2 FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd.
\r
5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 ***************************************************************************
\r
9 * FreeRTOS provides completely free yet professionally developed, *
\r
10 * robust, strictly quality controlled, supported, and cross *
\r
11 * platform software that has become a de facto standard. *
\r
13 * Help yourself get started quickly and support the FreeRTOS *
\r
14 * project by purchasing a FreeRTOS tutorial book, reference *
\r
15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
\r
19 ***************************************************************************
\r
21 This file is part of the FreeRTOS distribution.
\r
23 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
24 the terms of the GNU General Public License (version 2) as published by the
\r
25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
\r
27 >>! NOTE: The modification to the GPL is included to allow you to !<<
\r
28 >>! distribute a combined work that includes FreeRTOS without being !<<
\r
29 >>! obliged to provide the source code for proprietary components !<<
\r
30 >>! outside of the FreeRTOS kernel. !<<
\r
32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
\r
35 link: http://www.freertos.org/a00114.html
\r
39 ***************************************************************************
\r
41 * Having a problem? Start by reading the FAQ "My application does *
\r
42 * not run, what could be wrong?" *
\r
44 * http://www.FreeRTOS.org/FAQHelp.html *
\r
46 ***************************************************************************
\r
48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
\r
49 license and Real Time Engineers Ltd. contact details.
\r
51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
\r
53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
\r
55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
\r
56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
\r
57 licenses offer ticketed support, indemnification and middleware.
\r
59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
60 engineered and independently SIL3 certified version for use in safety and
\r
61 mission critical applications that require provable dependability.
\r
66 /* Standard includes. */
\r
70 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
\r
71 all the API functions to use the MPU wrappers. That should only be done when
\r
72 task.h is included from an application file. */
\r
73 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
\r
75 /* FreeRTOS includes. */
\r
76 #include "FreeRTOS.h"
\r
79 #include "StackMacros.h"
\r
81 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
\r
82 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
\r
83 header files above, but not in this file, in order to generate the correct
\r
84 privileged Vs unprivileged linkage and placement. */
\r
85 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
\r
87 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
\r
88 /* At the bottom of this file are two optional functions that can be used
\r
89 to generate human readable text from the raw data generated by the
\r
90 uxTaskGetSystemState() function. Note the formatting functions are provided
\r
91 for convenience only, and are NOT considered part of the kernel. */
\r
93 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
\r
95 /* Sanity check the configuration. */
\r
96 #if configUSE_TICKLESS_IDLE != 0
\r
97 #if INCLUDE_vTaskSuspend != 1
\r
98 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
\r
99 #endif /* INCLUDE_vTaskSuspend */
\r
100 #endif /* configUSE_TICKLESS_IDLE */
\r
103 * Defines the size, in words, of the stack allocated to the idle task.
\r
105 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
\r
107 #if( configUSE_PREEMPTION == 0 )
\r
108 /* If the cooperative scheduler is being used then a yield should not be
\r
109 performed just because a higher priority task has been woken. */
\r
110 #define taskYIELD_IF_USING_PREEMPTION()
\r
112 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
\r
116 * Task control block. A task control block (TCB) is allocated for each task,
\r
117 * and stores task state information, including a pointer to the task's context
\r
118 * (the task's run time environment, including register values)
\r
120 typedef struct tskTaskControlBlock
\r
122 volatile StackType_t *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
\r
124 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
125 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
\r
128 ListItem_t xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
\r
129 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
\r
130 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
\r
131 StackType_t *pxStack; /*< Points to the start of the stack. */
\r
132 char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
134 #if ( portSTACK_GROWTH > 0 )
\r
135 StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
\r
138 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
139 UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
\r
142 #if ( configUSE_TRACE_FACILITY == 1 )
\r
143 UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
\r
144 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
\r
147 #if ( configUSE_MUTEXES == 1 )
\r
148 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
\r
149 UBaseType_t uxMutexesHeld;
\r
152 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
153 TaskHookFunction_t pxTaskTag;
\r
156 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
157 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
\r
160 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
161 /* Allocate a Newlib reent structure that is specific to this task.
\r
162 Note Newlib support has been included by popular demand, but is not
\r
163 used by the FreeRTOS maintainers themselves. FreeRTOS is not
\r
164 responsible for resulting newlib operation. User must be familiar with
\r
165 newlib and must provide system-wide implementations of the necessary
\r
166 stubs. Be warned that (at the time of writing) the current newlib design
\r
167 implements a system-wide malloc() that must be provided with locks. */
\r
168 struct _reent xNewLib_reent;
\r
173 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
\r
174 below to enable the use of older kernel aware debuggers. */
\r
175 typedef tskTCB TCB_t;
\r
178 * Some kernel aware debuggers require the data the debugger needs access to to
\r
179 * be global, rather than file scope.
\r
181 #ifdef portREMOVE_STATIC_QUALIFIER
\r
185 /*lint -e956 A manual analysis and inspection has been used to determine which
\r
186 static variables must be declared volatile. */
\r
188 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
\r
190 /* Lists for ready and blocked tasks. --------------------*/
\r
191 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
\r
192 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
\r
193 PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
\r
194 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
\r
195 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. */
\r
196 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. */
\r
198 #if ( INCLUDE_vTaskDelete == 1 )
\r
200 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
\r
201 PRIVILEGED_DATA static volatile UBaseType_t uxTasksDeleted = ( UBaseType_t ) 0U;
\r
205 #if ( INCLUDE_vTaskSuspend == 1 )
\r
207 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
\r
211 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
213 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. */
\r
217 /* Other file private variables. --------------------------------*/
\r
218 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
\r
219 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;
\r
220 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
\r
221 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
\r
222 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
\r
223 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
\r
224 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
\r
225 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
\r
226 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = portMAX_DELAY;
\r
228 /* Context switches are held pending while the scheduler is suspended. Also,
\r
229 interrupts must not manipulate the xStateListItem of a TCB, or any of the
\r
230 lists the xStateListItem can be referenced from, if the scheduler is suspended.
\r
231 If an interrupt needs to unblock a task while the scheduler is suspended then it
\r
232 moves the task's event list item into the xPendingReadyList, ready for the
\r
233 kernel to move the task from the pending ready list into the real ready list
\r
234 when the scheduler is unsuspended. The pending ready list itself can only be
\r
235 accessed from a critical section. */
\r
236 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
\r
238 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
240 PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
\r
241 PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
\r
247 /* Debugging and trace facilities private variables and macros. ------------*/
\r
250 * The value used to fill the stack of a task when the task is created. This
\r
251 * is used purely for checking the high water mark for tasks.
\r
253 #define tskSTACK_FILL_BYTE ( 0xa5U )
\r
256 * Macros used by vListTask to indicate which state a task is in.
\r
258 #define tskBLOCKED_CHAR ( 'B' )
\r
259 #define tskREADY_CHAR ( 'R' )
\r
260 #define tskDELETED_CHAR ( 'D' )
\r
261 #define tskSUSPENDED_CHAR ( 'S' )
\r
263 /*-----------------------------------------------------------*/
\r
265 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
267 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
\r
268 performed in a generic way that is not optimised to any particular
\r
269 microcontroller architecture. */
\r
271 /* uxTopReadyPriority holds the priority of the highest priority ready
\r
273 #define taskRECORD_READY_PRIORITY( uxPriority ) \
\r
275 if( ( uxPriority ) > uxTopReadyPriority ) \
\r
277 uxTopReadyPriority = ( uxPriority ); \
\r
279 } /* taskRECORD_READY_PRIORITY */
\r
281 /*-----------------------------------------------------------*/
\r
283 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
\r
285 /* Find the highest priority queue that contains ready tasks. */ \
\r
286 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
\r
288 configASSERT( uxTopReadyPriority ); \
\r
289 --uxTopReadyPriority; \
\r
292 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
\r
293 the same priority get an equal share of the processor time. */ \
\r
294 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
\r
295 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
\r
297 /*-----------------------------------------------------------*/
\r
299 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
\r
300 they are only required when a port optimised method of task selection is
\r
302 #define taskRESET_READY_PRIORITY( uxPriority )
\r
303 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
\r
305 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
\r
307 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
\r
308 performed in a way that is tailored to the particular microcontroller
\r
309 architecture being used. */
\r
311 /* A port optimised version is provided. Call the port defined macros. */
\r
312 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
\r
314 /*-----------------------------------------------------------*/
\r
316 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
\r
318 UBaseType_t uxTopPriority; \
\r
320 /* Find the highest priority queue that contains ready tasks. */ \
\r
321 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
\r
322 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
\r
323 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
\r
324 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
\r
326 /*-----------------------------------------------------------*/
\r
328 /* A port optimised version is provided, call it only if the TCB being reset
\r
329 is being referenced from a ready list. If it is referenced from a delayed
\r
330 or suspended list then it won't be in a ready list. */
\r
331 #define taskRESET_READY_PRIORITY( uxPriority ) \
\r
333 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
\r
335 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
\r
339 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
\r
341 /*-----------------------------------------------------------*/
\r
343 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
\r
344 count overflows. */
\r
345 #define taskSWITCH_DELAYED_LISTS() \
\r
349 /* The delayed tasks list should be empty when the lists are switched. */ \
\r
350 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
\r
352 pxTemp = pxDelayedTaskList; \
\r
353 pxDelayedTaskList = pxOverflowDelayedTaskList; \
\r
354 pxOverflowDelayedTaskList = pxTemp; \
\r
355 xNumOfOverflows++; \
\r
356 prvResetNextTaskUnblockTime(); \
\r
359 /*-----------------------------------------------------------*/
\r
362 * Place the task represented by pxTCB into the appropriate ready list for
\r
363 * the task. It is inserted at the end of the list.
\r
365 #define prvAddTaskToReadyList( pxTCB ) \
\r
366 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
\r
367 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
\r
368 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
\r
369 /*-----------------------------------------------------------*/
\r
372 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
\r
373 * where NULL is used to indicate that the handle of the currently executing
\r
374 * task should be used in place of the parameter. This macro simply checks to
\r
375 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
\r
377 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )
\r
379 /* The item value of the event list item is normally used to hold the priority
\r
380 of the task to which it belongs (coded to allow it to be held in reverse
\r
381 priority order). However, it is occasionally borrowed for other purposes. It
\r
382 is important its value is not updated due to a task priority change while it is
\r
383 being used for another purpose. The following bit definition is used to inform
\r
384 the scheduler that the value should not be changed - in which case it is the
\r
385 responsibility of whichever module is using the value to ensure it gets set back
\r
386 to its original value when it is released. */
\r
387 #if configUSE_16_BIT_TICKS == 1
\r
388 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
\r
390 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
\r
393 /* Callback function prototypes. --------------------------*/
\r
394 #if configCHECK_FOR_STACK_OVERFLOW > 0
\r
395 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
\r
398 #if configUSE_TICK_HOOK > 0
\r
399 extern void vApplicationTickHook( void );
\r
402 /* File private functions. --------------------------------*/
\r
405 * Utility to ready a TCB for a given task. Mainly just copies the parameters
\r
406 * into the TCB structure.
