2 * FreeRTOS Kernel V10.2.1
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3 * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /* Standard includes. */
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32 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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33 all the API functions to use the MPU wrappers. That should only be done when
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34 task.h is included from an application file. */
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35 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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37 /* FreeRTOS includes. */
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38 #include "FreeRTOS.h"
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41 #include "stack_macros.h"
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43 /* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
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44 because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
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45 for the header files above, but not in this file, in order to generate the
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46 correct privileged Vs unprivileged linkage and placement. */
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47 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
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49 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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50 functions but without including stdio.h here. */
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51 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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52 /* At the bottom of this file are two optional functions that can be used
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53 to generate human readable text from the raw data generated by the
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54 uxTaskGetSystemState() function. Note the formatting functions are provided
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55 for convenience only, and are NOT considered part of the kernel. */
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57 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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59 #if( configUSE_PREEMPTION == 0 )
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60 /* If the cooperative scheduler is being used then a yield should not be
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61 performed just because a higher priority task has been woken. */
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62 #define taskYIELD_IF_USING_PREEMPTION()
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64 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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67 /* Values that can be assigned to the ucNotifyState member of the TCB. */
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68 #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )
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69 #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
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70 #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
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73 * The value used to fill the stack of a task when the task is created. This
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74 * is used purely for checking the high water mark for tasks.
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76 #define tskSTACK_FILL_BYTE ( 0xa5U )
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78 /* Bits used to recored how a task's stack and TCB were allocated. */
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79 #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
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80 #define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
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81 #define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
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83 /* If any of the following are set then task stacks are filled with a known
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84 value so the high water mark can be determined. If none of the following are
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85 set then don't fill the stack so there is no unnecessary dependency on memset. */
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86 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
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87 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 1
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89 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 0
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93 * Macros used by vListTask to indicate which state a task is in.
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95 #define tskRUNNING_CHAR ( 'X' )
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96 #define tskBLOCKED_CHAR ( 'B' )
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97 #define tskREADY_CHAR ( 'R' )
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98 #define tskDELETED_CHAR ( 'D' )
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99 #define tskSUSPENDED_CHAR ( 'S' )
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102 * Some kernel aware debuggers require the data the debugger needs access to be
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103 * global, rather than file scope.
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105 #ifdef portREMOVE_STATIC_QUALIFIER
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109 /* The name allocated to the Idle task. This can be overridden by defining
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110 configIDLE_TASK_NAME in FreeRTOSConfig.h. */
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111 #ifndef configIDLE_TASK_NAME
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112 #define configIDLE_TASK_NAME "IDLE"
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115 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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117 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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118 performed in a generic way that is not optimised to any particular
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119 microcontroller architecture. */
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121 /* uxTopReadyPriority holds the priority of the highest priority ready
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123 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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125 if( ( uxPriority ) > uxTopReadyPriority ) \
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127 uxTopReadyPriority = ( uxPriority ); \
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129 } /* taskRECORD_READY_PRIORITY */
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131 /*-----------------------------------------------------------*/
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133 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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135 UBaseType_t uxTopPriority = uxTopReadyPriority; \
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137 /* Find the highest priority queue that contains ready tasks. */ \
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138 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
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140 configASSERT( uxTopPriority ); \
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144 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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145 the same priority get an equal share of the processor time. */ \
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146 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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147 uxTopReadyPriority = uxTopPriority; \
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148 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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150 /*-----------------------------------------------------------*/
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152 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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153 they are only required when a port optimised method of task selection is
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155 #define taskRESET_READY_PRIORITY( uxPriority )
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156 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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158 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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160 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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161 performed in a way that is tailored to the particular microcontroller
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162 architecture being used. */
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164 /* A port optimised version is provided. Call the port defined macros. */
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165 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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167 /*-----------------------------------------------------------*/
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169 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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171 UBaseType_t uxTopPriority; \
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173 /* Find the highest priority list that contains ready tasks. */ \
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174 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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175 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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176 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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177 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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179 /*-----------------------------------------------------------*/
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181 /* A port optimised version is provided, call it only if the TCB being reset
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182 is being referenced from a ready list. If it is referenced from a delayed
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183 or suspended list then it won't be in a ready list. */
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184 #define taskRESET_READY_PRIORITY( uxPriority ) \
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186 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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188 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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192 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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194 /*-----------------------------------------------------------*/
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196 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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197 count overflows. */
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198 #define taskSWITCH_DELAYED_LISTS() \
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202 /* The delayed tasks list should be empty when the lists are switched. */ \
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203 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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205 pxTemp = pxDelayedTaskList; \
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206 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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207 pxOverflowDelayedTaskList = pxTemp; \
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208 xNumOfOverflows++; \
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209 prvResetNextTaskUnblockTime(); \
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212 /*-----------------------------------------------------------*/
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215 * Place the task represented by pxTCB into the appropriate ready list for
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216 * the task. It is inserted at the end of the list.
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218 #define prvAddTaskToReadyList( pxTCB ) \
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219 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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220 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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221 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
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222 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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223 /*-----------------------------------------------------------*/
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226 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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227 * where NULL is used to indicate that the handle of the currently executing
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228 * task should be used in place of the parameter. This macro simply checks to
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229 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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231 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) )
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233 /* The item value of the event list item is normally used to hold the priority
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234 of the task to which it belongs (coded to allow it to be held in reverse
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235 priority order). However, it is occasionally borrowed for other purposes. It
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236 is important its value is not updated due to a task priority change while it is
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237 being used for another purpose. The following bit definition is used to inform
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238 the scheduler that the value should not be changed - in which case it is the
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239 responsibility of whichever module is using the value to ensure it gets set back
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240 to its original value when it is released. */
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241 #if( configUSE_16_BIT_TICKS == 1 )
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242 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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244 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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248 * Task control block. A task control block (TCB) is allocated for each task,
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249 * and stores task state information, including a pointer to the task's context
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250 * (the task's run time environment, including register values)
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252 typedef struct tskTaskControlBlock /* The old naming convention is used to prevent breaking kernel aware debuggers. */
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254 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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256 #if ( portUSING_MPU_WRAPPERS == 1 )
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257 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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260 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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261 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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262 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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263 StackType_t *pxStack; /*< Points to the start of the stack. */
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264 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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266 #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
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267 StackType_t *pxEndOfStack; /*< Points to the highest valid address for the stack. */
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270 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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271 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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274 #if ( configUSE_TRACE_FACILITY == 1 )
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275 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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276 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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279 #if ( configUSE_MUTEXES == 1 )
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280 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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281 UBaseType_t uxMutexesHeld;
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284 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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285 TaskHookFunction_t pxTaskTag;
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288 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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289 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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292 #if( configGENERATE_RUN_TIME_STATS == 1 )
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293 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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296 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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297 /* Allocate a Newlib reent structure that is specific to this task.
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298 Note Newlib support has been included by popular demand, but is not
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299 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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300 responsible for resulting newlib operation. User must be familiar with
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301 newlib and must provide system-wide implementations of the necessary
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302 stubs. Be warned that (at the time of writing) the current newlib design
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303 implements a system-wide malloc() that must be provided with locks. */
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304 struct _reent xNewLib_reent;
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307 #if( configUSE_TASK_NOTIFICATIONS == 1 )
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308 volatile uint32_t ulNotifiedValue;
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309 volatile uint8_t ucNotifyState;
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312 /* See the comments in FreeRTOS.h with the definition of
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313 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
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314 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
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315 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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318 #if( INCLUDE_xTaskAbortDelay == 1 )
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319 uint8_t ucDelayAborted;
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322 #if( configUSE_POSIX_ERRNO == 1 )
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328 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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329 below to enable the use of older kernel aware debuggers. */
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330 typedef tskTCB TCB_t;
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332 /*lint -save -e956 A manual analysis and inspection has been used to determine
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333 which static variables must be declared volatile. */
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334 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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336 /* Lists for ready and blocked tasks. --------------------
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337 xDelayedTaskList1 and xDelayedTaskList2 could be move to function scople but
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338 doing so breaks some kernel aware debuggers and debuggers that rely on removing
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339 the static qualifier. */
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340 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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341 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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342 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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343 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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344 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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345 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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347 #if( INCLUDE_vTaskDelete == 1 )
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349 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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350 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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354 #if ( INCLUDE_vTaskSuspend == 1 )
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356 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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360 /* Global POSIX errno. Its value is changed upon context switching to match
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361 the errno of the currently running task. */
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362 #if ( configUSE_POSIX_ERRNO == 1 )
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363 int FreeRTOS_errno = 0;
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366 /* Other file private variables. --------------------------------*/
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367 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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368 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
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369 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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370 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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371 PRIVILEGED_DATA static volatile TickType_t xPendedTicks = ( TickType_t ) 0U;
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372 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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373 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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374 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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375 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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376 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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378 /* Context switches are held pending while the scheduler is suspended. Also,
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379 interrupts must not manipulate the xStateListItem of a TCB, or any of the
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380 lists the xStateListItem can be referenced from, if the scheduler is suspended.
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381 If an interrupt needs to unblock a task while the scheduler is suspended then it
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382 moves the task's event list item into the xPendingReadyList, ready for the
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383 kernel to move the task from the pending ready list into the real ready list
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384 when the scheduler is unsuspended. The pending ready list itself can only be
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385 accessed from a critical section. */
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386 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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388 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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390 /* Do not move these variables to function scope as doing so prevents the
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391 code working with debuggers that need to remove the static qualifier. */
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392 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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393 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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399 /*-----------------------------------------------------------*/
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401 /* Callback function prototypes. --------------------------*/
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402 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
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404 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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408 #if( configUSE_TICK_HOOK > 0 )
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410 extern void vApplicationTickHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */
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414 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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416 extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */
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420 /* File private functions. --------------------------------*/
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423 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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424 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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425 * is in any other state.
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427 #if ( INCLUDE_vTaskSuspend == 1 )
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429 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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431 #endif /* INCLUDE_vTaskSuspend */
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434 * Utility to ready all the lists used by the scheduler. This is called
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435 * automatically upon the creation of the first task.
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437 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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440 * The idle task, which as all tasks is implemented as a never ending loop.
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441 * The idle task is automatically created and added to the ready lists upon
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442 * creation of the first user task.
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444 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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445 * language extensions. The equivalent prototype for this function is:
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447 * void prvIdleTask( void *pvParameters );
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450 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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453 * Utility to free all memory allocated by the scheduler to hold a TCB,
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454 * including the stack pointed to by the TCB.
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456 * This does not free memory allocated by the task itself (i.e. memory
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457 * allocated by calls to pvPortMalloc from within the tasks application code).
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459 #if ( INCLUDE_vTaskDelete == 1 )
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461 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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466 * Used only by the idle task. This checks to see if anything has been placed
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467 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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468 * and its TCB deleted.
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470 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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473 * The currently executing task is entering the Blocked state. Add the task to
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474 * either the current or the overflow delayed task list.
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476 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
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479 * Fills an TaskStatus_t structure with information on each task that is
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480 * referenced from the pxList list (which may be a ready list, a delayed list,
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481 * a suspended list, etc.).
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483 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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484 * NORMAL APPLICATION CODE.
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486 #if ( configUSE_TRACE_FACILITY == 1 )
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488 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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493 * Searches pxList for a task with name pcNameToQuery - returning a handle to
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494 * the task if it is found, or NULL if the task is not found.
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496 #if ( INCLUDE_xTaskGetHandle == 1 )
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498 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
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503 * When a task is created, the stack of the task is filled with a known value.
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504 * This function determines the 'high water mark' of the task stack by
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505 * determining how much of the stack remains at the original preset value.
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507 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
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509 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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514 * Return the amount of time, in ticks, that will pass before the kernel will
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515 * next move a task from the Blocked state to the Running state.
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517 * This conditional compilation should use inequality to 0, not equality to 1.
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518 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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519 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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520 * set to a value other than 1.
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522 #if ( configUSE_TICKLESS_IDLE != 0 )
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524 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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529 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
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530 * will exit the Blocked state.
\r
532 static void prvResetNextTaskUnblockTime( void );
\r
534 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
537 * Helper function used to pad task names with spaces when printing out
\r
538 * human readable tables of task information.
\r
540 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
\r
545 * Called after a Task_t structure has been allocated either statically or
\r
546 * dynamically to fill in the structure's members.
\r
548 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
549 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
550 const uint32_t ulStackDepth,
\r
551 void * const pvParameters,
\r
552 UBaseType_t uxPriority,
\r
553 TaskHandle_t * const pxCreatedTask,
\r
555 const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
\r
558 * Called after a new task has been created and initialised to place the task
\r
559 * under the control of the scheduler.
\r
561 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
\r
564 * freertos_tasks_c_additions_init() should only be called if the user definable
\r
565 * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
\r
566 * called by the function.
\r
568 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
570 static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
\r
574 /*-----------------------------------------------------------*/
\r
576 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
578 TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
\r
579 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
580 const uint32_t ulStackDepth,
\r
581 void * const pvParameters,
\r
582 UBaseType_t uxPriority,
\r
583 StackType_t * const puxStackBuffer,
\r
584 StaticTask_t * const pxTaskBuffer )
\r
587 TaskHandle_t xReturn;
\r
589 configASSERT( puxStackBuffer != NULL );
\r
590 configASSERT( pxTaskBuffer != NULL );
\r
592 #if( configASSERT_DEFINED == 1 )
\r
594 /* Sanity check that the size of the structure used to declare a
\r
595 variable of type StaticTask_t equals the size of the real task
\r
597 volatile size_t xSize = sizeof( StaticTask_t );
\r
598 configASSERT( xSize == sizeof( TCB_t ) );
\r
599 ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
\r
601 #endif /* configASSERT_DEFINED */
\r
604 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
\r
606 /* The memory used for the task's TCB and stack are passed into this
\r
607 function - use them. */
\r
608 pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
\r
609 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
\r
611 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
613 /* Tasks can be created statically or dynamically, so note this
\r
614 task was created statically in case the task is later deleted. */
\r
615 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
617 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
619 prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
\r
620 prvAddNewTaskToReadyList( pxNewTCB );
\r
630 #endif /* SUPPORT_STATIC_ALLOCATION */
\r
631 /*-----------------------------------------------------------*/
\r
633 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
635 BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
638 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
640 configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
\r
641 configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
\r
643 if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
\r
645 /* Allocate space for the TCB. Where the memory comes from depends
\r
646 on the implementation of the port malloc function and whether or
\r
647 not static allocation is being used. */
\r
648 pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
\r
650 /* Store the stack location in the TCB. */
\r
651 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
653 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
655 /* Tasks can be created statically or dynamically, so note this
\r
656 task was created statically in case the task is later deleted. */
\r
657 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
659 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
661 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
662 pxTaskDefinition->pcName,
\r
663 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
664 pxTaskDefinition->pvParameters,
\r
665 pxTaskDefinition->uxPriority,
\r
666 pxCreatedTask, pxNewTCB,
\r
667 pxTaskDefinition->xRegions );
\r
669 prvAddNewTaskToReadyList( pxNewTCB );
\r
676 #endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
\r
677 /*-----------------------------------------------------------*/
\r
679 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
681 BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
684 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
686 configASSERT( pxTaskDefinition->puxStackBuffer );
\r
688 if( pxTaskDefinition->puxStackBuffer != NULL )
\r
690 /* Allocate space for the TCB. Where the memory comes from depends
\r
691 on the implementation of the port malloc function and whether or
\r
692 not static allocation is being used. */
\r
693 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
695 if( pxNewTCB != NULL )
\r
697 /* Store the stack location in the TCB. */
\r
698 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
700 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
702 /* Tasks can be created statically or dynamically, so note
\r
703 this task had a statically allocated stack in case it is
\r
704 later deleted. The TCB was allocated dynamically. */
\r
705 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
\r
707 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
709 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
710 pxTaskDefinition->pcName,
\r
711 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
712 pxTaskDefinition->pvParameters,
\r
713 pxTaskDefinition->uxPriority,
\r
714 pxCreatedTask, pxNewTCB,
\r
715 pxTaskDefinition->xRegions );
\r
717 prvAddNewTaskToReadyList( pxNewTCB );
\r
725 #endif /* portUSING_MPU_WRAPPERS */
\r
726 /*-----------------------------------------------------------*/
\r
728 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
730 BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
\r
731 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
732 const configSTACK_DEPTH_TYPE usStackDepth,
\r
733 void * const pvParameters,
\r
734 UBaseType_t uxPriority,
\r
735 TaskHandle_t * const pxCreatedTask )
\r
738 BaseType_t xReturn;
\r
740 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
741 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
742 the TCB then the stack. */
\r
743 #if( portSTACK_GROWTH > 0 )
\r
745 /* Allocate space for the TCB. Where the memory comes from depends on
\r
746 the implementation of the port malloc function and whether or not static
\r
747 allocation is being used. */
\r
748 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
750 if( pxNewTCB != NULL )
\r
752 /* Allocate space for the stack used by the task being created.
