2 FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /* Standard includes. */
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74 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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75 all the API functions to use the MPU wrappers. That should only be done when
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76 task.h is included from an application file. */
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77 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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79 /* FreeRTOS includes. */
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80 #include "FreeRTOS.h"
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83 #include "StackMacros.h"
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85 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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86 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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87 header files above, but not in this file, in order to generate the correct
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88 privileged Vs unprivileged linkage and placement. */
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89 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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91 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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92 functions but without including stdio.h here. */
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93 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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94 /* At the bottom of this file are two optional functions that can be used
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95 to generate human readable text from the raw data generated by the
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96 uxTaskGetSystemState() function. Note the formatting functions are provided
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97 for convenience only, and are NOT considered part of the kernel. */
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99 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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101 /* Sanity check the configuration. */
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102 #if( configUSE_TICKLESS_IDLE != 0 )
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103 #if( INCLUDE_vTaskSuspend != 1 )
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104 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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105 #endif /* INCLUDE_vTaskSuspend */
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106 #endif /* configUSE_TICKLESS_IDLE */
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109 * Defines the size, in words, of the stack allocated to the idle task.
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111 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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113 #if( configUSE_PREEMPTION == 0 )
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114 /* If the cooperative scheduler is being used then a yield should not be
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115 performed just because a higher priority task has been woken. */
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116 #define taskYIELD_IF_USING_PREEMPTION()
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118 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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121 /* Value that can be assigned to the eNotifyState member of the TCB. */
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124 eNotWaitingNotification = 0,
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125 eWaitingNotification,
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130 * Task control block. A task control block (TCB) is allocated for each task,
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131 * and stores task state information, including a pointer to the task's context
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132 * (the task's run time environment, including register values)
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134 typedef struct tskTaskControlBlock
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136 volatile StackType_t *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
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138 #if ( portUSING_MPU_WRAPPERS == 1 )
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139 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
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140 BaseType_t xUsingStaticallyAllocatedStack; /* Set to pdTRUE if the stack is a statically allocated array, and pdFALSE if the stack is dynamically allocated. */
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143 ListItem_t xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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144 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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145 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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146 StackType_t *pxStack; /*< Points to the start of the stack. */
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147 char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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149 #if ( portSTACK_GROWTH > 0 )
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150 StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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153 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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154 UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
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157 #if ( configUSE_TRACE_FACILITY == 1 )
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158 UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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159 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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162 #if ( configUSE_MUTEXES == 1 )
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163 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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164 UBaseType_t uxMutexesHeld;
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167 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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168 TaskHookFunction_t pxTaskTag;
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171 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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172 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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175 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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176 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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179 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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180 /* Allocate a Newlib reent structure that is specific to this task.
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181 Note Newlib support has been included by popular demand, but is not
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182 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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183 responsible for resulting newlib operation. User must be familiar with
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184 newlib and must provide system-wide implementations of the necessary
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185 stubs. Be warned that (at the time of writing) the current newlib design
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186 implements a system-wide malloc() that must be provided with locks. */
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187 struct _reent xNewLib_reent;
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190 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
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191 volatile uint32_t ulNotifiedValue;
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192 volatile eNotifyValue eNotifyState;
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197 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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198 below to enable the use of older kernel aware debuggers. */
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199 typedef tskTCB TCB_t;
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202 * Some kernel aware debuggers require the data the debugger needs access to to
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203 * be global, rather than file scope.
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205 #ifdef portREMOVE_STATIC_QUALIFIER
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209 /*lint -e956 A manual analysis and inspection has been used to determine which
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210 static variables must be declared volatile. */
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212 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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214 /* Lists for ready and blocked tasks. --------------------*/
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215 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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216 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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217 PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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218 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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219 PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
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220 PRIVILEGED_DATA static List_t xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
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222 #if ( INCLUDE_vTaskDelete == 1 )
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224 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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225 PRIVILEGED_DATA static volatile UBaseType_t uxTasksDeleted = ( UBaseType_t ) 0U;
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229 #if ( INCLUDE_vTaskSuspend == 1 )
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231 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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235 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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237 PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
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241 /* Other file private variables. --------------------------------*/
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242 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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243 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;
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244 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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245 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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246 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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247 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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248 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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249 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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250 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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252 /* Context switches are held pending while the scheduler is suspended. Also,
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253 interrupts must not manipulate the xGenericListItem of a TCB, or any of the
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254 lists the xGenericListItem can be referenced from, if the scheduler is suspended.
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255 If an interrupt needs to unblock a task while the scheduler is suspended then it
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256 moves the task's event list item into the xPendingReadyList, ready for the
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257 kernel to move the task from the pending ready list into the real ready list
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258 when the scheduler is unsuspended. The pending ready list itself can only be
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259 accessed from a critical section. */
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260 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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262 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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264 PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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265 PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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271 /* Debugging and trace facilities private variables and macros. ------------*/
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274 * The value used to fill the stack of a task when the task is created. This
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275 * is used purely for checking the high water mark for tasks.
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277 #define tskSTACK_FILL_BYTE ( 0xa5U )
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280 * Macros used by vListTask to indicate which state a task is in.
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282 #define tskBLOCKED_CHAR ( 'B' )
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283 #define tskREADY_CHAR ( 'R' )
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284 #define tskDELETED_CHAR ( 'D' )
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285 #define tskSUSPENDED_CHAR ( 'S' )
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287 /*-----------------------------------------------------------*/
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289 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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291 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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292 performed in a generic way that is not optimised to any particular
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293 microcontroller architecture. */
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295 /* uxTopReadyPriority holds the priority of the highest priority ready
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297 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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299 if( ( uxPriority ) > uxTopReadyPriority ) \
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301 uxTopReadyPriority = ( uxPriority ); \
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303 } /* taskRECORD_READY_PRIORITY */
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305 /*-----------------------------------------------------------*/
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307 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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309 /* Find the highest priority queue that contains ready tasks. */ \
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310 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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312 configASSERT( uxTopReadyPriority ); \
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313 --uxTopReadyPriority; \
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316 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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317 the same priority get an equal share of the processor time. */ \
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318 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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319 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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321 /*-----------------------------------------------------------*/
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323 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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324 they are only required when a port optimised method of task selection is
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326 #define taskRESET_READY_PRIORITY( uxPriority )
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327 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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329 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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331 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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332 performed in a way that is tailored to the particular microcontroller
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333 architecture being used. */
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335 /* A port optimised version is provided. Call the port defined macros. */
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336 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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338 /*-----------------------------------------------------------*/
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340 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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342 UBaseType_t uxTopPriority; \
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344 /* Find the highest priority queue that contains ready tasks. */ \
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345 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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346 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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347 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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348 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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350 /*-----------------------------------------------------------*/
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352 /* A port optimised version is provided, call it only if the TCB being reset
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353 is being referenced from a ready list. If it is referenced from a delayed
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354 or suspended list then it won't be in a ready list. */
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355 #define taskRESET_READY_PRIORITY( uxPriority ) \
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357 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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359 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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363 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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365 /*-----------------------------------------------------------*/
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367 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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368 count overflows. */
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369 #define taskSWITCH_DELAYED_LISTS() \
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373 /* The delayed tasks list should be empty when the lists are switched. */ \
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374 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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376 pxTemp = pxDelayedTaskList; \
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377 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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378 pxOverflowDelayedTaskList = pxTemp; \
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379 xNumOfOverflows++; \
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380 prvResetNextTaskUnblockTime(); \
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383 /*-----------------------------------------------------------*/
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386 * Place the task represented by pxTCB into the appropriate ready list for
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387 * the task. It is inserted at the end of the list.
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389 #define prvAddTaskToReadyList( pxTCB ) \
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390 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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391 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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392 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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393 /*-----------------------------------------------------------*/
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396 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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397 * where NULL is used to indicate that the handle of the currently executing
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398 * task should be used in place of the parameter. This macro simply checks to
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399 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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401 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )
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403 /* The item value of the event list item is normally used to hold the priority
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404 of the task to which it belongs (coded to allow it to be held in reverse
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405 priority order). However, it is occasionally borrowed for other purposes. It
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406 is important its value is not updated due to a task priority change while it is
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407 being used for another purpose. The following bit definition is used to inform
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408 the scheduler that the value should not be changed - in which case it is the
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409 responsibility of whichever module is using the value to ensure it gets set back
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410 to its original value when it is released. */
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411 #if configUSE_16_BIT_TICKS == 1
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412 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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414 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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417 /* Callback function prototypes. --------------------------*/
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418 #if configCHECK_FOR_STACK_OVERFLOW > 0
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419 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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422 #if configUSE_TICK_HOOK > 0
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423 extern void vApplicationTickHook( void );
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426 /* File private functions. --------------------------------*/
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429 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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430 * into the TCB structure.
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432 static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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435 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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436 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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437 * is in any other state.
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439 #if ( INCLUDE_vTaskSuspend == 1 )
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440 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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441 #endif /* INCLUDE_vTaskSuspend */
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444 * Utility to ready all the lists used by the scheduler. This is called
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445 * automatically upon the creation of the first task.
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447 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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450 * The idle task, which as all tasks is implemented as a never ending loop.
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451 * The idle task is automatically created and added to the ready lists upon
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452 * creation of the first user task.
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454 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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455 * language extensions. The equivalent prototype for this function is:
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457 * void prvIdleTask( void *pvParameters );
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460 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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463 * Utility to free all memory allocated by the scheduler to hold a TCB,
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464 * including the stack pointed to by the TCB.
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466 * This does not free memory allocated by the task itself (i.e. memory
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467 * allocated by calls to pvPortMalloc from within the tasks application code).
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469 #if ( INCLUDE_vTaskDelete == 1 )
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471 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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476 * Used only by the idle task. This checks to see if anything has been placed
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477 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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478 * and its TCB deleted.
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480 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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483 * The currently executing task is entering the Blocked state. Add the task to
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484 * either the current or the overflow delayed task list.
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486 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake ) PRIVILEGED_FUNCTION;
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489 * Allocates memory from the heap for a TCB and associated stack. Checks the
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490 * allocation was successful.
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492 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer ) PRIVILEGED_FUNCTION;
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495 * Fills an TaskStatus_t structure with information on each task that is
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496 * referenced from the pxList list (which may be a ready list, a delayed list,
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497 * a suspended list, etc.).
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499 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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500 * NORMAL APPLICATION CODE.
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502 #if ( configUSE_TRACE_FACILITY == 1 )
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504 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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509 * When a task is created, the stack of the task is filled with a known value.
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510 * This function determines the 'high water mark' of the task stack by
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511 * determining how much of the stack remains at the original preset value.
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513 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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515 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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520 * Return the amount of time, in ticks, that will pass before the kernel will
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521 * next move a task from the Blocked state to the Running state.
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523 * This conditional compilation should use inequality to 0, not equality to 1.
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524 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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525 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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526 * set to a value other than 1.
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528 #if ( configUSE_TICKLESS_IDLE != 0 )
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530 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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535 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
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536 * will exit the Blocked state.
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538 static void prvResetNextTaskUnblockTime( void );
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540 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
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543 * Helper function used to pad task names with spaces when printing out
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544 * human readable tables of task information.
\r
546 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName );
\r
549 /*-----------------------------------------------------------*/
\r
551 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
553 BaseType_t xReturn;
\r
555 StackType_t *pxTopOfStack;
\r
557 configASSERT( pxTaskCode );
\r
558 configASSERT( ( ( uxPriority & ( UBaseType_t ) ( ~portPRIVILEGE_BIT ) ) < ( UBaseType_t ) configMAX_PRIORITIES ) );
\r
560 /* Allocate the memory required by the TCB and stack for the new task,
\r
561 checking that the allocation was successful. */
\r
562 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
\r
564 if( pxNewTCB != NULL )
\r
566 #if( portUSING_MPU_WRAPPERS == 1 )
\r
567 /* Should the task be created in privileged mode? */
\r
568 BaseType_t xRunPrivileged;
\r
569 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
571 xRunPrivileged = pdTRUE;
\r
575 xRunPrivileged = pdFALSE;
\r
577 uxPriority &= ~portPRIVILEGE_BIT;
\r
579 if( puxStackBuffer != NULL )
\r
581 /* The application provided its own stack. Note this so no
\r
582 attempt is made to delete the stack should that task be
\r
584 pxNewTCB->xUsingStaticallyAllocatedStack = pdTRUE;
\r
588 /* The stack was allocated dynamically. Note this so it can be
\r
589 deleted again if the task is deleted. */
\r
590 pxNewTCB->xUsingStaticallyAllocatedStack = pdFALSE;
\r
592 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
594 /* Calculate the top of stack address. This depends on whether the
\r
595 stack grows from high memory to low (as per the 80x86) or vice versa.
