From 2696b9415bed35ff0412f993d97db46956b82a6a Mon Sep 17 00:00:00 2001 From: richardbarry Date: Wed, 30 Sep 2009 20:12:31 +0000 Subject: [PATCH] First version that includes the FreeRTOS-MPU implementation. git-svn-id: https://svn.code.sf.net/p/freertos/code/trunk@885 1d2547de-c912-0410-9cb9-b8ca96c0e9e2 --- Source/include/task.h | 572 +++++++++++++++++++++++++++--------------- 1 file changed, 366 insertions(+), 206 deletions(-) diff --git a/Source/include/task.h b/Source/include/task.h index e0f156bc5..9eff36f99 100644 --- a/Source/include/task.h +++ b/Source/include/task.h @@ -3,14 +3,14 @@ This file is part of the FreeRTOS distribution. - FreeRTOS is free software; you can redistribute it and/or modify it under - the terms of the GNU General Public License (version 2) as published by the + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the Free Software Foundation and modified by the FreeRTOS exception. **NOTE** The exception to the GPL is included to allow you to distribute a - combined work that includes FreeRTOS without being obliged to provide the - source code for proprietary components outside of the FreeRTOS kernel. - Alternative commercial license and support terms are also available upon - request. See the licensing section of http://www.FreeRTOS.org for full + combined work that includes FreeRTOS without being obliged to provide the + source code for proprietary components outside of the FreeRTOS kernel. + Alternative commercial license and support terms are also available upon + request. See the licensing section of http://www.FreeRTOS.org for full license details. FreeRTOS is distributed in the hope that it will be useful, but WITHOUT @@ -24,10 +24,10 @@ *************************************************************************** - * * - * Looking for a quick start? Then check out the FreeRTOS eBook! * - * See http://www.FreeRTOS.org/Documentation for details * - * * + * * + * Looking for a quick start? Then check out the FreeRTOS eBook! * + * See http://www.FreeRTOS.org/Documentation for details * + * * *************************************************************************** 1 tab == 4 spaces! @@ -66,7 +66,7 @@ extern "C" { * MACROS AND DEFINITIONS *----------------------------------------------------------*/ -#define tskKERNEL_VERSION_NUMBER "V5.4.0" +#define tskKERNEL_VERSION_NUMBER "V5.4.2" /** * task. h @@ -85,10 +85,34 @@ typedef void * xTaskHandle; */ typedef struct xTIME_OUT { - portBASE_TYPE xOverflowCount; - portTickType xTimeOnEntering; + portBASE_TYPE xOverflowCount; + portTickType xTimeOnEntering; } xTimeOutType; +/* + * Defines the memory ranges allocated to the task when an MPU is used. + */ +typedef struct xMEMORY_REGION +{ + void *pvBaseAddress; + unsigned portLONG ulLengthInBytes; + unsigned portLONG ulParameters; +} xMemoryRegion; + +/* + * Parameters required to create an MPU protected task. + */ +typedef struct xTASK_PARAMTERS +{ + pdTASK_CODE pvTaskCode; + const signed portCHAR * const pcName; + unsigned portSHORT usStackDepth; + void *pvParameters; + unsigned portBASE_TYPE uxPriority; + portSTACK_TYPE *puxStackBuffer; + xMemoryRegion xRegions[ portNUM_CONFIGURABLE_REGIONS ]; +} xTaskParameters; + /* * Defines the priority used by the idle task. This must not be modified. * @@ -167,15 +191,20 @@ typedef struct xTIME_OUT * task. h *
  portBASE_TYPE xTaskCreate(
-                              pdTASK_CODE pvTaskCode,
-                              const portCHAR * const pcName,
-                              unsigned portSHORT usStackDepth,
-                              void *pvParameters,
-                              unsigned portBASE_TYPE uxPriority,
-                              xTaskHandle *pvCreatedTask
-                          );
