2 FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /* Standard includes. */
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74 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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75 all the API functions to use the MPU wrappers. That should only be done when
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76 task.h is included from an application file. */
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77 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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79 /* FreeRTOS includes. */
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80 #include "FreeRTOS.h"
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83 #include "StackMacros.h"
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85 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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86 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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87 header files above, but not in this file, in order to generate the correct
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88 privileged Vs unprivileged linkage and placement. */
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89 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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91 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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92 functions but without including stdio.h here. */
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93 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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94 /* At the bottom of this file are two optional functions that can be used
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95 to generate human readable text from the raw data generated by the
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96 uxTaskGetSystemState() function. Note the formatting functions are provided
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97 for convenience only, and are NOT considered part of the kernel. */
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99 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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101 #if( configUSE_PREEMPTION == 0 )
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102 /* If the cooperative scheduler is being used then a yield should not be
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103 performed just because a higher priority task has been woken. */
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104 #define taskYIELD_IF_USING_PREEMPTION()
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106 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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109 /* Values that can be assigned to the ucNotifyState member of the TCB. */
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110 #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )
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111 #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
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112 #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
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115 * The value used to fill the stack of a task when the task is created. This
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116 * is used purely for checking the high water mark for tasks.
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118 #define tskSTACK_FILL_BYTE ( 0xa5U )
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120 /* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using
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121 dynamically allocated RAM, in which case when any task is deleted it is known
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122 that both the task's stack and TCB need to be freed. Sometimes the
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123 FreeRTOSConfig.h settings only allow a task to be created using statically
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124 allocated RAM, in which case when any task is deleted it is known that neither
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125 the task's stack or TCB should be freed. Sometimes the FreeRTOSConfig.h
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126 settings allow a task to be created using either statically or dynamically
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127 allocated RAM, in which case a member of the TCB is used to record whether the
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128 stack and/or TCB were allocated statically or dynamically, so when a task is
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129 deleted the RAM that was allocated dynamically is freed again and no attempt is
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130 made to free the RAM that was allocated statically.
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131 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a
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132 task to be created using either statically or dynamically allocated RAM. Note
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133 that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with
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134 a statically allocated stack and a dynamically allocated TCB. */
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135 #define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) || ( portUSING_MPU_WRAPPERS == 1 ) )
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136 #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
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137 #define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
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138 #define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
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141 * Macros used by vListTask to indicate which state a task is in.
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143 #define tskBLOCKED_CHAR ( 'B' )
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144 #define tskREADY_CHAR ( 'R' )
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145 #define tskDELETED_CHAR ( 'D' )
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146 #define tskSUSPENDED_CHAR ( 'S' )
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149 * Some kernel aware debuggers require the data the debugger needs access to be
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150 * global, rather than file scope.
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152 #ifdef portREMOVE_STATIC_QUALIFIER
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156 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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158 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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159 performed in a generic way that is not optimised to any particular
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160 microcontroller architecture. */
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162 /* uxTopReadyPriority holds the priority of the highest priority ready
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164 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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166 if( ( uxPriority ) > uxTopReadyPriority ) \
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168 uxTopReadyPriority = ( uxPriority ); \
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170 } /* taskRECORD_READY_PRIORITY */
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172 /*-----------------------------------------------------------*/
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174 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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176 UBaseType_t uxTopPriority = uxTopReadyPriority; \
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178 /* Find the highest priority queue that contains ready tasks. */ \
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179 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
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181 configASSERT( uxTopPriority ); \
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185 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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186 the same priority get an equal share of the processor time. */ \
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187 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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188 uxTopReadyPriority = uxTopPriority; \
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189 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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191 /*-----------------------------------------------------------*/
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193 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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194 they are only required when a port optimised method of task selection is
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196 #define taskRESET_READY_PRIORITY( uxPriority )
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197 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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199 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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201 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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202 performed in a way that is tailored to the particular microcontroller
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203 architecture being used. */
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205 /* A port optimised version is provided. Call the port defined macros. */
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206 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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208 /*-----------------------------------------------------------*/
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210 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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212 UBaseType_t uxTopPriority; \
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214 /* Find the highest priority list that contains ready tasks. */ \
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215 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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216 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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217 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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218 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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220 /*-----------------------------------------------------------*/
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222 /* A port optimised version is provided, call it only if the TCB being reset
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223 is being referenced from a ready list. If it is referenced from a delayed
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224 or suspended list then it won't be in a ready list. */
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225 #define taskRESET_READY_PRIORITY( uxPriority ) \
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227 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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229 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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233 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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235 /*-----------------------------------------------------------*/
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237 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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238 count overflows. */
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239 #define taskSWITCH_DELAYED_LISTS() \
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243 /* The delayed tasks list should be empty when the lists are switched. */ \
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244 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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246 pxTemp = pxDelayedTaskList; \
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247 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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248 pxOverflowDelayedTaskList = pxTemp; \
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249 xNumOfOverflows++; \
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250 prvResetNextTaskUnblockTime(); \
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253 /*-----------------------------------------------------------*/
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256 * Place the task represented by pxTCB into the appropriate ready list for
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257 * the task. It is inserted at the end of the list.
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259 #define prvAddTaskToReadyList( pxTCB ) \
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260 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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261 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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262 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
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263 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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264 /*-----------------------------------------------------------*/
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267 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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268 * where NULL is used to indicate that the handle of the currently executing
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269 * task should be used in place of the parameter. This macro simply checks to
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270 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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272 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )
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274 /* The item value of the event list item is normally used to hold the priority
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275 of the task to which it belongs (coded to allow it to be held in reverse
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276 priority order). However, it is occasionally borrowed for other purposes. It
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277 is important its value is not updated due to a task priority change while it is
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278 being used for another purpose. The following bit definition is used to inform
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279 the scheduler that the value should not be changed - in which case it is the
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280 responsibility of whichever module is using the value to ensure it gets set back
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281 to its original value when it is released. */
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282 #if( configUSE_16_BIT_TICKS == 1 )
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283 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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285 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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289 * Task control block. A task control block (TCB) is allocated for each task,
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290 * and stores task state information, including a pointer to the task's context
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291 * (the task's run time environment, including register values)
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293 typedef struct tskTaskControlBlock
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295 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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297 #if ( portUSING_MPU_WRAPPERS == 1 )
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298 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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301 ListItem_t xStateListItem; /*< 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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302 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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303 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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304 StackType_t *pxStack; /*< Points to the start of the stack. */
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305 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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307 #if ( portSTACK_GROWTH > 0 )
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308 StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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311 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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312 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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315 #if ( configUSE_TRACE_FACILITY == 1 )
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316 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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317 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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320 #if ( configUSE_MUTEXES == 1 )
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321 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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322 UBaseType_t uxMutexesHeld;
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325 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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326 TaskHookFunction_t pxTaskTag;
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329 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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330 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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333 #if( configGENERATE_RUN_TIME_STATS == 1 )
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334 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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337 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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338 /* Allocate a Newlib reent structure that is specific to this task.
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339 Note Newlib support has been included by popular demand, but is not
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340 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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341 responsible for resulting newlib operation. User must be familiar with
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342 newlib and must provide system-wide implementations of the necessary
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343 stubs. Be warned that (at the time of writing) the current newlib design
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344 implements a system-wide malloc() that must be provided with locks. */
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345 struct _reent xNewLib_reent;
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348 #if( configUSE_TASK_NOTIFICATIONS == 1 )
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349 volatile uint32_t ulNotifiedValue;
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350 volatile uint8_t ucNotifyState;
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353 /* See the comments above the definition of
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354 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
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355 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 Macro has been consolidated for readability reasons. */
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356 uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
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359 #if( INCLUDE_xTaskAbortDelay == 1 )
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360 uint8_t ucDelayAborted;
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365 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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366 below to enable the use of older kernel aware debuggers. */
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367 typedef tskTCB TCB_t;
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369 /*lint -e956 A manual analysis and inspection has been used to determine which
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370 static variables must be declared volatile. */
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372 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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374 /* Lists for ready and blocked tasks. --------------------*/
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375 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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376 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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377 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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378 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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379 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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380 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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382 #if( INCLUDE_vTaskDelete == 1 )
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384 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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385 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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389 #if ( INCLUDE_vTaskSuspend == 1 )
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391 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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395 /* Other file private variables. --------------------------------*/
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396 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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397 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;
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398 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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399 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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400 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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401 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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402 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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403 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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404 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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405 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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407 /* Context switches are held pending while the scheduler is suspended. Also,
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408 interrupts must not manipulate the xStateListItem of a TCB, or any of the
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409 lists the xStateListItem can be referenced from, if the scheduler is suspended.
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410 If an interrupt needs to unblock a task while the scheduler is suspended then it
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411 moves the task's event list item into the xPendingReadyList, ready for the
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412 kernel to move the task from the pending ready list into the real ready list
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413 when the scheduler is unsuspended. The pending ready list itself can only be
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414 accessed from a critical section. */
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415 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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417 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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419 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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420 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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426 /*-----------------------------------------------------------*/
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428 /* Callback function prototypes. --------------------------*/
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429 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
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430 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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433 #if( configUSE_TICK_HOOK > 0 )
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434 extern void vApplicationTickHook( void );
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437 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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438 extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );
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441 /* File private functions. --------------------------------*/
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444 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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445 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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446 * is in any other state.
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448 #if ( INCLUDE_vTaskSuspend == 1 )
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449 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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450 #endif /* INCLUDE_vTaskSuspend */
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453 * Utility to ready all the lists used by the scheduler. This is called
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454 * automatically upon the creation of the first task.
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456 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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459 * The idle task, which as all tasks is implemented as a never ending loop.
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460 * The idle task is automatically created and added to the ready lists upon
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461 * creation of the first user task.
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463 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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464 * language extensions. The equivalent prototype for this function is:
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466 * void prvIdleTask( void *pvParameters );
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469 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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472 * Utility to free all memory allocated by the scheduler to hold a TCB,
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473 * including the stack pointed to by the TCB.
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475 * This does not free memory allocated by the task itself (i.e. memory
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476 * allocated by calls to pvPortMalloc from within the tasks application code).
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478 #if ( INCLUDE_vTaskDelete == 1 )
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480 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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485 * Used only by the idle task. This checks to see if anything has been placed
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486 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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487 * and its TCB deleted.
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489 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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492 * The currently executing task is entering the Blocked state. Add the task to
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493 * either the current or the overflow delayed task list.
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495 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
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498 * Fills an TaskStatus_t structure with information on each task that is
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499 * referenced from the pxList list (which may be a ready list, a delayed list,
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500 * a suspended list, etc.).
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502 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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503 * NORMAL APPLICATION CODE.
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505 #if ( configUSE_TRACE_FACILITY == 1 )
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507 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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512 * Searches pxList for a task with name pcNameToQuery - returning a handle to
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513 * the task if it is found, or NULL if the task is not found.
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515 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
517 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
\r
522 * When a task is created, the stack of the task is filled with a known value.
\r
523 * This function determines the 'high water mark' of the task stack by
\r
524 * determining how much of the stack remains at the original preset value.
\r
526 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
528 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
\r
533 * Return the amount of time, in ticks, that will pass before the kernel will
\r
534 * next move a task from the Blocked state to the Running state.
\r
536 * This conditional compilation should use inequality to 0, not equality to 1.
\r
537 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
\r
538 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
\r
539 * set to a value other than 1.
\r
541 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
543 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
\r
548 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
\r
549 * will exit the Blocked state.
\r
551 static void prvResetNextTaskUnblockTime( void );
\r
553 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
556 * Helper function used to pad task names with spaces when printing out
\r
557 * human readable tables of task information.
\r
559 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
\r
564 * Called after a Task_t structure has been allocated either statically or
\r
565 * dynamically to fill in the structure's members.
\r
567 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
568 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
569 const uint32_t ulStackDepth,
\r
570 void * const pvParameters,
\r
571 UBaseType_t uxPriority,
\r
572 TaskHandle_t * const pxCreatedTask,
\r
574 const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
\r
577 * Called after a new task has been created and initialised to place the task
\r
578 * under the control of the scheduler.
