2 FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to distribute
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28 >>! a combined work that includes FreeRTOS without being obliged to provide
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29 >>! the source code for proprietary components outside of the FreeRTOS
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 /* Standard includes. */
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70 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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71 all the API functions to use the MPU wrappers. That should only be done when
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72 task.h is included from an application file. */
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73 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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75 /* FreeRTOS includes. */
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76 #include "FreeRTOS.h"
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79 #include "StackMacros.h"
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81 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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82 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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83 header files above, but not in this file, in order to generate the correct
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84 privileged Vs unprivileged linkage and placement. */
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85 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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87 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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88 /* At the bottom of this file are two optional functions that can be used
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89 to generate human readable text from the raw data generated by the
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90 uxTaskGetSystemState() function. Note the formatting functions are provided
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91 for convenience only, and are NOT considered part of the kernel. */
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93 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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95 /* Sanity check the configuration. */
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96 #if configUSE_TICKLESS_IDLE != 0
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97 #if INCLUDE_vTaskSuspend != 1
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98 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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99 #endif /* INCLUDE_vTaskSuspend */
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100 #endif /* configUSE_TICKLESS_IDLE */
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103 * Defines the size, in words, of the stack allocated to the idle task.
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105 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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107 #if( configUSE_PREEMPTION == 0 )
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108 /* If the cooperative scheduler is being used then a yield should not be
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109 performed just because a higher priority task has been woken. */
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110 #define taskYIELD_IF_USING_PREEMPTION()
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112 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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116 * Task control block. A task control block (TCB) is allocated for each task,
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117 * and stores task state information, including a pointer to the task's context
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118 * (the task's run time environment, including register values)
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120 typedef struct tskTaskControlBlock
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122 volatile StackType_t *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
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124 #if ( portUSING_MPU_WRAPPERS == 1 )
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125 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
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128 ListItem_t xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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129 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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130 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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131 StackType_t *pxStack; /*< Points to the start of the stack. */
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132 char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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134 #if ( portSTACK_GROWTH > 0 )
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135 StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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138 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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139 UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
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142 #if ( configUSE_TRACE_FACILITY == 1 )
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143 UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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144 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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147 #if ( configUSE_MUTEXES == 1 )
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148 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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151 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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152 TaskHookFunction_t pxTaskTag;
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155 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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156 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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159 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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160 /* Allocate a Newlib reent structure that is specific to this task.
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161 Note Newlib support has been included by popular demand, but is not
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162 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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163 responsible for resulting newlib operation. User must be familiar with
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164 newlib and must provide system-wide implementations of the necessary
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165 stubs. Be warned that (at the time of writing) the current newlib design
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166 implements a system-wide malloc() that must be provided with locks. */
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167 struct _reent xNewLib_reent;
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172 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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173 below to enable the use of older kernel aware debuggers. */
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174 typedef tskTCB TCB_t;
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177 * Some kernel aware debuggers require the data the debugger needs access to to
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178 * be global, rather than file scope.
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180 #ifdef portREMOVE_STATIC_QUALIFIER
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184 /*lint -e956 A manual analysis and inspection has been used to determine which
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185 static variables must be declared volatile. */
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187 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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189 /* Lists for ready and blocked tasks. --------------------*/
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190 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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191 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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192 PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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193 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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194 PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
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195 PRIVILEGED_DATA static List_t xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
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197 #if ( INCLUDE_vTaskDelete == 1 )
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199 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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200 PRIVILEGED_DATA static volatile UBaseType_t uxTasksDeleted = ( UBaseType_t ) 0U;
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204 #if ( INCLUDE_vTaskSuspend == 1 )
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206 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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210 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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212 PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
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216 /* Other file private variables. --------------------------------*/
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217 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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218 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;
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219 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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220 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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221 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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222 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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223 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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224 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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225 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = portMAX_DELAY;
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227 /* Context switches are held pending while the scheduler is suspended. Also,
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228 interrupts must not manipulate the xStateListItem of a TCB, or any of the
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229 lists the xStateListItem can be referenced from, if the scheduler is suspended.
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230 If an interrupt needs to unblock a task while the scheduler is suspended then it
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231 moves the task's event list item into the xPendingReadyList, ready for the
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232 kernel to move the task from the pending ready list into the real ready list
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233 when the scheduler is unsuspended. The pending ready list itself can only be
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234 accessed from a critical section. */
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235 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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237 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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239 PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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240 PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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246 /* Debugging and trace facilities private variables and macros. ------------*/
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249 * The value used to fill the stack of a task when the task is created. This
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250 * is used purely for checking the high water mark for tasks.
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252 #define tskSTACK_FILL_BYTE ( 0xa5U )
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255 * Macros used by vListTask to indicate which state a task is in.
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257 #define tskBLOCKED_CHAR ( 'B' )
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258 #define tskREADY_CHAR ( 'R' )
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259 #define tskDELETED_CHAR ( 'D' )
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260 #define tskSUSPENDED_CHAR ( 'S' )
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262 /*-----------------------------------------------------------*/
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264 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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266 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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267 performed in a generic way that is not optimised to any particular
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268 microcontroller architecture. */
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270 /* uxTopReadyPriority holds the priority of the highest priority ready
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272 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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274 if( ( uxPriority ) > uxTopReadyPriority ) \
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276 uxTopReadyPriority = ( uxPriority ); \
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278 } /* taskRECORD_READY_PRIORITY */
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280 /*-----------------------------------------------------------*/
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282 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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284 /* Find the highest priority queue that contains ready tasks. */ \
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285 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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287 configASSERT( uxTopReadyPriority ); \
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288 --uxTopReadyPriority; \
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291 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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292 the same priority get an equal share of the processor time. */ \
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293 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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294 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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296 /*-----------------------------------------------------------*/
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298 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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299 they are only required when a port optimised method of task selection is
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301 #define taskRESET_READY_PRIORITY( uxPriority )
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302 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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304 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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306 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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307 performed in a way that is tailored to the particular microcontroller
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308 architecture being used. */
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310 /* A port optimised version is provided. Call the port defined macros. */
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311 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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313 /*-----------------------------------------------------------*/
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315 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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317 UBaseType_t uxTopPriority; \
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319 /* Find the highest priority queue that contains ready tasks. */ \
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320 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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321 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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322 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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323 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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325 /*-----------------------------------------------------------*/
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327 /* A port optimised version is provided, call it only if the TCB being reset
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328 is being referenced from a ready list. If it is referenced from a delayed
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329 or suspended list then it won't be in a ready list. */
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330 #define taskRESET_READY_PRIORITY( uxPriority ) \
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332 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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334 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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338 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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340 /*-----------------------------------------------------------*/
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342 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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343 count overflows. */
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344 #define taskSWITCH_DELAYED_LISTS() \
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348 /* The delayed tasks list should be empty when the lists are switched. */ \
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349 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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351 pxTemp = pxDelayedTaskList; \
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352 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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353 pxOverflowDelayedTaskList = pxTemp; \
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354 xNumOfOverflows++; \
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355 prvResetNextTaskUnblockTime(); \
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358 /*-----------------------------------------------------------*/
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361 * Place the task represented by pxTCB into the appropriate ready list for
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362 * the task. It is inserted at the end of the list.
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364 #define prvAddTaskToReadyList( pxTCB ) \
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365 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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366 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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367 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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368 /*-----------------------------------------------------------*/
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371 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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372 * where NULL is used to indicate that the handle of the currently executing
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373 * task should be used in place of the parameter. This macro simply checks to
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374 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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376 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )
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378 /* The item value of the event list item is normally used to hold the priority
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379 of the task to which it belongs (coded to allow it to be held in reverse
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380 priority order). However, it is occasionally borrowed for other purposes. It
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381 is important its value is not updated due to a task priority change while it is
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382 being used for another purpose. The following bit definition is used to inform
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383 the scheduler that the value should not be changed - in which case it is the
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384 responsibility of whichever module is using the value to ensure it gets set back
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385 to its original value when it is released. */
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386 #if configUSE_16_BIT_TICKS == 1
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387 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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389 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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392 /* Callback function prototypes. --------------------------*/
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393 #if configCHECK_FOR_STACK_OVERFLOW > 0
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394 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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397 #if configUSE_TICK_HOOK > 0
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398 extern void vApplicationTickHook( void );
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401 /* File private functions. --------------------------------*/
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404 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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405 * into the TCB structure.
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407 static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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410 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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411 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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412 * is in any other state.
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414 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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417 * Utility to ready all the lists used by the scheduler. This is called
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418 * automatically upon the creation of the first task.
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420 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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423 * The idle task, which as all tasks is implemented as a never ending loop.
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424 * The idle task is automatically created and added to the ready lists upon
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425 * creation of the first user task.
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427 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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428 * language extensions. The equivalent prototype for this function is:
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430 * void prvIdleTask( void *pvParameters );
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433 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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436 * Utility to free all memory allocated by the scheduler to hold a TCB,
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437 * including the stack pointed to by the TCB.
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439 * This does not free memory allocated by the task itself (i.e. memory
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440 * allocated by calls to pvPortMalloc from within the tasks application code).
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442 #if ( INCLUDE_vTaskDelete == 1 )
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444 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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449 * Used only by the idle task. This checks to see if anything has been placed
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450 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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451 * and its TCB deleted.
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453 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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456 * The currently executing task is entering the Blocked state. Add the task to
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457 * either the current or the overflow delayed task list.
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459 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake ) PRIVILEGED_FUNCTION;
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462 * Allocates memory from the heap for a TCB and associated stack. Checks the
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463 * allocation was successful.
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465 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer ) PRIVILEGED_FUNCTION;
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468 * Fills an TaskStatus_t structure with information on each task that is
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469 * referenced from the pxList list (which may be a ready list, a delayed list,
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470 * a suspended list, etc.).
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472 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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473 * NORMAL APPLICATION CODE.
