2 FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /* Standard includes. */
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74 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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75 all the API functions to use the MPU wrappers. That should only be done when
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76 task.h is included from an application file. */
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77 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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79 /* FreeRTOS includes. */
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80 #include "FreeRTOS.h"
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83 #include "StackMacros.h"
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85 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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86 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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87 header files above, but not in this file, in order to generate the correct
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88 privileged Vs unprivileged linkage and placement. */
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89 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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91 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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92 functions but without including stdio.h here. */
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93 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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94 /* At the bottom of this file are two optional functions that can be used
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95 to generate human readable text from the raw data generated by the
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96 uxTaskGetSystemState() function. Note the formatting functions are provided
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97 for convenience only, and are NOT considered part of the kernel. */
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99 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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101 /* Sanity check the configuration. */
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102 #if( configUSE_TICKLESS_IDLE != 0 )
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103 #if( INCLUDE_vTaskSuspend != 1 )
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104 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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105 #endif /* INCLUDE_vTaskSuspend */
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106 #endif /* configUSE_TICKLESS_IDLE */
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109 * Defines the size, in words, of the stack allocated to the idle task.
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111 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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113 #if( configUSE_PREEMPTION == 0 )
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114 /* If the cooperative scheduler is being used then a yield should not be
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115 performed just because a higher priority task has been woken. */
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116 #define taskYIELD_IF_USING_PREEMPTION()
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118 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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121 /* Value that can be assigned to the eNotifyState member of the TCB. */
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124 eNotWaitingNotification = 0,
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125 eWaitingNotification,
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130 * Task control block. A task control block (TCB) is allocated for each task,
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131 * and stores task state information, including a pointer to the task's context
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132 * (the task's run time environment, including register values)
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134 typedef struct tskTaskControlBlock
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136 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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138 #if ( portUSING_MPU_WRAPPERS == 1 )
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139 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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140 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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143 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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144 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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145 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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146 StackType_t *pxStack; /*< Points to the start of the stack. */
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147 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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149 #if ( portSTACK_GROWTH > 0 )
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150 StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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153 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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154 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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157 #if ( configUSE_TRACE_FACILITY == 1 )
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158 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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159 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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162 #if ( configUSE_MUTEXES == 1 )
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163 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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164 UBaseType_t uxMutexesHeld;
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167 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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168 TaskHookFunction_t pxTaskTag;
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171 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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172 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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175 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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176 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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179 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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180 /* Allocate a Newlib reent structure that is specific to this task.
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181 Note Newlib support has been included by popular demand, but is not
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182 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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183 responsible for resulting newlib operation. User must be familiar with
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184 newlib and must provide system-wide implementations of the necessary
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185 stubs. Be warned that (at the time of writing) the current newlib design
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186 implements a system-wide malloc() that must be provided with locks. */
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187 struct _reent xNewLib_reent;
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190 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
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191 volatile uint32_t ulNotifiedValue;
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192 volatile eNotifyValue eNotifyState;
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197 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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198 below to enable the use of older kernel aware debuggers. */
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199 typedef tskTCB TCB_t;
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202 * Some kernel aware debuggers require the data the debugger needs access to to
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203 * be global, rather than file scope.
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205 #ifdef portREMOVE_STATIC_QUALIFIER
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209 /*lint -e956 A manual analysis and inspection has been used to determine which
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210 static variables must be declared volatile. */
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212 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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214 /* Lists for ready and blocked tasks. --------------------*/
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215 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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216 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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217 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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218 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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219 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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220 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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222 #if ( INCLUDE_vTaskDelete == 1 )
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224 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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225 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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229 #if ( INCLUDE_vTaskSuspend == 1 )
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231 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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235 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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237 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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241 /* Other file private variables. --------------------------------*/
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242 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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243 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;
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244 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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245 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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246 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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247 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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248 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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249 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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250 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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252 /* Context switches are held pending while the scheduler is suspended. Also,
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253 interrupts must not manipulate the xGenericListItem of a TCB, or any of the
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254 lists the xGenericListItem can be referenced from, if the scheduler is suspended.
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255 If an interrupt needs to unblock a task while the scheduler is suspended then it
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256 moves the task's event list item into the xPendingReadyList, ready for the
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257 kernel to move the task from the pending ready list into the real ready list
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258 when the scheduler is unsuspended. The pending ready list itself can only be
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259 accessed from a critical section. */
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260 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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262 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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264 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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265 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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271 /* Debugging and trace facilities private variables and macros. ------------*/
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274 * The value used to fill the stack of a task when the task is created. This
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275 * is used purely for checking the high water mark for tasks.
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277 #define tskSTACK_FILL_BYTE ( 0xa5U )
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280 * Macros used by vListTask to indicate which state a task is in.
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282 #define tskBLOCKED_CHAR ( 'B' )
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283 #define tskREADY_CHAR ( 'R' )
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284 #define tskDELETED_CHAR ( 'D' )
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285 #define tskSUSPENDED_CHAR ( 'S' )
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287 /*-----------------------------------------------------------*/
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289 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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291 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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292 performed in a generic way that is not optimised to any particular
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293 microcontroller architecture. */
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295 /* uxTopReadyPriority holds the priority of the highest priority ready
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297 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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299 if( ( uxPriority ) > uxTopReadyPriority ) \
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301 uxTopReadyPriority = ( uxPriority ); \
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303 } /* taskRECORD_READY_PRIORITY */
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305 /*-----------------------------------------------------------*/
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307 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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309 /* Find the highest priority queue that contains ready tasks. */ \
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310 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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312 configASSERT( uxTopReadyPriority ); \
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313 --uxTopReadyPriority; \
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316 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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317 the same priority get an equal share of the processor time. */ \
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318 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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319 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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321 /*-----------------------------------------------------------*/
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323 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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324 they are only required when a port optimised method of task selection is
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326 #define taskRESET_READY_PRIORITY( uxPriority )
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327 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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329 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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331 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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332 performed in a way that is tailored to the particular microcontroller
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333 architecture being used. */
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335 /* A port optimised version is provided. Call the port defined macros. */
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336 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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338 /*-----------------------------------------------------------*/
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340 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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342 UBaseType_t uxTopPriority; \
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344 /* Find the highest priority list that contains ready tasks. */ \
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345 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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346 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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347 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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348 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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350 /*-----------------------------------------------------------*/
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352 /* A port optimised version is provided, call it only if the TCB being reset
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353 is being referenced from a ready list. If it is referenced from a delayed
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354 or suspended list then it won't be in a ready list. */
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355 #define taskRESET_READY_PRIORITY( uxPriority ) \
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357 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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359 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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363 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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365 /*-----------------------------------------------------------*/
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367 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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368 count overflows. */
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369 #define taskSWITCH_DELAYED_LISTS() \
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373 /* The delayed tasks list should be empty when the lists are switched. */ \
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374 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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376 pxTemp = pxDelayedTaskList; \
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377 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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378 pxOverflowDelayedTaskList = pxTemp; \
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379 xNumOfOverflows++; \
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380 prvResetNextTaskUnblockTime(); \
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383 /*-----------------------------------------------------------*/
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386 * Place the task represented by pxTCB into the appropriate ready list for
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387 * the task. It is inserted at the end of the list.
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389 #define prvAddTaskToReadyList( pxTCB ) \
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390 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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391 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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392 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) ); \
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393 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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394 /*-----------------------------------------------------------*/
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397 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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398 * where NULL is used to indicate that the handle of the currently executing
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399 * task should be used in place of the parameter. This macro simply checks to
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400 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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402 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )
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404 /* The item value of the event list item is normally used to hold the priority
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405 of the task to which it belongs (coded to allow it to be held in reverse
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406 priority order). However, it is occasionally borrowed for other purposes. It
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407 is important its value is not updated due to a task priority change while it is
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408 being used for another purpose. The following bit definition is used to inform
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409 the scheduler that the value should not be changed - in which case it is the
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410 responsibility of whichever module is using the value to ensure it gets set back
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411 to its original value when it is released. */
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412 #if configUSE_16_BIT_TICKS == 1
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413 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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415 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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418 /* Callback function prototypes. --------------------------*/
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419 #if configCHECK_FOR_STACK_OVERFLOW > 0
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420 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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423 #if configUSE_TICK_HOOK > 0
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424 extern void vApplicationTickHook( void );
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427 /* File private functions. --------------------------------*/
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430 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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431 * into the TCB structure.
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433 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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436 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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437 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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438 * is in any other state.
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440 #if ( INCLUDE_vTaskSuspend == 1 )
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441 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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442 #endif /* INCLUDE_vTaskSuspend */
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445 * Utility to ready all the lists used by the scheduler. This is called
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446 * automatically upon the creation of the first task.
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448 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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451 * The idle task, which as all tasks is implemented as a never ending loop.
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452 * The idle task is automatically created and added to the ready lists upon
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453 * creation of the first user task.
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455 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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456 * language extensions. The equivalent prototype for this function is:
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458 * void prvIdleTask( void *pvParameters );
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461 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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464 * Utility to free all memory allocated by the scheduler to hold a TCB,
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465 * including the stack pointed to by the TCB.
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467 * This does not free memory allocated by the task itself (i.e. memory
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468 * allocated by calls to pvPortMalloc from within the tasks application code).
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470 #if ( INCLUDE_vTaskDelete == 1 )
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472 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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477 * Used only by the idle task. This checks to see if anything has been placed
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478 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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479 * and its TCB deleted.
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481 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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484 * The currently executing task is entering the Blocked state. Add the task to
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485 * either the current or the overflow delayed task list.
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487 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake ) PRIVILEGED_FUNCTION;
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490 * Allocates memory from the heap for a TCB and associated stack. Checks the
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491 * allocation was successful.
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493 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer ) PRIVILEGED_FUNCTION;
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496 * Fills an TaskStatus_t structure with information on each task that is
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497 * referenced from the pxList list (which may be a ready list, a delayed list,
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498 * a suspended list, etc.).
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500 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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501 * NORMAL APPLICATION CODE.
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503 #if ( configUSE_TRACE_FACILITY == 1 )
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505 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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510 * When a task is created, the stack of the task is filled with a known value.
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511 * This function determines the 'high water mark' of the task stack by
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512 * determining how much of the stack remains at the original preset value.
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514 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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516 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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521 * Return the amount of time, in ticks, that will pass before the kernel will
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522 * next move a task from the Blocked state to the Running state.
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524 * This conditional compilation should use inequality to 0, not equality to 1.
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525 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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526 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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527 * set to a value other than 1.
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529 #if ( configUSE_TICKLESS_IDLE != 0 )
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531 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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536 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
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537 * will exit the Blocked state.
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539 static void prvResetNextTaskUnblockTime( void );
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541 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
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544 * Helper function used to pad task names with spaces when printing out
\r
545 * human readable tables of task information.
\r
547 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName );
\r
550 /*-----------------------------------------------------------*/
\r
552 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. */
\r
554 BaseType_t xReturn;
\r
556 StackType_t *pxTopOfStack;
\r
558 configASSERT( pxTaskCode );
\r
559 configASSERT( ( ( uxPriority & ( UBaseType_t ) ( ~portPRIVILEGE_BIT ) ) < ( UBaseType_t ) configMAX_PRIORITIES ) );
\r
561 /* Allocate the memory required by the TCB and stack for the new task,
\r
562 checking that the allocation was successful. */
\r
563 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
\r
565 if( pxNewTCB != NULL )
\r
567 #if( portUSING_MPU_WRAPPERS == 1 )
\r
568 /* Should the task be created in privileged mode? */
\r
569 BaseType_t xRunPrivileged;
\r
570 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
572 xRunPrivileged = pdTRUE;
\r
576 xRunPrivileged = pdFALSE;
\r
578 uxPriority &= ~portPRIVILEGE_BIT;
\r
580 if( puxStackBuffer != NULL )
\r
582 /* The application provided its own stack. Note this so no
\r
583 attempt is made to delete the stack should that task be
\r
585 pxNewTCB->xUsingStaticallyAllocatedStack = pdTRUE;
\r
589 /* The stack was allocated dynamically. Note this so it can be
\r
590 deleted again if the task is deleted. */
\r
591 pxNewTCB->xUsingStaticallyAllocatedStack = pdFALSE;
\r
593 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
595 /* Calculate the top of stack address. This depends on whether the
\r
596 stack grows from high memory to low (as per the 80x86) or vice versa.