\r
408 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. */
\r
411 * Utility task that simply returns pdTRUE if the task referenced by xTask is
\r
412 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
\r
413 * is in any other state.
\r
415 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
\r
418 * Utility to ready all the lists used by the scheduler. This is called
\r
419 * automatically upon the creation of the first task.
\r
421 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
\r
424 * The idle task, which as all tasks is implemented as a never ending loop.
\r
425 * The idle task is automatically created and added to the ready lists upon
\r
426 * creation of the first user task.
\r
428 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
\r
429 * language extensions. The equivalent prototype for this function is:
\r
431 * void prvIdleTask( void *pvParameters );
\r
434 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
\r
437 * Utility to free all memory allocated by the scheduler to hold a TCB,
\r
438 * including the stack pointed to by the TCB.
\r
440 * This does not free memory allocated by the task itself (i.e. memory
\r
441 * allocated by calls to pvPortMalloc from within the tasks application code).
\r
443 #if ( INCLUDE_vTaskDelete == 1 )
\r
445 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
\r
450 * Used only by the idle task. This checks to see if anything has been placed
\r
451 * in the list of tasks waiting to be deleted. If so the task is cleaned up
\r
452 * and its TCB deleted.
\r
454 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
\r
457 * The currently executing task is entering the Blocked state. Add the task to
\r
458 * either the current or the overflow delayed task list.
\r
460 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake ) PRIVILEGED_FUNCTION;
\r
463 * Allocates memory from the heap for a TCB and associated stack. Checks the
\r
464 * allocation was successful.
\r
466 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer ) PRIVILEGED_FUNCTION;
\r
469 * Fills an TaskStatus_t structure with information on each task that is
\r
470 * referenced from the pxList list (which may be a ready list, a delayed list,
\r
471 * a suspended list, etc.).
\r
473 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
\r
474 * NORMAL APPLICATION CODE.
\r
476 #if ( configUSE_TRACE_FACILITY == 1 )
\r
478 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
\r
483 * When a task is created, the stack of the task is filled with a known value.
\r
484 * This function determines the 'high water mark' of the task stack by
\r
485 * determining how much of the stack remains at the original preset value.
\r
487 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
489 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
\r
494 * Return the amount of time, in ticks, that will pass before the kernel will
\r
495 * next move a task from the Blocked state to the Running state.
\r
497 * This conditional compilation should use inequality to 0, not equality to 1.
\r
498 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
\r
499 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
\r
500 * set to a value other than 1.
\r
502 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
504 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
\r
509 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
\r
510 * will exit the Blocked state.
\r
512 static void prvResetNextTaskUnblockTime( void );
\r
514 /*-----------------------------------------------------------*/
\r
516 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
518 BaseType_t xReturn;
\r
521 configASSERT( pxTaskCode );
\r
522 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
\r
524 /* Allocate the memory required by the TCB and stack for the new task,
\r
525 checking that the allocation was successful. */
\r
526 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
\r
528 if( pxNewTCB != NULL )
\r
530 StackType_t *pxTopOfStack;
\r
532 #if( portUSING_MPU_WRAPPERS == 1 )
\r
533 /* Should the task be created in privileged mode? */
\r
534 BaseType_t xRunPrivileged;
\r
535 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
537 xRunPrivileged = pdTRUE;
\r
541 xRunPrivileged = pdFALSE;
\r
543 uxPriority &= ~portPRIVILEGE_BIT;
\r
544 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
546 /* Calculate the top of stack address. This depends on whether the
\r
547 stack grows from high memory to low (as per the 80x86) or vice versa.
\r
548 portSTACK_GROWTH is used to make the result positive or negative as
\r
549 required by the port. */
\r
550 #if( portSTACK_GROWTH < 0 )
\r
552 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );
\r
553 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
555 /* Check the alignment of the calculated top of stack is correct. */
\r
556 configASSERT( ( ( ( uint32_t ) pxTopOfStack & ( uint32_t ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
558 #else /* portSTACK_GROWTH */
\r
560 pxTopOfStack = pxNewTCB->pxStack;
\r
562 /* Check the alignment of the stack buffer is correct. */
\r
563 configASSERT( ( ( ( uint32_t ) pxNewTCB->pxStack & ( uint32_t ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
565 /* If we want to use stack checking on architectures that use
\r
566 a positive stack growth direction then we also need to store the
\r
567 other extreme of the stack space. */
\r
568 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
\r
570 #endif /* portSTACK_GROWTH */
\r
572 /* Setup the newly allocated TCB with the initial state of the task. */
\r
573 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
\r
575 /* Initialize the TCB stack to look as if the task was already running,
\r
576 but had been interrupted by the scheduler. The return address is set
\r
577 to the start of the task function. Once the stack has been initialised
\r
578 the top of stack variable is updated. */
\r
579 #if( portUSING_MPU_WRAPPERS == 1 )
\r
581 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
583 #else /* portUSING_MPU_WRAPPERS */
\r
585 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
587 #endif /* portUSING_MPU_WRAPPERS */
\r
589 if( ( void * ) pxCreatedTask != NULL )
\r
591 /* Pass the TCB out - in an anonymous way. The calling function/
\r
592 task can use this as a handle to delete the task later if
\r
594 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
598 mtCOVERAGE_TEST_MARKER();
\r
601 /* Ensure interrupts don't access the task lists while they are being
\r
603 taskENTER_CRITICAL();
\r
605 uxCurrentNumberOfTasks++;
\r
606 if( pxCurrentTCB == NULL )
\r
608 /* There are no other tasks, or all the other tasks are in
\r
609 the suspended state - make this the current task. */
\r
610 pxCurrentTCB = pxNewTCB;
\r
612 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
614 /* This is the first task to be created so do the preliminary
\r
615 initialisation required. We will not recover if this call
\r
616 fails, but we will report the failure. */
\r
617 prvInitialiseTaskLists();
\r
621 mtCOVERAGE_TEST_MARKER();
\r
626 /* If the scheduler is not already running, make this task the
\r
627 current task if it is the highest priority task to be created
\r
629 if( xSchedulerRunning == pdFALSE )
\r
631 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
633 pxCurrentTCB = pxNewTCB;
\r
637 mtCOVERAGE_TEST_MARKER();
\r
642 mtCOVERAGE_TEST_MARKER();
\r
648 #if ( configUSE_TRACE_FACILITY == 1 )
\r
650 /* Add a counter into the TCB for tracing only. */
\r
651 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
653 #endif /* configUSE_TRACE_FACILITY */
\r
654 traceTASK_CREATE( pxNewTCB );
\r
656 prvAddTaskToReadyList( pxNewTCB );
\r
659 portSETUP_TCB( pxNewTCB );
\r
661 taskEXIT_CRITICAL();
\r
665 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
666 traceTASK_CREATE_FAILED();
\r
669 if( xReturn == pdPASS )
\r
671 if( xSchedulerRunning != pdFALSE )
\r
673 /* If the created task is of a higher priority than the current task
\r
674 then it should run now. */
\r
675 if( pxCurrentTCB->uxPriority < uxPriority )
\r
677 taskYIELD_IF_USING_PREEMPTION();
\r
681 mtCOVERAGE_TEST_MARKER();
\r
686 mtCOVERAGE_TEST_MARKER();
\r
692 /*-----------------------------------------------------------*/
\r
694 #if ( INCLUDE_vTaskDelete == 1 )
\r
696 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
700 taskENTER_CRITICAL();
\r
702 /* If null is passed in here then it is the calling task that is
\r
704 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
706 /* Remove task from the ready list and place in the termination list.