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475 #if ( configUSE_TRACE_FACILITY == 1 )
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477 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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482 * When a task is created, the stack of the task is filled with a known value.
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483 * This function determines the 'high water mark' of the task stack by
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484 * determining how much of the stack remains at the original preset value.
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486 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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488 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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493 * Return the amount of time, in ticks, that will pass before the kernel will
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494 * next move a task from the Blocked state to the Running state.
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496 * This conditional compilation should use inequality to 0, not equality to 1.
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497 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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498 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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499 * set to a value other than 1.
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501 #if ( configUSE_TICKLESS_IDLE != 0 )
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503 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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508 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
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509 * will exit the Blocked state.
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511 static void prvResetNextTaskUnblockTime( void );
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513 /*-----------------------------------------------------------*/
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515 BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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517 BaseType_t xReturn;
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520 configASSERT( pxTaskCode );
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521 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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523 /* Allocate the memory required by the TCB and stack for the new task,
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524 checking that the allocation was successful. */
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525 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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527 if( pxNewTCB != NULL )
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529 StackType_t *pxTopOfStack;
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531 #if( portUSING_MPU_WRAPPERS == 1 )
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532 /* Should the task be created in privileged mode? */
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533 BaseType_t xRunPrivileged;
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534 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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536 xRunPrivileged = pdTRUE;
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540 xRunPrivileged = pdFALSE;
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542 uxPriority &= ~portPRIVILEGE_BIT;
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543 #endif /* portUSING_MPU_WRAPPERS == 1 */
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545 /* Calculate the top of stack address. This depends on whether the
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546 stack grows from high memory to low (as per the 80x86) or vice versa.
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547 portSTACK_GROWTH is used to make the result positive or negative as
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548 required by the port. */
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549 #if( portSTACK_GROWTH < 0 )
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551 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );
\r
552 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
554 /* Check the alignment of the calculated top of stack is correct. */
\r
555 configASSERT( ( ( ( uint32_t ) pxTopOfStack & ( uint32_t ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
557 #else /* portSTACK_GROWTH */
\r
559 pxTopOfStack = pxNewTCB->pxStack;
\r
561 /* Check the alignment of the stack buffer is correct. */
\r
562 configASSERT( ( ( ( uint32_t ) pxNewTCB->pxStack & ( uint32_t ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
564 /* If we want to use stack checking on architectures that use
\r
565 a positive stack growth direction then we also need to store the
\r
566 other extreme of the stack space. */
\r
567 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
\r
569 #endif /* portSTACK_GROWTH */
\r
571 /* Setup the newly allocated TCB with the initial state of the task. */
\r
572 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
\r
574 /* Initialize the TCB stack to look as if the task was already running,
\r
575 but had been interrupted by the scheduler. The return address is set
\r
576 to the start of the task function. Once the stack has been initialised
\r
577 the top of stack variable is updated. */
\r
578 #if( portUSING_MPU_WRAPPERS == 1 )
\r
580 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
582 #else /* portUSING_MPU_WRAPPERS */
\r
584 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
586 #endif /* portUSING_MPU_WRAPPERS */
\r
588 if( ( void * ) pxCreatedTask != NULL )
\r
590 /* Pass the TCB out - in an anonymous way. The calling function/
\r
591 task can use this as a handle to delete the task later if
\r
593 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
597 mtCOVERAGE_TEST_MARKER();
\r
600 /* Ensure interrupts don't access the task lists while they are being
\r
602 taskENTER_CRITICAL();
\r
604 uxCurrentNumberOfTasks++;
\r
605 if( pxCurrentTCB == NULL )
\r
607 /* There are no other tasks, or all the other tasks are in
\r
608 the suspended state - make this the current task. */
\r
609 pxCurrentTCB = pxNewTCB;
\r
611 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
613 /* This is the first task to be created so do the preliminary
\r
614 initialisation required. We will not recover if this call
\r
615 fails, but we will report the failure. */
\r
616 prvInitialiseTaskLists();
\r
620 mtCOVERAGE_TEST_MARKER();
\r
625 /* If the scheduler is not already running, make this task the
\r
626 current task if it is the highest priority task to be created
\r
628 if( xSchedulerRunning == pdFALSE )
\r
630 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
632 pxCurrentTCB = pxNewTCB;
\r
636 mtCOVERAGE_TEST_MARKER();
\r
641 mtCOVERAGE_TEST_MARKER();
\r
647 #if ( configUSE_TRACE_FACILITY == 1 )
\r
649 /* Add a counter into the TCB for tracing only. */
\r
650 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
652 #endif /* configUSE_TRACE_FACILITY */
\r
653 traceTASK_CREATE( pxNewTCB );
\r
655 prvAddTaskToReadyList( pxNewTCB );
\r
658 portSETUP_TCB( pxNewTCB );
\r
660 taskEXIT_CRITICAL();
\r
664 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
665 traceTASK_CREATE_FAILED();
\r
668 if( xReturn == pdPASS )
\r
670 if( xSchedulerRunning != pdFALSE )
\r
672 /* If the created task is of a higher priority than the current task
\r
673 then it should run now. */
\r
674 if( pxCurrentTCB->uxPriority < uxPriority )
\r
676 taskYIELD_IF_USING_PREEMPTION();
\r
680 mtCOVERAGE_TEST_MARKER();
\r
685 mtCOVERAGE_TEST_MARKER();
\r
691 /*-----------------------------------------------------------*/
\r
693 #if ( INCLUDE_vTaskDelete == 1 )
\r
695 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
699 taskENTER_CRITICAL();
\r
701 /* If null is passed in here then it is the calling task that is
\r
703 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
705 /* Remove task from the ready list and place in the termination list.
\r
706 This will stop the task from be scheduled. The idle task will check
\r
707 the termination list and free up any memory allocated by the
\r
708 scheduler for the TCB and stack. */
\r
709 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
711 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
715 mtCOVERAGE_TEST_MARKER();
\r
718 /* Is the task waiting on an event also? */
\r
719 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
721 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
725 mtCOVERAGE_TEST_MARKER();
\r
728 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
730 /* Increment the ucTasksDeleted variable so the idle task knows
\r
731 there is a task that has been deleted and that it should therefore
\r
732 check the xTasksWaitingTermination list. */
\r
735 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
736 can detect that the task lists need re-generating. */
\r
739 traceTASK_DELETE( pxTCB );
\r
741 taskEXIT_CRITICAL();
\r
743 /* Force a reschedule if it is the currently running task that has just
\r
745 if( xSchedulerRunning != pdFALSE )
\r
747 if( pxTCB == pxCurrentTCB )
\r
749 configASSERT( uxSchedulerSuspended == 0 );
\r
751 /* The pre-delete hook is primarily for the Windows simulator,
\r
752 in which Windows specific clean up operations are performed,
\r
753 after which it is not possible to yield away from this task -
\r
754 hence xYieldPending is used to latch that a context switch is
\r
756 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
757 portYIELD_WITHIN_API();
\r
761 /* Reset the next expected unblock time in case it referred to
\r
762 the task that has just been deleted. */
\r
763 prvResetNextTaskUnblockTime();
\r
768 #endif /* INCLUDE_vTaskDelete */
\r
769 /*-----------------------------------------------------------*/
\r
771 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
773 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
775 TickType_t xTimeToWake;
\r
776 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
778 configASSERT( pxPreviousWakeTime );
\r
779 configASSERT( ( xTimeIncrement > 0U ) );
\r
780 configASSERT( uxSchedulerSuspended == 0 );
\r
784 /* Minor optimisation. The tick count cannot change in this
\r
786 const TickType_t xConstTickCount = xTickCount;
\r
788 /* Generate the tick time at which the task wants to wake. */
\r
789 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
791 if( xConstTickCount < *pxPreviousWakeTime )
\r
793 /* The tick count has overflowed since this function was
\r
794 lasted called. In this case the only time we should ever
\r
795 actually delay is if the wake time has also overflowed,
\r
796 and the wake time is greater than the tick time. When this
\r
797 is the case it is as if neither time had overflowed. */
\r
798 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
800 xShouldDelay = pdTRUE;
\r
804 mtCOVERAGE_TEST_MARKER();
\r
809 /* The tick time has not overflowed. In this case we will
\r
810 delay if either the wake time has overflowed, and/or the
\r
811 tick time is less than the wake time. */
\r
812 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
814 xShouldDelay = pdTRUE;
\r
818 mtCOVERAGE_TEST_MARKER();
\r
822 /* Update the wake time ready for the next call. */
\r
823 *pxPreviousWakeTime = xTimeToWake;
\r
825 if( xShouldDelay != pdFALSE )
\r
827 traceTASK_DELAY_UNTIL();
\r
829 /* Remove the task from the ready list before adding it to the
\r
830 blocked list as the same list item is used for both lists. */
\r
831 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
833 /* The current task must be in a ready list, so there is
\r
834 no need to check, and the port reset macro can be called
\r
836 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
840 mtCOVERAGE_TEST_MARKER();
\r
843 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
847 mtCOVERAGE_TEST_MARKER();
\r
850 xAlreadyYielded = xTaskResumeAll();
\r
852 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
853 have put ourselves to sleep. */
\r
854 if( xAlreadyYielded == pdFALSE )
\r
856 portYIELD_WITHIN_API();
\r
860 mtCOVERAGE_TEST_MARKER();
\r
864 #endif /* INCLUDE_vTaskDelayUntil */
\r
865 /*-----------------------------------------------------------*/
\r
867 #if ( INCLUDE_vTaskDelay == 1 )
\r