\r
597 portSTACK_GROWTH is used to make the result positive or negative as
\r
598 required by the port. */
\r
599 #if( portSTACK_GROWTH < 0 )
\r
601 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );
\r
602 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
604 /* Check the alignment of the calculated top of stack is correct. */
\r
605 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
607 #else /* portSTACK_GROWTH */
\r
609 pxTopOfStack = pxNewTCB->pxStack;
\r
611 /* Check the alignment of the stack buffer is correct. */
\r
612 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
614 /* If we want to use stack checking on architectures that use
\r
615 a positive stack growth direction then we also need to store the
\r
616 other extreme of the stack space. */
\r
617 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
\r
619 #endif /* portSTACK_GROWTH */
\r
621 /* Setup the newly allocated TCB with the initial state of the task. */
\r
622 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
\r
624 /* Initialize the TCB stack to look as if the task was already running,
\r
625 but had been interrupted by the scheduler. The return address is set
\r
626 to the start of the task function. Once the stack has been initialised
\r
627 the top of stack variable is updated. */
\r
628 #if( portUSING_MPU_WRAPPERS == 1 )
\r
630 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
632 #else /* portUSING_MPU_WRAPPERS */
\r
634 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
636 #endif /* portUSING_MPU_WRAPPERS */
\r
638 if( ( void * ) pxCreatedTask != NULL )
\r
640 /* Pass the TCB out - in an anonymous way. The calling function/
\r
641 task can use this as a handle to delete the task later if
\r
643 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
647 mtCOVERAGE_TEST_MARKER();
\r
650 /* Ensure interrupts don't access the task lists while they are being
\r
652 taskENTER_CRITICAL();
\r
654 uxCurrentNumberOfTasks++;
\r
655 if( pxCurrentTCB == NULL )
\r
657 /* There are no other tasks, or all the other tasks are in
\r
658 the suspended state - make this the current task. */
\r
659 pxCurrentTCB = pxNewTCB;
\r
661 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
663 /* This is the first task to be created so do the preliminary
\r
664 initialisation required. We will not recover if this call
\r
665 fails, but we will report the failure. */
\r
666 prvInitialiseTaskLists();
\r
670 mtCOVERAGE_TEST_MARKER();
\r
675 /* If the scheduler is not already running, make this task the
\r
676 current task if it is the highest priority task to be created
\r
678 if( xSchedulerRunning == pdFALSE )
\r
680 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
682 pxCurrentTCB = pxNewTCB;
\r
686 mtCOVERAGE_TEST_MARKER();
\r
691 mtCOVERAGE_TEST_MARKER();
\r
697 #if ( configUSE_TRACE_FACILITY == 1 )
\r
699 /* Add a counter into the TCB for tracing only. */
\r
700 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
702 #endif /* configUSE_TRACE_FACILITY */
\r
703 traceTASK_CREATE( pxNewTCB );
\r
705 prvAddTaskToReadyList( pxNewTCB );
\r
708 portSETUP_TCB( pxNewTCB );
\r
710 taskEXIT_CRITICAL();
\r
714 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
715 traceTASK_CREATE_FAILED();
\r
718 if( xReturn == pdPASS )
\r
720 if( xSchedulerRunning != pdFALSE )
\r
722 /* If the created task is of a higher priority than the current task
\r
723 then it should run now. */
\r
724 if( pxCurrentTCB->uxPriority < uxPriority )
\r
726 taskYIELD_IF_USING_PREEMPTION();
\r
730 mtCOVERAGE_TEST_MARKER();
\r
735 mtCOVERAGE_TEST_MARKER();
\r
741 /*-----------------------------------------------------------*/
\r
743 #if ( INCLUDE_vTaskDelete == 1 )
\r
745 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
749 taskENTER_CRITICAL();
\r
751 /* If null is passed in here then it is the calling task that is
\r
753 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
755 /* Remove task from the ready list. */
\r
756 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
758 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
762 mtCOVERAGE_TEST_MARKER();
\r
765 /* Is the task waiting on an event also? */
\r
766 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
768 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
772 mtCOVERAGE_TEST_MARKER();
\r
775 if( pxTCB == pxCurrentTCB )
\r
777 /* A task is deleting itself. This cannot complete within the
\r
778 task itself, as a context switch to another task is required.
\r
779 Place the task in the termination list. The idle task will
\r
780 check the termination list and free up any memory allocated by
\r
781 the scheduler for the TCB and stack of the deleted task. */
\r
782 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
784 /* Increment the ucTasksDeleted variable so the idle task knows
\r
785 there is a task that has been deleted and that it should therefore
\r
786 check the xTasksWaitingTermination list. */
\r
787 ++uxDeletedTasksWaitingCleanUp;
\r
791 --uxCurrentNumberOfTasks;
\r
792 prvDeleteTCB( pxTCB );
\r
795 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
796 detect that the task lists need re-generating. */
\r
799 traceTASK_DELETE( pxTCB );
\r
801 taskEXIT_CRITICAL();
\r
803 /* Force a reschedule if it is the currently running task that has just
\r
805 if( xSchedulerRunning != pdFALSE )
\r
807 if( pxTCB == pxCurrentTCB )
\r
809 configASSERT( uxSchedulerSuspended == 0 );
\r
811 /* The pre-delete hook is primarily for the Windows simulator,
\r
812 in which Windows specific clean up operations are performed,
\r
813 after which it is not possible to yield away from this task -
\r
814 hence xYieldPending is used to latch that a context switch is
\r
816 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
817 portYIELD_WITHIN_API();
\r
821 /* Reset the next expected unblock time in case it referred to
\r
822 the task that has just been deleted. */
\r
823 taskENTER_CRITICAL();
\r
825 prvResetNextTaskUnblockTime();
\r
827 taskEXIT_CRITICAL();
\r
832 #endif /* INCLUDE_vTaskDelete */
\r
833 /*-----------------------------------------------------------*/
\r
835 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
837 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
839 TickType_t xTimeToWake;
\r
840 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
842 configASSERT( pxPreviousWakeTime );
\r
843 configASSERT( ( xTimeIncrement > 0U ) );
\r
844 configASSERT( uxSchedulerSuspended == 0 );
\r
848 /* Minor optimisation. The tick count cannot change in this
\r
850 const TickType_t xConstTickCount = xTickCount;
\r
852 /* Generate the tick time at which the task wants to wake. */
\r
853 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
855 if( xConstTickCount < *pxPreviousWakeTime )
\r
857 /* The tick count has overflowed since this function was
\r
858 lasted called. In this case the only time we should ever
\r
859 actually delay is if the wake time has also overflowed,
\r
860 and the wake time is greater than the tick time. When this
\r
861 is the case it is as if neither time had overflowed. */
\r
862 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
864 xShouldDelay = pdTRUE;
\r
868 mtCOVERAGE_TEST_MARKER();
\r
873 /* The tick time has not overflowed. In this case we will
\r
874 delay if either the wake time has overflowed, and/or the
\r
875 tick time is less than the wake time. */
\r
876 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
878 xShouldDelay = pdTRUE;
\r
882 mtCOVERAGE_TEST_MARKER();
\r
886 /* Update the wake time ready for the next call. */
\r
887 *pxPreviousWakeTime = xTimeToWake;
\r
889 if( xShouldDelay != pdFALSE )
\r
891 traceTASK_DELAY_UNTIL();
\r
893 /* Remove the task from the ready list before adding it to the
\r
894 blocked list as the same list item is used for both lists. */
\r
895 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
897 /* The current task must be in a ready list, so there is
\r
898 no need to check, and the port reset macro can be called
\r
900 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
904 mtCOVERAGE_TEST_MARKER();
\r
907 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
911 mtCOVERAGE_TEST_MARKER();
\r
914 xAlreadyYielded = xTaskResumeAll();
\r
916 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
917 have put ourselves to sleep. */
\r
918 if( xAlreadyYielded == pdFALSE )
\r
920 portYIELD_WITHIN_API();
\r
924 mtCOVERAGE_TEST_MARKER();
\r
928 #endif /* INCLUDE_vTaskDelayUntil */
\r
929 /*-----------------------------------------------------------*/
\r
931 #if ( INCLUDE_vTaskDelay == 1 )
\r
933 void vTaskDelay( const TickType_t xTicksToDelay )
\r
935 TickType_t xTimeToWake;
\r
936 BaseType_t xAlreadyYielded = pdFALSE;
\r
939 /* A delay time of zero just forces a reschedule. */
\r
940 if( xTicksToDelay > ( TickType_t ) 0U )
\r
942 configASSERT( uxSchedulerSuspended == 0 );
\r
947 /* A task that is removed from the event list while the
\r
948 scheduler is suspended will not get placed in the ready
\r
949 list or removed from the blocked list until the scheduler
\r
952 This task cannot be in an event list as it is the currently
\r
955 /* Calculate the time to wake - this may overflow but this is
\r
957 xTimeToWake = xTickCount + xTicksToDelay;
\r
959 /* We must remove ourselves from the ready list before adding
\r
960 ourselves to the blocked list as the same list item is used for
\r
962 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
964 /* The current task must be in a ready list, so there is
\r
965 no need to check, and the port reset macro can be called
\r
967 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
971 mtCOVERAGE_TEST_MARKER();
\r
973 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
975 xAlreadyYielded = xTaskResumeAll();
\r
979 mtCOVERAGE_TEST_MARKER();
\r
982 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
983 have put ourselves to sleep. */
\r
984 if( xAlreadyYielded == pdFALSE )
\r
986 portYIELD_WITHIN_API();
\r
990 mtCOVERAGE_TEST_MARKER();
\r
994 #endif /* INCLUDE_vTaskDelay */
\r
995 /*-----------------------------------------------------------*/
\r
997 #if ( INCLUDE_eTaskGetState == 1 )
\r
999 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1001 eTaskState eReturn;
\r
1002 List_t *pxStateList;
\r
1003 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1005 configASSERT( pxTCB );
\r
1007 if( pxTCB == pxCurrentTCB )
\r
1009 /* The task calling this function is querying its own state. */
\r
1010 eReturn = eRunning;
\r
1014 taskENTER_CRITICAL();
\r
1016 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
1018 taskEXIT_CRITICAL();
\r
1020 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
1022 /* The task being queried is referenced from one of the Blocked
\r
1024 eReturn = eBlocked;
\r
1027 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1028 else if( pxStateList == &xSuspendedTaskList )
\r
1030 /* The task being queried is referenced from the suspended
\r
1031 list. Is it genuinely suspended or is it block
\r
1033 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1035 eReturn = eSuspended;
\r
1039 eReturn = eBlocked;
\r
1044 #if ( INCLUDE_vTaskDelete == 1 )
\r
1045 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1047 /* The task being queried is referenced from the deleted
\r
1048 tasks list, or it is not referenced from any lists at
\r
1050 eReturn = eDeleted;
\r
1054 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1056 /* If the task is not in any other state, it must be in the
\r
1057 Ready (including pending ready) state. */
\r
1063 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1065 #endif /* INCLUDE_eTaskGetState */
\r
1066 /*-----------------------------------------------------------*/
\r
1068 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1070 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1073 UBaseType_t uxReturn;
\r
1075 taskENTER_CRITICAL();
\r
1077 /* If null is passed in here then it is the priority of the that
\r
1078 called uxTaskPriorityGet() that is being queried. */
\r
1079 pxTCB = prvGetTCBFromHandle( xTask );
\r
1080 uxReturn = pxTCB->uxPriority;
\r
1082 taskEXIT_CRITICAL();
\r
1087 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1088 /*-----------------------------------------------------------*/
\r
1090 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1092 UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )
\r
1095 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1097 /* RTOS ports that support interrupt nesting have the concept of a
\r
1098 maximum system call (or maximum API call) interrupt priority.
