2 * FreeRTOS Kernel V10.1.0
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3 * Copyright (C) 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /* Standard includes. */
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32 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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33 all the API functions to use the MPU wrappers. That should only be done when
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34 task.h is included from an application file. */
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35 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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37 /* FreeRTOS includes. */
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38 #include "FreeRTOS.h"
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41 #include "stack_macros.h"
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43 /* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
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44 because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
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45 for the header files above, but not in this file, in order to generate the
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46 correct privileged Vs unprivileged linkage and placement. */
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47 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
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49 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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50 functions but without including stdio.h here. */
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51 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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52 /* At the bottom of this file are two optional functions that can be used
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53 to generate human readable text from the raw data generated by the
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54 uxTaskGetSystemState() function. Note the formatting functions are provided
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55 for convenience only, and are NOT considered part of the kernel. */
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57 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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59 #if( configUSE_PREEMPTION == 0 )
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60 /* If the cooperative scheduler is being used then a yield should not be
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61 performed just because a higher priority task has been woken. */
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62 #define taskYIELD_IF_USING_PREEMPTION()
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64 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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67 /* Values that can be assigned to the ucNotifyState member of the TCB. */
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68 #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )
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69 #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
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70 #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
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73 * The value used to fill the stack of a task when the task is created. This
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74 * is used purely for checking the high water mark for tasks.
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76 #define tskSTACK_FILL_BYTE ( 0xa5U )
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78 /* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using
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79 dynamically allocated RAM, in which case when any task is deleted it is known
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80 that both the task's stack and TCB need to be freed. Sometimes the
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81 FreeRTOSConfig.h settings only allow a task to be created using statically
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82 allocated RAM, in which case when any task is deleted it is known that neither
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83 the task's stack or TCB should be freed. Sometimes the FreeRTOSConfig.h
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84 settings allow a task to be created using either statically or dynamically
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85 allocated RAM, in which case a member of the TCB is used to record whether the
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86 stack and/or TCB were allocated statically or dynamically, so when a task is
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87 deleted the RAM that was allocated dynamically is freed again and no attempt is
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88 made to free the RAM that was allocated statically.
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89 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a
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90 task to be created using either statically or dynamically allocated RAM. Note
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91 that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with
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92 a statically allocated stack and a dynamically allocated TCB.
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93 !!!NOTE!!! If the definition of tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is
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94 changed then the definition of StaticTask_t must also be updated. */
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95 #define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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96 #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
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97 #define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
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98 #define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
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100 /* If any of the following are set then task stacks are filled with a known
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101 value so the high water mark can be determined. If none of the following are
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102 set then don't fill the stack so there is no unnecessary dependency on memset. */
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103 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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104 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 1
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106 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 0
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110 * Macros used by vListTask to indicate which state a task is in.
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112 #define tskRUNNING_CHAR ( 'X' )
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113 #define tskBLOCKED_CHAR ( 'B' )
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114 #define tskREADY_CHAR ( 'R' )
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115 #define tskDELETED_CHAR ( 'D' )
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116 #define tskSUSPENDED_CHAR ( 'S' )
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119 * Some kernel aware debuggers require the data the debugger needs access to be
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120 * global, rather than file scope.
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122 #ifdef portREMOVE_STATIC_QUALIFIER
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126 /* The name allocated to the Idle task. This can be overridden by defining
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127 configIDLE_TASK_NAME in FreeRTOSConfig.h. */
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128 #ifndef configIDLE_TASK_NAME
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129 #define configIDLE_TASK_NAME "IDLE"
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132 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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134 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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135 performed in a generic way that is not optimised to any particular
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136 microcontroller architecture. */
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138 /* uxTopReadyPriority holds the priority of the highest priority ready
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140 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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142 if( ( uxPriority ) > uxTopReadyPriority ) \
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144 uxTopReadyPriority = ( uxPriority ); \
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146 } /* taskRECORD_READY_PRIORITY */
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148 /*-----------------------------------------------------------*/
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150 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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152 UBaseType_t uxTopPriority = uxTopReadyPriority; \
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154 /* Find the highest priority queue that contains ready tasks. */ \
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155 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
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157 configASSERT( uxTopPriority ); \
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161 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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162 the same priority get an equal share of the processor time. */ \
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163 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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164 uxTopReadyPriority = uxTopPriority; \
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165 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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167 /*-----------------------------------------------------------*/
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169 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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170 they are only required when a port optimised method of task selection is
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172 #define taskRESET_READY_PRIORITY( uxPriority )
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173 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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175 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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177 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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178 performed in a way that is tailored to the particular microcontroller
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179 architecture being used. */
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181 /* A port optimised version is provided. Call the port defined macros. */
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182 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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184 /*-----------------------------------------------------------*/
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186 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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188 UBaseType_t uxTopPriority; \
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190 /* Find the highest priority list that contains ready tasks. */ \
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191 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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192 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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193 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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194 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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196 /*-----------------------------------------------------------*/
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198 /* A port optimised version is provided, call it only if the TCB being reset
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199 is being referenced from a ready list. If it is referenced from a delayed
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200 or suspended list then it won't be in a ready list. */
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201 #define taskRESET_READY_PRIORITY( uxPriority ) \
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203 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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205 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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209 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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211 /*-----------------------------------------------------------*/
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213 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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214 count overflows. */
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215 #define taskSWITCH_DELAYED_LISTS() \
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219 /* The delayed tasks list should be empty when the lists are switched. */ \
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220 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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222 pxTemp = pxDelayedTaskList; \
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223 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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224 pxOverflowDelayedTaskList = pxTemp; \
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225 xNumOfOverflows++; \
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226 prvResetNextTaskUnblockTime(); \
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229 /*-----------------------------------------------------------*/
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232 * Place the task represented by pxTCB into the appropriate ready list for
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233 * the task. It is inserted at the end of the list.
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235 #define prvAddTaskToReadyList( pxTCB ) \
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236 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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237 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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238 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
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239 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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240 /*-----------------------------------------------------------*/
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243 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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244 * where NULL is used to indicate that the handle of the currently executing
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245 * task should be used in place of the parameter. This macro simply checks to
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246 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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248 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) )
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250 /* The item value of the event list item is normally used to hold the priority
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251 of the task to which it belongs (coded to allow it to be held in reverse
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252 priority order). However, it is occasionally borrowed for other purposes. It
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253 is important its value is not updated due to a task priority change while it is
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254 being used for another purpose. The following bit definition is used to inform
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255 the scheduler that the value should not be changed - in which case it is the
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256 responsibility of whichever module is using the value to ensure it gets set back
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257 to its original value when it is released. */
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258 #if( configUSE_16_BIT_TICKS == 1 )
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259 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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261 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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265 * Task control block. A task control block (TCB) is allocated for each task,
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266 * and stores task state information, including a pointer to the task's context
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267 * (the task's run time environment, including register values)
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269 typedef struct tskTaskControlBlock
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271 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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273 #if ( portUSING_MPU_WRAPPERS == 1 )
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274 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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277 ListItem_t xStateListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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278 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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279 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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280 StackType_t *pxStack; /*< Points to the start of the stack. */
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281 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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283 #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
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284 StackType_t *pxEndOfStack; /*< Points to the highest valid address for the stack. */
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287 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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288 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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291 #if ( configUSE_TRACE_FACILITY == 1 )
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292 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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293 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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296 #if ( configUSE_MUTEXES == 1 )
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297 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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298 UBaseType_t uxMutexesHeld;
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301 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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302 TaskHookFunction_t pxTaskTag;
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305 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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306 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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309 #if( configGENERATE_RUN_TIME_STATS == 1 )
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310 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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313 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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314 /* Allocate a Newlib reent structure that is specific to this task.
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315 Note Newlib support has been included by popular demand, but is not
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316 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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317 responsible for resulting newlib operation. User must be familiar with
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318 newlib and must provide system-wide implementations of the necessary
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319 stubs. Be warned that (at the time of writing) the current newlib design
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320 implements a system-wide malloc() that must be provided with locks. */
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321 struct _reent xNewLib_reent;
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324 #if( configUSE_TASK_NOTIFICATIONS == 1 )
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325 volatile uint32_t ulNotifiedValue;
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326 volatile uint8_t ucNotifyState;
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329 /* See the comments above the definition of
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330 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
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331 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
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332 uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
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335 #if( INCLUDE_xTaskAbortDelay == 1 )
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336 uint8_t ucDelayAborted;
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339 #if( configUSE_POSIX_ERRNO == 1 )
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345 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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346 below to enable the use of older kernel aware debuggers. */
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347 typedef tskTCB TCB_t;
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349 /*lint -save -e956 A manual analysis and inspection has been used to determine
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350 which static variables must be declared volatile. */
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351 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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353 /* Lists for ready and blocked tasks. --------------------*/
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354 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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355 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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356 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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357 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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358 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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359 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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361 #if( INCLUDE_vTaskDelete == 1 )
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363 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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364 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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368 #if ( INCLUDE_vTaskSuspend == 1 )
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370 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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374 /* Global POSIX errno. Its value is changed upon context switching to match
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375 the errno of the currently running task. */
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376 #if ( configUSE_POSIX_ERRNO == 1 )
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377 int FreeRTOS_errno = 0;
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380 /* Other file private variables. --------------------------------*/
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381 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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382 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
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383 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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384 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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385 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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386 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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387 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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388 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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389 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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390 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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392 /* Context switches are held pending while the scheduler is suspended. Also,
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393 interrupts must not manipulate the xStateListItem of a TCB, or any of the
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394 lists the xStateListItem can be referenced from, if the scheduler is suspended.