869 void vTaskDelay( const TickType_t xTicksToDelay )
\r
871 TickType_t xTimeToWake;
\r
872 BaseType_t xAlreadyYielded = pdFALSE;
\r
875 /* A delay time of zero just forces a reschedule. */
\r
876 if( xTicksToDelay > ( TickType_t ) 0U )
\r
878 configASSERT( uxSchedulerSuspended == 0 );
\r
883 /* A task that is removed from the event list while the
\r
884 scheduler is suspended will not get placed in the ready
\r
885 list or removed from the blocked list until the scheduler
\r
888 This task cannot be in an event list as it is the currently
\r
891 /* Calculate the time to wake - this may overflow but this is
\r
893 xTimeToWake = xTickCount + xTicksToDelay;
\r
895 /* We must remove ourselves from the ready list before adding
\r
896 ourselves to the blocked list as the same list item is used for
\r
898 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
900 /* The current task must be in a ready list, so there is
\r
901 no need to check, and the port reset macro can be called
\r
903 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
907 mtCOVERAGE_TEST_MARKER();
\r
909 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
911 xAlreadyYielded = xTaskResumeAll();
\r
915 mtCOVERAGE_TEST_MARKER();
\r
918 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
919 have put ourselves to sleep. */
\r
920 if( xAlreadyYielded == pdFALSE )
\r
922 portYIELD_WITHIN_API();
\r
926 mtCOVERAGE_TEST_MARKER();
\r
930 #endif /* INCLUDE_vTaskDelay */
\r
931 /*-----------------------------------------------------------*/
\r
933 #if ( INCLUDE_eTaskGetState == 1 )
\r
935 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
937 eTaskState eReturn;
\r
938 List_t *pxStateList;
\r
939 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
941 configASSERT( pxTCB );
\r
943 if( pxTCB == pxCurrentTCB )
\r
945 /* The task calling this function is querying its own state. */
\r
946 eReturn = eRunning;
\r
950 taskENTER_CRITICAL();
\r
952 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
954 taskEXIT_CRITICAL();
\r
956 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
958 /* The task being queried is referenced from one of the Blocked
\r
960 eReturn = eBlocked;
\r
963 #if ( INCLUDE_vTaskSuspend == 1 )
\r
964 else if( pxStateList == &xSuspendedTaskList )
\r
966 /* The task being queried is referenced from the suspended
\r
967 list. Is it genuinely suspended or is it block
\r
969 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
971 eReturn = eSuspended;
\r
975 eReturn = eBlocked;
\r
980 #if ( INCLUDE_vTaskDelete == 1 )
\r
981 else if( pxStateList == &xTasksWaitingTermination )
\r
983 /* The task being queried is referenced from the deleted
\r
985 eReturn = eDeleted;
\r
991 /* If the task is not in any other state, it must be in the
\r
992 Ready (including pending ready) state. */
\r
1000 #endif /* INCLUDE_eTaskGetState */
\r
1001 /*-----------------------------------------------------------*/
\r
1003 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1005 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1008 UBaseType_t uxReturn;
\r
1010 taskENTER_CRITICAL();
\r
1012 /* If null is passed in here then we are changing the
\r
1013 priority of the calling function. */
\r
1014 pxTCB = prvGetTCBFromHandle( xTask );
\r
1015 uxReturn = pxTCB->uxPriority;
\r
1017 taskEXIT_CRITICAL();
\r
1022 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1023 /*-----------------------------------------------------------*/
\r
1025 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1027 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1030 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1031 BaseType_t xYieldRequired = pdFALSE;
\r
1033 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1035 /* Ensure the new priority is valid. */
\r
1036 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1038 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1042 mtCOVERAGE_TEST_MARKER();
\r
1045 taskENTER_CRITICAL();
\r
1047 /* If null is passed in here then it is the priority of the calling
\r
1048 task that is being changed. */
\r
1049 pxTCB = prvGetTCBFromHandle( xTask );
\r
1051 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1053 #if ( configUSE_MUTEXES == 1 )
\r
1055 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1059 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1063 if( uxCurrentBasePriority != uxNewPriority )
\r
1065 /* The priority change may have readied a task of higher
\r
1066 priority than the calling task. */
\r
1067 if( uxNewPriority > uxCurrentBasePriority )
\r
1069 if( pxTCB != pxCurrentTCB )
\r
1071 /* The priority of a task other than the currently
\r
1072 running task is being raised. Is the priority being
\r
1073 raised above that of the running task? */
\r
1074 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1076 xYieldRequired = pdTRUE;
\r
1080 mtCOVERAGE_TEST_MARKER();
\r
1085 /* The priority of the running task is being raised,
\r
1086 but the running task must already be the highest
\r
1087 priority task able to run so no yield is required. */
\r
1090 else if( pxTCB == pxCurrentTCB )
\r
1092 /* Setting the priority of the running task down means
\r
1093 there may now be another task of higher priority that
\r
1094 is ready to execute. */
\r
1095 xYieldRequired = pdTRUE;
\r
1099 /* Setting the priority of any other task down does not
\r
1100 require a yield as the running task must be above the
\r
1101 new priority of the task being modified. */
\r
1104 /* Remember the ready list the task might be referenced from
\r
1105 before its uxPriority member is changed so the
\r
1106 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1107 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1109 #if ( configUSE_MUTEXES == 1 )
\r
1111 /* Only change the priority being used if the task is not
\r
1112 currently using an inherited priority. */
\r
1113 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1115 pxTCB->uxPriority = uxNewPriority;
\r
1119 mtCOVERAGE_TEST_MARKER();
\r
1122 /* The base priority gets set whatever. */
\r
1123 pxTCB->uxBasePriority = uxNewPriority;
\r
1127 pxTCB->uxPriority = uxNewPriority;
\r
1131 /* Only reset the event list item value if the value is not
\r
1132 being used for anything else. */
\r
1133 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1135 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
1139 mtCOVERAGE_TEST_MARKER();
\r
1142 /* If the task is in the blocked or suspended list we need do
\r
1143 nothing more than change it's priority variable. However, if
\r
1144 the task is in a ready list it needs to be removed and placed
\r
1145 in the list appropriate to its new priority. */
\r
1146 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1148 /* The task is currently in its ready list - remove before adding
\r
1149 it to it's new ready list. As we are in a critical section we
\r
1150 can do this even if the scheduler is suspended. */
\r
1151 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1153 /* It is known that the task is in its ready list so
\r
1154 there is no need to check again and the port level
\r
1155 reset macro can be called directly. */
\r
1156 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1160 mtCOVERAGE_TEST_MARKER();
\r
1162 prvAddTaskToReadyList( pxTCB );
\r
1166 mtCOVERAGE_TEST_MARKER();
\r
1169 if( xYieldRequired == pdTRUE )
\r
1171 taskYIELD_IF_USING_PREEMPTION();
\r
1175 mtCOVERAGE_TEST_MARKER();
\r
1178 /* Remove compiler warning about unused variables when the port
\r
1179 optimised task selection is not being used. */
\r
1180 ( void ) uxPriorityUsedOnEntry;
\r
1183 taskEXIT_CRITICAL();
\r
1186 #endif /* INCLUDE_vTaskPrioritySet */
\r
1187 /*-----------------------------------------------------------*/
\r
1189 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1191 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1195 taskENTER_CRITICAL();
\r
1197 /* If null is passed in here then it is the running task that is
\r
1198 being suspended. */
\r
1199 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1201 traceTASK_SUSPEND( pxTCB );
\r
1203 /* Remove task from the ready/delayed list and place in the
\r
1204 suspended list. */
\r
1205 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1207 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1211 mtCOVERAGE_TEST_MARKER();
\r
1214 /* Is the task waiting on an event also? */
\r
1215 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1217 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1221 mtCOVERAGE_TEST_MARKER();
\r
1224 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1226 taskEXIT_CRITICAL();
\r
1228 if( pxTCB == pxCurrentTCB )
\r
1230 if( xSchedulerRunning != pdFALSE )
\r
1232 /* The current task has just been suspended. */
\r
1233 configASSERT( uxSchedulerSuspended == 0 );
\r
1234 portYIELD_WITHIN_API();
\r
1238 /* The scheduler is not running, but the task that was pointed
\r
1239 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1240 must be adjusted to point to a different task. */
\r
1241 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1243 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1244 NULL so when the next task is created pxCurrentTCB will
\r
1245 be set to point to it no matter what its relative priority
\r
1247 pxCurrentTCB = NULL;
\r
1251 vTaskSwitchContext();
\r
1257 if( xSchedulerRunning != pdFALSE )
\r
1259 /* A task other than the currently running task was suspended,
\r
1260 reset the next expected unblock time in case it referred to the
\r
1261 task that is now in the Suspended state. */
\r
1262 prvResetNextTaskUnblockTime();
\r
1266 mtCOVERAGE_TEST_MARKER();
\r
1271 #endif /* INCLUDE_vTaskSuspend */
\r
1272 /*-----------------------------------------------------------*/
\r
1274 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1276 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1278 BaseType_t xReturn = pdFALSE;
\r
1279 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1281 /* Accesses xPendingReadyList so must be called from a critical
\r
1284 /* It does not make sense to check if the calling task is suspended. */
\r
1285 configASSERT( xTask );
\r
1287 /* Is the task being resumed actually in the suspended list? */
\r
1288 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1290 /* Has the task already been resumed from within an ISR? */
\r
1291 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1293 /* Is it in the suspended list because it is in the Suspended
\r
1294 state, or because is is blocked with no timeout? */
\r
1295 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1301 mtCOVERAGE_TEST_MARKER();
\r
1306 mtCOVERAGE_TEST_MARKER();
\r
1311 mtCOVERAGE_TEST_MARKER();
\r
1315 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1317 #endif /* INCLUDE_vTaskSuspend */
\r
1318 /*-----------------------------------------------------------*/
\r
1320 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1322 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1324 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1326 /* It does not make sense to resume the calling task. */
\r
1327 configASSERT( xTaskToResume );
\r
1329 /* The parameter cannot be NULL as it is impossible to resume the
\r
1330 currently executing task. */
\r
1331 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1333 taskENTER_CRITICAL();
\r
1335 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1337 traceTASK_RESUME( pxTCB );
\r
1339 /* As we are in a critical section we can access the ready
\r
1340 lists even if the scheduler is suspended. */
\r
1341 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1342 prvAddTaskToReadyList( pxTCB );
\r
1344 /* We may have just resumed a higher priority task. */
\r
1345 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1347 /* This yield may not cause the task just resumed to run,
\r
1348 but will leave the lists in the correct state for the
\r
1350 taskYIELD_IF_USING_PREEMPTION();
\r
1354 mtCOVERAGE_TEST_MARKER();
\r
1359 mtCOVERAGE_TEST_MARKER();
\r
1362 taskEXIT_CRITICAL();
\r
1366 mtCOVERAGE_TEST_MARKER();
\r
1370 #endif /* INCLUDE_vTaskSuspend */
\r
1372 /*-----------------------------------------------------------*/
\r
1374 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1376 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1378 BaseType_t xYieldRequired = pdFALSE;
\r
1379 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1380 UBaseType_t uxSavedInterruptStatus;
\r
1382 configASSERT( xTaskToResume );
\r
1384 /* RTOS ports that support interrupt nesting have the concept of a
\r
1385 maximum system call (or maximum API call) interrupt priority.