\r
1099 Interrupts that are above the maximum system call priority are keep
\r
1100 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1101 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1102 is defined in FreeRTOSConfig.h then
\r
1103 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1104 failure if a FreeRTOS API function is called from an interrupt that has
\r
1105 been assigned a priority above the configured maximum system call
\r
1106 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1107 from interrupts that have been assigned a priority at or (logically)
\r
1108 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1109 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1110 simple as possible. More information (albeit Cortex-M specific) is
\r
1111 provided on the following link:
\r
1112 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1113 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1115 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1117 /* If null is passed in here then it is the priority of the calling
\r
1118 task that is being queried. */
\r
1119 pxTCB = prvGetTCBFromHandle( xTask );
\r
1120 uxReturn = pxTCB->uxPriority;
\r
1122 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1127 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1128 /*-----------------------------------------------------------*/
\r
1130 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1132 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1135 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1136 BaseType_t xYieldRequired = pdFALSE;
\r
1138 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1140 /* Ensure the new priority is valid. */
\r
1141 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1143 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1147 mtCOVERAGE_TEST_MARKER();
\r
1150 taskENTER_CRITICAL();
\r
1152 /* If null is passed in here then it is the priority of the calling
\r
1153 task that is being changed. */
\r
1154 pxTCB = prvGetTCBFromHandle( xTask );
\r
1156 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1158 #if ( configUSE_MUTEXES == 1 )
\r
1160 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1164 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1168 if( uxCurrentBasePriority != uxNewPriority )
\r
1170 /* The priority change may have readied a task of higher
\r
1171 priority than the calling task. */
\r
1172 if( uxNewPriority > uxCurrentBasePriority )
\r
1174 if( pxTCB != pxCurrentTCB )
\r
1176 /* The priority of a task other than the currently
\r
1177 running task is being raised. Is the priority being
\r
1178 raised above that of the running task? */
\r
1179 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1181 xYieldRequired = pdTRUE;
\r
1185 mtCOVERAGE_TEST_MARKER();
\r
1190 /* The priority of the running task is being raised,
\r
1191 but the running task must already be the highest
\r
1192 priority task able to run so no yield is required. */
\r
1195 else if( pxTCB == pxCurrentTCB )
\r
1197 /* Setting the priority of the running task down means
\r
1198 there may now be another task of higher priority that
\r
1199 is ready to execute. */
\r
1200 xYieldRequired = pdTRUE;
\r
1204 /* Setting the priority of any other task down does not
\r
1205 require a yield as the running task must be above the
\r
1206 new priority of the task being modified. */
\r
1209 /* Remember the ready list the task might be referenced from
\r
1210 before its uxPriority member is changed so the
\r
1211 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1212 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1214 #if ( configUSE_MUTEXES == 1 )
\r
1216 /* Only change the priority being used if the task is not
\r
1217 currently using an inherited priority. */
\r
1218 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1220 pxTCB->uxPriority = uxNewPriority;
\r
1224 mtCOVERAGE_TEST_MARKER();
\r
1227 /* The base priority gets set whatever. */
\r
1228 pxTCB->uxBasePriority = uxNewPriority;
\r
1232 pxTCB->uxPriority = uxNewPriority;
\r
1236 /* Only reset the event list item value if the value is not
\r
1237 being used for anything else. */
\r
1238 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1240 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
1244 mtCOVERAGE_TEST_MARKER();
\r
1247 /* If the task is in the blocked or suspended list we need do
\r
1248 nothing more than change it's priority variable. However, if
\r
1249 the task is in a ready list it needs to be removed and placed
\r
1250 in the list appropriate to its new priority. */
\r
1251 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1253 /* The task is currently in its ready list - remove before adding
\r
1254 it to it's new ready list. As we are in a critical section we
\r
1255 can do this even if the scheduler is suspended. */
\r
1256 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1258 /* It is known that the task is in its ready list so
\r
1259 there is no need to check again and the port level
\r
1260 reset macro can be called directly. */
\r
1261 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1265 mtCOVERAGE_TEST_MARKER();
\r
1267 prvAddTaskToReadyList( pxTCB );
\r
1271 mtCOVERAGE_TEST_MARKER();
\r
1274 if( xYieldRequired == pdTRUE )
\r
1276 taskYIELD_IF_USING_PREEMPTION();
\r
1280 mtCOVERAGE_TEST_MARKER();
\r
1283 /* Remove compiler warning about unused variables when the port
\r
1284 optimised task selection is not being used. */
\r
1285 ( void ) uxPriorityUsedOnEntry;
\r
1288 taskEXIT_CRITICAL();
\r
1291 #endif /* INCLUDE_vTaskPrioritySet */
\r
1292 /*-----------------------------------------------------------*/
\r
1294 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1296 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1300 taskENTER_CRITICAL();
\r
1302 /* If null is passed in here then it is the running task that is
\r
1303 being suspended. */
\r
1304 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1306 traceTASK_SUSPEND( pxTCB );
\r
1308 /* Remove task from the ready/delayed list and place in the
\r
1309 suspended list. */
\r
1310 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1312 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1316 mtCOVERAGE_TEST_MARKER();
\r
1319 /* Is the task waiting on an event also? */
\r
1320 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1322 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1326 mtCOVERAGE_TEST_MARKER();
\r
1329 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1331 taskEXIT_CRITICAL();
\r
1333 if( pxTCB == pxCurrentTCB )
\r
1335 if( xSchedulerRunning != pdFALSE )
\r
1337 /* The current task has just been suspended. */
\r
1338 configASSERT( uxSchedulerSuspended == 0 );
\r
1339 portYIELD_WITHIN_API();
\r
1343 /* The scheduler is not running, but the task that was pointed
\r
1344 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1345 must be adjusted to point to a different task. */
\r
1346 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1348 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1349 NULL so when the next task is created pxCurrentTCB will
\r
1350 be set to point to it no matter what its relative priority
\r
1352 pxCurrentTCB = NULL;
\r
1356 vTaskSwitchContext();
\r
1362 if( xSchedulerRunning != pdFALSE )
\r
1364 /* A task other than the currently running task was suspended,
\r
1365 reset the next expected unblock time in case it referred to the
\r
1366 task that is now in the Suspended state. */
\r
1367 taskENTER_CRITICAL();
\r
1369 prvResetNextTaskUnblockTime();
\r
1371 taskEXIT_CRITICAL();
\r
1375 mtCOVERAGE_TEST_MARKER();
\r
1380 #endif /* INCLUDE_vTaskSuspend */
\r
1381 /*-----------------------------------------------------------*/
\r
1383 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1385 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1387 BaseType_t xReturn = pdFALSE;
\r
1388 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1390 /* Accesses xPendingReadyList so must be called from a critical
\r
1393 /* It does not make sense to check if the calling task is suspended. */
\r
1394 configASSERT( xTask );
\r
1396 /* Is the task being resumed actually in the suspended list? */
\r
1397 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1399 /* Has the task already been resumed from within an ISR? */
\r
1400 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1402 /* Is it in the suspended list because it is in the Suspended
\r
1403 state, or because is is blocked with no timeout? */
\r
1404 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1410 mtCOVERAGE_TEST_MARKER();
\r
1415 mtCOVERAGE_TEST_MARKER();
\r
1420 mtCOVERAGE_TEST_MARKER();
\r
1424 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1426 #endif /* INCLUDE_vTaskSuspend */
\r
1427 /*-----------------------------------------------------------*/
\r
1429 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1431 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1433 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1435 /* It does not make sense to resume the calling task. */
\r
1436 configASSERT( xTaskToResume );
\r
1438 /* The parameter cannot be NULL as it is impossible to resume the
\r
1439 currently executing task. */
\r
1440 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1442 taskENTER_CRITICAL();
\r
1444 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1446 traceTASK_RESUME( pxTCB );
\r
1448 /* As we are in a critical section we can access the ready
\r
1449 lists even if the scheduler is suspended. */
\r
1450 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1451 prvAddTaskToReadyList( pxTCB );
\r
1453 /* We may have just resumed a higher priority task. */
\r
1454 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1456 /* This yield may not cause the task just resumed to run,
\r
1457 but will leave the lists in the correct state for the
\r
1459 taskYIELD_IF_USING_PREEMPTION();
\r
1463 mtCOVERAGE_TEST_MARKER();
\r
1468 mtCOVERAGE_TEST_MARKER();
\r
1471 taskEXIT_CRITICAL();
\r
1475 mtCOVERAGE_TEST_MARKER();
\r
1479 #endif /* INCLUDE_vTaskSuspend */
\r
1481 /*-----------------------------------------------------------*/
\r
1483 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1485 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1487 BaseType_t xYieldRequired = pdFALSE;
\r
1488 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1489 UBaseType_t uxSavedInterruptStatus;
\r
1491 configASSERT( xTaskToResume );
\r
1493 /* RTOS ports that support interrupt nesting have the concept of a
\r
1494 maximum system call (or maximum API call) interrupt priority.
\r
1495 Interrupts that are above the maximum system call priority are keep
\r
1496 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1497 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1498 is defined in FreeRTOSConfig.h then
\r
1499 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1500 failure if a FreeRTOS API function is called from an interrupt that has
\r
1501 been assigned a priority above the configured maximum system call
\r
1502 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1503 from interrupts that have been assigned a priority at or (logically)
\r
1504 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1505 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1506 simple as possible. More information (albeit Cortex-M specific) is
\r
1507 provided on the following link:
\r
1508 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1509 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1511 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1513 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1515 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1517 /* Check the ready lists can be accessed. */
\r
1518 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1520 /* Ready lists can be accessed so move the task from the
\r
1521 suspended list to the ready list directly. */
\r
1522 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1524 xYieldRequired = pdTRUE;
\r
1528 mtCOVERAGE_TEST_MARKER();
\r
1531 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1532 prvAddTaskToReadyList( pxTCB );
\r
1536 /* The delayed or ready lists cannot be accessed so the task
\r
1537 is held in the pending ready list until the scheduler is
\r
1539 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1544 mtCOVERAGE_TEST_MARKER();
\r
1547 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1549 return xYieldRequired;
\r
1552 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1553 /*-----------------------------------------------------------*/
\r
1555 void vTaskStartScheduler( void )
\r
1557 BaseType_t xReturn;
\r
1559 /* Add the idle task at the lowest priority. */
\r
1560 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1562 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1563 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1564 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
1568 /* Create the idle task without storing its handle. */
\r
1569 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
1571 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1573 #if ( configUSE_TIMERS == 1 )
\r
1575 if( xReturn == pdPASS )
\r
1577 xReturn = xTimerCreateTimerTask();
\r
1581 mtCOVERAGE_TEST_MARKER();
\r
1584 #endif /* configUSE_TIMERS */
\r
1586 if( xReturn == pdPASS )
\r
1588 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1589 before or during the call to xPortStartScheduler(). The stacks of
\r
1590 the created tasks contain a status word with interrupts switched on
\r
1591 so interrupts will automatically get re-enabled when the first task
\r
1593 portDISABLE_INTERRUPTS();
\r
1595 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1597 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1598 structure specific to the task that will run first. */
\r
1599 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1601 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1603 xNextTaskUnblockTime = portMAX_DELAY;
\r
1604 xSchedulerRunning = pdTRUE;
\r
1605 xTickCount = ( TickType_t ) 0U;
\r
1607 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1608 macro must be defined to configure the timer/counter used to generate
\r
1609 the run time counter time base. */
\r
1610 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1612 /* Setting up the timer tick is hardware specific and thus in the
\r
1613 portable interface. */
\r
1614 if( xPortStartScheduler() != pdFALSE )
\r
1616 /* Should not reach here as if the scheduler is running the
\r
1617 function will not return. */
\r
1621 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1626 /* This line will only be reached if the kernel could not be started,
\r
1627 because there was not enough FreeRTOS heap to create the idle task
\r
1628 or the timer task. */
\r
1629 configASSERT( xReturn );
\r
1632 /*-----------------------------------------------------------*/
\r
1634 void vTaskEndScheduler( void )
\r
1636 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1637 routine so the original ISRs can be restored if necessary. The port
\r
1638 layer must ensure interrupts enable bit is left in the correct state. */
\r
1639 portDISABLE_INTERRUPTS();
\r
1640 xSchedulerRunning = pdFALSE;
\r
1641 vPortEndScheduler();
\r
1643 /*----------------------------------------------------------*/
\r
1645 void vTaskSuspendAll( void )
\r
1647 /* A critical section is not required as the variable is of type
\r
1648 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
1649 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1650 http://goo.gl/wu4acr */
\r
1651 ++uxSchedulerSuspended;
\r
1653 /*----------------------------------------------------------*/
\r
1655 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1657 static TickType_t prvGetExpectedIdleTime( void )
\r
1659 TickType_t xReturn;
\r
1660 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
1662 /* uxHigherPriorityReadyTasks takes care of the case where
\r
1663 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
1664 task that are in the Ready state, even though the idle task is
\r
1666 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
1668 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
1670 uxHigherPriorityReadyTasks = pdTRUE;
\r
1675 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
1677 /* When port optimised task selection is used the uxTopReadyPriority
\r
1678 variable is used as a bit map. If bits other than the least
\r
1679 significant bit are set then there are tasks that have a priority
\r
1680 above the idle priority that are in the Ready state. This takes
\r
1681 care of the case where the co-operative scheduler is in use. */
\r
1682 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
1684 uxHigherPriorityReadyTasks = pdTRUE;
\r
1689 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1693 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1695 /* There are other idle priority tasks in the ready state. If
\r
1696 time slicing is used then the very next tick interrupt must be
\r
1700 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
1702 /* There are tasks in the Ready state that have a priority above the
\r
1703 idle priority. This path can only be reached if
\r
1704 configUSE_PREEMPTION is 0. */
\r
1709 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1715 #endif /* configUSE_TICKLESS_IDLE */
\r
1716 /*----------------------------------------------------------*/
\r
1718 BaseType_t xTaskResumeAll( void )
\r
1721 BaseType_t xAlreadyYielded = pdFALSE;
\r
1723 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1724 previous call to vTaskSuspendAll(). */
\r
1725 configASSERT( uxSchedulerSuspended );
\r
1727 /* It is possible that an ISR caused a task to be removed from an event
\r
1728 list while the scheduler was suspended. If this was the case then the
\r
1729 removed task will have been added to the xPendingReadyList. Once the
\r
1730 scheduler has been resumed it is safe to move all the pending ready
\r
1731 tasks from this list into their appropriate ready list. */
\r
1732 taskENTER_CRITICAL();
\r
1734 --uxSchedulerSuspended;
\r
1736 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1738 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
1740 /* Move any readied tasks from the pending list into the
\r
1741 appropriate ready list. */
\r
1742 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1744 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1745 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1746 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1747 prvAddTaskToReadyList( pxTCB );
\r
1749 /* If the moved task has a priority higher than the current
\r
1750 task then a yield must be performed. */
\r
1751 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1753 xYieldPending = pdTRUE;
\r
1757 mtCOVERAGE_TEST_MARKER();
\r
1761 /* If any ticks occurred while the scheduler was suspended then
\r
1762 they should be processed now. This ensures the tick count does
\r
1763 not slip, and that any delayed tasks are resumed at the correct
\r
1765 if( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1767 while( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1769 if( xTaskIncrementTick() != pdFALSE )
\r
1771 xYieldPending = pdTRUE;
\r
1775 mtCOVERAGE_TEST_MARKER();
\r
1782 mtCOVERAGE_TEST_MARKER();
\r
1785 if( xYieldPending == pdTRUE )
\r
1787 #if( configUSE_PREEMPTION != 0 )
\r
1789 xAlreadyYielded = pdTRUE;
\r
1792 taskYIELD_IF_USING_PREEMPTION();
\r
1796 mtCOVERAGE_TEST_MARKER();
\r
1802 mtCOVERAGE_TEST_MARKER();
\r
1805 taskEXIT_CRITICAL();
\r
1807 return xAlreadyYielded;
\r
1809 /*-----------------------------------------------------------*/
\r
1811 TickType_t xTaskGetTickCount( void )
\r
1813 TickType_t xTicks;
\r
1815 /* Critical section required if running on a 16 bit processor. */
\r
1816 portTICK_TYPE_ENTER_CRITICAL();
\r
1818 xTicks = xTickCount;
\r
1820 portTICK_TYPE_EXIT_CRITICAL();
\r
1824 /*-----------------------------------------------------------*/
\r
1826 TickType_t xTaskGetTickCountFromISR( void )
\r
1828 TickType_t xReturn;
\r
1829 UBaseType_t uxSavedInterruptStatus;
\r
1831 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1832 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1833 above the maximum system call priority are kept permanently enabled, even
\r
1834 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1835 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1836 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1837 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1838 assigned a priority above the configured maximum system call priority.