\r
580 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
\r
582 /*-----------------------------------------------------------*/
\r
584 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
586 TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
\r
587 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
588 const uint32_t ulStackDepth,
\r
589 void * const pvParameters,
\r
590 UBaseType_t uxPriority,
\r
591 StackType_t * const puxStackBuffer,
\r
592 StaticTask_t * const pxTaskBuffer )
\r
595 TaskHandle_t xReturn;
\r
597 configASSERT( puxStackBuffer != NULL );
\r
598 configASSERT( pxTaskBuffer != NULL );
\r
600 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
\r
602 /* The memory used for the task's TCB and stack are passed into this
\r
603 function - use them. */
\r
604 pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
\r
605 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
\r
607 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 Macro has been consolidated for readability reasons. */
\r
609 /* Tasks can be created statically or dynamically, so note this
\r
610 task was created statically in case the task is later deleted. */
\r
611 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
613 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
615 prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
\r
616 prvAddNewTaskToReadyList( pxNewTCB );
\r
626 #endif /* SUPPORT_STATIC_ALLOCATION */
\r
627 /*-----------------------------------------------------------*/
\r
629 #if( portUSING_MPU_WRAPPERS == 1 )
\r
631 BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
634 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
636 configASSERT( pxTaskDefinition->puxStackBuffer );
\r
638 if( pxTaskDefinition->puxStackBuffer != NULL )
\r
640 /* Allocate space for the TCB. Where the memory comes from depends
\r
641 on the implementation of the port malloc function and whether or
\r
642 not static allocation is being used. */
\r
643 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
645 if( pxNewTCB != NULL )
\r
647 /* Store the stack location in the TCB. */
\r
648 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
650 /* Tasks can be created statically or dynamically, so note
\r
651 this task had a statically allocated stack in case it is
\r
652 later deleted. The TCB was allocated dynamically. */
\r
653 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
\r
655 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
656 pxTaskDefinition->pcName,
\r
657 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
658 pxTaskDefinition->pvParameters,
\r
659 pxTaskDefinition->uxPriority,
\r
660 pxCreatedTask, pxNewTCB,
\r
661 pxTaskDefinition->xRegions );
\r
663 prvAddNewTaskToReadyList( pxNewTCB );
\r
671 #endif /* portUSING_MPU_WRAPPERS */
\r
672 /*-----------------------------------------------------------*/
\r
674 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
676 BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
\r
677 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
678 const uint16_t usStackDepth,
\r
679 void * const pvParameters,
\r
680 UBaseType_t uxPriority,
\r
681 TaskHandle_t * const pxCreatedTask )
\r
684 BaseType_t xReturn;
\r
686 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
687 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
688 the TCB then the stack. */
\r
689 #if( portSTACK_GROWTH > 0 )
\r
691 /* Allocate space for the TCB. Where the memory comes from depends on
\r
692 the implementation of the port malloc function and whether or not static
\r
693 allocation is being used. */
\r
694 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
696 if( pxNewTCB != NULL )
\r
698 /* Allocate space for the stack used by the task being created.
\r
699 The base of the stack memory stored in the TCB so the task can
\r
700 be deleted later if required. */
\r
701 pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
703 if( pxNewTCB->pxStack == NULL )
\r
705 /* Could not allocate the stack. Delete the allocated TCB. */
\r
706 vPortFree( pxNewTCB );
\r
711 #else /* portSTACK_GROWTH */
\r
713 StackType_t *pxStack;
\r
715 /* Allocate space for the stack used by the task being created. */
\r
716 pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
718 if( pxStack != NULL )
\r
720 /* Allocate space for the TCB. */
\r
721 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e961 MISRA exception as the casts are only redundant for some paths. */
\r
723 if( pxNewTCB != NULL )
\r
725 /* Store the stack location in the TCB. */
\r
726 pxNewTCB->pxStack = pxStack;
\r
730 /* The stack cannot be used as the TCB was not created. Free
\r
732 vPortFree( pxStack );
\r
740 #endif /* portSTACK_GROWTH */
\r
742 if( pxNewTCB != NULL )
\r
744 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 Macro has been consolidated for readability reasons. */
\r
746 /* Tasks can be created statically or dynamically, so note this
\r
747 task was created dynamically in case it is later deleted. */
\r
748 pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
\r
750 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
752 prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
\r
753 prvAddNewTaskToReadyList( pxNewTCB );
\r
758 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
764 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
765 /*-----------------------------------------------------------*/
\r
767 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
768 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
769 const uint32_t ulStackDepth,
\r
770 void * const pvParameters,
\r
771 UBaseType_t uxPriority,
\r
772 TaskHandle_t * const pxCreatedTask,
\r
774 const MemoryRegion_t * const xRegions )
\r
776 StackType_t *pxTopOfStack;
\r
779 #if( portUSING_MPU_WRAPPERS == 1 )
\r
780 /* Should the task be created in privileged mode? */
\r
781 BaseType_t xRunPrivileged;
\r
782 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
784 xRunPrivileged = pdTRUE;
\r
788 xRunPrivileged = pdFALSE;
\r
790 uxPriority &= ~portPRIVILEGE_BIT;
\r
791 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
793 /* Avoid dependency on memset() if it is not required. */
\r
794 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
796 /* Fill the stack with a known value to assist debugging. */
\r
797 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
\r
799 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
801 /* Calculate the top of stack address. This depends on whether the stack
\r
802 grows from high memory to low (as per the 80x86) or vice versa.
\r
803 portSTACK_GROWTH is used to make the result positive or negative as required
\r
805 #if( portSTACK_GROWTH < 0 )
\r
807 pxTopOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
808 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
810 /* Check the alignment of the calculated top of stack is correct. */
\r
811 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
813 #else /* portSTACK_GROWTH */
\r
815 pxTopOfStack = pxNewTCB->pxStack;
\r
817 /* Check the alignment of the stack buffer is correct. */
\r
818 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
820 /* The other extreme of the stack space is required if stack checking is
\r
822 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
824 #endif /* portSTACK_GROWTH */
\r
826 /* Store the task name in the TCB. */
\r
827 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
829 pxNewTCB->pcTaskName[ x ] = pcName[ x ];
\r
831 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
832 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
833 string is not accessible (extremely unlikely). */
\r
834 if( pcName[ x ] == 0x00 )
\r
840 mtCOVERAGE_TEST_MARKER();
\r
844 /* Ensure the name string is terminated in the case that the string length
\r
845 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
846 pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
848 /* This is used as an array index so must ensure it's not too large. First
\r
849 remove the privilege bit if one is present. */
\r
850 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
852 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
856 mtCOVERAGE_TEST_MARKER();
\r
859 pxNewTCB->uxPriority = uxPriority;
\r
860 #if ( configUSE_MUTEXES == 1 )
\r
862 pxNewTCB->uxBasePriority = uxPriority;
\r
863 pxNewTCB->uxMutexesHeld = 0;
\r
865 #endif /* configUSE_MUTEXES */
\r
867 vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
\r
868 vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
\r
870 /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
\r
871 back to the containing TCB from a generic item in a list. */
\r
872 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
\r
874 /* Event lists are always in priority order. */
\r
875 listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
876 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
\r
878 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
880 pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
882 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
884 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
886 pxNewTCB->pxTaskTag = NULL;
\r
888 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
890 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
892 pxNewTCB->ulRunTimeCounter = 0UL;
\r
894 #endif /* configGENERATE_RUN_TIME_STATS */
\r
896 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
898 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
\r
902 /* Avoid compiler warning about unreferenced parameter. */
\r
907 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
909 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
911 pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
916 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
918 pxNewTCB->ulNotifiedValue = 0;
\r
919 pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
923 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
925 /* Initialise this task's Newlib reent structure. */
\r
926 _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
\r
930 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
932 pxNewTCB->ucDelayAborted = pdFALSE;
\r
936 /* Initialize the TCB stack to look as if the task was already running,
\r
937 but had been interrupted by the scheduler. The return address is set
\r
938 to the start of the task function. Once the stack has been initialised
\r
939 the top of stack variable is updated. */
\r
940 #if( portUSING_MPU_WRAPPERS == 1 )
\r
942 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
944 #else /* portUSING_MPU_WRAPPERS */
\r
946 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
948 #endif /* portUSING_MPU_WRAPPERS */
\r
950 if( ( void * ) pxCreatedTask != NULL )
\r
952 /* Pass the handle out in an anonymous way. The handle can be used to
\r
953 change the created task's priority, delete the created task, etc.*/
\r
954 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
958 mtCOVERAGE_TEST_MARKER();
\r
961 /*-----------------------------------------------------------*/
\r
963 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
\r
965 /* Ensure interrupts don't access the task lists while the lists are being
\r
967 taskENTER_CRITICAL();
\r
969 uxCurrentNumberOfTasks++;
\r
970 if( pxCurrentTCB == NULL )
\r
972 /* There are no other tasks, or all the other tasks are in
\r
973 the suspended state - make this the current task. */
\r
974 pxCurrentTCB = pxNewTCB;
\r
976 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
978 /* This is the first task to be created so do the preliminary
\r
979 initialisation required. We will not recover if this call
\r
980 fails, but we will report the failure. */
\r
981 prvInitialiseTaskLists();
\r
985 mtCOVERAGE_TEST_MARKER();
\r
990 /* If the scheduler is not already running, make this task the
\r
991 current task if it is the highest priority task to be created
\r
993 if( xSchedulerRunning == pdFALSE )
\r
995 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
\r
997 pxCurrentTCB = pxNewTCB;
\r
1001 mtCOVERAGE_TEST_MARKER();
\r
1006 mtCOVERAGE_TEST_MARKER();
\r
1012 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1014 /* Add a counter into the TCB for tracing only. */
\r
1015 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
1017 #endif /* configUSE_TRACE_FACILITY */
\r
1018 traceTASK_CREATE( pxNewTCB );
\r
1020 prvAddTaskToReadyList( pxNewTCB );
\r
1022 portSETUP_TCB( pxNewTCB );
\r
1024 taskEXIT_CRITICAL();
\r
1026 if( xSchedulerRunning != pdFALSE )
\r
1028 /* If the created task is of a higher priority than the current task
\r
1029 then it should run now. */
\r
1030 if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
\r
1032 taskYIELD_IF_USING_PREEMPTION();
\r
1036 mtCOVERAGE_TEST_MARKER();
\r
1041 mtCOVERAGE_TEST_MARKER();
\r
1044 /*-----------------------------------------------------------*/
\r
1046 #if ( INCLUDE_vTaskDelete == 1 )
\r
1048 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
1052 taskENTER_CRITICAL();
\r
1054 /* If null is passed in here then it is the calling task that is
\r
1056 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
1058 /* Remove task from the ready list. */
\r
1059 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1061 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1065 mtCOVERAGE_TEST_MARKER();
\r
1068 /* Is the task waiting on an event also? */
\r
1069 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1071 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1075 mtCOVERAGE_TEST_MARKER();
\r
1078 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
1079 detect that the task lists need re-generating. This is done before
\r
1080 portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
\r
1084 if( pxTCB == pxCurrentTCB )
\r
1086 /* A task is deleting itself. This cannot complete within the
\r
1087 task itself, as a context switch to another task is required.
