2 FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd.
\r
5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 ***************************************************************************
\r
9 * FreeRTOS provides completely free yet professionally developed, *
\r
10 * robust, strictly quality controlled, supported, and cross *
\r
11 * platform software that has become a de facto standard. *
\r
13 * Help yourself get started quickly and support the FreeRTOS *
\r
14 * project by purchasing a FreeRTOS tutorial book, reference *
\r
15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
\r
19 ***************************************************************************
\r
21 This file is part of the FreeRTOS distribution.
\r
23 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
24 the terms of the GNU General Public License (version 2) as published by the
\r
25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
\r
27 >>! NOTE: The modification to the GPL is included to allow you to !<<
\r
28 >>! distribute a combined work that includes FreeRTOS without being !<<
\r
29 >>! obliged to provide the source code for proprietary components !<<
\r
30 >>! outside of the FreeRTOS kernel. !<<
\r
32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
\r
35 link: http://www.freertos.org/a00114.html
\r
39 ***************************************************************************
\r
41 * Having a problem? Start by reading the FAQ "My application does *
\r
42 * not run, what could be wrong?" *
\r
44 * http://www.FreeRTOS.org/FAQHelp.html *
\r
46 ***************************************************************************
\r
48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
\r
49 license and Real Time Engineers Ltd. contact details.
\r
51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
\r
53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
\r
55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
\r
56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
\r
57 licenses offer ticketed support, indemnification and middleware.
\r
59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
60 engineered and independently SIL3 certified version for use in safety and
\r
61 mission critical applications that require provable dependability.
\r
66 /* Standard includes. */
\r
70 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
\r
71 all the API functions to use the MPU wrappers. That should only be done when
\r
72 task.h is included from an application file. */
\r
73 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
\r
75 /* FreeRTOS includes. */
\r
76 #include "FreeRTOS.h"
\r
79 #include "StackMacros.h"
\r
81 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
\r
82 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
\r
83 header files above, but not in this file, in order to generate the correct
\r
84 privileged Vs unprivileged linkage and placement. */
\r
85 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
\r
87 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
\r
88 /* At the bottom of this file are two optional functions that can be used
\r
89 to generate human readable text from the raw data generated by the
\r
90 uxTaskGetSystemState() function. Note the formatting functions are provided
\r
91 for convenience only, and are NOT considered part of the kernel. */
\r
93 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
\r
95 /* Sanity check the configuration. */
\r
96 #if configUSE_TICKLESS_IDLE != 0
\r
97 #if INCLUDE_vTaskSuspend != 1
\r
98 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
\r
99 #endif /* INCLUDE_vTaskSuspend */
\r
100 #endif /* configUSE_TICKLESS_IDLE */
\r
103 * Defines the size, in words, of the stack allocated to the idle task.
\r
105 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
\r
107 #if( configUSE_PREEMPTION == 0 )
\r
108 /* If the cooperative scheduler is being used then a yield should not be
\r
109 performed just because a higher priority task has been woken. */
\r
110 #define taskYIELD_IF_USING_PREEMPTION()
\r
112 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
\r
116 * Task control block. A task control block (TCB) is allocated for each task,
\r
117 * and stores task state information, including a pointer to the task's context
\r
118 * (the task's run time environment, including register values)
\r
120 typedef struct tskTaskControlBlock
\r
122 volatile StackType_t *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
\r
124 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
125 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
\r
128 ListItem_t xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
\r
129 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
\r
130 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
\r
131 StackType_t *pxStack; /*< Points to the start of the stack. */
\r
132 char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
134 #if ( portSTACK_GROWTH > 0 )
\r
135 StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
\r
138 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
139 UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
\r
142 #if ( configUSE_TRACE_FACILITY == 1 )
\r
143 UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
\r
144 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
\r
147 #if ( configUSE_MUTEXES == 1 )
\r
148 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
\r
151 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
152 TaskHookFunction_t pxTaskTag;
\r
155 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
156 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
\r
159 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
160 /* Allocate a Newlib reent structure that is specific to this task.
\r
161 Note Newlib support has been included by popular demand, but is not
\r
162 used by the FreeRTOS maintainers themselves. FreeRTOS is not
\r
163 responsible for resulting newlib operation. User must be familiar with
\r
164 newlib and must provide system-wide implementations of the necessary
\r
165 stubs. Be warned that (at the time of writing) the current newlib design
\r
166 implements a system-wide malloc() that must be provided with locks. */
\r
167 struct _reent xNewLib_reent;
\r
172 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
\r
173 below to enable the use of older kernel aware debuggers. */
\r
174 typedef tskTCB TCB_t;
\r
177 * Some kernel aware debuggers require the data the debugger needs access to to
\r
178 * be global, rather than file scope.
\r
180 #ifdef portREMOVE_STATIC_QUALIFIER
\r
184 /*lint -e956 A manual analysis and inspection has been used to determine which
\r
185 static variables must be declared volatile. */
\r
187 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
\r
189 /* Lists for ready and blocked tasks. --------------------*/
\r
190 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
\r
191 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
\r
192 PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
\r
193 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
\r
194 PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
\r
195 PRIVILEGED_DATA static List_t xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
\r
197 #if ( INCLUDE_vTaskDelete == 1 )
\r
199 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
\r
200 PRIVILEGED_DATA static volatile UBaseType_t uxTasksDeleted = ( UBaseType_t ) 0U;
\r
204 #if ( INCLUDE_vTaskSuspend == 1 )
\r
206 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
\r
210 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
212 PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
\r
216 /* Other file private variables. --------------------------------*/
\r
217 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
\r
218 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;
\r
219 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
\r
220 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
\r
221 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
\r
222 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
\r
223 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
\r
224 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
\r
225 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = portMAX_DELAY;
\r
227 /* Context switches are held pending while the scheduler is suspended. Also,
\r
228 interrupts must not manipulate the xStateListItem of a TCB, or any of the
\r
229 lists the xStateListItem can be referenced from, if the scheduler is suspended.
\r
230 If an interrupt needs to unblock a task while the scheduler is suspended then it
\r
231 moves the task's event list item into the xPendingReadyList, ready for the
\r
232 kernel to move the task from the pending ready list into the real ready list
\r
233 when the scheduler is unsuspended. The pending ready list itself can only be
\r
234 accessed from a critical section. */
\r
235 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
\r
237 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
239 PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
\r
240 PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
\r
246 /* Debugging and trace facilities private variables and macros. ------------*/
\r
249 * The value used to fill the stack of a task when the task is created. This
\r
250 * is used purely for checking the high water mark for tasks.
\r
252 #define tskSTACK_FILL_BYTE ( 0xa5U )
\r
255 * Macros used by vListTask to indicate which state a task is in.
\r
257 #define tskBLOCKED_CHAR ( 'B' )
\r
258 #define tskREADY_CHAR ( 'R' )
\r
259 #define tskDELETED_CHAR ( 'D' )
\r
260 #define tskSUSPENDED_CHAR ( 'S' )
\r
262 /*-----------------------------------------------------------*/
\r
264 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
266 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
\r
267 performed in a generic way that is not optimised to any particular
\r
268 microcontroller architecture. */
\r
270 /* uxTopReadyPriority holds the priority of the highest priority ready
\r
272 #define taskRECORD_READY_PRIORITY( uxPriority ) \
\r
274 if( ( uxPriority ) > uxTopReadyPriority ) \
\r
276 uxTopReadyPriority = ( uxPriority ); \
\r
278 } /* taskRECORD_READY_PRIORITY */
\r
280 /*-----------------------------------------------------------*/
\r
282 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
\r
284 /* Find the highest priority queue that contains ready tasks. */ \
\r
285 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
\r
287 configASSERT( uxTopReadyPriority ); \
\r
288 --uxTopReadyPriority; \
\r
291 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
\r
292 the same priority get an equal share of the processor time. */ \
\r
293 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
\r
294 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
\r
296 /*-----------------------------------------------------------*/
\r
298 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
\r
299 they are only required when a port optimised method of task selection is
\r
301 #define taskRESET_READY_PRIORITY( uxPriority )
\r
302 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
\r
304 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
\r
306 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
\r
307 performed in a way that is tailored to the particular microcontroller
\r
308 architecture being used. */
\r
310 /* A port optimised version is provided. Call the port defined macros. */
\r
311 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
\r
313 /*-----------------------------------------------------------*/
\r
315 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
\r
317 UBaseType_t uxTopPriority; \
\r
319 /* Find the highest priority queue that contains ready tasks. */ \
\r
320 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
\r
321 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
\r
322 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
\r
323 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
\r
325 /*-----------------------------------------------------------*/
\r
327 /* A port optimised version is provided, call it only if the TCB being reset
\r
328 is being referenced from a ready list. If it is referenced from a delayed
\r
329 or suspended list then it won't be in a ready list. */
\r
330 #define taskRESET_READY_PRIORITY( uxPriority ) \
\r
332 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
\r
334 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
\r
338 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
\r
340 /*-----------------------------------------------------------*/
\r
342 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
\r
343 count overflows. */
\r
344 #define taskSWITCH_DELAYED_LISTS() \
\r
348 /* The delayed tasks list should be empty when the lists are switched. */ \
\r
349 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
\r
351 pxTemp = pxDelayedTaskList; \
\r
352 pxDelayedTaskList = pxOverflowDelayedTaskList; \
\r
353 pxOverflowDelayedTaskList = pxTemp; \
\r
354 xNumOfOverflows++; \
\r
355 prvResetNextTaskUnblockTime(); \
\r
358 /*-----------------------------------------------------------*/
\r
361 * Place the task represented by pxTCB into the appropriate ready list for
\r
362 * the task. It is inserted at the end of the list.