\r
1839 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1840 that have been assigned a priority at or (logically) below the maximum
\r
1841 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1842 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1843 More information (albeit Cortex-M specific) is provided on the following
\r
1844 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1845 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1847 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
1849 xReturn = xTickCount;
\r
1851 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1855 /*-----------------------------------------------------------*/
\r
1857 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
1859 /* A critical section is not required because the variables are of type
\r
1861 return uxCurrentNumberOfTasks;
\r
1863 /*-----------------------------------------------------------*/
\r
1865 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1867 char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
1871 /* If null is passed in here then the name of the calling task is being queried. */
\r
1872 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1873 configASSERT( pxTCB );
\r
1874 return &( pxTCB->pcTaskName[ 0 ] );
\r
1877 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1878 /*-----------------------------------------------------------*/
\r
1880 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1882 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
1884 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1886 vTaskSuspendAll();
\r
1888 /* Is there a space in the array for each task in the system? */
\r
1889 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1891 /* Fill in an TaskStatus_t structure with information on each
\r
1892 task in the Ready state. */
\r
1896 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1898 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1900 /* Fill in an TaskStatus_t structure with information on each
\r
1901 task in the Blocked state. */
\r
1902 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
1903 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
1905 #if( INCLUDE_vTaskDelete == 1 )
\r
1907 /* Fill in an TaskStatus_t structure with information on
\r
1908 each task that has been deleted but not yet cleaned up. */
\r
1909 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1913 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1915 /* Fill in an TaskStatus_t structure with information on
\r
1916 each task in the Suspended state. */
\r
1917 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1921 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1923 if( pulTotalRunTime != NULL )
\r
1925 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1926 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
1928 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1934 if( pulTotalRunTime != NULL )
\r
1936 *pulTotalRunTime = 0;
\r
1943 mtCOVERAGE_TEST_MARKER();
\r
1946 ( void ) xTaskResumeAll();
\r
1951 #endif /* configUSE_TRACE_FACILITY */
\r
1952 /*----------------------------------------------------------*/
\r
1954 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1956 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
1958 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1959 started, then xIdleTaskHandle will be NULL. */
\r
1960 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1961 return xIdleTaskHandle;
\r
1964 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1965 /*----------------------------------------------------------*/
\r
1967 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1968 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1969 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1971 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1973 void vTaskStepTick( const TickType_t xTicksToJump )
\r
1975 /* Correct the tick count value after a period during which the tick
\r
1976 was suppressed. Note this does *not* call the tick hook function for
\r
1977 each stepped tick. */
\r
1978 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1979 xTickCount += xTicksToJump;
\r
1980 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
1983 #endif /* configUSE_TICKLESS_IDLE */
\r
1984 /*----------------------------------------------------------*/
\r
1986 BaseType_t xTaskIncrementTick( void )
\r
1989 TickType_t xItemValue;
\r
1990 BaseType_t xSwitchRequired = pdFALSE;
\r
1992 /* Called by the portable layer each time a tick interrupt occurs.
\r
1993 Increments the tick then checks to see if the new tick value will cause any
\r
1994 tasks to be unblocked. */
\r
1995 traceTASK_INCREMENT_TICK( xTickCount );
\r
1996 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1998 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1999 delayed lists if it wraps to 0. */
\r
2003 /* Minor optimisation. The tick count cannot change in this
\r
2005 const TickType_t xConstTickCount = xTickCount;
\r
2007 if( xConstTickCount == ( TickType_t ) 0U )
\r
2009 taskSWITCH_DELAYED_LISTS();
\r
2013 mtCOVERAGE_TEST_MARKER();
\r
2016 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2017 the queue in the order of their wake time - meaning once one task
\r
2018 has been found whose block time has not expired there is no need to
\r
2019 look any further down the list. */
\r
2020 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2024 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2026 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2027 to the maximum possible value so it is extremely
\r
2029 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2030 next time through. */
\r
2031 xNextTaskUnblockTime = portMAX_DELAY;
\r
2036 /* The delayed list is not empty, get the value of the
\r
2037 item at the head of the delayed list. This is the time
\r
2038 at which the task at the head of the delayed list must
\r
2039 be removed from the Blocked state. */
\r
2040 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
2041 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
2043 if( xConstTickCount < xItemValue )
\r
2045 /* It is not time to unblock this item yet, but the
\r
2046 item value is the time at which the task at the head
\r
2047 of the blocked list must be removed from the Blocked
\r
2048 state - so record the item value in
\r
2049 xNextTaskUnblockTime. */
\r
2050 xNextTaskUnblockTime = xItemValue;
\r
2055 mtCOVERAGE_TEST_MARKER();
\r
2058 /* It is time to remove the item from the Blocked state. */
\r
2059 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2061 /* Is the task waiting on an event also? If so remove
\r
2062 it from the event list. */
\r
2063 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2065 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2069 mtCOVERAGE_TEST_MARKER();
\r
2072 /* Place the unblocked task into the appropriate ready
\r
2074 prvAddTaskToReadyList( pxTCB );
\r
2076 /* A task being unblocked cannot cause an immediate
\r
2077 context switch if preemption is turned off. */
\r
2078 #if ( configUSE_PREEMPTION == 1 )
\r
2080 /* Preemption is on, but a context switch should
\r
2081 only be performed if the unblocked task has a
\r
2082 priority that is equal to or higher than the
\r
2083 currently executing task. */
\r
2084 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2086 xSwitchRequired = pdTRUE;
\r
2090 mtCOVERAGE_TEST_MARKER();
\r
2093 #endif /* configUSE_PREEMPTION */
\r
2099 /* Tasks of equal priority to the currently running task will share
\r
2100 processing time (time slice) if preemption is on, and the application
\r
2101 writer has not explicitly turned time slicing off. */
\r
2102 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2104 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2106 xSwitchRequired = pdTRUE;
\r
2110 mtCOVERAGE_TEST_MARKER();
\r
2113 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2115 #if ( configUSE_TICK_HOOK == 1 )
\r
2117 /* Guard against the tick hook being called when the pended tick
\r
2118 count is being unwound (when the scheduler is being unlocked). */
\r
2119 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2121 vApplicationTickHook();
\r
2125 mtCOVERAGE_TEST_MARKER();
\r
2128 #endif /* configUSE_TICK_HOOK */
\r
2134 /* The tick hook gets called at regular intervals, even if the
\r
2135 scheduler is locked. */
\r
2136 #if ( configUSE_TICK_HOOK == 1 )
\r
2138 vApplicationTickHook();
\r
2143 #if ( configUSE_PREEMPTION == 1 )
\r
2145 if( xYieldPending != pdFALSE )
\r
2147 xSwitchRequired = pdTRUE;
\r
2151 mtCOVERAGE_TEST_MARKER();
\r
2154 #endif /* configUSE_PREEMPTION */
\r
2156 return xSwitchRequired;
\r
2158 /*-----------------------------------------------------------*/
\r
2160 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2162 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2166 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2168 if( xTask == NULL )
\r
2170 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2174 xTCB = ( TCB_t * ) xTask;
\r
2177 /* Save the hook function in the TCB. A critical section is required as
\r
2178 the value can be accessed from an interrupt. */
\r
2179 taskENTER_CRITICAL();
\r
2180 xTCB->pxTaskTag = pxHookFunction;
\r
2181 taskEXIT_CRITICAL();
\r
2184 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2185 /*-----------------------------------------------------------*/
\r
2187 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2189 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2192 TaskHookFunction_t xReturn;
\r
2194 /* If xTask is NULL then we are setting our own task hook. */
\r
2195 if( xTask == NULL )
\r
2197 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2201 xTCB = ( TCB_t * ) xTask;
\r
2204 /* Save the hook function in the TCB. A critical section is required as
\r
2205 the value can be accessed from an interrupt. */
\r
2206 taskENTER_CRITICAL();
\r
2208 xReturn = xTCB->pxTaskTag;
\r
2210 taskEXIT_CRITICAL();
\r
2215 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2216 /*-----------------------------------------------------------*/
\r
2218 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2220 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2223 BaseType_t xReturn;
\r
2225 /* If xTask is NULL then we are calling our own task hook. */
\r
2226 if( xTask == NULL )
\r
2228 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2232 xTCB = ( TCB_t * ) xTask;
\r
2235 if( xTCB->pxTaskTag != NULL )
\r
2237 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2247 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2248 /*-----------------------------------------------------------*/
\r
2250 void vTaskSwitchContext( void )
\r
2252 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2254 /* The scheduler is currently suspended - do not allow a context
\r
2256 xYieldPending = pdTRUE;
\r
2260 xYieldPending = pdFALSE;
\r
2261 traceTASK_SWITCHED_OUT();
\r
2263 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2265 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2266 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2268 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2271 /* Add the amount of time the task has been running to the
\r
2272 accumulated time so far. The time the task started running was
\r
2273 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2274 protection here so count values are only valid until the timer
\r
2275 overflows. The guard against negative values is to protect
\r
2276 against suspect run time stat counter implementations - which
\r
2277 are provided by the application, not the kernel. */
\r
2278 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2280 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2284 mtCOVERAGE_TEST_MARKER();
\r
2286 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2288 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2290 /* Check for stack overflow, if configured. */
\r
2291 taskCHECK_FOR_STACK_OVERFLOW();
\r
2293 /* Select a new task to run using either the generic C or port
\r
2294 optimised asm code. */
\r
2295 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2296 traceTASK_SWITCHED_IN();
\r
2298 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2300 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2301 structure specific to this task. */
\r
2302 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2304 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2307 /*-----------------------------------------------------------*/
\r
2309 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2311 TickType_t xTimeToWake;
\r
2313 configASSERT( pxEventList );
\r
2315 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2316 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2318 /* Place the event list item of the TCB in the appropriate event list.