\r
753 The base of the stack memory stored in the TCB so the task can
\r
754 be deleted later if required. */
\r
755 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
757 if( pxNewTCB->pxStack == NULL )
\r
759 /* Could not allocate the stack. Delete the allocated TCB. */
\r
760 vPortFree( pxNewTCB );
\r
765 #else /* portSTACK_GROWTH */
\r
767 StackType_t *pxStack;
\r
769 /* Allocate space for the stack used by the task being created. */
\r
770 pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
\r
772 if( pxStack != NULL )
\r
774 /* Allocate space for the TCB. */
\r
775 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */
\r
777 if( pxNewTCB != NULL )
\r
779 /* Store the stack location in the TCB. */
\r
780 pxNewTCB->pxStack = pxStack;
\r
784 /* The stack cannot be used as the TCB was not created. Free
\r
786 vPortFree( pxStack );
\r
794 #endif /* portSTACK_GROWTH */
\r
796 if( pxNewTCB != NULL )
\r
798 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
\r
800 /* Tasks can be created statically or dynamically, so note this
\r
801 task was created dynamically in case it is later deleted. */
\r
802 pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
\r
804 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
806 prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
\r
807 prvAddNewTaskToReadyList( pxNewTCB );
\r
812 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
818 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
819 /*-----------------------------------------------------------*/
\r
821 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
822 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
823 const uint32_t ulStackDepth,
\r
824 void * const pvParameters,
\r
825 UBaseType_t uxPriority,
\r
826 TaskHandle_t * const pxCreatedTask,
\r
828 const MemoryRegion_t * const xRegions )
\r
830 StackType_t *pxTopOfStack;
\r
833 #if( portUSING_MPU_WRAPPERS == 1 )
\r
834 /* Should the task be created in privileged mode? */
\r
835 BaseType_t xRunPrivileged;
\r
836 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
838 xRunPrivileged = pdTRUE;
\r
842 xRunPrivileged = pdFALSE;
\r
844 uxPriority &= ~portPRIVILEGE_BIT;
\r
845 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
847 /* Avoid dependency on memset() if it is not required. */
\r
848 #if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
\r
850 /* Fill the stack with a known value to assist debugging. */
\r
851 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
\r
853 #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
\r
855 /* Calculate the top of stack address. This depends on whether the stack
\r
856 grows from high memory to low (as per the 80x86) or vice versa.
\r
857 portSTACK_GROWTH is used to make the result positive or negative as required
\r
859 #if( portSTACK_GROWTH < 0 )
\r
861 pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
\r
862 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 !e9033 !e9078 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. Checked by assert(). */
\r
864 /* Check the alignment of the calculated top of stack is correct. */
\r
865 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
867 #if( configRECORD_STACK_HIGH_ADDRESS == 1 )
\r
869 /* Also record the stack's high address, which may assist
\r
871 pxNewTCB->pxEndOfStack = pxTopOfStack;
\r
873 #endif /* configRECORD_STACK_HIGH_ADDRESS */
\r
875 #else /* portSTACK_GROWTH */
\r
877 pxTopOfStack = pxNewTCB->pxStack;
\r
879 /* Check the alignment of the stack buffer is correct. */
\r
880 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
882 /* The other extreme of the stack space is required if stack checking is
\r
884 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
886 #endif /* portSTACK_GROWTH */
\r
888 /* Store the task name in the TCB. */
\r
889 if( pcName != NULL )
\r
891 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
893 pxNewTCB->pcTaskName[ x ] = pcName[ x ];
\r
895 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
896 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
897 string is not accessible (extremely unlikely). */
\r
898 if( pcName[ x ] == ( char ) 0x00 )
\r
904 mtCOVERAGE_TEST_MARKER();
\r
908 /* Ensure the name string is terminated in the case that the string length
\r
909 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
910 pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
914 /* The task has not been given a name, so just ensure there is a NULL
\r
915 terminator when it is read out. */
\r
916 pxNewTCB->pcTaskName[ 0 ] = 0x00;
\r
919 /* This is used as an array index so must ensure it's not too large. First
\r
920 remove the privilege bit if one is present. */
\r
921 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
923 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
927 mtCOVERAGE_TEST_MARKER();
\r
930 pxNewTCB->uxPriority = uxPriority;
\r
931 #if ( configUSE_MUTEXES == 1 )
\r
933 pxNewTCB->uxBasePriority = uxPriority;
\r
934 pxNewTCB->uxMutexesHeld = 0;
\r
936 #endif /* configUSE_MUTEXES */
\r
938 vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
\r
939 vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
\r
941 /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
\r
942 back to the containing TCB from a generic item in a list. */
\r
943 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
\r
945 /* Event lists are always in priority order. */
\r
946 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
947 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
\r
949 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
951 pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
953 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
955 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
957 pxNewTCB->pxTaskTag = NULL;
\r
959 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
961 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
963 pxNewTCB->ulRunTimeCounter = 0UL;
\r
965 #endif /* configGENERATE_RUN_TIME_STATS */
\r
967 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
969 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
\r
973 /* Avoid compiler warning about unreferenced parameter. */
\r
978 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
980 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
982 pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
987 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
989 pxNewTCB->ulNotifiedValue = 0;
\r
990 pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
994 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
996 /* Initialise this task's Newlib reent structure. */
\r
997 _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
\r
1001 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
1003 pxNewTCB->ucDelayAborted = pdFALSE;
\r
1007 /* Initialize the TCB stack to look as if the task was already running,
\r
1008 but had been interrupted by the scheduler. The return address is set
\r
1009 to the start of the task function. Once the stack has been initialised
\r
1010 the top of stack variable is updated. */
\r
1011 #if( portUSING_MPU_WRAPPERS == 1 )
\r
1013 /* If the port has capability to detect stack overflow,
\r
1014 pass the stack end address to the stack initialization
\r
1015 function as well. */
\r
1016 #if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
\r
1018 #if( portSTACK_GROWTH < 0 )
\r
1020 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1022 #else /* portSTACK_GROWTH */
\r
1024 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1026 #endif /* portSTACK_GROWTH */
\r
1028 #else /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1030 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1032 #endif /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1034 #else /* portUSING_MPU_WRAPPERS */
\r
1036 /* If the port has capability to detect stack overflow,
\r
1037 pass the stack end address to the stack initialization
\r
1038 function as well. */
\r
1039 #if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
\r
1041 #if( portSTACK_GROWTH < 0 )
\r
1043 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters );
\r
1045 #else /* portSTACK_GROWTH */
\r
1047 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters );
\r
1049 #endif /* portSTACK_GROWTH */
\r
1051 #else /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1053 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
1055 #endif /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1057 #endif /* portUSING_MPU_WRAPPERS */
\r
1059 if( pxCreatedTask != NULL )
\r
1061 /* Pass the handle out in an anonymous way. The handle can be used to
\r
1062 change the created task's priority, delete the created task, etc.*/
\r
1063 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
1067 mtCOVERAGE_TEST_MARKER();
\r
1070 /*-----------------------------------------------------------*/
\r
1072 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
\r
1074 /* Ensure interrupts don't access the task lists while the lists are being
\r
1076 taskENTER_CRITICAL();
\r
1078 uxCurrentNumberOfTasks++;
\r
1079 if( pxCurrentTCB == NULL )
\r
1081 /* There are no other tasks, or all the other tasks are in
\r
1082 the suspended state - make this the current task. */
\r
1083 pxCurrentTCB = pxNewTCB;
\r
1085 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
1087 /* This is the first task to be created so do the preliminary
\r
1088 initialisation required. We will not recover if this call
\r
1089 fails, but we will report the failure. */
\r
1090 prvInitialiseTaskLists();
\r
1094 mtCOVERAGE_TEST_MARKER();
\r
1099 /* If the scheduler is not already running, make this task the
\r
1100 current task if it is the highest priority task to be created
\r
1102 if( xSchedulerRunning == pdFALSE )
\r
1104 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
\r
1106 pxCurrentTCB = pxNewTCB;
\r
1110 mtCOVERAGE_TEST_MARKER();
\r
1115 mtCOVERAGE_TEST_MARKER();
\r
1121 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1123 /* Add a counter into the TCB for tracing only. */
\r
1124 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
1126 #endif /* configUSE_TRACE_FACILITY */
\r
1127 traceTASK_CREATE( pxNewTCB );
\r
1129 prvAddTaskToReadyList( pxNewTCB );
\r
1131 portSETUP_TCB( pxNewTCB );
\r
1133 taskEXIT_CRITICAL();
\r
1135 if( xSchedulerRunning != pdFALSE )
\r
1137 /* If the created task is of a higher priority than the current task
\r
1138 then it should run now. */
\r
1139 if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
\r
1141 taskYIELD_IF_USING_PREEMPTION();
\r
1145 mtCOVERAGE_TEST_MARKER();
\r
1150 mtCOVERAGE_TEST_MARKER();
\r
1153 /*-----------------------------------------------------------*/
\r
1155 #if ( INCLUDE_vTaskDelete == 1 )
\r
1157 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
1161 taskENTER_CRITICAL();
\r
1163 /* If null is passed in here then it is the calling task that is
\r
1165 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
1167 /* Remove task from the ready/delayed list. */
\r
1168 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1170 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1174 mtCOVERAGE_TEST_MARKER();
\r
1177 /* Is the task waiting on an event also? */
\r
1178 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1180 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1184 mtCOVERAGE_TEST_MARKER();
\r
1187 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
1188 detect that the task lists need re-generating. This is done before
\r
1189 portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
\r
1193 if( pxTCB == pxCurrentTCB )
\r
1195 /* A task is deleting itself. This cannot complete within the
\r
1196 task itself, as a context switch to another task is required.
\r
1197 Place the task in the termination list. The idle task will
\r
1198 check the termination list and free up any memory allocated by
\r
1199 the scheduler for the TCB and stack of the deleted task. */
\r
1200 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
\r
1202 /* Increment the ucTasksDeleted variable so the idle task knows
\r
1203 there is a task that has been deleted and that it should therefore
\r
1204 check the xTasksWaitingTermination list. */
\r
1205 ++uxDeletedTasksWaitingCleanUp;
\r
1207 /* Call the delete hook before portPRE_TASK_DELETE_HOOK() as
\r
1208 portPRE_TASK_DELETE_HOOK() does not return in the Win32 port. */
\r
1209 traceTASK_DELETE( pxTCB );
\r
1211 /* The pre-delete hook is primarily for the Windows simulator,
\r
1212 in which Windows specific clean up operations are performed,
\r
1213 after which it is not possible to yield away from this task -
\r
1214 hence xYieldPending is used to latch that a context switch is
\r
1216 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
1220 --uxCurrentNumberOfTasks;
\r
1221 prvDeleteTCB( pxTCB );
\r
1223 /* Reset the next expected unblock time in case it referred to
\r
1224 the task that has just been deleted. */
\r
1225 prvResetNextTaskUnblockTime();
\r
1226 traceTASK_DELETE( pxTCB );
\r
1229 taskEXIT_CRITICAL();
\r
1231 /* Force a reschedule if it is the currently running task that has just
\r
1233 if( xSchedulerRunning != pdFALSE )
\r
1235 if( pxTCB == pxCurrentTCB )
\r
1237 configASSERT( uxSchedulerSuspended == 0 );
\r
1238 portYIELD_WITHIN_API();
\r
1242 mtCOVERAGE_TEST_MARKER();
\r
1247 #endif /* INCLUDE_vTaskDelete */
\r
1248 /*-----------------------------------------------------------*/
\r
1250 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
1252 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
1254 TickType_t xTimeToWake;
\r
1255 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
1257 configASSERT( pxPreviousWakeTime );
\r
1258 configASSERT( ( xTimeIncrement > 0U ) );
\r
1259 configASSERT( uxSchedulerSuspended == 0 );
\r
1261 vTaskSuspendAll();
\r
1263 /* Minor optimisation. The tick count cannot change in this
\r
1265 const TickType_t xConstTickCount = xTickCount;
\r
1267 /* Generate the tick time at which the task wants to wake. */
\r
1268 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
1270 if( xConstTickCount < *pxPreviousWakeTime )
\r
1272 /* The tick count has overflowed since this function was
\r
1273 lasted called. In this case the only time we should ever
\r
1274 actually delay is if the wake time has also overflowed,
\r
1275 and the wake time is greater than the tick time. When this
\r
1276 is the case it is as if neither time had overflowed. */
\r
1277 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
1279 xShouldDelay = pdTRUE;
\r
1283 mtCOVERAGE_TEST_MARKER();
\r
1288 /* The tick time has not overflowed. In this case we will
\r
1289 delay if either the wake time has overflowed, and/or the
\r
1290 tick time is less than the wake time. */
\r
1291 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
1293 xShouldDelay = pdTRUE;
\r
1297 mtCOVERAGE_TEST_MARKER();
\r
1301 /* Update the wake time ready for the next call. */
\r
1302 *pxPreviousWakeTime = xTimeToWake;
\r
1304 if( xShouldDelay != pdFALSE )
\r
1306 traceTASK_DELAY_UNTIL( xTimeToWake );
\r
1308 /* prvAddCurrentTaskToDelayedList() needs the block time, not
\r
1309 the time to wake, so subtract the current tick count. */
\r
1310 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
\r
1314 mtCOVERAGE_TEST_MARKER();
\r
1317 xAlreadyYielded = xTaskResumeAll();
\r
1319 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1320 have put ourselves to sleep. */
\r
1321 if( xAlreadyYielded == pdFALSE )
\r
1323 portYIELD_WITHIN_API();
\r
1327 mtCOVERAGE_TEST_MARKER();
\r
1331 #endif /* INCLUDE_vTaskDelayUntil */
\r
1332 /*-----------------------------------------------------------*/
\r
1334 #if ( INCLUDE_vTaskDelay == 1 )
\r
1336 void vTaskDelay( const TickType_t xTicksToDelay )
\r
1338 BaseType_t xAlreadyYielded = pdFALSE;
\r
1340 /* A delay time of zero just forces a reschedule. */
\r
1341 if( xTicksToDelay > ( TickType_t ) 0U )
\r
1343 configASSERT( uxSchedulerSuspended == 0 );
\r
1344 vTaskSuspendAll();
\r
1346 traceTASK_DELAY();
\r
1348 /* A task that is removed from the event list while the
\r
1349 scheduler is suspended will not get placed in the ready
\r
1350 list or removed from the blocked list until the scheduler
\r
1353 This task cannot be in an event list as it is the currently
\r
1354 executing task. */
\r
1355 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
\r
1357 xAlreadyYielded = xTaskResumeAll();
\r
1361 mtCOVERAGE_TEST_MARKER();
\r
1364 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1365 have put ourselves to sleep. */
\r
1366 if( xAlreadyYielded == pdFALSE )
\r
1368 portYIELD_WITHIN_API();
\r
1372 mtCOVERAGE_TEST_MARKER();
\r
1376 #endif /* INCLUDE_vTaskDelay */
\r
1377 /*-----------------------------------------------------------*/
\r
1379 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_xTaskAbortDelay == 1 ) )
\r
1381 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1383 eTaskState eReturn;
\r
1384 List_t const * pxStateList, *pxDelayedList, *pxOverflowedDelayedList;
\r
1385 const TCB_t * const pxTCB = xTask;
\r
1387 configASSERT( pxTCB );
\r
1389 if( pxTCB == pxCurrentTCB )
\r
1391 /* The task calling this function is querying its own state. */
\r
1392 eReturn = eRunning;
\r
1396 taskENTER_CRITICAL();
\r
1398 pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
\r
1399 pxDelayedList = pxDelayedTaskList;
\r
1400 pxOverflowedDelayedList = pxOverflowDelayedTaskList;
\r
1402 taskEXIT_CRITICAL();
\r
1404 if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
\r
1406 /* The task being queried is referenced from one of the Blocked
\r
1408 eReturn = eBlocked;
\r
1411 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1412 else if( pxStateList == &xSuspendedTaskList )
\r
1414 /* The task being queried is referenced from the suspended
\r
1415 list. Is it genuinely suspended or is it blocked
\r
1417 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1419 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1421 /* The task does not appear on the event list item of
\r
1422 and of the RTOS objects, but could still be in the
\r
1423 blocked state if it is waiting on its notification
\r
1424 rather than waiting on an object. */
\r
1425 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1427 eReturn = eBlocked;
\r
1431 eReturn = eSuspended;
\r
1436 eReturn = eSuspended;
\r
1442 eReturn = eBlocked;
\r
1447 #if ( INCLUDE_vTaskDelete == 1 )
\r
1448 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1450 /* The task being queried is referenced from the deleted
\r
1451 tasks list, or it is not referenced from any lists at
\r
1453 eReturn = eDeleted;
\r
1457 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1459 /* If the task is not in any other state, it must be in the
\r
1460 Ready (including pending ready) state. */
\r
1466 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1468 #endif /* INCLUDE_eTaskGetState */
\r
1469 /*-----------------------------------------------------------*/
\r
1471 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1473 UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
\r
1475 TCB_t const *pxTCB;
\r
1476 UBaseType_t uxReturn;
\r
1478 taskENTER_CRITICAL();
\r
1480 /* If null is passed in here then it is the priority of the task
\r
1481 that called uxTaskPriorityGet() that is being queried. */
\r
1482 pxTCB = prvGetTCBFromHandle( xTask );
\r
1483 uxReturn = pxTCB->uxPriority;
\r
1485 taskEXIT_CRITICAL();
\r
1490 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1491 /*-----------------------------------------------------------*/
\r
1493 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1495 UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
\r
1497 TCB_t const *pxTCB;
\r
1498 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1500 /* RTOS ports that support interrupt nesting have the concept of a
\r
1501 maximum system call (or maximum API call) interrupt priority.