\r
364 #define prvAddTaskToReadyList( pxTCB ) \
\r
365 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
\r
366 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
\r
367 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
\r
368 /*-----------------------------------------------------------*/
\r
371 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
\r
372 * where NULL is used to indicate that the handle of the currently executing
\r
373 * task should be used in place of the parameter. This macro simply checks to
\r
374 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
\r
376 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )
\r
378 /* The item value of the event list item is normally used to hold the priority
\r
379 of the task to which it belongs (coded to allow it to be held in reverse
\r
380 priority order). However, it is occasionally borrowed for other purposes. It
\r
381 is important its value is not updated due to a task priority change while it is
\r
382 being used for another purpose. The following bit definition is used to inform
\r
383 the scheduler that the value should not be changed - in which case it is the
\r
384 responsibility of whichever module is using the value to ensure it gets set back
\r
385 to its original value when it is released. */
\r
386 #if configUSE_16_BIT_TICKS == 1
\r
387 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
\r
389 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
\r
392 /* Callback function prototypes. --------------------------*/
\r
393 #if configCHECK_FOR_STACK_OVERFLOW > 0
\r
394 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
\r
397 #if configUSE_TICK_HOOK > 0
\r
398 extern void vApplicationTickHook( void );
\r
401 /* File private functions. --------------------------------*/
\r
404 * Utility to ready a TCB for a given task. Mainly just copies the parameters
\r
405 * into the TCB structure.
\r
407 static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
410 * Utility task that simply returns pdTRUE if the task referenced by xTask is
\r
411 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
\r
412 * is in any other state.
\r
414 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
\r
417 * Utility to ready all the lists used by the scheduler. This is called
\r
418 * automatically upon the creation of the first task.
\r
420 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
\r
423 * The idle task, which as all tasks is implemented as a never ending loop.
\r
424 * The idle task is automatically created and added to the ready lists upon
\r
425 * creation of the first user task.
\r
427 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
\r
428 * language extensions. The equivalent prototype for this function is:
\r
430 * void prvIdleTask( void *pvParameters );
\r
433 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
\r
436 * Utility to free all memory allocated by the scheduler to hold a TCB,
\r
437 * including the stack pointed to by the TCB.
\r
439 * This does not free memory allocated by the task itself (i.e. memory
\r
440 * allocated by calls to pvPortMalloc from within the tasks application code).
\r
442 #if ( INCLUDE_vTaskDelete == 1 )
\r
444 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
\r
449 * Used only by the idle task. This checks to see if anything has been placed
\r
450 * in the list of tasks waiting to be deleted. If so the task is cleaned up
\r
451 * and its TCB deleted.
\r
453 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
\r
456 * The currently executing task is entering the Blocked state. Add the task to
\r
457 * either the current or the overflow delayed task list.
\r
459 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake ) PRIVILEGED_FUNCTION;
\r
462 * Allocates memory from the heap for a TCB and associated stack. Checks the
\r
463 * allocation was successful.
\r
465 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer ) PRIVILEGED_FUNCTION;
\r
468 * Fills an TaskStatus_t structure with information on each task that is
\r
469 * referenced from the pxList list (which may be a ready list, a delayed list,
\r
470 * a suspended list, etc.).
\r
472 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
\r
473 * NORMAL APPLICATION CODE.
\r
475 #if ( configUSE_TRACE_FACILITY == 1 )
\r
477 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
\r
482 * When a task is created, the stack of the task is filled with a known value.
\r
483 * This function determines the 'high water mark' of the task stack by
\r
484 * determining how much of the stack remains at the original preset value.
\r
486 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
488 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
\r
493 * Return the amount of time, in ticks, that will pass before the kernel will
\r
494 * next move a task from the Blocked state to the Running state.
\r
496 * This conditional compilation should use inequality to 0, not equality to 1.
\r
497 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
\r
498 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
\r
499 * set to a value other than 1.
\r
501 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
503 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
\r
508 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
\r
509 * will exit the Blocked state.
\r
511 static void prvResetNextTaskUnblockTime( void );
\r
513 /*-----------------------------------------------------------*/
\r
515 BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
517 BaseType_t xReturn;
\r
520 configASSERT( pxTaskCode );
\r
521 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
\r
523 /* Allocate the memory required by the TCB and stack for the new task,
\r
524 checking that the allocation was successful. */
\r
525 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
\r
527 if( pxNewTCB != NULL )
\r
529 StackType_t *pxTopOfStack;
\r
531 #if( portUSING_MPU_WRAPPERS == 1 )
\r
532 /* Should the task be created in privileged mode? */
\r
533 BaseType_t xRunPrivileged;
\r
534 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
536 xRunPrivileged = pdTRUE;
\r
540 xRunPrivileged = pdFALSE;
\r
542 uxPriority &= ~portPRIVILEGE_BIT;
\r
543 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
545 /* Calculate the top of stack address. This depends on whether the
\r
546 stack grows from high memory to low (as per the 80x86) or vice versa.
\r
547 portSTACK_GROWTH is used to make the result positive or negative as
\r
548 required by the port. */
\r
549 #if( portSTACK_GROWTH < 0 )
\r
551 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );
\r
552 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */
\r
554 /* Check the alignment of the calculated top of stack is correct. */
\r
555 configASSERT( ( ( ( uint32_t ) pxTopOfStack & ( uint32_t ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
557 #else /* portSTACK_GROWTH */
\r
559 pxTopOfStack = pxNewTCB->pxStack;
\r
561 /* Check the alignment of the stack buffer is correct. */
\r
562 configASSERT( ( ( ( uint32_t ) pxNewTCB->pxStack & ( uint32_t ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
564 /* If we want to use stack checking on architectures that use
\r
565 a positive stack growth direction then we also need to store the
\r
566 other extreme of the stack space. */
\r
567 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
\r
569 #endif /* portSTACK_GROWTH */
\r
571 /* Setup the newly allocated TCB with the initial state of the task. */
\r
572 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
\r
574 /* Initialize the TCB stack to look as if the task was already running,
\r
575 but had been interrupted by the scheduler. The return address is set
\r
576 to the start of the task function. Once the stack has been initialised
\r
577 the top of stack variable is updated. */
\r
578 #if( portUSING_MPU_WRAPPERS == 1 )
\r
580 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
582 #else /* portUSING_MPU_WRAPPERS */
\r
584 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
586 #endif /* portUSING_MPU_WRAPPERS */
\r
588 if( ( void * ) pxCreatedTask != NULL )
\r
590 /* Pass the TCB out - in an anonymous way. The calling function/
\r
591 task can use this as a handle to delete the task later if
\r
593 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
597 mtCOVERAGE_TEST_MARKER();
\r
600 /* Ensure interrupts don't access the task lists while they are being
\r
602 taskENTER_CRITICAL();
\r
604 uxCurrentNumberOfTasks++;
\r
605 if( pxCurrentTCB == NULL )
\r
607 /* There are no other tasks, or all the other tasks are in
\r
608 the suspended state - make this the current task. */
\r
609 pxCurrentTCB = pxNewTCB;
\r
611 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
613 /* This is the first task to be created so do the preliminary
\r
614 initialisation required. We will not recover if this call
\r
615 fails, but we will report the failure. */
\r
616 prvInitialiseTaskLists();
\r
620 mtCOVERAGE_TEST_MARKER();
\r
625 /* If the scheduler is not already running, make this task the
\r
626 current task if it is the highest priority task to be created
\r
628 if( xSchedulerRunning == pdFALSE )
\r
630 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
632 pxCurrentTCB = pxNewTCB;
\r
636 mtCOVERAGE_TEST_MARKER();
\r
641 mtCOVERAGE_TEST_MARKER();
\r
647 #if ( configUSE_TRACE_FACILITY == 1 )
\r
649 /* Add a counter into the TCB for tracing only. */
\r
650 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
652 #endif /* configUSE_TRACE_FACILITY */
\r
653 traceTASK_CREATE( pxNewTCB );
\r
655 prvAddTaskToReadyList( pxNewTCB );
\r
658 portSETUP_TCB( pxNewTCB );
\r
660 taskEXIT_CRITICAL();
\r
664 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
665 traceTASK_CREATE_FAILED();
\r
668 if( xReturn == pdPASS )
\r
670 if( xSchedulerRunning != pdFALSE )
\r
672 /* If the created task is of a higher priority than the current task
\r
673 then it should run now. */
\r
674 if( pxCurrentTCB->uxPriority < uxPriority )
\r
676 taskYIELD_IF_USING_PREEMPTION();
\r
680 mtCOVERAGE_TEST_MARKER();
\r
685 mtCOVERAGE_TEST_MARKER();
\r
691 /*-----------------------------------------------------------*/
\r
693 #if ( INCLUDE_vTaskDelete == 1 )
\r
695 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
699 taskENTER_CRITICAL();
\r
701 /* If null is passed in here then it is the calling task that is
\r
703 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
705 /* Remove task from the ready list and place in the termination list.