\r
2319 This is placed in the list in priority order so the highest priority task
\r
2320 is the first to be woken by the event. The queue that contains the event
\r
2321 list is locked, preventing simultaneous access from interrupts. */
\r
2322 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2324 /* The task must be removed from from the ready list before it is added to
\r
2325 the blocked list as the same list item is used for both lists. Exclusive
\r
2326 access to the ready lists guaranteed because the scheduler is locked. */
\r
2327 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2329 /* The current task must be in a ready list, so there is no need to
\r
2330 check, and the port reset macro can be called directly. */
\r
2331 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2335 mtCOVERAGE_TEST_MARKER();
\r
2338 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2340 if( xTicksToWait == portMAX_DELAY )
\r
2342 /* Add the task to the suspended task list instead of a delayed task
\r
2343 list to ensure the task is not woken by a timing event. It will
\r
2344 block indefinitely. */
\r
2345 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2349 /* Calculate the time at which the task should be woken if the event
\r
2350 does not occur. This may overflow but this doesn't matter, the
\r
2351 scheduler will handle it. */
\r
2352 xTimeToWake = xTickCount + xTicksToWait;
\r
2353 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2356 #else /* INCLUDE_vTaskSuspend */
\r
2358 /* Calculate the time at which the task should be woken if the event does
\r
2359 not occur. This may overflow but this doesn't matter, the scheduler
\r
2360 will handle it. */
\r
2361 xTimeToWake = xTickCount + xTicksToWait;
\r
2362 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2364 #endif /* INCLUDE_vTaskSuspend */
\r
2366 /*-----------------------------------------------------------*/
\r
2368 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2370 TickType_t xTimeToWake;
\r
2372 configASSERT( pxEventList );
\r
2374 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2375 the event groups implementation. */
\r
2376 configASSERT( uxSchedulerSuspended != 0 );
\r
2378 /* Store the item value in the event list item. It is safe to access the
\r
2379 event list item here as interrupts won't access the event list item of a
\r
2380 task that is not in the Blocked state. */
\r
2381 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2383 /* Place the event list item of the TCB at the end of the appropriate event
\r
2384 list. It is safe to access the event list here because it is part of an
\r
2385 event group implementation - and interrupts don't access event groups
\r
2386 directly (instead they access them indirectly by pending function calls to
\r
2387 the task level). */
\r
2388 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2390 /* The task must be removed from the ready list before it is added to the
\r
2391 blocked list. Exclusive access can be assured to the ready list as the
\r
2392 scheduler is locked. */
\r
2393 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2395 /* The current task must be in a ready list, so there is no need to
\r
2396 check, and the port reset macro can be called directly. */
\r
2397 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2401 mtCOVERAGE_TEST_MARKER();
\r
2404 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2406 if( xTicksToWait == portMAX_DELAY )
\r
2408 /* Add the task to the suspended task list instead of a delayed task
\r
2409 list to ensure it is not woken by a timing event. It will block
\r
2411 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2415 /* Calculate the time at which the task should be woken if the event
\r
2416 does not occur. This may overflow but this doesn't matter, the
\r
2417 kernel will manage it correctly. */
\r
2418 xTimeToWake = xTickCount + xTicksToWait;
\r
2419 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2422 #else /* INCLUDE_vTaskSuspend */
\r
2424 /* Calculate the time at which the task should be woken if the event does
\r
2425 not occur. This may overflow but this doesn't matter, the kernel
\r
2426 will manage it correctly. */
\r
2427 xTimeToWake = xTickCount + xTicksToWait;
\r
2428 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2430 #endif /* INCLUDE_vTaskSuspend */
\r
2432 /*-----------------------------------------------------------*/
\r
2434 #if configUSE_TIMERS == 1
\r
2436 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2438 TickType_t xTimeToWake;
\r
2440 configASSERT( pxEventList );
\r
2442 /* This function should not be called by application code hence the
\r
2443 'Restricted' in its name. It is not part of the public API. It is
\r
2444 designed for use by kernel code, and has special calling requirements -
\r
2445 it should be called with the scheduler suspended. */
\r
2448 /* Place the event list item of the TCB in the appropriate event list.
\r
2449 In this case it is assume that this is the only task that is going to
\r
2450 be waiting on this event list, so the faster vListInsertEnd() function
\r
2451 can be used in place of vListInsert. */
\r
2452 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2454 /* We must remove this task from the ready list before adding it to the
\r
2455 blocked list as the same list item is used for both lists. This
\r
2456 function is called with the scheduler locked so interrupts will not
\r
2457 access the lists at the same time. */
\r
2458 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2460 /* The current task must be in a ready list, so there is no need to
\r
2461 check, and the port reset macro can be called directly. */
\r
2462 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2466 mtCOVERAGE_TEST_MARKER();
\r
2469 /* If vTaskSuspend() is available then the suspended task list is also
\r
2470 available and a task that is blocking indefinitely can enter the
\r
2471 suspended state (it is not really suspended as it will re-enter the
\r
2472 Ready state when the event it is waiting indefinitely for occurs).
\r
2473 Blocking indefinitely is useful when using tickless idle mode as when
\r
2474 all tasks are blocked indefinitely all timers can be turned off. */
\r
2475 #if( INCLUDE_vTaskSuspend == 1 )
\r
2477 if( xWaitIndefinitely == pdTRUE )
\r
2479 /* Add the task to the suspended task list instead of a delayed
\r
2480 task list to ensure the task is not woken by a timing event. It
\r
2481 will block indefinitely. */
\r
2482 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2486 /* Calculate the time at which the task should be woken if the
\r
2487 event does not occur. This may overflow but this doesn't
\r
2489 xTimeToWake = xTickCount + xTicksToWait;
\r
2490 traceTASK_DELAY_UNTIL();
\r
2491 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2496 /* Calculate the time at which the task should be woken if the event
\r
2497 does not occur. This may overflow but this doesn't matter. */
\r
2498 xTimeToWake = xTickCount + xTicksToWait;
\r
2499 traceTASK_DELAY_UNTIL();
\r
2500 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2502 /* Remove compiler warnings when INCLUDE_vTaskSuspend() is not
\r
2504 ( void ) xWaitIndefinitely;
\r
2509 #endif /* configUSE_TIMERS */
\r
2510 /*-----------------------------------------------------------*/
\r
2512 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
2514 TCB_t *pxUnblockedTCB;
\r
2515 BaseType_t xReturn;
\r
2517 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
2518 called from a critical section within an ISR. */
\r
2520 /* The event list is sorted in priority order, so the first in the list can
\r
2521 be removed as it is known to be the highest priority. Remove the TCB from
\r
2522 the delayed list, and add it to the ready list.
\r
2524 If an event is for a queue that is locked then this function will never
\r
2525 get called - the lock count on the queue will get modified instead. This
\r
2526 means exclusive access to the event list is guaranteed here.
\r
2528 This function assumes that a check has already been made to ensure that
\r
2529 pxEventList is not empty. */
\r
2530 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2531 configASSERT( pxUnblockedTCB );
\r
2532 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2534 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2536 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2537 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2541 /* The delayed and ready lists cannot be accessed, so hold this task
\r
2542 pending until the scheduler is resumed. */
\r
2543 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2546 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2548 /* Return true if the task removed from the event list has a higher
\r
2549 priority than the calling task. This allows the calling task to know if
\r
2550 it should force a context switch now. */
\r
2553 /* Mark that a yield is pending in case the user is not using the
\r
2554 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2555 xYieldPending = pdTRUE;
\r
2559 xReturn = pdFALSE;
\r
2562 #if( configUSE_TICKLESS_IDLE != 0 )
\r
2564 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
2565 might be set to the blocked task's time out time. If the task is
\r
2566 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
2567 normally left unchanged, because it is automatically reset to a new
\r
2568 value when the tick count equals xNextTaskUnblockTime. However if
\r
2569 tickless idling is used it might be more important to enter sleep mode
\r
2570 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
2571 ensure it is updated at the earliest possible time. */
\r
2572 prvResetNextTaskUnblockTime();
\r
2578 /*-----------------------------------------------------------*/
\r
2580 BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
2582 TCB_t *pxUnblockedTCB;
\r
2583 BaseType_t xReturn;
\r
2585 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2586 the event flags implementation. */
\r
2587 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
2589 /* Store the new item value in the event list. */
\r
2590 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2592 /* Remove the event list form the event flag. Interrupts do not access
\r
2594 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2595 configASSERT( pxUnblockedTCB );
\r
2596 ( void ) uxListRemove( pxEventListItem );
\r
2598 /* Remove the task from the delayed list and add it to the ready list. The
\r
2599 scheduler is suspended so interrupts will not be accessing the ready
\r
2601 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2602 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2604 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2606 /* Return true if the task removed from the event list has
\r
2607 a higher priority than the calling task. This allows
\r
2608 the calling task to know if it should force a context
\r
2612 /* Mark that a yield is pending in case the user is not using the
\r
2613 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2614 xYieldPending = pdTRUE;
\r
2618 xReturn = pdFALSE;
\r
2623 /*-----------------------------------------------------------*/
\r
2625 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
2627 configASSERT( pxTimeOut );
\r
2628 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2629 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2631 /*-----------------------------------------------------------*/
\r
2633 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
2635 BaseType_t xReturn;
\r
2637 configASSERT( pxTimeOut );
\r
2638 configASSERT( pxTicksToWait );
\r
2640 taskENTER_CRITICAL();
\r
2642 /* Minor optimisation. The tick count cannot change in this block. */
\r
2643 const TickType_t xConstTickCount = xTickCount;
\r
2645 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2646 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2647 the maximum block time then the task should block indefinitely, and
\r
2648 therefore never time out. */
\r
2649 if( *pxTicksToWait == portMAX_DELAY )
\r
2651 xReturn = pdFALSE;
\r
2653 else /* We are not blocking indefinitely, perform the checks below. */
\r
2656 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2658 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2659 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2660 It must have wrapped all the way around and gone past us again. This
\r
2661 passed since vTaskSetTimeout() was called. */
\r
2664 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2666 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2667 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2668 vTaskSetTimeOutState( pxTimeOut );
\r
2669 xReturn = pdFALSE;
\r
2676 taskEXIT_CRITICAL();
\r
2680 /*-----------------------------------------------------------*/
\r
2682 void vTaskMissedYield( void )
\r
2684 xYieldPending = pdTRUE;
\r
2686 /*-----------------------------------------------------------*/
\r
2688 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2690 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
2692 UBaseType_t uxReturn;
\r
2695 if( xTask != NULL )
\r
2697 pxTCB = ( TCB_t * ) xTask;
\r
2698 uxReturn = pxTCB->uxTaskNumber;
\r
2708 #endif /* configUSE_TRACE_FACILITY */
\r
2709 /*-----------------------------------------------------------*/
\r
2711 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2713 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
2717 if( xTask != NULL )
\r
2719 pxTCB = ( TCB_t * ) xTask;
\r
2720 pxTCB->uxTaskNumber = uxHandle;
\r
2724 #endif /* configUSE_TRACE_FACILITY */
\r
2727 * -----------------------------------------------------------
\r
2729 * ----------------------------------------------------------
\r
2731 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2732 * language extensions. The equivalent prototype for this function is:
\r
2734 * void prvIdleTask( void *pvParameters );
\r
2737 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2739 /* Stop warnings. */
\r
2740 ( void ) pvParameters;
\r
2744 /* See if any tasks have been deleted. */
\r
2745 prvCheckTasksWaitingTermination();
\r
2747 #if ( configUSE_PREEMPTION == 0 )
\r
2749 /* If we are not using preemption we keep forcing a task switch to
\r
2750 see if any other task has become available. If we are using
\r
2751 preemption we don't need to do this as any task becoming available
\r
2752 will automatically get the processor anyway. */
\r
2755 #endif /* configUSE_PREEMPTION */
\r
2757 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2759 /* When using preemption tasks of equal priority will be
\r
2760 timesliced. If a task that is sharing the idle priority is ready
\r
2761 to run then the idle task should yield before the end of the
\r
2764 A critical region is not required here as we are just reading from
\r
2765 the list, and an occasional incorrect value will not matter. If
\r
2766 the ready list at the idle priority contains more than one task
\r
2767 then a task other than the idle task is ready to execute. */
\r
2768 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
2774 mtCOVERAGE_TEST_MARKER();
\r
2777 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2779 #if ( configUSE_IDLE_HOOK == 1 )
\r
2781 extern void vApplicationIdleHook( void );
\r
2783 /* Call the user defined function from within the idle task. This
\r
2784 allows the application designer to add background functionality
\r
2785 without the overhead of a separate task.