+ pdTASK_CODE pvTaskCode, + const portCHAR * const pcName, + unsigned portSHORT usStackDepth, + void *pvParameters, + unsigned portBASE_TYPE uxPriority, + xTaskHandle *pvCreatedTask + ); * * Create a new task and add it to the list of tasks that are ready to run. + * + * xTaskCreate() can only be used to create a task that has unrestricted + * access to the entire microcontroller memory map. Systems that include MPU + * support can alternatively create an MPU constrained task using + * xTaskCreateRestricted(). * * @param pvTaskCode Pointer to the task entry function. Tasks * must be implemented to never return (i.e. continuous loop). @@ -192,7 +221,11 @@ typedef struct xTIME_OUT * @param pvParameters Pointer that will be used as the parameter for the task * being created. * - * @param uxPriority The priority at which the task should run. + * @param uxPriority The priority at which the task should run. Systems that + * include MPU support can optionally create tasks in a privileged (system) + * mode by setting bit portPRIVILEGE_BIT of the priority parameter. For + * example, to create a privileged task at priority 2 the uxPriority parameter + * should be set to ( 2 | portPRIVILEGE_BIT ). * * @param pvCreatedTask Used to pass back a handle by which the created task * can be referenced. @@ -205,10 +238,10 @@ typedef struct xTIME_OUT // Task to be created. void vTaskCode( void * pvParameters ) { - for( ;; ) - { - // Task code goes here. - } + for( ;; ) + { + // Task code goes here. + } } // Function that creates a task. @@ -217,20 +250,141 @@ typedef struct xTIME_OUT static unsigned char ucParameterToPass; xTaskHandle xHandle; - // Create the task, storing the handle. Note that the passed parameter ucParameterToPass - // must exist for the lifetime of the task, so in this case is declared static. If it was just an - // an automatic stack variable it might no longer exist, or at least have been corrupted, by the time - // the new time attempts to access it. - xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle ); + // Create the task, storing the handle. Note that the passed parameter ucParameterToPass + // must exist for the lifetime of the task, so in this case is declared static. If it was just an + // an automatic stack variable it might no longer exist, or at least have been corrupted, by the time + // the new time attempts to access it. + xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle ); - // Use the handle to delete the task. - vTaskDelete( xHandle ); + // Use the handle to delete the task. + vTaskDelete( xHandle ); } * \defgroup xTaskCreate xTaskCreate * \ingroup Tasks */ -signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pvCreatedTask ); +#define xTaskCreate( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask ) xTaskGenericCreate( ( pvTaskCode ), ( pcName ), ( usStackDepth ), ( pvParameters ), ( uxPriority ), ( pxCreatedTask ), ( NULL ), ( NULL ) ) + +/** + * task. h + *
+ portBASE_TYPE xTaskCreateRestricted( xTaskParameters *pxTaskDefinition, xTaskHandle pxCreatedTask );
+ * + * xTaskCreateRestricted() should only be used in systems that include an MPU + * implementation. + * + * Create a new task and add it to the list of tasks that are ready to run. + * The function parameters define the memory regions and associated access + * permissions allocated to the task. + * + * @param pxTaskDefinition Pointer to a structure that contains a member + * for each of the normal xTaskCreate() parameters (see the xTaskCreate() API + * documentation) plus an optional stack buffer and the memory region + * definitions. + * + * @param pcName A descriptive name for the task. This is mainly used to + * facilitate debugging. Max length defined by tskMAX_TASK_NAME_LEN - default + * is 16. + * + * @param pxCreatedTask Used to pass back a handle by which the created task + * can be referenced. + * + * @return pdPASS if the task was successfully created and added to a ready + * list, otherwise an error code defined in the file errors. h + * + * Example usage: + 
+// Create an xTaskParameters structure that defines the task to be created.
+static const xTaskParameters xCheckTaskParameters =
+{
+	vATask,		// pvTaskCode - the function that implements the task.