\r
706 This will stop the task from be scheduled. The idle task will check
\r
707 the termination list and free up any memory allocated by the
\r
708 scheduler for the TCB and stack. */
\r
709 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
711 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
715 mtCOVERAGE_TEST_MARKER();
\r
718 /* Is the task waiting on an event also? */
\r
719 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
721 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
725 mtCOVERAGE_TEST_MARKER();
\r
728 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
730 /* Increment the ucTasksDeleted variable so the idle task knows
\r
731 there is a task that has been deleted and that it should therefore
\r
732 check the xTasksWaitingTermination list. */
\r
735 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
736 can detect that the task lists need re-generating. */
\r
739 traceTASK_DELETE( pxTCB );
\r
741 taskEXIT_CRITICAL();
\r
743 /* Force a reschedule if it is the currently running task that has just
\r
745 if( xSchedulerRunning != pdFALSE )
\r
747 if( pxTCB == pxCurrentTCB )
\r
749 configASSERT( uxSchedulerSuspended == 0 );
\r
751 /* The pre-delete hook is primarily for the Windows simulator,
\r
752 in which Windows specific clean up operations are performed,
\r
753 after which it is not possible to yield away from this task -
\r
754 hence xYieldPending is used to latch that a context switch is
\r
756 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
757 portYIELD_WITHIN_API();
\r
761 /* Reset the next expected unblock time in case it referred to
\r
762 the task that has just been deleted. */
\r
763 taskENTER_CRITICAL();
\r
765 prvResetNextTaskUnblockTime();
\r
767 taskEXIT_CRITICAL();
\r
772 #endif /* INCLUDE_vTaskDelete */
\r
773 /*-----------------------------------------------------------*/
\r
775 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
777 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
779 TickType_t xTimeToWake;
\r
780 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
782 configASSERT( pxPreviousWakeTime );
\r
783 configASSERT( ( xTimeIncrement > 0U ) );
\r
784 configASSERT( uxSchedulerSuspended == 0 );
\r
788 /* Minor optimisation. The tick count cannot change in this
\r
790 const TickType_t xConstTickCount = xTickCount;
\r
792 /* Generate the tick time at which the task wants to wake. */
\r
793 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
795 if( xConstTickCount < *pxPreviousWakeTime )
\r
797 /* The tick count has overflowed since this function was
\r
798 lasted called. In this case the only time we should ever
\r
799 actually delay is if the wake time has also overflowed,
\r
800 and the wake time is greater than the tick time. When this
\r
801 is the case it is as if neither time had overflowed. */
\r
802 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
804 xShouldDelay = pdTRUE;
\r
808 mtCOVERAGE_TEST_MARKER();
\r
813 /* The tick time has not overflowed. In this case we will
\r
814 delay if either the wake time has overflowed, and/or the
\r
815 tick time is less than the wake time. */
\r
816 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
818 xShouldDelay = pdTRUE;
\r
822 mtCOVERAGE_TEST_MARKER();
\r
826 /* Update the wake time ready for the next call. */
\r
827 *pxPreviousWakeTime = xTimeToWake;
\r
829 if( xShouldDelay != pdFALSE )
\r
831 traceTASK_DELAY_UNTIL();
\r
833 /* Remove the task from the ready list before adding it to the
\r
834 blocked list as the same list item is used for both lists. */
\r
835 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
837 /* The current task must be in a ready list, so there is
\r
838 no need to check, and the port reset macro can be called
\r
840 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
844 mtCOVERAGE_TEST_MARKER();
\r
847 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
851 mtCOVERAGE_TEST_MARKER();
\r
854 xAlreadyYielded = xTaskResumeAll();
\r
856 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
857 have put ourselves to sleep. */
\r
858 if( xAlreadyYielded == pdFALSE )
\r
860 portYIELD_WITHIN_API();
\r
864 mtCOVERAGE_TEST_MARKER();
\r
868 #endif /* INCLUDE_vTaskDelayUntil */
\r
869 /*-----------------------------------------------------------*/
\r
871 #if ( INCLUDE_vTaskDelay == 1 )
\r
873 void vTaskDelay( const TickType_t xTicksToDelay )
\r
875 TickType_t xTimeToWake;
\r
876 BaseType_t xAlreadyYielded = pdFALSE;
\r
879 /* A delay time of zero just forces a reschedule. */
\r
880 if( xTicksToDelay > ( TickType_t ) 0U )
\r
882 configASSERT( uxSchedulerSuspended == 0 );
\r
887 /* A task that is removed from the event list while the
\r
888 scheduler is suspended will not get placed in the ready
\r
889 list or removed from the blocked list until the scheduler
\r
892 This task cannot be in an event list as it is the currently
\r
895 /* Calculate the time to wake - this may overflow but this is
\r
897 xTimeToWake = xTickCount + xTicksToDelay;
\r
899 /* We must remove ourselves from the ready list before adding
\r
900 ourselves to the blocked list as the same list item is used for
\r
902 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
904 /* The current task must be in a ready list, so there is
\r
905 no need to check, and the port reset macro can be called
\r
907 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
911 mtCOVERAGE_TEST_MARKER();
\r
913 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
915 xAlreadyYielded = xTaskResumeAll();
\r
919 mtCOVERAGE_TEST_MARKER();
\r
922 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
923 have put ourselves to sleep. */
\r
924 if( xAlreadyYielded == pdFALSE )
\r
926 portYIELD_WITHIN_API();
\r
930 mtCOVERAGE_TEST_MARKER();
\r
934 #endif /* INCLUDE_vTaskDelay */
\r
935 /*-----------------------------------------------------------*/
\r
937 #if ( INCLUDE_eTaskGetState == 1 )
\r
939 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
941 eTaskState eReturn;
\r
942 List_t *pxStateList;
\r
943 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
945 configASSERT( pxTCB );
\r
947 if( pxTCB == pxCurrentTCB )
\r
949 /* The task calling this function is querying its own state. */
\r
950 eReturn = eRunning;
\r
954 taskENTER_CRITICAL();
\r
956 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
958 taskEXIT_CRITICAL();
\r
960 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
962 /* The task being queried is referenced from one of the Blocked
\r
964 eReturn = eBlocked;
\r
967 #if ( INCLUDE_vTaskSuspend == 1 )
\r
968 else if( pxStateList == &xSuspendedTaskList )
\r
970 /* The task being queried is referenced from the suspended
\r
971 list. Is it genuinely suspended or is it block
\r
973 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
975 eReturn = eSuspended;
\r
979 eReturn = eBlocked;
\r
984 #if ( INCLUDE_vTaskDelete == 1 )
\r
985 else if( pxStateList == &xTasksWaitingTermination )
\r
987 /* The task being queried is referenced from the deleted
\r
989 eReturn = eDeleted;
\r
995 /* If the task is not in any other state, it must be in the
\r
996 Ready (including pending ready) state. */
\r
1004 #endif /* INCLUDE_eTaskGetState */
\r
1005 /*-----------------------------------------------------------*/
\r
1007 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1009 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1012 UBaseType_t uxReturn;
\r
1014 taskENTER_CRITICAL();
\r
1016 /* If null is passed in here then we are changing the
\r
1017 priority of the calling function. */
\r
1018 pxTCB = prvGetTCBFromHandle( xTask );
\r
1019 uxReturn = pxTCB->uxPriority;
\r
1021 taskEXIT_CRITICAL();
\r
1026 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1027 /*-----------------------------------------------------------*/
\r
1029 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1031 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1034 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1035 BaseType_t xYieldRequired = pdFALSE;
\r
1037 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1039 /* Ensure the new priority is valid. */
\r
1040 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1042 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1046 mtCOVERAGE_TEST_MARKER();
\r
1049 taskENTER_CRITICAL();
\r
1051 /* If null is passed in here then it is the priority of the calling
\r
1052 task that is being changed. */
\r
1053 pxTCB = prvGetTCBFromHandle( xTask );
\r
1055 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1057 #if ( configUSE_MUTEXES == 1 )
\r
1059 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1063 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1067 if( uxCurrentBasePriority != uxNewPriority )
\r
1069 /* The priority change may have readied a task of higher
\r
1070 priority than the calling task. */
\r
1071 if( uxNewPriority > uxCurrentBasePriority )
\r
1073 if( pxTCB != pxCurrentTCB )
\r
1075 /* The priority of a task other than the currently
\r
1076 running task is being raised. Is the priority being
\r
1077 raised above that of the running task? */
\r
1078 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1080 xYieldRequired = pdTRUE;
\r
1084 mtCOVERAGE_TEST_MARKER();
\r
1089 /* The priority of the running task is being raised,
\r
1090 but the running task must already be the highest
\r
1091 priority task able to run so no yield is required. */
\r
1094 else if( pxTCB == pxCurrentTCB )
\r
1096 /* Setting the priority of the running task down means
\r
1097 there may now be another task of higher priority that
\r
1098 is ready to execute. */
\r
1099 xYieldRequired = pdTRUE;
\r
1103 /* Setting the priority of any other task down does not
\r
1104 require a yield as the running task must be above the
\r
1105 new priority of the task being modified. */
\r
1108 /* Remember the ready list the task might be referenced from
\r
1109 before its uxPriority member is changed so the
\r
1110 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1111 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1113 #if ( configUSE_MUTEXES == 1 )
\r
1115 /* Only change the priority being used if the task is not
\r
1116 currently using an inherited priority. */
\r
1117 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1119 pxTCB->uxPriority = uxNewPriority;
\r
1123 mtCOVERAGE_TEST_MARKER();
\r
1126 /* The base priority gets set whatever. */
\r
1127 pxTCB->uxBasePriority = uxNewPriority;
\r
1131 pxTCB->uxPriority = uxNewPriority;
\r
1135 /* Only reset the event list item value if the value is not
\r
1136 being used for anything else. */
\r
1137 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1139 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
1143 mtCOVERAGE_TEST_MARKER();
\r
1146 /* If the task is in the blocked or suspended list we need do
\r
1147 nothing more than change it's priority variable. However, if
\r
1148 the task is in a ready list it needs to be removed and placed
\r
1149 in the list appropriate to its new priority. */
\r
1150 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1152 /* The task is currently in its ready list - remove before adding
\r
1153 it to it's new ready list. As we are in a critical section we
\r
1154 can do this even if the scheduler is suspended. */
\r
1155 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1157 /* It is known that the task is in its ready list so
\r
1158 there is no need to check again and the port level
\r
1159 reset macro can be called directly. */
\r
1160 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1164 mtCOVERAGE_TEST_MARKER();
\r
1166 prvAddTaskToReadyList( pxTCB );
\r
1170 mtCOVERAGE_TEST_MARKER();
\r
1173 if( xYieldRequired == pdTRUE )
\r
1175 taskYIELD_IF_USING_PREEMPTION();
\r
1179 mtCOVERAGE_TEST_MARKER();
\r
1182 /* Remove compiler warning about unused variables when the port
\r
1183 optimised task selection is not being used. */
\r
1184 ( void ) uxPriorityUsedOnEntry;
\r
1187 taskEXIT_CRITICAL();
\r
1190 #endif /* INCLUDE_vTaskPrioritySet */
\r
1191 /*-----------------------------------------------------------*/
\r
1193 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1195 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1199 taskENTER_CRITICAL();
\r
1201 /* If null is passed in here then it is the running task that is
\r
1202 being suspended. */
\r
1203 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1205 traceTASK_SUSPEND( pxTCB );
\r
1207 /* Remove task from the ready/delayed list and place in the
\r
1208 suspended list. */
\r
1209 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1211 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1215 mtCOVERAGE_TEST_MARKER();
\r
1218 /* Is the task waiting on an event also? */
\r
1219 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1221 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1225 mtCOVERAGE_TEST_MARKER();
\r
1228 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1230 taskEXIT_CRITICAL();
\r
1232 if( pxTCB == pxCurrentTCB )