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395 If an interrupt needs to unblock a task while the scheduler is suspended then it
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396 moves the task's event list item into the xPendingReadyList, ready for the
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397 kernel to move the task from the pending ready list into the real ready list
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398 when the scheduler is unsuspended. The pending ready list itself can only be
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399 accessed from a critical section. */
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400 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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404 /*-----------------------------------------------------------*/
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406 /* Callback function prototypes. --------------------------*/
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407 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
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409 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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413 #if( configUSE_TICK_HOOK > 0 )
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415 extern void vApplicationTickHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */
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419 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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421 extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */
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425 /* File private functions. --------------------------------*/
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428 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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429 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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430 * is in any other state.
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432 #if ( INCLUDE_vTaskSuspend == 1 )
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434 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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436 #endif /* INCLUDE_vTaskSuspend */
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439 * Utility to ready all the lists used by the scheduler. This is called
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440 * automatically upon the creation of the first task.
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442 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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445 * The idle task, which as all tasks is implemented as a never ending loop.
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446 * The idle task is automatically created and added to the ready lists upon
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447 * creation of the first user task.
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449 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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450 * language extensions. The equivalent prototype for this function is:
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452 * void prvIdleTask( void *pvParameters );
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455 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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458 * Utility to free all memory allocated by the scheduler to hold a TCB,
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459 * including the stack pointed to by the TCB.
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461 * This does not free memory allocated by the task itself (i.e. memory
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462 * allocated by calls to pvPortMalloc from within the tasks application code).
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464 #if ( INCLUDE_vTaskDelete == 1 )
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466 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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471 * Used only by the idle task. This checks to see if anything has been placed
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472 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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473 * and its TCB deleted.
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475 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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478 * The currently executing task is entering the Blocked state. Add the task to
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479 * either the current or the overflow delayed task list.
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481 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
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484 * Fills an TaskStatus_t structure with information on each task that is
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485 * referenced from the pxList list (which may be a ready list, a delayed list,
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486 * a suspended list, etc.).
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488 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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489 * NORMAL APPLICATION CODE.
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491 #if ( configUSE_TRACE_FACILITY == 1 )
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493 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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498 * Searches pxList for a task with name pcNameToQuery - returning a handle to
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499 * the task if it is found, or NULL if the task is not found.
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501 #if ( INCLUDE_xTaskGetHandle == 1 )
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503 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
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508 * When a task is created, the stack of the task is filled with a known value.
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509 * This function determines the 'high water mark' of the task stack by
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510 * determining how much of the stack remains at the original preset value.
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512 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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514 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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519 * Return the amount of time, in ticks, that will pass before the kernel will
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520 * next move a task from the Blocked state to the Running state.
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522 * This conditional compilation should use inequality to 0, not equality to 1.
\r
523 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
\r
524 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
\r
525 * set to a value other than 1.
\r
527 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
529 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
\r
534 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
\r
535 * will exit the Blocked state.
\r
537 static void prvResetNextTaskUnblockTime( void );
\r
539 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
542 * Helper function used to pad task names with spaces when printing out
\r
543 * human readable tables of task information.
\r
545 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
\r
550 * Called after a Task_t structure has been allocated either statically or
\r
551 * dynamically to fill in the structure's members.
\r
553 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
554 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
555 const uint32_t ulStackDepth,
\r
556 void * const pvParameters,
\r
557 UBaseType_t uxPriority,
\r
558 TaskHandle_t * const pxCreatedTask,
\r
560 const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
\r
563 * Called after a new task has been created and initialised to place the task
\r
564 * under the control of the scheduler.
\r
566 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
\r
569 * freertos_tasks_c_additions_init() should only be called if the user definable
\r
570 * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
\r
571 * called by the function.
\r
573 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
575 static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
\r
579 /*-----------------------------------------------------------*/
\r
581 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
583 TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
\r
584 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
585 const uint32_t ulStackDepth,
\r
586 void * const pvParameters,
\r
587 UBaseType_t uxPriority,
\r
588 StackType_t * const puxStackBuffer,
\r
589 StaticTask_t * const pxTaskBuffer )
\r
592 TaskHandle_t xReturn;
\r
594 configASSERT( puxStackBuffer != NULL );
\r
595 configASSERT( pxTaskBuffer != NULL );
\r
597 #if( configASSERT_DEFINED == 1 )
\r
599 /* Sanity check that the size of the structure used to declare a
\r
600 variable of type StaticTask_t equals the size of the real task
\r
602 volatile size_t xSize = sizeof( StaticTask_t );
\r
603 configASSERT( xSize == sizeof( TCB_t ) );
\r
604 ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
\r
606 #endif /* configASSERT_DEFINED */
\r
609 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
\r
611 /* The memory used for the task's TCB and stack are passed into this
\r
612 function - use them. */
\r
613 pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
\r
614 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
\r
616 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
618 /* Tasks can be created statically or dynamically, so note this
\r
619 task was created statically in case the task is later deleted. */
\r
620 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
622 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
624 prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
\r
625 prvAddNewTaskToReadyList( pxNewTCB );
\r
635 #endif /* SUPPORT_STATIC_ALLOCATION */
\r
636 /*-----------------------------------------------------------*/
\r
638 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
640 BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
643 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
645 configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
\r
646 configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
\r
648 if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
\r
650 /* Allocate space for the TCB. Where the memory comes from depends
\r
651 on the implementation of the port malloc function and whether or
\r
652 not static allocation is being used. */
\r
653 pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
\r
655 /* Store the stack location in the TCB. */
\r
656 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
658 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
660 /* Tasks can be created statically or dynamically, so note this
\r
661 task was created statically in case the task is later deleted. */
\r
662 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
664 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
666 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
667 pxTaskDefinition->pcName,
\r
668 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
669 pxTaskDefinition->pvParameters,
\r
670 pxTaskDefinition->uxPriority,
\r
671 pxCreatedTask, pxNewTCB,
\r
672 pxTaskDefinition->xRegions );
\r
674 prvAddNewTaskToReadyList( pxNewTCB );
\r
681 #endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
\r
682 /*-----------------------------------------------------------*/
\r
684 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
686 BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
689 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
691 configASSERT( pxTaskDefinition->puxStackBuffer );
\r
693 if( pxTaskDefinition->puxStackBuffer != NULL )
\r
695 /* Allocate space for the TCB. Where the memory comes from depends
\r
696 on the implementation of the port malloc function and whether or
\r
697 not static allocation is being used. */
\r
698 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
700 if( pxNewTCB != NULL )
\r
702 /* Store the stack location in the TCB. */
\r
703 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
705 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
707 /* Tasks can be created statically or dynamically, so note
\r
708 this task had a statically allocated stack in case it is
\r
709 later deleted. The TCB was allocated dynamically. */
\r
710 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
\r
714 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
715 pxTaskDefinition->pcName,
\r
716 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
717 pxTaskDefinition->pvParameters,
\r
718 pxTaskDefinition->uxPriority,
\r
719 pxCreatedTask, pxNewTCB,
\r
720 pxTaskDefinition->xRegions );
\r
722 prvAddNewTaskToReadyList( pxNewTCB );
\r
730 #endif /* portUSING_MPU_WRAPPERS */
\r
731 /*-----------------------------------------------------------*/
\r
733 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
735 BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
\r
736 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
737 const configSTACK_DEPTH_TYPE usStackDepth,
\r
738 void * const pvParameters,
\r
739 UBaseType_t uxPriority,
\r
740 TaskHandle_t * const pxCreatedTask )
\r
743 BaseType_t xReturn;
\r
745 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
746 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
747 the TCB then the stack. */
\r
748 #if( portSTACK_GROWTH > 0 )
\r
750 /* Allocate space for the TCB. Where the memory comes from depends on
\r
751 the implementation of the port malloc function and whether or not static
\r
752 allocation is being used. */
\r
753 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
755 if( pxNewTCB != NULL )
\r
757 /* Allocate space for the stack used by the task being created.