\r
596 portSTACK_GROWTH is used to make the result positive or negative as
\r
597 required by the port. */
\r
598 #if( portSTACK_GROWTH < 0 )
\r
600 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );
\r
601 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
603 /* Check the alignment of the calculated top of stack is correct. */
\r
604 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
606 #else /* portSTACK_GROWTH */
\r
608 pxTopOfStack = pxNewTCB->pxStack;
\r
610 /* Check the alignment of the stack buffer is correct. */
\r
611 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
613 /* If we want to use stack checking on architectures that use
\r
614 a positive stack growth direction then we also need to store the
\r
615 other extreme of the stack space. */
\r
616 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
\r
618 #endif /* portSTACK_GROWTH */
\r
620 /* Setup the newly allocated TCB with the initial state of the task. */
\r
621 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
\r
623 /* Initialize the TCB stack to look as if the task was already running,
\r
624 but had been interrupted by the scheduler. The return address is set
\r
625 to the start of the task function. Once the stack has been initialised
\r
626 the top of stack variable is updated. */
\r
627 #if( portUSING_MPU_WRAPPERS == 1 )
\r
629 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
631 #else /* portUSING_MPU_WRAPPERS */
\r
633 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
635 #endif /* portUSING_MPU_WRAPPERS */
\r
637 if( ( void * ) pxCreatedTask != NULL )
\r
639 /* Pass the TCB out - in an anonymous way. The calling function/
\r
640 task can use this as a handle to delete the task later if
\r
642 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
646 mtCOVERAGE_TEST_MARKER();
\r
649 /* Ensure interrupts don't access the task lists while they are being
\r
651 taskENTER_CRITICAL();
\r
653 uxCurrentNumberOfTasks++;
\r
654 if( pxCurrentTCB == NULL )
\r
656 /* There are no other tasks, or all the other tasks are in
\r
657 the suspended state - make this the current task. */
\r
658 pxCurrentTCB = pxNewTCB;
\r
660 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
662 /* This is the first task to be created so do the preliminary
\r
663 initialisation required. We will not recover if this call
\r
664 fails, but we will report the failure. */
\r
665 prvInitialiseTaskLists();
\r
669 mtCOVERAGE_TEST_MARKER();
\r
674 /* If the scheduler is not already running, make this task the
\r
675 current task if it is the highest priority task to be created
\r
677 if( xSchedulerRunning == pdFALSE )
\r
679 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
681 pxCurrentTCB = pxNewTCB;
\r
685 mtCOVERAGE_TEST_MARKER();
\r
690 mtCOVERAGE_TEST_MARKER();
\r
696 #if ( configUSE_TRACE_FACILITY == 1 )
\r
698 /* Add a counter into the TCB for tracing only. */
\r
699 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
701 #endif /* configUSE_TRACE_FACILITY */
\r
702 traceTASK_CREATE( pxNewTCB );
\r
704 prvAddTaskToReadyList( pxNewTCB );
\r
707 portSETUP_TCB( pxNewTCB );
\r
709 taskEXIT_CRITICAL();
\r
713 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
714 traceTASK_CREATE_FAILED();
\r
717 if( xReturn == pdPASS )
\r
719 if( xSchedulerRunning != pdFALSE )
\r
721 /* If the created task is of a higher priority than the current task
\r
722 then it should run now. */
\r
723 if( pxCurrentTCB->uxPriority < uxPriority )
\r
725 taskYIELD_IF_USING_PREEMPTION();
\r
729 mtCOVERAGE_TEST_MARKER();
\r
734 mtCOVERAGE_TEST_MARKER();
\r
740 /*-----------------------------------------------------------*/
\r
742 #if ( INCLUDE_vTaskDelete == 1 )
\r
744 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
748 taskENTER_CRITICAL();
\r
750 /* If null is passed in here then it is the calling task that is
\r
752 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
754 /* Remove task from the ready list and place in the termination list.
\r
755 This will stop the task from be scheduled. The idle task will check
\r
756 the termination list and free up any memory allocated by the
\r
757 scheduler for the TCB and stack. */
\r
758 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
760 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
764 mtCOVERAGE_TEST_MARKER();
\r
767 /* Is the task waiting on an event also? */
\r
768 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
770 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
774 mtCOVERAGE_TEST_MARKER();
\r
777 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
779 /* Increment the ucTasksDeleted variable so the idle task knows
\r
780 there is a task that has been deleted and that it should therefore
\r
781 check the xTasksWaitingTermination list. */
\r
784 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
785 can detect that the task lists need re-generating. */
\r
788 traceTASK_DELETE( pxTCB );
\r
790 taskEXIT_CRITICAL();
\r
792 /* Force a reschedule if it is the currently running task that has just
\r
794 if( xSchedulerRunning != pdFALSE )
\r
796 if( pxTCB == pxCurrentTCB )
\r
798 configASSERT( uxSchedulerSuspended == 0 );
\r
800 /* The pre-delete hook is primarily for the Windows simulator,
\r
801 in which Windows specific clean up operations are performed,
\r
802 after which it is not possible to yield away from this task -
\r
803 hence xYieldPending is used to latch that a context switch is
\r
805 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
806 portYIELD_WITHIN_API();
\r
810 /* Reset the next expected unblock time in case it referred to
\r
811 the task that has just been deleted. */
\r
812 taskENTER_CRITICAL();
\r
814 prvResetNextTaskUnblockTime();
\r
816 taskEXIT_CRITICAL();
\r
821 #endif /* INCLUDE_vTaskDelete */
\r
822 /*-----------------------------------------------------------*/
\r
824 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
826 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
828 TickType_t xTimeToWake;
\r
829 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
831 configASSERT( pxPreviousWakeTime );
\r
832 configASSERT( ( xTimeIncrement > 0U ) );
\r
833 configASSERT( uxSchedulerSuspended == 0 );
\r
837 /* Minor optimisation. The tick count cannot change in this
\r
839 const TickType_t xConstTickCount = xTickCount;
\r
841 /* Generate the tick time at which the task wants to wake. */
\r
842 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
844 if( xConstTickCount < *pxPreviousWakeTime )
\r
846 /* The tick count has overflowed since this function was
\r
847 lasted called. In this case the only time we should ever
\r
848 actually delay is if the wake time has also overflowed,
\r
849 and the wake time is greater than the tick time. When this
\r
850 is the case it is as if neither time had overflowed. */
\r
851 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
853 xShouldDelay = pdTRUE;
\r
857 mtCOVERAGE_TEST_MARKER();
\r
862 /* The tick time has not overflowed. In this case we will
\r
863 delay if either the wake time has overflowed, and/or the
\r
864 tick time is less than the wake time. */
\r
865 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
867 xShouldDelay = pdTRUE;
\r
871 mtCOVERAGE_TEST_MARKER();
\r
875 /* Update the wake time ready for the next call. */
\r
876 *pxPreviousWakeTime = xTimeToWake;
\r
878 if( xShouldDelay != pdFALSE )
\r
880 traceTASK_DELAY_UNTIL();
\r
882 /* Remove the task from the ready list before adding it to the
\r
883 blocked list as the same list item is used for both lists. */
\r
884 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
886 /* The current task must be in a ready list, so there is
\r
887 no need to check, and the port reset macro can be called
\r
889 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
893 mtCOVERAGE_TEST_MARKER();
\r
896 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
900 mtCOVERAGE_TEST_MARKER();
\r
903 xAlreadyYielded = xTaskResumeAll();
\r
905 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
906 have put ourselves to sleep. */
\r
907 if( xAlreadyYielded == pdFALSE )
\r
909 portYIELD_WITHIN_API();
\r
913 mtCOVERAGE_TEST_MARKER();
\r
917 #endif /* INCLUDE_vTaskDelayUntil */
\r
918 /*-----------------------------------------------------------*/
\r
920 #if ( INCLUDE_vTaskDelay == 1 )
\r
922 void vTaskDelay( const TickType_t xTicksToDelay )
\r
924 TickType_t xTimeToWake;
\r
925 BaseType_t xAlreadyYielded = pdFALSE;
\r
928 /* A delay time of zero just forces a reschedule. */
\r
929 if( xTicksToDelay > ( TickType_t ) 0U )
\r
931 configASSERT( uxSchedulerSuspended == 0 );
\r
936 /* A task that is removed from the event list while the
\r
937 scheduler is suspended will not get placed in the ready
\r
938 list or removed from the blocked list until the scheduler
\r
941 This task cannot be in an event list as it is the currently
\r
944 /* Calculate the time to wake - this may overflow but this is
\r
946 xTimeToWake = xTickCount + xTicksToDelay;
\r
948 /* We must remove ourselves from the ready list before adding
\r
949 ourselves to the blocked list as the same list item is used for
\r
951 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
953 /* The current task must be in a ready list, so there is
\r
954 no need to check, and the port reset macro can be called
\r
956 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
960 mtCOVERAGE_TEST_MARKER();
\r
962 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
964 xAlreadyYielded = xTaskResumeAll();
\r
968 mtCOVERAGE_TEST_MARKER();
\r
971 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
972 have put ourselves to sleep. */
\r
973 if( xAlreadyYielded == pdFALSE )
\r
975 portYIELD_WITHIN_API();
\r
979 mtCOVERAGE_TEST_MARKER();
\r
983 #endif /* INCLUDE_vTaskDelay */
\r
984 /*-----------------------------------------------------------*/
\r
986 #if ( INCLUDE_eTaskGetState == 1 )
\r
988 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
990 eTaskState eReturn;
\r
991 List_t *pxStateList;
\r
992 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
994 configASSERT( pxTCB );
\r
996 if( pxTCB == pxCurrentTCB )
\r
998 /* The task calling this function is querying its own state. */
\r
999 eReturn = eRunning;
\r
1003 taskENTER_CRITICAL();
\r
1005 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
1007 taskEXIT_CRITICAL();
\r
1009 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
1011 /* The task being queried is referenced from one of the Blocked
\r
1013 eReturn = eBlocked;
\r
1016 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1017 else if( pxStateList == &xSuspendedTaskList )
\r
1019 /* The task being queried is referenced from the suspended
\r
1020 list. Is it genuinely suspended or is it block
\r
1022 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1024 eReturn = eSuspended;
\r
1028 eReturn = eBlocked;
\r
1033 #if ( INCLUDE_vTaskDelete == 1 )
\r
1034 else if( pxStateList == &xTasksWaitingTermination )
\r
1036 /* The task being queried is referenced from the deleted
\r
1038 eReturn = eDeleted;
\r
1042 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1044 /* If the task is not in any other state, it must be in the
\r
1045 Ready (including pending ready) state. */
\r
1051 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1053 #endif /* INCLUDE_eTaskGetState */
\r
1054 /*-----------------------------------------------------------*/
\r
1056 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1058 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1061 UBaseType_t uxReturn;
\r
1063 taskENTER_CRITICAL();
\r
1065 /* If null is passed in here then it is the priority of the that
\r
1066 called uxTaskPriorityGet() that is being queried. */
\r
1067 pxTCB = prvGetTCBFromHandle( xTask );
\r
1068 uxReturn = pxTCB->uxPriority;
\r
1070 taskEXIT_CRITICAL();
\r
1075 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1076 /*-----------------------------------------------------------*/
\r
1078 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1080 UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )
\r
1083 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1085 /* RTOS ports that support interrupt nesting have the concept of a
\r
1086 maximum system call (or maximum API call) interrupt priority.