+	"ATask",	// pcName - just a text name for the task to assist debugging.
+	100,		// usStackDepth	- the stack size DEFINED IN WORDS.
+	NULL,		// pvParameters - passed into the task function as the function parameters.
+	( 1UL | portPRIVILEGE_BIT ),// uxPriority - task priority, set the portPRIVILEGE_BIT if the task should run in a privileged state.
+	cStackBuffer,// puxStackBuffer - the buffer to be used as the task stack.
+
+	// xRegions - Allocate up to three separate memory regions for access by
+	// the task, with appropriate access permissions.  Different processors have
+	// different memory alignment requirements - refer to the FreeRTOS documentation
+	// for full information.
+	{											
+		// Base address					Length	Parameters
+        { cReadWriteArray,				32,		portMPU_REGION_READ_WRITE },
+        { cReadOnlyArray,				32,		portMPU_REGION_READ_ONLY },
+        { cPrivilegedOnlyAccessArray,	128,	portMPU_REGION_PRIVILEGED_READ_WRITE }
+	}
+};
+
+int main( void )
+{
+xTaskHandle xHandle;
+
+	// Create a task from the const structure defined above.  The task handle
+	// is requested (the second parameter is not NULL) but in this case just for
+	// demonstration purposes as its not actually used.
+	xTaskCreateRestricted( &xRegTest1Parameters, &xHandle );
+
+	// Start the scheduler.
+	vTaskStartScheduler();
+
+	// Will only get here if there was insufficient memory to create the idle
+	// task.
+	for( ;; );
+}
+
+ * \defgroup xTaskCreateRestricted xTaskCreateRestricted + * \ingroup Tasks + */ +#define xTaskCreateRestricted( x, pxCreatedTask ) xTaskGenericCreate( ((x)->pvTaskCode), ((x)->pcName), ((x)->usStackDepth), ((x)->pvParameters), ((x)->uxPriority), (pxCreatedTask), ((x)->puxStackBuffer), ((x)->xRegions) ) + +/** + * task. h + *
+ void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxRegions );
+ * + * Memory regions are assigned to a restricted task when the task is created by + * a call to xTaskCreateRestricted(). These regions can be redefined using + * vTaskAllocateMPURegions(). + * + * @param xTask The handle of the task being updated. + * + * @param xRegions A pointer to an xMemoryRegion structure that contains the + * new memory region definitions. + * + * Example usage: + 
+// Define an array of xMemoryRegion structures that configures an MPU region
+// allowing read/write access for 1024 bytes starting at the beginning of the
+// ucOneKByte array.  The other two of the maximum 3 definable regions are
+// unused so set to zero.
+static const xMemoryRegion xAltRegions[ portNUM_CONFIGURABLE_REGIONS ] =
+{											
+	// Base address		Length		Parameters
+	{ ucOneKByte,		1024,		portMPU_REGION_READ_WRITE },
+	{ 0,				0,			0 },
+	{ 0,				0,			0 }
+};
+
+void vATask( void *pvParameters )
+{
+	// This task was created such that it has access to certain regions of
+	// memory as defined by the MPU configuration.  At some point it is 
+	// desired that these MPU regions are replaced with that defined in the
+	// xAltRegions const struct above.  Use a call to vTaskAllocateMPURegions()
+	// for this purpose.  NULL is used as the task handle to indicate that this
+	// function should modify the MPU regions of the calling task.
+	vTaskAllocateMPURegions( NULL, xAltRegions );
+	
+	// Now the task can continue its function, but from this point on can only
+	// access its stack and the ucOneKByte array (unless any other statically
+	// defined or shared regions have been declared elsewhere).