\r
758 The base of the stack memory stored in the TCB so the task can
\r
759 be deleted later if required. */
\r
760 pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
762 if( pxNewTCB->pxStack == NULL )
\r
764 /* Could not allocate the stack. Delete the allocated TCB. */
\r
765 vPortFree( pxNewTCB );
\r
770 #else /* portSTACK_GROWTH */
\r
772 StackType_t *pxStack;
\r
774 /* Allocate space for the stack used by the task being created. */
\r
775 pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
\r
777 if( pxStack != NULL )
\r
779 /* Allocate space for the TCB. */
\r
780 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */
\r
782 if( pxNewTCB != NULL )
\r
784 /* Store the stack location in the TCB. */
\r
785 pxNewTCB->pxStack = pxStack;
\r
789 /* The stack cannot be used as the TCB was not created. Free
\r
791 vPortFree( pxStack );
\r
799 #endif /* portSTACK_GROWTH */
\r
801 if( pxNewTCB != NULL )
\r
803 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
\r
805 /* Tasks can be created statically or dynamically, so note this
\r
806 task was created dynamically in case it is later deleted. */
\r
807 pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
\r
809 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
811 prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
\r
812 prvAddNewTaskToReadyList( pxNewTCB );
\r
817 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
823 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
824 /*-----------------------------------------------------------*/
\r
826 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
827 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
828 const uint32_t ulStackDepth,
\r
829 void * const pvParameters,
\r
830 UBaseType_t uxPriority,
\r
831 TaskHandle_t * const pxCreatedTask,
\r
833 const MemoryRegion_t * const xRegions )
\r
835 StackType_t *pxTopOfStack;
\r
838 #if( portUSING_MPU_WRAPPERS == 1 )
\r
839 /* Should the task be created in privileged mode? */
\r
840 BaseType_t xRunPrivileged;
\r
841 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
843 xRunPrivileged = pdTRUE;
\r
847 xRunPrivileged = pdFALSE;
\r
849 uxPriority &= ~portPRIVILEGE_BIT;
\r
850 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
852 configASSERT( pcName );
\r
854 /* Avoid dependency on memset() if it is not required. */
\r
855 #if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
\r
857 /* Fill the stack with a known value to assist debugging. */
\r
858 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
\r
860 #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
\r
862 /* Calculate the top of stack address. This depends on whether the stack
\r
863 grows from high memory to low (as per the 80x86) or vice versa.
\r
864 portSTACK_GROWTH is used to make the result positive or negative as required
\r
866 #if( portSTACK_GROWTH < 0 )
\r
868 pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
\r
869 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 !e9033 !e9078 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. Checked by assert(). */
\r
871 /* Check the alignment of the calculated top of stack is correct. */
\r
872 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
874 #if( configRECORD_STACK_HIGH_ADDRESS == 1 )
\r
876 /* Also record the stack's high address, which may assist
\r
878 pxNewTCB->pxEndOfStack = pxTopOfStack;
\r
880 #endif /* configRECORD_STACK_HIGH_ADDRESS */
\r
882 #else /* portSTACK_GROWTH */
\r
884 pxTopOfStack = pxNewTCB->pxStack;
\r
886 /* Check the alignment of the stack buffer is correct. */
\r
887 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
889 /* The other extreme of the stack space is required if stack checking is
\r
891 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
893 #endif /* portSTACK_GROWTH */
\r
895 /* Store the task name in the TCB. */
\r
896 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
898 pxNewTCB->pcTaskName[ x ] = pcName[ x ];
\r
900 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
901 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
902 string is not accessible (extremely unlikely). */
\r
903 if( pcName[ x ] == ( char ) 0x00 )
\r
909 mtCOVERAGE_TEST_MARKER();
\r
913 /* Ensure the name string is terminated in the case that the string length
\r
914 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
915 pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
917 /* This is used as an array index so must ensure it's not too large. First
\r
918 remove the privilege bit if one is present. */
\r
919 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
921 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
925 mtCOVERAGE_TEST_MARKER();
\r
928 pxNewTCB->uxPriority = uxPriority;
\r
929 #if ( configUSE_MUTEXES == 1 )
\r
931 pxNewTCB->uxBasePriority = uxPriority;
\r
932 pxNewTCB->uxMutexesHeld = 0;
\r
934 #endif /* configUSE_MUTEXES */
\r
936 vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
\r
937 vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
\r
939 /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
\r
940 back to the containing TCB from a generic item in a list. */
\r
941 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
\r
943 /* Event lists are always in priority order. */
\r
944 listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
945 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
\r
947 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
949 pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
951 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
953 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
955 pxNewTCB->pxTaskTag = NULL;
\r
957 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
959 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
961 pxNewTCB->ulRunTimeCounter = 0UL;
\r
963 #endif /* configGENERATE_RUN_TIME_STATS */
\r
965 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
967 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
\r
971 /* Avoid compiler warning about unreferenced parameter. */
\r
976 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
978 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
980 pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
985 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
987 pxNewTCB->ulNotifiedValue = 0;
\r
988 pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
992 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
994 /* Initialise this task's Newlib reent structure. */
\r
995 _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
\r
999 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
1001 pxNewTCB->ucDelayAborted = pdFALSE;
\r
1005 /* Initialize the TCB stack to look as if the task was already running,
\r
1006 but had been interrupted by the scheduler. The return address is set
\r
1007 to the start of the task function. Once the stack has been initialised
\r
1008 the top of stack variable is updated. */
\r
1009 #if( portUSING_MPU_WRAPPERS == 1 )
\r
1011 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1013 #else /* portUSING_MPU_WRAPPERS */
\r
1015 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
1017 #endif /* portUSING_MPU_WRAPPERS */
\r
1019 if( pxCreatedTask != NULL )
\r
1021 /* Pass the handle out in an anonymous way. The handle can be used to
\r
1022 change the created task's priority, delete the created task, etc.*/
\r
1023 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
1027 mtCOVERAGE_TEST_MARKER();
\r
1030 /*-----------------------------------------------------------*/
\r
1032 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
\r
1034 /* Ensure interrupts don't access the task lists while the lists are being
\r
1036 taskENTER_CRITICAL();
\r
1038 uxCurrentNumberOfTasks++;
\r
1039 if( pxCurrentTCB == NULL )
\r
1041 /* There are no other tasks, or all the other tasks are in
\r
1042 the suspended state - make this the current task. */
\r
1043 pxCurrentTCB = pxNewTCB;
\r
1045 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
1047 /* This is the first task to be created so do the preliminary
\r
1048 initialisation required. We will not recover if this call
\r
1049 fails, but we will report the failure. */
\r
1050 prvInitialiseTaskLists();
\r
1054 mtCOVERAGE_TEST_MARKER();
\r
1059 /* If the scheduler is not already running, make this task the
\r
1060 current task if it is the highest priority task to be created
\r
1062 if( xSchedulerRunning == pdFALSE )
\r
1064 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
\r
1066 pxCurrentTCB = pxNewTCB;
\r
1070 mtCOVERAGE_TEST_MARKER();
\r
1075 mtCOVERAGE_TEST_MARKER();
\r
1081 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1083 /* Add a counter into the TCB for tracing only. */
\r
1084 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
1086 #endif /* configUSE_TRACE_FACILITY */
\r
1087 traceTASK_CREATE( pxNewTCB );
\r
1089 prvAddTaskToReadyList( pxNewTCB );
\r
1091 portSETUP_TCB( pxNewTCB );
\r
1093 taskEXIT_CRITICAL();
\r
1095 if( xSchedulerRunning != pdFALSE )
\r
1097 /* If the created task is of a higher priority than the current task
\r
1098 then it should run now. */
\r
1099 if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
\r
1101 taskYIELD_IF_USING_PREEMPTION();
\r
1105 mtCOVERAGE_TEST_MARKER();
\r
1110 mtCOVERAGE_TEST_MARKER();
\r
1113 /*-----------------------------------------------------------*/
\r
1115 #if ( INCLUDE_vTaskDelete == 1 )
\r
1117 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
1121 taskENTER_CRITICAL();
\r
1123 /* If null is passed in here then it is the calling task that is
\r
1125 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
1127 /* Remove task from the ready list. */
\r
1128 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1130 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1134 mtCOVERAGE_TEST_MARKER();
\r
1137 /* Is the task waiting on an event also? */
\r
1138 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1140 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1144 mtCOVERAGE_TEST_MARKER();
\r
1147 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
1148 detect that the task lists need re-generating. This is done before
\r
1149 portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
\r
1153 if( pxTCB == pxCurrentTCB )
\r
1155 /* A task is deleting itself. This cannot complete within the
\r
1156 task itself, as a context switch to another task is required.