\r
707 This will stop the task from be scheduled. The idle task will check
\r
708 the termination list and free up any memory allocated by the
\r
709 scheduler for the TCB and stack. */
\r
710 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
712 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
716 mtCOVERAGE_TEST_MARKER();
\r
719 /* Is the task waiting on an event also? */
\r
720 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
722 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
726 mtCOVERAGE_TEST_MARKER();
\r
729 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
731 /* Increment the ucTasksDeleted variable so the idle task knows
\r
732 there is a task that has been deleted and that it should therefore
\r
733 check the xTasksWaitingTermination list. */
\r
736 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
737 can detect that the task lists need re-generating. */
\r
740 traceTASK_DELETE( pxTCB );
\r
742 taskEXIT_CRITICAL();
\r
744 /* Force a reschedule if it is the currently running task that has just
\r
746 if( xSchedulerRunning != pdFALSE )
\r
748 if( pxTCB == pxCurrentTCB )
\r
750 configASSERT( uxSchedulerSuspended == 0 );
\r
752 /* The pre-delete hook is primarily for the Windows simulator,
\r
753 in which Windows specific clean up operations are performed,
\r
754 after which it is not possible to yield away from this task -
\r
755 hence xYieldPending is used to latch that a context switch is
\r
757 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
758 portYIELD_WITHIN_API();
\r
762 /* Reset the next expected unblock time in case it referred to
\r
763 the task that has just been deleted. */
\r
764 taskENTER_CRITICAL();
\r
766 prvResetNextTaskUnblockTime();
\r
768 taskEXIT_CRITICAL();
\r
773 #endif /* INCLUDE_vTaskDelete */
\r
774 /*-----------------------------------------------------------*/
\r
776 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
778 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
780 TickType_t xTimeToWake;
\r
781 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
783 configASSERT( pxPreviousWakeTime );
\r
784 configASSERT( ( xTimeIncrement > 0U ) );
\r
785 configASSERT( uxSchedulerSuspended == 0 );
\r
789 /* Minor optimisation. The tick count cannot change in this
\r
791 const TickType_t xConstTickCount = xTickCount;
\r
793 /* Generate the tick time at which the task wants to wake. */
\r
794 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
796 if( xConstTickCount < *pxPreviousWakeTime )
\r
798 /* The tick count has overflowed since this function was
\r
799 lasted called. In this case the only time we should ever
\r
800 actually delay is if the wake time has also overflowed,
\r
801 and the wake time is greater than the tick time. When this
\r
802 is the case it is as if neither time had overflowed. */
\r
803 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
805 xShouldDelay = pdTRUE;
\r
809 mtCOVERAGE_TEST_MARKER();
\r
814 /* The tick time has not overflowed. In this case we will
\r
815 delay if either the wake time has overflowed, and/or the
\r
816 tick time is less than the wake time. */
\r
817 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
819 xShouldDelay = pdTRUE;
\r
823 mtCOVERAGE_TEST_MARKER();
\r
827 /* Update the wake time ready for the next call. */
\r
828 *pxPreviousWakeTime = xTimeToWake;
\r
830 if( xShouldDelay != pdFALSE )
\r
832 traceTASK_DELAY_UNTIL();
\r
834 /* Remove the task from the ready list before adding it to the
\r
835 blocked list as the same list item is used for both lists. */
\r
836 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
838 /* The current task must be in a ready list, so there is
\r
839 no need to check, and the port reset macro can be called
\r
841 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
845 mtCOVERAGE_TEST_MARKER();
\r
848 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
852 mtCOVERAGE_TEST_MARKER();
\r
855 xAlreadyYielded = xTaskResumeAll();
\r
857 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
858 have put ourselves to sleep. */
\r
859 if( xAlreadyYielded == pdFALSE )
\r
861 portYIELD_WITHIN_API();
\r
865 mtCOVERAGE_TEST_MARKER();
\r
869 #endif /* INCLUDE_vTaskDelayUntil */
\r
870 /*-----------------------------------------------------------*/
\r
872 #if ( INCLUDE_vTaskDelay == 1 )
\r
874 void vTaskDelay( const TickType_t xTicksToDelay )
\r
876 TickType_t xTimeToWake;
\r
877 BaseType_t xAlreadyYielded = pdFALSE;
\r
880 /* A delay time of zero just forces a reschedule. */
\r
881 if( xTicksToDelay > ( TickType_t ) 0U )
\r
883 configASSERT( uxSchedulerSuspended == 0 );
\r
888 /* A task that is removed from the event list while the
\r
889 scheduler is suspended will not get placed in the ready
\r
890 list or removed from the blocked list until the scheduler
\r
893 This task cannot be in an event list as it is the currently
\r
896 /* Calculate the time to wake - this may overflow but this is
\r
898 xTimeToWake = xTickCount + xTicksToDelay;
\r
900 /* We must remove ourselves from the ready list before adding
\r
901 ourselves to the blocked list as the same list item is used for
\r
903 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
905 /* The current task must be in a ready list, so there is
\r
906 no need to check, and the port reset macro can be called
\r
908 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
912 mtCOVERAGE_TEST_MARKER();
\r
914 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
916 xAlreadyYielded = xTaskResumeAll();
\r
920 mtCOVERAGE_TEST_MARKER();
\r
923 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
924 have put ourselves to sleep. */
\r
925 if( xAlreadyYielded == pdFALSE )
\r
927 portYIELD_WITHIN_API();
\r
931 mtCOVERAGE_TEST_MARKER();
\r
935 #endif /* INCLUDE_vTaskDelay */
\r
936 /*-----------------------------------------------------------*/
\r
938 #if ( INCLUDE_eTaskGetState == 1 )
\r
940 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
942 eTaskState eReturn;
\r
943 List_t *pxStateList;
\r
944 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
946 configASSERT( pxTCB );
\r
948 if( pxTCB == pxCurrentTCB )
\r
950 /* The task calling this function is querying its own state. */
\r
951 eReturn = eRunning;
\r
955 taskENTER_CRITICAL();
\r
957 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
959 taskEXIT_CRITICAL();
\r
961 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
963 /* The task being queried is referenced from one of the Blocked
\r
965 eReturn = eBlocked;
\r
968 #if ( INCLUDE_vTaskSuspend == 1 )
\r
969 else if( pxStateList == &xSuspendedTaskList )
\r
971 /* The task being queried is referenced from the suspended
\r
972 list. Is it genuinely suspended or is it block
\r
974 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
976 eReturn = eSuspended;
\r
980 eReturn = eBlocked;
\r
985 #if ( INCLUDE_vTaskDelete == 1 )
\r
986 else if( pxStateList == &xTasksWaitingTermination )
\r
988 /* The task being queried is referenced from the deleted
\r
990 eReturn = eDeleted;
\r
996 /* If the task is not in any other state, it must be in the
\r
997 Ready (including pending ready) state. */
\r
1005 #endif /* INCLUDE_eTaskGetState */
\r
1006 /*-----------------------------------------------------------*/
\r
1008 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1010 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1013 UBaseType_t uxReturn;
\r
1015 taskENTER_CRITICAL();
\r
1017 /* If null is passed in here then we are changing the
\r
1018 priority of the calling function. */
\r
1019 pxTCB = prvGetTCBFromHandle( xTask );
\r
1020 uxReturn = pxTCB->uxPriority;
\r
1022 taskEXIT_CRITICAL();
\r
1027 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1028 /*-----------------------------------------------------------*/
\r
1030 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1032 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1035 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1036 BaseType_t xYieldRequired = pdFALSE;
\r
1038 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1040 /* Ensure the new priority is valid. */
\r
1041 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1043 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1047 mtCOVERAGE_TEST_MARKER();
\r
1050 taskENTER_CRITICAL();
\r
1052 /* If null is passed in here then it is the priority of the calling
\r
1053 task that is being changed. */
\r
1054 pxTCB = prvGetTCBFromHandle( xTask );
\r
1056 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1058 #if ( configUSE_MUTEXES == 1 )
\r
1060 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1064 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1068 if( uxCurrentBasePriority != uxNewPriority )
\r
1070 /* The priority change may have readied a task of higher
\r
1071 priority than the calling task. */
\r
1072 if( uxNewPriority > uxCurrentBasePriority )
\r
1074 if( pxTCB != pxCurrentTCB )
\r
1076 /* The priority of a task other than the currently
\r
1077 running task is being raised. Is the priority being
\r
1078 raised above that of the running task? */
\r
1079 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1081 xYieldRequired = pdTRUE;
\r
1085 mtCOVERAGE_TEST_MARKER();
\r
1090 /* The priority of the running task is being raised,
\r
1091 but the running task must already be the highest
\r
1092 priority task able to run so no yield is required. */
\r
1095 else if( pxTCB == pxCurrentTCB )
\r
1097 /* Setting the priority of the running task down means
\r
1098 there may now be another task of higher priority that
\r
1099 is ready to execute. */
\r
1100 xYieldRequired = pdTRUE;
\r
1104 /* Setting the priority of any other task down does not
\r
1105 require a yield as the running task must be above the
\r
1106 new priority of the task being modified. */
\r
1109 /* Remember the ready list the task might be referenced from
\r
1110 before its uxPriority member is changed so the
\r
1111 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1112 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1114 #if ( configUSE_MUTEXES == 1 )
\r
1116 /* Only change the priority being used if the task is not
\r
1117 currently using an inherited priority. */
\r
1118 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1120 pxTCB->uxPriority = uxNewPriority;
\r
1124 mtCOVERAGE_TEST_MARKER();
\r
1127 /* The base priority gets set whatever. */
\r
1128 pxTCB->uxBasePriority = uxNewPriority;
\r
1132 pxTCB->uxPriority = uxNewPriority;
\r
1136 /* Only reset the event list item value if the value is not
\r
1137 being used for anything else. */
\r
1138 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1140 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
1144 mtCOVERAGE_TEST_MARKER();
\r
1147 /* If the task is in the blocked or suspended list we need do
\r
1148 nothing more than change it's priority variable. However, if
\r
1149 the task is in a ready list it needs to be removed and placed
\r
1150 in the list appropriate to its new priority. */
\r
1151 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1153 /* The task is currently in its ready list - remove before adding
\r
1154 it to it's new ready list. As we are in a critical section we
\r
1155 can do this even if the scheduler is suspended. */
\r
1156 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1158 /* It is known that the task is in its ready list so
\r
1159 there is no need to check again and the port level
\r
1160 reset macro can be called directly. */
\r
1161 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1165 mtCOVERAGE_TEST_MARKER();
\r
1167 prvAddTaskToReadyList( pxTCB );
\r
1171 mtCOVERAGE_TEST_MARKER();
\r
1174 if( xYieldRequired == pdTRUE )
\r
1176 taskYIELD_IF_USING_PREEMPTION();
\r
1180 mtCOVERAGE_TEST_MARKER();
\r
1183 /* Remove compiler warning about unused variables when the port
\r
1184 optimised task selection is not being used. */
\r
1185 ( void ) uxPriorityUsedOnEntry;
\r
1188 taskEXIT_CRITICAL();
\r
1191 #endif /* INCLUDE_vTaskPrioritySet */
\r
1192 /*-----------------------------------------------------------*/
\r
1194 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1196 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1200 taskENTER_CRITICAL();
\r
1202 /* If null is passed in here then it is the running task that is
\r
1203 being suspended. */
\r
1204 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1206 traceTASK_SUSPEND( pxTCB );
\r
1208 /* Remove task from the ready/delayed list and place in the
\r
1209 suspended list. */
\r
1210 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1212 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1216 mtCOVERAGE_TEST_MARKER();
\r
1219 /* Is the task waiting on an event also? */
\r
1220 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1222 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1226 mtCOVERAGE_TEST_MARKER();
\r
1229 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1231 taskEXIT_CRITICAL();
\r
1233 if( pxTCB == pxCurrentTCB )
\r
1235 if( xSchedulerRunning != pdFALSE )
\r
1237 /* The current task has just been suspended. */
\r
1238 configASSERT( uxSchedulerSuspended == 0 );
\r
1239 portYIELD_WITHIN_API();
\r
1243 /* The scheduler is not running, but the task that was pointed
\r
1244 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1245 must be adjusted to point to a different task. */
\r
1246 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1248 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1249 NULL so when the next task is created pxCurrentTCB will
\r
1250 be set to point to it no matter what its relative priority
\r
1252 pxCurrentTCB = NULL;
\r
1256 vTaskSwitchContext();
\r
1262 if( xSchedulerRunning != pdFALSE )
\r
1264 /* A task other than the currently running task was suspended,
\r
1265 reset the next expected unblock time in case it referred to the
\r
1266 task that is now in the Suspended state. */
\r
1267 taskENTER_CRITICAL();
\r
1269 prvResetNextTaskUnblockTime();
\r
1271 taskEXIT_CRITICAL();
\r
1275 mtCOVERAGE_TEST_MARKER();
\r
1280 #endif /* INCLUDE_vTaskSuspend */
\r
1281 /*-----------------------------------------------------------*/
\r
1283 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1285 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1287 BaseType_t xReturn = pdFALSE;
\r
1288 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1290 /* Accesses xPendingReadyList so must be called from a critical
\r
1293 /* It does not make sense to check if the calling task is suspended. */
\r
1294 configASSERT( xTask );
\r
1296 /* Is the task being resumed actually in the suspended list? */
\r
1297 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1299 /* Has the task already been resumed from within an ISR? */
\r
1300 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1302 /* Is it in the suspended list because it is in the Suspended
\r
1303 state, or because is is blocked with no timeout? */
\r
1304 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1310 mtCOVERAGE_TEST_MARKER();
\r
1315 mtCOVERAGE_TEST_MARKER();
\r
1320 mtCOVERAGE_TEST_MARKER();
\r
1324 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1326 #endif /* INCLUDE_vTaskSuspend */
\r
1327 /*-----------------------------------------------------------*/
\r
1329 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1331 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1333 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1335 /* It does not make sense to resume the calling task. */
\r
1336 configASSERT( xTaskToResume );
\r
1338 /* The parameter cannot be NULL as it is impossible to resume the
\r
1339 currently executing task. */
\r
1340 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1342 taskENTER_CRITICAL();
\r
1344 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1346 traceTASK_RESUME( pxTCB );
\r
1348 /* As we are in a critical section we can access the ready
\r
1349 lists even if the scheduler is suspended. */
\r
1350 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1351 prvAddTaskToReadyList( pxTCB );
\r
1353 /* We may have just resumed a higher priority task. */
\r
1354 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1356 /* This yield may not cause the task just resumed to run,
\r
1357 but will leave the lists in the correct state for the
\r
1359 taskYIELD_IF_USING_PREEMPTION();
\r
1363 mtCOVERAGE_TEST_MARKER();
\r
1368 mtCOVERAGE_TEST_MARKER();
\r
1371 taskEXIT_CRITICAL();
\r
1375 mtCOVERAGE_TEST_MARKER();
\r
1379 #endif /* INCLUDE_vTaskSuspend */
\r
1381 /*-----------------------------------------------------------*/
\r
1383 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1385 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1387 BaseType_t xYieldRequired = pdFALSE;
\r
1388 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1389 UBaseType_t uxSavedInterruptStatus;
\r
1391 configASSERT( xTaskToResume );
\r
1393 /* RTOS ports that support interrupt nesting have the concept of a
\r
1394 maximum system call (or maximum API call) interrupt priority.