+}
+
+ * \defgroup xTaskCreateRestricted xTaskCreateRestricted + * \ingroup Tasks + */ +void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxRegions ) PRIVILEGED_FUNCTION; /** * task. h @@ -261,17 +415,17 @@ signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR { xTaskHandle xHandle; - // Create the task, storing the handle. - xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle ); + // Create the task, storing the handle. + xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle ); - // Use the handle to delete the task. - vTaskDelete( xHandle ); + // Use the handle to delete the task. + vTaskDelete( xHandle ); } * \defgroup vTaskDelete vTaskDelete * \ingroup Tasks */ -void vTaskDelete( xTaskHandle pxTask ); +void vTaskDelete( xTaskHandle pxTask ) PRIVILEGED_FUNCTION; /*----------------------------------------------------------- @@ -315,18 +469,18 @@ void vTaskDelete( xTaskHandle pxTask ); // Block for 500ms. const portTickType xDelay = 500 / portTICK_RATE_MS; - for( ;; ) - { - // Simply toggle the LED every 500ms, blocking between each toggle. - vToggleLED(); - vTaskDelay( xDelay ); - } + for( ;; ) + { + // Simply toggle the LED every 500ms, blocking between each toggle. + vToggleLED(); + vTaskDelay( xDelay ); + } } * \defgroup vTaskDelay vTaskDelay * \ingroup TaskCtrl */ -void vTaskDelay( portTickType xTicksToDelay ); +void vTaskDelay( portTickType xTicksToDelay ) PRIVILEGED_FUNCTION; /** * task. h @@ -371,21 +525,21 @@ void vTaskDelay( portTickType xTicksToDelay ); portTickType xLastWakeTime; const portTickType xFrequency = 10; - // Initialise the xLastWakeTime variable with the current time. - xLastWakeTime = xTaskGetTickCount (); - for( ;; ) - { - // Wait for the next cycle. - vTaskDelayUntil( &xLastWakeTime, xFrequency ); + // Initialise the xLastWakeTime variable with the current time. + xLastWakeTime = xTaskGetTickCount (); + for( ;; ) + { + // Wait for the next cycle. + vTaskDelayUntil( &xLastWakeTime, xFrequency ); - // Perform action here. - } + // Perform action here. + } } * \defgroup vTaskDelayUntil vTaskDelayUntil * \ingroup TaskCtrl */ -void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement ); +void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement ) PRIVILEGED_FUNCTION; /** * task. h @@ -407,32 +561,32 @@ void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTim { xTaskHandle xHandle; - // Create a task, storing the handle. - xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle ); + // Create a task, storing the handle. + xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle ); - // ... + // ... - // Use the handle to obtain the priority of the created task. - // It was created with tskIDLE_PRIORITY, but may have changed - // it itself. - if( uxTaskPriorityGet( xHandle ) != tskIDLE_PRIORITY ) - { - // The task has changed it's priority. - } + // Use the handle to obtain the priority of the created task. + // It was created with tskIDLE_PRIORITY, but may have changed + // it itself. + if( uxTaskPriorityGet( xHandle ) != tskIDLE_PRIORITY ) + { + // The task has changed it's priority. + } - // ... + // ... - // Is our priority higher than the created task? - if( uxTaskPriorityGet( xHandle ) < uxTaskPriorityGet( NULL ) ) - { - // Our priority (obtained using NULL handle) is higher. - } + // Is our priority higher than the created task? + if( uxTaskPriorityGet( xHandle ) < uxTaskPriorityGet( NULL ) ) + { + // Our priority (obtained using NULL handle) is higher. + } } * \defgroup uxTaskPriorityGet uxTaskPriorityGet * \ingroup TaskCtrl */ -unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ); +unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTION; /** * task. h @@ -457,24 +611,24 @@ unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ); { xTaskHandle xHandle; - // Create a task, storing the handle. - xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle ); + // Create a task, storing the handle. + xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle ); - // ... + // ... - // Use the handle to raise the priority of the created task. - vTaskPrioritySet( xHandle, tskIDLE_PRIORITY + 1 ); + // Use the handle to raise the priority of the created task. + vTaskPrioritySet( xHandle, tskIDLE_PRIORITY + 1 ); - // ... + // ... - // Use a NULL handle to raise our priority to the