\r
1087 Interrupts that are above the maximum system call priority are keep
\r
1088 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1089 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1090 is defined in FreeRTOSConfig.h then
\r
1091 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1092 failure if a FreeRTOS API function is called from an interrupt that has
\r
1093 been assigned a priority above the configured maximum system call
\r
1094 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1095 from interrupts that have been assigned a priority at or (logically)
\r
1096 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1097 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1098 simple as possible. More information (albeit Cortex-M specific) is
\r
1099 provided on the following link:
\r
1100 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1101 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1103 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1105 /* If null is passed in here then it is the priority of the calling
\r
1106 task that is being queried. */
\r
1107 pxTCB = prvGetTCBFromHandle( xTask );
\r
1108 uxReturn = pxTCB->uxPriority;
\r
1110 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1115 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1116 /*-----------------------------------------------------------*/
\r
1118 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1120 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1123 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1124 BaseType_t xYieldRequired = pdFALSE;
\r
1126 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1128 /* Ensure the new priority is valid. */
\r
1129 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1131 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1135 mtCOVERAGE_TEST_MARKER();
\r
1138 taskENTER_CRITICAL();
\r
1140 /* If null is passed in here then it is the priority of the calling
\r
1141 task that is being changed. */
\r
1142 pxTCB = prvGetTCBFromHandle( xTask );
\r
1144 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1146 #if ( configUSE_MUTEXES == 1 )
\r
1148 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1152 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1156 if( uxCurrentBasePriority != uxNewPriority )
\r
1158 /* The priority change may have readied a task of higher
\r
1159 priority than the calling task. */
\r
1160 if( uxNewPriority > uxCurrentBasePriority )
\r
1162 if( pxTCB != pxCurrentTCB )
\r
1164 /* The priority of a task other than the currently
\r
1165 running task is being raised. Is the priority being
\r
1166 raised above that of the running task? */
\r
1167 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1169 xYieldRequired = pdTRUE;
\r
1173 mtCOVERAGE_TEST_MARKER();
\r
1178 /* The priority of the running task is being raised,
\r
1179 but the running task must already be the highest
\r
1180 priority task able to run so no yield is required. */
\r
1183 else if( pxTCB == pxCurrentTCB )
\r
1185 /* Setting the priority of the running task down means
\r
1186 there may now be another task of higher priority that
\r
1187 is ready to execute. */
\r
1188 xYieldRequired = pdTRUE;
\r
1192 /* Setting the priority of any other task down does not
\r
1193 require a yield as the running task must be above the
\r
1194 new priority of the task being modified. */
\r
1197 /* Remember the ready list the task might be referenced from
\r
1198 before its uxPriority member is changed so the
\r
1199 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1200 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1202 #if ( configUSE_MUTEXES == 1 )
\r
1204 /* Only change the priority being used if the task is not
\r
1205 currently using an inherited priority. */
\r
1206 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1208 pxTCB->uxPriority = uxNewPriority;
\r
1212 mtCOVERAGE_TEST_MARKER();
\r
1215 /* The base priority gets set whatever. */
\r
1216 pxTCB->uxBasePriority = uxNewPriority;
\r
1220 pxTCB->uxPriority = uxNewPriority;
\r
1224 /* Only reset the event list item value if the value is not
\r
1225 being used for anything else. */
\r
1226 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1228 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
1232 mtCOVERAGE_TEST_MARKER();
\r
1235 /* If the task is in the blocked or suspended list we need do
\r
1236 nothing more than change it's priority variable. However, if
\r
1237 the task is in a ready list it needs to be removed and placed
\r
1238 in the list appropriate to its new priority. */
\r
1239 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1241 /* The task is currently in its ready list - remove before adding
\r
1242 it to it's new ready list. As we are in a critical section we
\r
1243 can do this even if the scheduler is suspended. */
\r
1244 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1246 /* It is known that the task is in its ready list so
\r
1247 there is no need to check again and the port level
\r
1248 reset macro can be called directly. */
\r
1249 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1253 mtCOVERAGE_TEST_MARKER();
\r
1255 prvAddTaskToReadyList( pxTCB );
\r
1259 mtCOVERAGE_TEST_MARKER();
\r
1262 if( xYieldRequired == pdTRUE )
\r
1264 taskYIELD_IF_USING_PREEMPTION();
\r
1268 mtCOVERAGE_TEST_MARKER();
\r
1271 /* Remove compiler warning about unused variables when the port
\r
1272 optimised task selection is not being used. */
\r
1273 ( void ) uxPriorityUsedOnEntry;
\r
1276 taskEXIT_CRITICAL();
\r
1279 #endif /* INCLUDE_vTaskPrioritySet */
\r
1280 /*-----------------------------------------------------------*/
\r
1282 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1284 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1288 taskENTER_CRITICAL();
\r
1290 /* If null is passed in here then it is the running task that is
\r
1291 being suspended. */
\r
1292 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1294 traceTASK_SUSPEND( pxTCB );
\r
1296 /* Remove task from the ready/delayed list and place in the
\r
1297 suspended list. */
\r
1298 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1300 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1304 mtCOVERAGE_TEST_MARKER();
\r
1307 /* Is the task waiting on an event also? */
\r
1308 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1310 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1314 mtCOVERAGE_TEST_MARKER();
\r
1317 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1319 taskEXIT_CRITICAL();
\r
1321 if( pxTCB == pxCurrentTCB )
\r
1323 if( xSchedulerRunning != pdFALSE )
\r
1325 /* The current task has just been suspended. */
\r
1326 configASSERT( uxSchedulerSuspended == 0 );
\r
1327 portYIELD_WITHIN_API();
\r
1331 /* The scheduler is not running, but the task that was pointed
\r
1332 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1333 must be adjusted to point to a different task. */
\r
1334 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1336 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1337 NULL so when the next task is created pxCurrentTCB will
\r
1338 be set to point to it no matter what its relative priority
\r
1340 pxCurrentTCB = NULL;
\r
1344 vTaskSwitchContext();
\r
1350 if( xSchedulerRunning != pdFALSE )
\r
1352 /* A task other than the currently running task was suspended,
\r
1353 reset the next expected unblock time in case it referred to the
\r
1354 task that is now in the Suspended state. */
\r
1355 taskENTER_CRITICAL();
\r
1357 prvResetNextTaskUnblockTime();
\r
1359 taskEXIT_CRITICAL();
\r
1363 mtCOVERAGE_TEST_MARKER();
\r
1368 #endif /* INCLUDE_vTaskSuspend */
\r
1369 /*-----------------------------------------------------------*/
\r
1371 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1373 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1375 BaseType_t xReturn = pdFALSE;
\r
1376 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1378 /* Accesses xPendingReadyList so must be called from a critical
\r
1381 /* It does not make sense to check if the calling task is suspended. */
\r
1382 configASSERT( xTask );
\r
1384 /* Is the task being resumed actually in the suspended list? */
\r
1385 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1387 /* Has the task already been resumed from within an ISR? */
\r
1388 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1390 /* Is it in the suspended list because it is in the Suspended
\r
1391 state, or because is is blocked with no timeout? */
\r
1392 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1398 mtCOVERAGE_TEST_MARKER();
\r
1403 mtCOVERAGE_TEST_MARKER();
\r
1408 mtCOVERAGE_TEST_MARKER();
\r
1412 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1414 #endif /* INCLUDE_vTaskSuspend */
\r
1415 /*-----------------------------------------------------------*/
\r
1417 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1419 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1421 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1423 /* It does not make sense to resume the calling task. */
\r
1424 configASSERT( xTaskToResume );
\r
1426 /* The parameter cannot be NULL as it is impossible to resume the
\r
1427 currently executing task. */
\r
1428 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1430 taskENTER_CRITICAL();
\r
1432 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1434 traceTASK_RESUME( pxTCB );
\r
1436 /* As we are in a critical section we can access the ready
\r
1437 lists even if the scheduler is suspended. */
\r
1438 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1439 prvAddTaskToReadyList( pxTCB );
\r
1441 /* We may have just resumed a higher priority task. */
\r
1442 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1444 /* This yield may not cause the task just resumed to run,
\r
1445 but will leave the lists in the correct state for the
\r
1447 taskYIELD_IF_USING_PREEMPTION();
\r
1451 mtCOVERAGE_TEST_MARKER();
\r
1456 mtCOVERAGE_TEST_MARKER();
\r
1459 taskEXIT_CRITICAL();
\r
1463 mtCOVERAGE_TEST_MARKER();
\r
1467 #endif /* INCLUDE_vTaskSuspend */
\r
1469 /*-----------------------------------------------------------*/
\r
1471 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1473 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1475 BaseType_t xYieldRequired = pdFALSE;
\r
1476 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1477 UBaseType_t uxSavedInterruptStatus;
\r
1479 configASSERT( xTaskToResume );
\r
1481 /* RTOS ports that support interrupt nesting have the concept of a
\r
1482 maximum system call (or maximum API call) interrupt priority.
\r
1483 Interrupts that are above the maximum system call priority are keep
\r
1484 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1485 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1486 is defined in FreeRTOSConfig.h then
\r
1487 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1488 failure if a FreeRTOS API function is called from an interrupt that has
\r
1489 been assigned a priority above the configured maximum system call
\r
1490 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1491 from interrupts that have been assigned a priority at or (logically)
\r
1492 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1493 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1494 simple as possible. More information (albeit Cortex-M specific) is
\r
1495 provided on the following link:
\r
1496 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1497 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1499 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1501 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1503 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1505 /* Check the ready lists can be accessed. */
\r
1506 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1508 /* Ready lists can be accessed so move the task from the
\r
1509 suspended list to the ready list directly. */
\r
1510 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1512 xYieldRequired = pdTRUE;
\r
1516 mtCOVERAGE_TEST_MARKER();
\r
1519 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1520 prvAddTaskToReadyList( pxTCB );
\r
1524 /* The delayed or ready lists cannot be accessed so the task
\r
1525 is held in the pending ready list until the scheduler is
\r
1527 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1532 mtCOVERAGE_TEST_MARKER();
\r
1535 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1537 return xYieldRequired;
\r
1540 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1541 /*-----------------------------------------------------------*/
\r
1543 void vTaskStartScheduler( void )
\r
1545 BaseType_t xReturn;
\r
1547 /* Add the idle task at the lowest priority. */
\r
1548 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1550 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1551 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1552 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
1556 /* Create the idle task without storing its handle. */
\r
1557 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
1559 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1561 #if ( configUSE_TIMERS == 1 )
\r
1563 if( xReturn == pdPASS )
\r
1565 xReturn = xTimerCreateTimerTask();
\r
1569 mtCOVERAGE_TEST_MARKER();
\r
1572 #endif /* configUSE_TIMERS */
\r
1574 if( xReturn == pdPASS )
\r
1576 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1577 before or during the call to xPortStartScheduler(). The stacks of
\r
1578 the created tasks contain a status word with interrupts switched on
\r
1579 so interrupts will automatically get re-enabled when the first task
\r
1581 portDISABLE_INTERRUPTS();
\r
1583 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1585 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1586 structure specific to the task that will run first. */
\r
1587 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1589 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1591 xNextTaskUnblockTime = portMAX_DELAY;
\r
1592 xSchedulerRunning = pdTRUE;
\r
1593 xTickCount = ( TickType_t ) 0U;
\r
1595 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1596 macro must be defined to configure the timer/counter used to generate
\r
1597 the run time counter time base. */
\r
1598 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1600 /* Setting up the timer tick is hardware specific and thus in the
\r
1601 portable interface. */
\r
1602 if( xPortStartScheduler() != pdFALSE )
\r
1604 /* Should not reach here as if the scheduler is running the
\r
1605 function will not return. */
\r
1609 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1614 /* This line will only be reached if the kernel could not be started,
\r
1615 because there was not enough FreeRTOS heap to create the idle task
\r
1616 or the timer task. */
\r
1617 configASSERT( xReturn );
\r
1620 /*-----------------------------------------------------------*/
\r
1622 void vTaskEndScheduler( void )
\r
1624 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1625 routine so the original ISRs can be restored if necessary. The port
\r
1626 layer must ensure interrupts enable bit is left in the correct state. */
\r
1627 portDISABLE_INTERRUPTS();
\r
1628 xSchedulerRunning = pdFALSE;
\r
1629 vPortEndScheduler();
\r
1631 /*----------------------------------------------------------*/
\r
1633 void vTaskSuspendAll( void )
\r
1635 /* A critical section is not required as the variable is of type
\r
1636 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
1637 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1638 http://goo.gl/wu4acr */
\r
1639 ++uxSchedulerSuspended;
\r
1641 /*----------------------------------------------------------*/
\r
1643 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1645 static TickType_t prvGetExpectedIdleTime( void )
\r
1647 TickType_t xReturn;
\r
1649 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1653 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1655 /* There are other idle priority tasks in the ready state. If
\r
1656 time slicing is used then the very next tick interrupt must be
\r
1662 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1668 #endif /* configUSE_TICKLESS_IDLE */
\r
1669 /*----------------------------------------------------------*/
\r
1671 BaseType_t xTaskResumeAll( void )
\r
1674 BaseType_t xAlreadyYielded = pdFALSE;
\r
1676 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1677 previous call to vTaskSuspendAll(). */
\r
1678 configASSERT( uxSchedulerSuspended );
\r
1680 /* It is possible that an ISR caused a task to be removed from an event
\r
1681 list while the scheduler was suspended. If this was the case then the
\r
1682 removed task will have been added to the xPendingReadyList. Once the
\r
1683 scheduler has been resumed it is safe to move all the pending ready
\r
1684 tasks from this list into their appropriate ready list. */
\r
1685 taskENTER_CRITICAL();
\r
1687 --uxSchedulerSuspended;
\r
1689 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1691 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
1693 /* Move any readied tasks from the pending list into the
\r
1694 appropriate ready list. */
\r
1695 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1697 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1698 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1699 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1700 prvAddTaskToReadyList( pxTCB );
\r
1702 /* If the moved task has a priority higher than the current
\r
1703 task then a yield must be performed. */
\r
1704 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1706 xYieldPending = pdTRUE;
\r
1710 mtCOVERAGE_TEST_MARKER();
\r
1714 /* If any ticks occurred while the scheduler was suspended then
\r
1715 they should be processed now. This ensures the tick count does
\r
1716 not slip, and that any delayed tasks are resumed at the correct
\r
1718 if( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1720 while( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1722 if( xTaskIncrementTick() != pdFALSE )
\r
1724 xYieldPending = pdTRUE;
\r
1728 mtCOVERAGE_TEST_MARKER();
\r
1735 mtCOVERAGE_TEST_MARKER();
\r
1738 if( xYieldPending == pdTRUE )
\r
1740 #if( configUSE_PREEMPTION != 0 )
\r
1742 xAlreadyYielded = pdTRUE;
\r
1745 taskYIELD_IF_USING_PREEMPTION();
\r
1749 mtCOVERAGE_TEST_MARKER();
\r
1755 mtCOVERAGE_TEST_MARKER();
\r
1758 taskEXIT_CRITICAL();
\r
1760 return xAlreadyYielded;
\r
1762 /*-----------------------------------------------------------*/
\r
1764 TickType_t xTaskGetTickCount( void )
\r
1766 TickType_t xTicks;
\r
1768 /* Critical section required if running on a 16 bit processor. */
\r
1769 portTICK_TYPE_ENTER_CRITICAL();
\r
1771 xTicks = xTickCount;
\r
1773 portTICK_TYPE_EXIT_CRITICAL();
\r
1777 /*-----------------------------------------------------------*/
\r
1779 TickType_t xTaskGetTickCountFromISR( void )
\r
1781 TickType_t xReturn;
\r
1782 UBaseType_t uxSavedInterruptStatus;
\r
1784 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1785 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1786 above the maximum system call priority are kept permanently enabled, even
\r
1787 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1788 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1789 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1790 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1791 assigned a priority above the configured maximum system call priority.