\r
2786 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2787 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2788 vApplicationIdleHook();
\r
2790 #endif /* configUSE_IDLE_HOOK */
\r
2792 /* This conditional compilation should use inequality to 0, not equality
\r
2793 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2794 user defined low power mode implementations require
\r
2795 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2796 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2798 TickType_t xExpectedIdleTime;
\r
2800 /* It is not desirable to suspend then resume the scheduler on
\r
2801 each iteration of the idle task. Therefore, a preliminary
\r
2802 test of the expected idle time is performed without the
\r
2803 scheduler suspended. The result here is not necessarily
\r
2805 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2807 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2809 vTaskSuspendAll();
\r
2811 /* Now the scheduler is suspended, the expected idle
\r
2812 time can be sampled again, and this time its value can
\r
2814 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2815 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2817 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2819 traceLOW_POWER_IDLE_BEGIN();
\r
2820 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2821 traceLOW_POWER_IDLE_END();
\r
2825 mtCOVERAGE_TEST_MARKER();
\r
2828 ( void ) xTaskResumeAll();
\r
2832 mtCOVERAGE_TEST_MARKER();
\r
2835 #endif /* configUSE_TICKLESS_IDLE */
\r
2838 /*-----------------------------------------------------------*/
\r
2840 #if( configUSE_TICKLESS_IDLE != 0 )
\r
2842 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2844 /* The idle task exists in addition to the application tasks. */
\r
2845 const UBaseType_t uxNonApplicationTasks = 1;
\r
2846 eSleepModeStatus eReturn = eStandardSleep;
\r
2848 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2850 /* A task was made ready while the scheduler was suspended. */
\r
2851 eReturn = eAbortSleep;
\r
2853 else if( xYieldPending != pdFALSE )
\r
2855 /* A yield was pended while the scheduler was suspended. */
\r
2856 eReturn = eAbortSleep;
\r
2860 /* If all the tasks are in the suspended list (which might mean they
\r
2861 have an infinite block time rather than actually being suspended)
\r
2862 then it is safe to turn all clocks off and just wait for external
\r
2864 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2866 eReturn = eNoTasksWaitingTimeout;
\r
2870 mtCOVERAGE_TEST_MARKER();
\r
2877 #endif /* configUSE_TICKLESS_IDLE */
\r
2878 /*-----------------------------------------------------------*/
\r
2880 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
2884 /* Store the task name in the TCB. */
\r
2885 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2887 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2889 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2890 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2891 string is not accessible (extremely unlikely). */
\r
2892 if( pcName[ x ] == 0x00 )
\r
2898 mtCOVERAGE_TEST_MARKER();
\r
2902 /* Ensure the name string is terminated in the case that the string length
\r
2903 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2904 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
2906 /* This is used as an array index so must ensure it's not too large. First
\r
2907 remove the privilege bit if one is present. */
\r
2908 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
2910 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
2914 mtCOVERAGE_TEST_MARKER();
\r
2917 pxTCB->uxPriority = uxPriority;
\r
2918 #if ( configUSE_MUTEXES == 1 )
\r
2920 pxTCB->uxBasePriority = uxPriority;
\r
2921 pxTCB->uxMutexesHeld = 0;
\r
2923 #endif /* configUSE_MUTEXES */
\r
2925 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2926 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2928 /* Set the pxTCB as a link back from the ListItem_t. This is so we can get
\r
2929 back to the containing TCB from a generic item in a list. */
\r
2930 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2932 /* Event lists are always in priority order. */
\r
2933 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
2934 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2936 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2938 pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
2940 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2942 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2944 pxTCB->pxTaskTag = NULL;
\r
2946 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2948 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2950 pxTCB->ulRunTimeCounter = 0UL;
\r
2952 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2954 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2956 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2958 #else /* portUSING_MPU_WRAPPERS */
\r
2960 ( void ) xRegions;
\r
2961 ( void ) usStackDepth;
\r
2963 #endif /* portUSING_MPU_WRAPPERS */
\r
2965 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
2967 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
2969 pxTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
2974 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
2976 pxTCB->ulNotifiedValue = 0;
\r
2977 pxTCB->eNotifyState = eNotWaitingNotification;
\r
2981 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2983 /* Initialise this task's Newlib reent structure. */
\r
2984 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2986 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2988 /*-----------------------------------------------------------*/
\r
2990 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
2992 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
2996 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
2998 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
2999 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3003 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3004 /*-----------------------------------------------------------*/
\r
3006 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3008 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
3010 void *pvReturn = NULL;
\r
3013 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3015 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3016 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3026 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3027 /*-----------------------------------------------------------*/
\r
3029 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3031 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3035 /* If null is passed in here then we are modifying the MPU settings of
\r
3036 the calling task. */
\r
3037 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3039 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3042 #endif /* portUSING_MPU_WRAPPERS */
\r
3043 /*-----------------------------------------------------------*/
\r
3045 static void prvInitialiseTaskLists( void )
\r
3047 UBaseType_t uxPriority;
\r
3049 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3051 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3054 vListInitialise( &xDelayedTaskList1 );
\r
3055 vListInitialise( &xDelayedTaskList2 );
\r
3056 vListInitialise( &xPendingReadyList );
\r
3058 #if ( INCLUDE_vTaskDelete == 1 )
\r
3060 vListInitialise( &xTasksWaitingTermination );
\r
3062 #endif /* INCLUDE_vTaskDelete */
\r
3064 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3066 vListInitialise( &xSuspendedTaskList );
\r
3068 #endif /* INCLUDE_vTaskSuspend */
\r
3070 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3072 pxDelayedTaskList = &xDelayedTaskList1;
\r
3073 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3075 /*-----------------------------------------------------------*/
\r
3077 static void prvCheckTasksWaitingTermination( void )
\r
3079 #if ( INCLUDE_vTaskDelete == 1 )
\r
3081 BaseType_t xListIsEmpty;
\r
3083 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
3084 too often in the idle task. */
\r
3085 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3087 vTaskSuspendAll();
\r
3089 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
3091 ( void ) xTaskResumeAll();
\r
3093 if( xListIsEmpty == pdFALSE )
\r
3097 taskENTER_CRITICAL();
\r
3099 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
3100 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
3101 --uxCurrentNumberOfTasks;
\r
3102 --uxDeletedTasksWaitingCleanUp;
\r
3104 taskEXIT_CRITICAL();
\r
3106 prvDeleteTCB( pxTCB );
\r
3110 mtCOVERAGE_TEST_MARKER();
\r
3114 #endif /* INCLUDE_vTaskDelete */
\r
3116 /*-----------------------------------------------------------*/
\r
3118 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake )
\r
3120 /* The list item will be inserted in wake time order. */
\r
3121 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
3123 if( xTimeToWake < xTickCount )
\r
3125 /* Wake time has overflowed. Place this item in the overflow list. */
\r
3126 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3130 /* The wake time has not overflowed, so the current block list is used. */
\r
3131 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3133 /* If the task entering the blocked state was placed at the head of the
\r
3134 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
3136 if( xTimeToWake < xNextTaskUnblockTime )
\r
3138 xNextTaskUnblockTime = xTimeToWake;
\r
3142 mtCOVERAGE_TEST_MARKER();
\r
3146 /*-----------------------------------------------------------*/
\r
3148 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer )
\r
3152 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
3153 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
3154 the TCB then the stack. */
\r
3155 #if( portSTACK_GROWTH > 0 )
\r
3157 /* Allocate space for the TCB. Where the memory comes from depends on
\r
3158 the implementation of the port malloc function. */
\r
3159 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
3161 if( pxNewTCB != NULL )
\r
3163 /* Allocate space for the stack used by the task being created.
\r
3164 The base of the stack memory stored in the TCB so the task can
\r
3165 be deleted later if required. */
\r
3166 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
3168 if( pxNewTCB->pxStack == NULL )
\r
3170 /* Could not allocate the stack. Delete the allocated TCB. */
\r
3171 vPortFree( pxNewTCB );
\r
3176 #else /* portSTACK_GROWTH */
\r
3178 StackType_t *pxStack;
\r
3180 /* Allocate space for the stack used by the task being created. */
\r
3181 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
3183 if( pxStack != NULL )
\r
3185 /* Allocate space for the TCB. Where the memory comes from depends
\r
3186 on the implementation of the port malloc function. */
\r
3187 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
3189 if( pxNewTCB != NULL )
\r
3191 /* Store the stack location in the TCB. */
\r
3192 pxNewTCB->pxStack = pxStack;
\r
3196 /* The stack cannot be used as the TCB was not created. Free it
\r
3198 if( puxStackBuffer == NULL )
\r
3200 vPortFree( pxStack );
\r
3209 #endif /* portSTACK_GROWTH */
\r
3211 if( pxNewTCB != NULL )
\r
3213 /* Avoid dependency on memset() if it is not required. */
\r
3214 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3216 /* Just to help debugging. */
\r
3217 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );
\r
3219 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
3224 /*-----------------------------------------------------------*/
\r
3226 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3228 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3230 volatile TCB_t *pxNextTCB, *pxFirstTCB;
\r
3231 UBaseType_t uxTask = 0;
\r
3233 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3235 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
3237 /* Populate an TaskStatus_t structure within the
\r
3238 pxTaskStatusArray array for each task that is referenced from
\r
3239 pxList. See the definition of TaskStatus_t in task.h for the
\r
3240 meaning of each TaskStatus_t structure member. */
\r
3243 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
3245 pxTaskStatusArray[ uxTask ].xHandle = ( TaskHandle_t ) pxNextTCB;
\r
3246 pxTaskStatusArray[ uxTask ].pcTaskName = ( const char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
3247 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
3248 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
3249 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
3251 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3253 /* If the task is in the suspended list then there is a chance
\r
3254 it is actually just blocked indefinitely - so really it should
\r
3255 be reported as being in the Blocked state. */
\r
3256 if( eState == eSuspended )
\r
3258 if( listLIST_ITEM_CONTAINER( &( pxNextTCB->xEventListItem ) ) != NULL )
\r
3260 pxTaskStatusArray[ uxTask ].eCurrentState = eBlocked;
\r
3264 #endif /* INCLUDE_vTaskSuspend */
\r
3266 #if ( configUSE_MUTEXES == 1 )
\r
3268 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
3272 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
3276 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3278 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
3282 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
3286 #if ( portSTACK_GROWTH > 0 )
\r
3288 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxEndOfStack );
\r
3292 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxStack );
\r
3298 } while( pxNextTCB != pxFirstTCB );
\r
3302 mtCOVERAGE_TEST_MARKER();
\r
3308 #endif /* configUSE_TRACE_FACILITY */
\r
3309 /*-----------------------------------------------------------*/
\r
3311 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3313 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3315 uint32_t ulCount = 0U;
\r
3317 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3319 pucStackByte -= portSTACK_GROWTH;
\r
3323 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3325 return ( uint16_t ) ulCount;
\r
3328 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3329 /*-----------------------------------------------------------*/
\r
3331 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3333 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3336 uint8_t *pucEndOfStack;
\r
3337 UBaseType_t uxReturn;
\r
3339 pxTCB = prvGetTCBFromHandle( xTask );
\r
3341 #if portSTACK_GROWTH < 0
\r
3343 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3347 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3351 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3356 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3357 /*-----------------------------------------------------------*/
\r
3359 #if ( INCLUDE_vTaskDelete == 1 )
\r
3361 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3363 /* This call is required specifically for the TriCore port. It must be
\r
3364 above the vPortFree() calls. The call is also used by ports/demos that
\r
3365 want to allocate and clean RAM statically. */
\r
3366 portCLEAN_UP_TCB( pxTCB );
\r
3368 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3369 to the task to free any memory allocated at the application level. */
\r
3370 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3372 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3374 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3376 #if( portUSING_MPU_WRAPPERS == 1 )
\r
3378 /* Only free the stack if it was allocated dynamically in the first
\r
3380 if( pxTCB->xUsingStaticallyAllocatedStack == pdFALSE )
\r
3382 vPortFreeAligned( pxTCB->pxStack );
\r
3387 vPortFreeAligned( pxTCB->pxStack );
\r
3391 vPortFree( pxTCB );
\r
3394 #endif /* INCLUDE_vTaskDelete */
\r
3395 /*-----------------------------------------------------------*/
\r
3397 static void prvResetNextTaskUnblockTime( void )
\r
3401 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3403 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3404 the maximum possible value so it is extremely unlikely that the
\r
3405 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3406 there is an item in the delayed list. */
\r
3407 xNextTaskUnblockTime = portMAX_DELAY;
\r
3411 /* The new current delayed list is not empty, get the value of
\r
3412 the item at the head of the delayed list. This is the time at
\r
3413 which the task at the head of the delayed list should be removed
\r
3414 from the Blocked state. */
\r
3415 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3416 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) );
\r
3419 /*-----------------------------------------------------------*/
\r
3421 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3423 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3425 TaskHandle_t xReturn;
\r
3427 /* A critical section is not required as this is not called from
\r
3428 an interrupt and the current TCB will always be the same for any
\r
3429 individual execution thread. */
\r
3430 xReturn = pxCurrentTCB;
\r
3435 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3436 /*-----------------------------------------------------------*/
\r
3438 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3440 BaseType_t xTaskGetSchedulerState( void )
\r
3442 BaseType_t xReturn;
\r
3444 if( xSchedulerRunning == pdFALSE )
\r
3446 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3450 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3452 xReturn = taskSCHEDULER_RUNNING;
\r
3456 xReturn = taskSCHEDULER_SUSPENDED;
\r
3463 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3464 /*-----------------------------------------------------------*/
\r
3466 #if ( configUSE_MUTEXES == 1 )
\r
3468 void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3470 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3472 /* If the mutex was given back by an interrupt while the queue was
\r
3473 locked then the mutex holder might now be NULL. */
\r
3474 if( pxMutexHolder != NULL )
\r
3476 /* If the holder of the mutex has a priority below the priority of
\r
3477 the task attempting to obtain the mutex then it will temporarily
\r
3478 inherit the priority of the task attempting to obtain the mutex. */
\r
3479 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3481 /* Adjust the mutex holder state to account for its new
\r
3482 priority. Only reset the event list item value if the value is
\r
3483 not being used for anything else. */
\r
3484 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3486 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
3490 mtCOVERAGE_TEST_MARKER();
\r
3493 /* If the task being modified is in the ready state it will need
\r
3494 to be moved into a new list. */
\r
3495 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
3497 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3499 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3503 mtCOVERAGE_TEST_MARKER();
\r
3506 /* Inherit the priority before being moved into the new list. */
\r
3507 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3508 prvAddTaskToReadyList( pxTCB );
\r
3512 /* Just inherit the priority. */
\r
3513 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3516 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
3520 mtCOVERAGE_TEST_MARKER();
\r
3525 mtCOVERAGE_TEST_MARKER();
\r
3529 #endif /* configUSE_MUTEXES */
\r
3530 /*-----------------------------------------------------------*/
\r
3532 #if ( configUSE_MUTEXES == 1 )
\r
3534 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3536 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3537 BaseType_t xReturn = pdFALSE;
\r
3539 if( pxMutexHolder != NULL )
\r
3541 /* A task can only have an inherited priority if it holds the mutex.