\r
1386 Interrupts that are above the maximum system call priority are keep
\r
1387 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1388 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1389 is defined in FreeRTOSConfig.h then
\r
1390 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1391 failure if a FreeRTOS API function is called from an interrupt that has
\r
1392 been assigned a priority above the configured maximum system call
\r
1393 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1394 from interrupts that have been assigned a priority at or (logically)
\r
1395 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1396 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1397 simple as possible. More information (albeit Cortex-M specific) is
\r
1398 provided on the following link:
\r
1399 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1400 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1402 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1404 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1406 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1408 /* Check the ready lists can be accessed. */
\r
1409 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1411 /* Ready lists can be accessed so move the task from the
\r
1412 suspended list to the ready list directly. */
\r
1413 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1415 xYieldRequired = pdTRUE;
\r
1419 mtCOVERAGE_TEST_MARKER();
\r
1422 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1423 prvAddTaskToReadyList( pxTCB );
\r
1427 /* The delayed or ready lists cannot be accessed so the task
\r
1428 is held in the pending ready list until the scheduler is
\r
1430 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1435 mtCOVERAGE_TEST_MARKER();
\r
1438 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1440 return xYieldRequired;
\r
1443 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1444 /*-----------------------------------------------------------*/
\r
1446 void vTaskStartScheduler( void )
\r
1448 BaseType_t xReturn;
\r
1450 /* Add the idle task at the lowest priority. */
\r
1451 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1453 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1454 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1455 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
1459 /* Create the idle task without storing its handle. */
\r
1460 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
1462 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1464 #if ( configUSE_TIMERS == 1 )
\r
1466 if( xReturn == pdPASS )
\r
1468 xReturn = xTimerCreateTimerTask();
\r
1472 mtCOVERAGE_TEST_MARKER();
\r
1475 #endif /* configUSE_TIMERS */
\r
1477 if( xReturn == pdPASS )
\r
1479 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1480 before or during the call to xPortStartScheduler(). The stacks of
\r
1481 the created tasks contain a status word with interrupts switched on
\r
1482 so interrupts will automatically get re-enabled when the first task
\r
1484 portDISABLE_INTERRUPTS();
\r
1486 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1488 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1489 structure specific to the task that will run first. */
\r
1490 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1492 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1494 xSchedulerRunning = pdTRUE;
\r
1495 xTickCount = ( TickType_t ) 0U;
\r
1497 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1498 macro must be defined to configure the timer/counter used to generate
\r
1499 the run time counter time base. */
\r
1500 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1502 /* Setting up the timer tick is hardware specific and thus in the
\r
1503 portable interface. */
\r
1504 if( xPortStartScheduler() != pdFALSE )
\r
1506 /* Should not reach here as if the scheduler is running the
\r
1507 function will not return. */
\r
1511 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1516 /* This line will only be reached if the kernel could not be started,
\r
1517 because there was not enough FreeRTOS heap to create the idle task
\r
1518 or the timer task. */
\r
1519 configASSERT( xReturn );
\r
1522 /*-----------------------------------------------------------*/
\r
1524 void vTaskEndScheduler( void )
\r
1526 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1527 routine so the original ISRs can be restored if necessary. The port
\r
1528 layer must ensure interrupts enable bit is left in the correct state. */
\r
1529 portDISABLE_INTERRUPTS();
\r
1530 xSchedulerRunning = pdFALSE;
\r
1531 vPortEndScheduler();
\r
1533 /*----------------------------------------------------------*/
\r
1535 void vTaskSuspendAll( void )
\r
1537 /* A critical section is not required as the variable is of type
\r
1538 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
1539 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1540 http://goo.gl/wu4acr */
\r
1541 ++uxSchedulerSuspended;
\r
1543 /*----------------------------------------------------------*/
\r
1545 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1547 static TickType_t prvGetExpectedIdleTime( void )
\r
1549 TickType_t xReturn;
\r
1551 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1555 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1557 /* There are other idle priority tasks in the ready state. If
\r
1558 time slicing is used then the very next tick interrupt must be
\r
1564 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1570 #endif /* configUSE_TICKLESS_IDLE */
\r
1571 /*----------------------------------------------------------*/
\r
1573 BaseType_t xTaskResumeAll( void )
\r
1576 BaseType_t xAlreadyYielded = pdFALSE;
\r
1578 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1579 previous call to vTaskSuspendAll(). */
\r
1580 configASSERT( uxSchedulerSuspended );
\r
1582 /* It is possible that an ISR caused a task to be removed from an event
\r
1583 list while the scheduler was suspended. If this was the case then the
\r
1584 removed task will have been added to the xPendingReadyList. Once the
\r
1585 scheduler has been resumed it is safe to move all the pending ready
\r
1586 tasks from this list into their appropriate ready list. */
\r
1587 taskENTER_CRITICAL();
\r
1589 --uxSchedulerSuspended;
\r
1591 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1593 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
1595 /* Move any readied tasks from the pending list into the
\r
1596 appropriate ready list. */
\r
1597 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1599 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1600 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1601 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1602 prvAddTaskToReadyList( pxTCB );
\r
1604 /* If we have moved a task that has a priority higher than
\r
1605 the current task then we should yield. */
\r
1606 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1608 xYieldPending = pdTRUE;
\r
1612 mtCOVERAGE_TEST_MARKER();
\r
1616 /* If any ticks occurred while the scheduler was suspended then
\r
1617 they should be processed now. This ensures the tick count does
\r
1618 not slip, and that any delayed tasks are resumed at the correct
\r
1620 if( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1622 while( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1624 if( xTaskIncrementTick() != pdFALSE )
\r
1626 xYieldPending = pdTRUE;
\r
1630 mtCOVERAGE_TEST_MARKER();
\r
1637 mtCOVERAGE_TEST_MARKER();
\r
1640 if( xYieldPending == pdTRUE )
\r
1642 #if( configUSE_PREEMPTION != 0 )
\r
1644 xAlreadyYielded = pdTRUE;
\r
1647 taskYIELD_IF_USING_PREEMPTION();
\r
1651 mtCOVERAGE_TEST_MARKER();
\r
1657 mtCOVERAGE_TEST_MARKER();
\r
1660 taskEXIT_CRITICAL();
\r
1662 return xAlreadyYielded;
\r
1664 /*-----------------------------------------------------------*/
\r
1666 TickType_t xTaskGetTickCount( void )
\r
1668 TickType_t xTicks;
\r
1670 /* Critical section required if running on a 16 bit processor. */
\r
1671 taskENTER_CRITICAL();
\r
1673 xTicks = xTickCount;
\r
1675 taskEXIT_CRITICAL();
\r
1679 /*-----------------------------------------------------------*/
\r
1681 TickType_t xTaskGetTickCountFromISR( void )
\r
1683 TickType_t xReturn;
\r
1684 UBaseType_t uxSavedInterruptStatus;
\r
1686 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1687 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1688 above the maximum system call priority are kept permanently enabled, even
\r
1689 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1690 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1691 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1692 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1693 assigned a priority above the configured maximum system call priority.
\r
1694 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1695 that have been assigned a priority at or (logically) below the maximum
\r
1696 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1697 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1698 More information (albeit Cortex-M specific) is provided on the following
\r
1699 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1700 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1702 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1704 xReturn = xTickCount;
\r
1706 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1710 /*-----------------------------------------------------------*/
\r
1712 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
1714 /* A critical section is not required because the variables are of type
\r
1716 return uxCurrentNumberOfTasks;
\r
1718 /*-----------------------------------------------------------*/
\r
1720 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1722 char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery )
\r
1726 /* If null is passed in here then the name of the calling task is being queried. */
\r
1727 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1728 configASSERT( pxTCB );
\r
1729 return &( pxTCB->pcTaskName[ 0 ] );
\r
1732 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1733 /*-----------------------------------------------------------*/
\r
1735 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1737 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
1739 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1741 vTaskSuspendAll();
\r
1743 /* Is there a space in the array for each task in the system? */
\r
1744 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1746 /* Fill in an TaskStatus_t structure with information on each
\r
1747 task in the Ready state. */
\r
1751 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1753 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1755 /* Fill in an TaskStatus_t structure with information on each
\r
1756 task in the Blocked state. */
\r
1757 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
1758 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
1760 #if( INCLUDE_vTaskDelete == 1 )
\r
1762 /* Fill in an TaskStatus_t structure with information on
\r
1763 each task that has been deleted but not yet cleaned up. */
\r
1764 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1768 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1770 /* Fill in an TaskStatus_t structure with information on
\r
1771 each task in the Suspended state. */
\r
1772 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1776 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1778 if( pulTotalRunTime != NULL )
\r
1780 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1781 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
1783 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1789 if( pulTotalRunTime != NULL )
\r
1791 *pulTotalRunTime = 0;
\r
1798 mtCOVERAGE_TEST_MARKER();
\r
1801 ( void ) xTaskResumeAll();
\r
1806 #endif /* configUSE_TRACE_FACILITY */
\r
1807 /*----------------------------------------------------------*/
\r
1809 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1811 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
1813 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1814 started, then xIdleTaskHandle will be NULL. */
\r
1815 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1816 return xIdleTaskHandle;
\r
1819 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1820 /*----------------------------------------------------------*/
\r
1822 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1823 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1824 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1826 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1828 void vTaskStepTick( const TickType_t xTicksToJump )
\r
1830 /* Correct the tick count value after a period during which the tick
\r
1831 was suppressed. Note this does *not* call the tick hook function for
\r
1832 each stepped tick. */
\r
1833 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1834 xTickCount += xTicksToJump;
\r
1835 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
1838 #endif /* configUSE_TICKLESS_IDLE */
\r
1839 /*----------------------------------------------------------*/
\r
1841 BaseType_t xTaskIncrementTick( void )
\r
1844 TickType_t xItemValue;
\r
1845 BaseType_t xSwitchRequired = pdFALSE;
\r
1847 /* Called by the portable layer each time a tick interrupt occurs.