\r
1088 Place the task in the termination list. The idle task will
\r
1089 check the termination list and free up any memory allocated by
\r
1090 the scheduler for the TCB and stack of the deleted task. */
\r
1091 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
\r
1093 /* Increment the ucTasksDeleted variable so the idle task knows
\r
1094 there is a task that has been deleted and that it should therefore
\r
1095 check the xTasksWaitingTermination list. */
\r
1096 ++uxDeletedTasksWaitingCleanUp;
\r
1098 /* The pre-delete hook is primarily for the Windows simulator,
\r
1099 in which Windows specific clean up operations are performed,
\r
1100 after which it is not possible to yield away from this task -
\r
1101 hence xYieldPending is used to latch that a context switch is
\r
1103 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
1107 --uxCurrentNumberOfTasks;
\r
1108 prvDeleteTCB( pxTCB );
\r
1110 /* Reset the next expected unblock time in case it referred to
\r
1111 the task that has just been deleted. */
\r
1112 prvResetNextTaskUnblockTime();
\r
1115 traceTASK_DELETE( pxTCB );
\r
1117 taskEXIT_CRITICAL();
\r
1119 /* Force a reschedule if it is the currently running task that has just
\r
1121 if( xSchedulerRunning != pdFALSE )
\r
1123 if( pxTCB == pxCurrentTCB )
\r
1125 configASSERT( uxSchedulerSuspended == 0 );
\r
1126 portYIELD_WITHIN_API();
\r
1130 mtCOVERAGE_TEST_MARKER();
\r
1135 #endif /* INCLUDE_vTaskDelete */
\r
1136 /*-----------------------------------------------------------*/
\r
1138 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
1140 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
1142 TickType_t xTimeToWake;
\r
1143 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
1145 configASSERT( pxPreviousWakeTime );
\r
1146 configASSERT( ( xTimeIncrement > 0U ) );
\r
1147 configASSERT( uxSchedulerSuspended == 0 );
\r
1149 vTaskSuspendAll();
\r
1151 /* Minor optimisation. The tick count cannot change in this
\r
1153 const TickType_t xConstTickCount = xTickCount;
\r
1155 /* Generate the tick time at which the task wants to wake. */
\r
1156 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
1158 if( xConstTickCount < *pxPreviousWakeTime )
\r
1160 /* The tick count has overflowed since this function was
\r
1161 lasted called. In this case the only time we should ever
\r
1162 actually delay is if the wake time has also overflowed,
\r
1163 and the wake time is greater than the tick time. When this
\r
1164 is the case it is as if neither time had overflowed. */
\r
1165 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
1167 xShouldDelay = pdTRUE;
\r
1171 mtCOVERAGE_TEST_MARKER();
\r
1176 /* The tick time has not overflowed. In this case we will
\r
1177 delay if either the wake time has overflowed, and/or the
\r
1178 tick time is less than the wake time. */
\r
1179 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
1181 xShouldDelay = pdTRUE;
\r
1185 mtCOVERAGE_TEST_MARKER();
\r
1189 /* Update the wake time ready for the next call. */
\r
1190 *pxPreviousWakeTime = xTimeToWake;
\r
1192 if( xShouldDelay != pdFALSE )
\r
1194 traceTASK_DELAY_UNTIL( xTimeToWake );
\r
1196 /* prvAddCurrentTaskToDelayedList() needs the block time, not
\r
1197 the time to wake, so subtract the current tick count. */
\r
1198 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
\r
1202 mtCOVERAGE_TEST_MARKER();
\r
1205 xAlreadyYielded = xTaskResumeAll();
\r
1207 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1208 have put ourselves to sleep. */
\r
1209 if( xAlreadyYielded == pdFALSE )
\r
1211 portYIELD_WITHIN_API();
\r
1215 mtCOVERAGE_TEST_MARKER();
\r
1219 #endif /* INCLUDE_vTaskDelayUntil */
\r
1220 /*-----------------------------------------------------------*/
\r
1222 #if ( INCLUDE_vTaskDelay == 1 )
\r
1224 void vTaskDelay( const TickType_t xTicksToDelay )
\r
1226 BaseType_t xAlreadyYielded = pdFALSE;
\r
1228 /* A delay time of zero just forces a reschedule. */
\r
1229 if( xTicksToDelay > ( TickType_t ) 0U )
\r
1231 configASSERT( uxSchedulerSuspended == 0 );
\r
1232 vTaskSuspendAll();
\r
1234 traceTASK_DELAY();
\r
1236 /* A task that is removed from the event list while the
\r
1237 scheduler is suspended will not get placed in the ready
\r
1238 list or removed from the blocked list until the scheduler
\r
1241 This task cannot be in an event list as it is the currently
\r
1242 executing task. */
\r
1243 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
\r
1245 xAlreadyYielded = xTaskResumeAll();
\r
1249 mtCOVERAGE_TEST_MARKER();
\r
1252 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1253 have put ourselves to sleep. */
\r
1254 if( xAlreadyYielded == pdFALSE )
\r
1256 portYIELD_WITHIN_API();
\r
1260 mtCOVERAGE_TEST_MARKER();
\r
1264 #endif /* INCLUDE_vTaskDelay */
\r
1265 /*-----------------------------------------------------------*/
\r
1267 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) )
\r
1269 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1271 eTaskState eReturn;
\r
1272 List_t *pxStateList;
\r
1273 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1275 configASSERT( pxTCB );
\r
1277 if( pxTCB == pxCurrentTCB )
\r
1279 /* The task calling this function is querying its own state. */
\r
1280 eReturn = eRunning;
\r
1284 taskENTER_CRITICAL();
\r
1286 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
\r
1288 taskEXIT_CRITICAL();
\r
1290 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
1292 /* The task being queried is referenced from one of the Blocked
\r
1294 eReturn = eBlocked;
\r
1297 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1298 else if( pxStateList == &xSuspendedTaskList )
\r
1300 /* The task being queried is referenced from the suspended
\r
1301 list. Is it genuinely suspended or is it block
\r
1303 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1305 eReturn = eSuspended;
\r
1309 eReturn = eBlocked;
\r
1314 #if ( INCLUDE_vTaskDelete == 1 )
\r
1315 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1317 /* The task being queried is referenced from the deleted
\r
1318 tasks list, or it is not referenced from any lists at
\r
1320 eReturn = eDeleted;
\r
1324 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1326 /* If the task is not in any other state, it must be in the
\r
1327 Ready (including pending ready) state. */
\r
1333 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1335 #endif /* INCLUDE_eTaskGetState */
\r
1336 /*-----------------------------------------------------------*/
\r
1338 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1340 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1343 UBaseType_t uxReturn;
\r
1345 taskENTER_CRITICAL();
\r
1347 /* If null is passed in here then it is the priority of the that
\r
1348 called uxTaskPriorityGet() that is being queried. */
\r
1349 pxTCB = prvGetTCBFromHandle( xTask );
\r
1350 uxReturn = pxTCB->uxPriority;
\r
1352 taskEXIT_CRITICAL();
\r
1357 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1358 /*-----------------------------------------------------------*/
\r
1360 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1362 UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )
\r
1365 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1367 /* RTOS ports that support interrupt nesting have the concept of a
\r
1368 maximum system call (or maximum API call) interrupt priority.
\r
1369 Interrupts that are above the maximum system call priority are keep
\r
1370 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1371 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1372 is defined in FreeRTOSConfig.h then
\r
1373 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1374 failure if a FreeRTOS API function is called from an interrupt that has
\r
1375 been assigned a priority above the configured maximum system call
\r
1376 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1377 from interrupts that have been assigned a priority at or (logically)
\r
1378 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1379 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1380 simple as possible. More information (albeit Cortex-M specific) is
\r
1381 provided on the following link:
\r
1382 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1383 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1385 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1387 /* If null is passed in here then it is the priority of the calling
\r
1388 task that is being queried. */
\r
1389 pxTCB = prvGetTCBFromHandle( xTask );
\r
1390 uxReturn = pxTCB->uxPriority;
\r
1392 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1397 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1398 /*-----------------------------------------------------------*/
\r
1400 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1402 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1405 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1406 BaseType_t xYieldRequired = pdFALSE;
\r
1408 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1410 /* Ensure the new priority is valid. */
\r
1411 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1413 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1417 mtCOVERAGE_TEST_MARKER();
\r
1420 taskENTER_CRITICAL();
\r
1422 /* If null is passed in here then it is the priority of the calling
\r
1423 task that is being changed. */
\r
1424 pxTCB = prvGetTCBFromHandle( xTask );
\r
1426 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1428 #if ( configUSE_MUTEXES == 1 )
\r
1430 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1434 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1438 if( uxCurrentBasePriority != uxNewPriority )
\r
1440 /* The priority change may have readied a task of higher
\r
1441 priority than the calling task. */
\r
1442 if( uxNewPriority > uxCurrentBasePriority )
\r
1444 if( pxTCB != pxCurrentTCB )
\r
1446 /* The priority of a task other than the currently
\r
1447 running task is being raised. Is the priority being
\r
1448 raised above that of the running task? */
\r
1449 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1451 xYieldRequired = pdTRUE;
\r
1455 mtCOVERAGE_TEST_MARKER();
\r
1460 /* The priority of the running task is being raised,
\r
1461 but the running task must already be the highest
\r
1462 priority task able to run so no yield is required. */
\r
1465 else if( pxTCB == pxCurrentTCB )
\r
1467 /* Setting the priority of the running task down means
\r
1468 there may now be another task of higher priority that
\r
1469 is ready to execute. */
\r
1470 xYieldRequired = pdTRUE;
\r
1474 /* Setting the priority of any other task down does not
\r
1475 require a yield as the running task must be above the
\r
1476 new priority of the task being modified. */
\r
1479 /* Remember the ready list the task might be referenced from
\r
1480 before its uxPriority member is changed so the
\r
1481 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1482 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1484 #if ( configUSE_MUTEXES == 1 )
\r
1486 /* Only change the priority being used if the task is not
\r
1487 currently using an inherited priority. */
\r
1488 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1490 pxTCB->uxPriority = uxNewPriority;
\r
1494 mtCOVERAGE_TEST_MARKER();
\r
1497 /* The base priority gets set whatever. */
\r
1498 pxTCB->uxBasePriority = uxNewPriority;
\r
1502 pxTCB->uxPriority = uxNewPriority;
\r
1506 /* Only reset the event list item value if the value is not
\r
1507 being used for anything else. */
\r
1508 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1510 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
1514 mtCOVERAGE_TEST_MARKER();
\r
1517 /* If the task is in the blocked or suspended list we need do
\r
1518 nothing more than change it's priority variable. However, if
\r
1519 the task is in a ready list it needs to be removed and placed
\r
1520 in the list appropriate to its new priority. */
\r
1521 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1523 /* The task is currently in its ready list - remove before adding
\r
1524 it to it's new ready list. As we are in a critical section we
\r
1525 can do this even if the scheduler is suspended. */
\r
1526 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1528 /* It is known that the task is in its ready list so
\r
1529 there is no need to check again and the port level
\r
1530 reset macro can be called directly. */
\r
1531 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1535 mtCOVERAGE_TEST_MARKER();
\r
1537 prvAddTaskToReadyList( pxTCB );
\r
1541 mtCOVERAGE_TEST_MARKER();
\r
1544 if( xYieldRequired != pdFALSE )
\r
1546 taskYIELD_IF_USING_PREEMPTION();
\r
1550 mtCOVERAGE_TEST_MARKER();
\r
1553 /* Remove compiler warning about unused variables when the port
\r
1554 optimised task selection is not being used. */
\r
1555 ( void ) uxPriorityUsedOnEntry;
\r
1558 taskEXIT_CRITICAL();
\r
1561 #endif /* INCLUDE_vTaskPrioritySet */
\r
1562 /*-----------------------------------------------------------*/
\r
1564 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1566 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1570 taskENTER_CRITICAL();
\r
1572 /* If null is passed in here then it is the running task that is
\r
1573 being suspended. */
\r
1574 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1576 traceTASK_SUSPEND( pxTCB );
\r
1578 /* Remove task from the ready/delayed list and place in the
\r
1579 suspended list. */
\r
1580 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1582 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1586 mtCOVERAGE_TEST_MARKER();
\r
1589 /* Is the task waiting on an event also? */
\r
1590 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1592 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1596 mtCOVERAGE_TEST_MARKER();
\r
1599 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
\r
1601 taskEXIT_CRITICAL();
\r
1603 if( xSchedulerRunning != pdFALSE )
\r
1605 /* Reset the next expected unblock time in case it referred to the
\r
1606 task that is now in the Suspended state. */
\r
1607 taskENTER_CRITICAL();
\r
1609 prvResetNextTaskUnblockTime();
\r
1611 taskEXIT_CRITICAL();
\r
1615 mtCOVERAGE_TEST_MARKER();
\r
1618 if( pxTCB == pxCurrentTCB )
\r
1620 if( xSchedulerRunning != pdFALSE )
\r
1622 /* The current task has just been suspended. */
\r
1623 configASSERT( uxSchedulerSuspended == 0 );
\r
1624 portYIELD_WITHIN_API();
\r
1628 /* The scheduler is not running, but the task that was pointed
\r
1629 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1630 must be adjusted to point to a different task. */
\r
1631 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1633 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1634 NULL so when the next task is created pxCurrentTCB will
\r
1635 be set to point to it no matter what its relative priority
\r
1637 pxCurrentTCB = NULL;
\r
1641 vTaskSwitchContext();
\r
1647 mtCOVERAGE_TEST_MARKER();
\r
1651 #endif /* INCLUDE_vTaskSuspend */
\r
1652 /*-----------------------------------------------------------*/
\r
1654 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1656 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1658 BaseType_t xReturn = pdFALSE;
\r
1659 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1661 /* Accesses xPendingReadyList so must be called from a critical
\r
1664 /* It does not make sense to check if the calling task is suspended. */
\r
1665 configASSERT( xTask );
\r
1667 /* Is the task being resumed actually in the suspended list? */
\r
1668 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1670 /* Has the task already been resumed from within an ISR? */
\r
1671 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1673 /* Is it in the suspended list because it is in the Suspended
\r
1674 state, or because is is blocked with no timeout? */
\r
1675 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
\r
1681 mtCOVERAGE_TEST_MARKER();
\r
1686 mtCOVERAGE_TEST_MARKER();
\r
1691 mtCOVERAGE_TEST_MARKER();
\r
1695 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1697 #endif /* INCLUDE_vTaskSuspend */
\r
1698 /*-----------------------------------------------------------*/
\r
1700 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1702 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1704 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1706 /* It does not make sense to resume the calling task. */
\r
1707 configASSERT( xTaskToResume );
\r
1709 /* The parameter cannot be NULL as it is impossible to resume the
\r
1710 currently executing task. */
\r
1711 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1713 taskENTER_CRITICAL();
\r
1715 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1717 traceTASK_RESUME( pxTCB );
\r
1719 /* As we are in a critical section we can access the ready
\r
1720 lists even if the scheduler is suspended. */
\r
1721 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1722 prvAddTaskToReadyList( pxTCB );
\r
1724 /* We may have just resumed a higher priority task. */
\r
1725 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1727 /* This yield may not cause the task just resumed to run,
\r
1728 but will leave the lists in the correct state for the
\r
1730 taskYIELD_IF_USING_PREEMPTION();
\r
1734 mtCOVERAGE_TEST_MARKER();
\r
1739 mtCOVERAGE_TEST_MARKER();
\r
1742 taskEXIT_CRITICAL();
\r
1746 mtCOVERAGE_TEST_MARKER();
\r
1750 #endif /* INCLUDE_vTaskSuspend */
\r
1752 /*-----------------------------------------------------------*/
\r
1754 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1756 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1758 BaseType_t xYieldRequired = pdFALSE;
\r
1759 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1760 UBaseType_t uxSavedInterruptStatus;
\r
1762 configASSERT( xTaskToResume );
\r
1764 /* RTOS ports that support interrupt nesting have the concept of a
\r
1765 maximum system call (or maximum API call) interrupt priority.