\r
1502 Interrupts that are above the maximum system call priority are keep
\r
1503 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1504 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1505 is defined in FreeRTOSConfig.h then
\r
1506 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1507 failure if a FreeRTOS API function is called from an interrupt that has
\r
1508 been assigned a priority above the configured maximum system call
\r
1509 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1510 from interrupts that have been assigned a priority at or (logically)
\r
1511 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1512 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1513 simple as possible. More information (albeit Cortex-M specific) is
\r
1514 provided on the following link:
\r
1515 https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1516 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1518 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1520 /* If null is passed in here then it is the priority of the calling
\r
1521 task that is being queried. */
\r
1522 pxTCB = prvGetTCBFromHandle( xTask );
\r
1523 uxReturn = pxTCB->uxPriority;
\r
1525 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1530 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1531 /*-----------------------------------------------------------*/
\r
1533 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1535 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1538 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1539 BaseType_t xYieldRequired = pdFALSE;
\r
1541 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1543 /* Ensure the new priority is valid. */
\r
1544 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1546 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1550 mtCOVERAGE_TEST_MARKER();
\r
1553 taskENTER_CRITICAL();
\r
1555 /* If null is passed in here then it is the priority of the calling
\r
1556 task that is being changed. */
\r
1557 pxTCB = prvGetTCBFromHandle( xTask );
\r
1559 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1561 #if ( configUSE_MUTEXES == 1 )
\r
1563 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1567 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1571 if( uxCurrentBasePriority != uxNewPriority )
\r
1573 /* The priority change may have readied a task of higher
\r
1574 priority than the calling task. */
\r
1575 if( uxNewPriority > uxCurrentBasePriority )
\r
1577 if( pxTCB != pxCurrentTCB )
\r
1579 /* The priority of a task other than the currently
\r
1580 running task is being raised. Is the priority being
\r
1581 raised above that of the running task? */
\r
1582 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1584 xYieldRequired = pdTRUE;
\r
1588 mtCOVERAGE_TEST_MARKER();
\r
1593 /* The priority of the running task is being raised,
\r
1594 but the running task must already be the highest
\r
1595 priority task able to run so no yield is required. */
\r
1598 else if( pxTCB == pxCurrentTCB )
\r
1600 /* Setting the priority of the running task down means
\r
1601 there may now be another task of higher priority that
\r
1602 is ready to execute. */
\r
1603 xYieldRequired = pdTRUE;
\r
1607 /* Setting the priority of any other task down does not
\r
1608 require a yield as the running task must be above the
\r
1609 new priority of the task being modified. */
\r
1612 /* Remember the ready list the task might be referenced from
\r
1613 before its uxPriority member is changed so the
\r
1614 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1615 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1617 #if ( configUSE_MUTEXES == 1 )
\r
1619 /* Only change the priority being used if the task is not
\r
1620 currently using an inherited priority. */
\r
1621 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1623 pxTCB->uxPriority = uxNewPriority;
\r
1627 mtCOVERAGE_TEST_MARKER();
\r
1630 /* The base priority gets set whatever. */
\r
1631 pxTCB->uxBasePriority = uxNewPriority;
\r
1635 pxTCB->uxPriority = uxNewPriority;
\r
1639 /* Only reset the event list item value if the value is not
\r
1640 being used for anything else. */
\r
1641 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1643 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
1647 mtCOVERAGE_TEST_MARKER();
\r
1650 /* If the task is in the blocked or suspended list we need do
\r
1651 nothing more than change its priority variable. However, if
\r
1652 the task is in a ready list it needs to be removed and placed
\r
1653 in the list appropriate to its new priority. */
\r
1654 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1656 /* The task is currently in its ready list - remove before
\r
1657 adding it to it's new ready list. As we are in a critical
\r
1658 section we can do this even if the scheduler is suspended. */
\r
1659 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1661 /* It is known that the task is in its ready list so
\r
1662 there is no need to check again and the port level
\r
1663 reset macro can be called directly. */
\r
1664 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1668 mtCOVERAGE_TEST_MARKER();
\r
1670 prvAddTaskToReadyList( pxTCB );
\r
1674 mtCOVERAGE_TEST_MARKER();
\r
1677 if( xYieldRequired != pdFALSE )
\r
1679 taskYIELD_IF_USING_PREEMPTION();
\r
1683 mtCOVERAGE_TEST_MARKER();
\r
1686 /* Remove compiler warning about unused variables when the port
\r
1687 optimised task selection is not being used. */
\r
1688 ( void ) uxPriorityUsedOnEntry;
\r
1691 taskEXIT_CRITICAL();
\r
1694 #endif /* INCLUDE_vTaskPrioritySet */
\r
1695 /*-----------------------------------------------------------*/
\r
1697 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1699 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1703 taskENTER_CRITICAL();
\r
1705 /* If null is passed in here then it is the running task that is
\r
1706 being suspended. */
\r
1707 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1709 traceTASK_SUSPEND( pxTCB );
\r
1711 /* Remove task from the ready/delayed list and place in the
\r
1712 suspended list. */
\r
1713 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1715 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1719 mtCOVERAGE_TEST_MARKER();
\r
1722 /* Is the task waiting on an event also? */
\r
1723 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1725 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1729 mtCOVERAGE_TEST_MARKER();
\r
1732 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
\r
1734 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1736 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1738 /* The task was blocked to wait for a notification, but is
\r
1739 now suspended, so no notification was received. */
\r
1740 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
1745 taskEXIT_CRITICAL();
\r
1747 if( xSchedulerRunning != pdFALSE )
\r
1749 /* Reset the next expected unblock time in case it referred to the
\r
1750 task that is now in the Suspended state. */
\r
1751 taskENTER_CRITICAL();
\r
1753 prvResetNextTaskUnblockTime();
\r
1755 taskEXIT_CRITICAL();
\r
1759 mtCOVERAGE_TEST_MARKER();
\r
1762 if( pxTCB == pxCurrentTCB )
\r
1764 if( xSchedulerRunning != pdFALSE )
\r
1766 /* The current task has just been suspended. */
\r
1767 configASSERT( uxSchedulerSuspended == 0 );
\r
1768 portYIELD_WITHIN_API();
\r
1772 /* The scheduler is not running, but the task that was pointed
\r
1773 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1774 must be adjusted to point to a different task. */
\r
1775 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
\r
1777 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1778 NULL so when the next task is created pxCurrentTCB will
\r
1779 be set to point to it no matter what its relative priority
\r
1781 pxCurrentTCB = NULL;
\r
1785 vTaskSwitchContext();
\r
1791 mtCOVERAGE_TEST_MARKER();
\r
1795 #endif /* INCLUDE_vTaskSuspend */
\r
1796 /*-----------------------------------------------------------*/
\r
1798 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1800 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1802 BaseType_t xReturn = pdFALSE;
\r
1803 const TCB_t * const pxTCB = xTask;
\r
1805 /* Accesses xPendingReadyList so must be called from a critical
\r
1808 /* It does not make sense to check if the calling task is suspended. */
\r
1809 configASSERT( xTask );
\r
1811 /* Is the task being resumed actually in the suspended list? */
\r
1812 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1814 /* Has the task already been resumed from within an ISR? */
\r
1815 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1817 /* Is it in the suspended list because it is in the Suspended
\r
1818 state, or because is is blocked with no timeout? */
\r
1819 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
\r
1825 mtCOVERAGE_TEST_MARKER();
\r
1830 mtCOVERAGE_TEST_MARKER();
\r
1835 mtCOVERAGE_TEST_MARKER();
\r
1839 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1841 #endif /* INCLUDE_vTaskSuspend */
\r
1842 /*-----------------------------------------------------------*/
\r
1844 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1846 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1848 TCB_t * const pxTCB = xTaskToResume;
\r
1850 /* It does not make sense to resume the calling task. */
\r
1851 configASSERT( xTaskToResume );
\r
1853 /* The parameter cannot be NULL as it is impossible to resume the
\r
1854 currently executing task. */
\r
1855 if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) )
\r
1857 taskENTER_CRITICAL();
\r
1859 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1861 traceTASK_RESUME( pxTCB );
\r
1863 /* The ready list can be accessed even if the scheduler is
\r
1864 suspended because this is inside a critical section. */
\r
1865 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1866 prvAddTaskToReadyList( pxTCB );
\r
1868 /* A higher priority task may have just been resumed. */
\r
1869 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1871 /* This yield may not cause the task just resumed to run,
\r
1872 but will leave the lists in the correct state for the
\r
1874 taskYIELD_IF_USING_PREEMPTION();
\r
1878 mtCOVERAGE_TEST_MARKER();
\r
1883 mtCOVERAGE_TEST_MARKER();
\r
1886 taskEXIT_CRITICAL();
\r
1890 mtCOVERAGE_TEST_MARKER();
\r
1894 #endif /* INCLUDE_vTaskSuspend */
\r
1896 /*-----------------------------------------------------------*/
\r
1898 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1900 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1902 BaseType_t xYieldRequired = pdFALSE;
\r
1903 TCB_t * const pxTCB = xTaskToResume;
\r
1904 UBaseType_t uxSavedInterruptStatus;
\r
1906 configASSERT( xTaskToResume );
\r
1908 /* RTOS ports that support interrupt nesting have the concept of a
\r
1909 maximum system call (or maximum API call) interrupt priority.