\r
1157 Place the task in the termination list. The idle task will
\r
1158 check the termination list and free up any memory allocated by
\r
1159 the scheduler for the TCB and stack of the deleted task. */
\r
1160 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
\r
1162 /* Increment the ucTasksDeleted variable so the idle task knows
\r
1163 there is a task that has been deleted and that it should therefore
\r
1164 check the xTasksWaitingTermination list. */
\r
1165 ++uxDeletedTasksWaitingCleanUp;
\r
1167 /* The pre-delete hook is primarily for the Windows simulator,
\r
1168 in which Windows specific clean up operations are performed,
\r
1169 after which it is not possible to yield away from this task -
\r
1170 hence xYieldPending is used to latch that a context switch is
\r
1172 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
1176 --uxCurrentNumberOfTasks;
\r
1177 prvDeleteTCB( pxTCB );
\r
1179 /* Reset the next expected unblock time in case it referred to
\r
1180 the task that has just been deleted. */
\r
1181 prvResetNextTaskUnblockTime();
\r
1184 traceTASK_DELETE( pxTCB );
\r
1186 taskEXIT_CRITICAL();
\r
1188 /* Force a reschedule if it is the currently running task that has just
\r
1190 if( xSchedulerRunning != pdFALSE )
\r
1192 if( pxTCB == pxCurrentTCB )
\r
1194 configASSERT( uxSchedulerSuspended == 0 );
\r
1195 portYIELD_WITHIN_API();
\r
1199 mtCOVERAGE_TEST_MARKER();
\r
1204 #endif /* INCLUDE_vTaskDelete */
\r
1205 /*-----------------------------------------------------------*/
\r
1207 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
1209 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
1211 TickType_t xTimeToWake;
\r
1212 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
1214 configASSERT( pxPreviousWakeTime );
\r
1215 configASSERT( ( xTimeIncrement > 0U ) );
\r
1216 configASSERT( uxSchedulerSuspended == 0 );
\r
1218 vTaskSuspendAll();
\r
1220 /* Minor optimisation. The tick count cannot change in this
\r
1222 const TickType_t xConstTickCount = xTickCount;
\r
1224 /* Generate the tick time at which the task wants to wake. */
\r
1225 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
1227 if( xConstTickCount < *pxPreviousWakeTime )
\r
1229 /* The tick count has overflowed since this function was
\r
1230 lasted called. In this case the only time we should ever
\r
1231 actually delay is if the wake time has also overflowed,
\r
1232 and the wake time is greater than the tick time. When this
\r
1233 is the case it is as if neither time had overflowed. */
\r
1234 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
1236 xShouldDelay = pdTRUE;
\r
1240 mtCOVERAGE_TEST_MARKER();
\r
1245 /* The tick time has not overflowed. In this case we will
\r
1246 delay if either the wake time has overflowed, and/or the
\r
1247 tick time is less than the wake time. */
\r
1248 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
1250 xShouldDelay = pdTRUE;
\r
1254 mtCOVERAGE_TEST_MARKER();
\r
1258 /* Update the wake time ready for the next call. */
\r
1259 *pxPreviousWakeTime = xTimeToWake;
\r
1261 if( xShouldDelay != pdFALSE )
\r
1263 traceTASK_DELAY_UNTIL( xTimeToWake );
\r
1265 /* prvAddCurrentTaskToDelayedList() needs the block time, not
\r
1266 the time to wake, so subtract the current tick count. */
\r
1267 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
\r
1271 mtCOVERAGE_TEST_MARKER();
\r
1274 xAlreadyYielded = xTaskResumeAll();
\r
1276 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1277 have put ourselves to sleep. */
\r
1278 if( xAlreadyYielded == pdFALSE )
\r
1280 portYIELD_WITHIN_API();
\r
1284 mtCOVERAGE_TEST_MARKER();
\r
1288 #endif /* INCLUDE_vTaskDelayUntil */
\r
1289 /*-----------------------------------------------------------*/
\r
1291 #if ( INCLUDE_vTaskDelay == 1 )
\r
1293 void vTaskDelay( const TickType_t xTicksToDelay )
\r
1295 BaseType_t xAlreadyYielded = pdFALSE;
\r
1297 /* A delay time of zero just forces a reschedule. */
\r
1298 if( xTicksToDelay > ( TickType_t ) 0U )
\r
1300 configASSERT( uxSchedulerSuspended == 0 );
\r
1301 vTaskSuspendAll();
\r
1303 traceTASK_DELAY();
\r
1305 /* A task that is removed from the event list while the
\r
1306 scheduler is suspended will not get placed in the ready
\r
1307 list or removed from the blocked list until the scheduler
\r
1310 This task cannot be in an event list as it is the currently
\r
1311 executing task. */
\r
1312 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
\r
1314 xAlreadyYielded = xTaskResumeAll();
\r
1318 mtCOVERAGE_TEST_MARKER();
\r
1321 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1322 have put ourselves to sleep. */
\r
1323 if( xAlreadyYielded == pdFALSE )
\r
1325 portYIELD_WITHIN_API();
\r
1329 mtCOVERAGE_TEST_MARKER();
\r
1333 #endif /* INCLUDE_vTaskDelay */
\r
1334 /*-----------------------------------------------------------*/
\r
1336 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) )
\r
1338 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1340 eTaskState eReturn;
\r
1341 List_t const * pxStateList, *pxDelayedList, *pxOverflowedDelayedList;
\r
1342 const TCB_t * const pxTCB = xTask;
\r
1344 configASSERT( pxTCB );
\r
1346 if( pxTCB == pxCurrentTCB )
\r
1348 /* The task calling this function is querying its own state. */
\r
1349 eReturn = eRunning;
\r
1353 taskENTER_CRITICAL();
\r
1355 pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
\r
1356 pxDelayedList = pxDelayedTaskList;
\r
1357 pxOverflowedDelayedList = pxOverflowDelayedTaskList;
\r
1359 taskEXIT_CRITICAL();
\r
1361 if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
\r
1363 /* The task being queried is referenced from one of the Blocked
\r
1365 eReturn = eBlocked;
\r
1368 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1369 else if( pxStateList == &xSuspendedTaskList )
\r
1371 /* The task being queried is referenced from the suspended
\r
1372 list. Is it genuinely suspended or is it blocked
\r
1374 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1376 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1378 /* The task does not appear on the event list item of
\r
1379 and of the RTOS objects, but could still be in the
\r
1380 blocked state if it is waiting on its notification
\r
1381 rather than waiting on an object. */
\r
1382 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1384 eReturn = eBlocked;
\r
1388 eReturn = eSuspended;
\r
1393 eReturn = eSuspended;
\r
1399 eReturn = eBlocked;
\r
1404 #if ( INCLUDE_vTaskDelete == 1 )
\r
1405 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1407 /* The task being queried is referenced from the deleted
\r
1408 tasks list, or it is not referenced from any lists at
\r
1410 eReturn = eDeleted;
\r
1414 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1416 /* If the task is not in any other state, it must be in the
\r
1417 Ready (including pending ready) state. */
\r
1423 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1425 #endif /* INCLUDE_eTaskGetState */
\r
1426 /*-----------------------------------------------------------*/
\r
1428 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1430 UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
\r
1432 TCB_t const *pxTCB;
\r
1433 UBaseType_t uxReturn;
\r
1435 taskENTER_CRITICAL();
\r
1437 /* If null is passed in here then it is the priority of the task
\r
1438 that called uxTaskPriorityGet() that is being queried. */
\r
1439 pxTCB = prvGetTCBFromHandle( xTask );
\r
1440 uxReturn = pxTCB->uxPriority;
\r
1442 taskEXIT_CRITICAL();
\r
1447 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1448 /*-----------------------------------------------------------*/
\r
1450 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1452 UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
\r
1454 TCB_t const *pxTCB;
\r
1455 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1457 /* RTOS ports that support interrupt nesting have the concept of a
\r
1458 maximum system call (or maximum API call) interrupt priority.