\r
1766 Interrupts that are above the maximum system call priority are keep
\r
1767 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1768 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1769 is defined in FreeRTOSConfig.h then
\r
1770 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1771 failure if a FreeRTOS API function is called from an interrupt that has
\r
1772 been assigned a priority above the configured maximum system call
\r
1773 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1774 from interrupts that have been assigned a priority at or (logically)
\r
1775 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1776 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1777 simple as possible. More information (albeit Cortex-M specific) is
\r
1778 provided on the following link:
\r
1779 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1780 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1782 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1784 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1786 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1788 /* Check the ready lists can be accessed. */
\r
1789 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1791 /* Ready lists can be accessed so move the task from the
\r
1792 suspended list to the ready list directly. */
\r
1793 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1795 xYieldRequired = pdTRUE;
\r
1799 mtCOVERAGE_TEST_MARKER();
\r
1802 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1803 prvAddTaskToReadyList( pxTCB );
\r
1807 /* The delayed or ready lists cannot be accessed so the task
\r
1808 is held in the pending ready list until the scheduler is
\r
1810 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1815 mtCOVERAGE_TEST_MARKER();
\r
1818 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1820 return xYieldRequired;
\r
1823 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1824 /*-----------------------------------------------------------*/
\r
1826 void vTaskStartScheduler( void )
\r
1828 BaseType_t xReturn;
\r
1830 /* Add the idle task at the lowest priority. */
\r
1831 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1833 StaticTask_t *pxIdleTaskTCBBuffer = NULL;
\r
1834 StackType_t *pxIdleTaskStackBuffer = NULL;
\r
1835 uint32_t ulIdleTaskStackSize;
\r
1837 /* The Idle task is created using user provided RAM - obtain the
\r
1838 address of the RAM then create the idle task. */
\r
1839 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
\r
1840 xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
\r
1842 ulIdleTaskStackSize,
\r
1843 ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
\r
1844 ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ),
\r
1845 pxIdleTaskStackBuffer,
\r
1846 pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1848 if( xIdleTaskHandle != NULL )
\r
1859 /* The Idle task is being created using dynamically allocated RAM. */
\r
1860 xReturn = xTaskCreate( prvIdleTask,
\r
1861 "IDLE", configMINIMAL_STACK_SIZE,
\r
1863 ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ),
\r
1864 &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1866 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
1868 #if ( configUSE_TIMERS == 1 )
\r
1870 if( xReturn == pdPASS )
\r
1872 xReturn = xTimerCreateTimerTask();
\r
1876 mtCOVERAGE_TEST_MARKER();
\r
1879 #endif /* configUSE_TIMERS */
\r
1881 if( xReturn == pdPASS )
\r
1883 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1884 before or during the call to xPortStartScheduler(). The stacks of
\r
1885 the created tasks contain a status word with interrupts switched on
\r
1886 so interrupts will automatically get re-enabled when the first task
\r
1888 portDISABLE_INTERRUPTS();
\r
1890 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1892 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1893 structure specific to the task that will run first. */
\r
1894 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1896 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1898 xNextTaskUnblockTime = portMAX_DELAY;
\r
1899 xSchedulerRunning = pdTRUE;
\r
1900 xTickCount = ( TickType_t ) 0U;
\r
1902 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1903 macro must be defined to configure the timer/counter used to generate
\r
1904 the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
\r
1905 is set to 0 and the following line fails to build then ensure you do not
\r
1906 have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
\r
1907 FreeRTOSConfig.h file. */
\r
1908 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1910 /* Setting up the timer tick is hardware specific and thus in the
\r
1911 portable interface. */
\r
1912 if( xPortStartScheduler() != pdFALSE )
\r
1914 /* Should not reach here as if the scheduler is running the
\r
1915 function will not return. */
\r
1919 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1924 /* This line will only be reached if the kernel could not be started,
\r
1925 because there was not enough FreeRTOS heap to create the idle task
\r
1926 or the timer task. */
\r
1927 configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
\r
1930 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
1931 meaning xIdleTaskHandle is not used anywhere else. */
\r
1932 ( void ) xIdleTaskHandle;
\r
1934 /*-----------------------------------------------------------*/
\r
1936 void vTaskEndScheduler( void )
\r
1938 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1939 routine so the original ISRs can be restored if necessary. The port
\r
1940 layer must ensure interrupts enable bit is left in the correct state. */
\r
1941 portDISABLE_INTERRUPTS();
\r
1942 xSchedulerRunning = pdFALSE;
\r
1943 vPortEndScheduler();
\r
1945 /*----------------------------------------------------------*/
\r
1947 void vTaskSuspendAll( void )
\r
1949 /* A critical section is not required as the variable is of type
\r
1950 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
1951 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1952 http://goo.gl/wu4acr */
\r
1953 ++uxSchedulerSuspended;
\r
1955 /*----------------------------------------------------------*/
\r
1957 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1959 static TickType_t prvGetExpectedIdleTime( void )
\r
1961 TickType_t xReturn;
\r
1962 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
1964 /* uxHigherPriorityReadyTasks takes care of the case where
\r
1965 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
1966 task that are in the Ready state, even though the idle task is
\r
1968 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
1970 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
1972 uxHigherPriorityReadyTasks = pdTRUE;
\r
1977 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
1979 /* When port optimised task selection is used the uxTopReadyPriority
\r
1980 variable is used as a bit map. If bits other than the least
\r
1981 significant bit are set then there are tasks that have a priority
\r
1982 above the idle priority that are in the Ready state. This takes
\r
1983 care of the case where the co-operative scheduler is in use. */
\r
1984 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
1986 uxHigherPriorityReadyTasks = pdTRUE;
\r
1991 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1995 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1997 /* There are other idle priority tasks in the ready state. If
\r
1998 time slicing is used then the very next tick interrupt must be
\r
2002 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
2004 /* There are tasks in the Ready state that have a priority above the
\r
2005 idle priority. This path can only be reached if
\r
2006 configUSE_PREEMPTION is 0. */
\r
2011 xReturn = xNextTaskUnblockTime - xTickCount;
\r
2017 #endif /* configUSE_TICKLESS_IDLE */
\r
2018 /*----------------------------------------------------------*/
\r
2020 BaseType_t xTaskResumeAll( void )
\r
2022 TCB_t *pxTCB = NULL;
\r
2023 BaseType_t xAlreadyYielded = pdFALSE;
\r
2025 /* If uxSchedulerSuspended is zero then this function does not match a
\r
2026 previous call to vTaskSuspendAll(). */
\r
2027 configASSERT( uxSchedulerSuspended );
\r
2029 /* It is possible that an ISR caused a task to be removed from an event
\r
2030 list while the scheduler was suspended. If this was the case then the
\r
2031 removed task will have been added to the xPendingReadyList. Once the
\r
2032 scheduler has been resumed it is safe to move all the pending ready
\r
2033 tasks from this list into their appropriate ready list. */
\r
2034 taskENTER_CRITICAL();
\r
2036 --uxSchedulerSuspended;
\r
2038 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2040 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
2042 /* Move any readied tasks from the pending list into the
\r
2043 appropriate ready list. */
\r
2044 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
2046 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
2047 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2048 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2049 prvAddTaskToReadyList( pxTCB );
\r
2051 /* If the moved task has a priority higher than the current
\r
2052 task then a yield must be performed. */
\r
2053 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2055 xYieldPending = pdTRUE;
\r
2059 mtCOVERAGE_TEST_MARKER();
\r
2063 if( pxTCB != NULL )
\r
2065 /* A task was unblocked while the scheduler was suspended,
\r
2066 which may have prevented the next unblock time from being
\r
2067 re-calculated, in which case re-calculate it now. Mainly
\r
2068 important for low power tickless implementations, where
\r
2069 this can prevent an unnecessary exit from low power
\r
2071 prvResetNextTaskUnblockTime();
\r
2074 /* If any ticks occurred while the scheduler was suspended then
\r
2075 they should be processed now. This ensures the tick count does
\r
2076 not slip, and that any delayed tasks are resumed at the correct
\r
2079 UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */
\r
2081 if( uxPendedCounts > ( UBaseType_t ) 0U )
\r
2085 if( xTaskIncrementTick() != pdFALSE )
\r
2087 xYieldPending = pdTRUE;
\r
2091 mtCOVERAGE_TEST_MARKER();
\r
2094 } while( uxPendedCounts > ( UBaseType_t ) 0U );
\r
2096 uxPendedTicks = 0;
\r
2100 mtCOVERAGE_TEST_MARKER();
\r
2104 if( xYieldPending != pdFALSE )
\r
2106 #if( configUSE_PREEMPTION != 0 )
\r
2108 xAlreadyYielded = pdTRUE;
\r
2111 taskYIELD_IF_USING_PREEMPTION();
\r
2115 mtCOVERAGE_TEST_MARKER();
\r
2121 mtCOVERAGE_TEST_MARKER();
\r
2124 taskEXIT_CRITICAL();
\r
2126 return xAlreadyYielded;
\r
2128 /*-----------------------------------------------------------*/
\r
2130 TickType_t xTaskGetTickCount( void )
\r
2132 TickType_t xTicks;
\r
2134 /* Critical section required if running on a 16 bit processor. */
\r
2135 portTICK_TYPE_ENTER_CRITICAL();
\r
2137 xTicks = xTickCount;
\r
2139 portTICK_TYPE_EXIT_CRITICAL();
\r
2143 /*-----------------------------------------------------------*/
\r
2145 TickType_t xTaskGetTickCountFromISR( void )
\r
2147 TickType_t xReturn;
\r
2148 UBaseType_t uxSavedInterruptStatus;
\r
2150 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
2151 system call (or maximum API call) interrupt priority. Interrupts that are
\r
2152 above the maximum system call priority are kept permanently enabled, even
\r
2153 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
2154 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
2155 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
2156 failure if a FreeRTOS API function is called from an interrupt that has been
\r
2157 assigned a priority above the configured maximum system call priority.
\r
2158 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
2159 that have been assigned a priority at or (logically) below the maximum
\r
2160 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
2161 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
2162 More information (albeit Cortex-M specific) is provided on the following
\r
2163 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
2164 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
2166 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
2168 xReturn = xTickCount;
\r
2170 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2174 /*-----------------------------------------------------------*/
\r
2176 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
2178 /* A critical section is not required because the variables are of type
\r
2180 return uxCurrentNumberOfTasks;
\r
2182 /*-----------------------------------------------------------*/
\r
2184 char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2188 /* If null is passed in here then the name of the calling task is being
\r
2190 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2191 configASSERT( pxTCB );
\r
2192 return &( pxTCB->pcTaskName[ 0 ] );
\r
2194 /*-----------------------------------------------------------*/
\r
2196 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2198 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
\r
2200 TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
\r
2204 /* This function is called with the scheduler suspended. */
\r
2206 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2208 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2212 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2214 /* Check each character in the name looking for a match or
\r
2216 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2218 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
2220 if( cNextChar != pcNameToQuery[ x ] )
\r
2222 /* Characters didn't match. */
\r
2225 else if( cNextChar == 0x00 )
\r
2227 /* Both strings terminated, a match must have been
\r
2229 pxReturn = pxNextTCB;
\r
2234 mtCOVERAGE_TEST_MARKER();
\r
2238 if( pxReturn != NULL )
\r
2240 /* The handle has been found. */
\r
2244 } while( pxNextTCB != pxFirstTCB );
\r
2248 mtCOVERAGE_TEST_MARKER();
\r
2254 #endif /* INCLUDE_xTaskGetHandle */
\r
2255 /*-----------------------------------------------------------*/
\r
2257 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2259 TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2261 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
2264 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
\r
2265 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
\r
2267 vTaskSuspendAll();
\r
2269 /* Search the ready lists. */
\r
2273 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
2275 if( pxTCB != NULL )
\r
2277 /* Found the handle. */
\r
2281 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2283 /* Search the delayed lists. */
\r
2284 if( pxTCB == NULL )
\r
2286 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
2289 if( pxTCB == NULL )
\r
2291 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
2294 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2296 if( pxTCB == NULL )
\r
2298 /* Search the suspended list. */
\r
2299 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
2304 #if( INCLUDE_vTaskDelete == 1 )
\r
2306 if( pxTCB == NULL )
\r
2308 /* Search the deleted list. */
\r
2309 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
2314 ( void ) xTaskResumeAll();
\r
2316 return ( TaskHandle_t ) pxTCB;
\r
2319 #endif /* INCLUDE_xTaskGetHandle */
\r
2320 /*-----------------------------------------------------------*/
\r
2322 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2324 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
2326 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
2328 vTaskSuspendAll();
\r
2330 /* Is there a space in the array for each task in the system? */
\r
2331 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2333 /* Fill in an TaskStatus_t structure with information on each
\r
2334 task in the Ready state. */
\r
2338 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2340 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2342 /* Fill in an TaskStatus_t structure with information on each
\r
2343 task in the Blocked state. */
\r
2344 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2345 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2347 #if( INCLUDE_vTaskDelete == 1 )
\r
2349 /* Fill in an TaskStatus_t structure with information on
\r
2350 each task that has been deleted but not yet cleaned up. */
\r
2351 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2355 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2357 /* Fill in an TaskStatus_t structure with information on
\r
2358 each task in the Suspended state. */
\r
2359 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2363 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
2365 if( pulTotalRunTime != NULL )
\r
2367 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2368 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2370 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2376 if( pulTotalRunTime != NULL )
\r
2378 *pulTotalRunTime = 0;
\r
2385 mtCOVERAGE_TEST_MARKER();
\r
2388 ( void ) xTaskResumeAll();
\r
2393 #endif /* configUSE_TRACE_FACILITY */
\r
2394 /*----------------------------------------------------------*/
\r
2396 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2398 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2400 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2401 started, then xIdleTaskHandle will be NULL. */
\r
2402 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2403 return xIdleTaskHandle;
\r
2406 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2407 /*----------------------------------------------------------*/
\r
2409 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2410 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2411 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2413 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2415 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2417 /* Correct the tick count value after a period during which the tick
\r
2418 was suppressed. Note this does *not* call the tick hook function for
\r
2419 each stepped tick. */
\r
2420 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2421 xTickCount += xTicksToJump;
\r
2422 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2425 #endif /* configUSE_TICKLESS_IDLE */
\r
2426 /*----------------------------------------------------------*/
\r
2428 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
2430 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
\r
2432 TCB_t *pxTCB = ( TCB_t * ) xTask;
\r
2433 BaseType_t xReturn = pdFALSE;
\r
2435 configASSERT( pxTCB );
\r
2437 vTaskSuspendAll();
\r
2439 /* A task can only be prematurely removed from the Blocked state if
\r
2440 it is actually in the Blocked state. */
\r
2441 if( eTaskGetState( xTask ) == eBlocked )
\r
2443 /* Remove the reference to the task from the blocked list. An
\r
2444 interrupt won't touch the xStateListItem because the
\r
2445 scheduler is suspended. */
\r
2446 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2448 /* Is the task waiting on an event also? If so remove it from
\r
2449 the event list too. Interrupts can touch the event list item,
\r
2450 even though the scheduler is suspended, so a critical section
\r
2452 taskENTER_CRITICAL();
\r
2454 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2456 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2457 pxTCB->ucDelayAborted = pdTRUE;
\r
2461 mtCOVERAGE_TEST_MARKER();
\r
2464 taskEXIT_CRITICAL();
\r
2466 /* Place the unblocked task into the appropriate ready list. */
\r
2467 prvAddTaskToReadyList( pxTCB );
\r
2469 /* A task being unblocked cannot cause an immediate context
\r
2470 switch if preemption is turned off. */
\r
2471 #if ( configUSE_PREEMPTION == 1 )
\r
2473 /* Preemption is on, but a context switch should only be
\r
2474 performed if the unblocked task has a priority that is
\r
2475 equal to or higher than the currently executing task. */
\r
2476 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2478 /* Pend the yield to be performed when the scheduler
\r
2479 is unsuspended. */
\r
2480 xYieldPending = pdTRUE;
\r
2484 mtCOVERAGE_TEST_MARKER();
\r
2487 #endif /* configUSE_PREEMPTION */
\r
2491 mtCOVERAGE_TEST_MARKER();
\r
2494 ( void ) xTaskResumeAll();
\r
2499 #endif /* INCLUDE_xTaskAbortDelay */
\r
2500 /*----------------------------------------------------------*/
\r
2502 BaseType_t xTaskIncrementTick( void )
\r
2505 TickType_t xItemValue;
\r
2506 BaseType_t xSwitchRequired = pdFALSE;
\r
2508 /* Called by the portable layer each time a tick interrupt occurs.
