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3500 void vTaskExitCritical( void )
\r
3502 if( xSchedulerRunning != pdFALSE )
\r
3504 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
3506 ( pxCurrentTCB->uxCriticalNesting )--;
\r
3508 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
3510 portENABLE_INTERRUPTS();
\r
3514 mtCOVERAGE_TEST_MARKER();
\r
3519 mtCOVERAGE_TEST_MARKER();
\r
3524 mtCOVERAGE_TEST_MARKER();
\r
3528 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3529 /*-----------------------------------------------------------*/
\r
3531 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3533 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
3537 /* Start by copying the entire string. */
\r
3538 strcpy( pcBuffer, pcTaskName );
\r
3540 /* Pad the end of the string with spaces to ensure columns line up when
\r
3542 for( x = strlen( pcBuffer ); x < ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
3544 pcBuffer[ x ] = ' ';
\r
3548 pcBuffer[ x ] = 0x00;
\r
3550 /* Return the new end of string. */
\r
3551 return &( pcBuffer[ x ] );
\r
3554 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
3555 /*-----------------------------------------------------------*/
\r
3557 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3559 void vTaskList( char * pcWriteBuffer )
\r
3561 TaskStatus_t *pxTaskStatusArray;
\r
3562 volatile UBaseType_t uxArraySize, x;
\r
3568 * This function is provided for convenience only, and is used by many
\r
3569 * of the demo applications. Do not consider it to be part of the
\r
3572 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
3573 * uxTaskGetSystemState() output into a human readable table that
\r
3574 * displays task names, states and stack usage.
\r
3576 * vTaskList() has a dependency on the sprintf() C library function that
\r
3577 * might bloat the code size, use a lot of stack, and provide different
\r
3578 * results on different platforms. An alternative, tiny, third party,
\r
3579 * and limited functionality implementation of sprintf() is provided in
\r
3580 * many of the FreeRTOS/Demo sub-directories in a file called
\r
3581 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
3582 * snprintf() implementation!).
\r
3584 * It is recommended that production systems call uxTaskGetSystemState()
\r
3585 * directly to get access to raw stats data, rather than indirectly
\r
3586 * through a call to vTaskList().
\r
3590 /* Make sure the write buffer does not contain a string. */
\r
3591 *pcWriteBuffer = 0x00;
\r
3593 /* Take a snapshot of the number of tasks in case it changes while this
\r
3594 function is executing. */
\r
3595 uxArraySize = uxCurrentNumberOfTasks;
\r
3597 /* Allocate an array index for each task. */
\r
3598 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3600 if( pxTaskStatusArray != NULL )
\r
3602 /* Generate the (binary) data. */
\r
3603 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
3605 /* Create a human readable table from the binary data. */
\r
3606 for( x = 0; x < uxArraySize; x++ )
\r
3608 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
3610 case eReady: cStatus = tskREADY_CHAR;
\r
3613 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
3616 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
3619 case eDeleted: cStatus = tskDELETED_CHAR;
\r
3622 default: /* Should not get here, but it is included
\r
3623 to prevent static checking errors. */
\r
3628 /* Write the task name to the string, padding with spaces so it
\r
3629 can be printed in tabular form more easily. */
\r
3630 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3632 /* Write the rest of the string. */
\r
3633 sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
3634 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3637 /* Free the array again. */
\r
3638 vPortFree( pxTaskStatusArray );
\r
3642 mtCOVERAGE_TEST_MARKER();
\r
3646 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3647 /*----------------------------------------------------------*/
\r
3649 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3651 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
3653 TaskStatus_t *pxTaskStatusArray;
\r
3654 volatile UBaseType_t uxArraySize, x;
\r
3655 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
3657 #if( configUSE_TRACE_FACILITY != 1 )
\r
3659 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
3666 * This function is provided for convenience only, and is used by many
\r
3667 * of the demo applications. Do not consider it to be part of the
\r
3670 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
3671 * of the uxTaskGetSystemState() output into a human readable table that
\r
3672 * displays the amount of time each task has spent in the Running state
\r
3673 * in both absolute and percentage terms.
\r
3675 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
3676 * function that might bloat the code size, use a lot of stack, and
\r
3677 * provide different results on different platforms. An alternative,
\r
3678 * tiny, third party, and limited functionality implementation of
\r
3679 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3680 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3681 * a full snprintf() implementation!).
\r
3683 * It is recommended that production systems call uxTaskGetSystemState()
\r
3684 * directly to get access to raw stats data, rather than indirectly
\r
3685 * through a call to vTaskGetRunTimeStats().