\r
1459 Interrupts that are above the maximum system call priority are keep
\r
1460 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1461 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1462 is defined in FreeRTOSConfig.h then
\r
1463 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1464 failure if a FreeRTOS API function is called from an interrupt that has
\r
1465 been assigned a priority above the configured maximum system call
\r
1466 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1467 from interrupts that have been assigned a priority at or (logically)
\r
1468 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1469 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1470 simple as possible. More information (albeit Cortex-M specific) is
\r
1471 provided on the following link:
\r
1472 https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1473 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1475 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1477 /* If null is passed in here then it is the priority of the calling
\r
1478 task that is being queried. */
\r
1479 pxTCB = prvGetTCBFromHandle( xTask );
\r
1480 uxReturn = pxTCB->uxPriority;
\r
1482 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1487 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1488 /*-----------------------------------------------------------*/
\r
1490 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1492 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1495 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1496 BaseType_t xYieldRequired = pdFALSE;
\r
1498 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1500 /* Ensure the new priority is valid. */
\r
1501 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1503 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1507 mtCOVERAGE_TEST_MARKER();
\r
1510 taskENTER_CRITICAL();
\r
1512 /* If null is passed in here then it is the priority of the calling
\r
1513 task that is being changed. */
\r
1514 pxTCB = prvGetTCBFromHandle( xTask );
\r
1516 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1518 #if ( configUSE_MUTEXES == 1 )
\r
1520 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1524 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1528 if( uxCurrentBasePriority != uxNewPriority )
\r
1530 /* The priority change may have readied a task of higher
\r
1531 priority than the calling task. */
\r
1532 if( uxNewPriority > uxCurrentBasePriority )
\r
1534 if( pxTCB != pxCurrentTCB )
\r
1536 /* The priority of a task other than the currently
\r
1537 running task is being raised. Is the priority being
\r
1538 raised above that of the running task? */
\r
1539 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1541 xYieldRequired = pdTRUE;
\r
1545 mtCOVERAGE_TEST_MARKER();
\r
1550 /* The priority of the running task is being raised,
\r
1551 but the running task must already be the highest
\r
1552 priority task able to run so no yield is required. */
\r
1555 else if( pxTCB == pxCurrentTCB )
\r
1557 /* Setting the priority of the running task down means
\r
1558 there may now be another task of higher priority that
\r
1559 is ready to execute. */
\r
1560 xYieldRequired = pdTRUE;
\r
1564 /* Setting the priority of any other task down does not
\r
1565 require a yield as the running task must be above the
\r
1566 new priority of the task being modified. */
\r
1569 /* Remember the ready list the task might be referenced from
\r
1570 before its uxPriority member is changed so the
\r
1571 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1572 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1574 #if ( configUSE_MUTEXES == 1 )
\r
1576 /* Only change the priority being used if the task is not
\r
1577 currently using an inherited priority. */
\r
1578 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1580 pxTCB->uxPriority = uxNewPriority;
\r
1584 mtCOVERAGE_TEST_MARKER();
\r
1587 /* The base priority gets set whatever. */
\r
1588 pxTCB->uxBasePriority = uxNewPriority;
\r
1592 pxTCB->uxPriority = uxNewPriority;
\r
1596 /* Only reset the event list item value if the value is not
\r
1597 being used for anything else. */
\r
1598 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1600 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
1604 mtCOVERAGE_TEST_MARKER();
\r
1607 /* If the task is in the blocked or suspended list we need do
\r
1608 nothing more than change its priority variable. However, if
\r
1609 the task is in a ready list it needs to be removed and placed
\r
1610 in the list appropriate to its new priority. */
\r
1611 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1613 /* The task is currently in its ready list - remove before
\r
1614 adding it to it's new ready list. As we are in a critical
\r
1615 section we can do this even if the scheduler is suspended. */
\r
1616 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1618 /* It is known that the task is in its ready list so
\r
1619 there is no need to check again and the port level
\r
1620 reset macro can be called directly. */
\r
1621 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1625 mtCOVERAGE_TEST_MARKER();
\r
1627 prvAddTaskToReadyList( pxTCB );
\r
1631 mtCOVERAGE_TEST_MARKER();
\r
1634 if( xYieldRequired != pdFALSE )
\r
1636 taskYIELD_IF_USING_PREEMPTION();
\r
1640 mtCOVERAGE_TEST_MARKER();
\r
1643 /* Remove compiler warning about unused variables when the port
\r
1644 optimised task selection is not being used. */
\r
1645 ( void ) uxPriorityUsedOnEntry;
\r
1648 taskEXIT_CRITICAL();
\r
1651 #endif /* INCLUDE_vTaskPrioritySet */
\r
1652 /*-----------------------------------------------------------*/
\r
1654 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1656 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1660 taskENTER_CRITICAL();
\r
1662 /* If null is passed in here then it is the running task that is
\r
1663 being suspended. */
\r
1664 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1666 traceTASK_SUSPEND( pxTCB );
\r
1668 /* Remove task from the ready/delayed list and place in the
\r
1669 suspended list. */
\r
1670 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1672 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1676 mtCOVERAGE_TEST_MARKER();
\r
1679 /* Is the task waiting on an event also? */
\r
1680 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1682 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1686 mtCOVERAGE_TEST_MARKER();
\r
1689 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
\r
1691 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1693 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1695 /* The task was blocked to wait for a notification, but is
\r
1696 now suspended, so no notification was received. */
\r
1697 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
1702 taskEXIT_CRITICAL();
\r
1704 if( xSchedulerRunning != pdFALSE )
\r
1706 /* Reset the next expected unblock time in case it referred to the
\r
1707 task that is now in the Suspended state. */
\r
1708 taskENTER_CRITICAL();
\r
1710 prvResetNextTaskUnblockTime();
\r
1712 taskEXIT_CRITICAL();
\r
1716 mtCOVERAGE_TEST_MARKER();
\r
1719 if( pxTCB == pxCurrentTCB )
\r
1721 if( xSchedulerRunning != pdFALSE )
\r
1723 /* The current task has just been suspended. */
\r
1724 configASSERT( uxSchedulerSuspended == 0 );
\r
1725 portYIELD_WITHIN_API();
\r
1729 /* The scheduler is not running, but the task that was pointed
\r
1730 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1731 must be adjusted to point to a different task. */
\r
1732 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
\r
1734 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1735 NULL so when the next task is created pxCurrentTCB will
\r
1736 be set to point to it no matter what its relative priority
\r
1738 pxCurrentTCB = NULL;
\r
1742 vTaskSwitchContext();
\r
1748 mtCOVERAGE_TEST_MARKER();
\r
1752 #endif /* INCLUDE_vTaskSuspend */
\r
1753 /*-----------------------------------------------------------*/
\r
1755 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1757 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1759 BaseType_t xReturn = pdFALSE;
\r
1760 const TCB_t * const pxTCB = xTask;
\r
1762 /* Accesses xPendingReadyList so must be called from a critical
\r
1765 /* It does not make sense to check if the calling task is suspended. */
\r
1766 configASSERT( xTask );
\r
1768 /* Is the task being resumed actually in the suspended list? */
\r
1769 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1771 /* Has the task already been resumed from within an ISR? */
\r
1772 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1774 /* Is it in the suspended list because it is in the Suspended
\r
1775 state, or because is is blocked with no timeout? */
\r
1776 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
\r
1782 mtCOVERAGE_TEST_MARKER();
\r
1787 mtCOVERAGE_TEST_MARKER();
\r
1792 mtCOVERAGE_TEST_MARKER();
\r
1796 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1798 #endif /* INCLUDE_vTaskSuspend */
\r
1799 /*-----------------------------------------------------------*/
\r
1801 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1803 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1805 TCB_t * const pxTCB = xTaskToResume;
\r
1807 /* It does not make sense to resume the calling task. */
\r
1808 configASSERT( xTaskToResume );
\r
1810 /* The parameter cannot be NULL as it is impossible to resume the
\r
1811 currently executing task. */
\r
1812 if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) )
\r
1814 taskENTER_CRITICAL();
\r
1816 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1818 traceTASK_RESUME( pxTCB );
\r
1820 /* The ready list can be accessed even if the scheduler is
\r
1821 suspended because this is inside a critical section. */
\r
1822 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1823 prvAddTaskToReadyList( pxTCB );
\r
1825 /* A higher priority task may have just been resumed. */
\r
1826 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1828 /* This yield may not cause the task just resumed to run,
\r
1829 but will leave the lists in the correct state for the
\r
1831 taskYIELD_IF_USING_PREEMPTION();
\r
1835 mtCOVERAGE_TEST_MARKER();
\r
1840 mtCOVERAGE_TEST_MARKER();
\r
1843 taskEXIT_CRITICAL();
\r
1847 mtCOVERAGE_TEST_MARKER();
\r
1851 #endif /* INCLUDE_vTaskSuspend */
\r
1853 /*-----------------------------------------------------------*/
\r
1855 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1857 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1859 BaseType_t xYieldRequired = pdFALSE;
\r
1860 TCB_t * const pxTCB = xTaskToResume;
\r
1861 UBaseType_t uxSavedInterruptStatus;
\r
1863 configASSERT( xTaskToResume );
\r
1865 /* RTOS ports that support interrupt nesting have the concept of a
\r
1866 maximum system call (or maximum API call) interrupt priority.