\r
2509 Increments the tick then checks to see if the new tick value will cause any
\r
2510 tasks to be unblocked. */
\r
2511 traceTASK_INCREMENT_TICK( xTickCount );
\r
2512 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2514 /* Minor optimisation. The tick count cannot change in this
\r
2516 const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
\r
2518 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2519 delayed lists if it wraps to 0. */
\r
2520 xTickCount = xConstTickCount;
\r
2522 if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
\r
2524 taskSWITCH_DELAYED_LISTS();
\r
2528 mtCOVERAGE_TEST_MARKER();
\r
2531 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2532 the queue in the order of their wake time - meaning once one task
\r
2533 has been found whose block time has not expired there is no need to
\r
2534 look any further down the list. */
\r
2535 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2539 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2541 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2542 to the maximum possible value so it is extremely
\r
2544 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2545 next time through. */
\r
2546 xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2551 /* The delayed list is not empty, get the value of the
\r
2552 item at the head of the delayed list. This is the time
\r
2553 at which the task at the head of the delayed list must
\r
2554 be removed from the Blocked state. */
\r
2555 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
2556 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
\r
2558 if( xConstTickCount < xItemValue )
\r
2560 /* It is not time to unblock this item yet, but the
\r
2561 item value is the time at which the task at the head
\r
2562 of the blocked list must be removed from the Blocked
\r
2563 state - so record the item value in
\r
2564 xNextTaskUnblockTime. */
\r
2565 xNextTaskUnblockTime = xItemValue;
\r
2570 mtCOVERAGE_TEST_MARKER();
\r
2573 /* It is time to remove the item from the Blocked state. */
\r
2574 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2576 /* Is the task waiting on an event also? If so remove
\r
2577 it from the event list. */
\r
2578 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2580 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2584 mtCOVERAGE_TEST_MARKER();
\r
2587 /* Place the unblocked task into the appropriate ready
\r
2589 prvAddTaskToReadyList( pxTCB );
\r
2591 /* A task being unblocked cannot cause an immediate
\r
2592 context switch if preemption is turned off. */
\r
2593 #if ( configUSE_PREEMPTION == 1 )
\r
2595 /* Preemption is on, but a context switch should
\r
2596 only be performed if the unblocked task has a
\r
2597 priority that is equal to or higher than the
\r
2598 currently executing task. */
\r
2599 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2601 xSwitchRequired = pdTRUE;
\r
2605 mtCOVERAGE_TEST_MARKER();
\r
2608 #endif /* configUSE_PREEMPTION */
\r
2613 /* Tasks of equal priority to the currently running task will share
\r
2614 processing time (time slice) if preemption is on, and the application
\r
2615 writer has not explicitly turned time slicing off. */
\r
2616 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2618 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2620 xSwitchRequired = pdTRUE;
\r
2624 mtCOVERAGE_TEST_MARKER();
\r
2627 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2629 #if ( configUSE_TICK_HOOK == 1 )
\r
2631 /* Guard against the tick hook being called when the pended tick
\r
2632 count is being unwound (when the scheduler is being unlocked). */
\r
2633 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2635 vApplicationTickHook();
\r
2639 mtCOVERAGE_TEST_MARKER();
\r
2642 #endif /* configUSE_TICK_HOOK */
\r
2648 /* The tick hook gets called at regular intervals, even if the
\r
2649 scheduler is locked. */
\r
2650 #if ( configUSE_TICK_HOOK == 1 )
\r
2652 vApplicationTickHook();
\r
2657 #if ( configUSE_PREEMPTION == 1 )
\r
2659 if( xYieldPending != pdFALSE )
\r
2661 xSwitchRequired = pdTRUE;
\r
2665 mtCOVERAGE_TEST_MARKER();
\r
2668 #endif /* configUSE_PREEMPTION */
\r
2670 return xSwitchRequired;
\r
2672 /*-----------------------------------------------------------*/
\r
2674 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2676 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2680 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2682 if( xTask == NULL )
\r
2684 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2688 xTCB = ( TCB_t * ) xTask;
\r
2691 /* Save the hook function in the TCB. A critical section is required as
\r
2692 the value can be accessed from an interrupt. */
\r
2693 taskENTER_CRITICAL();
\r
2694 xTCB->pxTaskTag = pxHookFunction;
\r
2695 taskEXIT_CRITICAL();
\r
2698 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2699 /*-----------------------------------------------------------*/
\r
2701 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2703 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2706 TaskHookFunction_t xReturn;
\r
2708 /* If xTask is NULL then we are setting our own task hook. */
\r
2709 if( xTask == NULL )
\r
2711 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2715 xTCB = ( TCB_t * ) xTask;
\r
2718 /* Save the hook function in the TCB. A critical section is required as
\r
2719 the value can be accessed from an interrupt. */
\r
2720 taskENTER_CRITICAL();
\r
2722 xReturn = xTCB->pxTaskTag;
\r
2724 taskEXIT_CRITICAL();
\r
2729 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2730 /*-----------------------------------------------------------*/
\r
2732 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2734 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2737 BaseType_t xReturn;
\r
2739 /* If xTask is NULL then we are calling our own task hook. */
\r
2740 if( xTask == NULL )
\r
2742 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2746 xTCB = ( TCB_t * ) xTask;
\r
2749 if( xTCB->pxTaskTag != NULL )
\r
2751 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2761 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2762 /*-----------------------------------------------------------*/
\r
2764 void vTaskSwitchContext( void )
\r
2766 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2768 /* The scheduler is currently suspended - do not allow a context
\r
2770 xYieldPending = pdTRUE;
\r
2774 xYieldPending = pdFALSE;
\r
2775 traceTASK_SWITCHED_OUT();
\r
2777 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2779 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2780 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2782 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2785 /* Add the amount of time the task has been running to the
\r
2786 accumulated time so far. The time the task started running was
\r
2787 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2788 protection here so count values are only valid until the timer
\r
2789 overflows. The guard against negative values is to protect
\r
2790 against suspect run time stat counter implementations - which
\r
2791 are provided by the application, not the kernel. */
\r
2792 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2794 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2798 mtCOVERAGE_TEST_MARKER();
\r
2800 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2802 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2804 /* Check for stack overflow, if configured. */
\r
2805 taskCHECK_FOR_STACK_OVERFLOW();
\r
2807 /* Select a new task to run using either the generic C or port
\r
2808 optimised asm code. */
\r
2809 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2810 traceTASK_SWITCHED_IN();
\r
2812 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2814 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2815 structure specific to this task. */
\r
2816 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2818 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2821 /*-----------------------------------------------------------*/
\r
2823 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2825 configASSERT( pxEventList );
\r
2827 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2828 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2830 /* Place the event list item of the TCB in the appropriate event list.
\r
2831 This is placed in the list in priority order so the highest priority task
\r
2832 is the first to be woken by the event. The queue that contains the event
\r
2833 list is locked, preventing simultaneous access from interrupts. */
\r
2834 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2836 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2838 /*-----------------------------------------------------------*/
\r
2840 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2842 configASSERT( pxEventList );
\r
2844 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2845 the event groups implementation. */
\r
2846 configASSERT( uxSchedulerSuspended != 0 );
\r
2848 /* Store the item value in the event list item. It is safe to access the
\r
2849 event list item here as interrupts won't access the event list item of a
\r
2850 task that is not in the Blocked state. */
\r
2851 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2853 /* Place the event list item of the TCB at the end of the appropriate event
\r
2854 list. It is safe to access the event list here because it is part of an
\r
2855 event group implementation - and interrupts don't access event groups
\r
2856 directly (instead they access them indirectly by pending function calls to
\r
2857 the task level). */
\r
2858 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2860 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2862 /*-----------------------------------------------------------*/
\r
2864 #if( configUSE_TIMERS == 1 )
\r
2866 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2868 configASSERT( pxEventList );
\r
2870 /* This function should not be called by application code hence the
\r
2871 'Restricted' in its name. It is not part of the public API. It is
\r
2872 designed for use by kernel code, and has special calling requirements -
\r
2873 it should be called with the scheduler suspended. */
\r
2876 /* Place the event list item of the TCB in the appropriate event list.
\r
2877 In this case it is assume that this is the only task that is going to
\r
2878 be waiting on this event list, so the faster vListInsertEnd() function
\r
2879 can be used in place of vListInsert. */
\r
2880 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2882 /* If the task should block indefinitely then set the block time to a
\r
2883 value that will be recognised as an indefinite delay inside the
\r
2884 prvAddCurrentTaskToDelayedList() function. */
\r
2885 if( xWaitIndefinitely != pdFALSE )
\r
2887 xTicksToWait = portMAX_DELAY;
\r
2890 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
\r
2891 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
\r
2894 #endif /* configUSE_TIMERS */
\r
2895 /*-----------------------------------------------------------*/
\r
2897 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
2899 TCB_t *pxUnblockedTCB;
\r
2900 BaseType_t xReturn;
\r
2902 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
2903 called from a critical section within an ISR. */
\r
2905 /* The event list is sorted in priority order, so the first in the list can
\r
2906 be removed as it is known to be the highest priority. Remove the TCB from
\r
2907 the delayed list, and add it to the ready list.
\r
2909 If an event is for a queue that is locked then this function will never
\r
2910 get called - the lock count on the queue will get modified instead. This
\r
2911 means exclusive access to the event list is guaranteed here.