\r
3542 If the mutex is held by a task then it cannot be given from an
\r
3543 interrupt, and if a mutex is given by the holding task then it must
\r
3544 be the running state task. */
\r
3545 configASSERT( pxTCB == pxCurrentTCB );
\r
3547 configASSERT( pxTCB->uxMutexesHeld );
\r
3548 ( pxTCB->uxMutexesHeld )--;
\r
3550 /* Has the holder of the mutex inherited the priority of another
\r
3552 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3554 /* Only disinherit if no other mutexes are held. */
\r
3555 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3557 /* A task can only have an inherited priority if it holds
\r
3558 the mutex. If the mutex is held by a task then it cannot be
\r
3559 given from an interrupt, and if a mutex is given by the
\r
3560 holding task then it must be the running state task. Remove
\r
3561 the holding task from the ready list. */
\r
3562 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3564 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3568 mtCOVERAGE_TEST_MARKER();
\r
3571 /* Disinherit the priority before adding the task into the
\r
3572 new ready list. */
\r
3573 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3574 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3576 /* Reset the event list item value. It cannot be in use for
\r
3577 any other purpose if this task is running, and it must be
\r
3578 running to give back the mutex. */
\r
3579 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
3580 prvAddTaskToReadyList( pxTCB );
\r
3582 /* Return true to indicate that a context switch is required.
\r
3583 This is only actually required in the corner case whereby
\r
3584 multiple mutexes were held and the mutexes were given back
\r
3585 in an order different to that in which they were taken.
\r
3586 If a context switch did not occur when the first mutex was
\r
3587 returned, even if a task was waiting on it, then a context
\r
3588 switch should occur when the last mutex is returned whether
\r
3589 a task is waiting on it or not. */
\r
3594 mtCOVERAGE_TEST_MARKER();
\r
3599 mtCOVERAGE_TEST_MARKER();
\r
3604 mtCOVERAGE_TEST_MARKER();
\r
3610 #endif /* configUSE_MUTEXES */
\r
3611 /*-----------------------------------------------------------*/
\r
3613 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3615 void vTaskEnterCritical( void )
\r
3617 portDISABLE_INTERRUPTS();
\r
3619 if( xSchedulerRunning != pdFALSE )
\r
3621 ( pxCurrentTCB->uxCriticalNesting )++;
\r
3623 /* This is not the interrupt safe version of the enter critical
\r
3624 function so assert() if it is being called from an interrupt
\r
3625 context. Only API functions that end in "FromISR" can be used in an
\r
3626 interrupt. Only assert if the critical nesting count is 1 to
\r
3627 protect against recursive calls if the assert function also uses a
\r
3628 critical section. */
\r
3629 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
3631 portASSERT_IF_IN_ISR();
\r
3636 mtCOVERAGE_TEST_MARKER();
\r
3640 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3641 /*-----------------------------------------------------------*/
\r
3643 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3645 void vTaskExitCritical( void )
\r
3647 if( xSchedulerRunning != pdFALSE )
\r
3649 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
3651 ( pxCurrentTCB->uxCriticalNesting )--;
\r
3653 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
3655 portENABLE_INTERRUPTS();
\r
3659 mtCOVERAGE_TEST_MARKER();
\r
3664 mtCOVERAGE_TEST_MARKER();
\r
3669 mtCOVERAGE_TEST_MARKER();
\r
3673 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3674 /*-----------------------------------------------------------*/
\r
3676 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3678 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
3682 /* Start by copying the entire string. */
\r
3683 strcpy( pcBuffer, pcTaskName );
\r
3685 /* Pad the end of the string with spaces to ensure columns line up when
\r
3687 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
3689 pcBuffer[ x ] = ' ';
\r
3693 pcBuffer[ x ] = 0x00;
\r
3695 /* Return the new end of string. */
\r
3696 return &( pcBuffer[ x ] );
\r
3699 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
3700 /*-----------------------------------------------------------*/
\r
3702 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3704 void vTaskList( char * pcWriteBuffer )
\r
3706 TaskStatus_t *pxTaskStatusArray;
\r
3707 volatile UBaseType_t uxArraySize, x;
\r
3713 * This function is provided for convenience only, and is used by many
\r
3714 * of the demo applications. Do not consider it to be part of the
\r
3717 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
3718 * uxTaskGetSystemState() output into a human readable table that
\r
3719 * displays task names, states and stack usage.
\r
3721 * vTaskList() has a dependency on the sprintf() C library function that
\r
3722 * might bloat the code size, use a lot of stack, and provide different
\r
3723 * results on different platforms. An alternative, tiny, third party,
\r
3724 * and limited functionality implementation of sprintf() is provided in
\r
3725 * many of the FreeRTOS/Demo sub-directories in a file called
\r
3726 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
3727 * snprintf() implementation!).
\r
3729 * It is recommended that production systems call uxTaskGetSystemState()
\r
3730 * directly to get access to raw stats data, rather than indirectly
\r
3731 * through a call to vTaskList().
\r
3735 /* Make sure the write buffer does not contain a string. */
\r
3736 *pcWriteBuffer = 0x00;
\r
3738 /* Take a snapshot of the number of tasks in case it changes while this
\r
3739 function is executing. */
\r
3740 uxArraySize = uxCurrentNumberOfTasks;
\r
3742 /* Allocate an array index for each task. */
\r
3743 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3745 if( pxTaskStatusArray != NULL )
\r
3747 /* Generate the (binary) data. */
\r
3748 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
3750 /* Create a human readable table from the binary data. */
\r
3751 for( x = 0; x < uxArraySize; x++ )
\r
3753 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
3755 case eReady: cStatus = tskREADY_CHAR;
\r
3758 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
3761 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
3764 case eDeleted: cStatus = tskDELETED_CHAR;
\r
3767 default: /* Should not get here, but it is included
\r
3768 to prevent static checking errors. */
\r
3773 /* Write the task name to the string, padding with spaces so it
\r
3774 can be printed in tabular form more easily. */
\r
3775 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3777 /* Write the rest of the string. */
\r
3778 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
3779 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3782 /* Free the array again. */
\r
3783 vPortFree( pxTaskStatusArray );
\r
3787 mtCOVERAGE_TEST_MARKER();
\r
3791 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3792 /*----------------------------------------------------------*/
\r
3794 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3796 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
3798 TaskStatus_t *pxTaskStatusArray;
\r
3799 volatile UBaseType_t uxArraySize, x;
\r
3800 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
3802 #if( configUSE_TRACE_FACILITY != 1 )
\r
3804 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
3811 * This function is provided for convenience only, and is used by many
\r
3812 * of the demo applications. Do not consider it to be part of the
\r
3815 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
3816 * of the uxTaskGetSystemState() output into a human readable table that
\r
3817 * displays the amount of time each task has spent in the Running state
\r
3818 * in both absolute and percentage terms.
\r
3820 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
3821 * function that might bloat the code size, use a lot of stack, and
\r
3822 * provide different results on different platforms. An alternative,
\r
3823 * tiny, third party, and limited functionality implementation of
\r
3824 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3825 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3826 * a full snprintf() implementation!).
\r
3828 * It is recommended that production systems call uxTaskGetSystemState()
\r
3829 * directly to get access to raw stats data, rather than indirectly
\r
3830 * through a call to vTaskGetRunTimeStats().
\r
3833 /* Make sure the write buffer does not contain a string. */
\r
3834 *pcWriteBuffer = 0x00;
\r
3836 /* Take a snapshot of the number of tasks in case it changes while this
\r
3837 function is executing. */
\r
3838 uxArraySize = uxCurrentNumberOfTasks;
\r
3840 /* Allocate an array index for each task. */
\r
3841 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3843 if( pxTaskStatusArray != NULL )
\r
3845 /* Generate the (binary) data. */
\r
3846 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
3848 /* For percentage calculations. */
\r
3849 ulTotalTime /= 100UL;
\r
3851 /* Avoid divide by zero errors. */
\r
3852 if( ulTotalTime > 0 )
\r
3854 /* Create a human readable table from the binary data. */
\r
3855 for( x = 0; x < uxArraySize; x++ )
\r
3857 /* What percentage of the total run time has the task used?