\r
1395 Interrupts that are above the maximum system call priority are keep
\r
1396 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1397 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1398 is defined in FreeRTOSConfig.h then
\r
1399 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1400 failure if a FreeRTOS API function is called from an interrupt that has
\r
1401 been assigned a priority above the configured maximum system call
\r
1402 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1403 from interrupts that have been assigned a priority at or (logically)
\r
1404 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1405 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1406 simple as possible. More information (albeit Cortex-M specific) is
\r
1407 provided on the following link:
\r
1408 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1409 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1411 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1413 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1415 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1417 /* Check the ready lists can be accessed. */
\r
1418 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1420 /* Ready lists can be accessed so move the task from the
\r
1421 suspended list to the ready list directly. */
\r
1422 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1424 xYieldRequired = pdTRUE;
\r
1428 mtCOVERAGE_TEST_MARKER();
\r
1431 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1432 prvAddTaskToReadyList( pxTCB );
\r
1436 /* The delayed or ready lists cannot be accessed so the task
\r
1437 is held in the pending ready list until the scheduler is
\r
1439 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1444 mtCOVERAGE_TEST_MARKER();
\r
1447 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1449 return xYieldRequired;
\r
1452 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1453 /*-----------------------------------------------------------*/
\r
1455 void vTaskStartScheduler( void )
\r
1457 BaseType_t xReturn;
\r
1459 /* Add the idle task at the lowest priority. */
\r
1460 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1462 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1463 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1464 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
1468 /* Create the idle task without storing its handle. */
\r
1469 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
1471 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1473 #if ( configUSE_TIMERS == 1 )
\r
1475 if( xReturn == pdPASS )
\r
1477 xReturn = xTimerCreateTimerTask();
\r
1481 mtCOVERAGE_TEST_MARKER();
\r
1484 #endif /* configUSE_TIMERS */
\r
1486 if( xReturn == pdPASS )
\r
1488 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1489 before or during the call to xPortStartScheduler(). The stacks of
\r
1490 the created tasks contain a status word with interrupts switched on
\r
1491 so interrupts will automatically get re-enabled when the first task
\r
1493 portDISABLE_INTERRUPTS();
\r
1495 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1497 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1498 structure specific to the task that will run first. */
\r
1499 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1501 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1503 xSchedulerRunning = pdTRUE;
\r
1504 xTickCount = ( TickType_t ) 0U;
\r
1506 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1507 macro must be defined to configure the timer/counter used to generate
\r
1508 the run time counter time base. */
\r
1509 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1511 /* Setting up the timer tick is hardware specific and thus in the
\r
1512 portable interface. */
\r
1513 if( xPortStartScheduler() != pdFALSE )
\r
1515 /* Should not reach here as if the scheduler is running the
\r
1516 function will not return. */
\r
1520 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1525 /* This line will only be reached if the kernel could not be started,
\r
1526 because there was not enough FreeRTOS heap to create the idle task
\r
1527 or the timer task. */
\r
1528 configASSERT( xReturn );
\r
1531 /*-----------------------------------------------------------*/
\r
1533 void vTaskEndScheduler( void )
\r
1535 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1536 routine so the original ISRs can be restored if necessary. The port
\r
1537 layer must ensure interrupts enable bit is left in the correct state. */
\r
1538 portDISABLE_INTERRUPTS();
\r
1539 xSchedulerRunning = pdFALSE;
\r
1540 vPortEndScheduler();
\r
1542 /*----------------------------------------------------------*/
\r
1544 void vTaskSuspendAll( void )
\r
1546 /* A critical section is not required as the variable is of type
\r
1547 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
1548 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1549 http://goo.gl/wu4acr */
\r
1550 ++uxSchedulerSuspended;
\r
1552 /*----------------------------------------------------------*/
\r
1554 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1556 static TickType_t prvGetExpectedIdleTime( void )
\r
1558 TickType_t xReturn;
\r
1560 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1564 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1566 /* There are other idle priority tasks in the ready state. If
\r
1567 time slicing is used then the very next tick interrupt must be
\r
1573 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1579 #endif /* configUSE_TICKLESS_IDLE */
\r
1580 /*----------------------------------------------------------*/
\r
1582 BaseType_t xTaskResumeAll( void )
\r
1585 BaseType_t xAlreadyYielded = pdFALSE;
\r
1587 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1588 previous call to vTaskSuspendAll(). */
\r
1589 configASSERT( uxSchedulerSuspended );
\r
1591 /* It is possible that an ISR caused a task to be removed from an event
\r
1592 list while the scheduler was suspended. If this was the case then the
\r
1593 removed task will have been added to the xPendingReadyList. Once the
\r
1594 scheduler has been resumed it is safe to move all the pending ready
\r
1595 tasks from this list into their appropriate ready list. */
\r
1596 taskENTER_CRITICAL();
\r
1598 --uxSchedulerSuspended;
\r
1600 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1602 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
1604 /* Move any readied tasks from the pending list into the
\r
1605 appropriate ready list. */
\r
1606 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1608 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1609 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1610 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1611 prvAddTaskToReadyList( pxTCB );
\r
1613 /* If we have moved a task that has a priority higher than
\r
1614 the current task then we should yield. */
\r
1615 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1617 xYieldPending = pdTRUE;
\r
1621 mtCOVERAGE_TEST_MARKER();
\r
1625 /* If any ticks occurred while the scheduler was suspended then
\r
1626 they should be processed now. This ensures the tick count does
\r
1627 not slip, and that any delayed tasks are resumed at the correct
\r
1629 if( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1631 while( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1633 if( xTaskIncrementTick() != pdFALSE )
\r
1635 xYieldPending = pdTRUE;
\r
1639 mtCOVERAGE_TEST_MARKER();
\r
1646 mtCOVERAGE_TEST_MARKER();
\r
1649 if( xYieldPending == pdTRUE )
\r
1651 #if( configUSE_PREEMPTION != 0 )
\r
1653 xAlreadyYielded = pdTRUE;
\r
1656 taskYIELD_IF_USING_PREEMPTION();
\r
1660 mtCOVERAGE_TEST_MARKER();
\r
1666 mtCOVERAGE_TEST_MARKER();
\r
1669 taskEXIT_CRITICAL();
\r
1671 return xAlreadyYielded;
\r
1673 /*-----------------------------------------------------------*/
\r
1675 TickType_t xTaskGetTickCount( void )
\r
1677 TickType_t xTicks;
\r
1679 /* Critical section required if running on a 16 bit processor. */
\r
1680 taskENTER_CRITICAL();
\r
1682 xTicks = xTickCount;
\r
1684 taskEXIT_CRITICAL();
\r
1688 /*-----------------------------------------------------------*/
\r
1690 TickType_t xTaskGetTickCountFromISR( void )
\r
1692 TickType_t xReturn;
\r
1693 UBaseType_t uxSavedInterruptStatus;
\r
1695 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1696 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1697 above the maximum system call priority are kept permanently enabled, even
\r
1698 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1699 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1700 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1701 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1702 assigned a priority above the configured maximum system call priority.