\r
2913 This function assumes that a check has already been made to ensure that
\r
2914 pxEventList is not empty. */
\r
2915 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2916 configASSERT( pxUnblockedTCB );
\r
2917 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2919 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2921 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
2922 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2926 /* The delayed and ready lists cannot be accessed, so hold this task
\r
2927 pending until the scheduler is resumed. */
\r
2928 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2931 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2933 /* Return true if the task removed from the event list has a higher
\r
2934 priority than the calling task. This allows the calling task to know if
\r
2935 it should force a context switch now. */
\r
2938 /* Mark that a yield is pending in case the user is not using the
\r
2939 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2940 xYieldPending = pdTRUE;
\r
2944 xReturn = pdFALSE;
\r
2947 #if( configUSE_TICKLESS_IDLE != 0 )
\r
2949 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
2950 might be set to the blocked task's time out time. If the task is
\r
2951 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
2952 normally left unchanged, because it is automatically reset to a new
\r
2953 value when the tick count equals xNextTaskUnblockTime. However if
\r
2954 tickless idling is used it might be more important to enter sleep mode
\r
2955 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
2956 ensure it is updated at the earliest possible time. */
\r
2957 prvResetNextTaskUnblockTime();
\r
2963 /*-----------------------------------------------------------*/
\r
2965 void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
2967 TCB_t *pxUnblockedTCB;
\r
2969 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2970 the event flags implementation. */
\r
2971 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
2973 /* Store the new item value in the event list. */
\r
2974 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2976 /* Remove the event list form the event flag. Interrupts do not access
\r
2978 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2979 configASSERT( pxUnblockedTCB );
\r
2980 ( void ) uxListRemove( pxEventListItem );
\r
2982 /* Remove the task from the delayed list and add it to the ready list. The
\r
2983 scheduler is suspended so interrupts will not be accessing the ready
\r
2985 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
2986 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2988 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2990 /* The unblocked task has a priority above that of the calling task, so
\r
2991 a context switch is required. This function is called with the
\r
2992 scheduler suspended so xYieldPending is set so the context switch
\r
2993 occurs immediately that the scheduler is resumed (unsuspended). */
\r
2994 xYieldPending = pdTRUE;
\r
2997 /*-----------------------------------------------------------*/
\r
2999 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3001 configASSERT( pxTimeOut );
\r
3002 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3003 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3005 /*-----------------------------------------------------------*/
\r
3007 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
3009 BaseType_t xReturn;
\r
3011 configASSERT( pxTimeOut );
\r
3012 configASSERT( pxTicksToWait );
\r
3014 taskENTER_CRITICAL();
\r
3016 /* Minor optimisation. The tick count cannot change in this block. */
\r
3017 const TickType_t xConstTickCount = xTickCount;
\r
3019 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
3020 if( pxCurrentTCB->ucDelayAborted != pdFALSE )
\r
3022 /* The delay was aborted, which is not the same as a time out,
\r
3023 but has the same result. */
\r
3024 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
3030 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3031 if( *pxTicksToWait == portMAX_DELAY )
\r
3033 /* If INCLUDE_vTaskSuspend is set to 1 and the block time
\r
3034 specified is the maximum block time then the task should block
\r
3035 indefinitely, and therefore never time out. */
\r
3036 xReturn = pdFALSE;
\r
3041 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
3043 /* The tick count is greater than the time at which
\r
3044 vTaskSetTimeout() was called, but has also overflowed since
\r
3045 vTaskSetTimeOut() was called. It must have wrapped all the way
\r
3046 around and gone past again. This passed since vTaskSetTimeout()
\r
3050 else if( ( ( TickType_t ) ( xConstTickCount - pxTimeOut->xTimeOnEntering ) ) < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
\r
3052 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
3053 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
3054 vTaskSetTimeOutState( pxTimeOut );
\r
3055 xReturn = pdFALSE;
\r
3062 taskEXIT_CRITICAL();
\r
3066 /*-----------------------------------------------------------*/
\r
3068 void vTaskMissedYield( void )
\r
3070 xYieldPending = pdTRUE;
\r
3072 /*-----------------------------------------------------------*/
\r
3074 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3076 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
3078 UBaseType_t uxReturn;
\r
3081 if( xTask != NULL )
\r
3083 pxTCB = ( TCB_t * ) xTask;
\r
3084 uxReturn = pxTCB->uxTaskNumber;
\r
3094 #endif /* configUSE_TRACE_FACILITY */
\r
3095 /*-----------------------------------------------------------*/
\r
3097 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3099 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
3103 if( xTask != NULL )
\r
3105 pxTCB = ( TCB_t * ) xTask;
\r
3106 pxTCB->uxTaskNumber = uxHandle;
\r
3110 #endif /* configUSE_TRACE_FACILITY */
\r
3113 * -----------------------------------------------------------
\r
3115 * ----------------------------------------------------------
\r
3117 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
3118 * language extensions. The equivalent prototype for this function is:
\r
3120 * void prvIdleTask( void *pvParameters );
\r
3123 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
3125 /* Stop warnings. */
\r
3126 ( void ) pvParameters;
\r
3128 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
3129 SCHEDULER IS STARTED. **/
\r
3133 /* See if any tasks have deleted themselves - if so then the idle task
\r
3134 is responsible for freeing the deleted task's TCB and stack. */
\r
3135 prvCheckTasksWaitingTermination();
\r
3137 #if ( configUSE_PREEMPTION == 0 )
\r
3139 /* If we are not using preemption we keep forcing a task switch to
\r
3140 see if any other task has become available. If we are using
\r
3141 preemption we don't need to do this as any task becoming available
\r
3142 will automatically get the processor anyway. */
\r
3145 #endif /* configUSE_PREEMPTION */
\r
3147 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
3149 /* When using preemption tasks of equal priority will be
\r
3150 timesliced. If a task that is sharing the idle priority is ready
\r
3151 to run then the idle task should yield before the end of the
\r
3154 A critical region is not required here as we are just reading from
\r
3155 the list, and an occasional incorrect value will not matter. If
\r
3156 the ready list at the idle priority contains more than one task
\r
3157 then a task other than the idle task is ready to execute. */
\r
3158 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
3164 mtCOVERAGE_TEST_MARKER();
\r
3167 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
3169 #if ( configUSE_IDLE_HOOK == 1 )
\r
3171 extern void vApplicationIdleHook( void );
\r
3173 /* Call the user defined function from within the idle task. This
\r
3174 allows the application designer to add background functionality
\r
3175 without the overhead of a separate task.
\r
3176 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
3177 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
3178 vApplicationIdleHook();
\r
3180 #endif /* configUSE_IDLE_HOOK */
\r
3182 /* This conditional compilation should use inequality to 0, not equality
\r
3183 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
3184 user defined low power mode implementations require
\r
3185 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
3186 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3188 TickType_t xExpectedIdleTime;
\r
3190 /* It is not desirable to suspend then resume the scheduler on
\r
3191 each iteration of the idle task. Therefore, a preliminary
\r
3192 test of the expected idle time is performed without the
\r
3193 scheduler suspended. The result here is not necessarily
\r
3195 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3197 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3199 vTaskSuspendAll();
\r
3201 /* Now the scheduler is suspended, the expected idle
\r
3202 time can be sampled again, and this time its value can
\r
3204 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
3205 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3207 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3209 traceLOW_POWER_IDLE_BEGIN();
\r
3210 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
3211 traceLOW_POWER_IDLE_END();
\r
3215 mtCOVERAGE_TEST_MARKER();
\r
3218 ( void ) xTaskResumeAll();
\r
3222 mtCOVERAGE_TEST_MARKER();
\r
3225 #endif /* configUSE_TICKLESS_IDLE */
\r
3228 /*-----------------------------------------------------------*/
\r
3230 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3232 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
3234 /* The idle task exists in addition to the application tasks. */
\r
3235 const UBaseType_t uxNonApplicationTasks = 1;
\r
3236 eSleepModeStatus eReturn = eStandardSleep;
\r
3238 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
3240 /* A task was made ready while the scheduler was suspended. */
\r
3241 eReturn = eAbortSleep;
\r
3243 else if( xYieldPending != pdFALSE )
\r
3245 /* A yield was pended while the scheduler was suspended. */
\r
3246 eReturn = eAbortSleep;
\r
3250 /* If all the tasks are in the suspended list (which might mean they
\r
3251 have an infinite block time rather than actually being suspended)
\r
3252 then it is safe to turn all clocks off and just wait for external
\r
3254 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
3256 eReturn = eNoTasksWaitingTimeout;
\r
3260 mtCOVERAGE_TEST_MARKER();
\r
3267 #endif /* configUSE_TICKLESS_IDLE */
\r
3268 /*-----------------------------------------------------------*/
\r
3270 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3272 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
3276 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3278 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
3279 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3283 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3284 /*-----------------------------------------------------------*/
\r
3286 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3288 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
3290 void *pvReturn = NULL;
\r
3293 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3295 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3296 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3306 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3307 /*-----------------------------------------------------------*/
\r
3309 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3311 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3315 /* If null is passed in here then we are modifying the MPU settings of
\r
3316 the calling task. */
\r
3317 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3319 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3322 #endif /* portUSING_MPU_WRAPPERS */
\r
3323 /*-----------------------------------------------------------*/
\r
3325 static void prvInitialiseTaskLists( void )
\r
3327 UBaseType_t uxPriority;
\r
3329 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3331 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3334 vListInitialise( &xDelayedTaskList1 );
\r
3335 vListInitialise( &xDelayedTaskList2 );
\r
3336 vListInitialise( &xPendingReadyList );
\r
3338 #if ( INCLUDE_vTaskDelete == 1 )
\r
3340 vListInitialise( &xTasksWaitingTermination );
\r
3342 #endif /* INCLUDE_vTaskDelete */
\r
3344 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3346 vListInitialise( &xSuspendedTaskList );
\r
3348 #endif /* INCLUDE_vTaskSuspend */
\r
3350 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3352 pxDelayedTaskList = &xDelayedTaskList1;
\r
3353 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3355 /*-----------------------------------------------------------*/
\r
3357 static void prvCheckTasksWaitingTermination( void )
\r
3360 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3362 #if ( INCLUDE_vTaskDelete == 1 )
\r
3364 BaseType_t xListIsEmpty;
\r
3366 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
3367 too often in the idle task. */
\r
3368 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3370 vTaskSuspendAll();
\r
3372 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
3374 ( void ) xTaskResumeAll();
\r
3376 if( xListIsEmpty == pdFALSE )
\r
3380 taskENTER_CRITICAL();
\r
3382 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
3383 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
3384 --uxCurrentNumberOfTasks;
\r
3385 --uxDeletedTasksWaitingCleanUp;
\r
3387 taskEXIT_CRITICAL();
\r
3389 prvDeleteTCB( pxTCB );
\r
3393 mtCOVERAGE_TEST_MARKER();
\r
3397 #endif /* INCLUDE_vTaskDelete */
\r
3399 /*-----------------------------------------------------------*/
\r
3401 #if( configUSE_TRACE_FACILITY == 1 )
\r
3403 void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
\r
3407 /* xTask is NULL then get the state of the calling task. */
\r
3408 pxTCB = prvGetTCBFromHandle( xTask );
\r
3410 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3411 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
\r
3412 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3413 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3414 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3416 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3418 /* If the task is in the suspended list then there is a chance it is
\r
3419 actually just blocked indefinitely - so really it should be reported as
\r
3420 being in the Blocked state. */
\r
3421 if( pxTaskStatus->eCurrentState == eSuspended )
\r
3423 vTaskSuspendAll();
\r
3425 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3427 pxTaskStatus->eCurrentState = eBlocked;
\r
3430 ( void ) xTaskResumeAll();
\r
3433 #endif /* INCLUDE_vTaskSuspend */
\r
3435 #if ( configUSE_MUTEXES == 1 )
\r
3437 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3441 pxTaskStatus->uxBasePriority = 0;
\r
3445 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3447 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3451 pxTaskStatus->ulRunTimeCounter = 0;
\r
3455 /* Obtaining the task state is a little fiddly, so is only done if the value
\r
3456 of eState passed into this function is eInvalid - otherwise the state is
\r
3457 just set to whatever is passed in. */
\r
3458 if( eState != eInvalid )
\r
3460 pxTaskStatus->eCurrentState = eState;
\r
3464 pxTaskStatus->eCurrentState = eTaskGetState( xTask );
\r
3467 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3468 parameter is provided to allow it to be skipped. */
\r
3469 if( xGetFreeStackSpace != pdFALSE )
\r
3471 #if ( portSTACK_GROWTH > 0 )
\r
3473 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3477 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3483 pxTaskStatus->usStackHighWaterMark = 0;
\r
3487 #endif /* configUSE_TRACE_FACILITY */
\r
3488 /*-----------------------------------------------------------*/
\r
3490 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3492 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3494 configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
\r
3495 UBaseType_t uxTask = 0;
\r
3497 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3499 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
3501 /* Populate an TaskStatus_t structure within the
\r
3502 pxTaskStatusArray array for each task that is referenced from
\r
3503 pxList. See the definition of TaskStatus_t in task.h for the
\r
3504 meaning of each TaskStatus_t structure member. */
\r
3507 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
3508 vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3510 } while( pxNextTCB != pxFirstTCB );
\r
3514 mtCOVERAGE_TEST_MARKER();
\r
3520 #endif /* configUSE_TRACE_FACILITY */
\r
3521 /*-----------------------------------------------------------*/
\r
3523 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3525 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3527 uint32_t ulCount = 0U;
\r
3529 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3531 pucStackByte -= portSTACK_GROWTH;
\r
3535 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3537 return ( uint16_t ) ulCount;
\r
3540 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3541 /*-----------------------------------------------------------*/
\r
3543 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3545 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3548 uint8_t *pucEndOfStack;
\r
3549 UBaseType_t uxReturn;
\r
3551 pxTCB = prvGetTCBFromHandle( xTask );
\r
3553 #if portSTACK_GROWTH < 0
\r
3555 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3559 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3563 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3568 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3569 /*-----------------------------------------------------------*/
\r
3571 #if ( INCLUDE_vTaskDelete == 1 )
\r
3573 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3575 /* This call is required specifically for the TriCore port. It must be
\r
3576 above the vPortFree() calls. The call is also used by ports/demos that
\r
3577 want to allocate and clean RAM statically. */
\r
3578 portCLEAN_UP_TCB( pxTCB );
\r
3580 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3581 to the task to free any memory allocated at the application level. */
\r
3582 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3584 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3586 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3588 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
\r
3590 /* The task can only have been allocated dynamically - free both
\r
3591 the stack and TCB. */
\r
3592 vPortFree( pxTCB->pxStack );
\r
3593 vPortFree( pxTCB );
\r
3595 #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 Macro has been consolidated for readability reasons. */
\r
3597 /* The task could have been allocated statically or dynamically, so
\r
3598 check what was statically allocated before trying to free the
\r
3600 if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
\r
3602 /* Both the stack and TCB were allocated dynamically, so both
\r
3604 vPortFree( pxTCB->pxStack );
\r
3605 vPortFree( pxTCB );
\r
3607 else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
\r
3609 /* Only the stack was statically allocated, so the TCB is the
\r
3610 only memory that must be freed. */
\r
3611 vPortFree( pxTCB );
\r
3615 /* Neither the stack nor the TCB were allocated dynamically, so
\r
3616 nothing needs to be freed. */
\r
3617 configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB )
\r
3618 mtCOVERAGE_TEST_MARKER();
\r
3621 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
3624 #endif /* INCLUDE_vTaskDelete */
\r
3625 /*-----------------------------------------------------------*/
\r
3627 static void prvResetNextTaskUnblockTime( void )
\r
3631 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3633 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3634 the maximum possible value so it is extremely unlikely that the
\r
3635 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3636 there is an item in the delayed list. */
\r
3637 xNextTaskUnblockTime = portMAX_DELAY;
\r
3641 /* The new current delayed list is not empty, get the value of
\r
3642 the item at the head of the delayed list. This is the time at
\r
3643 which the task at the head of the delayed list should be removed
\r
3644 from the Blocked state. */
\r
3645 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3646 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
\r
3649 /*-----------------------------------------------------------*/
\r
3651 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3653 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3655 TaskHandle_t xReturn;
\r
3657 /* A critical section is not required as this is not called from
\r
3658 an interrupt and the current TCB will always be the same for any
\r
3659 individual execution thread. */
\r
3660 xReturn = pxCurrentTCB;
\r
3665 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3666 /*-----------------------------------------------------------*/
\r
3668 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3670 BaseType_t xTaskGetSchedulerState( void )
\r
3672 BaseType_t xReturn;
\r
3674 if( xSchedulerRunning == pdFALSE )
\r
3676 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3680 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3682 xReturn = taskSCHEDULER_RUNNING;
\r
3686 xReturn = taskSCHEDULER_SUSPENDED;
\r
3693 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3694 /*-----------------------------------------------------------*/
\r
3696 #if ( configUSE_MUTEXES == 1 )
\r
3698 void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3700 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3702 /* If the mutex was given back by an interrupt while the queue was
\r
3703 locked then the mutex holder might now be NULL. */
\r
3704 if( pxMutexHolder != NULL )
\r
3706 /* If the holder of the mutex has a priority below the priority of
\r
3707 the task attempting to obtain the mutex then it will temporarily
\r
3708 inherit the priority of the task attempting to obtain the mutex. */
\r
3709 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3711 /* Adjust the mutex holder state to account for its new
\r
3712 priority. Only reset the event list item value if the value is
\r
3713 not being used for anything else. */
\r
3714 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3716 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
3720 mtCOVERAGE_TEST_MARKER();
\r
3723 /* If the task being modified is in the ready state it will need
\r
3724 to be moved into a new list. */
\r
3725 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
3727 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3729 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3733 mtCOVERAGE_TEST_MARKER();
\r
3736 /* Inherit the priority before being moved into the new list. */
\r
3737 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3738 prvAddTaskToReadyList( pxTCB );
\r
3742 /* Just inherit the priority. */
\r
3743 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3746 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
3750 mtCOVERAGE_TEST_MARKER();
\r
3755 mtCOVERAGE_TEST_MARKER();
\r
3759 #endif /* configUSE_MUTEXES */
\r
3760 /*-----------------------------------------------------------*/
\r
3762 #if ( configUSE_MUTEXES == 1 )
\r
3764 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3766 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3767 BaseType_t xReturn = pdFALSE;
\r
3769 if( pxMutexHolder != NULL )
\r
3771 /* A task can only have an inherited priority if it holds the mutex.