\r
3688 /* Make sure the write buffer does not contain a string. */
\r
3689 *pcWriteBuffer = 0x00;
\r
3691 /* Take a snapshot of the number of tasks in case it changes while this
\r
3692 function is executing. */
\r
3693 uxArraySize = uxCurrentNumberOfTasks;
\r
3695 /* Allocate an array index for each task. */
\r
3696 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3698 if( pxTaskStatusArray != NULL )
\r
3700 /* Generate the (binary) data. */
\r
3701 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
3703 /* For percentage calculations. */
\r
3704 ulTotalTime /= 100UL;
\r
3706 /* Avoid divide by zero errors. */
\r
3707 if( ulTotalTime > 0 )
\r
3709 /* Create a human readable table from the binary data. */
\r
3710 for( x = 0; x < uxArraySize; x++ )
\r
3712 /* What percentage of the total run time has the task used?
\r
3713 This will always be rounded down to the nearest integer.
\r
3714 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
3715 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
3717 /* Write the task name to the string, padding with
\r
3718 spaces so it can be printed in tabular form more
\r
3720 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3722 if( ulStatsAsPercentage > 0UL )
\r
3724 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3726 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
3730 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3731 printf() library can be used. */
\r
3732 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
3738 /* If the percentage is zero here then the task has
\r
3739 consumed less than 1% of the total run time. */
\r
3740 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3742 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3746 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3747 printf() library can be used. */
\r
3748 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3753 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3758 mtCOVERAGE_TEST_MARKER();
\r
3761 /* Free the array again. */
\r
3762 vPortFree( pxTaskStatusArray );
\r
3766 mtCOVERAGE_TEST_MARKER();
\r
3770 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3771 /*-----------------------------------------------------------*/
\r
3773 TickType_t uxTaskResetEventItemValue( void )
\r
3775 TickType_t uxReturn;
\r
3777 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
3779 /* Reset the event list item to its normal value - so it can be used with
\r
3780 queues and semaphores. */
\r
3781 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
3785 /*-----------------------------------------------------------*/
\r
3787 #if ( configUSE_MUTEXES == 1 )
\r
3789 void *pvTaskIncrementMutexHeldCount( void )
\r
3791 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
3792 then pxCurrentTCB will be NULL. */
\r
3793 if( pxCurrentTCB != NULL )
\r
3795 ( pxCurrentTCB->uxMutexesHeld )++;
\r
3798 return pxCurrentTCB;
\r
3801 #endif /* configUSE_MUTEXES */
\r
3802 /*-----------------------------------------------------------*/
\r
3804 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
3806 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
3808 TickType_t xTimeToWake;
\r
3809 uint32_t ulReturn;
\r
3811 taskENTER_CRITICAL();
\r
3813 /* Only block if the notification count is not already non-zero. */
\r
3814 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
3816 /* Mark this task as waiting for a notification. */
\r
3817 pxCurrentTCB->eNotifyState = eWaitingNotification;
\r
3819 if( xTicksToWait > 0 )
\r
3821 /* The task is going to block. First it must be removed
\r
3822 from the ready list. */
\r
3823 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3825 /* The current task must be in a ready list, so there is
\r
3826 no need to check, and the port reset macro can be called
\r
3828 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
3832 mtCOVERAGE_TEST_MARKER();
\r
3835 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3837 if( xTicksToWait == portMAX_DELAY )
\r
3839 /* Add the task to the suspended task list instead
\r
3840 of a delayed task list to ensure the task is not
\r
3841 woken by a timing event. It will block
\r
3843 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3847 /* Calculate the time at which the task should be
\r
3848 woken if no notification events occur. This may
\r
3849 overflow but this doesn't matter, the scheduler will
\r
3851 xTimeToWake = xTickCount + xTicksToWait;
\r
3852 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
3855 #else /* INCLUDE_vTaskSuspend */
\r
3857 /* Calculate the time at which the task should be
\r
3858 woken if the event does not occur. This may
\r
3859 overflow but this doesn't matter, the scheduler will
\r
3861 xTimeToWake = xTickCount + xTicksToWait;
\r
3862 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
3864 #endif /* INCLUDE_vTaskSuspend */
\r
3866 /* All ports are written to allow a yield in a critical
\r
3867 section (some will yield immediately, others wait until the
\r
3868 critical section exits) - but it is not something that
\r
3869 application code should ever do. */
\r
3870 portYIELD_WITHIN_API();
\r
3874 mtCOVERAGE_TEST_MARKER();
\r
3879 mtCOVERAGE_TEST_MARKER();
\r
3882 taskEXIT_CRITICAL();
\r
3884 taskENTER_CRITICAL();
\r
3886 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
3888 if( ulReturn != 0 )
\r
3890 if( xClearCountOnExit != pdFALSE )
\r
3892 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
3896 ( pxCurrentTCB->ulNotifiedValue )--;
\r
3901 mtCOVERAGE_TEST_MARKER();
\r
3904 pxCurrentTCB->eNotifyState = eNotWaitingNotification;
\r
3906 taskEXIT_CRITICAL();
\r
3911 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