\r
1234 if( xSchedulerRunning != pdFALSE )
\r
1236 /* The current task has just been suspended. */
\r
1237 configASSERT( uxSchedulerSuspended == 0 );
\r
1238 portYIELD_WITHIN_API();
\r
1242 /* The scheduler is not running, but the task that was pointed
\r
1243 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1244 must be adjusted to point to a different task. */
\r
1245 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1247 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1248 NULL so when the next task is created pxCurrentTCB will
\r
1249 be set to point to it no matter what its relative priority
\r
1251 pxCurrentTCB = NULL;
\r
1255 vTaskSwitchContext();
\r
1261 if( xSchedulerRunning != pdFALSE )
\r
1263 /* A task other than the currently running task was suspended,
\r
1264 reset the next expected unblock time in case it referred to the
\r
1265 task that is now in the Suspended state. */
\r
1266 taskENTER_CRITICAL();
\r
1268 prvResetNextTaskUnblockTime();
\r
1270 taskEXIT_CRITICAL();
\r
1274 mtCOVERAGE_TEST_MARKER();
\r
1279 #endif /* INCLUDE_vTaskSuspend */
\r
1280 /*-----------------------------------------------------------*/
\r
1282 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1284 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1286 BaseType_t xReturn = pdFALSE;
\r
1287 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1289 /* Accesses xPendingReadyList so must be called from a critical
\r
1292 /* It does not make sense to check if the calling task is suspended. */
\r
1293 configASSERT( xTask );
\r
1295 /* Is the task being resumed actually in the suspended list? */
\r
1296 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1298 /* Has the task already been resumed from within an ISR? */
\r
1299 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1301 /* Is it in the suspended list because it is in the Suspended
\r
1302 state, or because is is blocked with no timeout? */
\r
1303 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1309 mtCOVERAGE_TEST_MARKER();
\r
1314 mtCOVERAGE_TEST_MARKER();
\r
1319 mtCOVERAGE_TEST_MARKER();
\r
1323 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1325 #endif /* INCLUDE_vTaskSuspend */
\r
1326 /*-----------------------------------------------------------*/
\r
1328 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1330 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1332 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1334 /* It does not make sense to resume the calling task. */
\r
1335 configASSERT( xTaskToResume );
\r
1337 /* The parameter cannot be NULL as it is impossible to resume the
\r
1338 currently executing task. */
\r
1339 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1341 taskENTER_CRITICAL();
\r
1343 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1345 traceTASK_RESUME( pxTCB );
\r
1347 /* As we are in a critical section we can access the ready
\r
1348 lists even if the scheduler is suspended. */
\r
1349 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1350 prvAddTaskToReadyList( pxTCB );
\r
1352 /* We may have just resumed a higher priority task. */
\r
1353 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1355 /* This yield may not cause the task just resumed to run,
\r
1356 but will leave the lists in the correct state for the
\r
1358 taskYIELD_IF_USING_PREEMPTION();
\r
1362 mtCOVERAGE_TEST_MARKER();
\r
1367 mtCOVERAGE_TEST_MARKER();
\r
1370 taskEXIT_CRITICAL();
\r
1374 mtCOVERAGE_TEST_MARKER();
\r
1378 #endif /* INCLUDE_vTaskSuspend */
\r
1380 /*-----------------------------------------------------------*/
\r
1382 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1384 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1386 BaseType_t xYieldRequired = pdFALSE;
\r
1387 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1388 UBaseType_t uxSavedInterruptStatus;
\r
1390 configASSERT( xTaskToResume );
\r
1392 /* RTOS ports that support interrupt nesting have the concept of a
\r
1393 maximum system call (or maximum API call) interrupt priority.
\r
1394 Interrupts that are above the maximum system call priority are keep
\r
1395 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1396 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1397 is defined in FreeRTOSConfig.h then
\r
1398 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1399 failure if a FreeRTOS API function is called from an interrupt that has
\r
1400 been assigned a priority above the configured maximum system call
\r
1401 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1402 from interrupts that have been assigned a priority at or (logically)
\r
1403 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1404 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1405 simple as possible. More information (albeit Cortex-M specific) is
\r
1406 provided on the following link:
\r
1407 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1408 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1410 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1412 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1414 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1416 /* Check the ready lists can be accessed. */
\r
1417 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1419 /* Ready lists can be accessed so move the task from the
\r
1420 suspended list to the ready list directly. */
\r
1421 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1423 xYieldRequired = pdTRUE;
\r
1427 mtCOVERAGE_TEST_MARKER();
\r
1430 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1431 prvAddTaskToReadyList( pxTCB );
\r
1435 /* The delayed or ready lists cannot be accessed so the task
\r
1436 is held in the pending ready list until the scheduler is
\r
1438 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1443 mtCOVERAGE_TEST_MARKER();
\r
1446 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1448 return xYieldRequired;
\r
1451 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1452 /*-----------------------------------------------------------*/
\r
1454 void vTaskStartScheduler( void )
\r
1456 BaseType_t xReturn;
\r
1458 /* Add the idle task at the lowest priority. */
\r
1459 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1461 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1462 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1463 xReturn = xTaskCreate( prvIdleTask, "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1467 /* Create the idle task without storing its handle. */
\r
1468 xReturn = xTaskCreate( prvIdleTask, "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1470 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1472 #if ( configUSE_TIMERS == 1 )
\r
1474 if( xReturn == pdPASS )
\r
1476 xReturn = xTimerCreateTimerTask();
\r
1480 mtCOVERAGE_TEST_MARKER();
\r
1483 #endif /* configUSE_TIMERS */
\r
1485 if( xReturn == pdPASS )
\r
1487 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1488 before or during the call to xPortStartScheduler(). The stacks of
\r
1489 the created tasks contain a status word with interrupts switched on
\r
1490 so interrupts will automatically get re-enabled when the first task
\r
1492 portDISABLE_INTERRUPTS();
\r
1494 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1496 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1497 structure specific to the task that will run first. */
\r
1498 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1500 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1502 xSchedulerRunning = pdTRUE;
\r
1503 xTickCount = ( TickType_t ) 0U;
\r
1505 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1506 macro must be defined to configure the timer/counter used to generate
\r
1507 the run time counter time base. */
\r
1508 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1510 /* Setting up the timer tick is hardware specific and thus in the
\r
1511 portable interface. */
\r
1512 if( xPortStartScheduler() != pdFALSE )
\r
1514 /* Should not reach here as if the scheduler is running the
\r
1515 function will not return. */
\r
1519 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1524 /* This line will only be reached if the kernel could not be started,
\r
1525 because there was not enough FreeRTOS heap to create the idle task
\r
1526 or the timer task. */
\r
1527 configASSERT( xReturn );
\r
1530 /*-----------------------------------------------------------*/
\r
1532 void vTaskEndScheduler( void )
\r
1534 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1535 routine so the original ISRs can be restored if necessary. The port
\r
1536 layer must ensure interrupts enable bit is left in the correct state. */
\r
1537 portDISABLE_INTERRUPTS();
\r
1538 xSchedulerRunning = pdFALSE;
\r
1539 vPortEndScheduler();
\r
1541 /*----------------------------------------------------------*/
\r
1543 void vTaskSuspendAll( void )
\r
1545 /* A critical section is not required as the variable is of type
\r
1546 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
1547 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1548 http://goo.gl/wu4acr */
\r
1549 ++uxSchedulerSuspended;
\r
1551 /*----------------------------------------------------------*/
\r
1553 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1555 static TickType_t prvGetExpectedIdleTime( void )
\r
1557 TickType_t xReturn;
\r
1559 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1563 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1565 /* There are other idle priority tasks in the ready state. If
\r
1566 time slicing is used then the very next tick interrupt must be
\r
1572 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1578 #endif /* configUSE_TICKLESS_IDLE */
\r
1579 /*----------------------------------------------------------*/
\r
1581 BaseType_t xTaskResumeAll( void )
\r
1584 BaseType_t xAlreadyYielded = pdFALSE;
\r
1586 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1587 previous call to vTaskSuspendAll(). */
\r
1588 configASSERT( uxSchedulerSuspended );
\r
1590 /* It is possible that an ISR caused a task to be removed from an event
\r
1591 list while the scheduler was suspended. If this was the case then the
\r
1592 removed task will have been added to the xPendingReadyList. Once the
\r
1593 scheduler has been resumed it is safe to move all the pending ready
\r
1594 tasks from this list into their appropriate ready list. */
\r
1595 taskENTER_CRITICAL();
\r
1597 --uxSchedulerSuspended;
\r
1599 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1601 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
1603 /* Move any readied tasks from the pending list into the
\r
1604 appropriate ready list. */
\r
1605 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1607 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1608 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1609 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1610 prvAddTaskToReadyList( pxTCB );
\r
1612 /* If we have moved a task that has a priority higher than
\r
1613 the current task then we should yield. */
\r
1614 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1616 xYieldPending = pdTRUE;
\r
1620 mtCOVERAGE_TEST_MARKER();
\r
1624 /* If any ticks occurred while the scheduler was suspended then
\r
1625 they should be processed now. This ensures the tick count does
\r
1626 not slip, and that any delayed tasks are resumed at the correct
\r
1628 if( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1630 while( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1632 if( xTaskIncrementTick() != pdFALSE )
\r
1634 xYieldPending = pdTRUE;
\r
1638 mtCOVERAGE_TEST_MARKER();
\r
1645 mtCOVERAGE_TEST_MARKER();
\r
1648 if( xYieldPending == pdTRUE )
\r
1650 #if( configUSE_PREEMPTION != 0 )
\r
1652 xAlreadyYielded = pdTRUE;
\r
1655 taskYIELD_IF_USING_PREEMPTION();
\r
1659 mtCOVERAGE_TEST_MARKER();
\r
1665 mtCOVERAGE_TEST_MARKER();
\r
1668 taskEXIT_CRITICAL();
\r
1670 return xAlreadyYielded;
\r
1672 /*-----------------------------------------------------------*/
\r
1674 TickType_t xTaskGetTickCount( void )
\r
1676 TickType_t xTicks;
\r
1678 /* Critical section required if running on a 16 bit processor. */
\r
1679 taskENTER_CRITICAL();
\r
1681 xTicks = xTickCount;
\r
1683 taskEXIT_CRITICAL();
\r
1687 /*-----------------------------------------------------------*/
\r
1689 TickType_t xTaskGetTickCountFromISR( void )
\r
1691 TickType_t xReturn;
\r
1692 UBaseType_t uxSavedInterruptStatus;
\r
1694 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1695 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1696 above the maximum system call priority are kept permanently enabled, even
\r
1697 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1698 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1699 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1700 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1701 assigned a priority above the configured maximum system call priority.