\r
3772 If the mutex is held by a task then it cannot be given from an
\r
3773 interrupt, and if a mutex is given by the holding task then it must
\r
3774 be the running state task. */
\r
3775 configASSERT( pxTCB == pxCurrentTCB );
\r
3777 configASSERT( pxTCB->uxMutexesHeld );
\r
3778 ( pxTCB->uxMutexesHeld )--;
\r
3780 /* Has the holder of the mutex inherited the priority of another
\r
3782 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3784 /* Only disinherit if no other mutexes are held. */
\r
3785 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3787 /* A task can only have an inherited priority if it holds
\r
3788 the mutex. If the mutex is held by a task then it cannot be
\r
3789 given from an interrupt, and if a mutex is given by the
\r
3790 holding task then it must be the running state task. Remove
\r
3791 the holding task from the ready list. */
\r
3792 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3794 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3798 mtCOVERAGE_TEST_MARKER();
\r
3801 /* Disinherit the priority before adding the task into the
\r
3802 new ready list. */
\r
3803 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3804 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3806 /* Reset the event list item value. It cannot be in use for
\r
3807 any other purpose if this task is running, and it must be
\r
3808 running to give back the mutex. */
\r
3809 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
3810 prvAddTaskToReadyList( pxTCB );
\r
3812 /* Return true to indicate that a context switch is required.
\r
3813 This is only actually required in the corner case whereby
\r
3814 multiple mutexes were held and the mutexes were given back
\r
3815 in an order different to that in which they were taken.
\r
3816 If a context switch did not occur when the first mutex was
\r
3817 returned, even if a task was waiting on it, then a context
\r
3818 switch should occur when the last mutex is returned whether
\r
3819 a task is waiting on it or not. */
\r
3824 mtCOVERAGE_TEST_MARKER();
\r
3829 mtCOVERAGE_TEST_MARKER();
\r
3834 mtCOVERAGE_TEST_MARKER();
\r
3840 #endif /* configUSE_MUTEXES */
\r
3841 /*-----------------------------------------------------------*/
\r
3843 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3845 void vTaskEnterCritical( void )
\r
3847 portDISABLE_INTERRUPTS();
\r
3849 if( xSchedulerRunning != pdFALSE )
\r
3851 ( pxCurrentTCB->uxCriticalNesting )++;
\r
3853 /* This is not the interrupt safe version of the enter critical
\r
3854 function so assert() if it is being called from an interrupt
\r
3855 context. Only API functions that end in "FromISR" can be used in an
\r
3856 interrupt. Only assert if the critical nesting count is 1 to
\r
3857 protect against recursive calls if the assert function also uses a
\r
3858 critical section. */
\r
3859 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
3861 portASSERT_IF_IN_ISR();
\r
3866 mtCOVERAGE_TEST_MARKER();
\r
3870 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3871 /*-----------------------------------------------------------*/
\r
3873 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3875 void vTaskExitCritical( void )
\r
3877 if( xSchedulerRunning != pdFALSE )
\r
3879 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
3881 ( pxCurrentTCB->uxCriticalNesting )--;
\r
3883 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
3885 portENABLE_INTERRUPTS();
\r
3889 mtCOVERAGE_TEST_MARKER();
\r
3894 mtCOVERAGE_TEST_MARKER();
\r
3899 mtCOVERAGE_TEST_MARKER();
\r
3903 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3904 /*-----------------------------------------------------------*/
\r
3906 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3908 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
3912 /* Start by copying the entire string. */
\r
3913 strcpy( pcBuffer, pcTaskName );
\r
3915 /* Pad the end of the string with spaces to ensure columns line up when
\r
3917 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
3919 pcBuffer[ x ] = ' ';
\r
3923 pcBuffer[ x ] = 0x00;
\r
3925 /* Return the new end of string. */
\r
3926 return &( pcBuffer[ x ] );
\r
3929 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
3930 /*-----------------------------------------------------------*/
\r
3932 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3934 void vTaskList( char * pcWriteBuffer )
\r
3936 TaskStatus_t *pxTaskStatusArray;
\r
3937 volatile UBaseType_t uxArraySize, x;
\r
3943 * This function is provided for convenience only, and is used by many
\r
3944 * of the demo applications. Do not consider it to be part of the
\r
3947 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
3948 * uxTaskGetSystemState() output into a human readable table that
\r
3949 * displays task names, states and stack usage.
\r
3951 * vTaskList() has a dependency on the sprintf() C library function that
\r
3952 * might bloat the code size, use a lot of stack, and provide different
\r
3953 * results on different platforms. An alternative, tiny, third party,
\r
3954 * and limited functionality implementation of sprintf() is provided in
\r
3955 * many of the FreeRTOS/Demo sub-directories in a file called
\r
3956 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
3957 * snprintf() implementation!).
\r
3959 * It is recommended that production systems call uxTaskGetSystemState()
\r
3960 * directly to get access to raw stats data, rather than indirectly
\r
3961 * through a call to vTaskList().
\r
3965 /* Make sure the write buffer does not contain a string. */
\r
3966 *pcWriteBuffer = 0x00;
\r
3968 /* Take a snapshot of the number of tasks in case it changes while this
\r
3969 function is executing. */
\r
3970 uxArraySize = uxCurrentNumberOfTasks;
\r
3972 /* Allocate an array index for each task. NOTE! if
\r
3973 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
3974 equate to NULL. */
\r
3975 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3977 if( pxTaskStatusArray != NULL )
\r
3979 /* Generate the (binary) data. */
\r
3980 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
3982 /* Create a human readable table from the binary data. */
\r
3983 for( x = 0; x < uxArraySize; x++ )
\r
3985 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
3987 case eReady: cStatus = tskREADY_CHAR;
\r
3990 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
3993 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
3996 case eDeleted: cStatus = tskDELETED_CHAR;
\r
3999 default: /* Should not get here, but it is included
\r
4000 to prevent static checking errors. */
\r
4005 /* Write the task name to the string, padding with spaces so it
\r
4006 can be printed in tabular form more easily. */
\r
4007 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4009 /* Write the rest of the string. */
\r
4010 sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
4011 pcWriteBuffer += strlen( pcWriteBuffer );
\r
4014 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4015 is 0 then vPortFree() will be #defined to nothing. */
\r
4016 vPortFree( pxTaskStatusArray );
\r
4020 mtCOVERAGE_TEST_MARKER();
\r
4024 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
4025 /*----------------------------------------------------------*/
\r
4027 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
4029 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
4031 TaskStatus_t *pxTaskStatusArray;
\r
4032 volatile UBaseType_t uxArraySize, x;
\r
4033 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
4035 #if( configUSE_TRACE_FACILITY != 1 )
\r
4037 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
4044 * This function is provided for convenience only, and is used by many
\r
4045 * of the demo applications. Do not consider it to be part of the
\r
4048 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
4049 * of the uxTaskGetSystemState() output into a human readable table that
\r
4050 * displays the amount of time each task has spent in the Running state
\r
4051 * in both absolute and percentage terms.
\r
4053 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
4054 * function that might bloat the code size, use a lot of stack, and
\r
4055 * provide different results on different platforms. An alternative,
\r
4056 * tiny, third party, and limited functionality implementation of
\r
4057 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
4058 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
4059 * a full snprintf() implementation!).
\r
4061 * It is recommended that production systems call uxTaskGetSystemState()
\r
4062 * directly to get access to raw stats data, rather than indirectly
\r
4063 * through a call to vTaskGetRunTimeStats().
\r
4066 /* Make sure the write buffer does not contain a string. */
\r
4067 *pcWriteBuffer = 0x00;
\r
4069 /* Take a snapshot of the number of tasks in case it changes while this
\r
4070 function is executing. */
\r
4071 uxArraySize = uxCurrentNumberOfTasks;
\r
4073 /* Allocate an array index for each task. NOTE! If
\r
4074 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4075 equate to NULL. */
\r
4076 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
4078 if( pxTaskStatusArray != NULL )
\r
4080 /* Generate the (binary) data. */
\r
4081 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
4083 /* For percentage calculations. */
\r
4084 ulTotalTime /= 100UL;
\r
4086 /* Avoid divide by zero errors. */
\r
4087 if( ulTotalTime > 0 )
\r
4089 /* Create a human readable table from the binary data. */
\r
4090 for( x = 0; x < uxArraySize; x++ )
\r
4092 /* What percentage of the total run time has the task used?