\r
1848 Increments the tick then checks to see if the new tick value will cause any
\r
1849 tasks to be unblocked. */
\r
1850 traceTASK_INCREMENT_TICK( xTickCount );
\r
1851 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1853 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1854 delayed lists if it wraps to 0. */
\r
1858 /* Minor optimisation. The tick count cannot change in this
\r
1860 const TickType_t xConstTickCount = xTickCount;
\r
1862 if( xConstTickCount == ( TickType_t ) 0U )
\r
1864 taskSWITCH_DELAYED_LISTS();
\r
1868 mtCOVERAGE_TEST_MARKER();
\r
1871 /* See if this tick has made a timeout expire. Tasks are stored in
\r
1872 the queue in the order of their wake time - meaning once one task
\r
1873 has been found whose block time has not expired there is no need to
\r
1874 look any further down the list. */
\r
1875 if( xConstTickCount >= xNextTaskUnblockTime )
\r
1879 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1881 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
1882 to the maximum possible value so it is extremely
\r
1884 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1885 next time through. */
\r
1886 xNextTaskUnblockTime = portMAX_DELAY;
\r
1891 /* The delayed list is not empty, get the value of the
\r
1892 item at the head of the delayed list. This is the time
\r
1893 at which the task at the head of the delayed list must
\r
1894 be removed from the Blocked state. */
\r
1895 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1896 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1898 if( xConstTickCount < xItemValue )
\r
1900 /* It is not time to unblock this item yet, but the
\r
1901 item value is the time at which the task at the head
\r
1902 of the blocked list must be removed from the Blocked
\r
1903 state - so record the item value in
\r
1904 xNextTaskUnblockTime. */
\r
1905 xNextTaskUnblockTime = xItemValue;
\r
1910 mtCOVERAGE_TEST_MARKER();
\r
1913 /* It is time to remove the item from the Blocked state. */
\r
1914 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1916 /* Is the task waiting on an event also? If so remove
\r
1917 it from the event list. */
\r
1918 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1920 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1924 mtCOVERAGE_TEST_MARKER();
\r
1927 /* Place the unblocked task into the appropriate ready
\r
1929 prvAddTaskToReadyList( pxTCB );
\r
1931 /* A task being unblocked cannot cause an immediate
\r
1932 context switch if preemption is turned off. */
\r
1933 #if ( configUSE_PREEMPTION == 1 )
\r
1935 /* Preemption is on, but a context switch should
\r
1936 only be performed if the unblocked task has a
\r
1937 priority that is equal to or higher than the
\r
1938 currently executing task. */
\r
1939 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1941 xSwitchRequired = pdTRUE;
\r
1945 mtCOVERAGE_TEST_MARKER();
\r
1948 #endif /* configUSE_PREEMPTION */
\r
1954 /* Tasks of equal priority to the currently running task will share
\r
1955 processing time (time slice) if preemption is on, and the application
\r
1956 writer has not explicitly turned time slicing off. */
\r
1957 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
1959 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
1961 xSwitchRequired = pdTRUE;
\r
1965 mtCOVERAGE_TEST_MARKER();
\r
1968 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
1970 #if ( configUSE_TICK_HOOK == 1 )
\r
1972 /* Guard against the tick hook being called when the pended tick
\r
1973 count is being unwound (when the scheduler is being unlocked). */
\r
1974 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
1976 vApplicationTickHook();
\r
1980 mtCOVERAGE_TEST_MARKER();
\r
1983 #endif /* configUSE_TICK_HOOK */
\r
1989 /* The tick hook gets called at regular intervals, even if the
\r
1990 scheduler is locked. */
\r
1991 #if ( configUSE_TICK_HOOK == 1 )
\r
1993 vApplicationTickHook();
\r
1998 #if ( configUSE_PREEMPTION == 1 )
\r
2000 if( xYieldPending != pdFALSE )
\r
2002 xSwitchRequired = pdTRUE;
\r
2006 mtCOVERAGE_TEST_MARKER();
\r
2009 #endif /* configUSE_PREEMPTION */
\r
2011 return xSwitchRequired;
\r
2013 /*-----------------------------------------------------------*/
\r
2015 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2017 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2021 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2023 if( xTask == NULL )
\r
2025 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2029 xTCB = ( TCB_t * ) xTask;
\r
2032 /* Save the hook function in the TCB. A critical section is required as
\r
2033 the value can be accessed from an interrupt. */
\r
2034 taskENTER_CRITICAL();
\r
2035 xTCB->pxTaskTag = pxHookFunction;
\r
2036 taskEXIT_CRITICAL();
\r
2039 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2040 /*-----------------------------------------------------------*/
\r
2042 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2044 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2047 TaskHookFunction_t xReturn;
\r
2049 /* If xTask is NULL then we are setting our own task hook. */
\r
2050 if( xTask == NULL )
\r
2052 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2056 xTCB = ( TCB_t * ) xTask;
\r
2059 /* Save the hook function in the TCB. A critical section is required as
\r
2060 the value can be accessed from an interrupt. */
\r
2061 taskENTER_CRITICAL();
\r
2063 xReturn = xTCB->pxTaskTag;
\r
2065 taskEXIT_CRITICAL();
\r
2070 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2071 /*-----------------------------------------------------------*/
\r
2073 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2075 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2078 BaseType_t xReturn;
\r
2080 /* If xTask is NULL then we are calling our own task hook. */
\r
2081 if( xTask == NULL )
\r
2083 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2087 xTCB = ( TCB_t * ) xTask;
\r
2090 if( xTCB->pxTaskTag != NULL )
\r
2092 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2102 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2103 /*-----------------------------------------------------------*/
\r
2105 void vTaskSwitchContext( void )
\r
2107 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2109 /* The scheduler is currently suspended - do not allow a context
\r
2111 xYieldPending = pdTRUE;
\r
2115 xYieldPending = pdFALSE;
\r
2116 traceTASK_SWITCHED_OUT();
\r
2118 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2120 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2121 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2123 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2126 /* Add the amount of time the task has been running to the
\r
2127 accumulated time so far. The time the task started running was
\r
2128 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2129 protection here so count values are only valid until the timer
\r
2130 overflows. The guard against negative values is to protect
\r
2131 against suspect run time stat counter implementations - which
\r
2132 are provided by the application, not the kernel. */
\r
2133 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2135 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2139 mtCOVERAGE_TEST_MARKER();
\r
2141 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2143 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2145 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
2146 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
2148 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2150 traceTASK_SWITCHED_IN();
\r
2152 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2154 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2155 structure specific to this task. */
\r
2156 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2158 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2161 /*-----------------------------------------------------------*/
\r
2163 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2165 TickType_t xTimeToWake;
\r
2167 configASSERT( pxEventList );
\r
2169 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2170 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2172 /* Place the event list item of the TCB in the appropriate event list.