\r
1910 Interrupts that are above the maximum system call priority are keep
\r
1911 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1912 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1913 is defined in FreeRTOSConfig.h then
\r
1914 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1915 failure if a FreeRTOS API function is called from an interrupt that has
\r
1916 been assigned a priority above the configured maximum system call
\r
1917 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1918 from interrupts that have been assigned a priority at or (logically)
\r
1919 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1920 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1921 simple as possible. More information (albeit Cortex-M specific) is
\r
1922 provided on the following link:
\r
1923 https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1924 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1926 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1928 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1930 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1932 /* Check the ready lists can be accessed. */
\r
1933 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1935 /* Ready lists can be accessed so move the task from the
\r
1936 suspended list to the ready list directly. */
\r
1937 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1939 xYieldRequired = pdTRUE;
\r
1943 mtCOVERAGE_TEST_MARKER();
\r
1946 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1947 prvAddTaskToReadyList( pxTCB );
\r
1951 /* The delayed or ready lists cannot be accessed so the task
\r
1952 is held in the pending ready list until the scheduler is
\r
1954 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1959 mtCOVERAGE_TEST_MARKER();
\r
1962 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1964 return xYieldRequired;
\r
1967 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1968 /*-----------------------------------------------------------*/
\r
1970 void vTaskStartScheduler( void )
\r
1972 BaseType_t xReturn;
\r
1974 /* Add the idle task at the lowest priority. */
\r
1975 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1977 StaticTask_t *pxIdleTaskTCBBuffer = NULL;
\r
1978 StackType_t *pxIdleTaskStackBuffer = NULL;
\r
1979 uint32_t ulIdleTaskStackSize;
\r
1981 /* The Idle task is created using user provided RAM - obtain the
\r
1982 address of the RAM then create the idle task. */
\r
1983 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
\r
1984 xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
\r
1985 configIDLE_TASK_NAME,
\r
1986 ulIdleTaskStackSize,
\r
1987 ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
\r
1988 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
1989 pxIdleTaskStackBuffer,
\r
1990 pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1992 if( xIdleTaskHandle != NULL )
\r
2003 /* The Idle task is being created using dynamically allocated RAM. */
\r
2004 xReturn = xTaskCreate( prvIdleTask,
\r
2005 configIDLE_TASK_NAME,
\r
2006 configMINIMAL_STACK_SIZE,
\r
2008 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
2009 &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
2011 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
2013 #if ( configUSE_TIMERS == 1 )
\r
2015 if( xReturn == pdPASS )
\r
2017 xReturn = xTimerCreateTimerTask();
\r
2021 mtCOVERAGE_TEST_MARKER();
\r
2024 #endif /* configUSE_TIMERS */
\r
2026 if( xReturn == pdPASS )
\r
2028 /* freertos_tasks_c_additions_init() should only be called if the user
\r
2029 definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
\r
2030 the only macro called by the function. */
\r
2031 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
2033 freertos_tasks_c_additions_init();
\r
2037 /* Interrupts are turned off here, to ensure a tick does not occur
\r
2038 before or during the call to xPortStartScheduler(). The stacks of
\r
2039 the created tasks contain a status word with interrupts switched on
\r
2040 so interrupts will automatically get re-enabled when the first task
\r
2042 portDISABLE_INTERRUPTS();
\r
2044 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2046 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2047 structure specific to the task that will run first. */
\r
2048 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2050 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2052 xNextTaskUnblockTime = portMAX_DELAY;
\r
2053 xSchedulerRunning = pdTRUE;
\r
2054 xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
\r
2056 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
2057 macro must be defined to configure the timer/counter used to generate
\r
2058 the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
\r
2059 is set to 0 and the following line fails to build then ensure you do not
\r
2060 have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
\r
2061 FreeRTOSConfig.h file. */
\r
2062 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
2064 traceTASK_SWITCHED_IN();
\r
2066 /* Setting up the timer tick is hardware specific and thus in the
\r
2067 portable interface. */
\r
2068 if( xPortStartScheduler() != pdFALSE )
\r
2070 /* Should not reach here as if the scheduler is running the
\r
2071 function will not return. */
\r
2075 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
2080 /* This line will only be reached if the kernel could not be started,
\r
2081 because there was not enough FreeRTOS heap to create the idle task
\r
2082 or the timer task. */
\r
2083 configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
\r
2086 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
2087 meaning xIdleTaskHandle is not used anywhere else. */
\r
2088 ( void ) xIdleTaskHandle;
\r
2090 /*-----------------------------------------------------------*/
\r
2092 void vTaskEndScheduler( void )
\r
2094 /* Stop the scheduler interrupts and call the portable scheduler end
\r
2095 routine so the original ISRs can be restored if necessary. The port
\r
2096 layer must ensure interrupts enable bit is left in the correct state. */
\r
2097 portDISABLE_INTERRUPTS();
\r
2098 xSchedulerRunning = pdFALSE;
\r
2099 vPortEndScheduler();
\r
2101 /*----------------------------------------------------------*/
\r
2103 void vTaskSuspendAll( void )
\r
2105 /* A critical section is not required as the variable is of type
\r
2106 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
2107 post in the FreeRTOS support forum before reporting this as a bug! -
\r
2108 http://goo.gl/wu4acr */
\r
2109 ++uxSchedulerSuspended;
\r
2110 portMEMORY_BARRIER();
\r
2112 /*----------------------------------------------------------*/
\r
2114 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2116 static TickType_t prvGetExpectedIdleTime( void )
\r
2118 TickType_t xReturn;
\r
2119 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
2121 /* uxHigherPriorityReadyTasks takes care of the case where
\r
2122 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
2123 task that are in the Ready state, even though the idle task is
\r
2125 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
2127 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
2129 uxHigherPriorityReadyTasks = pdTRUE;
\r
2134 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
2136 /* When port optimised task selection is used the uxTopReadyPriority
\r
2137 variable is used as a bit map. If bits other than the least
\r
2138 significant bit are set then there are tasks that have a priority
\r
2139 above the idle priority that are in the Ready state. This takes
\r
2140 care of the case where the co-operative scheduler is in use. */
\r
2141 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
2143 uxHigherPriorityReadyTasks = pdTRUE;
\r
2148 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
2152 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
2154 /* There are other idle priority tasks in the ready state. If
\r
2155 time slicing is used then the very next tick interrupt must be
\r
2159 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
2161 /* There are tasks in the Ready state that have a priority above the
\r
2162 idle priority. This path can only be reached if
\r
2163 configUSE_PREEMPTION is 0. */
\r
2168 xReturn = xNextTaskUnblockTime - xTickCount;
\r
2174 #endif /* configUSE_TICKLESS_IDLE */
\r
2175 /*----------------------------------------------------------*/
\r
2177 BaseType_t xTaskResumeAll( void )
\r
2179 TCB_t *pxTCB = NULL;
\r
2180 BaseType_t xAlreadyYielded = pdFALSE;
\r
2181 TickType_t xTicksToNextUnblockTime;
\r
2183 /* If uxSchedulerSuspended is zero then this function does not match a
\r
2184 previous call to vTaskSuspendAll(). */
\r
2185 configASSERT( uxSchedulerSuspended );
\r
2187 /* It is possible that an ISR caused a task to be removed from an event
\r
2188 list while the scheduler was suspended. If this was the case then the
\r
2189 removed task will have been added to the xPendingReadyList. Once the
\r
2190 scheduler has been resumed it is safe to move all the pending ready
\r
2191 tasks from this list into their appropriate ready list. */
\r
2192 taskENTER_CRITICAL();
\r
2194 --uxSchedulerSuspended;
\r
2196 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2198 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
2200 /* Move any readied tasks from the pending list into the
\r
2201 appropriate ready list. */
\r
2202 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
2204 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2205 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2206 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2207 prvAddTaskToReadyList( pxTCB );
\r
2209 /* If the moved task has a priority higher than the current
\r
2210 task then a yield must be performed. */
\r
2211 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2213 xYieldPending = pdTRUE;
\r
2217 mtCOVERAGE_TEST_MARKER();
\r
2221 if( pxTCB != NULL )
\r
2223 /* A task was unblocked while the scheduler was suspended,
\r
2224 which may have prevented the next unblock time from being
\r
2225 re-calculated, in which case re-calculate it now. Mainly
\r
2226 important for low power tickless implementations, where
\r
2227 this can prevent an unnecessary exit from low power
\r
2229 prvResetNextTaskUnblockTime();
\r
2232 /* If any ticks occurred while the scheduler was suspended then
\r
2233 they should be processed now. This ensures the tick count does
\r
2234 not slip, and that any delayed tasks are resumed at the correct
\r
2236 while( xPendedTicks > ( TickType_t ) 0 )
\r
2238 /* Calculate how far into the future the next task will
\r
2239 leave the Blocked state because its timeout expired. If
\r
2240 there are no tasks due to leave the blocked state between
\r
2241 the time now and the time at which the tick count overflows
\r
2242 then xNextTaskUnblockTime will the tick overflow time.
\r
2243 This means xNextTaskUnblockTime can never be less than
\r
2244 xTickCount, and the following can therefore not
\r
2246 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2247 xTicksToNextUnblockTime = xNextTaskUnblockTime - xTickCount;
\r
2249 /* Don't want to move the tick count more than the number
\r
2250 of ticks that are pending, so cap if necessary. */
\r
2251 if( xTicksToNextUnblockTime > xPendedTicks )
\r
2253 xTicksToNextUnblockTime = xPendedTicks;
\r
2256 if( xTicksToNextUnblockTime == 0 )
\r
2258 /* xTicksToNextUnblockTime could be zero if the tick
\r
2259 count is about to overflow and xTicksToNetUnblockTime
\r
2260 holds the time at which the tick count will overflow
\r
2261 (rather than the time at which the next task will
\r
2262 unblock). Set to 1 otherwise xPendedTicks won't be
\r
2263 decremented below. */
\r
2264 xTicksToNextUnblockTime = ( TickType_t ) 1;
\r
2266 else if( xTicksToNextUnblockTime > ( TickType_t ) 1 )
\r
2268 /* Move the tick count one short of the next unblock
\r
2269 time, then call xTaskIncrementTick() to move the tick
\r
2270 count up to the next unblock time to unblock the task,
\r
2271 if any. This will also swap the blocked task and
\r
2272 overflow blocked task lists if necessary. */
\r
2273 xTickCount += ( xTicksToNextUnblockTime - ( TickType_t ) 1 );
\r
2275 xYieldPending |= xTaskIncrementTick();
\r
2277 /* Adjust for the number of ticks just added to
\r
2278 xTickCount and go around the loop again if
\r
2279 xTicksToCatchUp is still greater than 0. */
\r
2280 xPendedTicks -= xTicksToNextUnblockTime;
\r
2283 if( xYieldPending != pdFALSE )
\r
2285 #if( configUSE_PREEMPTION != 0 )
\r
2287 xAlreadyYielded = pdTRUE;
\r
2290 taskYIELD_IF_USING_PREEMPTION();
\r
2294 mtCOVERAGE_TEST_MARKER();
\r
2300 mtCOVERAGE_TEST_MARKER();
\r
2303 taskEXIT_CRITICAL();
\r
2305 return xAlreadyYielded;
\r
2307 /*-----------------------------------------------------------*/
\r
2309 TickType_t xTaskGetTickCount( void )
\r
2311 TickType_t xTicks;
\r
2313 /* Critical section required if running on a 16 bit processor. */
\r
2314 portTICK_TYPE_ENTER_CRITICAL();
\r
2316 xTicks = xTickCount;
\r
2318 portTICK_TYPE_EXIT_CRITICAL();
\r
2322 /*-----------------------------------------------------------*/
\r
2324 TickType_t xTaskGetTickCountFromISR( void )
\r
2326 TickType_t xReturn;
\r
2327 UBaseType_t uxSavedInterruptStatus;
\r
2329 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
2330 system call (or maximum API call) interrupt priority. Interrupts that are
\r
2331 above the maximum system call priority are kept permanently enabled, even
\r
2332 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
2333 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
2334 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
2335 failure if a FreeRTOS API function is called from an interrupt that has been
\r
2336 assigned a priority above the configured maximum system call priority.
\r
2337 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
2338 that have been assigned a priority at or (logically) below the maximum
\r
2339 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
2340 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
2341 More information (albeit Cortex-M specific) is provided on the following
\r
2342 link: https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
2343 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
2345 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
2347 xReturn = xTickCount;
\r
2349 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2353 /*-----------------------------------------------------------*/
\r
2355 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
2357 /* A critical section is not required because the variables are of type
\r
2359 return uxCurrentNumberOfTasks;
\r
2361 /*-----------------------------------------------------------*/
\r
2363 char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2367 /* If null is passed in here then the name of the calling task is being
\r
2369 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2370 configASSERT( pxTCB );
\r
2371 return &( pxTCB->pcTaskName[ 0 ] );
\r
2373 /*-----------------------------------------------------------*/
\r
2375 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2377 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
\r
2379 TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
\r
2382 BaseType_t xBreakLoop;
\r
2384 /* This function is called with the scheduler suspended. */
\r
2386 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2388 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2392 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2394 /* Check each character in the name looking for a match or
\r
2396 xBreakLoop = pdFALSE;
\r
2397 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2399 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
2401 if( cNextChar != pcNameToQuery[ x ] )
\r
2403 /* Characters didn't match. */
\r
2404 xBreakLoop = pdTRUE;
\r
2406 else if( cNextChar == ( char ) 0x00 )
\r
2408 /* Both strings terminated, a match must have been
\r
2410 pxReturn = pxNextTCB;
\r
2411 xBreakLoop = pdTRUE;
\r
2415 mtCOVERAGE_TEST_MARKER();
\r
2418 if( xBreakLoop != pdFALSE )
\r
2424 if( pxReturn != NULL )
\r
2426 /* The handle has been found. */
\r
2430 } while( pxNextTCB != pxFirstTCB );
\r
2434 mtCOVERAGE_TEST_MARKER();
\r
2440 #endif /* INCLUDE_xTaskGetHandle */
\r
2441 /*-----------------------------------------------------------*/
\r
2443 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2445 TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2447 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
2450 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
\r
2451 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
\r
2453 vTaskSuspendAll();
\r
2455 /* Search the ready lists. */
\r
2459 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
2461 if( pxTCB != NULL )
\r
2463 /* Found the handle. */
\r
2467 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2469 /* Search the delayed lists. */
\r
2470 if( pxTCB == NULL )
\r
2472 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
2475 if( pxTCB == NULL )
\r
2477 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
2480 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2482 if( pxTCB == NULL )
\r
2484 /* Search the suspended list. */
\r
2485 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
2490 #if( INCLUDE_vTaskDelete == 1 )
\r
2492 if( pxTCB == NULL )
\r
2494 /* Search the deleted list. */
\r
2495 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
2500 ( void ) xTaskResumeAll();
\r
2505 #endif /* INCLUDE_xTaskGetHandle */
\r
2506 /*-----------------------------------------------------------*/
\r
2508 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2510 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
2512 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
2514 vTaskSuspendAll();
\r
2516 /* Is there a space in the array for each task in the system? */
\r
2517 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2519 /* Fill in an TaskStatus_t structure with information on each
\r
2520 task in the Ready state. */
\r
2524 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2526 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2528 /* Fill in an TaskStatus_t structure with information on each
\r
2529 task in the Blocked state. */
\r
2530 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2531 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2533 #if( INCLUDE_vTaskDelete == 1 )
\r
2535 /* Fill in an TaskStatus_t structure with information on
\r
2536 each task that has been deleted but not yet cleaned up. */
\r
2537 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2541 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2543 /* Fill in an TaskStatus_t structure with information on
\r
2544 each task in the Suspended state. */
\r
2545 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2549 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
2551 if( pulTotalRunTime != NULL )
\r
2553 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2554 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2556 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2562 if( pulTotalRunTime != NULL )
\r
2564 *pulTotalRunTime = 0;
\r
2571 mtCOVERAGE_TEST_MARKER();
\r
2574 ( void ) xTaskResumeAll();
\r
2579 #endif /* configUSE_TRACE_FACILITY */
\r
2580 /*----------------------------------------------------------*/
\r
2582 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2584 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2586 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2587 started, then xIdleTaskHandle will be NULL. */
\r
2588 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2589 return xIdleTaskHandle;
\r
2592 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2593 /*----------------------------------------------------------*/
\r
2595 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2596 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2597 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2599 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2601 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2603 /* Correct the tick count value after a period during which the tick
\r
2604 was suppressed. Note this does *not* call the tick hook function for
\r
2605 each stepped tick. */
\r
2606 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2607 xTickCount += xTicksToJump;
\r
2608 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2611 #endif /* configUSE_TICKLESS_IDLE */
\r
2612 /*----------------------------------------------------------*/
\r
2614 BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
\r
2616 BaseType_t xYieldRequired = pdFALSE;
\r
2618 /* Must not be called with the scheduler suspended as the implementation
\r
2619 relies on xPendedTicks being wound down to 0 in xTaskResumeAll(). */
\r
2620 configASSERT( uxSchedulerSuspended == 0 );
\r
2622 /* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occuring when
\r
2623 the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */
\r
2624 vTaskSuspendAll();
\r
2625 xPendedTicks += xTicksToCatchUp;
\r
2626 xYieldRequired = xTaskResumeAll();
\r
2628 return xYieldRequired;
\r
2630 /*----------------------------------------------------------*/
\r
2632 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
2634 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
\r
2636 TCB_t *pxTCB = xTask;
\r
2637 BaseType_t xReturn;
\r
2639 configASSERT( pxTCB );
\r
2641 vTaskSuspendAll();
\r
2643 /* A task can only be prematurely removed from the Blocked state if
\r
2644 it is actually in the Blocked state. */
\r
2645 if( eTaskGetState( xTask ) == eBlocked )
\r
2649 /* Remove the reference to the task from the blocked list. An
\r
2650 interrupt won't touch the xStateListItem because the
\r
2651 scheduler is suspended. */
\r
2652 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2654 /* Is the task waiting on an event also? If so remove it from
\r
2655 the event list too. Interrupts can touch the event list item,
\r
2656 even though the scheduler is suspended, so a critical section
\r
2658 taskENTER_CRITICAL();
\r
2660 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2662 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2663 pxTCB->ucDelayAborted = pdTRUE;
\r
2667 mtCOVERAGE_TEST_MARKER();
\r
2670 taskEXIT_CRITICAL();
\r
2672 /* Place the unblocked task into the appropriate ready list. */
\r
2673 prvAddTaskToReadyList( pxTCB );
\r
2675 /* A task being unblocked cannot cause an immediate context
\r
2676 switch if preemption is turned off. */
\r
2677 #if ( configUSE_PREEMPTION == 1 )
\r
2679 /* Preemption is on, but a context switch should only be
\r
2680 performed if the unblocked task has a priority that is
\r
2681 equal to or higher than the currently executing task. */
\r
2682 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2684 /* Pend the yield to be performed when the scheduler
\r
2685 is unsuspended. */
\r
2686 xYieldPending = pdTRUE;
\r
2690 mtCOVERAGE_TEST_MARKER();
\r
2693 #endif /* configUSE_PREEMPTION */
\r
2700 ( void ) xTaskResumeAll();
\r
2705 #endif /* INCLUDE_xTaskAbortDelay */
\r
2706 /*----------------------------------------------------------*/
\r
2708 BaseType_t xTaskIncrementTick( void )
\r
2711 TickType_t xItemValue;
\r
2712 BaseType_t xSwitchRequired = pdFALSE;
\r
2714 /* Called by the portable layer each time a tick interrupt occurs.