\r
1702 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1703 that have been assigned a priority at or (logically) below the maximum
\r
1704 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1705 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1706 More information (albeit Cortex-M specific) is provided on the following
\r
1707 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1708 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1710 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1712 xReturn = xTickCount;
\r
1714 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1718 /*-----------------------------------------------------------*/
\r
1720 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
1722 /* A critical section is not required because the variables are of type
\r
1724 return uxCurrentNumberOfTasks;
\r
1726 /*-----------------------------------------------------------*/
\r
1728 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1730 char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery )
\r
1734 /* If null is passed in here then the name of the calling task is being queried. */
\r
1735 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1736 configASSERT( pxTCB );
\r
1737 return &( pxTCB->pcTaskName[ 0 ] );
\r
1740 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1741 /*-----------------------------------------------------------*/
\r
1743 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1745 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
1747 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1749 vTaskSuspendAll();
\r
1751 /* Is there a space in the array for each task in the system? */
\r
1752 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1754 /* Fill in an TaskStatus_t structure with information on each
\r
1755 task in the Ready state. */
\r
1759 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1761 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1763 /* Fill in an TaskStatus_t structure with information on each
\r
1764 task in the Blocked state. */
\r
1765 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
1766 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
1768 #if( INCLUDE_vTaskDelete == 1 )
\r
1770 /* Fill in an TaskStatus_t structure with information on
\r
1771 each task that has been deleted but not yet cleaned up. */
\r
1772 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1776 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1778 /* Fill in an TaskStatus_t structure with information on
\r
1779 each task in the Suspended state. */
\r
1780 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1784 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1786 if( pulTotalRunTime != NULL )
\r
1788 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1789 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
1791 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1797 if( pulTotalRunTime != NULL )
\r
1799 *pulTotalRunTime = 0;
\r
1806 mtCOVERAGE_TEST_MARKER();
\r
1809 ( void ) xTaskResumeAll();
\r
1814 #endif /* configUSE_TRACE_FACILITY */
\r
1815 /*----------------------------------------------------------*/
\r
1817 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1819 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
1821 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1822 started, then xIdleTaskHandle will be NULL. */
\r
1823 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1824 return xIdleTaskHandle;
\r
1827 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1828 /*----------------------------------------------------------*/
\r
1830 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1831 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1832 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1834 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1836 void vTaskStepTick( const TickType_t xTicksToJump )
\r
1838 /* Correct the tick count value after a period during which the tick
\r
1839 was suppressed. Note this does *not* call the tick hook function for
\r
1840 each stepped tick. */
\r
1841 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1842 xTickCount += xTicksToJump;
\r
1843 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
1846 #endif /* configUSE_TICKLESS_IDLE */
\r
1847 /*----------------------------------------------------------*/
\r
1849 BaseType_t xTaskIncrementTick( void )
\r
1852 TickType_t xItemValue;
\r
1853 BaseType_t xSwitchRequired = pdFALSE;
\r
1855 /* Called by the portable layer each time a tick interrupt occurs.
\r
1856 Increments the tick then checks to see if the new tick value will cause any
\r
1857 tasks to be unblocked. */
\r
1858 traceTASK_INCREMENT_TICK( xTickCount );
\r
1859 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1861 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1862 delayed lists if it wraps to 0. */
\r
1866 /* Minor optimisation. The tick count cannot change in this
\r
1868 const TickType_t xConstTickCount = xTickCount;
\r
1870 if( xConstTickCount == ( TickType_t ) 0U )
\r
1872 taskSWITCH_DELAYED_LISTS();
\r
1876 mtCOVERAGE_TEST_MARKER();
\r
1879 /* See if this tick has made a timeout expire. Tasks are stored in
\r
1880 the queue in the order of their wake time - meaning once one task
\r
1881 has been found whose block time has not expired there is no need to
\r
1882 look any further down the list. */
\r
1883 if( xConstTickCount >= xNextTaskUnblockTime )
\r
1887 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1889 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
1890 to the maximum possible value so it is extremely
\r
1892 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1893 next time through. */
\r
1894 xNextTaskUnblockTime = portMAX_DELAY;
\r
1899 /* The delayed list is not empty, get the value of the
\r
1900 item at the head of the delayed list. This is the time
\r
1901 at which the task at the head of the delayed list must
\r
1902 be removed from the Blocked state. */
\r
1903 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1904 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1906 if( xConstTickCount < xItemValue )
\r
1908 /* It is not time to unblock this item yet, but the
\r
1909 item value is the time at which the task at the head
\r
1910 of the blocked list must be removed from the Blocked
\r
1911 state - so record the item value in
\r
1912 xNextTaskUnblockTime. */
\r
1913 xNextTaskUnblockTime = xItemValue;
\r
1918 mtCOVERAGE_TEST_MARKER();
\r
1921 /* It is time to remove the item from the Blocked state. */
\r
1922 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1924 /* Is the task waiting on an event also? If so remove
\r
1925 it from the event list. */
\r
1926 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1928 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1932 mtCOVERAGE_TEST_MARKER();
\r
1935 /* Place the unblocked task into the appropriate ready
\r
1937 prvAddTaskToReadyList( pxTCB );
\r
1939 /* A task being unblocked cannot cause an immediate
\r
1940 context switch if preemption is turned off. */
\r
1941 #if ( configUSE_PREEMPTION == 1 )
\r
1943 /* Preemption is on, but a context switch should
\r
1944 only be performed if the unblocked task has a
\r
1945 priority that is equal to or higher than the
\r
1946 currently executing task. */
\r
1947 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1949 xSwitchRequired = pdTRUE;
\r
1953 mtCOVERAGE_TEST_MARKER();
\r
1956 #endif /* configUSE_PREEMPTION */
\r
1962 /* Tasks of equal priority to the currently running task will share
\r
1963 processing time (time slice) if preemption is on, and the application
\r
1964 writer has not explicitly turned time slicing off. */
\r
1965 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
1967 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
1969 xSwitchRequired = pdTRUE;
\r
1973 mtCOVERAGE_TEST_MARKER();
\r
1976 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
1978 #if ( configUSE_TICK_HOOK == 1 )
\r
1980 /* Guard against the tick hook being called when the pended tick
\r
1981 count is being unwound (when the scheduler is being unlocked). */
\r
1982 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
1984 vApplicationTickHook();
\r
1988 mtCOVERAGE_TEST_MARKER();
\r
1991 #endif /* configUSE_TICK_HOOK */
\r
1997 /* The tick hook gets called at regular intervals, even if the
\r
1998 scheduler is locked. */
\r
1999 #if ( configUSE_TICK_HOOK == 1 )
\r
2001 vApplicationTickHook();
\r
2006 #if ( configUSE_PREEMPTION == 1 )
\r
2008 if( xYieldPending != pdFALSE )
\r
2010 xSwitchRequired = pdTRUE;
\r
2014 mtCOVERAGE_TEST_MARKER();
\r
2017 #endif /* configUSE_PREEMPTION */
\r
2019 return xSwitchRequired;
\r
2021 /*-----------------------------------------------------------*/
\r
2023 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2025 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2029 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2031 if( xTask == NULL )
\r
2033 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2037 xTCB = ( TCB_t * ) xTask;
\r
2040 /* Save the hook function in the TCB. A critical section is required as
\r
2041 the value can be accessed from an interrupt. */
\r
2042 taskENTER_CRITICAL();
\r
2043 xTCB->pxTaskTag = pxHookFunction;
\r
2044 taskEXIT_CRITICAL();
\r
2047 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2048 /*-----------------------------------------------------------*/
\r
2050 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2052 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2055 TaskHookFunction_t xReturn;
\r
2057 /* If xTask is NULL then we are setting our own task hook. */
\r
2058 if( xTask == NULL )
\r
2060 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2064 xTCB = ( TCB_t * ) xTask;
\r
2067 /* Save the hook function in the TCB. A critical section is required as
\r
2068 the value can be accessed from an interrupt. */
\r
2069 taskENTER_CRITICAL();
\r
2071 xReturn = xTCB->pxTaskTag;
\r
2073 taskEXIT_CRITICAL();
\r
2078 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2079 /*-----------------------------------------------------------*/
\r
2081 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2083 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2086 BaseType_t xReturn;
\r
2088 /* If xTask is NULL then we are calling our own task hook. */
\r
2089 if( xTask == NULL )
\r
2091 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2095 xTCB = ( TCB_t * ) xTask;
\r
2098 if( xTCB->pxTaskTag != NULL )
\r
2100 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2110 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2111 /*-----------------------------------------------------------*/
\r
2113 void vTaskSwitchContext( void )
\r
2115 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2117 /* The scheduler is currently suspended - do not allow a context
\r
2119 xYieldPending = pdTRUE;
\r
2123 xYieldPending = pdFALSE;
\r
2124 traceTASK_SWITCHED_OUT();
\r
2126 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2128 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2129 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2131 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2134 /* Add the amount of time the task has been running to the
\r
2135 accumulated time so far. The time the task started running was
\r
2136 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2137 protection here so count values are only valid until the timer
\r
2138 overflows. The guard against negative values is to protect
\r
2139 against suspect run time stat counter implementations - which
\r
2140 are provided by the application, not the kernel. */
\r
2141 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2143 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2147 mtCOVERAGE_TEST_MARKER();
\r
2149 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2151 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2153 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
2154 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
2156 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2158 traceTASK_SWITCHED_IN();
\r
2160 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2162 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2163 structure specific to this task. */
\r
2164 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2166 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2169 /*-----------------------------------------------------------*/
\r
2171 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2173 TickType_t xTimeToWake;
\r
2175 configASSERT( pxEventList );
\r
2177 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2178 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2180 /* Place the event list item of the TCB in the appropriate event list.