\r
1867 Interrupts that are above the maximum system call priority are keep
\r
1868 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1869 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1870 is defined in FreeRTOSConfig.h then
\r
1871 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1872 failure if a FreeRTOS API function is called from an interrupt that has
\r
1873 been assigned a priority above the configured maximum system call
\r
1874 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1875 from interrupts that have been assigned a priority at or (logically)
\r
1876 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1877 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1878 simple as possible. More information (albeit Cortex-M specific) is
\r
1879 provided on the following link:
\r
1880 https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1881 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1883 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1885 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1887 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1889 /* Check the ready lists can be accessed. */
\r
1890 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1892 /* Ready lists can be accessed so move the task from the
\r
1893 suspended list to the ready list directly. */
\r
1894 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1896 xYieldRequired = pdTRUE;
\r
1900 mtCOVERAGE_TEST_MARKER();
\r
1903 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1904 prvAddTaskToReadyList( pxTCB );
\r
1908 /* The delayed or ready lists cannot be accessed so the task
\r
1909 is held in the pending ready list until the scheduler is
\r
1911 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1916 mtCOVERAGE_TEST_MARKER();
\r
1919 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1921 return xYieldRequired;
\r
1924 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1925 /*-----------------------------------------------------------*/
\r
1927 void vTaskStartScheduler( void )
\r
1929 BaseType_t xReturn;
\r
1931 /* Add the idle task at the lowest priority. */
\r
1932 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1934 StaticTask_t *pxIdleTaskTCBBuffer = NULL;
\r
1935 StackType_t *pxIdleTaskStackBuffer = NULL;
\r
1936 uint32_t ulIdleTaskStackSize;
\r
1938 /* The Idle task is created using user provided RAM - obtain the
\r
1939 address of the RAM then create the idle task. */
\r
1940 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
\r
1941 xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
\r
1942 configIDLE_TASK_NAME,
\r
1943 ulIdleTaskStackSize,
\r
1944 ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
\r
1945 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
1946 pxIdleTaskStackBuffer,
\r
1947 pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1949 if( xIdleTaskHandle != NULL )
\r
1960 /* The Idle task is being created using dynamically allocated RAM. */
\r
1961 xReturn = xTaskCreate( prvIdleTask,
\r
1962 configIDLE_TASK_NAME,
\r
1963 configMINIMAL_STACK_SIZE,
\r
1965 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
1966 &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1968 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
1970 #if ( configUSE_TIMERS == 1 )
\r
1972 if( xReturn == pdPASS )
\r
1974 xReturn = xTimerCreateTimerTask();
\r
1978 mtCOVERAGE_TEST_MARKER();
\r
1981 #endif /* configUSE_TIMERS */
\r
1983 if( xReturn == pdPASS )
\r
1985 /* freertos_tasks_c_additions_init() should only be called if the user
\r
1986 definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
\r
1987 the only macro called by the function. */
\r
1988 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
1990 freertos_tasks_c_additions_init();
\r
1994 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1995 before or during the call to xPortStartScheduler(). The stacks of
\r
1996 the created tasks contain a status word with interrupts switched on
\r
1997 so interrupts will automatically get re-enabled when the first task
\r
1999 portDISABLE_INTERRUPTS();
\r
2001 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2003 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2004 structure specific to the task that will run first. */
\r
2005 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2007 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2009 xNextTaskUnblockTime = portMAX_DELAY;
\r
2010 xSchedulerRunning = pdTRUE;
\r
2011 xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
\r
2013 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
2014 macro must be defined to configure the timer/counter used to generate
\r
2015 the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
\r
2016 is set to 0 and the following line fails to build then ensure you do not
\r
2017 have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
\r
2018 FreeRTOSConfig.h file. */
\r
2019 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
2021 traceTASK_SWITCHED_IN();
\r
2023 /* Setting up the timer tick is hardware specific and thus in the
\r
2024 portable interface. */
\r
2025 if( xPortStartScheduler() != pdFALSE )
\r
2027 /* Should not reach here as if the scheduler is running the
\r
2028 function will not return. */
\r
2032 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
2037 /* This line will only be reached if the kernel could not be started,
\r
2038 because there was not enough FreeRTOS heap to create the idle task
\r
2039 or the timer task. */
\r
2040 configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
\r
2043 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
2044 meaning xIdleTaskHandle is not used anywhere else. */
\r
2045 ( void ) xIdleTaskHandle;
\r
2047 /*-----------------------------------------------------------*/
\r
2049 void vTaskEndScheduler( void )
\r
2051 /* Stop the scheduler interrupts and call the portable scheduler end
\r
2052 routine so the original ISRs can be restored if necessary. The port
\r
2053 layer must ensure interrupts enable bit is left in the correct state. */
\r
2054 portDISABLE_INTERRUPTS();
\r
2055 xSchedulerRunning = pdFALSE;
\r
2056 vPortEndScheduler();
\r
2058 /*----------------------------------------------------------*/
\r
2060 void vTaskSuspendAll( void )
\r
2062 /* A critical section is not required as the variable is of type
\r
2063 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
2064 post in the FreeRTOS support forum before reporting this as a bug! -
\r
2065 http://goo.gl/wu4acr */
\r
2066 ++uxSchedulerSuspended;
\r
2068 /*----------------------------------------------------------*/
\r
2070 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2072 static TickType_t prvGetExpectedIdleTime( void )
\r
2074 TickType_t xReturn;
\r
2075 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
2077 /* uxHigherPriorityReadyTasks takes care of the case where
\r
2078 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
2079 task that are in the Ready state, even though the idle task is
\r
2081 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
2083 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
2085 uxHigherPriorityReadyTasks = pdTRUE;
\r
2090 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
2092 /* When port optimised task selection is used the uxTopReadyPriority
\r
2093 variable is used as a bit map. If bits other than the least
\r
2094 significant bit are set then there are tasks that have a priority
\r
2095 above the idle priority that are in the Ready state. This takes
\r
2096 care of the case where the co-operative scheduler is in use. */
\r
2097 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
2099 uxHigherPriorityReadyTasks = pdTRUE;
\r
2104 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
2108 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
2110 /* There are other idle priority tasks in the ready state. If
\r
2111 time slicing is used then the very next tick interrupt must be
\r
2115 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
2117 /* There are tasks in the Ready state that have a priority above the
\r
2118 idle priority. This path can only be reached if
\r
2119 configUSE_PREEMPTION is 0. */
\r
2124 xReturn = xNextTaskUnblockTime - xTickCount;
\r
2130 #endif /* configUSE_TICKLESS_IDLE */
\r
2131 /*----------------------------------------------------------*/
\r
2133 BaseType_t xTaskResumeAll( void )
\r
2135 TCB_t *pxTCB = NULL;
\r
2136 BaseType_t xAlreadyYielded = pdFALSE;
\r
2138 /* If uxSchedulerSuspended is zero then this function does not match a
\r
2139 previous call to vTaskSuspendAll(). */
\r
2140 configASSERT( uxSchedulerSuspended );
\r
2142 /* It is possible that an ISR caused a task to be removed from an event
\r
2143 list while the scheduler was suspended. If this was the case then the
\r
2144 removed task will have been added to the xPendingReadyList. Once the
\r
2145 scheduler has been resumed it is safe to move all the pending ready
\r
2146 tasks from this list into their appropriate ready list. */
\r
2147 taskENTER_CRITICAL();
\r
2149 --uxSchedulerSuspended;
\r
2151 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2153 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
2155 /* Move any readied tasks from the pending list into the
\r
2156 appropriate ready list. */
\r
2157 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
2159 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2160 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2161 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2162 prvAddTaskToReadyList( pxTCB );
\r
2164 /* If the moved task has a priority higher than the current
\r
2165 task then a yield must be performed. */
\r
2166 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2168 xYieldPending = pdTRUE;
\r
2172 mtCOVERAGE_TEST_MARKER();
\r
2176 if( pxTCB != NULL )
\r
2178 /* A task was unblocked while the scheduler was suspended,
\r
2179 which may have prevented the next unblock time from being
\r
2180 re-calculated, in which case re-calculate it now. Mainly
\r
2181 important for low power tickless implementations, where
\r
2182 this can prevent an unnecessary exit from low power
\r
2184 prvResetNextTaskUnblockTime();
\r
2187 /* If any ticks occurred while the scheduler was suspended then
\r
2188 they should be processed now. This ensures the tick count does
\r
2189 not slip, and that any delayed tasks are resumed at the correct
\r
2192 UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */
\r
2194 if( uxPendedCounts > ( UBaseType_t ) 0U )
\r
2198 if( xTaskIncrementTick() != pdFALSE )
\r
2200 xYieldPending = pdTRUE;
\r
2204 mtCOVERAGE_TEST_MARKER();
\r
2207 } while( uxPendedCounts > ( UBaseType_t ) 0U );
\r
2209 uxPendedTicks = 0;
\r
2213 mtCOVERAGE_TEST_MARKER();
\r
2217 if( xYieldPending != pdFALSE )
\r
2219 #if( configUSE_PREEMPTION != 0 )
\r
2221 xAlreadyYielded = pdTRUE;
\r
2224 taskYIELD_IF_USING_PREEMPTION();
\r
2228 mtCOVERAGE_TEST_MARKER();
\r
2234 mtCOVERAGE_TEST_MARKER();
\r
2237 taskEXIT_CRITICAL();
\r
2239 return xAlreadyYielded;
\r
2241 /*-----------------------------------------------------------*/
\r
2243 TickType_t xTaskGetTickCount( void )
\r
2245 TickType_t xTicks;
\r
2247 /* Critical section required if running on a 16 bit processor. */
\r
2248 portTICK_TYPE_ENTER_CRITICAL();
\r
2250 xTicks = xTickCount;
\r
2252 portTICK_TYPE_EXIT_CRITICAL();
\r
2256 /*-----------------------------------------------------------*/
\r
2258 TickType_t xTaskGetTickCountFromISR( void )
\r
2260 TickType_t xReturn;
\r
2261 UBaseType_t uxSavedInterruptStatus;
\r
2263 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
2264 system call (or maximum API call) interrupt priority. Interrupts that are
\r
2265 above the maximum system call priority are kept permanently enabled, even
\r
2266 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
2267 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
2268 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
2269 failure if a FreeRTOS API function is called from an interrupt that has been
\r
2270 assigned a priority above the configured maximum system call priority.