\r
1703 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1704 that have been assigned a priority at or (logically) below the maximum
\r
1705 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1706 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1707 More information (albeit Cortex-M specific) is provided on the following
\r
1708 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1709 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1711 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1713 xReturn = xTickCount;
\r
1715 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1719 /*-----------------------------------------------------------*/
\r
1721 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
1723 /* A critical section is not required because the variables are of type
\r
1725 return uxCurrentNumberOfTasks;
\r
1727 /*-----------------------------------------------------------*/
\r
1729 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1731 char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery )
\r
1735 /* If null is passed in here then the name of the calling task is being queried. */
\r
1736 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1737 configASSERT( pxTCB );
\r
1738 return &( pxTCB->pcTaskName[ 0 ] );
\r
1741 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1742 /*-----------------------------------------------------------*/
\r
1744 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1746 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
1748 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1750 vTaskSuspendAll();
\r
1752 /* Is there a space in the array for each task in the system? */
\r
1753 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1755 /* Fill in an TaskStatus_t structure with information on each
\r
1756 task in the Ready state. */
\r
1760 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1762 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1764 /* Fill in an TaskStatus_t structure with information on each
\r
1765 task in the Blocked state. */
\r
1766 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
1767 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
1769 #if( INCLUDE_vTaskDelete == 1 )
\r
1771 /* Fill in an TaskStatus_t structure with information on
\r
1772 each task that has been deleted but not yet cleaned up. */
\r
1773 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1777 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1779 /* Fill in an TaskStatus_t structure with information on
\r
1780 each task in the Suspended state. */
\r
1781 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1785 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1787 if( pulTotalRunTime != NULL )
\r
1789 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1790 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
1792 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1798 if( pulTotalRunTime != NULL )
\r
1800 *pulTotalRunTime = 0;
\r
1807 mtCOVERAGE_TEST_MARKER();
\r
1810 ( void ) xTaskResumeAll();
\r
1815 #endif /* configUSE_TRACE_FACILITY */
\r
1816 /*----------------------------------------------------------*/
\r
1818 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1820 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
1822 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1823 started, then xIdleTaskHandle will be NULL. */
\r
1824 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1825 return xIdleTaskHandle;
\r
1828 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1829 /*----------------------------------------------------------*/
\r
1831 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1832 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1833 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1835 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1837 void vTaskStepTick( const TickType_t xTicksToJump )
\r
1839 /* Correct the tick count value after a period during which the tick
\r
1840 was suppressed. Note this does *not* call the tick hook function for
\r
1841 each stepped tick. */
\r
1842 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1843 xTickCount += xTicksToJump;
\r
1844 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
1847 #endif /* configUSE_TICKLESS_IDLE */
\r
1848 /*----------------------------------------------------------*/
\r
1850 BaseType_t xTaskIncrementTick( void )
\r
1853 TickType_t xItemValue;
\r
1854 BaseType_t xSwitchRequired = pdFALSE;
\r
1856 /* Called by the portable layer each time a tick interrupt occurs.
\r
1857 Increments the tick then checks to see if the new tick value will cause any
\r
1858 tasks to be unblocked. */
\r
1859 traceTASK_INCREMENT_TICK( xTickCount );
\r
1860 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1862 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1863 delayed lists if it wraps to 0. */
\r
1867 /* Minor optimisation. The tick count cannot change in this
\r
1869 const TickType_t xConstTickCount = xTickCount;
\r
1871 if( xConstTickCount == ( TickType_t ) 0U )
\r
1873 taskSWITCH_DELAYED_LISTS();
\r
1877 mtCOVERAGE_TEST_MARKER();
\r
1880 /* See if this tick has made a timeout expire. Tasks are stored in
\r
1881 the queue in the order of their wake time - meaning once one task
\r
1882 has been found whose block time has not expired there is no need to
\r
1883 look any further down the list. */
\r
1884 if( xConstTickCount >= xNextTaskUnblockTime )
\r
1888 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1890 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
1891 to the maximum possible value so it is extremely
\r
1893 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1894 next time through. */
\r
1895 xNextTaskUnblockTime = portMAX_DELAY;
\r
1900 /* The delayed list is not empty, get the value of the
\r
1901 item at the head of the delayed list. This is the time
\r
1902 at which the task at the head of the delayed list must
\r
1903 be removed from the Blocked state. */
\r
1904 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1905 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1907 if( xConstTickCount < xItemValue )
\r
1909 /* It is not time to unblock this item yet, but the
\r
1910 item value is the time at which the task at the head
\r
1911 of the blocked list must be removed from the Blocked
\r
1912 state - so record the item value in
\r
1913 xNextTaskUnblockTime. */
\r
1914 xNextTaskUnblockTime = xItemValue;
\r
1919 mtCOVERAGE_TEST_MARKER();
\r
1922 /* It is time to remove the item from the Blocked state. */
\r
1923 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1925 /* Is the task waiting on an event also? If so remove
\r
1926 it from the event list. */
\r
1927 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1929 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1933 mtCOVERAGE_TEST_MARKER();
\r
1936 /* Place the unblocked task into the appropriate ready
\r
1938 prvAddTaskToReadyList( pxTCB );
\r
1940 /* A task being unblocked cannot cause an immediate
\r
1941 context switch if preemption is turned off. */
\r
1942 #if ( configUSE_PREEMPTION == 1 )
\r
1944 /* Preemption is on, but a context switch should
\r
1945 only be performed if the unblocked task has a
\r
1946 priority that is equal to or higher than the
\r
1947 currently executing task. */
\r
1948 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1950 xSwitchRequired = pdTRUE;
\r
1954 mtCOVERAGE_TEST_MARKER();
\r
1957 #endif /* configUSE_PREEMPTION */
\r
1963 /* Tasks of equal priority to the currently running task will share
\r
1964 processing time (time slice) if preemption is on, and the application
\r
1965 writer has not explicitly turned time slicing off. */
\r
1966 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
1968 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
1970 xSwitchRequired = pdTRUE;
\r
1974 mtCOVERAGE_TEST_MARKER();
\r
1977 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
1979 #if ( configUSE_TICK_HOOK == 1 )
\r
1981 /* Guard against the tick hook being called when the pended tick
\r
1982 count is being unwound (when the scheduler is being unlocked). */
\r
1983 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
1985 vApplicationTickHook();
\r
1989 mtCOVERAGE_TEST_MARKER();
\r
1992 #endif /* configUSE_TICK_HOOK */
\r
1998 /* The tick hook gets called at regular intervals, even if the
\r
1999 scheduler is locked. */
\r
2000 #if ( configUSE_TICK_HOOK == 1 )
\r
2002 vApplicationTickHook();
\r
2007 #if ( configUSE_PREEMPTION == 1 )
\r
2009 if( xYieldPending != pdFALSE )
\r
2011 xSwitchRequired = pdTRUE;
\r
2015 mtCOVERAGE_TEST_MARKER();
\r
2018 #endif /* configUSE_PREEMPTION */
\r
2020 return xSwitchRequired;
\r
2022 /*-----------------------------------------------------------*/
\r
2024 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2026 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2030 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2032 if( xTask == NULL )
\r
2034 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2038 xTCB = ( TCB_t * ) xTask;
\r
2041 /* Save the hook function in the TCB. A critical section is required as
\r
2042 the value can be accessed from an interrupt. */
\r
2043 taskENTER_CRITICAL();
\r
2044 xTCB->pxTaskTag = pxHookFunction;
\r
2045 taskEXIT_CRITICAL();
\r
2048 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2049 /*-----------------------------------------------------------*/
\r
2051 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2053 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2056 TaskHookFunction_t xReturn;
\r
2058 /* If xTask is NULL then we are setting our own task hook. */
\r
2059 if( xTask == NULL )
\r
2061 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2065 xTCB = ( TCB_t * ) xTask;
\r
2068 /* Save the hook function in the TCB. A critical section is required as
\r
2069 the value can be accessed from an interrupt. */
\r
2070 taskENTER_CRITICAL();
\r
2072 xReturn = xTCB->pxTaskTag;
\r
2074 taskEXIT_CRITICAL();
\r
2079 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2080 /*-----------------------------------------------------------*/
\r
2082 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2084 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2087 BaseType_t xReturn;
\r
2089 /* If xTask is NULL then we are calling our own task hook. */
\r
2090 if( xTask == NULL )
\r
2092 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2096 xTCB = ( TCB_t * ) xTask;
\r
2099 if( xTCB->pxTaskTag != NULL )
\r
2101 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2111 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2112 /*-----------------------------------------------------------*/
\r
2114 void vTaskSwitchContext( void )
\r
2116 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2118 /* The scheduler is currently suspended - do not allow a context
\r
2120 xYieldPending = pdTRUE;
\r
2124 xYieldPending = pdFALSE;
\r
2125 traceTASK_SWITCHED_OUT();
\r
2127 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2129 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2130 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2132 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2135 /* Add the amount of time the task has been running to the
\r
2136 accumulated time so far. The time the task started running was
\r
2137 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2138 protection here so count values are only valid until the timer
\r
2139 overflows. The guard against negative values is to protect
\r
2140 against suspect run time stat counter implementations - which
\r
2141 are provided by the application, not the kernel. */
\r
2142 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2144 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2148 mtCOVERAGE_TEST_MARKER();
\r
2150 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2152 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2154 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
2155 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
2157 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2159 traceTASK_SWITCHED_IN();
\r
2161 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2163 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2164 structure specific to this task. */
\r
2165 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2167 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2170 /*-----------------------------------------------------------*/
\r
2172 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2174 TickType_t xTimeToWake;
\r
2176 configASSERT( pxEventList );
\r
2178 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2179 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2181 /* Place the event list item of the TCB in the appropriate event list.