\r
2181 This is placed in the list in priority order so the highest priority task
\r
2182 is the first to be woken by the event. The queue that contains the event
\r
2183 list is locked, preventing simultaneous access from interrupts. */
\r
2184 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2186 /* The task must be removed from from the ready list before it is added to
\r
2187 the blocked list as the same list item is used for both lists. Exclusive
\r
2188 access to the ready lists guaranteed because the scheduler is locked. */
\r
2189 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2191 /* The current task must be in a ready list, so there is no need to
\r
2192 check, and the port reset macro can be called directly. */
\r
2193 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2197 mtCOVERAGE_TEST_MARKER();
\r
2200 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2202 if( xTicksToWait == portMAX_DELAY )
\r
2204 /* Add the task to the suspended task list instead of a delayed task
\r
2205 list to ensure the task is not woken by a timing event. It will
\r
2206 block indefinitely. */
\r
2207 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2211 /* Calculate the time at which the task should be woken if the event
\r
2212 does not occur. This may overflow but this doesn't matter, the
\r
2213 scheduler will handle it. */
\r
2214 xTimeToWake = xTickCount + xTicksToWait;
\r
2215 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2218 #else /* INCLUDE_vTaskSuspend */
\r
2220 /* Calculate the time at which the task should be woken if the event does
\r
2221 not occur. This may overflow but this doesn't matter, the scheduler
\r
2222 will handle it. */
\r
2223 xTimeToWake = xTickCount + xTicksToWait;
\r
2224 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2226 #endif /* INCLUDE_vTaskSuspend */
\r
2228 /*-----------------------------------------------------------*/
\r
2230 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2232 TickType_t xTimeToWake;
\r
2234 configASSERT( pxEventList );
\r
2236 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2237 the event groups implementation. */
\r
2238 configASSERT( uxSchedulerSuspended != 0 );
\r
2240 /* Store the item value in the event list item. It is safe to access the
\r
2241 event list item here as interrupts won't access the event list item of a
\r
2242 task that is not in the Blocked state. */
\r
2243 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2245 /* Place the event list item of the TCB at the end of the appropriate event
\r
2246 list. It is safe to access the event list here because it is part of an
\r
2247 event group implementation - and interrupts don't access event groups
\r
2248 directly (instead they access them indirectly by pending function calls to
\r
2249 the task level). */
\r
2250 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2252 /* The task must be removed from the ready list before it is added to the
\r
2253 blocked list. Exclusive access can be assured to the ready list as the
\r
2254 scheduler is locked. */
\r
2255 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2257 /* The current task must be in a ready list, so there is no need to
\r
2258 check, and the port reset macro can be called directly. */
\r
2259 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2263 mtCOVERAGE_TEST_MARKER();
\r
2266 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2268 if( xTicksToWait == portMAX_DELAY )
\r
2270 /* Add the task to the suspended task list instead of a delayed task
\r
2271 list to ensure it is not woken by a timing event. It will block
\r
2273 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2277 /* Calculate the time at which the task should be woken if the event
\r
2278 does not occur. This may overflow but this doesn't matter, the
\r
2279 kernel will manage it correctly. */
\r
2280 xTimeToWake = xTickCount + xTicksToWait;
\r
2281 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2284 #else /* INCLUDE_vTaskSuspend */
\r
2286 /* Calculate the time at which the task should be woken if the event does
\r
2287 not occur. This may overflow but this doesn't matter, the kernel
\r
2288 will manage it correctly. */
\r
2289 xTimeToWake = xTickCount + xTicksToWait;
\r
2290 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2292 #endif /* INCLUDE_vTaskSuspend */
\r
2294 /*-----------------------------------------------------------*/
\r
2296 #if configUSE_TIMERS == 1
\r
2298 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2300 TickType_t xTimeToWake;
\r
2302 configASSERT( pxEventList );
\r
2304 /* This function should not be called by application code hence the
\r
2305 'Restricted' in its name. It is not part of the public API. It is
\r
2306 designed for use by kernel code, and has special calling requirements -
\r
2307 it should be called from a critical section. */
\r
2310 /* Place the event list item of the TCB in the appropriate event list.
\r
2311 In this case it is assume that this is the only task that is going to
\r
2312 be waiting on this event list, so the faster vListInsertEnd() function
\r
2313 can be used in place of vListInsert. */
\r
2314 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2316 /* We must remove this task from the ready list before adding it to the
\r
2317 blocked list as the same list item is used for both lists. This
\r
2318 function is called form a critical section. */
\r
2319 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2321 /* The current task must be in a ready list, so there is no need to
\r
2322 check, and the port reset macro can be called directly. */
\r
2323 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2327 mtCOVERAGE_TEST_MARKER();
\r
2330 /* Calculate the time at which the task should be woken if the event does
\r
2331 not occur. This may overflow but this doesn't matter. */
\r
2332 xTimeToWake = xTickCount + xTicksToWait;
\r
2334 traceTASK_DELAY_UNTIL();
\r
2335 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2338 #endif /* configUSE_TIMERS */
\r
2339 /*-----------------------------------------------------------*/
\r
2341 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
2343 TCB_t *pxUnblockedTCB;
\r
2344 BaseType_t xReturn;
\r
2346 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
2347 called from a critical section within an ISR. */
\r
2349 /* The event list is sorted in priority order, so the first in the list can
\r
2350 be removed as it is known to be the highest priority. Remove the TCB from
\r
2351 the delayed list, and add it to the ready list.
\r
2353 If an event is for a queue that is locked then this function will never
\r
2354 get called - the lock count on the queue will get modified instead. This
\r
2355 means exclusive access to the event list is guaranteed here.
\r
2357 This function assumes that a check has already been made to ensure that
\r
2358 pxEventList is not empty. */
\r
2359 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2360 configASSERT( pxUnblockedTCB );
\r
2361 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2363 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2365 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2366 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2370 /* The delayed and ready lists cannot be accessed, so hold this task
\r
2371 pending until the scheduler is resumed. */
\r
2372 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2375 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2377 /* Return true if the task removed from the event list has a higher
\r
2378 priority than the calling task. This allows the calling task to know if
\r
2379 it should force a context switch now. */
\r
2382 /* Mark that a yield is pending in case the user is not using the
\r
2383 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2384 xYieldPending = pdTRUE;
\r
2388 xReturn = pdFALSE;
\r
2393 /*-----------------------------------------------------------*/
\r
2395 BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
2397 TCB_t *pxUnblockedTCB;
\r
2398 BaseType_t xReturn;
\r
2400 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2401 the event flags implementation. */
\r
2402 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
2404 /* Store the new item value in the event list. */
\r
2405 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2407 /* Remove the event list form the event flag. Interrupts do not access
\r
2409 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2410 configASSERT( pxUnblockedTCB );
\r
2411 ( void ) uxListRemove( pxEventListItem );
\r
2413 /* Remove the task from the delayed list and add it to the ready list. The
\r
2414 scheduler is suspended so interrupts will not be accessing the ready
\r
2416 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2417 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2419 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2421 /* Return true if the task removed from the event list has
\r
2422 a higher priority than the calling task. This allows
\r
2423 the calling task to know if it should force a context
\r
2427 /* Mark that a yield is pending in case the user is not using the
\r
2428 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2429 xYieldPending = pdTRUE;
\r
2433 xReturn = pdFALSE;
\r
2438 /*-----------------------------------------------------------*/
\r
2440 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
2442 configASSERT( pxTimeOut );
\r
2443 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2444 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2446 /*-----------------------------------------------------------*/
\r
2448 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
2450 BaseType_t xReturn;
\r
2452 configASSERT( pxTimeOut );
\r
2453 configASSERT( pxTicksToWait );
\r
2455 taskENTER_CRITICAL();
\r
2457 /* Minor optimisation. The tick count cannot change in this block. */
\r
2458 const TickType_t xConstTickCount = xTickCount;
\r
2460 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2461 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2462 the maximum block time then the task should block indefinitely, and
\r
2463 therefore never time out. */
\r
2464 if( *pxTicksToWait == portMAX_DELAY )
\r
2466 xReturn = pdFALSE;
\r
2468 else /* We are not blocking indefinitely, perform the checks below. */
\r
2471 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2473 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2474 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2475 It must have wrapped all the way around and gone past us again. This
\r
2476 passed since vTaskSetTimeout() was called. */
\r
2479 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2481 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2482 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2483 vTaskSetTimeOutState( pxTimeOut );
\r
2484 xReturn = pdFALSE;
\r
2491 taskEXIT_CRITICAL();
\r
2495 /*-----------------------------------------------------------*/
\r
2497 void vTaskMissedYield( void )
\r
2499 xYieldPending = pdTRUE;
\r
2501 /*-----------------------------------------------------------*/
\r
2503 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2505 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
2507 UBaseType_t uxReturn;
\r
2510 if( xTask != NULL )
\r
2512 pxTCB = ( TCB_t * ) xTask;
\r
2513 uxReturn = pxTCB->uxTaskNumber;
\r
2523 #endif /* configUSE_TRACE_FACILITY */
\r
2524 /*-----------------------------------------------------------*/
\r
2526 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2528 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
2532 if( xTask != NULL )
\r
2534 pxTCB = ( TCB_t * ) xTask;
\r
2535 pxTCB->uxTaskNumber = uxHandle;
\r
2539 #endif /* configUSE_TRACE_FACILITY */
\r
2542 * -----------------------------------------------------------
\r
2544 * ----------------------------------------------------------
\r
2546 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2547 * language extensions. The equivalent prototype for this function is:
\r
2549 * void prvIdleTask( void *pvParameters );
\r
2552 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2554 /* Stop warnings. */
\r
2555 ( void ) pvParameters;
\r
2559 /* See if any tasks have been deleted. */
\r
2560 prvCheckTasksWaitingTermination();
\r
2562 #if ( configUSE_PREEMPTION == 0 )
\r
2564 /* If we are not using preemption we keep forcing a task switch to
\r
2565 see if any other task has become available. If we are using
\r
2566 preemption we don't need to do this as any task becoming available
\r
2567 will automatically get the processor anyway. */
\r
2570 #endif /* configUSE_PREEMPTION */
\r
2572 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2574 /* When using preemption tasks of equal priority will be
\r
2575 timesliced. If a task that is sharing the idle priority is ready
\r
2576 to run then the idle task should yield before the end of the
\r
2579 A critical region is not required here as we are just reading from
\r
2580 the list, and an occasional incorrect value will not matter. If
\r
2581 the ready list at the idle priority contains more than one task
\r
2582 then a task other than the idle task is ready to execute. */
\r
2583 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
2589 mtCOVERAGE_TEST_MARKER();
\r
2592 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2594 #if ( configUSE_IDLE_HOOK == 1 )
\r
2596 extern void vApplicationIdleHook( void );
\r
2598 /* Call the user defined function from within the idle task. This
\r
2599 allows the application designer to add background functionality
\r
2600 without the overhead of a separate task.