\r
1792 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1793 that have been assigned a priority at or (logically) below the maximum
\r
1794 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1795 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1796 More information (albeit Cortex-M specific) is provided on the following
\r
1797 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1798 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1800 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
1802 xReturn = xTickCount;
\r
1804 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1808 /*-----------------------------------------------------------*/
\r
1810 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
1812 /* A critical section is not required because the variables are of type
\r
1814 return uxCurrentNumberOfTasks;
\r
1816 /*-----------------------------------------------------------*/
\r
1818 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1820 char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
1824 /* If null is passed in here then the name of the calling task is being queried. */
\r
1825 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1826 configASSERT( pxTCB );
\r
1827 return &( pxTCB->pcTaskName[ 0 ] );
\r
1830 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1831 /*-----------------------------------------------------------*/
\r
1833 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1835 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
1837 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1839 vTaskSuspendAll();
\r
1841 /* Is there a space in the array for each task in the system? */
\r
1842 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1844 /* Fill in an TaskStatus_t structure with information on each
\r
1845 task in the Ready state. */
\r
1849 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1851 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1853 /* Fill in an TaskStatus_t structure with information on each
\r
1854 task in the Blocked state. */
\r
1855 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
1856 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
1858 #if( INCLUDE_vTaskDelete == 1 )
\r
1860 /* Fill in an TaskStatus_t structure with information on
\r
1861 each task that has been deleted but not yet cleaned up. */
\r
1862 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1866 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1868 /* Fill in an TaskStatus_t structure with information on
\r
1869 each task in the Suspended state. */
\r
1870 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1874 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1876 if( pulTotalRunTime != NULL )
\r
1878 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1879 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
1881 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1887 if( pulTotalRunTime != NULL )
\r
1889 *pulTotalRunTime = 0;
\r
1896 mtCOVERAGE_TEST_MARKER();
\r
1899 ( void ) xTaskResumeAll();
\r
1904 #endif /* configUSE_TRACE_FACILITY */
\r
1905 /*----------------------------------------------------------*/
\r
1907 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1909 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
1911 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1912 started, then xIdleTaskHandle will be NULL. */
\r
1913 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1914 return xIdleTaskHandle;
\r
1917 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1918 /*----------------------------------------------------------*/
\r
1920 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1921 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1922 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1924 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1926 void vTaskStepTick( const TickType_t xTicksToJump )
\r
1928 /* Correct the tick count value after a period during which the tick
\r
1929 was suppressed. Note this does *not* call the tick hook function for
\r
1930 each stepped tick. */
\r
1931 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1932 xTickCount += xTicksToJump;
\r
1933 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
1936 #endif /* configUSE_TICKLESS_IDLE */
\r
1937 /*----------------------------------------------------------*/
\r
1939 BaseType_t xTaskIncrementTick( void )
\r
1942 TickType_t xItemValue;
\r
1943 BaseType_t xSwitchRequired = pdFALSE;
\r
1945 /* Called by the portable layer each time a tick interrupt occurs.
\r
1946 Increments the tick then checks to see if the new tick value will cause any
\r
1947 tasks to be unblocked. */
\r
1948 traceTASK_INCREMENT_TICK( xTickCount );
\r
1949 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1951 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1952 delayed lists if it wraps to 0. */
\r
1956 /* Minor optimisation. The tick count cannot change in this
\r
1958 const TickType_t xConstTickCount = xTickCount;
\r
1960 if( xConstTickCount == ( TickType_t ) 0U )
\r
1962 taskSWITCH_DELAYED_LISTS();
\r
1966 mtCOVERAGE_TEST_MARKER();
\r
1969 /* See if this tick has made a timeout expire. Tasks are stored in
\r
1970 the queue in the order of their wake time - meaning once one task
\r
1971 has been found whose block time has not expired there is no need to
\r
1972 look any further down the list. */
\r
1973 if( xConstTickCount >= xNextTaskUnblockTime )
\r
1977 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1979 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
1980 to the maximum possible value so it is extremely
\r
1982 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1983 next time through. */
\r
1984 xNextTaskUnblockTime = portMAX_DELAY;
\r
1989 /* The delayed list is not empty, get the value of the
\r
1990 item at the head of the delayed list. This is the time
\r
1991 at which the task at the head of the delayed list must
\r
1992 be removed from the Blocked state. */
\r
1993 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1994 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1996 if( xConstTickCount < xItemValue )
\r
1998 /* It is not time to unblock this item yet, but the
\r
1999 item value is the time at which the task at the head
\r
2000 of the blocked list must be removed from the Blocked
\r
2001 state - so record the item value in
\r
2002 xNextTaskUnblockTime. */
\r
2003 xNextTaskUnblockTime = xItemValue;
\r
2008 mtCOVERAGE_TEST_MARKER();
\r
2011 /* It is time to remove the item from the Blocked state. */
\r
2012 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2014 /* Is the task waiting on an event also? If so remove
\r
2015 it from the event list. */
\r
2016 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2018 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2022 mtCOVERAGE_TEST_MARKER();
\r
2025 /* Place the unblocked task into the appropriate ready
\r
2027 prvAddTaskToReadyList( pxTCB );
\r
2029 /* A task being unblocked cannot cause an immediate
\r
2030 context switch if preemption is turned off. */
\r
2031 #if ( configUSE_PREEMPTION == 1 )
\r
2033 /* Preemption is on, but a context switch should
\r
2034 only be performed if the unblocked task has a
\r
2035 priority that is equal to or higher than the
\r
2036 currently executing task. */
\r
2037 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2039 xSwitchRequired = pdTRUE;
\r
2043 mtCOVERAGE_TEST_MARKER();
\r
2046 #endif /* configUSE_PREEMPTION */
\r
2052 /* Tasks of equal priority to the currently running task will share
\r
2053 processing time (time slice) if preemption is on, and the application
\r
2054 writer has not explicitly turned time slicing off. */
\r
2055 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2057 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2059 xSwitchRequired = pdTRUE;
\r
2063 mtCOVERAGE_TEST_MARKER();
\r
2066 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2068 #if ( configUSE_TICK_HOOK == 1 )
\r
2070 /* Guard against the tick hook being called when the pended tick
\r
2071 count is being unwound (when the scheduler is being unlocked). */
\r
2072 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2074 vApplicationTickHook();
\r
2078 mtCOVERAGE_TEST_MARKER();
\r
2081 #endif /* configUSE_TICK_HOOK */
\r
2087 /* The tick hook gets called at regular intervals, even if the
\r
2088 scheduler is locked. */
\r
2089 #if ( configUSE_TICK_HOOK == 1 )
\r
2091 vApplicationTickHook();
\r
2096 #if ( configUSE_PREEMPTION == 1 )
\r
2098 if( xYieldPending != pdFALSE )
\r
2100 xSwitchRequired = pdTRUE;
\r
2104 mtCOVERAGE_TEST_MARKER();
\r
2107 #endif /* configUSE_PREEMPTION */
\r
2109 return xSwitchRequired;
\r
2111 /*-----------------------------------------------------------*/
\r
2113 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2115 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2119 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2121 if( xTask == NULL )
\r
2123 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2127 xTCB = ( TCB_t * ) xTask;
\r
2130 /* Save the hook function in the TCB. A critical section is required as
\r
2131 the value can be accessed from an interrupt. */
\r
2132 taskENTER_CRITICAL();
\r
2133 xTCB->pxTaskTag = pxHookFunction;
\r
2134 taskEXIT_CRITICAL();
\r
2137 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2138 /*-----------------------------------------------------------*/
\r
2140 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2142 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2145 TaskHookFunction_t xReturn;
\r
2147 /* If xTask is NULL then we are setting our own task hook. */
\r
2148 if( xTask == NULL )
\r
2150 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2154 xTCB = ( TCB_t * ) xTask;
\r
2157 /* Save the hook function in the TCB. A critical section is required as
\r
2158 the value can be accessed from an interrupt. */
\r
2159 taskENTER_CRITICAL();
\r
2161 xReturn = xTCB->pxTaskTag;
\r
2163 taskEXIT_CRITICAL();
\r
2168 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2169 /*-----------------------------------------------------------*/
\r
2171 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2173 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2176 BaseType_t xReturn;
\r
2178 /* If xTask is NULL then we are calling our own task hook. */
\r
2179 if( xTask == NULL )
\r
2181 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2185 xTCB = ( TCB_t * ) xTask;
\r
2188 if( xTCB->pxTaskTag != NULL )
\r
2190 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2200 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2201 /*-----------------------------------------------------------*/
\r
2203 void vTaskSwitchContext( void )
\r
2205 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2207 /* The scheduler is currently suspended - do not allow a context
\r
2209 xYieldPending = pdTRUE;
\r
2213 xYieldPending = pdFALSE;
\r
2214 traceTASK_SWITCHED_OUT();
\r
2216 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2218 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2219 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2221 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2224 /* Add the amount of time the task has been running to the
\r
2225 accumulated time so far. The time the task started running was
\r
2226 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2227 protection here so count values are only valid until the timer
\r
2228 overflows. The guard against negative values is to protect
\r
2229 against suspect run time stat counter implementations - which
\r
2230 are provided by the application, not the kernel. */
\r
2231 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2233 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2237 mtCOVERAGE_TEST_MARKER();
\r
2239 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2241 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2243 /* Check for stack overflow, if configured. */
\r
2244 taskCHECK_FOR_STACK_OVERFLOW();
\r
2246 /* Select a new task to run using either the generic C or port
\r
2247 optimised asm code. */
\r
2248 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2249 traceTASK_SWITCHED_IN();
\r
2251 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2253 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2254 structure specific to this task. */
\r
2255 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2257 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2260 /*-----------------------------------------------------------*/
\r
2262 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2264 TickType_t xTimeToWake;
\r
2266 configASSERT( pxEventList );
\r
2268 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2269 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2271 /* Place the event list item of the TCB in the appropriate event list.