\r
2182 This is placed in the list in priority order so the highest priority task
\r
2183 is the first to be woken by the event. The queue that contains the event
\r
2184 list is locked, preventing simultaneous access from interrupts. */
\r
2185 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2187 /* The task must be removed from from the ready list before it is added to
\r
2188 the blocked list as the same list item is used for both lists. Exclusive
\r
2189 access to the ready lists guaranteed because the scheduler is locked. */
\r
2190 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2192 /* The current task must be in a ready list, so there is no need to
\r
2193 check, and the port reset macro can be called directly. */
\r
2194 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2198 mtCOVERAGE_TEST_MARKER();
\r
2201 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2203 if( xTicksToWait == portMAX_DELAY )
\r
2205 /* Add the task to the suspended task list instead of a delayed task
\r
2206 list to ensure the task is not woken by a timing event. It will
\r
2207 block indefinitely. */
\r
2208 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2212 /* Calculate the time at which the task should be woken if the event
\r
2213 does not occur. This may overflow but this doesn't matter, the
\r
2214 scheduler will handle it. */
\r
2215 xTimeToWake = xTickCount + xTicksToWait;
\r
2216 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2219 #else /* INCLUDE_vTaskSuspend */
\r
2221 /* Calculate the time at which the task should be woken if the event does
\r
2222 not occur. This may overflow but this doesn't matter, the scheduler
\r
2223 will handle it. */
\r
2224 xTimeToWake = xTickCount + xTicksToWait;
\r
2225 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2227 #endif /* INCLUDE_vTaskSuspend */
\r
2229 /*-----------------------------------------------------------*/
\r
2231 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2233 TickType_t xTimeToWake;
\r
2235 configASSERT( pxEventList );
\r
2237 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2238 the event groups implementation. */
\r
2239 configASSERT( uxSchedulerSuspended != 0 );
\r
2241 /* Store the item value in the event list item. It is safe to access the
\r
2242 event list item here as interrupts won't access the event list item of a
\r
2243 task that is not in the Blocked state. */
\r
2244 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2246 /* Place the event list item of the TCB at the end of the appropriate event
\r
2247 list. It is safe to access the event list here because it is part of an
\r
2248 event group implementation - and interrupts don't access event groups
\r
2249 directly (instead they access them indirectly by pending function calls to
\r
2250 the task level). */
\r
2251 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2253 /* The task must be removed from the ready list before it is added to the
\r
2254 blocked list. Exclusive access can be assured to the ready list as the
\r
2255 scheduler is locked. */
\r
2256 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2258 /* The current task must be in a ready list, so there is no need to
\r
2259 check, and the port reset macro can be called directly. */
\r
2260 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2264 mtCOVERAGE_TEST_MARKER();
\r
2267 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2269 if( xTicksToWait == portMAX_DELAY )
\r
2271 /* Add the task to the suspended task list instead of a delayed task
\r
2272 list to ensure it is not woken by a timing event. It will block
\r
2274 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2278 /* Calculate the time at which the task should be woken if the event
\r
2279 does not occur. This may overflow but this doesn't matter, the
\r
2280 kernel will manage it correctly. */
\r
2281 xTimeToWake = xTickCount + xTicksToWait;
\r
2282 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2285 #else /* INCLUDE_vTaskSuspend */
\r
2287 /* Calculate the time at which the task should be woken if the event does
\r
2288 not occur. This may overflow but this doesn't matter, the kernel
\r
2289 will manage it correctly. */
\r
2290 xTimeToWake = xTickCount + xTicksToWait;
\r
2291 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2293 #endif /* INCLUDE_vTaskSuspend */
\r
2295 /*-----------------------------------------------------------*/
\r
2297 #if configUSE_TIMERS == 1
\r
2299 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2301 TickType_t xTimeToWake;
\r
2303 configASSERT( pxEventList );
\r
2305 /* This function should not be called by application code hence the
\r
2306 'Restricted' in its name. It is not part of the public API. It is
\r
2307 designed for use by kernel code, and has special calling requirements -
\r
2308 it should be called from a critical section. */
\r
2311 /* Place the event list item of the TCB in the appropriate event list.
\r
2312 In this case it is assume that this is the only task that is going to
\r
2313 be waiting on this event list, so the faster vListInsertEnd() function
\r
2314 can be used in place of vListInsert. */
\r
2315 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2317 /* We must remove this task from the ready list before adding it to the
\r
2318 blocked list as the same list item is used for both lists. This
\r
2319 function is called form a critical section. */
\r
2320 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2322 /* The current task must be in a ready list, so there is no need to
\r
2323 check, and the port reset macro can be called directly. */
\r
2324 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2328 mtCOVERAGE_TEST_MARKER();
\r
2331 /* Calculate the time at which the task should be woken if the event does
\r
2332 not occur. This may overflow but this doesn't matter. */
\r
2333 xTimeToWake = xTickCount + xTicksToWait;
\r
2335 traceTASK_DELAY_UNTIL();
\r
2336 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2339 #endif /* configUSE_TIMERS */
\r
2340 /*-----------------------------------------------------------*/
\r
2342 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
2344 TCB_t *pxUnblockedTCB;
\r
2345 BaseType_t xReturn;
\r
2347 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
2348 called from a critical section within an ISR. */
\r
2350 /* The event list is sorted in priority order, so the first in the list can
\r
2351 be removed as it is known to be the highest priority. Remove the TCB from
\r
2352 the delayed list, and add it to the ready list.
\r
2354 If an event is for a queue that is locked then this function will never
\r
2355 get called - the lock count on the queue will get modified instead. This
\r
2356 means exclusive access to the event list is guaranteed here.
\r
2358 This function assumes that a check has already been made to ensure that
\r
2359 pxEventList is not empty. */
\r
2360 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2361 configASSERT( pxUnblockedTCB );
\r
2362 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2364 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2366 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2367 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2371 /* The delayed and ready lists cannot be accessed, so hold this task
\r
2372 pending until the scheduler is resumed. */
\r
2373 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2376 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2378 /* Return true if the task removed from the event list has a higher
\r
2379 priority than the calling task. This allows the calling task to know if
\r
2380 it should force a context switch now. */
\r
2383 /* Mark that a yield is pending in case the user is not using the
\r
2384 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2385 xYieldPending = pdTRUE;
\r
2389 xReturn = pdFALSE;
\r
2394 /*-----------------------------------------------------------*/
\r
2396 BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
2398 TCB_t *pxUnblockedTCB;
\r
2399 BaseType_t xReturn;
\r
2401 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2402 the event flags implementation. */
\r
2403 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
2405 /* Store the new item value in the event list. */
\r
2406 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2408 /* Remove the event list form the event flag. Interrupts do not access
\r
2410 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2411 configASSERT( pxUnblockedTCB );
\r
2412 ( void ) uxListRemove( pxEventListItem );
\r
2414 /* Remove the task from the delayed list and add it to the ready list. The
\r
2415 scheduler is suspended so interrupts will not be accessing the ready
\r
2417 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2418 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2420 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2422 /* Return true if the task removed from the event list has
\r
2423 a higher priority than the calling task. This allows
\r
2424 the calling task to know if it should force a context
\r
2428 /* Mark that a yield is pending in case the user is not using the
\r
2429 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2430 xYieldPending = pdTRUE;
\r
2434 xReturn = pdFALSE;
\r
2439 /*-----------------------------------------------------------*/
\r
2441 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
2443 configASSERT( pxTimeOut );
\r
2444 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2445 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2447 /*-----------------------------------------------------------*/
\r
2449 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
2451 BaseType_t xReturn;
\r
2453 configASSERT( pxTimeOut );
\r
2454 configASSERT( pxTicksToWait );
\r
2456 taskENTER_CRITICAL();
\r
2458 /* Minor optimisation. The tick count cannot change in this block. */
\r
2459 const TickType_t xConstTickCount = xTickCount;
\r
2461 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2462 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2463 the maximum block time then the task should block indefinitely, and
\r
2464 therefore never time out. */
\r
2465 if( *pxTicksToWait == portMAX_DELAY )
\r
2467 xReturn = pdFALSE;
\r
2469 else /* We are not blocking indefinitely, perform the checks below. */
\r
2472 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2474 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2475 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2476 It must have wrapped all the way around and gone past us again. This
\r
2477 passed since vTaskSetTimeout() was called. */
\r
2480 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2482 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2483 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2484 vTaskSetTimeOutState( pxTimeOut );
\r
2485 xReturn = pdFALSE;
\r
2492 taskEXIT_CRITICAL();
\r
2496 /*-----------------------------------------------------------*/
\r
2498 void vTaskMissedYield( void )
\r
2500 xYieldPending = pdTRUE;
\r
2502 /*-----------------------------------------------------------*/
\r
2504 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2506 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
2508 UBaseType_t uxReturn;
\r
2511 if( xTask != NULL )
\r
2513 pxTCB = ( TCB_t * ) xTask;
\r
2514 uxReturn = pxTCB->uxTaskNumber;
\r
2524 #endif /* configUSE_TRACE_FACILITY */
\r
2525 /*-----------------------------------------------------------*/
\r
2527 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2529 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
2533 if( xTask != NULL )
\r
2535 pxTCB = ( TCB_t * ) xTask;
\r
2536 pxTCB->uxTaskNumber = uxHandle;
\r
2540 #endif /* configUSE_TRACE_FACILITY */
\r
2543 * -----------------------------------------------------------
\r
2545 * ----------------------------------------------------------
\r
2547 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2548 * language extensions. The equivalent prototype for this function is:
\r
2550 * void prvIdleTask( void *pvParameters );
\r
2553 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2555 /* Stop warnings. */
\r
2556 ( void ) pvParameters;
\r
2560 /* See if any tasks have been deleted. */
\r
2561 prvCheckTasksWaitingTermination();
\r
2563 #if ( configUSE_PREEMPTION == 0 )
\r
2565 /* If we are not using preemption we keep forcing a task switch to
\r
2566 see if any other task has become available. If we are using
\r
2567 preemption we don't need to do this as any task becoming available
\r
2568 will automatically get the processor anyway. */
\r
2571 #endif /* configUSE_PREEMPTION */
\r
2573 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2575 /* When using preemption tasks of equal priority will be
\r
2576 timesliced. If a task that is sharing the idle priority is ready
\r
2577 to run then the idle task should yield before the end of the
\r
2580 A critical region is not required here as we are just reading from
\r
2581 the list, and an occasional incorrect value will not matter. If
\r
2582 the ready list at the idle priority contains more than one task
\r
2583 then a task other than the idle task is ready to execute. */
\r
2584 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
2590 mtCOVERAGE_TEST_MARKER();
\r
2593 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2595 #if ( configUSE_IDLE_HOOK == 1 )
\r
2597 extern void vApplicationIdleHook( void );
\r
2599 /* Call the user defined function from within the idle task. This
\r
2600 allows the application designer to add background functionality
\r
2601 without the overhead of a separate task.