same value. - vTaskPrioritySet( NULL, tskIDLE_PRIORITY + 1 ); + // Use a NULL handle to raise our priority to the same value. + vTaskPrioritySet( NULL, tskIDLE_PRIORITY + 1 ); } * \defgroup vTaskPrioritySet vTaskPrioritySet * \ingroup TaskCtrl */ -void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority ); +void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority ) PRIVILEGED_FUNCTION; /** * task. h @@ -499,33 +653,33 @@ void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority { xTaskHandle xHandle; - // Create a task, storing the handle. - xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle ); + // Create a task, storing the handle. + xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle ); - // ... + // ... - // Use the handle to suspend the created task. - vTaskSuspend( xHandle ); + // Use the handle to suspend the created task. + vTaskSuspend( xHandle ); - // ... + // ... - // The created task will not run during this period, unless - // another task calls vTaskResume( xHandle ). + // The created task will not run during this period, unless + // another task calls vTaskResume( xHandle ). - //... + //... - // Suspend ourselves. - vTaskSuspend( NULL ); + // Suspend ourselves. + vTaskSuspend( NULL ); - // We cannot get here unless another task calls vTaskResume - // with our handle as the parameter. + // We cannot get here unless another task calls vTaskResume + // with our handle as the parameter. } * \defgroup vTaskSuspend vTaskSuspend * \ingroup TaskCtrl */ -void vTaskSuspend( xTaskHandle pxTaskToSuspend ); +void vTaskSuspend( xTaskHandle pxTaskToSuspend ) PRIVILEGED_FUNCTION; /** * task. h @@ -548,33 +702,33 @@ void vTaskSuspend( xTaskHandle pxTaskToSuspend ); { xTaskHandle xHandle; - // Create a task, storing the handle. - xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle ); + // Create a task, storing the handle. + xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle ); - // ... + // ... - // Use the handle to suspend the created task. - vTaskSuspend( xHandle ); + // Use the handle to suspend the created task. + vTaskSuspend( xHandle ); - // ... + // ... - // The created task will not run during this period, unless - // another task calls vTaskResume( xHandle ). + // The created task will not run during this period, unless + // another task calls vTaskResume( xHandle ). - //... + //... - // Resume the suspended task ourselves. - vTaskResume( xHandle ); + // Resume the suspended task ourselves. + vTaskResume( xHandle ); - // The created task will once again get microcontroller processing - // time in accordance with it priority within the system. + // The created task will once again get microcontroller processing + // time in accordance with it priority within the system. } * \defgroup vTaskResume vTaskResume * \ingroup TaskCtrl */ -void vTaskResume( xTaskHandle pxTaskToResume ); +void vTaskResume( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION; /** * task. h @@ -594,7 +748,7 @@ void vTaskResume( xTaskHandle pxTaskToResume ); * \defgroup vTaskResumeFromISR vTaskResumeFromISR * \ingroup TaskCtrl */ -portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume ); +portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION; /*----------------------------------------------------------- * SCHEDULER CONTROL @@ -619,20 +773,20 @@ portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume ); 
  void vAFunction( void )
  {
-     // Create at least one task before starting the kernel.
-     xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
+	 // Create at least one task before starting the kernel.
+	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
 
-     // Start the real time kernel with preemption.
-     vTaskStartScheduler ();
+	 // Start the real time kernel with preemption.
+	 vTaskStartScheduler ();
 
-     // Will not get here unless a task calls vTaskEndScheduler ()
+	 // Will not get here unless a task calls vTaskEndScheduler ()
  }
* * \defgroup vTaskStartScheduler vTaskStartScheduler * \ingroup SchedulerControl */ -void vTaskStartScheduler( void ); +void vTaskStartScheduler( void ) PRIVILEGED_FUNCTION; /** * task. h @@ -658,34 +812,34 @@ void vTaskStartScheduler( void ); 
  void vTaskCode( void * pvParameters )
  {
-     for( ;; )
-     {
-         // Task code goes here.