\r
2272 This is placed in the list in priority order so the highest priority task
\r
2273 is the first to be woken by the event. The queue that contains the event
\r
2274 list is locked, preventing simultaneous access from interrupts. */
\r
2275 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2277 /* The task must be removed from from the ready list before it is added to
\r
2278 the blocked list as the same list item is used for both lists. Exclusive
\r
2279 access to the ready lists guaranteed because the scheduler is locked. */
\r
2280 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2282 /* The current task must be in a ready list, so there is no need to
\r
2283 check, and the port reset macro can be called directly. */
\r
2284 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2288 mtCOVERAGE_TEST_MARKER();
\r
2291 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2293 if( xTicksToWait == portMAX_DELAY )
\r
2295 /* Add the task to the suspended task list instead of a delayed task
\r
2296 list to ensure the task is not woken by a timing event. It will
\r
2297 block indefinitely. */
\r
2298 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2302 /* Calculate the time at which the task should be woken if the event
\r
2303 does not occur. This may overflow but this doesn't matter, the
\r
2304 scheduler will handle it. */
\r
2305 xTimeToWake = xTickCount + xTicksToWait;
\r
2306 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2309 #else /* INCLUDE_vTaskSuspend */
\r
2311 /* Calculate the time at which the task should be woken if the event does
\r
2312 not occur. This may overflow but this doesn't matter, the scheduler
\r
2313 will handle it. */
\r
2314 xTimeToWake = xTickCount + xTicksToWait;
\r
2315 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2317 #endif /* INCLUDE_vTaskSuspend */
\r
2319 /*-----------------------------------------------------------*/
\r
2321 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2323 TickType_t xTimeToWake;
\r
2325 configASSERT( pxEventList );
\r
2327 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2328 the event groups implementation. */
\r
2329 configASSERT( uxSchedulerSuspended != 0 );
\r
2331 /* Store the item value in the event list item. It is safe to access the
\r
2332 event list item here as interrupts won't access the event list item of a
\r
2333 task that is not in the Blocked state. */
\r
2334 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2336 /* Place the event list item of the TCB at the end of the appropriate event
\r
2337 list. It is safe to access the event list here because it is part of an
\r
2338 event group implementation - and interrupts don't access event groups
\r
2339 directly (instead they access them indirectly by pending function calls to
\r
2340 the task level). */
\r
2341 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2343 /* The task must be removed from the ready list before it is added to the
\r
2344 blocked list. Exclusive access can be assured to the ready list as the
\r
2345 scheduler is locked. */
\r
2346 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2348 /* The current task must be in a ready list, so there is no need to
\r
2349 check, and the port reset macro can be called directly. */
\r
2350 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2354 mtCOVERAGE_TEST_MARKER();
\r
2357 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2359 if( xTicksToWait == portMAX_DELAY )
\r
2361 /* Add the task to the suspended task list instead of a delayed task
\r
2362 list to ensure it is not woken by a timing event. It will block
\r
2364 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2368 /* Calculate the time at which the task should be woken if the event
\r
2369 does not occur. This may overflow but this doesn't matter, the
\r
2370 kernel will manage it correctly. */
\r
2371 xTimeToWake = xTickCount + xTicksToWait;
\r
2372 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2375 #else /* INCLUDE_vTaskSuspend */
\r
2377 /* Calculate the time at which the task should be woken if the event does
\r
2378 not occur. This may overflow but this doesn't matter, the kernel
\r
2379 will manage it correctly. */
\r
2380 xTimeToWake = xTickCount + xTicksToWait;
\r
2381 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2383 #endif /* INCLUDE_vTaskSuspend */
\r
2385 /*-----------------------------------------------------------*/
\r
2387 #if configUSE_TIMERS == 1
\r
2389 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2391 TickType_t xTimeToWake;
\r
2393 configASSERT( pxEventList );
\r
2395 /* This function should not be called by application code hence the
\r
2396 'Restricted' in its name. It is not part of the public API. It is
\r
2397 designed for use by kernel code, and has special calling requirements -
\r
2398 it should be called with the scheduler suspended. */
\r
2401 /* Place the event list item of the TCB in the appropriate event list.
\r
2402 In this case it is assume that this is the only task that is going to
\r
2403 be waiting on this event list, so the faster vListInsertEnd() function
\r
2404 can be used in place of vListInsert. */
\r
2405 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2407 /* We must remove this task from the ready list before adding it to the
\r
2408 blocked list as the same list item is used for both lists. This
\r
2409 function is called with the scheduler locked so interrupts will not
\r
2410 access the lists at the same time. */
\r
2411 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2413 /* The current task must be in a ready list, so there is no need to
\r
2414 check, and the port reset macro can be called directly. */
\r
2415 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2419 mtCOVERAGE_TEST_MARKER();
\r
2422 /* If vTaskSuspend() is available then the suspended task list is also
\r
2423 available and a task that is blocking indefinitely can enter the
\r
2424 suspended state (it is not really suspended as it will re-enter the
\r
2425 Ready state when the event it is waiting indefinitely for occurs).
\r
2426 Blocking indefinitely is useful when using tickless idle mode as when
\r
2427 all tasks are blocked indefinitely all timers can be turned off. */
\r
2428 #if( INCLUDE_vTaskSuspend == 1 )
\r
2430 if( xWaitIndefinitely == pdTRUE )
\r
2432 /* Add the task to the suspended task list instead of a delayed
\r
2433 task list to ensure the task is not woken by a timing event. It
\r
2434 will block indefinitely. */
\r
2435 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2439 /* Calculate the time at which the task should be woken if the
\r
2440 event does not occur. This may overflow but this doesn't
\r
2442 xTimeToWake = xTickCount + xTicksToWait;
\r
2443 traceTASK_DELAY_UNTIL();
\r
2444 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2449 /* Calculate the time at which the task should be woken if the event
\r
2450 does not occur. This may overflow but this doesn't matter. */
\r
2451 xTimeToWake = xTickCount + xTicksToWait;
\r
2452 traceTASK_DELAY_UNTIL();
\r
2453 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2455 /* Remove compiler warnings when INCLUDE_vTaskSuspend() is not
\r
2457 ( void ) xWaitIndefinitely;
\r
2462 #endif /* configUSE_TIMERS */
\r
2463 /*-----------------------------------------------------------*/
\r
2465 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
2467 TCB_t *pxUnblockedTCB;
\r
2468 BaseType_t xReturn;
\r
2470 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
2471 called from a critical section within an ISR. */
\r
2473 /* The event list is sorted in priority order, so the first in the list can
\r
2474 be removed as it is known to be the highest priority. Remove the TCB from
\r
2475 the delayed list, and add it to the ready list.
\r
2477 If an event is for a queue that is locked then this function will never
\r
2478 get called - the lock count on the queue will get modified instead. This
\r
2479 means exclusive access to the event list is guaranteed here.
\r
2481 This function assumes that a check has already been made to ensure that
\r
2482 pxEventList is not empty. */
\r
2483 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2484 configASSERT( pxUnblockedTCB );
\r
2485 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2487 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2489 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2490 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2494 /* The delayed and ready lists cannot be accessed, so hold this task
\r
2495 pending until the scheduler is resumed. */
\r
2496 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2499 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2501 /* Return true if the task removed from the event list has a higher
\r
2502 priority than the calling task. This allows the calling task to know if
\r
2503 it should force a context switch now. */
\r
2506 /* Mark that a yield is pending in case the user is not using the
\r
2507 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2508 xYieldPending = pdTRUE;
\r
2512 xReturn = pdFALSE;
\r
2515 #if( configUSE_TICKLESS_IDLE != 0 )
\r
2517 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
2518 might be set to the blocked task's time out time. If the task is
\r
2519 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
2520 normally left unchanged, because it is automatically reset to a new
\r
2521 value when the tick count equals xNextTaskUnblockTime. However if
\r
2522 tickless idling is used it might be more important to enter sleep mode
\r
2523 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
2524 ensure it is updated at the earliest possible time. */
\r
2525 prvResetNextTaskUnblockTime();
\r
2531 /*-----------------------------------------------------------*/
\r
2533 BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
2535 TCB_t *pxUnblockedTCB;
\r
2536 BaseType_t xReturn;
\r
2538 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2539 the event flags implementation. */
\r
2540 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
2542 /* Store the new item value in the event list. */
\r
2543 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2545 /* Remove the event list form the event flag. Interrupts do not access
\r
2547 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2548 configASSERT( pxUnblockedTCB );
\r
2549 ( void ) uxListRemove( pxEventListItem );
\r
2551 /* Remove the task from the delayed list and add it to the ready list. The
\r
2552 scheduler is suspended so interrupts will not be accessing the ready
\r
2554 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2555 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2557 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2559 /* Return true if the task removed from the event list has
\r
2560 a higher priority than the calling task. This allows
\r
2561 the calling task to know if it should force a context
\r
2565 /* Mark that a yield is pending in case the user is not using the
\r
2566 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2567 xYieldPending = pdTRUE;
\r
2571 xReturn = pdFALSE;
\r
2576 /*-----------------------------------------------------------*/
\r
2578 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
2580 configASSERT( pxTimeOut );
\r
2581 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2582 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2584 /*-----------------------------------------------------------*/
\r
2586 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
2588 BaseType_t xReturn;
\r
2590 configASSERT( pxTimeOut );
\r
2591 configASSERT( pxTicksToWait );
\r
2593 taskENTER_CRITICAL();
\r
2595 /* Minor optimisation. The tick count cannot change in this block. */
\r
2596 const TickType_t xConstTickCount = xTickCount;
\r
2598 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2599 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2600 the maximum block time then the task should block indefinitely, and
\r
2601 therefore never time out. */
\r
2602 if( *pxTicksToWait == portMAX_DELAY )
\r
2604 xReturn = pdFALSE;
\r
2606 else /* We are not blocking indefinitely, perform the checks below. */
\r
2609 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2611 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2612 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2613 It must have wrapped all the way around and gone past us again. This
\r
2614 passed since vTaskSetTimeout() was called. */
\r
2617 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2619 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2620 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2621 vTaskSetTimeOutState( pxTimeOut );
\r
2622 xReturn = pdFALSE;
\r
2629 taskEXIT_CRITICAL();
\r
2633 /*-----------------------------------------------------------*/
\r
2635 void vTaskMissedYield( void )
\r
2637 xYieldPending = pdTRUE;
\r
2639 /*-----------------------------------------------------------*/
\r
2641 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2643 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
2645 UBaseType_t uxReturn;
\r
2648 if( xTask != NULL )
\r
2650 pxTCB = ( TCB_t * ) xTask;
\r
2651 uxReturn = pxTCB->uxTaskNumber;
\r
2661 #endif /* configUSE_TRACE_FACILITY */
\r
2662 /*-----------------------------------------------------------*/
\r
2664 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2666 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
2670 if( xTask != NULL )
\r
2672 pxTCB = ( TCB_t * ) xTask;
\r
2673 pxTCB->uxTaskNumber = uxHandle;
\r
2677 #endif /* configUSE_TRACE_FACILITY */
\r
2680 * -----------------------------------------------------------
\r
2682 * ----------------------------------------------------------
\r
2684 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2685 * language extensions. The equivalent prototype for this function is:
\r
2687 * void prvIdleTask( void *pvParameters );
\r
2690 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2692 /* Stop warnings. */
\r
2693 ( void ) pvParameters;
\r
2697 /* See if any tasks have been deleted. */
\r
2698 prvCheckTasksWaitingTermination();
\r
2700 #if ( configUSE_PREEMPTION == 0 )
\r
2702 /* If we are not using preemption we keep forcing a task switch to
\r
2703 see if any other task has become available. If we are using
\r
2704 preemption we don't need to do this as any task becoming available
\r
2705 will automatically get the processor anyway. */
\r
2708 #endif /* configUSE_PREEMPTION */
\r
2710 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2712 /* When using preemption tasks of equal priority will be
\r
2713 timesliced. If a task that is sharing the idle priority is ready
\r
2714 to run then the idle task should yield before the end of the
\r
2717 A critical region is not required here as we are just reading from
\r
2718 the list, and an occasional incorrect value will not matter. If
\r
2719 the ready list at the idle priority contains more than one task
\r
2720 then a task other than the idle task is ready to execute. */
\r
2721 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
2727 mtCOVERAGE_TEST_MARKER();
\r
2730 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2732 #if ( configUSE_IDLE_HOOK == 1 )
\r
2734 extern void vApplicationIdleHook( void );
\r
2736 /* Call the user defined function from within the idle task. This
\r
2737 allows the application designer to add background functionality
\r
2738 without the overhead of a separate task.