\r
2602 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2603 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2604 vApplicationIdleHook();
\r
2606 #endif /* configUSE_IDLE_HOOK */
\r
2608 /* This conditional compilation should use inequality to 0, not equality
\r
2609 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2610 user defined low power mode implementations require
\r
2611 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2612 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2614 TickType_t xExpectedIdleTime;
\r
2616 /* It is not desirable to suspend then resume the scheduler on
\r
2617 each iteration of the idle task. Therefore, a preliminary
\r
2618 test of the expected idle time is performed without the
\r
2619 scheduler suspended. The result here is not necessarily
\r
2621 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2623 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2625 vTaskSuspendAll();
\r
2627 /* Now the scheduler is suspended, the expected idle
\r
2628 time can be sampled again, and this time its value can
\r
2630 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2631 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2633 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2635 traceLOW_POWER_IDLE_BEGIN();
\r
2636 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2637 traceLOW_POWER_IDLE_END();
\r
2641 mtCOVERAGE_TEST_MARKER();
\r
2644 ( void ) xTaskResumeAll();
\r
2648 mtCOVERAGE_TEST_MARKER();
\r
2651 #endif /* configUSE_TICKLESS_IDLE */
\r
2654 /*-----------------------------------------------------------*/
\r
2656 #if configUSE_TICKLESS_IDLE != 0
\r
2658 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2660 eSleepModeStatus eReturn = eStandardSleep;
\r
2662 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2664 /* A task was made ready while the scheduler was suspended. */
\r
2665 eReturn = eAbortSleep;
\r
2667 else if( xYieldPending != pdFALSE )
\r
2669 /* A yield was pended while the scheduler was suspended. */
\r
2670 eReturn = eAbortSleep;
\r
2674 #if configUSE_TIMERS == 0
\r
2676 /* The idle task exists in addition to the application tasks. */
\r
2677 const UBaseType_t uxNonApplicationTasks = 1;
\r
2679 /* If timers are not being used and all the tasks are in the
\r
2680 suspended list (which might mean they have an infinite block
\r
2681 time rather than actually being suspended) then it is safe to
\r
2682 turn all clocks off and just wait for external interrupts. */
\r
2683 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2685 eReturn = eNoTasksWaitingTimeout;
\r
2689 mtCOVERAGE_TEST_MARKER();
\r
2692 #endif /* configUSE_TIMERS */
\r
2697 #endif /* configUSE_TICKLESS_IDLE */
\r
2698 /*-----------------------------------------------------------*/
\r
2700 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
2704 /* Store the task name in the TCB. */
\r
2705 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2707 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2709 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2710 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2711 string is not accessible (extremely unlikely). */
\r
2712 if( pcName[ x ] == 0x00 )
\r
2718 mtCOVERAGE_TEST_MARKER();
\r
2722 /* Ensure the name string is terminated in the case that the string length
\r
2723 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2724 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
2726 /* This is used as an array index so must ensure it's not too large. First
\r
2727 remove the privilege bit if one is present. */
\r
2728 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
2730 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
2734 mtCOVERAGE_TEST_MARKER();
\r
2737 pxTCB->uxPriority = uxPriority;
\r
2738 #if ( configUSE_MUTEXES == 1 )
\r
2740 pxTCB->uxBasePriority = uxPriority;
\r
2741 pxTCB->uxMutexesHeld = 0;
\r
2743 #endif /* configUSE_MUTEXES */
\r
2745 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2746 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2748 /* Set the pxTCB as a link back from the ListItem_t. This is so we can get
\r
2749 back to the containing TCB from a generic item in a list. */
\r
2750 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2752 /* Event lists are always in priority order. */
\r
2753 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
2754 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2756 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2758 pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
2760 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2762 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2764 pxTCB->pxTaskTag = NULL;
\r
2766 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2768 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2770 pxTCB->ulRunTimeCounter = 0UL;
\r
2772 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2774 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2776 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2778 #else /* portUSING_MPU_WRAPPERS */
\r
2780 ( void ) xRegions;
\r
2781 ( void ) usStackDepth;
\r
2783 #endif /* portUSING_MPU_WRAPPERS */
\r
2785 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2787 /* Initialise this task's Newlib reent structure. */
\r
2788 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2790 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2792 /*-----------------------------------------------------------*/
\r
2794 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2796 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
2800 /* If null is passed in here then we are deleting ourselves. */
\r
2801 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2803 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2806 #endif /* portUSING_MPU_WRAPPERS */
\r
2807 /*-----------------------------------------------------------*/
\r
2809 static void prvInitialiseTaskLists( void )
\r
2811 UBaseType_t uxPriority;
\r
2813 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
2815 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
2818 vListInitialise( &xDelayedTaskList1 );
\r
2819 vListInitialise( &xDelayedTaskList2 );
\r
2820 vListInitialise( &xPendingReadyList );
\r
2822 #if ( INCLUDE_vTaskDelete == 1 )
\r
2824 vListInitialise( &xTasksWaitingTermination );
\r
2826 #endif /* INCLUDE_vTaskDelete */
\r
2828 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2830 vListInitialise( &xSuspendedTaskList );
\r
2832 #endif /* INCLUDE_vTaskSuspend */
\r
2834 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2836 pxDelayedTaskList = &xDelayedTaskList1;
\r
2837 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2839 /*-----------------------------------------------------------*/
\r
2841 static void prvCheckTasksWaitingTermination( void )
\r
2843 #if ( INCLUDE_vTaskDelete == 1 )
\r
2845 BaseType_t xListIsEmpty;
\r
2847 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2848 too often in the idle task. */
\r
2849 while( uxTasksDeleted > ( UBaseType_t ) 0U )
\r
2851 vTaskSuspendAll();
\r
2853 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2855 ( void ) xTaskResumeAll();
\r
2857 if( xListIsEmpty == pdFALSE )
\r
2861 taskENTER_CRITICAL();
\r
2863 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
2864 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2865 --uxCurrentNumberOfTasks;
\r
2868 taskEXIT_CRITICAL();
\r
2870 prvDeleteTCB( pxTCB );
\r
2874 mtCOVERAGE_TEST_MARKER();
\r
2878 #endif /* vTaskDelete */
\r
2880 /*-----------------------------------------------------------*/
\r
2882 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake )
\r
2884 /* The list item will be inserted in wake time order. */
\r
2885 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2887 if( xTimeToWake < xTickCount )
\r
2889 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2890 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2894 /* The wake time has not overflowed, so the current block list is used. */
\r
2895 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2897 /* If the task entering the blocked state was placed at the head of the
\r
2898 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2900 if( xTimeToWake < xNextTaskUnblockTime )
\r
2902 xNextTaskUnblockTime = xTimeToWake;
\r
2906 mtCOVERAGE_TEST_MARKER();
\r
2910 /*-----------------------------------------------------------*/
\r
2912 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer )
\r
2916 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2917 the implementation of the port malloc function. */
\r
2918 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
2920 if( pxNewTCB != NULL )
\r
2922 /* Allocate space for the stack used by the task being created.
\r
2923 The base of the stack memory stored in the TCB so the task can
\r
2924 be deleted later if required. */
\r
2925 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
2927 if( pxNewTCB->pxStack == NULL )
\r
2929 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2930 vPortFree( pxNewTCB );
\r
2935 /* Avoid dependency on memset() if it is not required. */
\r
2936 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2938 /* Just to help debugging. */
\r
2939 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );
\r
2941 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
2947 /*-----------------------------------------------------------*/
\r
2949 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2951 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
2953 volatile TCB_t *pxNextTCB, *pxFirstTCB;
\r
2954 UBaseType_t uxTask = 0;
\r
2956 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2958 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2960 /* Populate an TaskStatus_t structure within the
\r
2961 pxTaskStatusArray array for each task that is referenced from
\r
2962 pxList. See the definition of TaskStatus_t in task.h for the
\r
2963 meaning of each TaskStatus_t structure member. */
\r
2966 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2968 pxTaskStatusArray[ uxTask ].xHandle = ( TaskHandle_t ) pxNextTCB;
\r
2969 pxTaskStatusArray[ uxTask ].pcTaskName = ( const char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
2970 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
2971 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
2972 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
2974 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2976 /* If the task is in the suspended list then there is a chance
\r
2977 it is actually just blocked indefinitely - so really it should
\r
2978 be reported as being in the Blocked state. */
\r
2979 if( eState == eSuspended )
\r
2981 if( listLIST_ITEM_CONTAINER( &( pxNextTCB->xEventListItem ) ) != NULL )
\r
2983 pxTaskStatusArray[ uxTask ].eCurrentState = eBlocked;
\r
2987 #endif /* INCLUDE_vTaskSuspend */
\r
2989 #if ( configUSE_MUTEXES == 1 )
\r
2991 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
2995 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
2999 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3001 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
3005 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
3009 #if ( portSTACK_GROWTH > 0 )
\r
3011 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxEndOfStack );
\r
3015 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxStack );
\r
3021 } while( pxNextTCB != pxFirstTCB );
\r
3025 mtCOVERAGE_TEST_MARKER();
\r
3031 #endif /* configUSE_TRACE_FACILITY */
\r
3032 /*-----------------------------------------------------------*/
\r
3034 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3036 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3038 uint32_t ulCount = 0U;
\r
3040 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
3042 pucStackByte -= portSTACK_GROWTH;
\r
3046 ulCount /= ( uint32_t ) sizeof( StackType_t );
\r
3048 return ( uint16_t ) ulCount;
\r
3051 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3052 /*-----------------------------------------------------------*/
\r
3054 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3056 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3059 uint8_t *pucEndOfStack;
\r
3060 UBaseType_t uxReturn;
\r
3062 pxTCB = prvGetTCBFromHandle( xTask );
\r
3064 #if portSTACK_GROWTH < 0
\r
3066 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3070 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3074 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3079 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3080 /*-----------------------------------------------------------*/
\r
3082 #if ( INCLUDE_vTaskDelete == 1 )
\r
3084 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3086 /* This call is required specifically for the TriCore port. It must be
\r
3087 above the vPortFree() calls. The call is also used by ports/demos that
\r
3088 want to allocate and clean RAM statically. */
\r
3089 portCLEAN_UP_TCB( pxTCB );
\r
3091 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3092 to the task to free any memory allocated at the application level. */
\r
3093 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3095 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3097 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3098 vPortFreeAligned( pxTCB->pxStack );
\r
3099 vPortFree( pxTCB );
\r
3102 #endif /* INCLUDE_vTaskDelete */
\r
3103 /*-----------------------------------------------------------*/
\r
3105 static void prvResetNextTaskUnblockTime( void )
\r
3109 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3111 /* The new current delayed list is empty. Set
\r
3112 xNextTaskUnblockTime to the maximum possible value so it is
\r
3113 extremely unlikely that the
\r
3114 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3115 there is an item in the delayed list. */
\r
3116 xNextTaskUnblockTime = portMAX_DELAY;
\r
3120 /* The new current delayed list is not empty, get the value of
\r
3121 the item at the head of the delayed list. This is the time at
\r
3122 which the task at the head of the delayed list should be removed
\r
3123 from the Blocked state. */
\r
3124 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3125 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) );
\r
3128 /*-----------------------------------------------------------*/
\r
3130 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3132 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3134 TaskHandle_t xReturn;
\r
3136 /* A critical section is not required as this is not called from
\r
3137 an interrupt and the current TCB will always be the same for any
\r
3138 individual execution thread. */
\r
3139 xReturn = pxCurrentTCB;
\r
3144 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3145 /*-----------------------------------------------------------*/
\r
3147 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3149 BaseType_t xTaskGetSchedulerState( void )
\r
3151 BaseType_t xReturn;
\r
3153 if( xSchedulerRunning == pdFALSE )
\r
3155 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3159 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3161 xReturn = taskSCHEDULER_RUNNING;
\r
3165 xReturn = taskSCHEDULER_SUSPENDED;
\r
3172 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3173 /*-----------------------------------------------------------*/
\r
3175 #if ( configUSE_MUTEXES == 1 )
\r
3177 void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3179 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3181 /* If the mutex was given back by an interrupt while the queue was
\r
3182 locked then the mutex holder might now be NULL. */
\r
3183 if( pxMutexHolder != NULL )
\r
3185 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3187 /* Adjust the mutex holder state to account for its new
\r
3188 priority. Only reset the event list item value if the value is
\r
3189 not being used for anything else. */
\r
3190 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3192 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
3196 mtCOVERAGE_TEST_MARKER();
\r
3199 /* If the task being modified is in the ready state it will need to
\r
3200 be moved into a new list. */
\r
3201 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
3203 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3205 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3209 mtCOVERAGE_TEST_MARKER();
\r
3212 /* Inherit the priority before being moved into the new list. */
\r
3213 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3214 prvAddTaskToReadyList( pxTCB );
\r
3218 /* Just inherit the priority. */
\r
3219 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3222 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
3226 mtCOVERAGE_TEST_MARKER();
\r
3231 mtCOVERAGE_TEST_MARKER();
\r
3235 #endif /* configUSE_MUTEXES */
\r
3236 /*-----------------------------------------------------------*/
\r
3238 #if ( configUSE_MUTEXES == 1 )
\r
3240 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3242 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3243 BaseType_t xReturn = pdFALSE;
\r
3245 if( pxMutexHolder != NULL )
\r
3247 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3249 /* Only disinherit if no other mutexes are held. */
\r
3250 if( pxTCB->uxMutexesHeld == 0 )
\r
3252 /* The holding task must be the running task to be able to give
\r
3253 the mutex back. Remove the holding task from the ready list. */
\r
3254 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3256 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3260 mtCOVERAGE_TEST_MARKER();
\r
3263 /* Disinherit the priority before adding the task into the new
\r
3265 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3266 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3268 /* Reset the event list item value. It cannot be in use for
\r
3269 any other purpose if this task is running, and it must be
\r
3270 running to give back the mutex. */
\r
3271 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
3272 prvAddTaskToReadyList( pxTCB );
\r
3274 /* Return true to indicate that a context switch is required.