\r
2271 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
2272 that have been assigned a priority at or (logically) below the maximum
\r
2273 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
2274 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
2275 More information (albeit Cortex-M specific) is provided on the following
\r
2276 link: https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
2277 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
2279 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
2281 xReturn = xTickCount;
\r
2283 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2287 /*-----------------------------------------------------------*/
\r
2289 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
2291 /* A critical section is not required because the variables are of type
\r
2293 return uxCurrentNumberOfTasks;
\r
2295 /*-----------------------------------------------------------*/
\r
2297 char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2301 /* If null is passed in here then the name of the calling task is being
\r
2303 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2304 configASSERT( pxTCB );
\r
2305 return &( pxTCB->pcTaskName[ 0 ] );
\r
2307 /*-----------------------------------------------------------*/
\r
2309 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2311 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
\r
2313 TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
\r
2316 BaseType_t xBreakLoop;
\r
2318 /* This function is called with the scheduler suspended. */
\r
2320 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2322 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2326 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2328 /* Check each character in the name looking for a match or
\r
2330 xBreakLoop = pdFALSE;
\r
2331 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2333 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
2335 if( cNextChar != pcNameToQuery[ x ] )
\r
2337 /* Characters didn't match. */
\r
2338 xBreakLoop = pdTRUE;
\r
2340 else if( cNextChar == ( char ) 0x00 )
\r
2342 /* Both strings terminated, a match must have been
\r
2344 pxReturn = pxNextTCB;
\r
2345 xBreakLoop = pdTRUE;
\r
2349 mtCOVERAGE_TEST_MARKER();
\r
2352 if( xBreakLoop != pdFALSE )
\r
2358 if( pxReturn != NULL )
\r
2360 /* The handle has been found. */
\r
2364 } while( pxNextTCB != pxFirstTCB );
\r
2368 mtCOVERAGE_TEST_MARKER();
\r
2374 #endif /* INCLUDE_xTaskGetHandle */
\r
2375 /*-----------------------------------------------------------*/
\r
2377 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2379 TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2381 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
2384 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
\r
2385 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
\r
2387 vTaskSuspendAll();
\r
2389 /* Search the ready lists. */
\r
2393 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
2395 if( pxTCB != NULL )
\r
2397 /* Found the handle. */
\r
2401 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2403 /* Search the delayed lists. */
\r
2404 if( pxTCB == NULL )
\r
2406 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
2409 if( pxTCB == NULL )
\r
2411 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
2414 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2416 if( pxTCB == NULL )
\r
2418 /* Search the suspended list. */
\r
2419 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
2424 #if( INCLUDE_vTaskDelete == 1 )
\r
2426 if( pxTCB == NULL )
\r
2428 /* Search the deleted list. */
\r
2429 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
2434 ( void ) xTaskResumeAll();
\r
2439 #endif /* INCLUDE_xTaskGetHandle */
\r
2440 /*-----------------------------------------------------------*/
\r
2442 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2444 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
2446 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
2448 vTaskSuspendAll();
\r
2450 /* Is there a space in the array for each task in the system? */
\r
2451 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2453 /* Fill in an TaskStatus_t structure with information on each
\r
2454 task in the Ready state. */
\r
2458 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2460 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2462 /* Fill in an TaskStatus_t structure with information on each
\r
2463 task in the Blocked state. */
\r
2464 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2465 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2467 #if( INCLUDE_vTaskDelete == 1 )
\r
2469 /* Fill in an TaskStatus_t structure with information on
\r
2470 each task that has been deleted but not yet cleaned up. */
\r
2471 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2475 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2477 /* Fill in an TaskStatus_t structure with information on
\r
2478 each task in the Suspended state. */
\r
2479 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2483 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
2485 if( pulTotalRunTime != NULL )
\r
2487 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2488 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2490 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2496 if( pulTotalRunTime != NULL )
\r
2498 *pulTotalRunTime = 0;
\r
2505 mtCOVERAGE_TEST_MARKER();
\r
2508 ( void ) xTaskResumeAll();
\r
2513 #endif /* configUSE_TRACE_FACILITY */
\r
2514 /*----------------------------------------------------------*/
\r
2516 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2518 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2520 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2521 started, then xIdleTaskHandle will be NULL. */
\r
2522 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2523 return xIdleTaskHandle;
\r
2526 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2527 /*----------------------------------------------------------*/
\r
2529 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2530 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2531 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2533 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2535 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2537 /* Correct the tick count value after a period during which the tick
\r
2538 was suppressed. Note this does *not* call the tick hook function for
\r
2539 each stepped tick. */
\r
2540 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2541 xTickCount += xTicksToJump;
\r
2542 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2545 #endif /* configUSE_TICKLESS_IDLE */
\r
2546 /*----------------------------------------------------------*/
\r
2548 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
2550 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
\r
2552 TCB_t *pxTCB = xTask;
\r
2553 BaseType_t xReturn;
\r
2555 configASSERT( pxTCB );
\r
2557 vTaskSuspendAll();
\r
2559 /* A task can only be prematurely removed from the Blocked state if
\r
2560 it is actually in the Blocked state. */
\r
2561 if( eTaskGetState( xTask ) == eBlocked )
\r
2565 /* Remove the reference to the task from the blocked list. An
\r
2566 interrupt won't touch the xStateListItem because the
\r
2567 scheduler is suspended. */
\r
2568 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2570 /* Is the task waiting on an event also? If so remove it from
\r
2571 the event list too. Interrupts can touch the event list item,
\r
2572 even though the scheduler is suspended, so a critical section
\r
2574 taskENTER_CRITICAL();
\r
2576 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2578 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2579 pxTCB->ucDelayAborted = pdTRUE;
\r
2583 mtCOVERAGE_TEST_MARKER();
\r
2586 taskEXIT_CRITICAL();
\r
2588 /* Place the unblocked task into the appropriate ready list. */
\r
2589 prvAddTaskToReadyList( pxTCB );
\r
2591 /* A task being unblocked cannot cause an immediate context
\r
2592 switch if preemption is turned off. */
\r
2593 #if ( configUSE_PREEMPTION == 1 )
\r
2595 /* Preemption is on, but a context switch should only be
\r
2596 performed if the unblocked task has a priority that is
\r
2597 equal to or higher than the currently executing task. */
\r
2598 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2600 /* Pend the yield to be performed when the scheduler
\r
2601 is unsuspended. */
\r
2602 xYieldPending = pdTRUE;
\r
2606 mtCOVERAGE_TEST_MARKER();
\r
2609 #endif /* configUSE_PREEMPTION */
\r
2616 ( void ) xTaskResumeAll();
\r
2621 #endif /* INCLUDE_xTaskAbortDelay */
\r
2622 /*----------------------------------------------------------*/
\r
2624 BaseType_t xTaskIncrementTick( void )
\r
2627 TickType_t xItemValue;
\r
2628 BaseType_t xSwitchRequired = pdFALSE;
\r
2630 /* Called by the portable layer each time a tick interrupt occurs.