-
-         // At some point we want to end the real time kernel processing
-         // so call ...
-         vTaskEndScheduler ();
-     }
+	 for( ;; )
+	 {
+		 // Task code goes here.
+
+		 // At some point we want to end the real time kernel processing
+		 // so call ...
+		 vTaskEndScheduler ();
+	 }
  }
 
  void vAFunction( void )
  {
-     // Create at least one task before starting the kernel.
-     xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
+	 // Create at least one task before starting the kernel.
+	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
 
-     // Start the real time kernel with preemption.
-     vTaskStartScheduler ();
+	 // Start the real time kernel with preemption.
+	 vTaskStartScheduler ();
 
-     // Will only get here when the vTaskCode () task has called
-     // vTaskEndScheduler ().  When we get here we are back to single task
-     // execution.
+	 // Will only get here when the vTaskCode () task has called
+	 // vTaskEndScheduler ().  When we get here we are back to single task
+	 // execution.
  }
* * \defgroup vTaskEndScheduler vTaskEndScheduler * \ingroup SchedulerControl */ -void vTaskEndScheduler( void ); +void vTaskEndScheduler( void ) PRIVILEGED_FUNCTION; /** * task. h @@ -706,37 +860,37 @@ void vTaskEndScheduler( void ); 
  void vTask1( void * pvParameters )
  {
-     for( ;; )
-     {
-         // Task code goes here.
+	 for( ;; )
+	 {
+		 // Task code goes here.
 
-         // ...
+		 // ...
 
-         // At some point the task wants to perform a long operation during
-         // which it does not want to get swapped out.  It cannot use
-         // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
-         // operation may cause interrupts to be missed - including the
-         // ticks.
+		 // At some point the task wants to perform a long operation during
+		 // which it does not want to get swapped out.  It cannot use
+		 // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
+		 // operation may cause interrupts to be missed - including the
+		 // ticks.
 
-         // Prevent the real time kernel swapping out the task.
-         vTaskSuspendAll ();
+		 // Prevent the real time kernel swapping out the task.
+		 vTaskSuspendAll ();
 
-         // Perform the operation here.  There is no need to use critical
-         // sections as we have all the microcontroller processing time.
-         // During this time interrupts will still operate and the kernel
-         // tick count will be maintained.
+		 // Perform the operation here.  There is no need to use critical
+		 // sections as we have all the microcontroller processing time.
+		 // During this time interrupts will still operate and the kernel
+		 // tick count will be maintained.
 
-         // ...
+		 // ...
 
-         // The operation is complete.  Restart the kernel.
-         xTaskResumeAll ();
-     }
+		 // The operation is complete.  Restart the kernel.
+		 xTaskResumeAll ();
+	 }
  }
* \defgroup vTaskSuspendAll vTaskSuspendAll * \ingroup SchedulerControl */ -void vTaskSuspendAll( void ); +void vTaskSuspendAll( void ) PRIVILEGED_FUNCTION; /** * task. h @@ -747,48 +901,48 @@ void vTaskSuspendAll( void ); * task is executing at any time. * * @return If resuming the scheduler caused a context switch then pdTRUE is - * returned, otherwise pdFALSE is returned. + * returned, otherwise pdFALSE is returned. * * Example usage: 
  void vTask1( void * pvParameters )
  {
-     for( ;; )
-     {
-         // Task code goes here.
-
-         // ...
-
-         // At some point the task wants to perform a long operation during
-         // which it does not want to get swapped out.  It cannot use
-         // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
-         // operation may cause interrupts to be missed - including the
-         // ticks.
-
-         // Prevent the real time kernel swapping out the task.
-         vTaskSuspendAll ();
-
-         // Perform the operation here.  There is no need to use critical
-         // sections as we have all the microcontroller processing time.