\r
3275 This is only actually required in the corner case whereby
\r
3276 multiple mutexes were held and the mutexes were given back
\r
3277 in an order different to that in which they were taken. */
\r
3282 mtCOVERAGE_TEST_MARKER();
\r
3287 mtCOVERAGE_TEST_MARKER();
\r
3292 mtCOVERAGE_TEST_MARKER();
\r
3298 #endif /* configUSE_MUTEXES */
\r
3299 /*-----------------------------------------------------------*/
\r
3301 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3303 void vTaskEnterCritical( void )
\r
3305 portDISABLE_INTERRUPTS();
\r
3307 if( xSchedulerRunning != pdFALSE )
\r
3309 ( pxCurrentTCB->uxCriticalNesting )++;
\r
3311 /* This is not the interrupt safe version of the enter critical
\r
3312 function so assert() if it is being called from an interrupt
\r
3313 context. Only API functions that end in "FromISR" can be used in an
\r
3314 interrupt. Only assert if the critical nesting count is 1 to
\r
3315 protect against recursive calls if the assert function also uses a
\r
3316 critical section. */
\r
3317 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
3319 portASSERT_IF_IN_ISR();
\r
3325 mtCOVERAGE_TEST_MARKER();
\r
3329 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3330 /*-----------------------------------------------------------*/
\r
3332 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3334 void vTaskExitCritical( void )
\r
3336 if( xSchedulerRunning != pdFALSE )
\r
3338 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
3340 ( pxCurrentTCB->uxCriticalNesting )--;
\r
3342 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
3344 portENABLE_INTERRUPTS();
\r
3348 mtCOVERAGE_TEST_MARKER();
\r
3353 mtCOVERAGE_TEST_MARKER();
\r
3358 mtCOVERAGE_TEST_MARKER();
\r
3362 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3363 /*-----------------------------------------------------------*/
\r
3365 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
3367 void vTaskList( char * pcWriteBuffer )
\r
3369 TaskStatus_t *pxTaskStatusArray;
\r
3370 volatile UBaseType_t uxArraySize, x;
\r
3376 * This function is provided for convenience only, and is used by many
\r
3377 * of the demo applications. Do not consider it to be part of the
\r
3380 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
3381 * uxTaskGetSystemState() output into a human readable table that
\r
3382 * displays task names, states and stack usage.
\r
3384 * vTaskList() has a dependency on the sprintf() C library function that
\r
3385 * might bloat the code size, use a lot of stack, and provide different
\r
3386 * results on different platforms. An alternative, tiny, third party,
\r
3387 * and limited functionality implementation of sprintf() is provided in
\r
3388 * many of the FreeRTOS/Demo sub-directories in a file called
\r
3389 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
3390 * snprintf() implementation!).
\r
3392 * It is recommended that production systems call uxTaskGetSystemState()
\r
3393 * directly to get access to raw stats data, rather than indirectly
\r
3394 * through a call to vTaskList().
\r
3398 /* Make sure the write buffer does not contain a string. */
\r
3399 *pcWriteBuffer = 0x00;
\r
3401 /* Take a snapshot of the number of tasks in case it changes while this
\r
3402 function is executing. */
\r
3403 uxArraySize = uxCurrentNumberOfTasks;
\r
3405 /* Allocate an array index for each task. */
\r
3406 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3408 if( pxTaskStatusArray != NULL )
\r
3410 /* Generate the (binary) data. */
\r
3411 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
3413 /* Create a human readable table from the binary data. */
\r
3414 for( x = 0; x < uxArraySize; x++ )
\r
3416 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
3418 case eReady: cStatus = tskREADY_CHAR;
\r
3421 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
3424 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
3427 case eDeleted: cStatus = tskDELETED_CHAR;
\r
3430 default: /* Should not get here, but it is included
\r
3431 to prevent static checking errors. */
\r
3436 sprintf( pcWriteBuffer, "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
3437 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3440 /* Free the array again. */
\r
3441 vPortFree( pxTaskStatusArray );
\r
3445 mtCOVERAGE_TEST_MARKER();
\r
3449 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */
\r
3450 /*----------------------------------------------------------*/
\r
3452 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
3454 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
3456 TaskStatus_t *pxTaskStatusArray;
\r
3457 volatile UBaseType_t uxArraySize, x;
\r
3458 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
3460 #if( configUSE_TRACE_FACILITY != 1 )
\r
3462 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
3469 * This function is provided for convenience only, and is used by many
\r
3470 * of the demo applications. Do not consider it to be part of the
\r
3473 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
3474 * of the uxTaskGetSystemState() output into a human readable table that
\r
3475 * displays the amount of time each task has spent in the Running state
\r
3476 * in both absolute and percentage terms.
\r
3478 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
3479 * function that might bloat the code size, use a lot of stack, and
\r
3480 * provide different results on different platforms. An alternative,
\r
3481 * tiny, third party, and limited functionality implementation of
\r
3482 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3483 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3484 * a full snprintf() implementation!).
\r
3486 * It is recommended that production systems call uxTaskGetSystemState()
\r
3487 * directly to get access to raw stats data, rather than indirectly
\r
3488 * through a call to vTaskGetRunTimeStats().
\r
3491 /* Make sure the write buffer does not contain a string. */
\r
3492 *pcWriteBuffer = 0x00;
\r
3494 /* Take a snapshot of the number of tasks in case it changes while this
\r
3495 function is executing. */
\r
3496 uxArraySize = uxCurrentNumberOfTasks;
\r
3498 /* Allocate an array index for each task. */
\r
3499 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3501 if( pxTaskStatusArray != NULL )
\r
3503 /* Generate the (binary) data. */
\r
3504 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
3506 /* For percentage calculations. */
\r
3507 ulTotalTime /= 100UL;
\r
3509 /* Avoid divide by zero errors. */
\r
3510 if( ulTotalTime > 0 )
\r
3512 /* Create a human readable table from the binary data. */
\r
3513 for( x = 0; x < uxArraySize; x++ )
\r
3515 /* What percentage of the total run time has the task used?
\r
3516 This will always be rounded down to the nearest integer.
\r
3517 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
3518 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
3520 if( ulStatsAsPercentage > 0UL )
\r
3522 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3524 sprintf( pcWriteBuffer, "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
3528 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3529 printf() library can be used. */
\r
3530 sprintf( pcWriteBuffer, "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
3536 /* If the percentage is zero here then the task has
\r
3537 consumed less than 1% of the total run time. */
\r
3538 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3540 sprintf( pcWriteBuffer, "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3544 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3545 printf() library can be used. */
\r
3546 sprintf( pcWriteBuffer, "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3551 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3556 mtCOVERAGE_TEST_MARKER();
\r
3559 /* Free the array again. */
\r
3560 vPortFree( pxTaskStatusArray );
\r
3564 mtCOVERAGE_TEST_MARKER();
\r
3568 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */
\r
3569 /*-----------------------------------------------------------*/
\r
3571 TickType_t uxTaskResetEventItemValue( void )
\r
3573 TickType_t uxReturn;
\r
3575 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
3577 /* Reset the event list item to its normal value - so it can be used with
\r
3578 queues and semaphores. */
\r
3579 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
3583 /*-----------------------------------------------------------*/
\r
3585 void vTaskIncrementMutexHeldCount( void )
\r
3587 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
3588 then pxCurrentTCB will be NULL. */
\r
3589 if( pxCurrentTCB != NULL )
\r
3591 ( pxCurrentTCB->uxMutexesHeld )++;
\r
3594 /*-----------------------------------------------------------*/
\r
3596 void vTaskDecrementMutexHeldCount( void )
\r
3598 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
3599 then pxCurrentTCB will be NULL. */
\r
3600 if( pxCurrentTCB != NULL )
\r
3602 configASSERT( pxCurrentTCB->uxMutexesHeld );
\r
3603 ( pxCurrentTCB->uxMutexesHeld )--;
\r
3607 #ifdef FREERTOS_MODULE_TEST
\r
3608 #include "tasks_test_access_functions.h"
\r