\r
2715 Increments the tick then checks to see if the new tick value will cause any
\r
2716 tasks to be unblocked. */
\r
2717 traceTASK_INCREMENT_TICK( xTickCount );
\r
2718 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2720 /* Minor optimisation. The tick count cannot change in this
\r
2722 const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
\r
2724 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2725 delayed lists if it wraps to 0. */
\r
2726 xTickCount = xConstTickCount;
\r
2728 if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
\r
2730 taskSWITCH_DELAYED_LISTS();
\r
2734 mtCOVERAGE_TEST_MARKER();
\r
2737 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2738 the queue in the order of their wake time - meaning once one task
\r
2739 has been found whose block time has not expired there is no need to
\r
2740 look any further down the list. */
\r
2741 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2745 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2747 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2748 to the maximum possible value so it is extremely
\r
2750 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2751 next time through. */
\r
2752 xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2757 /* The delayed list is not empty, get the value of the
\r
2758 item at the head of the delayed list. This is the time
\r
2759 at which the task at the head of the delayed list must
\r
2760 be removed from the Blocked state. */
\r
2761 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2762 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
\r
2764 if( xConstTickCount < xItemValue )
\r
2766 /* It is not time to unblock this item yet, but the
\r
2767 item value is the time at which the task at the head
\r
2768 of the blocked list must be removed from the Blocked
\r
2769 state - so record the item value in
\r
2770 xNextTaskUnblockTime. */
\r
2771 xNextTaskUnblockTime = xItemValue;
\r
2772 break; /*lint !e9011 Code structure here is deedmed easier to understand with multiple breaks. */
\r
2776 mtCOVERAGE_TEST_MARKER();
\r
2779 /* It is time to remove the item from the Blocked state. */
\r
2780 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2782 /* Is the task waiting on an event also? If so remove
\r
2783 it from the event list. */
\r
2784 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2786 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2790 mtCOVERAGE_TEST_MARKER();
\r
2793 /* Place the unblocked task into the appropriate ready
\r
2795 prvAddTaskToReadyList( pxTCB );
\r
2797 /* A task being unblocked cannot cause an immediate
\r
2798 context switch if preemption is turned off. */
\r
2799 #if ( configUSE_PREEMPTION == 1 )
\r
2801 /* Preemption is on, but a context switch should
\r
2802 only be performed if the unblocked task has a
\r
2803 priority that is equal to or higher than the
\r
2804 currently executing task. */
\r
2805 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2807 xSwitchRequired = pdTRUE;
\r
2811 mtCOVERAGE_TEST_MARKER();
\r
2814 #endif /* configUSE_PREEMPTION */
\r
2819 /* Tasks of equal priority to the currently running task will share
\r
2820 processing time (time slice) if preemption is on, and the application
\r
2821 writer has not explicitly turned time slicing off. */
\r
2822 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2824 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2826 xSwitchRequired = pdTRUE;
\r
2830 mtCOVERAGE_TEST_MARKER();
\r
2833 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2835 #if ( configUSE_TICK_HOOK == 1 )
\r
2837 /* Guard against the tick hook being called when the pended tick
\r
2838 count is being unwound (when the scheduler is being unlocked). */
\r
2839 if( xPendedTicks == ( TickType_t ) 0 )
\r
2841 vApplicationTickHook();
\r
2845 mtCOVERAGE_TEST_MARKER();
\r
2848 #endif /* configUSE_TICK_HOOK */
\r
2854 /* The tick hook gets called at regular intervals, even if the
\r
2855 scheduler is locked. */
\r
2856 #if ( configUSE_TICK_HOOK == 1 )
\r
2858 vApplicationTickHook();
\r
2863 #if ( configUSE_PREEMPTION == 1 )
\r
2865 if( xYieldPending != pdFALSE )
\r
2867 xSwitchRequired = pdTRUE;
\r
2871 mtCOVERAGE_TEST_MARKER();
\r
2874 #endif /* configUSE_PREEMPTION */
\r
2876 return xSwitchRequired;
\r
2878 /*-----------------------------------------------------------*/
\r
2880 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2882 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2886 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2888 if( xTask == NULL )
\r
2890 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2897 /* Save the hook function in the TCB. A critical section is required as
\r
2898 the value can be accessed from an interrupt. */
\r
2899 taskENTER_CRITICAL();
\r
2901 xTCB->pxTaskTag = pxHookFunction;
\r
2903 taskEXIT_CRITICAL();
\r
2906 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2907 /*-----------------------------------------------------------*/
\r
2909 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2911 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2914 TaskHookFunction_t xReturn;
\r
2916 /* If xTask is NULL then set the calling task's hook. */
\r
2917 pxTCB = prvGetTCBFromHandle( xTask );
\r
2919 /* Save the hook function in the TCB. A critical section is required as
\r
2920 the value can be accessed from an interrupt. */
\r
2921 taskENTER_CRITICAL();
\r
2923 xReturn = pxTCB->pxTaskTag;
\r
2925 taskEXIT_CRITICAL();
\r
2930 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2931 /*-----------------------------------------------------------*/
\r
2933 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2935 TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask )
\r
2938 TaskHookFunction_t xReturn;
\r
2939 UBaseType_t uxSavedInterruptStatus;
\r
2941 /* If xTask is NULL then set the calling task's hook. */
\r
2942 pxTCB = prvGetTCBFromHandle( xTask );
\r
2944 /* Save the hook function in the TCB. A critical section is required as
\r
2945 the value can be accessed from an interrupt. */
\r
2946 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
2948 xReturn = pxTCB->pxTaskTag;
\r
2950 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2955 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2956 /*-----------------------------------------------------------*/
\r
2958 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2960 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2963 BaseType_t xReturn;
\r
2965 /* If xTask is NULL then we are calling our own task hook. */
\r
2966 if( xTask == NULL )
\r
2968 xTCB = pxCurrentTCB;
\r
2975 if( xTCB->pxTaskTag != NULL )
\r
2977 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2987 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2988 /*-----------------------------------------------------------*/
\r
2990 void vTaskSwitchContext( void )
\r
2992 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2994 /* The scheduler is currently suspended - do not allow a context
\r
2996 xYieldPending = pdTRUE;
\r
3000 xYieldPending = pdFALSE;
\r
3001 traceTASK_SWITCHED_OUT();
\r
3003 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3005 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
3006 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
3008 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
3011 /* Add the amount of time the task has been running to the
\r
3012 accumulated time so far. The time the task started running was
\r
3013 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
3014 protection here so count values are only valid until the timer
\r
3015 overflows. The guard against negative values is to protect
\r
3016 against suspect run time stat counter implementations - which
\r
3017 are provided by the application, not the kernel. */
\r
3018 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
3020 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
3024 mtCOVERAGE_TEST_MARKER();
\r
3026 ulTaskSwitchedInTime = ulTotalRunTime;
\r
3028 #endif /* configGENERATE_RUN_TIME_STATS */
\r
3030 /* Check for stack overflow, if configured. */
\r
3031 taskCHECK_FOR_STACK_OVERFLOW();
\r
3033 /* Before the currently running task is switched out, save its errno. */
\r
3034 #if( configUSE_POSIX_ERRNO == 1 )
\r
3036 pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
\r
3040 /* Select a new task to run using either the generic C or port
\r
3041 optimised asm code. */
\r
3042 taskSELECT_HIGHEST_PRIORITY_TASK(); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3043 traceTASK_SWITCHED_IN();
\r
3045 /* After the new task is switched in, update the global errno. */
\r
3046 #if( configUSE_POSIX_ERRNO == 1 )
\r
3048 FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
\r
3052 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3054 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
3055 structure specific to this task. */
\r
3056 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
3058 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3061 /*-----------------------------------------------------------*/
\r
3063 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
3065 configASSERT( pxEventList );
\r
3067 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
3068 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
3070 /* Place the event list item of the TCB in the appropriate event list.
\r
3071 This is placed in the list in priority order so the highest priority task
\r
3072 is the first to be woken by the event. The queue that contains the event
\r
3073 list is locked, preventing simultaneous access from interrupts. */
\r
3074 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3076 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
3078 /*-----------------------------------------------------------*/
\r
3080 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
3082 configASSERT( pxEventList );
\r
3084 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3085 the event groups implementation. */
\r
3086 configASSERT( uxSchedulerSuspended != 0 );
\r
3088 /* Store the item value in the event list item. It is safe to access the
\r
3089 event list item here as interrupts won't access the event list item of a
\r
3090 task that is not in the Blocked state. */
\r
3091 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3093 /* Place the event list item of the TCB at the end of the appropriate event
\r
3094 list. It is safe to access the event list here because it is part of an
\r
3095 event group implementation - and interrupts don't access event groups
\r
3096 directly (instead they access them indirectly by pending function calls to
\r
3097 the task level). */
\r
3098 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3100 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
3102 /*-----------------------------------------------------------*/
\r
3104 #if( configUSE_TIMERS == 1 )
\r
3106 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
3108 configASSERT( pxEventList );
\r
3110 /* This function should not be called by application code hence the
\r
3111 'Restricted' in its name. It is not part of the public API. It is
\r
3112 designed for use by kernel code, and has special calling requirements -
\r
3113 it should be called with the scheduler suspended. */
\r
3116 /* Place the event list item of the TCB in the appropriate event list.
\r
3117 In this case it is assume that this is the only task that is going to
\r
3118 be waiting on this event list, so the faster vListInsertEnd() function
\r
3119 can be used in place of vListInsert. */
\r
3120 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3122 /* If the task should block indefinitely then set the block time to a
\r
3123 value that will be recognised as an indefinite delay inside the
\r
3124 prvAddCurrentTaskToDelayedList() function. */
\r
3125 if( xWaitIndefinitely != pdFALSE )
\r
3127 xTicksToWait = portMAX_DELAY;
\r
3130 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
\r
3131 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
\r
3134 #endif /* configUSE_TIMERS */
\r
3135 /*-----------------------------------------------------------*/
\r
3137 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
3139 TCB_t *pxUnblockedTCB;
\r
3140 BaseType_t xReturn;
\r
3142 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
3143 called from a critical section within an ISR. */
\r
3145 /* The event list is sorted in priority order, so the first in the list can
\r
3146 be removed as it is known to be the highest priority. Remove the TCB from
\r
3147 the delayed list, and add it to the ready list.
\r
3149 If an event is for a queue that is locked then this function will never
\r
3150 get called - the lock count on the queue will get modified instead. This
\r
3151 means exclusive access to the event list is guaranteed here.