\r
2173 This is placed in the list in priority order so the highest priority task
\r
2174 is the first to be woken by the event. The queue that contains the event
\r
2175 list is locked, preventing simultaneous access from interrupts. */
\r
2176 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2178 /* The task must be removed from from the ready list before it is added to
\r
2179 the blocked list as the same list item is used for both lists. Exclusive
\r
2180 access to the ready lists guaranteed because the scheduler is locked. */
\r
2181 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2183 /* The current task must be in a ready list, so there is no need to
\r
2184 check, and the port reset macro can be called directly. */
\r
2185 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2189 mtCOVERAGE_TEST_MARKER();
\r
2192 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2194 if( xTicksToWait == portMAX_DELAY )
\r
2196 /* Add the task to the suspended task list instead of a delayed task
\r
2197 list to ensure the task is not woken by a timing event. It will
\r
2198 block indefinitely. */
\r
2199 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2203 /* Calculate the time at which the task should be woken if the event
\r
2204 does not occur. This may overflow but this doesn't matter, the
\r
2205 scheduler will handle it. */
\r
2206 xTimeToWake = xTickCount + xTicksToWait;
\r
2207 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2210 #else /* INCLUDE_vTaskSuspend */
\r
2212 /* Calculate the time at which the task should be woken if the event does
\r
2213 not occur. This may overflow but this doesn't matter, the scheduler
\r
2214 will handle it. */
\r
2215 xTimeToWake = xTickCount + xTicksToWait;
\r
2216 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2218 #endif /* INCLUDE_vTaskSuspend */
\r
2220 /*-----------------------------------------------------------*/
\r
2222 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2224 TickType_t xTimeToWake;
\r
2226 configASSERT( pxEventList );
\r
2228 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2229 the event groups implementation. */
\r
2230 configASSERT( uxSchedulerSuspended != 0 );
\r
2232 /* Store the item value in the event list item. It is safe to access the
\r
2233 event list item here as interrupts won't access the event list item of a
\r
2234 task that is not in the Blocked state. */
\r
2235 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2237 /* Place the event list item of the TCB at the end of the appropriate event
\r
2238 list. It is safe to access the event list here because it is part of an
\r
2239 event group implementation - and interrupts don't access event groups
\r
2240 directly (instead they access them indirectly by pending function calls to
\r
2241 the task level). */
\r
2242 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2244 /* The task must be removed from the ready list before it is added to the
\r
2245 blocked list. Exclusive access can be assured to the ready list as the
\r
2246 scheduler is locked. */
\r
2247 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2249 /* The current task must be in a ready list, so there is no need to
\r
2250 check, and the port reset macro can be called directly. */
\r
2251 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2255 mtCOVERAGE_TEST_MARKER();
\r
2258 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2260 if( xTicksToWait == portMAX_DELAY )
\r
2262 /* Add the task to the suspended task list instead of a delayed task
\r
2263 list to ensure it is not woken by a timing event. It will block
\r
2265 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2269 /* Calculate the time at which the task should be woken if the event
\r
2270 does not occur. This may overflow but this doesn't matter, the
\r
2271 kernel will manage it correctly. */
\r
2272 xTimeToWake = xTickCount + xTicksToWait;
\r
2273 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2276 #else /* INCLUDE_vTaskSuspend */
\r
2278 /* Calculate the time at which the task should be woken if the event does
\r
2279 not occur. This may overflow but this doesn't matter, the kernel
\r
2280 will manage it correctly. */
\r
2281 xTimeToWake = xTickCount + xTicksToWait;
\r
2282 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2284 #endif /* INCLUDE_vTaskSuspend */
\r
2286 /*-----------------------------------------------------------*/
\r
2288 #if configUSE_TIMERS == 1
\r
2290 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2292 TickType_t xTimeToWake;
\r
2294 configASSERT( pxEventList );
\r
2296 /* This function should not be called by application code hence the
\r
2297 'Restricted' in its name. It is not part of the public API. It is
\r
2298 designed for use by kernel code, and has special calling requirements -
\r
2299 it should be called from a critical section. */
\r
2302 /* Place the event list item of the TCB in the appropriate event list.
\r
2303 In this case it is assume that this is the only task that is going to
\r
2304 be waiting on this event list, so the faster vListInsertEnd() function
\r
2305 can be used in place of vListInsert. */
\r
2306 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2308 /* We must remove this task from the ready list before adding it to the
\r
2309 blocked list as the same list item is used for both lists. This
\r
2310 function is called form a critical section. */
\r
2311 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2313 /* The current task must be in a ready list, so there is no need to
\r
2314 check, and the port reset macro can be called directly. */
\r
2315 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2319 mtCOVERAGE_TEST_MARKER();
\r
2322 /* Calculate the time at which the task should be woken if the event does
\r
2323 not occur. This may overflow but this doesn't matter. */
\r
2324 xTimeToWake = xTickCount + xTicksToWait;
\r
2326 traceTASK_DELAY_UNTIL();
\r
2327 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2330 #endif /* configUSE_TIMERS */
\r
2331 /*-----------------------------------------------------------*/
\r
2333 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
2335 TCB_t *pxUnblockedTCB;
\r
2336 BaseType_t xReturn;
\r
2338 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
2339 called from a critical section within an ISR. */
\r
2341 /* The event list is sorted in priority order, so the first in the list can
\r
2342 be removed as it is known to be the highest priority. Remove the TCB from
\r
2343 the delayed list, and add it to the ready list.
\r
2345 If an event is for a queue that is locked then this function will never
\r
2346 get called - the lock count on the queue will get modified instead. This
\r
2347 means exclusive access to the event list is guaranteed here.
\r
2349 This function assumes that a check has already been made to ensure that
\r
2350 pxEventList is not empty. */
\r
2351 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2352 configASSERT( pxUnblockedTCB );
\r
2353 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2355 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2357 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2358 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2362 /* The delayed and ready lists cannot be accessed, so hold this task
\r
2363 pending until the scheduler is resumed. */
\r
2364 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2367 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2369 /* Return true if the task removed from the event list has a higher
\r
2370 priority than the calling task. This allows the calling task to know if
\r
2371 it should force a context switch now. */
\r
2374 /* Mark that a yield is pending in case the user is not using the
\r
2375 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2376 xYieldPending = pdTRUE;
\r
2380 xReturn = pdFALSE;
\r
2385 /*-----------------------------------------------------------*/
\r
2387 BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
2389 TCB_t *pxUnblockedTCB;
\r
2390 BaseType_t xReturn;
\r
2392 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2393 the event flags implementation. */
\r
2394 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
2396 /* Store the new item value in the event list. */
\r
2397 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2399 /* Remove the event list form the event flag. Interrupts do not access
\r
2401 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2402 configASSERT( pxUnblockedTCB );
\r
2403 ( void ) uxListRemove( pxEventListItem );
\r
2405 /* Remove the task from the delayed list and add it to the ready list. The
\r
2406 scheduler is suspended so interrupts will not be accessing the ready
\r
2408 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2409 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2411 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2413 /* Return true if the task removed from the event list has
\r
2414 a higher priority than the calling task. This allows
\r
2415 the calling task to know if it should force a context
\r
2419 /* Mark that a yield is pending in case the user is not using the
\r
2420 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2421 xYieldPending = pdTRUE;
\r
2425 xReturn = pdFALSE;
\r
2430 /*-----------------------------------------------------------*/
\r
2432 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
2434 configASSERT( pxTimeOut );
\r
2435 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2436 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2438 /*-----------------------------------------------------------*/
\r
2440 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
2442 BaseType_t xReturn;
\r
2444 configASSERT( pxTimeOut );
\r
2445 configASSERT( pxTicksToWait );
\r
2447 taskENTER_CRITICAL();
\r
2449 /* Minor optimisation. The tick count cannot change in this block. */
\r
2450 const TickType_t xConstTickCount = xTickCount;
\r
2452 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2453 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2454 the maximum block time then the task should block indefinitely, and
\r
2455 therefore never time out. */
\r
2456 if( *pxTicksToWait == portMAX_DELAY )
\r
2458 xReturn = pdFALSE;
\r
2460 else /* We are not blocking indefinitely, perform the checks below. */
\r
2463 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2465 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2466 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2467 It must have wrapped all the way around and gone past us again. This
\r
2468 passed since vTaskSetTimeout() was called. */
\r
2471 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2473 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2474 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2475 vTaskSetTimeOutState( pxTimeOut );
\r
2476 xReturn = pdFALSE;
\r
2483 taskEXIT_CRITICAL();
\r
2487 /*-----------------------------------------------------------*/
\r
2489 void vTaskMissedYield( void )
\r
2491 xYieldPending = pdTRUE;
\r
2493 /*-----------------------------------------------------------*/
\r
2495 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2497 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
2499 UBaseType_t uxReturn;
\r
2502 if( xTask != NULL )
\r
2504 pxTCB = ( TCB_t * ) xTask;
\r
2505 uxReturn = pxTCB->uxTaskNumber;
\r
2515 #endif /* configUSE_TRACE_FACILITY */
\r
2516 /*-----------------------------------------------------------*/
\r
2518 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2520 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
2524 if( xTask != NULL )
\r
2526 pxTCB = ( TCB_t * ) xTask;
\r
2527 pxTCB->uxTaskNumber = uxHandle;
\r
2531 #endif /* configUSE_TRACE_FACILITY */
\r
2534 * -----------------------------------------------------------
\r
2536 * ----------------------------------------------------------
\r
2538 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2539 * language extensions. The equivalent prototype for this function is:
\r
2541 * void prvIdleTask( void *pvParameters );
\r
2544 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2546 /* Stop warnings. */
\r
2547 ( void ) pvParameters;
\r
2551 /* See if any tasks have been deleted. */
\r
2552 prvCheckTasksWaitingTermination();
\r
2554 #if ( configUSE_PREEMPTION == 0 )
\r
2556 /* If we are not using preemption we keep forcing a task switch to
\r
2557 see if any other task has become available. If we are using
\r
2558 preemption we don't need to do this as any task becoming available
\r
2559 will automatically get the processor anyway. */
\r
2562 #endif /* configUSE_PREEMPTION */
\r
2564 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2566 /* When using preemption tasks of equal priority will be
\r
2567 timesliced. If a task that is sharing the idle priority is ready
\r
2568 to run then the idle task should yield before the end of the
\r
2571 A critical region is not required here as we are just reading from
\r
2572 the list, and an occasional incorrect value will not matter. If
\r
2573 the ready list at the idle priority contains more than one task
\r
2574 then a task other than the idle task is ready to execute. */
\r
2575 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
2581 mtCOVERAGE_TEST_MARKER();
\r
2584 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2586 #if ( configUSE_IDLE_HOOK == 1 )
\r
2588 extern void vApplicationIdleHook( void );
\r
2590 /* Call the user defined function from within the idle task. This
\r
2591 allows the application designer to add background functionality
\r
2592 without the overhead of a separate task.