\r
2739 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2740 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2741 vApplicationIdleHook();
\r
2743 #endif /* configUSE_IDLE_HOOK */
\r
2745 /* This conditional compilation should use inequality to 0, not equality
\r
2746 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2747 user defined low power mode implementations require
\r
2748 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2749 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2751 TickType_t xExpectedIdleTime;
\r
2753 /* It is not desirable to suspend then resume the scheduler on
\r
2754 each iteration of the idle task. Therefore, a preliminary
\r
2755 test of the expected idle time is performed without the
\r
2756 scheduler suspended. The result here is not necessarily
\r
2758 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2760 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2762 vTaskSuspendAll();
\r
2764 /* Now the scheduler is suspended, the expected idle
\r
2765 time can be sampled again, and this time its value can
\r
2767 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2768 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2770 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2772 traceLOW_POWER_IDLE_BEGIN();
\r
2773 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2774 traceLOW_POWER_IDLE_END();
\r
2778 mtCOVERAGE_TEST_MARKER();
\r
2781 ( void ) xTaskResumeAll();
\r
2785 mtCOVERAGE_TEST_MARKER();
\r
2788 #endif /* configUSE_TICKLESS_IDLE */
\r
2791 /*-----------------------------------------------------------*/
\r
2793 #if( configUSE_TICKLESS_IDLE != 0 )
\r
2795 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2797 /* The idle task exists in addition to the application tasks. */
\r
2798 const UBaseType_t uxNonApplicationTasks = 1;
\r
2799 eSleepModeStatus eReturn = eStandardSleep;
\r
2801 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2803 /* A task was made ready while the scheduler was suspended. */
\r
2804 eReturn = eAbortSleep;
\r
2806 else if( xYieldPending != pdFALSE )
\r
2808 /* A yield was pended while the scheduler was suspended. */
\r
2809 eReturn = eAbortSleep;
\r
2813 /* If all the tasks are in the suspended list (which might mean they
\r
2814 have an infinite block time rather than actually being suspended)
\r
2815 then it is safe to turn all clocks off and just wait for external
\r
2817 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2819 eReturn = eNoTasksWaitingTimeout;
\r
2823 mtCOVERAGE_TEST_MARKER();
\r
2830 #endif /* configUSE_TICKLESS_IDLE */
\r
2831 /*-----------------------------------------------------------*/
\r
2833 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
2837 /* Store the task name in the TCB. */
\r
2838 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2840 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2842 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2843 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2844 string is not accessible (extremely unlikely). */
\r
2845 if( pcName[ x ] == 0x00 )
\r
2851 mtCOVERAGE_TEST_MARKER();
\r
2855 /* Ensure the name string is terminated in the case that the string length
\r
2856 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2857 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
2859 /* This is used as an array index so must ensure it's not too large. First
\r
2860 remove the privilege bit if one is present. */
\r
2861 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
2863 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
2867 mtCOVERAGE_TEST_MARKER();
\r
2870 pxTCB->uxPriority = uxPriority;
\r
2871 #if ( configUSE_MUTEXES == 1 )
\r
2873 pxTCB->uxBasePriority = uxPriority;
\r
2874 pxTCB->uxMutexesHeld = 0;
\r
2876 #endif /* configUSE_MUTEXES */
\r
2878 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2879 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2881 /* Set the pxTCB as a link back from the ListItem_t. This is so we can get
\r
2882 back to the containing TCB from a generic item in a list. */
\r
2883 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2885 /* Event lists are always in priority order. */
\r
2886 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
2887 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2889 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2891 pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
2893 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2895 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2897 pxTCB->pxTaskTag = NULL;
\r
2899 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2901 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2903 pxTCB->ulRunTimeCounter = 0UL;
\r
2905 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2907 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2909 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2911 #else /* portUSING_MPU_WRAPPERS */
\r
2913 ( void ) xRegions;
\r
2914 ( void ) usStackDepth;
\r
2916 #endif /* portUSING_MPU_WRAPPERS */
\r
2918 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
2920 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
2922 pxTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
2927 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
2929 pxTCB->ulNotifiedValue = 0;
\r
2930 pxTCB->eNotifyState = eNotWaitingNotification;
\r
2934 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2936 /* Initialise this task's Newlib reent structure. */
\r
2937 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2939 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2941 /*-----------------------------------------------------------*/
\r
2943 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
2945 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
2949 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
2951 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
2952 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
2956 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
2957 /*-----------------------------------------------------------*/
\r
2959 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
2961 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
2963 void *pvReturn = NULL;
\r
2966 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
2968 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2969 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
2979 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
2980 /*-----------------------------------------------------------*/
\r
2982 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2984 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
2988 /* If null is passed in here then we are modifying the MPU settings of
\r
2989 the calling task. */
\r
2990 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2992 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2995 #endif /* portUSING_MPU_WRAPPERS */
\r
2996 /*-----------------------------------------------------------*/
\r
2998 static void prvInitialiseTaskLists( void )
\r
3000 UBaseType_t uxPriority;
\r
3002 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3004 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3007 vListInitialise( &xDelayedTaskList1 );
\r
3008 vListInitialise( &xDelayedTaskList2 );
\r
3009 vListInitialise( &xPendingReadyList );
\r
3011 #if ( INCLUDE_vTaskDelete == 1 )
\r
3013 vListInitialise( &xTasksWaitingTermination );
\r
3015 #endif /* INCLUDE_vTaskDelete */
\r
3017 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3019 vListInitialise( &xSuspendedTaskList );
\r
3021 #endif /* INCLUDE_vTaskSuspend */
\r
3023 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3025 pxDelayedTaskList = &xDelayedTaskList1;
\r
3026 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3028 /*-----------------------------------------------------------*/
\r
3030 static void prvCheckTasksWaitingTermination( void )
\r
3032 #if ( INCLUDE_vTaskDelete == 1 )
\r
3034 BaseType_t xListIsEmpty;
\r
3036 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
3037 too often in the idle task. */
\r
3038 while( uxTasksDeleted > ( UBaseType_t ) 0U )
\r
3040 vTaskSuspendAll();
\r
3042 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
3044 ( void ) xTaskResumeAll();
\r
3046 if( xListIsEmpty == pdFALSE )
\r
3050 taskENTER_CRITICAL();
\r
3052 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
3053 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
3054 --uxCurrentNumberOfTasks;
\r
3057 taskEXIT_CRITICAL();
\r
3059 prvDeleteTCB( pxTCB );
\r
3063 mtCOVERAGE_TEST_MARKER();
\r
3067 #endif /* vTaskDelete */
\r
3069 /*-----------------------------------------------------------*/
\r
3071 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake )
\r
3073 /* The list item will be inserted in wake time order. */
\r
3074 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
3076 if( xTimeToWake < xTickCount )
\r
3078 /* Wake time has overflowed. Place this item in the overflow list. */
\r
3079 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3083 /* The wake time has not overflowed, so the current block list is used. */
\r
3084 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3086 /* If the task entering the blocked state was placed at the head of the
\r
3087 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
3089 if( xTimeToWake < xNextTaskUnblockTime )
\r
3091 xNextTaskUnblockTime = xTimeToWake;
\r
3095 mtCOVERAGE_TEST_MARKER();
\r
3099 /*-----------------------------------------------------------*/
\r
3101 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer )
\r
3105 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
3106 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
3107 the TCB then the stack. */
\r
3108 #if( portSTACK_GROWTH > 0 )
\r
3110 /* Allocate space for the TCB. Where the memory comes from depends on
\r
3111 the implementation of the port malloc function. */
\r
3112 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
3114 if( pxNewTCB != NULL )
\r
3116 /* Allocate space for the stack used by the task being created.
\r
3117 The base of the stack memory stored in the TCB so the task can
\r
3118 be deleted later if required. */
\r
3119 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
3121 if( pxNewTCB->pxStack == NULL )
\r
3123 /* Could not allocate the stack. Delete the allocated TCB. */
\r
3124 vPortFree( pxNewTCB );
\r
3129 #else /* portSTACK_GROWTH */
\r
3131 StackType_t *pxStack;
\r
3133 /* Allocate space for the stack used by the task being created. */
\r
3134 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
3136 if( pxStack != NULL )
\r
3138 /* Allocate space for the TCB. Where the memory comes from depends
\r
3139 on the implementation of the port malloc function. */
\r
3140 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
3142 if( pxNewTCB != NULL )
\r
3144 /* Store the stack location in the TCB. */
\r
3145 pxNewTCB->pxStack = pxStack;
\r
3149 /* The stack cannot be used as the TCB was not created. Free it
\r
3151 vPortFree( pxStack );
\r
3159 #endif /* portSTACK_GROWTH */
\r
3161 if( pxNewTCB != NULL )
\r
3163 /* Avoid dependency on memset() if it is not required. */
\r
3164 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3166 /* Just to help debugging. */
\r
3167 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );
\r
3169 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
3174 /*-----------------------------------------------------------*/
\r
3176 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3178 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3180 volatile TCB_t *pxNextTCB, *pxFirstTCB;
\r
3181 UBaseType_t uxTask = 0;
\r
3183 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3185 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
3187 /* Populate an TaskStatus_t structure within the
\r
3188 pxTaskStatusArray array for each task that is referenced from
\r
3189 pxList. See the definition of TaskStatus_t in task.h for the
\r
3190 meaning of each TaskStatus_t structure member. */
\r
3193 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
3195 pxTaskStatusArray[ uxTask ].xHandle = ( TaskHandle_t ) pxNextTCB;
\r
3196 pxTaskStatusArray[ uxTask ].pcTaskName = ( const char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
3197 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
3198 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
3199 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
3201 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3203 /* If the task is in the suspended list then there is a chance
\r
3204 it is actually just blocked indefinitely - so really it should
\r
3205 be reported as being in the Blocked state. */
\r
3206 if( eState == eSuspended )
\r
3208 if( listLIST_ITEM_CONTAINER( &( pxNextTCB->xEventListItem ) ) != NULL )
\r
3210 pxTaskStatusArray[ uxTask ].eCurrentState = eBlocked;
\r
3214 #endif /* INCLUDE_vTaskSuspend */
\r
3216 #if ( configUSE_MUTEXES == 1 )
\r
3218 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
3222 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
3226 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3228 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
3232 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
3236 #if ( portSTACK_GROWTH > 0 )
\r
3238 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxEndOfStack );
\r
3242 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxStack );
\r
3248 } while( pxNextTCB != pxFirstTCB );
\r
3252 mtCOVERAGE_TEST_MARKER();
\r
3258 #endif /* configUSE_TRACE_FACILITY */
\r
3259 /*-----------------------------------------------------------*/
\r
3261 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3263 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3265 uint32_t ulCount = 0U;
\r
3267 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3269 pucStackByte -= portSTACK_GROWTH;
\r
3273 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3275 return ( uint16_t ) ulCount;
\r
3278 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3279 /*-----------------------------------------------------------*/
\r
3281 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3283 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3286 uint8_t *pucEndOfStack;
\r
3287 UBaseType_t uxReturn;
\r
3289 pxTCB = prvGetTCBFromHandle( xTask );
\r
3291 #if portSTACK_GROWTH < 0
\r
3293 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3297 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3301 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3306 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3307 /*-----------------------------------------------------------*/
\r
3309 #if ( INCLUDE_vTaskDelete == 1 )
\r
3311 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3313 /* This call is required specifically for the TriCore port. It must be
\r
3314 above the vPortFree() calls. The call is also used by ports/demos that
\r
3315 want to allocate and clean RAM statically. */
\r
3316 portCLEAN_UP_TCB( pxTCB );
\r
3318 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3319 to the task to free any memory allocated at the application level. */
\r
3320 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3322 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3324 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3326 #if( portUSING_MPU_WRAPPERS == 1 )
\r
3328 /* Only free the stack if it was allocated dynamically in the first
\r
3330 if( pxTCB->xUsingStaticallyAllocatedStack == pdFALSE )
\r
3332 vPortFreeAligned( pxTCB->pxStack );
\r
3337 vPortFreeAligned( pxTCB->pxStack );
\r
3341 vPortFree( pxTCB );
\r
3344 #endif /* INCLUDE_vTaskDelete */
\r
3345 /*-----------------------------------------------------------*/
\r
3347 static void prvResetNextTaskUnblockTime( void )
\r
3351 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3353 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3354 the maximum possible value so it is extremely unlikely that the
\r
3355 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3356 there is an item in the delayed list. */
\r
3357 xNextTaskUnblockTime = portMAX_DELAY;
\r
3361 /* The new current delayed list is not empty, get the value of
\r
3362 the item at the head of the delayed list. This is the time at
\r
3363 which the task at the head of the delayed list should be removed
\r
3364 from the Blocked state. */
\r
3365 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3366 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) );
\r
3369 /*-----------------------------------------------------------*/
\r
3371 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3373 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3375 TaskHandle_t xReturn;
\r
3377 /* A critical section is not required as this is not called from
\r
3378 an interrupt and the current TCB will always be the same for any
\r
3379 individual execution thread. */
\r
3380 xReturn = pxCurrentTCB;
\r
3385 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3386 /*-----------------------------------------------------------*/
\r
3388 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3390 BaseType_t xTaskGetSchedulerState( void )
\r
3392 BaseType_t xReturn;
\r
3394 if( xSchedulerRunning == pdFALSE )
\r
3396 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3400 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3402 xReturn = taskSCHEDULER_RUNNING;
\r
3406 xReturn = taskSCHEDULER_SUSPENDED;
\r
3413 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3414 /*-----------------------------------------------------------*/
\r
3416 #if ( configUSE_MUTEXES == 1 )
\r
3418 void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3420 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3422 /* If the mutex was given back by an interrupt while the queue was
\r
3423 locked then the mutex holder might now be NULL. */
\r
3424 if( pxMutexHolder != NULL )
\r
3426 /* If the holder of the mutex has a priority below the priority of
\r
3427 the task attempting to obtain the mutex then it will temporarily
\r
3428 inherit the priority of the task attempting to obtain the mutex. */
\r
3429 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3431 /* Adjust the mutex holder state to account for its new
\r
3432 priority. Only reset the event list item value if the value is
\r
3433 not being used for anything else. */
\r
3434 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3436 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
3440 mtCOVERAGE_TEST_MARKER();
\r
3443 /* If the task being modified is in the ready state it will need
\r
3444 to be moved into a new list. */
\r
3445 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
3447 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3449 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3453 mtCOVERAGE_TEST_MARKER();
\r
3456 /* Inherit the priority before being moved into the new list. */
\r
3457 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3458 prvAddTaskToReadyList( pxTCB );
\r
3462 /* Just inherit the priority. */
\r
3463 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3466 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
3470 mtCOVERAGE_TEST_MARKER();
\r
3475 mtCOVERAGE_TEST_MARKER();
\r
3479 #endif /* configUSE_MUTEXES */
\r
3480 /*-----------------------------------------------------------*/
\r
3482 #if ( configUSE_MUTEXES == 1 )
\r
3484 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3486 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3487 BaseType_t xReturn = pdFALSE;
\r
3489 if( pxMutexHolder != NULL )
\r
3491 /* A task can only have an inherited priority if it holds the mutex.