\r
4093 This will always be rounded down to the nearest integer.
\r
4094 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
4095 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
4097 /* Write the task name to the string, padding with
\r
4098 spaces so it can be printed in tabular form more
\r
4100 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4102 if( ulStatsAsPercentage > 0UL )
\r
4104 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4106 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
4110 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4111 printf() library can be used. */
\r
4112 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
4118 /* If the percentage is zero here then the task has
\r
4119 consumed less than 1% of the total run time. */
\r
4120 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4122 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4126 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4127 printf() library can be used. */
\r
4128 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4133 pcWriteBuffer += strlen( pcWriteBuffer );
\r
4138 mtCOVERAGE_TEST_MARKER();
\r
4141 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4142 is 0 then vPortFree() will be #defined to nothing. */
\r
4143 vPortFree( pxTaskStatusArray );
\r
4147 mtCOVERAGE_TEST_MARKER();
\r
4151 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
4152 /*-----------------------------------------------------------*/
\r
4154 TickType_t uxTaskResetEventItemValue( void )
\r
4156 TickType_t uxReturn;
\r
4158 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
4160 /* Reset the event list item to its normal value - so it can be used with
\r
4161 queues and semaphores. */
\r
4162 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
4166 /*-----------------------------------------------------------*/
\r
4168 #if ( configUSE_MUTEXES == 1 )
\r
4170 void *pvTaskIncrementMutexHeldCount( void )
\r
4172 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
4173 then pxCurrentTCB will be NULL. */
\r
4174 if( pxCurrentTCB != NULL )
\r
4176 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4179 return pxCurrentTCB;
\r
4182 #endif /* configUSE_MUTEXES */
\r
4183 /*-----------------------------------------------------------*/
\r
4185 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4187 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
4189 uint32_t ulReturn;
\r
4191 taskENTER_CRITICAL();
\r
4193 /* Only block if the notification count is not already non-zero. */
\r
4194 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
4196 /* Mark this task as waiting for a notification. */
\r
4197 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4199 if( xTicksToWait > ( TickType_t ) 0 )
\r
4201 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4202 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4204 /* All ports are written to allow a yield in a critical
\r
4205 section (some will yield immediately, others wait until the
\r
4206 critical section exits) - but it is not something that
\r
4207 application code should ever do. */
\r
4208 portYIELD_WITHIN_API();
\r
4212 mtCOVERAGE_TEST_MARKER();
\r
4217 mtCOVERAGE_TEST_MARKER();
\r
4220 taskEXIT_CRITICAL();
\r
4222 taskENTER_CRITICAL();
\r
4224 traceTASK_NOTIFY_TAKE();
\r
4225 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4227 if( ulReturn != 0UL )
\r
4229 if( xClearCountOnExit != pdFALSE )
\r
4231 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4235 pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
\r
4240 mtCOVERAGE_TEST_MARKER();
\r
4243 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4245 taskEXIT_CRITICAL();
\r
4250 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4251 /*-----------------------------------------------------------*/
\r
4253 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4255 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4257 BaseType_t xReturn;
\r
4259 taskENTER_CRITICAL();
\r
4261 /* Only block if a notification is not already pending. */
\r
4262 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4264 /* Clear bits in the task's notification value as bits may get
\r
4265 set by the notifying task or interrupt. This can be used to
\r
4266 clear the value to zero. */
\r
4267 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4269 /* Mark this task as waiting for a notification. */
\r
4270 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4272 if( xTicksToWait > ( TickType_t ) 0 )
\r
4274 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4275 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4277 /* All ports are written to allow a yield in a critical
\r
4278 section (some will yield immediately, others wait until the
\r
4279 critical section exits) - but it is not something that
\r
4280 application code should ever do. */
\r
4281 portYIELD_WITHIN_API();
\r
4285 mtCOVERAGE_TEST_MARKER();
\r
4290 mtCOVERAGE_TEST_MARKER();
\r
4293 taskEXIT_CRITICAL();
\r
4295 taskENTER_CRITICAL();
\r
4297 traceTASK_NOTIFY_WAIT();
\r
4299 if( pulNotificationValue != NULL )
\r
4301 /* Output the current notification value, which may or may not
\r
4303 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4306 /* If ucNotifyValue is set then either the task never entered the
\r
4307 blocked state (because a notification was already pending) or the
\r
4308 task unblocked because of a notification. Otherwise the task
\r
4309 unblocked because of a timeout. */
\r
4310 if( pxCurrentTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
4312 /* A notification was not received. */
\r
4313 xReturn = pdFALSE;
\r
4317 /* A notification was already pending or a notification was
\r
4318 received while the task was waiting. */
\r
4319 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4323 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4325 taskEXIT_CRITICAL();
\r
4330 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4331 /*-----------------------------------------------------------*/
\r
4333 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4335 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4338 BaseType_t xReturn = pdPASS;
\r
4339 uint8_t ucOriginalNotifyState;
\r
4341 configASSERT( xTaskToNotify );
\r
4342 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4344 taskENTER_CRITICAL();
\r
4346 if( pulPreviousNotificationValue != NULL )
\r
4348 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4351 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4353 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4358 pxTCB->ulNotifiedValue |= ulValue;
\r
4362 ( pxTCB->ulNotifiedValue )++;
\r
4365 case eSetValueWithOverwrite :
\r
4366 pxTCB->ulNotifiedValue = ulValue;
\r
4369 case eSetValueWithoutOverwrite :
\r
4370 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4372 pxTCB->ulNotifiedValue = ulValue;
\r
4376 /* The value could not be written to the task. */
\r
4382 /* The task is being notified without its notify value being
\r
4387 traceTASK_NOTIFY();
\r
4389 /* If the task is in the blocked state specifically to wait for a
\r
4390 notification then unblock it now. */
\r
4391 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4393 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4394 prvAddTaskToReadyList( pxTCB );
\r
4396 /* The task should not have been on an event list. */
\r
4397 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4399 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4401 /* If a task is blocked waiting for a notification then
\r
4402 xNextTaskUnblockTime might be set to the blocked task's time
\r
4403 out time. If the task is unblocked for a reason other than
\r
4404 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4405 because it will automatically get reset to a new value when
\r
4406 the tick count equals xNextTaskUnblockTime. However if
\r
4407 tickless idling is used it might be more important to enter
\r
4408 sleep mode at the earliest possible time - so reset
\r
4409 xNextTaskUnblockTime here to ensure it is updated at the
\r
4410 earliest possible time. */
\r
4411 prvResetNextTaskUnblockTime();
\r
4415 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4417 /* The notified task has a priority above the currently
\r
4418 executing task so a yield is required. */
\r
4419 taskYIELD_IF_USING_PREEMPTION();
\r
4423 mtCOVERAGE_TEST_MARKER();
\r
4428 mtCOVERAGE_TEST_MARKER();
\r
4431 taskEXIT_CRITICAL();
\r
4436 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4437 /*-----------------------------------------------------------*/
\r
4439 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4441 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4444 uint8_t ucOriginalNotifyState;
\r
4445 BaseType_t xReturn = pdPASS;
\r
4446 UBaseType_t uxSavedInterruptStatus;
\r
4448 configASSERT( xTaskToNotify );
\r
4450 /* RTOS ports that support interrupt nesting have the concept of a
\r
4451 maximum system call (or maximum API call) interrupt priority.
\r
4452 Interrupts that are above the maximum system call priority are keep
\r
4453 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4454 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4455 is defined in FreeRTOSConfig.h then
\r
4456 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4457 failure if a FreeRTOS API function is called from an interrupt that has
\r
4458 been assigned a priority above the configured maximum system call
\r
4459 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4460 from interrupts that have been assigned a priority at or (logically)
\r
4461 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4462 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4463 simple as possible. More information (albeit Cortex-M specific) is
\r
4464 provided on the following link:
\r
4465 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4466 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4468 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4470 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4472 if( pulPreviousNotificationValue != NULL )
\r
4474 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4477 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4478 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4483 pxTCB->ulNotifiedValue |= ulValue;
\r
4487 ( pxTCB->ulNotifiedValue )++;
\r
4490 case eSetValueWithOverwrite :
\r
4491 pxTCB->ulNotifiedValue = ulValue;
\r
4494 case eSetValueWithoutOverwrite :
\r
4495 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4497 pxTCB->ulNotifiedValue = ulValue;
\r
4501 /* The value could not be written to the task. */
\r
4507 /* The task is being notified without its notify value being
\r
4512 traceTASK_NOTIFY_FROM_ISR();
\r
4514 /* If the task is in the blocked state specifically to wait for a
\r
4515 notification then unblock it now. */
\r
4516 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4518 /* The task should not have been on an event list. */
\r
4519 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4521 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4523 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4524 prvAddTaskToReadyList( pxTCB );
\r
4528 /* The delayed and ready lists cannot be accessed, so hold
\r
4529 this task pending until the scheduler is resumed. */
\r
4530 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4533 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4535 /* The notified task has a priority above the currently
\r
4536 executing task so a yield is required. */
\r
4537 if( pxHigherPriorityTaskWoken != NULL )
\r
4539 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4543 /* Mark that a yield is pending in case the user is not
\r
4544 using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
4545 safe FreeRTOS function. */
\r
4546 xYieldPending = pdTRUE;
\r
4551 mtCOVERAGE_TEST_MARKER();
\r
4555 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4560 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4561 /*-----------------------------------------------------------*/
\r
4563 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4565 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4568 uint8_t ucOriginalNotifyState;
\r
4569 UBaseType_t uxSavedInterruptStatus;
\r
4571 configASSERT( xTaskToNotify );
\r
4573 /* RTOS ports that support interrupt nesting have the concept of a
\r
4574 maximum system call (or maximum API call) interrupt priority.
\r
4575 Interrupts that are above the maximum system call priority are keep
\r
4576 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4577 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4578 is defined in FreeRTOSConfig.h then
\r
4579 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4580 failure if a FreeRTOS API function is called from an interrupt that has
\r
4581 been assigned a priority above the configured maximum system call
\r
4582 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4583 from interrupts that have been assigned a priority at or (logically)
\r
4584 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4585 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4586 simple as possible. More information (albeit Cortex-M specific) is
\r
4587 provided on the following link:
\r
4588 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4589 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4591 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4593 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4595 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4596 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4598 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4600 ( pxTCB->ulNotifiedValue )++;
\r
4602 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
4604 /* If the task is in the blocked state specifically to wait for a
\r
4605 notification then unblock it now. */
\r
4606 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4608 /* The task should not have been on an event list. */
\r
4609 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4611 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4613 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4614 prvAddTaskToReadyList( pxTCB );
\r
4618 /* The delayed and ready lists cannot be accessed, so hold
\r
4619 this task pending until the scheduler is resumed. */
\r
4620 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4623 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4625 /* The notified task has a priority above the currently
\r
4626 executing task so a yield is required. */
\r
4627 if( pxHigherPriorityTaskWoken != NULL )
\r
4629 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4633 /* Mark that a yield is pending in case the user is not
\r
4634 using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
4635 safe FreeRTOS function. */
\r
4636 xYieldPending = pdTRUE;
\r
4641 mtCOVERAGE_TEST_MARKER();
\r
4645 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4648 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4650 /*-----------------------------------------------------------*/
\r
4652 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4654 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
4657 BaseType_t xReturn;
\r
4659 /* If null is passed in here then it is the calling task that is having
\r
4660 its notification state cleared. */
\r
4661 pxTCB = prvGetTCBFromHandle( xTask );
\r
4663 taskENTER_CRITICAL();
\r
4665 if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
\r
4667 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4675 taskEXIT_CRITICAL();
\r
4680 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4681 /*-----------------------------------------------------------*/
\r
4684 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
\r
4686 TickType_t xTimeToWake;
\r
4687 const TickType_t xConstTickCount = xTickCount;
\r
4689 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
4691 /* About to enter a delayed list, so ensure the ucDelayAborted flag is
\r
4692 reset to pdFALSE so it can be detected as having been set to pdTRUE
\r
4693 when the task leaves the Blocked state. */
\r
4694 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
4698 /* Remove the task from the ready list before adding it to the blocked list
\r
4699 as the same list item is used for both lists. */
\r
4700 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4702 /* The current task must be in a ready list, so there is no need to
\r
4703 check, and the port reset macro can be called directly. */
\r
4704 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
4708 mtCOVERAGE_TEST_MARKER();
\r
4711 #if ( INCLUDE_vTaskSuspend == 1 )
\r
4713 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
\r
4715 /* Add the task to the suspended task list instead of a delayed task
\r
4716 list to ensure it is not woken by a timing event. It will block
\r
4718 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4722 /* Calculate the time at which the task should be woken if the event
\r
4723 does not occur. This may overflow but this doesn't matter, the
\r
4724 kernel will manage it correctly. */
\r
4725 xTimeToWake = xConstTickCount + xTicksToWait;
\r
4727 /* The list item will be inserted in wake time order. */
\r
4728 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
4730 if( xTimeToWake < xConstTickCount )
\r
4732 /* Wake time has overflowed. Place this item in the overflow
\r
4734 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4738 /* The wake time has not overflowed, so the current block list
\r
4740 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4742 /* If the task entering the blocked state was placed at the
\r
4743 head of the list of blocked tasks then xNextTaskUnblockTime
\r
4744 needs to be updated too. */
\r
4745 if( xTimeToWake < xNextTaskUnblockTime )
\r
4747 xNextTaskUnblockTime = xTimeToWake;
\r
4751 mtCOVERAGE_TEST_MARKER();
\r
4756 #else /* INCLUDE_vTaskSuspend */
\r
4758 /* Calculate the time at which the task should be woken if the event
\r
4759 does not occur. This may overflow but this doesn't matter, the kernel
\r
4760 will manage it correctly. */
\r
4761 xTimeToWake = xConstTickCount + xTicksToWait;
\r
4763 /* The list item will be inserted in wake time order. */
\r
4764 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
4766 if( xTimeToWake < xConstTickCount )
\r
4768 /* Wake time has overflowed. Place this item in the overflow list. */
\r
4769 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4773 /* The wake time has not overflowed, so the current block list is used. */
\r
4774 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4776 /* If the task entering the blocked state was placed at the head of the
\r
4777 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
4779 if( xTimeToWake < xNextTaskUnblockTime )
\r
4781 xNextTaskUnblockTime = xTimeToWake;
\r
4785 mtCOVERAGE_TEST_MARKER();
\r
4789 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
\r
4790 ( void ) xCanBlockIndefinitely;
\r
4792 #endif /* INCLUDE_vTaskSuspend */
\r
4796 #ifdef FREERTOS_MODULE_TEST
\r
4797 #include "tasks_test_access_functions.h"
\r
projects / freertos / blob