\r
2601 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2602 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2603 vApplicationIdleHook();
\r
2605 #endif /* configUSE_IDLE_HOOK */
\r
2607 /* This conditional compilation should use inequality to 0, not equality
\r
2608 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2609 user defined low power mode implementations require
\r
2610 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2611 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2613 TickType_t xExpectedIdleTime;
\r
2615 /* It is not desirable to suspend then resume the scheduler on
\r
2616 each iteration of the idle task. Therefore, a preliminary
\r
2617 test of the expected idle time is performed without the
\r
2618 scheduler suspended. The result here is not necessarily
\r
2620 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2622 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2624 vTaskSuspendAll();
\r
2626 /* Now the scheduler is suspended, the expected idle
\r
2627 time can be sampled again, and this time its value can
\r
2629 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2630 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2632 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2634 traceLOW_POWER_IDLE_BEGIN();
\r
2635 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2636 traceLOW_POWER_IDLE_END();
\r
2640 mtCOVERAGE_TEST_MARKER();
\r
2643 ( void ) xTaskResumeAll();
\r
2647 mtCOVERAGE_TEST_MARKER();
\r
2650 #endif /* configUSE_TICKLESS_IDLE */
\r
2653 /*-----------------------------------------------------------*/
\r
2655 #if configUSE_TICKLESS_IDLE != 0
\r
2657 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2659 eSleepModeStatus eReturn = eStandardSleep;
\r
2661 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2663 /* A task was made ready while the scheduler was suspended. */
\r
2664 eReturn = eAbortSleep;
\r
2666 else if( xYieldPending != pdFALSE )
\r
2668 /* A yield was pended while the scheduler was suspended. */
\r
2669 eReturn = eAbortSleep;
\r
2673 #if configUSE_TIMERS == 0
\r
2675 /* The idle task exists in addition to the application tasks. */
\r
2676 const UBaseType_t uxNonApplicationTasks = 1;
\r
2678 /* If timers are not being used and all the tasks are in the
\r
2679 suspended list (which might mean they have an infinite block
\r
2680 time rather than actually being suspended) then it is safe to
\r
2681 turn all clocks off and just wait for external interrupts. */
\r
2682 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2684 eReturn = eNoTasksWaitingTimeout;
\r
2688 mtCOVERAGE_TEST_MARKER();
\r
2691 #endif /* configUSE_TIMERS */
\r
2696 #endif /* configUSE_TICKLESS_IDLE */
\r
2697 /*-----------------------------------------------------------*/
\r
2699 static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2703 /* Store the task name in the TCB. */
\r
2704 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2706 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2708 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2709 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2710 string is not accessible (extremely unlikely). */
\r
2711 if( pcName[ x ] == 0x00 )
\r
2717 mtCOVERAGE_TEST_MARKER();
\r
2721 /* Ensure the name string is terminated in the case that the string length
\r
2722 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2723 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
2725 /* This is used as an array index so must ensure it's not too large. First
\r
2726 remove the privilege bit if one is present. */
\r
2727 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
2729 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
2733 mtCOVERAGE_TEST_MARKER();
\r
2736 pxTCB->uxPriority = uxPriority;
\r
2737 #if ( configUSE_MUTEXES == 1 )
\r
2739 pxTCB->uxBasePriority = uxPriority;
\r
2741 #endif /* configUSE_MUTEXES */
\r
2743 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2744 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2746 /* Set the pxTCB as a link back from the ListItem_t. This is so we can get
\r
2747 back to the containing TCB from a generic item in a list. */
\r
2748 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2750 /* Event lists are always in priority order. */
\r
2751 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2752 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2754 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2756 pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
2758 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2760 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2762 pxTCB->pxTaskTag = NULL;
\r
2764 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2766 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2768 pxTCB->ulRunTimeCounter = 0UL;
\r
2770 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2772 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2774 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2776 #else /* portUSING_MPU_WRAPPERS */
\r
2778 ( void ) xRegions;
\r
2779 ( void ) usStackDepth;
\r
2781 #endif /* portUSING_MPU_WRAPPERS */
\r
2783 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2785 /* Initialise this task's Newlib reent structure. */
\r
2786 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2788 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2790 /*-----------------------------------------------------------*/
\r
2792 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2794 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
2798 /* If null is passed in here then we are deleting ourselves. */
\r
2799 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2801 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2804 #endif /* portUSING_MPU_WRAPPERS */
\r
2805 /*-----------------------------------------------------------*/
\r
2807 static void prvInitialiseTaskLists( void )
\r
2809 UBaseType_t uxPriority;
\r
2811 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
2813 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
2816 vListInitialise( &xDelayedTaskList1 );
\r
2817 vListInitialise( &xDelayedTaskList2 );
\r
2818 vListInitialise( &xPendingReadyList );
\r
2820 #if ( INCLUDE_vTaskDelete == 1 )
\r
2822 vListInitialise( &xTasksWaitingTermination );
\r
2824 #endif /* INCLUDE_vTaskDelete */
\r
2826 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2828 vListInitialise( &xSuspendedTaskList );
\r
2830 #endif /* INCLUDE_vTaskSuspend */
\r
2832 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2834 pxDelayedTaskList = &xDelayedTaskList1;
\r
2835 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2837 /*-----------------------------------------------------------*/
\r
2839 static void prvCheckTasksWaitingTermination( void )
\r
2841 #if ( INCLUDE_vTaskDelete == 1 )
\r
2843 BaseType_t xListIsEmpty;
\r
2845 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2846 too often in the idle task. */
\r
2847 while( uxTasksDeleted > ( UBaseType_t ) 0U )
\r
2849 vTaskSuspendAll();
\r
2851 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2853 ( void ) xTaskResumeAll();
\r
2855 if( xListIsEmpty == pdFALSE )
\r
2859 taskENTER_CRITICAL();
\r
2861 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
2862 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2863 --uxCurrentNumberOfTasks;
\r
2866 taskEXIT_CRITICAL();
\r
2868 prvDeleteTCB( pxTCB );
\r
2872 mtCOVERAGE_TEST_MARKER();
\r
2876 #endif /* vTaskDelete */
\r
2878 /*-----------------------------------------------------------*/
\r
2880 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake )
\r
2882 /* The list item will be inserted in wake time order. */
\r
2883 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2885 if( xTimeToWake < xTickCount )
\r
2887 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2888 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2892 /* The wake time has not overflowed, so the current block list is used. */
\r
2893 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2895 /* If the task entering the blocked state was placed at the head of the
\r
2896 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2898 if( xTimeToWake < xNextTaskUnblockTime )
\r
2900 xNextTaskUnblockTime = xTimeToWake;
\r
2904 mtCOVERAGE_TEST_MARKER();
\r
2908 /*-----------------------------------------------------------*/
\r
2910 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer )
\r
2914 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2915 the implementation of the port malloc function. */
\r
2916 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
2918 if( pxNewTCB != NULL )
\r
2920 /* Allocate space for the stack used by the task being created.
\r
2921 The base of the stack memory stored in the TCB so the task can
\r
2922 be deleted later if required. */
\r
2923 pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2925 if( pxNewTCB->pxStack == NULL )
\r
2927 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2928 vPortFree( pxNewTCB );
\r
2933 /* Avoid dependency on memset() if it is not required. */
\r
2934 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2936 /* Just to help debugging. */
\r
2937 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );
\r
2939 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
2945 /*-----------------------------------------------------------*/
\r
2947 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2949 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
2951 volatile TCB_t *pxNextTCB, *pxFirstTCB;
\r
2952 UBaseType_t uxTask = 0;
\r
2954 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2956 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2958 /* Populate an TaskStatus_t structure within the
\r
2959 pxTaskStatusArray array for each task that is referenced from
\r
2960 pxList. See the definition of TaskStatus_t in task.h for the
\r
2961 meaning of each TaskStatus_t structure member. */
\r
2964 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2966 pxTaskStatusArray[ uxTask ].xHandle = ( TaskHandle_t ) pxNextTCB;
\r
2967 pxTaskStatusArray[ uxTask ].pcTaskName = ( const char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
2968 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
2969 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
2970 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
2972 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2974 /* If the task is in the suspended list then there is a chance
\r
2975 it is actually just blocked indefinitely - so really it should
\r
2976 be reported as being in the Blocked state. */
\r
2977 if( eState == eSuspended )
\r
2979 if( listLIST_ITEM_CONTAINER( &( pxNextTCB->xEventListItem ) ) != NULL )
\r
2981 pxTaskStatusArray[ uxTask ].eCurrentState = eBlocked;
\r
2985 #endif /* INCLUDE_vTaskSuspend */
\r
2987 #if ( configUSE_MUTEXES == 1 )
\r
2989 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
2993 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
2997 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2999 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
3003 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
3007 #if ( portSTACK_GROWTH > 0 )
\r
3009 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxEndOfStack );
\r
3013 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxStack );
\r
3019 } while( pxNextTCB != pxFirstTCB );
\r
3023 mtCOVERAGE_TEST_MARKER();
\r
3029 #endif /* configUSE_TRACE_FACILITY */
\r
3030 /*-----------------------------------------------------------*/
\r
3032 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3034 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3036 uint32_t ulCount = 0U;
\r
3038 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
3040 pucStackByte -= portSTACK_GROWTH;
\r
3044 ulCount /= ( uint32_t ) sizeof( StackType_t );
\r
3046 return ( uint16_t ) ulCount;
\r
3049 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3050 /*-----------------------------------------------------------*/
\r
3052 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3054 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3057 uint8_t *pucEndOfStack;
\r
3058 UBaseType_t uxReturn;
\r
3060 pxTCB = prvGetTCBFromHandle( xTask );
\r
3062 #if portSTACK_GROWTH < 0
\r
3064 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3068 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3072 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3077 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3078 /*-----------------------------------------------------------*/
\r
3080 #if ( INCLUDE_vTaskDelete == 1 )
\r
3082 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3084 /* This call is required specifically for the TriCore port. It must be
\r
3085 above the vPortFree() calls. The call is also used by ports/demos that
\r