\r
3492 If the mutex is held by a task then it cannot be given from an
\r
3493 interrupt, and if a mutex is given by the holding task then it must
\r
3494 be the running state task. */
\r
3495 configASSERT( pxTCB == pxCurrentTCB );
\r
3497 configASSERT( pxTCB->uxMutexesHeld );
\r
3498 ( pxTCB->uxMutexesHeld )--;
\r
3500 /* Has the holder of the mutex inherited the priority of another
\r
3502 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3504 /* Only disinherit if no other mutexes are held. */
\r
3505 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3507 /* A task can only have an inherited priority if it holds
\r
3508 the mutex. If the mutex is held by a task then it cannot be
\r
3509 given from an interrupt, and if a mutex is given by the
\r
3510 holding task then it must be the running state task. Remove
\r
3511 the holding task from the ready list. */
\r
3512 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3514 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3518 mtCOVERAGE_TEST_MARKER();
\r
3521 /* Disinherit the priority before adding the task into the
\r
3522 new ready list. */
\r
3523 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3524 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3526 /* Reset the event list item value. It cannot be in use for
\r
3527 any other purpose if this task is running, and it must be
\r
3528 running to give back the mutex. */
\r
3529 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
3530 prvAddTaskToReadyList( pxTCB );
\r
3532 /* Return true to indicate that a context switch is required.
\r
3533 This is only actually required in the corner case whereby
\r
3534 multiple mutexes were held and the mutexes were given back
\r
3535 in an order different to that in which they were taken.
\r
3536 If a context switch did not occur when the first mutex was
\r
3537 returned, even if a task was waiting on it, then a context
\r
3538 switch should occur when the last mutex is returned whether
\r
3539 a task is waiting on it or not. */
\r
3544 mtCOVERAGE_TEST_MARKER();
\r
3549 mtCOVERAGE_TEST_MARKER();
\r
3554 mtCOVERAGE_TEST_MARKER();
\r
3560 #endif /* configUSE_MUTEXES */
\r
3561 /*-----------------------------------------------------------*/
\r
3563 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3565 void vTaskEnterCritical( void )
\r
3567 portDISABLE_INTERRUPTS();
\r
3569 if( xSchedulerRunning != pdFALSE )
\r
3571 ( pxCurrentTCB->uxCriticalNesting )++;
\r
3573 /* This is not the interrupt safe version of the enter critical
\r
3574 function so assert() if it is being called from an interrupt
\r
3575 context. Only API functions that end in "FromISR" can be used in an
\r
3576 interrupt. Only assert if the critical nesting count is 1 to
\r
3577 protect against recursive calls if the assert function also uses a
\r
3578 critical section. */
\r
3579 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
3581 portASSERT_IF_IN_ISR();
\r
3586 mtCOVERAGE_TEST_MARKER();
\r
3590 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3591 /*-----------------------------------------------------------*/
\r
3593 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3595 void vTaskExitCritical( void )
\r
3597 if( xSchedulerRunning != pdFALSE )
\r
3599 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
3601 ( pxCurrentTCB->uxCriticalNesting )--;
\r
3603 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
3605 portENABLE_INTERRUPTS();
\r
3609 mtCOVERAGE_TEST_MARKER();
\r
3614 mtCOVERAGE_TEST_MARKER();
\r
3619 mtCOVERAGE_TEST_MARKER();
\r
3623 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3624 /*-----------------------------------------------------------*/
\r
3626 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3628 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
3632 /* Start by copying the entire string. */
\r
3633 strcpy( pcBuffer, pcTaskName );
\r
3635 /* Pad the end of the string with spaces to ensure columns line up when
\r
3637 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
3639 pcBuffer[ x ] = ' ';
\r
3643 pcBuffer[ x ] = 0x00;
\r
3645 /* Return the new end of string. */
\r
3646 return &( pcBuffer[ x ] );
\r
3649 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
3650 /*-----------------------------------------------------------*/
\r
3652 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3654 void vTaskList( char * pcWriteBuffer )
\r
3656 TaskStatus_t *pxTaskStatusArray;
\r
3657 volatile UBaseType_t uxArraySize, x;
\r
3663 * This function is provided for convenience only, and is used by many
\r
3664 * of the demo applications. Do not consider it to be part of the
\r
3667 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
3668 * uxTaskGetSystemState() output into a human readable table that
\r
3669 * displays task names, states and stack usage.
\r
3671 * vTaskList() has a dependency on the sprintf() C library function that
\r
3672 * might bloat the code size, use a lot of stack, and provide different
\r
3673 * results on different platforms. An alternative, tiny, third party,
\r
3674 * and limited functionality implementation of sprintf() is provided in
\r
3675 * many of the FreeRTOS/Demo sub-directories in a file called
\r
3676 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
3677 * snprintf() implementation!).
\r
3679 * It is recommended that production systems call uxTaskGetSystemState()
\r
3680 * directly to get access to raw stats data, rather than indirectly
\r
3681 * through a call to vTaskList().
\r
3685 /* Make sure the write buffer does not contain a string. */
\r
3686 *pcWriteBuffer = 0x00;
\r
3688 /* Take a snapshot of the number of tasks in case it changes while this
\r
3689 function is executing. */
\r
3690 uxArraySize = uxCurrentNumberOfTasks;
\r
3692 /* Allocate an array index for each task. */
\r
3693 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3695 if( pxTaskStatusArray != NULL )
\r
3697 /* Generate the (binary) data. */
\r
3698 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
3700 /* Create a human readable table from the binary data. */
\r
3701 for( x = 0; x < uxArraySize; x++ )
\r
3703 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
3705 case eReady: cStatus = tskREADY_CHAR;
\r
3708 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
3711 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
3714 case eDeleted: cStatus = tskDELETED_CHAR;
\r
3717 default: /* Should not get here, but it is included
\r
3718 to prevent static checking errors. */
\r
3723 /* Write the task name to the string, padding with spaces so it
\r
3724 can be printed in tabular form more easily. */
\r
3725 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3727 /* Write the rest of the string. */
\r
3728 sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
3729 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3732 /* Free the array again. */
\r
3733 vPortFree( pxTaskStatusArray );
\r
3737 mtCOVERAGE_TEST_MARKER();
\r
3741 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3742 /*----------------------------------------------------------*/
\r
3744 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3746 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
3748 TaskStatus_t *pxTaskStatusArray;
\r
3749 volatile UBaseType_t uxArraySize, x;
\r
3750 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
3752 #if( configUSE_TRACE_FACILITY != 1 )
\r
3754 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
3761 * This function is provided for convenience only, and is used by many
\r
3762 * of the demo applications. Do not consider it to be part of the
\r
3765 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
3766 * of the uxTaskGetSystemState() output into a human readable table that
\r
3767 * displays the amount of time each task has spent in the Running state
\r
3768 * in both absolute and percentage terms.
\r
3770 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
3771 * function that might bloat the code size, use a lot of stack, and
\r
3772 * provide different results on different platforms. An alternative,
\r
3773 * tiny, third party, and limited functionality implementation of
\r
3774 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3775 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3776 * a full snprintf() implementation!).
\r
3778 * It is recommended that production systems call uxTaskGetSystemState()
\r
3779 * directly to get access to raw stats data, rather than indirectly
\r
3780 * through a call to vTaskGetRunTimeStats().
\r
3783 /* Make sure the write buffer does not contain a string. */
\r
3784 *pcWriteBuffer = 0x00;
\r
3786 /* Take a snapshot of the number of tasks in case it changes while this
\r
3787 function is executing. */
\r
3788 uxArraySize = uxCurrentNumberOfTasks;
\r
3790 /* Allocate an array index for each task. */
\r
3791 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3793 if( pxTaskStatusArray != NULL )
\r
3795 /* Generate the (binary) data. */
\r
3796 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
3798 /* For percentage calculations. */
\r
3799 ulTotalTime /= 100UL;
\r
3801 /* Avoid divide by zero errors. */
\r
3802 if( ulTotalTime > 0 )
\r
3804 /* Create a human readable table from the binary data. */
\r
3805 for( x = 0; x < uxArraySize; x++ )
\r
3807 /* What percentage of the total run time has the task used?