\r
2593 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2594 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2595 vApplicationIdleHook();
\r
2597 #endif /* configUSE_IDLE_HOOK */
\r
2599 /* This conditional compilation should use inequality to 0, not equality
\r
2600 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2601 user defined low power mode implementations require
\r
2602 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2603 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2605 TickType_t xExpectedIdleTime;
\r
2607 /* It is not desirable to suspend then resume the scheduler on
\r
2608 each iteration of the idle task. Therefore, a preliminary
\r
2609 test of the expected idle time is performed without the
\r
2610 scheduler suspended. The result here is not necessarily
\r
2612 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2614 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2616 vTaskSuspendAll();
\r
2618 /* Now the scheduler is suspended, the expected idle
\r
2619 time can be sampled again, and this time its value can
\r
2621 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2622 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2624 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2626 traceLOW_POWER_IDLE_BEGIN();
\r
2627 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2628 traceLOW_POWER_IDLE_END();
\r
2632 mtCOVERAGE_TEST_MARKER();
\r
2635 ( void ) xTaskResumeAll();
\r
2639 mtCOVERAGE_TEST_MARKER();
\r
2642 #endif /* configUSE_TICKLESS_IDLE */
\r
2645 /*-----------------------------------------------------------*/
\r
2647 #if configUSE_TICKLESS_IDLE != 0
\r
2649 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2651 eSleepModeStatus eReturn = eStandardSleep;
\r
2653 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2655 /* A task was made ready while the scheduler was suspended. */
\r
2656 eReturn = eAbortSleep;
\r
2658 else if( xYieldPending != pdFALSE )
\r
2660 /* A yield was pended while the scheduler was suspended. */
\r
2661 eReturn = eAbortSleep;
\r
2665 #if configUSE_TIMERS == 0
\r
2667 /* The idle task exists in addition to the application tasks. */
\r
2668 const UBaseType_t uxNonApplicationTasks = 1;
\r
2670 /* If timers are not being used and all the tasks are in the
\r
2671 suspended list (which might mean they have an infinite block
\r
2672 time rather than actually being suspended) then it is safe to
\r
2673 turn all clocks off and just wait for external interrupts. */
\r
2674 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2676 eReturn = eNoTasksWaitingTimeout;
\r
2680 mtCOVERAGE_TEST_MARKER();
\r
2683 #endif /* configUSE_TIMERS */
\r
2688 #endif /* configUSE_TICKLESS_IDLE */
\r
2689 /*-----------------------------------------------------------*/
\r
2691 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
2695 /* Store the task name in the TCB. */
\r
2696 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2698 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2700 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2701 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2702 string is not accessible (extremely unlikely). */
\r
2703 if( pcName[ x ] == 0x00 )
\r
2709 mtCOVERAGE_TEST_MARKER();
\r
2713 /* Ensure the name string is terminated in the case that the string length
\r
2714 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2715 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
2717 /* This is used as an array index so must ensure it's not too large. First
\r
2718 remove the privilege bit if one is present. */
\r
2719 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
2721 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
2725 mtCOVERAGE_TEST_MARKER();
\r
2728 pxTCB->uxPriority = uxPriority;
\r
2729 #if ( configUSE_MUTEXES == 1 )
\r
2731 pxTCB->uxBasePriority = uxPriority;
\r
2733 #endif /* configUSE_MUTEXES */
\r
2735 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2736 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2738 /* Set the pxTCB as a link back from the ListItem_t. This is so we can get
\r
2739 back to the containing TCB from a generic item in a list. */
\r
2740 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2742 /* Event lists are always in priority order. */
\r
2743 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
2744 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2746 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2748 pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
2750 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2752 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2754 pxTCB->pxTaskTag = NULL;
\r
2756 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2758 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2760 pxTCB->ulRunTimeCounter = 0UL;
\r
2762 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2764 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2766 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2768 #else /* portUSING_MPU_WRAPPERS */
\r
2770 ( void ) xRegions;
\r
2771 ( void ) usStackDepth;
\r
2773 #endif /* portUSING_MPU_WRAPPERS */
\r
2775 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2777 /* Initialise this task's Newlib reent structure. */
\r
2778 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2780 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2782 /*-----------------------------------------------------------*/
\r
2784 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2786 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
2790 /* If null is passed in here then we are deleting ourselves. */
\r
2791 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2793 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2796 #endif /* portUSING_MPU_WRAPPERS */
\r
2797 /*-----------------------------------------------------------*/
\r
2799 static void prvInitialiseTaskLists( void )
\r
2801 UBaseType_t uxPriority;
\r
2803 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
2805 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
2808 vListInitialise( &xDelayedTaskList1 );
\r
2809 vListInitialise( &xDelayedTaskList2 );
\r
2810 vListInitialise( &xPendingReadyList );
\r
2812 #if ( INCLUDE_vTaskDelete == 1 )
\r
2814 vListInitialise( &xTasksWaitingTermination );
\r
2816 #endif /* INCLUDE_vTaskDelete */
\r
2818 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2820 vListInitialise( &xSuspendedTaskList );
\r
2822 #endif /* INCLUDE_vTaskSuspend */
\r
2824 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2826 pxDelayedTaskList = &xDelayedTaskList1;
\r
2827 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2829 /*-----------------------------------------------------------*/
\r
2831 static void prvCheckTasksWaitingTermination( void )
\r
2833 #if ( INCLUDE_vTaskDelete == 1 )
\r
2835 BaseType_t xListIsEmpty;
\r
2837 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2838 too often in the idle task. */
\r
2839 while( uxTasksDeleted > ( UBaseType_t ) 0U )
\r
2841 vTaskSuspendAll();
\r
2843 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2845 ( void ) xTaskResumeAll();
\r
2847 if( xListIsEmpty == pdFALSE )
\r
2851 taskENTER_CRITICAL();
\r
2853 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
2854 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2855 --uxCurrentNumberOfTasks;
\r
2858 taskEXIT_CRITICAL();
\r
2860 prvDeleteTCB( pxTCB );
\r
2864 mtCOVERAGE_TEST_MARKER();
\r
2868 #endif /* vTaskDelete */
\r
2870 /*-----------------------------------------------------------*/
\r
2872 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake )
\r
2874 /* The list item will be inserted in wake time order. */
\r
2875 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2877 if( xTimeToWake < xTickCount )
\r
2879 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2880 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2884 /* The wake time has not overflowed, so the current block list is used. */
\r
2885 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2887 /* If the task entering the blocked state was placed at the head of the
\r
2888 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2890 if( xTimeToWake < xNextTaskUnblockTime )
\r
2892 xNextTaskUnblockTime = xTimeToWake;
\r
2896 mtCOVERAGE_TEST_MARKER();
\r
2900 /*-----------------------------------------------------------*/
\r
2902 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer )
\r
2906 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2907 the implementation of the port malloc function. */
\r
2908 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
2910 if( pxNewTCB != NULL )
\r
2912 /* Allocate space for the stack used by the task being created.
\r
2913 The base of the stack memory stored in the TCB so the task can
\r
2914 be deleted later if required. */
\r
2915 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
2917 if( pxNewTCB->pxStack == NULL )
\r
2919 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2920 vPortFree( pxNewTCB );
\r
2925 /* Avoid dependency on memset() if it is not required. */
\r
2926 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2928 /* Just to help debugging. */
\r
2929 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );
\r
2931 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
2937 /*-----------------------------------------------------------*/
\r
2939 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2941 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
2943 volatile TCB_t *pxNextTCB, *pxFirstTCB;
\r
2944 UBaseType_t uxTask = 0;
\r
2946 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2948 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2950 /* Populate an TaskStatus_t structure within the
\r
2951 pxTaskStatusArray array for each task that is referenced from
\r
2952 pxList. See the definition of TaskStatus_t in task.h for the
\r
2953 meaning of each TaskStatus_t structure member. */
\r
2956 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2958 pxTaskStatusArray[ uxTask ].xHandle = ( TaskHandle_t ) pxNextTCB;
\r
2959 pxTaskStatusArray[ uxTask ].pcTaskName = ( const char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
2960 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
2961 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
2962 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
2964 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2966 /* If the task is in the suspended list then there is a chance
\r
2967 it is actually just blocked indefinitely - so really it should
\r
2968 be reported as being in the Blocked state. */
\r
2969 if( eState == eSuspended )
\r
2971 if( listLIST_ITEM_CONTAINER( &( pxNextTCB->xEventListItem ) ) != NULL )
\r
2973 pxTaskStatusArray[ uxTask ].eCurrentState = eBlocked;
\r
2977 #endif /* INCLUDE_vTaskSuspend */
\r
2979 #if ( configUSE_MUTEXES == 1 )
\r
2981 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
2985 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
2989 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2991 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
2995 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
2999 #if ( portSTACK_GROWTH > 0 )
\r
3001 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxEndOfStack );
\r
3005 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxStack );
\r
3011 } while( pxNextTCB != pxFirstTCB );
\r
3015 mtCOVERAGE_TEST_MARKER();
\r
3021 #endif /* configUSE_TRACE_FACILITY */
\r
3022 /*-----------------------------------------------------------*/
\r
3024 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3026 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3028 uint32_t ulCount = 0U;
\r
3030 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
3032 pucStackByte -= portSTACK_GROWTH;
\r
3036 ulCount /= ( uint32_t ) sizeof( StackType_t );
\r
3038 return ( uint16_t ) ulCount;
\r
3041 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3042 /*-----------------------------------------------------------*/
\r
3044 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3046 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3049 uint8_t *pucEndOfStack;
\r
3050 UBaseType_t uxReturn;
\r
3052 pxTCB = prvGetTCBFromHandle( xTask );
\r
3054 #if portSTACK_GROWTH < 0
\r
3056 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3060 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3064 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3069 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3070 /*-----------------------------------------------------------*/
\r
3072 #if ( INCLUDE_vTaskDelete == 1 )
\r
3074 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3076 /* This call is required specifically for the TriCore port. It must be
\r
3077 above the vPortFree() calls. The call is also used by ports/demos that
\r
3078 want to allocate and clean RAM statically. */
\r
3079 portCLEAN_UP_TCB( pxTCB );
\r
3081 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
3082 the task to free any memory allocated at the application level. */
\r
3083 vPortFreeAligned( pxTCB->pxStack );
\r
3084 vPortFree( pxTCB );
\r
3087 #endif /* INCLUDE_vTaskDelete */
\r
3088 /*-----------------------------------------------------------*/
\r
3090 static void prvResetNextTaskUnblockTime( void )
\r
3094 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3096 /* The new current delayed list is empty. Set
\r
3097 xNextTaskUnblockTime to the maximum possible value so it is
\r
3098 extremely unlikely that the
\r
3099 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3100 there is an item in the delayed list. */
\r
3101 xNextTaskUnblockTime = portMAX_DELAY;
\r
3105 /* The new current delayed list is not empty, get the value of
\r
3106 the item at the head of the delayed list. This is the time at
\r
3107 which the task at the head of the delayed list should be removed
\r
3108 from the Blocked state. */
\r
3109 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3110 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) );
\r
3113 /*-----------------------------------------------------------*/
\r
3115 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3117 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3119 TaskHandle_t xReturn;
\r
3121 /* A critical section is not required as this is not called from
\r
3122 an interrupt and the current TCB will always be the same for any
\r
3123 individual execution thread. */
\r
3124 xReturn = pxCurrentTCB;
\r
3129 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3130 /*-----------------------------------------------------------*/
\r
3132 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3134 BaseType_t xTaskGetSchedulerState( void )
\r
3136 BaseType_t xReturn;
\r
3138 if( xSchedulerRunning == pdFALSE )
\r
3140 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3144 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3146 xReturn = taskSCHEDULER_RUNNING;
\r
3150 xReturn = taskSCHEDULER_SUSPENDED;
\r
3157 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3158 /*-----------------------------------------------------------*/
\r
3160 #if ( configUSE_MUTEXES == 1 )
\r
3162 void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3164 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3166 /* If the mutex was given back by an interrupt while the queue was
\r
3167 locked then the mutex holder might now be NULL. */
\r
3168 if( pxMutexHolder != NULL )
\r
3170 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3172 /* Adjust the mutex holder state to account for its new
\r
3173 priority. Only reset the event list item value if the value is
\r
3174 not being used for anything else. */
\r
3175 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3177 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
3181 mtCOVERAGE_TEST_MARKER();
\r
3184 /* If the task being modified is in the ready state it will need to
\r
3185 be moved into a new list. */
\r
3186 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
3188 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3190 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3194 mtCOVERAGE_TEST_MARKER();
\r
3197 /* Inherit the priority before being moved into the new list. */
\r
3198 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3199 prvAddTaskToReadyList( pxTCB );
\r
3203 /* Just inherit the priority. */
\r
3204 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3207 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
3211 mtCOVERAGE_TEST_MARKER();
\r
3216 mtCOVERAGE_TEST_MARKER();
\r
3220 #endif /* configUSE_MUTEXES */
\r
3221 /*-----------------------------------------------------------*/
\r
3223 #if ( configUSE_MUTEXES == 1 )
\r
3225 void vTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3227 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3229 if( pxMutexHolder != NULL )
\r
3231 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3233 /* We must be the running task to be able to give the mutex back.