\r
3153 This function assumes that a check has already been made to ensure that
\r
3154 pxEventList is not empty. */
\r
3155 pxUnblockedTCB = listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3156 configASSERT( pxUnblockedTCB );
\r
3157 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
3159 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3161 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3162 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3164 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3166 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
3167 might be set to the blocked task's time out time. If the task is
\r
3168 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
3169 normally left unchanged, because it is automatically reset to a new
\r
3170 value when the tick count equals xNextTaskUnblockTime. However if
\r
3171 tickless idling is used it might be more important to enter sleep mode
\r
3172 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
3173 ensure it is updated at the earliest possible time. */
\r
3174 prvResetNextTaskUnblockTime();
\r
3180 /* The delayed and ready lists cannot be accessed, so hold this task
\r
3181 pending until the scheduler is resumed. */
\r
3182 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
3185 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3187 /* Return true if the task removed from the event list has a higher
\r
3188 priority than the calling task. This allows the calling task to know if
\r
3189 it should force a context switch now. */
\r
3192 /* Mark that a yield is pending in case the user is not using the
\r
3193 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
3194 xYieldPending = pdTRUE;
\r
3198 xReturn = pdFALSE;
\r
3203 /*-----------------------------------------------------------*/
\r
3205 void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
3207 TCB_t *pxUnblockedTCB;
\r
3209 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3210 the event flags implementation. */
\r
3211 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
3213 /* Store the new item value in the event list. */
\r
3214 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3216 /* Remove the event list form the event flag. Interrupts do not access
\r
3218 pxUnblockedTCB = listGET_LIST_ITEM_OWNER( pxEventListItem ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3219 configASSERT( pxUnblockedTCB );
\r
3220 ( void ) uxListRemove( pxEventListItem );
\r
3222 /* Remove the task from the delayed list and add it to the ready list. The
\r
3223 scheduler is suspended so interrupts will not be accessing the ready
\r
3225 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3226 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3228 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3230 /* The unblocked task has a priority above that of the calling task, so
\r
3231 a context switch is required. This function is called with the
\r
3232 scheduler suspended so xYieldPending is set so the context switch
\r
3233 occurs immediately that the scheduler is resumed (unsuspended). */
\r
3234 xYieldPending = pdTRUE;
\r
3237 /*-----------------------------------------------------------*/
\r
3239 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3241 configASSERT( pxTimeOut );
\r
3242 taskENTER_CRITICAL();
\r
3244 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3245 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3247 taskEXIT_CRITICAL();
\r
3249 /*-----------------------------------------------------------*/
\r
3251 void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3253 /* For internal use only as it does not use a critical section. */
\r
3254 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3255 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3257 /*-----------------------------------------------------------*/
\r
3259 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
3261 BaseType_t xReturn;
\r
3263 configASSERT( pxTimeOut );
\r
3264 configASSERT( pxTicksToWait );
\r
3266 taskENTER_CRITICAL();
\r
3268 /* Minor optimisation. The tick count cannot change in this block. */
\r
3269 const TickType_t xConstTickCount = xTickCount;
\r
3270 const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
\r
3272 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
3273 if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
\r
3275 /* The delay was aborted, which is not the same as a time out,
\r
3276 but has the same result. */
\r
3277 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
3283 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3284 if( *pxTicksToWait == portMAX_DELAY )
\r
3286 /* If INCLUDE_vTaskSuspend is set to 1 and the block time
\r
3287 specified is the maximum block time then the task should block
\r
3288 indefinitely, and therefore never time out. */
\r
3289 xReturn = pdFALSE;
\r
3294 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
3296 /* The tick count is greater than the time at which
\r
3297 vTaskSetTimeout() was called, but has also overflowed since
\r
3298 vTaskSetTimeOut() was called. It must have wrapped all the way
\r
3299 around and gone past again. This passed since vTaskSetTimeout()
\r
3303 else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
\r
3305 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
3306 *pxTicksToWait -= xElapsedTime;
\r
3307 vTaskInternalSetTimeOutState( pxTimeOut );
\r
3308 xReturn = pdFALSE;
\r
3312 *pxTicksToWait = 0;
\r
3316 taskEXIT_CRITICAL();
\r
3320 /*-----------------------------------------------------------*/
\r
3322 void vTaskMissedYield( void )
\r
3324 xYieldPending = pdTRUE;
\r
3326 /*-----------------------------------------------------------*/
\r
3328 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3330 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
3332 UBaseType_t uxReturn;
\r
3333 TCB_t const *pxTCB;
\r
3335 if( xTask != NULL )
\r
3338 uxReturn = pxTCB->uxTaskNumber;
\r
3348 #endif /* configUSE_TRACE_FACILITY */
\r
3349 /*-----------------------------------------------------------*/
\r
3351 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3353 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
3357 if( xTask != NULL )
\r
3360 pxTCB->uxTaskNumber = uxHandle;
\r
3364 #endif /* configUSE_TRACE_FACILITY */
\r
3367 * -----------------------------------------------------------
\r
3369 * ----------------------------------------------------------
\r
3371 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
3372 * language extensions. The equivalent prototype for this function is:
\r
3374 * void prvIdleTask( void *pvParameters );
\r
3377 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
3379 /* Stop warnings. */
\r
3380 ( void ) pvParameters;
\r
3382 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
3383 SCHEDULER IS STARTED. **/
\r
3385 /* In case a task that has a secure context deletes itself, in which case
\r
3386 the idle task is responsible for deleting the task's secure context, if
\r
3388 portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE );
\r
3392 /* See if any tasks have deleted themselves - if so then the idle task
\r
3393 is responsible for freeing the deleted task's TCB and stack. */
\r
3394 prvCheckTasksWaitingTermination();
\r
3396 #if ( configUSE_PREEMPTION == 0 )
\r
3398 /* If we are not using preemption we keep forcing a task switch to
\r
3399 see if any other task has become available. If we are using
\r
3400 preemption we don't need to do this as any task becoming available
\r
3401 will automatically get the processor anyway. */
\r
3404 #endif /* configUSE_PREEMPTION */
\r
3406 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
3408 /* When using preemption tasks of equal priority will be
\r
3409 timesliced. If a task that is sharing the idle priority is ready
\r
3410 to run then the idle task should yield before the end of the
\r
3413 A critical region is not required here as we are just reading from
\r
3414 the list, and an occasional incorrect value will not matter. If
\r
3415 the ready list at the idle priority contains more than one task
\r
3416 then a task other than the idle task is ready to execute. */
\r
3417 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
3423 mtCOVERAGE_TEST_MARKER();
\r
3426 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
3428 #if ( configUSE_IDLE_HOOK == 1 )
\r
3430 extern void vApplicationIdleHook( void );
\r
3432 /* Call the user defined function from within the idle task. This
\r
3433 allows the application designer to add background functionality
\r
3434 without the overhead of a separate task.
\r
3435 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
3436 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
3437 vApplicationIdleHook();
\r
3439 #endif /* configUSE_IDLE_HOOK */
\r
3441 /* This conditional compilation should use inequality to 0, not equality
\r
3442 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
3443 user defined low power mode implementations require
\r
3444 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
3445 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3447 TickType_t xExpectedIdleTime;
\r
3449 /* It is not desirable to suspend then resume the scheduler on
\r
3450 each iteration of the idle task. Therefore, a preliminary
\r
3451 test of the expected idle time is performed without the
\r
3452 scheduler suspended. The result here is not necessarily
\r
3454 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3456 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3458 vTaskSuspendAll();
\r
3460 /* Now the scheduler is suspended, the expected idle
\r
3461 time can be sampled again, and this time its value can
\r
3463 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
3464 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3466 /* Define the following macro to set xExpectedIdleTime to 0
\r
3467 if the application does not want
\r
3468 portSUPPRESS_TICKS_AND_SLEEP() to be called. */
\r
3469 configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
\r
3471 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3473 traceLOW_POWER_IDLE_BEGIN();
\r
3474 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
3475 traceLOW_POWER_IDLE_END();
\r
3479 mtCOVERAGE_TEST_MARKER();
\r
3482 ( void ) xTaskResumeAll();
\r
3486 mtCOVERAGE_TEST_MARKER();
\r
3489 #endif /* configUSE_TICKLESS_IDLE */
\r
3492 /*-----------------------------------------------------------*/
\r
3494 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3496 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
3498 /* The idle task exists in addition to the application tasks. */
\r
3499 const UBaseType_t uxNonApplicationTasks = 1;
\r
3500 eSleepModeStatus eReturn = eStandardSleep;
\r
3502 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
3504 /* A task was made ready while the scheduler was suspended. */
\r
3505 eReturn = eAbortSleep;
\r
3507 else if( xYieldPending != pdFALSE )
\r
3509 /* A yield was pended while the scheduler was suspended. */
\r
3510 eReturn = eAbortSleep;
\r
3514 /* If all the tasks are in the suspended list (which might mean they
\r
3515 have an infinite block time rather than actually being suspended)
\r
3516 then it is safe to turn all clocks off and just wait for external
\r
3518 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
3520 eReturn = eNoTasksWaitingTimeout;
\r
3524 mtCOVERAGE_TEST_MARKER();
\r
3531 #endif /* configUSE_TICKLESS_IDLE */
\r
3532 /*-----------------------------------------------------------*/
\r
3534 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3536 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
3540 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3542 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
3543 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3547 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3548 /*-----------------------------------------------------------*/
\r
3550 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3552 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
3554 void *pvReturn = NULL;
\r
3557 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3559 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3560 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3570 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3571 /*-----------------------------------------------------------*/
\r
3573 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3575 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3579 /* If null is passed in here then we are modifying the MPU settings of
\r
3580 the calling task. */
\r
3581 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3583 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3586 #endif /* portUSING_MPU_WRAPPERS */
\r
3587 /*-----------------------------------------------------------*/
\r
3589 static void prvInitialiseTaskLists( void )
\r
3591 UBaseType_t uxPriority;
\r
3593 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3595 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3598 vListInitialise( &xDelayedTaskList1 );
\r
3599 vListInitialise( &xDelayedTaskList2 );
\r
3600 vListInitialise( &xPendingReadyList );
\r
3602 #if ( INCLUDE_vTaskDelete == 1 )
\r
3604 vListInitialise( &xTasksWaitingTermination );
\r
3606 #endif /* INCLUDE_vTaskDelete */
\r
3608 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3610 vListInitialise( &xSuspendedTaskList );
\r
3612 #endif /* INCLUDE_vTaskSuspend */
\r
3614 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3616 pxDelayedTaskList = &xDelayedTaskList1;
\r
3617 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3619 /*-----------------------------------------------------------*/
\r
3621 static void prvCheckTasksWaitingTermination( void )
\r
3624 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3626 #if ( INCLUDE_vTaskDelete == 1 )
\r
3630 /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
\r
3631 being called too often in the idle task. */
\r
3632 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3634 taskENTER_CRITICAL();
\r
3636 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3637 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
3638 --uxCurrentNumberOfTasks;
\r
3639 --uxDeletedTasksWaitingCleanUp;
\r
3641 taskEXIT_CRITICAL();
\r
3643 prvDeleteTCB( pxTCB );
\r
3646 #endif /* INCLUDE_vTaskDelete */
\r
3648 /*-----------------------------------------------------------*/
\r
3650 #if( configUSE_TRACE_FACILITY == 1 )
\r
3652 void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
\r
3656 /* xTask is NULL then get the state of the calling task. */
\r
3657 pxTCB = prvGetTCBFromHandle( xTask );
\r
3659 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3660 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
\r
3661 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3662 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3663 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3665 #if ( configUSE_MUTEXES == 1 )
\r
3667 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3671 pxTaskStatus->uxBasePriority = 0;
\r
3675 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3677 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3681 pxTaskStatus->ulRunTimeCounter = 0;
\r
3685 /* Obtaining the task state is a little fiddly, so is only done if the
\r
3686 value of eState passed into this function is eInvalid - otherwise the
\r
3687 state is just set to whatever is passed in. */
\r
3688 if( eState != eInvalid )
\r
3690 if( pxTCB == pxCurrentTCB )
\r
3692 pxTaskStatus->eCurrentState = eRunning;
\r
3696 pxTaskStatus->eCurrentState = eState;
\r
3698 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3700 /* If the task is in the suspended list then there is a
\r
3701 chance it is actually just blocked indefinitely - so really
\r
3702 it should be reported as being in the Blocked state. */
\r
3703 if( eState == eSuspended )
\r
3705 vTaskSuspendAll();
\r
3707 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3709 pxTaskStatus->eCurrentState = eBlocked;
\r
3712 ( void ) xTaskResumeAll();
\r
3715 #endif /* INCLUDE_vTaskSuspend */
\r
3720 pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
\r
3723 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3724 parameter is provided to allow it to be skipped. */
\r
3725 if( xGetFreeStackSpace != pdFALSE )
\r
3727 #if ( portSTACK_GROWTH > 0 )
\r
3729 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3733 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3739 pxTaskStatus->usStackHighWaterMark = 0;
\r
3743 #endif /* configUSE_TRACE_FACILITY */
\r
3744 /*-----------------------------------------------------------*/
\r
3746 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3748 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3750 configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
\r
3751 UBaseType_t uxTask = 0;
\r
3753 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3755 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3757 /* Populate an TaskStatus_t structure within the
\r
3758 pxTaskStatusArray array for each task that is referenced from
\r
3759 pxList. See the definition of TaskStatus_t in task.h for the
\r
3760 meaning of each TaskStatus_t structure member. */
\r
3763 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3764 vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3766 } while( pxNextTCB != pxFirstTCB );
\r
3770 mtCOVERAGE_TEST_MARKER();
\r
3776 #endif /* configUSE_TRACE_FACILITY */
\r
3777 /*-----------------------------------------------------------*/
\r
3779 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
\r
3781 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3783 uint32_t ulCount = 0U;
\r
3785 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3787 pucStackByte -= portSTACK_GROWTH;
\r
3791 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3793 return ( configSTACK_DEPTH_TYPE ) ulCount;
\r
3796 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) */
\r
3797 /*-----------------------------------------------------------*/
\r
3799 #if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 )
\r
3801 /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the
\r
3802 same except for their return type. Using configSTACK_DEPTH_TYPE allows the
\r
3803 user to determine the return type. It gets around the problem of the value
\r
3804 overflowing on 8-bit types without breaking backward compatibility for
\r
3805 applications that expect an 8-bit return type. */
\r
3806 configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask )
\r
3809 uint8_t *pucEndOfStack;
\r
3810 configSTACK_DEPTH_TYPE uxReturn;
\r
3812 /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are
\r
3813 the same except for their return type. Using configSTACK_DEPTH_TYPE
\r
3814 allows the user to determine the return type. It gets around the
\r
3815 problem of the value overflowing on 8-bit types without breaking
\r
3816 backward compatibility for applications that expect an 8-bit return
\r
3819 pxTCB = prvGetTCBFromHandle( xTask );
\r
3821 #if portSTACK_GROWTH < 0
\r
3823 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3827 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3831 uxReturn = prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3836 #endif /* INCLUDE_uxTaskGetStackHighWaterMark2 */
\r
3837 /*-----------------------------------------------------------*/
\r
3839 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3841 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3844 uint8_t *pucEndOfStack;
\r
3845 UBaseType_t uxReturn;
\r
3847 pxTCB = prvGetTCBFromHandle( xTask );
\r
3849 #if portSTACK_GROWTH < 0
\r
3851 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3855 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3859 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3864 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3865 /*-----------------------------------------------------------*/
\r
3867 #if ( INCLUDE_vTaskDelete == 1 )
\r
3869 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3871 /* This call is required specifically for the TriCore port. It must be
\r
3872 above the vPortFree() calls. The call is also used by ports/demos that
\r
3873 want to allocate and clean RAM statically. */
\r
3874 portCLEAN_UP_TCB( pxTCB );
\r
3876 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3877 to the task to free any memory allocated at the application level. */
\r
3878 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3880 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3882 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3884 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
\r
3886 /* The task can only have been allocated dynamically - free both
\r
3887 the stack and TCB. */
\r
3888 vPortFree( pxTCB->pxStack );
\r
3889 vPortFree( pxTCB );
\r
3891 #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
3893 /* The task could have been allocated statically or dynamically, so
\r
3894 check what was statically allocated before trying to free the
\r
3896 if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
\r
3898 /* Both the stack and TCB were allocated dynamically, so both
\r
3900 vPortFree( pxTCB->pxStack );
\r
3901 vPortFree( pxTCB );
\r
3903 else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
\r
3905 /* Only the stack was statically allocated, so the TCB is the
\r
3906 only memory that must be freed. */
\r
3907 vPortFree( pxTCB );
\r
3911 /* Neither the stack nor the TCB were allocated dynamically, so
\r
3912 nothing needs to be freed. */
\r
3913 configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
\r
3914 mtCOVERAGE_TEST_MARKER();
\r
3917 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
3920 #endif /* INCLUDE_vTaskDelete */
\r
3921 /*-----------------------------------------------------------*/
\r
3923 static void prvResetNextTaskUnblockTime( void )
\r
3927 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3929 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3930 the maximum possible value so it is extremely unlikely that the
\r
3931 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3932 there is an item in the delayed list. */
\r
3933 xNextTaskUnblockTime = portMAX_DELAY;
\r
3937 /* The new current delayed list is not empty, get the value of
\r
3938 the item at the head of the delayed list. This is the time at
\r
3939 which the task at the head of the delayed list should be removed
\r
3940 from the Blocked state. */
\r
3941 ( pxTCB ) = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3942 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
\r
3945 /*-----------------------------------------------------------*/
\r
3947 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3949 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3951 TaskHandle_t xReturn;
\r
3953 /* A critical section is not required as this is not called from
\r
3954 an interrupt and the current TCB will always be the same for any
\r
3955 individual execution thread. */
\r
3956 xReturn = pxCurrentTCB;
\r
3961 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3962 /*-----------------------------------------------------------*/
\r
3964 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3966 BaseType_t xTaskGetSchedulerState( void )
\r
3968 BaseType_t xReturn;
\r
3970 if( xSchedulerRunning == pdFALSE )
\r
3972 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3976 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3978 xReturn = taskSCHEDULER_RUNNING;
\r
3982 xReturn = taskSCHEDULER_SUSPENDED;
\r
3989 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3990 /*-----------------------------------------------------------*/
\r
3992 #if ( configUSE_MUTEXES == 1 )
\r
3994 BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3996 TCB_t * const pxMutexHolderTCB = pxMutexHolder;
\r
3997 BaseType_t xReturn = pdFALSE;
\r
3999 /* If the mutex was given back by an interrupt while the queue was
\r
4000 locked then the mutex holder might now be NULL. _RB_ Is this still
\r
4001 needed as interrupts can no longer use mutexes? */
\r
4002 if( pxMutexHolder != NULL )
\r
4004 /* If the holder of the mutex has a priority below the priority of
\r
4005 the task attempting to obtain the mutex then it will temporarily
\r
4006 inherit the priority of the task attempting to obtain the mutex. */
\r
4007 if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
4009 /* Adjust the mutex holder state to account for its new
\r
4010 priority. Only reset the event list item value if the value is
\r
4011 not being used for anything else. */
\r
4012 if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
4014 listSET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
4018 mtCOVERAGE_TEST_MARKER();
\r
4021 /* If the task being modified is in the ready state it will need
\r
4022 to be moved into a new list. */
\r
4023 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
\r
4025 if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4027 /* It is known that the task is in its ready list so
\r
4028 there is no need to check again and the port level
\r
4029 reset macro can be called directly. */
\r
4030 portRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority, uxTopReadyPriority );
\r
4034 mtCOVERAGE_TEST_MARKER();
\r
4037 /* Inherit the priority before being moved into the new list. */
\r
4038 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
4039 prvAddTaskToReadyList( pxMutexHolderTCB );
\r
4043 /* Just inherit the priority. */
\r
4044 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
4047 traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
\r
4049 /* Inheritance occurred. */
\r
4054 if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
\r
4056 /* The base priority of the mutex holder is lower than the
\r
4057 priority of the task attempting to take the mutex, but the
\r
4058 current priority of the mutex holder is not lower than the
\r
4059 priority of the task attempting to take the mutex.