\r
3858 This will always be rounded down to the nearest integer.
\r
3859 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
3860 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
3862 /* Write the task name to the string, padding with
\r
3863 spaces so it can be printed in tabular form more
\r
3865 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3867 if( ulStatsAsPercentage > 0UL )
\r
3869 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3871 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
3875 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3876 printf() library can be used. */
\r
3877 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
3883 /* If the percentage is zero here then the task has
\r
3884 consumed less than 1% of the total run time. */
\r
3885 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3887 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3891 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3892 printf() library can be used. */
\r
3893 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3898 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3903 mtCOVERAGE_TEST_MARKER();
\r
3906 /* Free the array again. */
\r
3907 vPortFree( pxTaskStatusArray );
\r
3911 mtCOVERAGE_TEST_MARKER();
\r
3915 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3916 /*-----------------------------------------------------------*/
\r
3918 TickType_t uxTaskResetEventItemValue( void )
\r
3920 TickType_t uxReturn;
\r
3922 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
3924 /* Reset the event list item to its normal value - so it can be used with
\r
3925 queues and semaphores. */
\r
3926 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
3930 /*-----------------------------------------------------------*/
\r
3932 #if ( configUSE_MUTEXES == 1 )
\r
3934 void *pvTaskIncrementMutexHeldCount( void )
\r
3936 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
3937 then pxCurrentTCB will be NULL. */
\r
3938 if( pxCurrentTCB != NULL )
\r
3940 ( pxCurrentTCB->uxMutexesHeld )++;
\r
3943 return pxCurrentTCB;
\r
3946 #endif /* configUSE_MUTEXES */
\r
3947 /*-----------------------------------------------------------*/
\r
3949 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
3951 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
3953 TickType_t xTimeToWake;
\r
3954 uint32_t ulReturn;
\r
3956 taskENTER_CRITICAL();
\r
3958 /* Only block if the notification count is not already non-zero. */
\r
3959 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
3961 /* Mark this task as waiting for a notification. */
\r
3962 pxCurrentTCB->eNotifyState = eWaitingNotification;
\r
3964 if( xTicksToWait > ( TickType_t ) 0 )
\r
3966 /* The task is going to block. First it must be removed
\r
3967 from the ready list. */
\r
3968 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3970 /* The current task must be in a ready list, so there is
\r
3971 no need to check, and the port reset macro can be called
\r
3973 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
3977 mtCOVERAGE_TEST_MARKER();
\r
3980 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3982 if( xTicksToWait == portMAX_DELAY )
\r
3984 /* Add the task to the suspended task list instead
\r
3985 of a delayed task list to ensure the task is not
\r
3986 woken by a timing event. It will block
\r
3988 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3992 /* Calculate the time at which the task should be
\r
3993 woken if no notification events occur. This may
\r
3994 overflow but this doesn't matter, the scheduler will
\r
3996 xTimeToWake = xTickCount + xTicksToWait;
\r
3997 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
4000 #else /* INCLUDE_vTaskSuspend */
\r
4002 /* Calculate the time at which the task should be
\r
4003 woken if the event does not occur. This may
\r
4004 overflow but this doesn't matter, the scheduler will
\r
4006 xTimeToWake = xTickCount + xTicksToWait;
\r
4007 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
4009 #endif /* INCLUDE_vTaskSuspend */
\r
4011 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4013 /* All ports are written to allow a yield in a critical
\r
4014 section (some will yield immediately, others wait until the
\r
4015 critical section exits) - but it is not something that
\r
4016 application code should ever do. */
\r
4017 portYIELD_WITHIN_API();
\r
4021 mtCOVERAGE_TEST_MARKER();
\r
4026 mtCOVERAGE_TEST_MARKER();
\r
4029 taskEXIT_CRITICAL();
\r
4031 taskENTER_CRITICAL();
\r
4033 traceTASK_NOTIFY_TAKE();
\r
4034 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4036 if( ulReturn != 0UL )
\r
4038 if( xClearCountOnExit != pdFALSE )
\r
4040 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4044 ( pxCurrentTCB->ulNotifiedValue )--;
\r
4049 mtCOVERAGE_TEST_MARKER();
\r
4052 pxCurrentTCB->eNotifyState = eNotWaitingNotification;
\r
4054 taskEXIT_CRITICAL();
\r
4059 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4060 /*-----------------------------------------------------------*/
\r
4062 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4064 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4066 TickType_t xTimeToWake;
\r
4067 BaseType_t xReturn;
\r
4069 taskENTER_CRITICAL();
\r
4071 /* Only block if a notification is not already pending. */
\r
4072 if( pxCurrentTCB->eNotifyState != eNotified )
\r
4074 /* Clear bits in the task's notification value as bits may get
\r
4075 set by the notifying task or interrupt. This can be used to
\r
4076 clear the value to zero. */
\r
4077 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4079 /* Mark this task as waiting for a notification. */
\r
4080 pxCurrentTCB->eNotifyState = eWaitingNotification;
\r
4082 if( xTicksToWait > ( TickType_t ) 0 )
\r
4084 /* The task is going to block. First it must be removed
\r
4085 from the ready list. */
\r
4086 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
4088 /* The current task must be in a ready list, so there is
\r
4089 no need to check, and the port reset macro can be called
\r
4091 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
4095 mtCOVERAGE_TEST_MARKER();
\r
4098 #if ( INCLUDE_vTaskSuspend == 1 )
\r
4100 if( xTicksToWait == portMAX_DELAY )
\r
4102 /* Add the task to the suspended task list instead
\r
4103 of a delayed task list to ensure the task is not
\r
4104 woken by a timing event. It will block
\r
4106 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
4110 /* Calculate the time at which the task should be
\r
4111 woken if no notification events occur. This may
\r
4112 overflow but this doesn't matter, the scheduler will
\r
4114 xTimeToWake = xTickCount + xTicksToWait;
\r
4115 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
4118 #else /* INCLUDE_vTaskSuspend */
\r
4120 /* Calculate the time at which the task should be
\r
4121 woken if the event does not occur. This may
\r
4122 overflow but this doesn't matter, the scheduler will
\r
4124 xTimeToWake = xTickCount + xTicksToWait;
\r
4125 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
4127 #endif /* INCLUDE_vTaskSuspend */
\r
4129 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4131 /* All ports are written to allow a yield in a critical
\r
4132 section (some will yield immediately, others wait until the
\r
4133 critical section exits) - but it is not something that
\r
4134 application code should ever do. */
\r
4135 portYIELD_WITHIN_API();
\r
4139 mtCOVERAGE_TEST_MARKER();
\r
4144 mtCOVERAGE_TEST_MARKER();
\r
4147 taskEXIT_CRITICAL();
\r
4149 taskENTER_CRITICAL();
\r
4151 traceTASK_NOTIFY_WAIT();
\r
4153 if( pulNotificationValue != NULL )
\r
4155 /* Output the current notification value, which may or may not
\r
4157 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4160 /* If eNotifyValue is set then either the task never entered the
\r
4161 blocked state (because a notification was already pending) or the
\r
4162 task unblocked because of a notification. Otherwise the task
\r
4163 unblocked because of a timeout. */
\r
4164 if( pxCurrentTCB->eNotifyState == eWaitingNotification )
\r
4166 /* A notification was not received. */
\r
4167 xReturn = pdFALSE;
\r
4171 /* A notification was already pending or a notification was
\r
4172 received while the task was waiting. */
\r
4173 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4177 pxCurrentTCB->eNotifyState = eNotWaitingNotification;
\r
4179 taskEXIT_CRITICAL();
\r
4184 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4185 /*-----------------------------------------------------------*/
\r
4187 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4189 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4192 eNotifyValue eOriginalNotifyState;
\r
4193 BaseType_t xReturn = pdPASS;
\r
4195 configASSERT( xTaskToNotify );
\r
4196 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4198 taskENTER_CRITICAL();
\r
4200 if( pulPreviousNotificationValue != NULL )
\r
4202 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4205 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4207 pxTCB->eNotifyState = eNotified;
\r
4212 pxTCB->ulNotifiedValue |= ulValue;
\r
4216 ( pxTCB->ulNotifiedValue )++;
\r
4219 case eSetValueWithOverwrite :
\r
4220 pxTCB->ulNotifiedValue = ulValue;
\r
4223 case eSetValueWithoutOverwrite :
\r
4224 if( eOriginalNotifyState != eNotified )
\r
4226 pxTCB->ulNotifiedValue = ulValue;
\r
4230 /* The value could not be written to the task. */
\r
4236 /* The task is being notified without its notify value being
\r
4241 traceTASK_NOTIFY();
\r
4243 /* If the task is in the blocked state specifically to wait for a
\r
4244 notification then unblock it now. */
\r
4245 if( eOriginalNotifyState == eWaitingNotification )
\r
4247 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4248 prvAddTaskToReadyList( pxTCB );
\r
4250 /* The task should not have been on an event list. */
\r
4251 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4253 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4255 /* If a task is blocked waiting for a notification then
\r
4256 xNextTaskUnblockTime might be set to the blocked task's time
\r
4257 out time. If the task is unblocked for a reason other than
\r
4258 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4259 because it will automatically get reset to a new value when
\r
4260 the tick count equals xNextTaskUnblockTime. However if
\r
4261 tickless idling is used it might be more important to enter
\r
4262 sleep mode at the earliest possible time - so reset
\r
4263 xNextTaskUnblockTime here to ensure it is updated at the
\r
4264 earliest possible time. */
\r
4265 prvResetNextTaskUnblockTime();
\r
4269 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4271 /* The notified task has a priority above the currently
\r
4272 executing task so a yield is required. */
\r
4273 taskYIELD_IF_USING_PREEMPTION();
\r
4277 mtCOVERAGE_TEST_MARKER();
\r
4282 mtCOVERAGE_TEST_MARKER();
\r
4285 taskEXIT_CRITICAL();
\r
4290 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4291 /*-----------------------------------------------------------*/
\r
4293 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4295 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4298 eNotifyValue eOriginalNotifyState;
\r
4299 BaseType_t xReturn = pdPASS;
\r
4300 UBaseType_t uxSavedInterruptStatus;
\r
4302 configASSERT( xTaskToNotify );
\r
4304 /* RTOS ports that support interrupt nesting have the concept of a
\r
4305 maximum system call (or maximum API call) interrupt priority.
\r
4306 Interrupts that are above the maximum system call priority are keep
\r
4307 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4308 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4309 is defined in FreeRTOSConfig.h then
\r
4310 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4311 failure if a FreeRTOS API function is called from an interrupt that has
\r
4312 been assigned a priority above the configured maximum system call
\r
4313 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4314 from interrupts that have been assigned a priority at or (logically)
\r
4315 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4316 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4317 simple as possible. More information (albeit Cortex-M specific) is
\r
4318 provided on the following link:
\r
4319 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4320 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4322 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4324 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4326 if( pulPreviousNotificationValue != NULL )
\r
4328 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4331 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4332 pxTCB->eNotifyState = eNotified;
\r
4337 pxTCB->ulNotifiedValue |= ulValue;
\r
4341 ( pxTCB->ulNotifiedValue )++;
\r
4344 case eSetValueWithOverwrite :
\r
4345 pxTCB->ulNotifiedValue = ulValue;
\r
4348 case eSetValueWithoutOverwrite :
\r
4349 if( eOriginalNotifyState != eNotified )
\r
4351 pxTCB->ulNotifiedValue = ulValue;
\r
4355 /* The value could not be written to the task. */
\r
4361 /* The task is being notified without its notify value being
\r
4366 traceTASK_NOTIFY_FROM_ISR();
\r
4368 /* If the task is in the blocked state specifically to wait for a
\r
4369 notification then unblock it now. */
\r
4370 if( eOriginalNotifyState == eWaitingNotification )
\r
4372 /* The task should not have been on an event list. */
\r
4373 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4375 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4377 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4378 prvAddTaskToReadyList( pxTCB );
\r
4382 /* The delayed and ready lists cannot be accessed, so hold
\r
4383 this task pending until the scheduler is resumed. */
\r
4384 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4387 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4389 /* The notified task has a priority above the currently
\r
4390 executing task so a yield is required. */
\r
4391 if( pxHigherPriorityTaskWoken != NULL )
\r
4393 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4398 mtCOVERAGE_TEST_MARKER();
\r
4402 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4407 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4408 /*-----------------------------------------------------------*/
\r
4410 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4412 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4415 eNotifyValue eOriginalNotifyState;
\r
4416 UBaseType_t uxSavedInterruptStatus;
\r
4418 configASSERT( xTaskToNotify );
\r
4420 /* RTOS ports that support interrupt nesting have the concept of a
\r
4421 maximum system call (or maximum API call) interrupt priority.
\r
4422 Interrupts that are above the maximum system call priority are keep
\r
4423 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4424 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4425 is defined in FreeRTOSConfig.h then
\r
4426 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4427 failure if a FreeRTOS API function is called from an interrupt that has
\r
4428 been assigned a priority above the configured maximum system call
\r
4429 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4430 from interrupts that have been assigned a priority at or (logically)
\r
4431 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4432 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4433 simple as possible. More information (albeit Cortex-M specific) is
\r
4434 provided on the following link:
\r
4435 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4436 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4438 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4440 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4442 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4443 pxTCB->eNotifyState = eNotified;
\r
4445 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4447 ( pxTCB->ulNotifiedValue )++;
\r
4449 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
4451 /* If the task is in the blocked state specifically to wait for a
\r
4452 notification then unblock it now. */
\r
4453 if( eOriginalNotifyState == eWaitingNotification )
\r
4455 /* The task should not have been on an event list. */
\r
4456 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4458 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4460 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4461 prvAddTaskToReadyList( pxTCB );
\r
4465 /* The delayed and ready lists cannot be accessed, so hold
\r
4466 this task pending until the scheduler is resumed. */
\r
4467 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4470 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4472 /* The notified task has a priority above the currently
\r
4473 executing task so a yield is required. */
\r
4474 if( pxHigherPriorityTaskWoken != NULL )
\r
4476 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4481 mtCOVERAGE_TEST_MARKER();
\r
4485 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4488 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4490 /*-----------------------------------------------------------*/
\r
4492 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4494 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
4497 BaseType_t xReturn;
\r
4499 pxTCB = ( TCB_t * ) xTask;
\r
4501 /* If null is passed in here then it is the calling task that is having
\r
4502 its notification state cleared. */
\r
4503 pxTCB = prvGetTCBFromHandle( pxTCB );
\r
4505 taskENTER_CRITICAL();
\r
4507 if( pxTCB->eNotifyState == eNotified )
\r
4509 pxTCB->eNotifyState = eNotWaitingNotification;
\r
4517 taskEXIT_CRITICAL();
\r
4522 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4524 #ifdef FREERTOS_MODULE_TEST
\r
4525 #include "tasks_test_access_functions.h"
\r
projects / freertos / blob