3086 want to allocate and clean RAM statically. */
\r
3087 portCLEAN_UP_TCB( pxTCB );
\r
3089 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3090 to the task to free any memory allocated at the application level. */
\r
3091 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3093 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3095 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3096 vPortFreeAligned( pxTCB->pxStack );
\r
3097 vPortFree( pxTCB );
\r
3100 #endif /* INCLUDE_vTaskDelete */
\r
3101 /*-----------------------------------------------------------*/
\r
3103 static void prvResetNextTaskUnblockTime( void )
\r
3107 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3109 /* The new current delayed list is empty. Set
\r
3110 xNextTaskUnblockTime to the maximum possible value so it is
\r
3111 extremely unlikely that the
\r
3112 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3113 there is an item in the delayed list. */
\r
3114 xNextTaskUnblockTime = portMAX_DELAY;
\r
3118 /* The new current delayed list is not empty, get the value of
\r
3119 the item at the head of the delayed list. This is the time at
\r
3120 which the task at the head of the delayed list should be removed
\r
3121 from the Blocked state. */
\r
3122 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3123 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) );
\r
3126 /*-----------------------------------------------------------*/
\r
3128 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3130 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3132 TaskHandle_t xReturn;
\r
3134 /* A critical section is not required as this is not called from
\r
3135 an interrupt and the current TCB will always be the same for any
\r
3136 individual execution thread. */
\r
3137 xReturn = pxCurrentTCB;
\r
3142 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3143 /*-----------------------------------------------------------*/
\r
3145 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3147 BaseType_t xTaskGetSchedulerState( void )
\r
3149 BaseType_t xReturn;
\r
3151 if( xSchedulerRunning == pdFALSE )
\r
3153 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3157 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3159 xReturn = taskSCHEDULER_RUNNING;
\r
3163 xReturn = taskSCHEDULER_SUSPENDED;
\r
3170 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3171 /*-----------------------------------------------------------*/
\r
3173 #if ( configUSE_MUTEXES == 1 )
\r
3175 void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3177 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3179 /* If the mutex was given back by an interrupt while the queue was
\r
3180 locked then the mutex holder might now be NULL. */
\r
3181 if( pxMutexHolder != NULL )
\r
3183 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3185 /* Adjust the mutex holder state to account for its new
\r
3186 priority. Only reset the event list item value if the value is
\r
3187 not being used for anything else. */
\r
3188 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3190 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3194 mtCOVERAGE_TEST_MARKER();
\r
3197 /* If the task being modified is in the ready state it will need to
\r
3198 be moved into a new list. */
\r
3199 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
3201 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3203 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3207 mtCOVERAGE_TEST_MARKER();
\r
3210 /* Inherit the priority before being moved into the new list. */
\r
3211 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3212 prvAddTaskToReadyList( pxTCB );
\r
3216 /* Just inherit the priority. */
\r
3217 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3220 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
3224 mtCOVERAGE_TEST_MARKER();
\r
3229 mtCOVERAGE_TEST_MARKER();
\r
3233 #endif /* configUSE_MUTEXES */
\r
3234 /*-----------------------------------------------------------*/
\r
3236 #if ( configUSE_MUTEXES == 1 )
\r
3238 void vTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3240 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3242 if( pxMutexHolder != NULL )
\r
3244 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3246 /* We must be the running task to be able to give the mutex back.
\r
3247 Remove ourselves from the ready list we currently appear in. */
\r
3248 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3250 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3254 mtCOVERAGE_TEST_MARKER();
\r
3257 /* Disinherit the priority before adding the task into the new
\r
3259 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3260 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3262 /* Only reset the event list item value if the value is not
\r
3263 being used for anything else. */
\r
3264 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3266 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
3270 mtCOVERAGE_TEST_MARKER();
\r
3272 prvAddTaskToReadyList( pxTCB );
\r
3276 mtCOVERAGE_TEST_MARKER();
\r
3281 mtCOVERAGE_TEST_MARKER();
\r
3285 #endif /* configUSE_MUTEXES */
\r
3286 /*-----------------------------------------------------------*/
\r
3288 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3290 void vTaskEnterCritical( void )
\r
3292 portDISABLE_INTERRUPTS();
\r
3294 if( xSchedulerRunning != pdFALSE )
\r
3296 ( pxCurrentTCB->uxCriticalNesting )++;
\r
3300 mtCOVERAGE_TEST_MARKER();
\r
3304 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3305 /*-----------------------------------------------------------*/
\r
3307 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3309 void vTaskExitCritical( void )
\r
3311 if( xSchedulerRunning != pdFALSE )
\r
3313 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
3315 ( pxCurrentTCB->uxCriticalNesting )--;
\r
3317 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
3319 portENABLE_INTERRUPTS();
\r
3323 mtCOVERAGE_TEST_MARKER();
\r
3328 mtCOVERAGE_TEST_MARKER();
\r
3333 mtCOVERAGE_TEST_MARKER();
\r
3337 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3338 /*-----------------------------------------------------------*/
\r
3340 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
3342 void vTaskList( char * pcWriteBuffer )
\r
3344 TaskStatus_t *pxTaskStatusArray;
\r
3345 volatile UBaseType_t uxArraySize, x;
\r
3351 * This function is provided for convenience only, and is used by many
\r
3352 * of the demo applications. Do not consider it to be part of the
\r
3355 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
3356 * uxTaskGetSystemState() output into a human readable table that
\r
3357 * displays task names, states and stack usage.
\r
3359 * vTaskList() has a dependency on the sprintf() C library function that
\r
3360 * might bloat the code size, use a lot of stack, and provide different
\r
3361 * results on different platforms. An alternative, tiny, third party,
\r
3362 * and limited functionality implementation of sprintf() is provided in
\r
3363 * many of the FreeRTOS/Demo sub-directories in a file called
\r
3364 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
3365 * snprintf() implementation!).
\r
3367 * It is recommended that production systems call uxTaskGetSystemState()
\r
3368 * directly to get access to raw stats data, rather than indirectly
\r
3369 * through a call to vTaskList().
\r
3373 /* Make sure the write buffer does not contain a string. */
\r
3374 *pcWriteBuffer = 0x00;
\r
3376 /* Take a snapshot of the number of tasks in case it changes while this
\r
3377 function is executing. */
\r
3378 uxArraySize = uxCurrentNumberOfTasks;
\r
3380 /* Allocate an array index for each task. */
\r
3381 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3383 if( pxTaskStatusArray != NULL )
\r
3385 /* Generate the (binary) data. */
\r
3386 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
3388 /* Create a human readable table from the binary data. */
\r
3389 for( x = 0; x < uxArraySize; x++ )
\r
3391 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
3393 case eReady: cStatus = tskREADY_CHAR;
\r
3396 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
3399 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
3402 case eDeleted: cStatus = tskDELETED_CHAR;
\r
3405 default: /* Should not get here, but it is included
\r
3406 to prevent static checking errors. */
\r
3411 sprintf( pcWriteBuffer, "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
3412 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3415 /* Free the array again. */
\r
3416 vPortFree( pxTaskStatusArray );
\r
3420 mtCOVERAGE_TEST_MARKER();
\r
3424 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */
\r
3425 /*----------------------------------------------------------*/
\r
3427 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
3429 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
3431 TaskStatus_t *pxTaskStatusArray;
\r
3432 volatile UBaseType_t uxArraySize, x;
\r
3433 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
3435 #if( configUSE_TRACE_FACILITY != 1 )
\r
3437 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
3444 * This function is provided for convenience only, and is used by many
\r
3445 * of the demo applications. Do not consider it to be part of the
\r
3448 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
3449 * of the uxTaskGetSystemState() output into a human readable table that
\r
3450 * displays the amount of time each task has spent in the Running state
\r
3451 * in both absolute and percentage terms.
\r
3453 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
3454 * function that might bloat the code size, use a lot of stack, and
\r
3455 * provide different results on different platforms. An alternative,
\r
3456 * tiny, third party, and limited functionality implementation of
\r
3457 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3458 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3459 * a full snprintf() implementation!).
\r
3461 * It is recommended that production systems call uxTaskGetSystemState()
\r
3462 * directly to get access to raw stats data, rather than indirectly
\r
3463 * through a call to vTaskGetRunTimeStats().
\r
3466 /* Make sure the write buffer does not contain a string. */
\r
3467 *pcWriteBuffer = 0x00;
\r
3469 /* Take a snapshot of the number of tasks in case it changes while this
\r
3470 function is executing. */
\r
3471 uxArraySize = uxCurrentNumberOfTasks;
\r
3473 /* Allocate an array index for each task. */
\r
3474 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3476 if( pxTaskStatusArray != NULL )
\r
3478 /* Generate the (binary) data. */
\r
3479 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
3481 /* For percentage calculations. */
\r
3482 ulTotalTime /= 100UL;
\r
3484 /* Avoid divide by zero errors. */
\r
3485 if( ulTotalTime > 0 )
\r
3487 /* Create a human readable table from the binary data. */
\r
3488 for( x = 0; x < uxArraySize; x++ )
\r
3490 /* What percentage of the total run time has the task used?
\r
3491 This will always be rounded down to the nearest integer.
\r
3492 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
3493 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
3495 if( ulStatsAsPercentage > 0UL )
\r
3497 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3499 sprintf( pcWriteBuffer, "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
3503 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3504 printf() library can be used. */
\r
3505 sprintf( pcWriteBuffer, "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
3511 /* If the percentage is zero here then the task has
\r
3512 consumed less than 1% of the total run time. */
\r
3513 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3515 sprintf( pcWriteBuffer, "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3519 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3520 printf() library can be used. */
\r
3521 sprintf( pcWriteBuffer, "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3526 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3531 mtCOVERAGE_TEST_MARKER();
\r
3534 /* Free the array again. */
\r
3535 vPortFree( pxTaskStatusArray );
\r
3539 mtCOVERAGE_TEST_MARKER();
\r
3543 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */
\r
3544 /*-----------------------------------------------------------*/
\r
3546 TickType_t uxTaskResetEventItemValue( void )
\r
3548 TickType_t uxReturn;
\r
3550 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
3552 /* Reset the event list item to its normal value - so it can be used with
\r
3553 queues and semaphores. */
\r
3554 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
3558 /*-----------------------------------------------------------*/
\r
3560 #ifdef FREERTOS_MODULE_TEST
\r
3561 #include "tasks_test_access_functions.h"
\r
projects / freertos / blob