\r
4060 Therefore the mutex holder must have already inherited a
\r
4061 priority, but inheritance would have occurred if that had
\r
4062 not been the case. */
\r
4067 mtCOVERAGE_TEST_MARKER();
\r
4073 mtCOVERAGE_TEST_MARKER();
\r
4079 #endif /* configUSE_MUTEXES */
\r
4080 /*-----------------------------------------------------------*/
\r
4082 #if ( configUSE_MUTEXES == 1 )
\r
4084 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
4086 TCB_t * const pxTCB = pxMutexHolder;
\r
4087 BaseType_t xReturn = pdFALSE;
\r
4089 if( pxMutexHolder != NULL )
\r
4091 /* A task can only have an inherited priority if it holds the mutex.
\r
4092 If the mutex is held by a task then it cannot be given from an
\r
4093 interrupt, and if a mutex is given by the holding task then it must
\r
4094 be the running state task. */
\r
4095 configASSERT( pxTCB == pxCurrentTCB );
\r
4096 configASSERT( pxTCB->uxMutexesHeld );
\r
4097 ( pxTCB->uxMutexesHeld )--;
\r
4099 /* Has the holder of the mutex inherited the priority of another
\r
4101 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
4103 /* Only disinherit if no other mutexes are held. */
\r
4104 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
4106 /* A task can only have an inherited priority if it holds
\r
4107 the mutex. If the mutex is held by a task then it cannot be
\r
4108 given from an interrupt, and if a mutex is given by the
\r
4109 holding task then it must be the running state task. Remove
\r
4110 the holding task from the ready/delayed list. */
\r
4111 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4113 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
4117 mtCOVERAGE_TEST_MARKER();
\r
4120 /* Disinherit the priority before adding the task into the
\r
4121 new ready list. */
\r
4122 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4123 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
4125 /* Reset the event list item value. It cannot be in use for
\r
4126 any other purpose if this task is running, and it must be
\r
4127 running to give back the mutex. */
\r
4128 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
4129 prvAddTaskToReadyList( pxTCB );
\r
4131 /* Return true to indicate that a context switch is required.
\r
4132 This is only actually required in the corner case whereby
\r
4133 multiple mutexes were held and the mutexes were given back
\r
4134 in an order different to that in which they were taken.
\r
4135 If a context switch did not occur when the first mutex was
\r
4136 returned, even if a task was waiting on it, then a context
\r
4137 switch should occur when the last mutex is returned whether
\r
4138 a task is waiting on it or not. */
\r
4143 mtCOVERAGE_TEST_MARKER();
\r
4148 mtCOVERAGE_TEST_MARKER();
\r
4153 mtCOVERAGE_TEST_MARKER();
\r
4159 #endif /* configUSE_MUTEXES */
\r
4160 /*-----------------------------------------------------------*/
\r
4162 #if ( configUSE_MUTEXES == 1 )
\r
4164 void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask )
\r
4166 TCB_t * const pxTCB = pxMutexHolder;
\r
4167 UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
\r
4168 const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
\r
4170 if( pxMutexHolder != NULL )
\r
4172 /* If pxMutexHolder is not NULL then the holder must hold at least
\r
4174 configASSERT( pxTCB->uxMutexesHeld );
\r
4176 /* Determine the priority to which the priority of the task that
\r
4177 holds the mutex should be set. This will be the greater of the
\r
4178 holding task's base priority and the priority of the highest
\r
4179 priority task that is waiting to obtain the mutex. */
\r
4180 if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
\r
4182 uxPriorityToUse = uxHighestPriorityWaitingTask;
\r
4186 uxPriorityToUse = pxTCB->uxBasePriority;
\r
4189 /* Does the priority need to change? */
\r
4190 if( pxTCB->uxPriority != uxPriorityToUse )
\r
4192 /* Only disinherit if no other mutexes are held. This is a
\r
4193 simplification in the priority inheritance implementation. If
\r
4194 the task that holds the mutex is also holding other mutexes then
\r
4195 the other mutexes may have caused the priority inheritance. */
\r
4196 if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
\r
4198 /* If a task has timed out because it already holds the
\r
4199 mutex it was trying to obtain then it cannot of inherited
\r
4200 its own priority. */
\r
4201 configASSERT( pxTCB != pxCurrentTCB );
\r
4203 /* Disinherit the priority, remembering the previous
\r
4204 priority to facilitate determining the subject task's
\r
4206 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4207 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
4208 pxTCB->uxPriority = uxPriorityToUse;
\r
4210 /* Only reset the event list item value if the value is not
\r
4211 being used for anything else. */
\r
4212 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
4214 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriorityToUse ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
4218 mtCOVERAGE_TEST_MARKER();
\r
4221 /* If the running task is not the task that holds the mutex
\r
4222 then the task that holds the mutex could be in either the
\r
4223 Ready, Blocked or Suspended states. Only remove the task
\r
4224 from its current state list if it is in the Ready state as
\r
4225 the task's priority is going to change and there is one
\r
4226 Ready list per priority. */
\r
4227 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
4229 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4231 /* It is known that the task is in its ready list so
\r
4232 there is no need to check again and the port level
\r
4233 reset macro can be called directly. */
\r
4234 portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
\r
4238 mtCOVERAGE_TEST_MARKER();
\r
4241 prvAddTaskToReadyList( pxTCB );
\r
4245 mtCOVERAGE_TEST_MARKER();
\r
4250 mtCOVERAGE_TEST_MARKER();
\r
4255 mtCOVERAGE_TEST_MARKER();
\r
4260 mtCOVERAGE_TEST_MARKER();
\r
4264 #endif /* configUSE_MUTEXES */
\r
4265 /*-----------------------------------------------------------*/
\r
4267 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4269 void vTaskEnterCritical( void )
\r
4271 portDISABLE_INTERRUPTS();
\r
4273 if( xSchedulerRunning != pdFALSE )
\r
4275 ( pxCurrentTCB->uxCriticalNesting )++;
\r
4277 /* This is not the interrupt safe version of the enter critical
\r
4278 function so assert() if it is being called from an interrupt
\r
4279 context. Only API functions that end in "FromISR" can be used in an
\r
4280 interrupt. Only assert if the critical nesting count is 1 to
\r
4281 protect against recursive calls if the assert function also uses a
\r
4282 critical section. */
\r
4283 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
4285 portASSERT_IF_IN_ISR();
\r
4290 mtCOVERAGE_TEST_MARKER();
\r
4294 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4295 /*-----------------------------------------------------------*/
\r
4297 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4299 void vTaskExitCritical( void )
\r
4301 if( xSchedulerRunning != pdFALSE )
\r
4303 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
4305 ( pxCurrentTCB->uxCriticalNesting )--;
\r
4307 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
4309 portENABLE_INTERRUPTS();
\r
4313 mtCOVERAGE_TEST_MARKER();
\r
4318 mtCOVERAGE_TEST_MARKER();
\r
4323 mtCOVERAGE_TEST_MARKER();
\r
4327 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4328 /*-----------------------------------------------------------*/
\r
4330 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
4332 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
4336 /* Start by copying the entire string. */
\r
4337 strcpy( pcBuffer, pcTaskName );
\r
4339 /* Pad the end of the string with spaces to ensure columns line up when
\r
4341 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
4343 pcBuffer[ x ] = ' ';
\r
4347 pcBuffer[ x ] = ( char ) 0x00;
\r
4349 /* Return the new end of string. */
\r
4350 return &( pcBuffer[ x ] );
\r
4353 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
4354 /*-----------------------------------------------------------*/
\r
4356 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4358 void vTaskList( char * pcWriteBuffer )
\r
4360 TaskStatus_t *pxTaskStatusArray;
\r
4361 UBaseType_t uxArraySize, x;
\r
4367 * This function is provided for convenience only, and is used by many
\r
4368 * of the demo applications. Do not consider it to be part of the
\r
4371 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
4372 * uxTaskGetSystemState() output into a human readable table that
\r
4373 * displays task names, states and stack usage.
\r
4375 * vTaskList() has a dependency on the sprintf() C library function that
\r
4376 * might bloat the code size, use a lot of stack, and provide different
\r
4377 * results on different platforms. An alternative, tiny, third party,
\r
4378 * and limited functionality implementation of sprintf() is provided in
\r
4379 * many of the FreeRTOS/Demo sub-directories in a file called
\r
4380 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
4381 * snprintf() implementation!).
\r
4383 * It is recommended that production systems call uxTaskGetSystemState()
\r
4384 * directly to get access to raw stats data, rather than indirectly
\r
4385 * through a call to vTaskList().
\r
4389 /* Make sure the write buffer does not contain a string. */
\r
4390 *pcWriteBuffer = ( char ) 0x00;
\r
4392 /* Take a snapshot of the number of tasks in case it changes while this
\r
4393 function is executing. */
\r
4394 uxArraySize = uxCurrentNumberOfTasks;
\r
4396 /* Allocate an array index for each task. NOTE! if
\r
4397 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4398 equate to NULL. */
\r
4399 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
\r
4401 if( pxTaskStatusArray != NULL )
\r
4403 /* Generate the (binary) data. */
\r
4404 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
4406 /* Create a human readable table from the binary data. */
\r
4407 for( x = 0; x < uxArraySize; x++ )
\r
4409 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
4411 case eRunning: cStatus = tskRUNNING_CHAR;
\r
4414 case eReady: cStatus = tskREADY_CHAR;
\r
4417 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
4420 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
4423 case eDeleted: cStatus = tskDELETED_CHAR;
\r
4426 case eInvalid: /* Fall through. */
\r
4427 default: /* Should not get here, but it is included
\r
4428 to prevent static checking errors. */
\r
4429 cStatus = ( char ) 0x00;
\r
4433 /* Write the task name to the string, padding with spaces so it
\r
4434 can be printed in tabular form more easily. */
\r
4435 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4437 /* Write the rest of the string. */
\r
4438 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 ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4439 pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
\r
4442 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4443 is 0 then vPortFree() will be #defined to nothing. */
\r
4444 vPortFree( pxTaskStatusArray );
\r
4448 mtCOVERAGE_TEST_MARKER();
\r
4452 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
4453 /*----------------------------------------------------------*/
\r
4455 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4457 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
4459 TaskStatus_t *pxTaskStatusArray;
\r
4460 UBaseType_t uxArraySize, x;
\r
4461 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
4463 #if( configUSE_TRACE_FACILITY != 1 )
\r
4465 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
4472 * This function is provided for convenience only, and is used by many
\r
4473 * of the demo applications. Do not consider it to be part of the
\r
4476 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
4477 * of the uxTaskGetSystemState() output into a human readable table that
\r
4478 * displays the amount of time each task has spent in the Running state
\r
4479 * in both absolute and percentage terms.
\r
4481 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
4482 * function that might bloat the code size, use a lot of stack, and
\r
4483 * provide different results on different platforms. An alternative,
\r
4484 * tiny, third party, and limited functionality implementation of
\r
4485 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
4486 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
4487 * a full snprintf() implementation!).
\r
4489 * It is recommended that production systems call uxTaskGetSystemState()
\r
4490 * directly to get access to raw stats data, rather than indirectly
\r
4491 * through a call to vTaskGetRunTimeStats().
\r
4494 /* Make sure the write buffer does not contain a string. */
\r
4495 *pcWriteBuffer = ( char ) 0x00;
\r
4497 /* Take a snapshot of the number of tasks in case it changes while this
\r
4498 function is executing. */
\r
4499 uxArraySize = uxCurrentNumberOfTasks;
\r
4501 /* Allocate an array index for each task. NOTE! If
\r
4502 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4503 equate to NULL. */
\r
4504 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
\r
4506 if( pxTaskStatusArray != NULL )
\r
4508 /* Generate the (binary) data. */
\r
4509 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
4511 /* For percentage calculations. */
\r
4512 ulTotalTime /= 100UL;
\r
4514 /* Avoid divide by zero errors. */
\r
4515 if( ulTotalTime > 0UL )
\r
4517 /* Create a human readable table from the binary data. */
\r
4518 for( x = 0; x < uxArraySize; x++ )
\r
4520 /* What percentage of the total run time has the task used?