\r
3234 Remove ourselves from the ready list we currently appear in. */
\r
3235 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3237 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3241 mtCOVERAGE_TEST_MARKER();
\r
3244 /* Disinherit the priority before adding the task into the new
\r
3246 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3247 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3249 /* Only reset the event list item value if the value is not
\r
3250 being used for anything else. */
\r
3251 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3253 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
3257 mtCOVERAGE_TEST_MARKER();
\r
3259 prvAddTaskToReadyList( pxTCB );
\r
3263 mtCOVERAGE_TEST_MARKER();
\r
3268 mtCOVERAGE_TEST_MARKER();
\r
3272 #endif /* configUSE_MUTEXES */
\r
3273 /*-----------------------------------------------------------*/
\r
3275 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3277 void vTaskEnterCritical( void )
\r
3279 portDISABLE_INTERRUPTS();
\r
3281 if( xSchedulerRunning != pdFALSE )
\r
3283 ( pxCurrentTCB->uxCriticalNesting )++;
\r
3287 mtCOVERAGE_TEST_MARKER();
\r
3291 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3292 /*-----------------------------------------------------------*/
\r
3294 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3296 void vTaskExitCritical( void )
\r
3298 if( xSchedulerRunning != pdFALSE )
\r
3300 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
3302 ( pxCurrentTCB->uxCriticalNesting )--;
\r
3304 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
3306 portENABLE_INTERRUPTS();
\r
3310 mtCOVERAGE_TEST_MARKER();
\r
3315 mtCOVERAGE_TEST_MARKER();
\r
3320 mtCOVERAGE_TEST_MARKER();
\r
3324 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3325 /*-----------------------------------------------------------*/
\r
3327 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
3329 void vTaskList( char * pcWriteBuffer )
\r
3331 TaskStatus_t *pxTaskStatusArray;
\r
3332 volatile UBaseType_t uxArraySize, x;
\r
3338 * This function is provided for convenience only, and is used by many
\r
3339 * of the demo applications. Do not consider it to be part of the
\r
3342 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
3343 * uxTaskGetSystemState() output into a human readable table that
\r
3344 * displays task names, states and stack usage.
\r
3346 * vTaskList() has a dependency on the sprintf() C library function that
\r
3347 * might bloat the code size, use a lot of stack, and provide different
\r
3348 * results on different platforms. An alternative, tiny, third party,
\r
3349 * and limited functionality implementation of sprintf() is provided in
\r
3350 * many of the FreeRTOS/Demo sub-directories in a file called
\r
3351 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
3352 * snprintf() implementation!).
\r
3354 * It is recommended that production systems call uxTaskGetSystemState()
\r
3355 * directly to get access to raw stats data, rather than indirectly
\r
3356 * through a call to vTaskList().
\r
3360 /* Make sure the write buffer does not contain a string. */
\r
3361 *pcWriteBuffer = 0x00;
\r
3363 /* Take a snapshot of the number of tasks in case it changes while this
\r
3364 function is executing. */
\r
3365 uxArraySize = uxCurrentNumberOfTasks;
\r
3367 /* Allocate an array index for each task. */
\r
3368 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3370 if( pxTaskStatusArray != NULL )
\r
3372 /* Generate the (binary) data. */
\r
3373 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
3375 /* Create a human readable table from the binary data. */
\r
3376 for( x = 0; x < uxArraySize; x++ )
\r
3378 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
3380 case eReady: cStatus = tskREADY_CHAR;
\r
3383 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
3386 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
3389 case eDeleted: cStatus = tskDELETED_CHAR;
\r
3392 default: /* Should not get here, but it is included
\r
3393 to prevent static checking errors. */
\r
3398 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
3399 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3402 /* Free the array again. */
\r
3403 vPortFree( pxTaskStatusArray );
\r
3407 mtCOVERAGE_TEST_MARKER();
\r
3411 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */
\r
3412 /*----------------------------------------------------------*/
\r
3414 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
3416 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
3418 TaskStatus_t *pxTaskStatusArray;
\r
3419 volatile UBaseType_t uxArraySize, x;
\r
3420 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
3422 #if( configUSE_TRACE_FACILITY != 1 )
\r
3424 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
3431 * This function is provided for convenience only, and is used by many
\r
3432 * of the demo applications. Do not consider it to be part of the
\r
3435 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
3436 * of the uxTaskGetSystemState() output into a human readable table that
\r
3437 * displays the amount of time each task has spent in the Running state
\r
3438 * in both absolute and percentage terms.
\r
3440 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
3441 * function that might bloat the code size, use a lot of stack, and
\r
3442 * provide different results on different platforms. An alternative,
\r
3443 * tiny, third party, and limited functionality implementation of
\r
3444 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3445 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3446 * a full snprintf() implementation!).
\r
3448 * It is recommended that production systems call uxTaskGetSystemState()
\r
3449 * directly to get access to raw stats data, rather than indirectly
\r
3450 * through a call to vTaskGetRunTimeStats().
\r
3453 /* Make sure the write buffer does not contain a string. */
\r
3454 *pcWriteBuffer = 0x00;
\r
3456 /* Take a snapshot of the number of tasks in case it changes while this
\r
3457 function is executing. */
\r
3458 uxArraySize = uxCurrentNumberOfTasks;
\r
3460 /* Allocate an array index for each task. */
\r
3461 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3463 if( pxTaskStatusArray != NULL )
\r
3465 /* Generate the (binary) data. */
\r
3466 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
3468 /* For percentage calculations. */
\r
3469 ulTotalTime /= 100UL;
\r
3471 /* Avoid divide by zero errors. */
\r
3472 if( ulTotalTime > 0 )
\r
3474 /* Create a human readable table from the binary data. */
\r
3475 for( x = 0; x < uxArraySize; x++ )
\r
3477 /* What percentage of the total run time has the task used?
\r
3478 This will always be rounded down to the nearest integer.
\r
3479 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
3480 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
3482 if( ulStatsAsPercentage > 0UL )
\r
3484 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3486 sprintf( pcWriteBuffer, "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
3490 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3491 printf() library can be used. */
\r
3492 sprintf( pcWriteBuffer, "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
3498 /* If the percentage is zero here then the task has
\r
3499 consumed less than 1% of the total run time. */
\r
3500 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3502 sprintf( pcWriteBuffer, "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3506 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3507 printf() library can be used. */
\r
3508 sprintf( pcWriteBuffer, "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3513 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3518 mtCOVERAGE_TEST_MARKER();
\r
3521 /* Free the array again. */
\r
3522 vPortFree( pxTaskStatusArray );
\r
3526 mtCOVERAGE_TEST_MARKER();
\r
3530 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */
\r
3531 /*-----------------------------------------------------------*/
\r
3533 TickType_t uxTaskResetEventItemValue( void )
\r
3535 TickType_t uxReturn;
\r
3537 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
3539 /* Reset the event list item to its normal value - so it can be used with
\r
3540 queues and semaphores. */
\r
3541 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
3545 /*-----------------------------------------------------------*/
\r
3547 #ifdef FREERTOS_MODULE_TEST
\r
3548 #include "tasks_test_access_functions.h"
\r
projects / freertos / blob