3912 /*-----------------------------------------------------------*/
\r
3914 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
3916 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, BaseType_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
3918 TickType_t xTimeToWake;
\r
3919 BaseType_t xReturn;
\r
3921 taskENTER_CRITICAL();
\r
3923 /* Only block if a notification is not already pending. */
\r
3924 if( pxCurrentTCB->eNotifyState != eNotified )
\r
3926 /* Clear bits in the task's notification value as bits may get
\r
3927 set by the notifying task or interrupt. This can be used to
\r
3928 clear the value to zero. */
\r
3929 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
3931 /* Mark this task as waiting for a notification. */
\r
3932 pxCurrentTCB->eNotifyState = eWaitingNotification;
\r
3934 if( xTicksToWait > 0 )
\r
3936 /* The task is going to block. First it must be removed
\r
3937 from the ready list. */
\r
3938 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3940 /* The current task must be in a ready list, so there is
\r
3941 no need to check, and the port reset macro can be called
\r
3943 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
3947 mtCOVERAGE_TEST_MARKER();
\r
3950 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3952 if( xTicksToWait == portMAX_DELAY )
\r
3954 /* Add the task to the suspended task list instead
\r
3955 of a delayed task list to ensure the task is not
\r
3956 woken by a timing event. It will block
\r
3958 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3962 /* Calculate the time at which the task should be
\r
3963 woken if no notification events occur. This may
\r
3964 overflow but this doesn't matter, the scheduler will
\r
3966 xTimeToWake = xTickCount + xTicksToWait;
\r
3967 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
3970 #else /* INCLUDE_vTaskSuspend */
\r
3972 /* Calculate the time at which the task should be
\r
3973 woken if the event does not occur. This may
\r
3974 overflow but this doesn't matter, the scheduler will
\r
3976 xTimeToWake = xTickCount + xTicksToWait;
\r
3977 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
3979 #endif /* INCLUDE_vTaskSuspend */
\r
3981 /* All ports are written to allow a yield in a critical
\r
3982 section (some will yield immediately, others wait until the
\r
3983 critical section exits) - but it is not something that
\r
3984 application code should ever do. */
\r
3985 portYIELD_WITHIN_API();
\r
3989 mtCOVERAGE_TEST_MARKER();
\r
3994 mtCOVERAGE_TEST_MARKER();
\r
3997 taskEXIT_CRITICAL();
\r
3999 taskENTER_CRITICAL();
\r
4001 if( pulNotificationValue != NULL )
\r
4003 /* Output the current notification value, which may or may not
\r
4005 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4008 /* If eNotifyValue is set then either the task never entered the
\r
4009 blocked state (because a notification was already pending) or the
\r
4010 task unblocked because of a notification. Otherwise the task
\r
4011 unblocked because of a timeout. */
\r
4012 if( pxCurrentTCB->eNotifyState == eWaitingNotification )
\r
4014 /* A notification was not received. */
\r
4015 xReturn = pdFALSE;
\r
4019 /* A notification was already pending or a notification was
\r
4020 received while the task was waiting. */
\r
4021 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4025 pxCurrentTCB->eNotifyState = eNotWaitingNotification;
\r
4027 taskEXIT_CRITICAL();
\r
4032 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4033 /*-----------------------------------------------------------*/
\r
4035 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4037 BaseType_t xTaskNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction )
\r
4040 eNotifyValue eOriginalNotifyState;
\r
4041 BaseType_t xReturn = pdPASS;
\r
4043 configASSERT( xTaskToNotify );
\r
4044 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4046 taskENTER_CRITICAL();
\r
4048 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4050 pxTCB->eNotifyState = eNotified;
\r
4055 pxTCB->ulNotifiedValue |= ulValue;
\r
4059 ( pxTCB->ulNotifiedValue )++;
\r
4062 case eSetValueWithOverwrite :
\r
4063 pxTCB->ulNotifiedValue = ulValue;
\r
4066 case eSetValueWithoutOverwrite :
\r
4067 if( eOriginalNotifyState != eNotified )
\r
4069 pxTCB->ulNotifiedValue = ulValue;
\r
4073 /* The value could not be written to the task. */
\r
4079 /* The task is being notified without its notify value being
\r
4085 /* If the task is in the blocked state specifically to wait for a
\r
4086 notification then unblock it now. */
\r
4087 if( eOriginalNotifyState == eWaitingNotification )
\r
4089 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4090 prvAddTaskToReadyList( pxTCB );
\r
4092 /* The task should not have been on an event list. */
\r
4093 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4095 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4097 /* The notified task has a priority above the currently
\r
4098 executing task so a yield is required. */
\r
4099 portYIELD_WITHIN_API();
\r
4103 mtCOVERAGE_TEST_MARKER();
\r
4108 mtCOVERAGE_TEST_MARKER();
\r
4111 taskEXIT_CRITICAL();
\r
4116 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4117 /*-----------------------------------------------------------*/
\r
4119 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4121 BaseType_t xTaskNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken )
\r
4124 eNotifyValue eOriginalNotifyState;
\r
4125 BaseType_t xReturn = pdPASS;
\r
4126 UBaseType_t uxSavedInterruptStatus;
\r
4128 configASSERT( xTaskToNotify );
\r
4130 /* RTOS ports that support interrupt nesting have the concept of a
\r
4131 maximum system call (or maximum API call) interrupt priority.