\r
4521 This will always be rounded down to the nearest integer.
\r
4522 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
4523 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
4525 /* Write the task name to the string, padding with
\r
4526 spaces so it can be printed in tabular form more
\r
4528 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4530 if( ulStatsAsPercentage > 0UL )
\r
4532 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4534 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
4538 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4539 printf() library can be used. */
\r
4540 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4546 /* If the percentage is zero here then the task has
\r
4547 consumed less than 1% of the total run time. */
\r
4548 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4550 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4554 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4555 printf() library can be used. */
\r
4556 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4561 pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
\r
4566 mtCOVERAGE_TEST_MARKER();
\r
4569 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4570 is 0 then vPortFree() will be #defined to nothing. */
\r
4571 vPortFree( pxTaskStatusArray );
\r
4575 mtCOVERAGE_TEST_MARKER();
\r
4579 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
\r
4580 /*-----------------------------------------------------------*/
\r
4582 TickType_t uxTaskResetEventItemValue( void )
\r
4584 TickType_t uxReturn;
\r
4586 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
4588 /* Reset the event list item to its normal value - so it can be used with
\r
4589 queues and semaphores. */
\r
4590 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
4594 /*-----------------------------------------------------------*/
\r
4596 #if ( configUSE_MUTEXES == 1 )
\r
4598 TaskHandle_t pvTaskIncrementMutexHeldCount( void )
\r
4600 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
4601 then pxCurrentTCB will be NULL. */
\r
4602 if( pxCurrentTCB != NULL )
\r
4604 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4607 return pxCurrentTCB;
\r
4610 #endif /* configUSE_MUTEXES */
\r
4611 /*-----------------------------------------------------------*/
\r
4613 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4615 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
4617 uint32_t ulReturn;
\r
4619 taskENTER_CRITICAL();
\r
4621 /* Only block if the notification count is not already non-zero. */
\r
4622 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
4624 /* Mark this task as waiting for a notification. */
\r
4625 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4627 if( xTicksToWait > ( TickType_t ) 0 )
\r
4629 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4630 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4632 /* All ports are written to allow a yield in a critical
\r
4633 section (some will yield immediately, others wait until the
\r
4634 critical section exits) - but it is not something that
\r
4635 application code should ever do. */
\r
4636 portYIELD_WITHIN_API();
\r
4640 mtCOVERAGE_TEST_MARKER();
\r
4645 mtCOVERAGE_TEST_MARKER();
\r
4648 taskEXIT_CRITICAL();
\r
4650 taskENTER_CRITICAL();
\r
4652 traceTASK_NOTIFY_TAKE();
\r
4653 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4655 if( ulReturn != 0UL )
\r
4657 if( xClearCountOnExit != pdFALSE )
\r
4659 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4663 pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
\r
4668 mtCOVERAGE_TEST_MARKER();
\r
4671 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4673 taskEXIT_CRITICAL();
\r
4678 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4679 /*-----------------------------------------------------------*/
\r
4681 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4683 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4685 BaseType_t xReturn;
\r
4687 taskENTER_CRITICAL();
\r
4689 /* Only block if a notification is not already pending. */
\r
4690 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4692 /* Clear bits in the task's notification value as bits may get
\r
4693 set by the notifying task or interrupt. This can be used to
\r
4694 clear the value to zero. */
\r
4695 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4697 /* Mark this task as waiting for a notification. */
\r
4698 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4700 if( xTicksToWait > ( TickType_t ) 0 )
\r
4702 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4703 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4705 /* All ports are written to allow a yield in a critical
\r
4706 section (some will yield immediately, others wait until the
\r
4707 critical section exits) - but it is not something that
\r
4708 application code should ever do. */
\r
4709 portYIELD_WITHIN_API();
\r
4713 mtCOVERAGE_TEST_MARKER();
\r
4718 mtCOVERAGE_TEST_MARKER();
\r
4721 taskEXIT_CRITICAL();
\r
4723 taskENTER_CRITICAL();
\r
4725 traceTASK_NOTIFY_WAIT();
\r
4727 if( pulNotificationValue != NULL )
\r
4729 /* Output the current notification value, which may or may not
\r
4731 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4734 /* If ucNotifyValue is set then either the task never entered the
\r
4735 blocked state (because a notification was already pending) or the
\r
4736 task unblocked because of a notification. Otherwise the task
\r
4737 unblocked because of a timeout. */
\r
4738 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4740 /* A notification was not received. */
\r
4741 xReturn = pdFALSE;
\r
4745 /* A notification was already pending or a notification was
\r
4746 received while the task was waiting. */
\r
4747 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4751 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4753 taskEXIT_CRITICAL();
\r
4758 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4759 /*-----------------------------------------------------------*/
\r
4761 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4763 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4766 BaseType_t xReturn = pdPASS;
\r
4767 uint8_t ucOriginalNotifyState;
\r
4769 configASSERT( xTaskToNotify );
\r
4770 pxTCB = xTaskToNotify;
\r
4772 taskENTER_CRITICAL();
\r
4774 if( pulPreviousNotificationValue != NULL )
\r
4776 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4779 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4781 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4786 pxTCB->ulNotifiedValue |= ulValue;
\r
4790 ( pxTCB->ulNotifiedValue )++;
\r
4793 case eSetValueWithOverwrite :
\r
4794 pxTCB->ulNotifiedValue = ulValue;
\r
4797 case eSetValueWithoutOverwrite :
\r
4798 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4800 pxTCB->ulNotifiedValue = ulValue;
\r
4804 /* The value could not be written to the task. */
\r
4810 /* The task is being notified without its notify value being
\r
4815 /* Should not get here if all enums are handled.
\r
4816 Artificially force an assert by testing a value the
\r
4817 compiler can't assume is const. */
\r
4818 configASSERT( pxTCB->ulNotifiedValue == ~0UL );
\r
4823 traceTASK_NOTIFY();
\r
4825 /* If the task is in the blocked state specifically to wait for a
\r
4826 notification then unblock it now. */
\r
4827 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4829 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4830 prvAddTaskToReadyList( pxTCB );
\r
4832 /* The task should not have been on an event list. */
\r
4833 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4835 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4837 /* If a task is blocked waiting for a notification then
\r
4838 xNextTaskUnblockTime might be set to the blocked task's time
\r
4839 out time. If the task is unblocked for a reason other than
\r
4840 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4841 because it will automatically get reset to a new value when
\r
4842 the tick count equals xNextTaskUnblockTime. However if
\r
4843 tickless idling is used it might be more important to enter
\r
4844 sleep mode at the earliest possible time - so reset
\r
4845 xNextTaskUnblockTime here to ensure it is updated at the
\r
4846 earliest possible time. */
\r
4847 prvResetNextTaskUnblockTime();
\r
4851 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4853 /* The notified task has a priority above the currently
\r
4854 executing task so a yield is required. */
\r
4855 taskYIELD_IF_USING_PREEMPTION();
\r
4859 mtCOVERAGE_TEST_MARKER();
\r
4864 mtCOVERAGE_TEST_MARKER();
\r
4867 taskEXIT_CRITICAL();
\r
4872 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4873 /*-----------------------------------------------------------*/
\r
4875 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4877 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4880 uint8_t ucOriginalNotifyState;
\r
4881 BaseType_t xReturn = pdPASS;
\r
4882 UBaseType_t uxSavedInterruptStatus;
\r
4884 configASSERT( xTaskToNotify );
\r
4886 /* RTOS ports that support interrupt nesting have the concept of a
\r
4887 maximum system call (or maximum API call) interrupt priority.
\r
4888 Interrupts that are above the maximum system call priority are keep
\r
4889 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4890 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4891 is defined in FreeRTOSConfig.h then
\r
4892 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4893 failure if a FreeRTOS API function is called from an interrupt that has
\r
4894 been assigned a priority above the configured maximum system call
\r
4895 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4896 from interrupts that have been assigned a priority at or (logically)
\r
4897 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4898 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4899 simple as possible. More information (albeit Cortex-M specific) is
\r
4900 provided on the following link:
\r
4901 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4902 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4904 pxTCB = xTaskToNotify;
\r
4906 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4908 if( pulPreviousNotificationValue != NULL )
\r
4910 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4913 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4914 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4919 pxTCB->ulNotifiedValue |= ulValue;
\r
4923 ( pxTCB->ulNotifiedValue )++;
\r
4926 case eSetValueWithOverwrite :
\r
4927 pxTCB->ulNotifiedValue = ulValue;
\r
4930 case eSetValueWithoutOverwrite :
\r
4931 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4933 pxTCB->ulNotifiedValue = ulValue;
\r
4937 /* The value could not be written to the task. */
\r
4943 /* The task is being notified without its notify value being
\r
4948 /* Should not get here if all enums are handled.
\r
4949 Artificially force an assert by testing a value the
\r
4950 compiler can't assume is const. */
\r
4951 configASSERT( pxTCB->ulNotifiedValue == ~0UL );
\r
4955 traceTASK_NOTIFY_FROM_ISR();
\r
4957 /* If the task is in the blocked state specifically to wait for a
\r
4958 notification then unblock it now. */
\r
4959 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4961 /* The task should not have been on an event list. */
\r
4962 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4964 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4966 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4967 prvAddTaskToReadyList( pxTCB );
\r
4971 /* The delayed and ready lists cannot be accessed, so hold
\r
4972 this task pending until the scheduler is resumed. */
\r
4973 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4976 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4978 /* The notified task has a priority above the currently
\r
4979 executing task so a yield is required. */
\r
4980 if( pxHigherPriorityTaskWoken != NULL )
\r
4982 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4985 /* Mark that a yield is pending in case the user is not
\r
4986 using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
4987 safe FreeRTOS function. */
\r
4988 xYieldPending = pdTRUE;
\r
4992 mtCOVERAGE_TEST_MARKER();
\r
4996 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
5001 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5002 /*-----------------------------------------------------------*/
\r
5004 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
5006 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
5009 uint8_t ucOriginalNotifyState;
\r
5010 UBaseType_t uxSavedInterruptStatus;
\r
5012 configASSERT( xTaskToNotify );
\r
5014 /* RTOS ports that support interrupt nesting have the concept of a
\r
5015 maximum system call (or maximum API call) interrupt priority.
\r
5016 Interrupts that are above the maximum system call priority are keep
\r
5017 permanently enabled, even when the RTOS kernel is in a critical section,
\r
5018 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
5019 is defined in FreeRTOSConfig.h then
\r
5020 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
5021 failure if a FreeRTOS API function is called from an interrupt that has
\r
5022 been assigned a priority above the configured maximum system call
\r
5023 priority. Only FreeRTOS functions that end in FromISR can be called
\r
5024 from interrupts that have been assigned a priority at or (logically)
\r
5025 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
5026 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
5027 simple as possible. More information (albeit Cortex-M specific) is
\r
5028 provided on the following link:
\r
5029 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
5030 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
5032 pxTCB = xTaskToNotify;
\r
5034 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
5036 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
5037 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
5039 /* 'Giving' is equivalent to incrementing a count in a counting
\r
5041 ( pxTCB->ulNotifiedValue )++;
\r
5043 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
5045 /* If the task is in the blocked state specifically to wait for a
\r
5046 notification then unblock it now. */
\r
5047 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
5049 /* The task should not have been on an event list. */
\r
5050 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
5052 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
5054 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
5055 prvAddTaskToReadyList( pxTCB );
\r
5059 /* The delayed and ready lists cannot be accessed, so hold
\r
5060 this task pending until the scheduler is resumed. */
\r
5061 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
5064 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
5066 /* The notified task has a priority above the currently
\r
5067 executing task so a yield is required. */
\r
5068 if( pxHigherPriorityTaskWoken != NULL )
\r
5070 *pxHigherPriorityTaskWoken = pdTRUE;
\r
5073 /* Mark that a yield is pending in case the user is not
\r
5074 using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
5075 safe FreeRTOS function. */
\r
5076 xYieldPending = pdTRUE;
\r
5080 mtCOVERAGE_TEST_MARKER();
\r
5084 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
5087 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5089 /*-----------------------------------------------------------*/
\r
5091 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
5093 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
5096 BaseType_t xReturn;
\r
5098 /* If null is passed in here then it is the calling task that is having
\r
5099 its notification state cleared. */
\r
5100 pxTCB = prvGetTCBFromHandle( xTask );
\r
5102 taskENTER_CRITICAL();
\r
5104 if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
\r
5106 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
5114 taskEXIT_CRITICAL();
\r
5119 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5120 /*-----------------------------------------------------------*/
\r
5122 #if( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
\r
5124 uint32_t ulTaskGetIdleRunTimeCounter( void )
\r
5126 return xIdleTaskHandle->ulRunTimeCounter;
\r
5130 /*-----------------------------------------------------------*/
\r
5132 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
\r
5134 TickType_t xTimeToWake;
\r
5135 const TickType_t xConstTickCount = xTickCount;
\r
5137 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
5139 /* About to enter a delayed list, so ensure the ucDelayAborted flag is
\r
5140 reset to pdFALSE so it can be detected as having been set to pdTRUE
\r
5141 when the task leaves the Blocked state. */
\r
5142 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
5146 /* Remove the task from the ready list before adding it to the blocked list
\r
5147 as the same list item is used for both lists. */
\r
5148 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
5150 /* The current task must be in a ready list, so there is no need to
\r
5151 check, and the port reset macro can be called directly. */
\r
5152 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); /*lint !e931 pxCurrentTCB cannot change as it is the calling task. pxCurrentTCB->uxPriority and uxTopReadyPriority cannot change as called with scheduler suspended or in a critical section. */
\r
5156 mtCOVERAGE_TEST_MARKER();
\r
5159 #if ( INCLUDE_vTaskSuspend == 1 )
\r
5161 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
\r
5163 /* Add the task to the suspended task list instead of a delayed task
\r
5164 list to ensure it is not woken by a timing event. It will block
\r
5166 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5170 /* Calculate the time at which the task should be woken if the event
\r
5171 does not occur. This may overflow but this doesn't matter, the
\r
5172 kernel will manage it correctly. */
\r
5173 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5175 /* The list item will be inserted in wake time order. */
\r
5176 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5178 if( xTimeToWake < xConstTickCount )
\r
5180 /* Wake time has overflowed. Place this item in the overflow
\r
5182 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5186 /* The wake time has not overflowed, so the current block list
\r
5188 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5190 /* If the task entering the blocked state was placed at the
\r
5191 head of the list of blocked tasks then xNextTaskUnblockTime
\r
5192 needs to be updated too. */
\r
5193 if( xTimeToWake < xNextTaskUnblockTime )
\r
5195 xNextTaskUnblockTime = xTimeToWake;
\r
5199 mtCOVERAGE_TEST_MARKER();
\r
5204 #else /* INCLUDE_vTaskSuspend */
\r
5206 /* Calculate the time at which the task should be woken if the event
\r
5207 does not occur. This may overflow but this doesn't matter, the kernel
\r
5208 will manage it correctly. */
\r
5209 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5211 /* The list item will be inserted in wake time order. */
\r
5212 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5214 if( xTimeToWake < xConstTickCount )
\r
5216 /* Wake time has overflowed. Place this item in the overflow list. */
\r
5217 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5221 /* The wake time has not overflowed, so the current block list is used. */
\r
5222 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5224 /* If the task entering the blocked state was placed at the head of the
\r
5225 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
5227 if( xTimeToWake < xNextTaskUnblockTime )
\r
5229 xNextTaskUnblockTime = xTimeToWake;
\r
5233 mtCOVERAGE_TEST_MARKER();
\r
5237 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
\r
5238 ( void ) xCanBlockIndefinitely;
\r
5240 #endif /* INCLUDE_vTaskSuspend */
\r
5243 /* Code below here allows additional code to be inserted into this source file,
\r
5244 especially where access to file scope functions and data is needed (for example
\r
5245 when performing module tests). */
\r
5247 #ifdef FREERTOS_MODULE_TEST
\r
5248 #include "tasks_test_access_functions.h"
\r
5252 #if( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
\r
5254 #include "freertos_tasks_c_additions.h"
\r
5256 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
5257 static void freertos_tasks_c_additions_init( void )
\r
5259 FREERTOS_TASKS_C_ADDITIONS_INIT();
\r
projects / freertos / blob