\r
3808 This will always be rounded down to the nearest integer.
\r
3809 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
3810 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
3812 /* Write the task name to the string, padding with
\r
3813 spaces so it can be printed in tabular form more
\r
3815 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3817 if( ulStatsAsPercentage > 0UL )
\r
3819 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3821 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
3825 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3826 printf() library can be used. */
\r
3827 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
3833 /* If the percentage is zero here then the task has
\r
3834 consumed less than 1% of the total run time. */
\r
3835 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3837 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3841 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3842 printf() library can be used. */
\r
3843 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3848 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3853 mtCOVERAGE_TEST_MARKER();
\r
3856 /* Free the array again. */
\r
3857 vPortFree( pxTaskStatusArray );
\r
3861 mtCOVERAGE_TEST_MARKER();
\r
3865 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3866 /*-----------------------------------------------------------*/
\r
3868 TickType_t uxTaskResetEventItemValue( void )
\r
3870 TickType_t uxReturn;
\r
3872 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
3874 /* Reset the event list item to its normal value - so it can be used with
\r
3875 queues and semaphores. */
\r
3876 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
3880 /*-----------------------------------------------------------*/
\r
3882 #if ( configUSE_MUTEXES == 1 )
\r
3884 void *pvTaskIncrementMutexHeldCount( void )
\r
3886 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
3887 then pxCurrentTCB will be NULL. */
\r
3888 if( pxCurrentTCB != NULL )
\r
3890 ( pxCurrentTCB->uxMutexesHeld )++;
\r
3893 return pxCurrentTCB;
\r
3896 #endif /* configUSE_MUTEXES */
\r
3897 /*-----------------------------------------------------------*/
\r
3899 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
3901 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
3903 TickType_t xTimeToWake;
\r
3904 uint32_t ulReturn;
\r
3906 taskENTER_CRITICAL();
\r
3908 /* Only block if the notification count is not already non-zero. */
\r
3909 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
3911 /* Mark this task as waiting for a notification. */
\r
3912 pxCurrentTCB->eNotifyState = eWaitingNotification;
\r
3914 if( xTicksToWait > ( TickType_t ) 0 )
\r
3916 /* The task is going to block. First it must be removed
\r
3917 from the ready list. */
\r
3918 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3920 /* The current task must be in a ready list, so there is
\r
3921 no need to check, and the port reset macro can be called
\r
3923 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
3927 mtCOVERAGE_TEST_MARKER();
\r
3930 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3932 if( xTicksToWait == portMAX_DELAY )
\r
3934 /* Add the task to the suspended task list instead
\r
3935 of a delayed task list to ensure the task is not
\r
3936 woken by a timing event. It will block
\r
3938 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3942 /* Calculate the time at which the task should be
\r
3943 woken if no notification events occur. This may
\r
3944 overflow but this doesn't matter, the scheduler will
\r
3946 xTimeToWake = xTickCount + xTicksToWait;
\r
3947 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
3950 #else /* INCLUDE_vTaskSuspend */
\r
3952 /* Calculate the time at which the task should be
\r
3953 woken if the event does not occur. This may
\r
3954 overflow but this doesn't matter, the scheduler will
\r
3956 xTimeToWake = xTickCount + xTicksToWait;
\r
3957 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
3959 #endif /* INCLUDE_vTaskSuspend */
\r
3961 traceTASK_NOTIFY_TAKE_BLOCK();
\r
3963 /* All ports are written to allow a yield in a critical
\r
3964 section (some will yield immediately, others wait until the
\r
3965 critical section exits) - but it is not something that
\r
3966 application code should ever do. */
\r
3967 portYIELD_WITHIN_API();
\r
3971 mtCOVERAGE_TEST_MARKER();
\r
3976 mtCOVERAGE_TEST_MARKER();
\r
3979 taskEXIT_CRITICAL();
\r
3981 taskENTER_CRITICAL();
\r
3983 traceTASK_NOTIFY_TAKE();
\r
3984 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
3986 if( ulReturn != 0UL )
\r
3988 if( xClearCountOnExit != pdFALSE )
\r
3990 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
3994 ( pxCurrentTCB->ulNotifiedValue )--;
\r
3999 mtCOVERAGE_TEST_MARKER();
\r
4002 pxCurrentTCB->eNotifyState = eNotWaitingNotification;
\r
4004 taskEXIT_CRITICAL();
\r
4009 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4010 /*-----------------------------------------------------------*/
\r
4012 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4014 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4016 TickType_t xTimeToWake;
\r
4017 BaseType_t xReturn;
\r
4019 taskENTER_CRITICAL();
\r
4021 /* Only block if a notification is not already pending. */
\r
4022 if( pxCurrentTCB->eNotifyState != eNotified )
\r
4024 /* Clear bits in the task's notification value as bits may get
\r
4025 set by the notifying task or interrupt. This can be used to
\r
4026 clear the value to zero. */
\r
4027 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4029 /* Mark this task as waiting for a notification. */
\r
4030 pxCurrentTCB->eNotifyState = eWaitingNotification;
\r
4032 if( xTicksToWait > ( TickType_t ) 0 )
\r
4034 /* The task is going to block. First it must be removed
\r
4035 from the ready list. */
\r
4036 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
4038 /* The current task must be in a ready list, so there is
\r
4039 no need to check, and the port reset macro can be called
\r
4041 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
4045 mtCOVERAGE_TEST_MARKER();
\r
4048 #if ( INCLUDE_vTaskSuspend == 1 )
\r
4050 if( xTicksToWait == portMAX_DELAY )
\r
4052 /* Add the task to the suspended task list instead
\r
4053 of a delayed task list to ensure the task is not
\r
4054 woken by a timing event. It will block
\r
4056 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
4060 /* Calculate the time at which the task should be
\r
4061 woken if no notification events occur. This may
\r
4062 overflow but this doesn't matter, the scheduler will
\r
4064 xTimeToWake = xTickCount + xTicksToWait;
\r
4065 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
4068 #else /* INCLUDE_vTaskSuspend */
\r
4070 /* Calculate the time at which the task should be
\r
4071 woken if the event does not occur. This may
\r
4072 overflow but this doesn't matter, the scheduler will
\r
4074 xTimeToWake = xTickCount + xTicksToWait;
\r
4075 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
4077 #endif /* INCLUDE_vTaskSuspend */
\r
4079 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4081 /* All ports are written to allow a yield in a critical
\r
4082 section (some will yield immediately, others wait until the
\r
4083 critical section exits) - but it is not something that
\r
4084 application code should ever do. */
\r
4085 portYIELD_WITHIN_API();
\r
4089 mtCOVERAGE_TEST_MARKER();
\r
4094 mtCOVERAGE_TEST_MARKER();
\r
4097 taskEXIT_CRITICAL();
\r
4099 taskENTER_CRITICAL();
\r
4101 traceTASK_NOTIFY_WAIT();
\r
4103 if( pulNotificationValue != NULL )
\r
4105 /* Output the current notification value, which may or may not
\r
4107 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4110 /* If eNotifyValue is set then either the task never entered the
\r
4111 blocked state (because a notification was already pending) or the
\r
4112 task unblocked because of a notification. Otherwise the task
\r
4113 unblocked because of a timeout. */
\r
4114 if( pxCurrentTCB->eNotifyState == eWaitingNotification )
\r
4116 /* A notification was not received. */
\r
4117 xReturn = pdFALSE;
\r
4121 /* A notification was already pending or a notification was
\r
4122 received while the task was waiting. */
\r
4123 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4127 pxCurrentTCB->eNotifyState = eNotWaitingNotification;
\r
4129 taskEXIT_CRITICAL();
\r
4134 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4135 /*-----------------------------------------------------------*/
\r
4137 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4139 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4142 eNotifyValue eOriginalNotifyState;
\r
4143 BaseType_t xReturn = pdPASS;
\r
4145 configASSERT( xTaskToNotify );
\r
4146 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4148 taskENTER_CRITICAL();
\r
4150 if( pulPreviousNotificationValue != NULL )
\r
4152 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4155 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4157 pxTCB->eNotifyState = eNotified;
\r
4162 pxTCB->ulNotifiedValue |= ulValue;
\r
4166 ( pxTCB->ulNotifiedValue )++;
\r
4169 case eSetValueWithOverwrite :
\r
4170 pxTCB->ulNotifiedValue = ulValue;
\r
4173 case eSetValueWithoutOverwrite :
\r
4174 if( eOriginalNotifyState != eNotified )
\r
4176 pxTCB->ulNotifiedValue = ulValue;
\r
4180 /* The value could not be written to the task. */
\r
4186 /* The task is being notified without its notify value being
\r
4191 traceTASK_NOTIFY();
\r
4193 /* If the task is in the blocked state specifically to wait for a
\r
4194 notification then unblock it now. */
\r
4195 if( eOriginalNotifyState == eWaitingNotification )
\r
4197 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4198 prvAddTaskToReadyList( pxTCB );
\r
4200 /* The task should not have been on an event list. */
\r
4201 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4203 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4205 /* If a task is blocked waiting for a notification then
\r
4206 xNextTaskUnblockTime might be set to the blocked task's time
\r
4207 out time. If the task is unblocked for a reason other than
\r
4208 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4209 because it will automatically get reset to a new value when
\r
4210 the tick count equals xNextTaskUnblockTime. However if
\r
4211 tickless idling is used it might be more important to enter
\r
4212 sleep mode at the earliest possible time - so reset
\r
4213 xNextTaskUnblockTime here to ensure it is updated at the
\r
4214 earliest possible time. */
\r
4215 prvResetNextTaskUnblockTime();
\r
4219 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4221 /* The notified task has a priority above the currently
\r
4222 executing task so a yield is required. */
\r
4223 taskYIELD_IF_USING_PREEMPTION();
\r
4227 mtCOVERAGE_TEST_MARKER();
\r
4232 mtCOVERAGE_TEST_MARKER();
\r
4235 taskEXIT_CRITICAL();
\r
4240 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4241 /*-----------------------------------------------------------*/
\r
4243 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4245 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4248 eNotifyValue eOriginalNotifyState;
\r
4249 BaseType_t xReturn = pdPASS;
\r
4250 UBaseType_t uxSavedInterruptStatus;
\r
4252 configASSERT( xTaskToNotify );
\r
4254 /* RTOS ports that support interrupt nesting have the concept of a
\r
4255 maximum system call (or maximum API call) interrupt priority.
\r
4256 Interrupts that are above the maximum system call priority are keep
\r
4257 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4258 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4259 is defined in FreeRTOSConfig.h then
\r
4260 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4261 failure if a FreeRTOS API function is called from an interrupt that has
\r
4262 been assigned a priority above the configured maximum system call
\r
4263 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4264 from interrupts that have been assigned a priority at or (logically)
\r
4265 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4266 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4267 simple as possible. More information (albeit Cortex-M specific) is
\r
4268 provided on the following link:
\r
4269 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4270 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4272 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4274 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4276 if( pulPreviousNotificationValue != NULL )
\r
4278 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4281 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4282 pxTCB->eNotifyState = eNotified;
\r
4287 pxTCB->ulNotifiedValue |= ulValue;
\r
4291 ( pxTCB->ulNotifiedValue )++;
\r
4294 case eSetValueWithOverwrite :
\r
4295 pxTCB->ulNotifiedValue = ulValue;
\r
4298 case eSetValueWithoutOverwrite :
\r
4299 if( eOriginalNotifyState != eNotified )
\r
4301 pxTCB->ulNotifiedValue = ulValue;
\r
4305 /* The value could not be written to the task. */
\r
4311 /* The task is being notified without its notify value being
\r
4316 traceTASK_NOTIFY_FROM_ISR();
\r
4318 /* If the task is in the blocked state specifically to wait for a
\r
4319 notification then unblock it now. */
\r
4320 if( eOriginalNotifyState == eWaitingNotification )
\r
4322 /* The task should not have been on an event list. */
\r
4323 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4325 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4327 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4328 prvAddTaskToReadyList( pxTCB );
\r
4332 /* The delayed and ready lists cannot be accessed, so hold
\r
4333 this task pending until the scheduler is resumed. */
\r
4334 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4337 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4339 /* The notified task has a priority above the currently
\r
4340 executing task so a yield is required. */
\r
4341 if( pxHigherPriorityTaskWoken != NULL )
\r
4343 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4348 mtCOVERAGE_TEST_MARKER();
\r
4352 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4357 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4358 /*-----------------------------------------------------------*/
\r
4360 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4362 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4365 eNotifyValue eOriginalNotifyState;
\r
4366 UBaseType_t uxSavedInterruptStatus;
\r
4368 configASSERT( xTaskToNotify );
\r
4370 /* RTOS ports that support interrupt nesting have the concept of a
\r
4371 maximum system call (or maximum API call) interrupt priority.
\r
4372 Interrupts that are above the maximum system call priority are keep
\r
4373 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4374 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4375 is defined in FreeRTOSConfig.h then
\r
4376 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4377 failure if a FreeRTOS API function is called from an interrupt that has
\r
4378 been assigned a priority above the configured maximum system call
\r
4379 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4380 from interrupts that have been assigned a priority at or (logically)
\r
4381 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4382 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4383 simple as possible. More information (albeit Cortex-M specific) is
\r
4384 provided on the following link:
\r
4385 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4386 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4388 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4390 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4392 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4393 pxTCB->eNotifyState = eNotified;
\r
4395 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4397 ( pxTCB->ulNotifiedValue )++;
\r
4399 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
4401 /* If the task is in the blocked state specifically to wait for a
\r
4402 notification then unblock it now. */
\r
4403 if( eOriginalNotifyState == eWaitingNotification )
\r
4405 /* The task should not have been on an event list. */
\r
4406 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4408 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4410 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4411 prvAddTaskToReadyList( pxTCB );
\r
4415 /* The delayed and ready lists cannot be accessed, so hold
\r
4416 this task pending until the scheduler is resumed. */
\r
4417 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4420 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4422 /* The notified task has a priority above the currently
\r
4423 executing task so a yield is required. */
\r
4424 if( pxHigherPriorityTaskWoken != NULL )
\r
4426 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4431 mtCOVERAGE_TEST_MARKER();
\r
4435 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4438 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4440 /*-----------------------------------------------------------*/
\r
4442 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4444 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
4447 BaseType_t xReturn;
\r
4449 pxTCB = ( TCB_t * ) xTask;
\r
4451 /* If null is passed in here then it is the calling task that is having
\r
4452 its notification state cleared. */
\r
4453 pxTCB = prvGetTCBFromHandle( pxTCB );
\r
4455 taskENTER_CRITICAL();
\r
4457 if( pxTCB->eNotifyState == eNotified )
\r
4459 pxTCB->eNotifyState = eNotWaitingNotification;
\r
4467 taskEXIT_CRITICAL();
\r
4472 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4474 #ifdef FREERTOS_MODULE_TEST
\r
4475 #include "tasks_test_access_functions.h"
\r
projects / freertos / blob