\r
4132 Interrupts that are above the maximum system call priority are keep
\r
4133 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4134 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4135 is defined in FreeRTOSConfig.h then
\r
4136 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4137 failure if a FreeRTOS API function is called from an interrupt that has
\r
4138 been assigned a priority above the configured maximum system call
\r
4139 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4140 from interrupts that have been assigned a priority at or (logically)
\r
4141 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4142 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4143 simple as possible. More information (albeit Cortex-M specific) is
\r
4144 provided on the following link:
\r
4145 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4146 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4148 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4150 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4152 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4154 pxTCB->eNotifyState = eNotified;
\r
4159 pxTCB->ulNotifiedValue |= ulValue;
\r
4163 ( pxTCB->ulNotifiedValue )++;
\r
4166 case eSetValueWithOverwrite :
\r
4167 pxTCB->ulNotifiedValue = ulValue;
\r
4170 case eSetValueWithoutOverwrite :
\r
4171 if( eOriginalNotifyState != eNotified )
\r
4173 pxTCB->ulNotifiedValue = ulValue;
\r
4177 /* The value could not be written to the task. */
\r
4183 /* The task is being notified without its notify value being
\r
4189 /* If the task is in the blocked state specifically to wait for a
\r
4190 notification then unblock it now. */
\r
4191 if( eOriginalNotifyState == eWaitingNotification )
\r
4193 /* The task should not have been on an event list. */
\r
4194 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4196 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4198 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4199 prvAddTaskToReadyList( pxTCB );
\r
4203 /* The delayed and ready lists cannot be accessed, so hold
\r
4204 this task pending until the scheduler is resumed. */
\r
4205 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4208 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4210 /* The notified task has a priority above the currently
\r
4211 executing task so a yield is required. */
\r
4212 if( pxHigherPriorityTaskWoken != NULL )
\r
4214 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4219 mtCOVERAGE_TEST_MARKER();
\r
4223 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4228 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4229 /*-----------------------------------------------------------*/
\r
4231 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4233 BaseType_t xTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4236 eNotifyValue eOriginalNotifyState;
\r
4237 BaseType_t xReturn = pdPASS;
\r
4238 UBaseType_t uxSavedInterruptStatus;
\r
4240 configASSERT( xTaskToNotify );
\r
4242 /* RTOS ports that support interrupt nesting have the concept of a
\r
4243 maximum system call (or maximum API call) interrupt priority.
\r
4244 Interrupts that are above the maximum system call priority are keep
\r
4245 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4246 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4247 is defined in FreeRTOSConfig.h then
\r
4248 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4249 failure if a FreeRTOS API function is called from an interrupt that has
\r
4250 been assigned a priority above the configured maximum system call
\r
4251 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4252 from interrupts that have been assigned a priority at or (logically)
\r
4253 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4254 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4255 simple as possible. More information (albeit Cortex-M specific) is
\r
4256 provided on the following link:
\r
4257 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4258 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4260 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4262 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4264 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4265 pxTCB->eNotifyState = eNotified;
\r
4267 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4269 ( pxTCB->ulNotifiedValue )++;
\r
4271 /* If the task is in the blocked state specifically to wait for a
\r
4272 notification then unblock it now. */
\r
4273 if( eOriginalNotifyState == eWaitingNotification )
\r
4275 /* The task should not have been on an event list. */
\r
4276 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4278 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4280 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4281 prvAddTaskToReadyList( pxTCB );
\r
4285 /* The delayed and ready lists cannot be accessed, so hold
\r
4286 this task pending until the scheduler is resumed. */
\r
4287 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4290 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4292 /* The notified task has a priority above the currently
\r
4293 executing task so a yield is required. */
\r
4294 if( pxHigherPriorityTaskWoken != NULL )
\r
4296 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4301 mtCOVERAGE_TEST_MARKER();
\r
4305 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4310 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4312 /*-----------------------------------------------------------*/
\r
4315 #ifdef FREERTOS_MODULE_TEST
\r
4316 #include "tasks_test_access_functions.h"
\r
projects / freertos / blob