-         // During this time interrupts will still operate and the real
-         // time kernel tick count will be maintained.
-
-         // ...
-
-         // The operation is complete.  Restart the kernel.  We want to force
-         // a context switch - but there is no point if resuming the scheduler
-         // caused a context switch already.
-         if( !xTaskResumeAll () )
-         {
-              taskYIELD ();
-         }
-     }
+	 for( ;; )
+	 {
+		 // Task code goes here.
+
+		 // ...
+
+		 // At some point the task wants to perform a long operation during
+		 // which it does not want to get swapped out.  It cannot use
+		 // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
+		 // operation may cause interrupts to be missed - including the
+		 // ticks.
+
+		 // Prevent the real time kernel swapping out the task.
+		 vTaskSuspendAll ();
+
+		 // Perform the operation here.  There is no need to use critical
+		 // sections as we have all the microcontroller processing time.
+		 // During this time interrupts will still operate and the real
+		 // time kernel tick count will be maintained.
+
+		 // ...
+
+		 // The operation is complete.  Restart the kernel.  We want to force
+		 // a context switch - but there is no point if resuming the scheduler
+		 // caused a context switch already.
+		 if( !xTaskResumeAll () )
+		 {
+			  taskYIELD ();
+		 }
+	 }
  }
* \defgroup xTaskResumeAll xTaskResumeAll * \ingroup SchedulerControl */ -signed portBASE_TYPE xTaskResumeAll( void ); +signed portBASE_TYPE xTaskResumeAll( void ) PRIVILEGED_FUNCTION; /** * task. h @@ -799,7 +953,7 @@ signed portBASE_TYPE xTaskResumeAll( void ); * is in any other state. * */ -signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask ); +signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask ) PRIVILEGED_FUNCTION; /*----------------------------------------------------------- * TASK UTILITIES @@ -814,7 +968,7 @@ signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask ); * \page xTaskGetTickCount xTaskGetTickCount * \ingroup TaskUtils */ -portTickType xTaskGetTickCount( void ); +portTickType xTaskGetTickCount( void ) PRIVILEGED_FUNCTION; /** * task. h @@ -828,7 +982,7 @@ portTickType xTaskGetTickCount( void ); * \page uxTaskGetNumberOfTasks uxTaskGetNumberOfTasks * \ingroup TaskUtils */ -unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void ); +unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void ) PRIVILEGED_FUNCTION; /** * task. h @@ -854,7 +1008,7 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void ); * \page vTaskList vTaskList * \ingroup TaskUtils */ -void vTaskList( signed portCHAR *pcWriteBuffer ); +void vTaskList( signed portCHAR *pcWriteBuffer ) PRIVILEGED_FUNCTION; /** * task. h @@ -886,7 +1040,7 @@ void vTaskList( signed portCHAR *pcWriteBuffer ); * \page vTaskGetRunTimeStats vTaskGetRunTimeStats * \ingroup TaskUtils */ -void vTaskGetRunTimeStats( signed portCHAR *pcWriteBuffer ); +void vTaskGetRunTimeStats( signed portCHAR *pcWriteBuffer ) PRIVILEGED_FUNCTION; /** * task. h @@ -907,7 +1061,7 @@ void vTaskGetRunTimeStats( signed portCHAR *pcWriteBuffer ); * \page vTaskStartTrace vTaskStartTrace * \ingroup TaskUtils */ -void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize ); +void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize ) PRIVILEGED_FUNCTION; /** * task. h @@ -920,7 +1074,7 @@ void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize * \page usTaskEndTrace usTaskEndTrace * \ingroup TaskUtils */ -unsigned portLONG ulTaskEndTrace( void ); +unsigned portLONG ulTaskEndTrace( void ) PRIVILEGED_FUNCTION; /** * task.h @@ -940,7 +1094,7 @@ unsigned portLONG ulTaskEndTrace( void ); * @return The smallest amount of free stack space there has been (in bytes) * since the task referenced by xTask was created. */ -unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask ); +unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask ) PRIVILEGED_FUNCTION; /** * task.h @@ -950,7 +1104,7 @@ unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask ); * Passing xTask as NULL has the effect of setting the calling tasks hook * function. */ -void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction ); +void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction ) PRIVILEGED_FUNCTION; /** * task.h @@ -958,7 +1112,7 @@ void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunct * * Returns the pxHookFunction value assigned to the task xTask. */ -pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask ); +pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask ) PRIVILEGED_FUNCTION; /** * task.h @@ -970,7 +1124,7 @@ pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask ); * pvParameter is passed to the hook function for the task to interpret as it * wants. */ -portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter ); +portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter ) PRIVILEGED_FUNCTION; /*----------------------------------------------------------- @@ -987,7 +1141,7 @@ portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter * for a finite period required removing from a blocked list and placing on * a ready list. */ -void vTaskIncrementTick( void ); +void vTaskIncrementTick( void ) PRIVILEGED_FUNCTION; /* * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN @@ -1010,7 +1164,7 @@ void vTaskIncrementTick( void ); * portTICK_RATE_MS can be used to convert kernel ticks into a real time * period. */ -void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait ); +void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait ) PRIVILEGED_FUNCTION; /* * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN @@ -1027,7 +1181,7 @@ void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicks * @return pdTRUE if the task being removed has a higher priority than the task * making the call, otherwise pdFALSE. */ -signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList ); +signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList ) PRIVILEGED_FUNCTION; /* * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN @@ -1040,7 +1194,7 @@ signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList ) * Empties the ready and delayed queues of task control blocks, freeing the * memory allocated for the task control block and task stacks as it goes. */ -void vTaskCleanUpResources( void ); +void vTaskCleanUpResources( void ) PRIVILEGED_FUNCTION; /* * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY @@ -1050,47 +1204,53 @@ void vTaskCleanUpResources( void ); * Sets the pointer to the current TCB to the TCB of the highest priority task * that is ready to run. */ -void vTaskSwitchContext( void ); +void vTaskSwitchContext( void ) PRIVILEGED_FUNCTION; /* * Return the handle of the calling task. */ -xTaskHandle xTaskGetCurrentTaskHandle( void ); +xTaskHandle xTaskGetCurrentTaskHandle( void ) PRIVILEGED_FUNCTION; /* * Capture the current time status for future reference. */ -void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut ); +void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut ) PRIVILEGED_FUNCTION; /* * Compare the time status now with that previously captured to see if the * timeout has expired. */ -portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait ); +portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait ) PRIVILEGED_FUNCTION; /* * Shortcut used by the queue implementation to prevent unnecessary call to * taskYIELD(); */ -void vTaskMissedYield( void ); +void vTaskMissedYield( void ) PRIVILEGED_FUNCTION; /* * Returns the scheduler state as taskSCHEDULER_RUNNING, * taskSCHEDULER_NOT_STARTED or taskSCHEDULER_SUSPENDED. */ -portBASE_TYPE xTaskGetSchedulerState( void ); +portBASE_TYPE xTaskGetSchedulerState( void ) PRIVILEGED_FUNCTION; /* * Raises the priority of the mutex holder to that of the calling task should * the mutex holder have a priority less than the calling task. */ -void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder ); +void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder ) PRIVILEGED_FUNCTION; /* * Set the priority of a task back to its proper priority in the case that it * inherited a higher priority while it was holding a semaphore. */ -void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder ); +void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder ) PRIVILEGED_FUNCTION; + +/* + * Generic version of the task creation function which is in turn called by the + * xTaskCreate() and xTaskCreateProtected() macros. + */ +signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions ) PRIVILEGED_FUNCTION; #ifdef __cplusplus } -- 2.39.5