\r
2631 Increments the tick then checks to see if the new tick value will cause any
\r
2632 tasks to be unblocked. */
\r
2633 traceTASK_INCREMENT_TICK( xTickCount );
\r
2634 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2636 /* Minor optimisation. The tick count cannot change in this
\r
2638 const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
\r
2640 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2641 delayed lists if it wraps to 0. */
\r
2642 xTickCount = xConstTickCount;
\r
2644 if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
\r
2646 taskSWITCH_DELAYED_LISTS();
\r
2650 mtCOVERAGE_TEST_MARKER();
\r
2653 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2654 the queue in the order of their wake time - meaning once one task
\r
2655 has been found whose block time has not expired there is no need to
\r
2656 look any further down the list. */
\r
2657 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2661 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2663 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2664 to the maximum possible value so it is extremely
\r
2666 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2667 next time through. */
\r
2668 xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2673 /* The delayed list is not empty, get the value of the
\r
2674 item at the head of the delayed list. This is the time
\r
2675 at which the task at the head of the delayed list must
\r
2676 be removed from the Blocked state. */
\r
2677 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2678 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
\r
2680 if( xConstTickCount < xItemValue )
\r
2682 /* It is not time to unblock this item yet, but the
\r
2683 item value is the time at which the task at the head
\r
2684 of the blocked list must be removed from the Blocked
\r
2685 state - so record the item value in
\r
2686 xNextTaskUnblockTime. */
\r
2687 xNextTaskUnblockTime = xItemValue;
\r
2688 break; /*lint !e9011 Code structure here is deedmed easier to understand with multiple breaks. */
\r
2692 mtCOVERAGE_TEST_MARKER();
\r
2695 /* It is time to remove the item from the Blocked state. */
\r
2696 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2698 /* Is the task waiting on an event also? If so remove
\r
2699 it from the event list. */
\r
2700 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2702 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2706 mtCOVERAGE_TEST_MARKER();
\r
2709 /* Place the unblocked task into the appropriate ready
\r
2711 prvAddTaskToReadyList( pxTCB );
\r
2713 /* A task being unblocked cannot cause an immediate
\r
2714 context switch if preemption is turned off. */
\r
2715 #if ( configUSE_PREEMPTION == 1 )
\r
2717 /* Preemption is on, but a context switch should
\r
2718 only be performed if the unblocked task has a
\r
2719 priority that is equal to or higher than the
\r
2720 currently executing task. */
\r
2721 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2723 xSwitchRequired = pdTRUE;
\r
2727 mtCOVERAGE_TEST_MARKER();
\r
2730 #endif /* configUSE_PREEMPTION */
\r
2735 /* Tasks of equal priority to the currently running task will share
\r
2736 processing time (time slice) if preemption is on, and the application
\r
2737 writer has not explicitly turned time slicing off. */
\r
2738 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2740 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2742 xSwitchRequired = pdTRUE;
\r
2746 mtCOVERAGE_TEST_MARKER();
\r
2749 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2751 #if ( configUSE_TICK_HOOK == 1 )
\r
2753 /* Guard against the tick hook being called when the pended tick
\r
2754 count is being unwound (when the scheduler is being unlocked). */
\r
2755 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2757 vApplicationTickHook();
\r
2761 mtCOVERAGE_TEST_MARKER();
\r
2764 #endif /* configUSE_TICK_HOOK */
\r
2770 /* The tick hook gets called at regular intervals, even if the
\r
2771 scheduler is locked. */
\r
2772 #if ( configUSE_TICK_HOOK == 1 )
\r
2774 vApplicationTickHook();
\r
2779 #if ( configUSE_PREEMPTION == 1 )
\r
2781 if( xYieldPending != pdFALSE )
\r
2783 xSwitchRequired = pdTRUE;
\r
2787 mtCOVERAGE_TEST_MARKER();
\r
2790 #endif /* configUSE_PREEMPTION */
\r
2792 return xSwitchRequired;
\r
2794 /*-----------------------------------------------------------*/
\r
2796 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2798 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2802 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2804 if( xTask == NULL )
\r
2806 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2813 /* Save the hook function in the TCB. A critical section is required as
\r
2814 the value can be accessed from an interrupt. */
\r
2815 taskENTER_CRITICAL();
\r
2817 xTCB->pxTaskTag = pxHookFunction;
\r
2819 taskEXIT_CRITICAL();
\r
2822 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2823 /*-----------------------------------------------------------*/
\r
2825 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2827 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2830 TaskHookFunction_t xReturn;
\r
2832 /* If xTask is NULL then we are setting our own task hook. */
\r
2833 if( xTask == NULL )
\r
2835 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2842 /* Save the hook function in the TCB. A critical section is required as
\r
2843 the value can be accessed from an interrupt. */
\r
2844 taskENTER_CRITICAL();
\r
2846 xReturn = xTCB->pxTaskTag;
\r
2848 taskEXIT_CRITICAL();
\r
2853 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2854 /*-----------------------------------------------------------*/
\r
2856 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2858 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2861 BaseType_t xReturn;
\r
2863 /* If xTask is NULL then we are calling our own task hook. */
\r
2864 if( xTask == NULL )
\r
2866 xTCB = pxCurrentTCB;
\r
2873 if( xTCB->pxTaskTag != NULL )
\r
2875 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2885 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2886 /*-----------------------------------------------------------*/
\r
2888 void vTaskSwitchContext( void )
\r
2890 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2892 /* The scheduler is currently suspended - do not allow a context
\r
2894 xYieldPending = pdTRUE;
\r
2898 xYieldPending = pdFALSE;
\r
2899 traceTASK_SWITCHED_OUT();
\r
2901 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2903 PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
\r
2904 PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
\r
2906 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2907 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2909 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2912 /* Add the amount of time the task has been running to the
\r
2913 accumulated time so far. The time the task started running was
\r
2914 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2915 protection here so count values are only valid until the timer
\r
2916 overflows. The guard against negative values is to protect
\r
2917 against suspect run time stat counter implementations - which
\r
2918 are provided by the application, not the kernel. */
\r
2919 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2921 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2925 mtCOVERAGE_TEST_MARKER();
\r
2927 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2929 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2931 /* Check for stack overflow, if configured. */
\r
2932 taskCHECK_FOR_STACK_OVERFLOW();
\r
2934 /* Before the currently running task is switched out, save its errno. */
\r
2935 #if( configUSE_POSIX_ERRNO == 1 )
\r
2937 pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
\r
2941 /* Select a new task to run using either the generic C or port
\r
2942 optimised asm code. */
\r
2943 taskSELECT_HIGHEST_PRIORITY_TASK(); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2944 traceTASK_SWITCHED_IN();
\r
2946 /* After the new task is switched in, update the global errno. */
\r
2947 #if( configUSE_POSIX_ERRNO == 1 )
\r
2949 FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
\r
2953 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2955 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2956 structure specific to this task. */
\r
2957 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2959 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2962 /*-----------------------------------------------------------*/
\r
2964 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2966 configASSERT( pxEventList );
\r
2968 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2969 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2971 /* Place the event list item of the TCB in the appropriate event list.
\r
2972 This is placed in the list in priority order so the highest priority task
\r
2973 is the first to be woken by the event. The queue that contains the event
\r
2974 list is locked, preventing simultaneous access from interrupts. */
\r
2975 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2977 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2979 /*-----------------------------------------------------------*/
\r
2981 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2983 configASSERT( pxEventList );
\r
2985 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2986 the event groups implementation. */
\r
2987 configASSERT( uxSchedulerSuspended != 0 );
\r
2989 /* Store the item value in the event list item. It is safe to access the
\r
2990 event list item here as interrupts won't access the event list item of a
\r
2991 task that is not in the Blocked state. */
\r
2992 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2994 /* Place the event list item of the TCB at the end of the appropriate event
\r
2995 list. It is safe to access the event list here because it is part of an
\r
2996 event group implementation - and interrupts don't access event groups
\r
2997 directly (instead they access them indirectly by pending function calls to
\r
2998 the task level). */
\r
2999 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3001 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
3003 /*-----------------------------------------------------------*/
\r
3005 #if( configUSE_TIMERS == 1 )
\r
3007 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
3009 configASSERT( pxEventList );
\r
3011 /* This function should not be called by application code hence the
\r
3012 'Restricted' in its name. It is not part of the public API. It is
\r
3013 designed for use by kernel code, and has special calling requirements -
\r
3014 it should be called with the scheduler suspended. */
\r
3017 /* Place the event list item of the TCB in the appropriate event list.
\r
3018 In this case it is assume that this is the only task that is going to
\r
3019 be waiting on this event list, so the faster vListInsertEnd() function
\r
3020 can be used in place of vListInsert. */
\r
3021 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3023 /* If the task should block indefinitely then set the block time to a
\r
3024 value that will be recognised as an indefinite delay inside the
\r
3025 prvAddCurrentTaskToDelayedList() function. */
\r
3026 if( xWaitIndefinitely != pdFALSE )
\r
3028 xTicksToWait = portMAX_DELAY;
\r
3031 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
\r
3032 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
\r
3035 #endif /* configUSE_TIMERS */
\r
3036 /*-----------------------------------------------------------*/
\r
3038 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
3040 TCB_t *pxUnblockedTCB;
\r
3041 BaseType_t xReturn;
\r
3043 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
3044 called from a critical section within an ISR. */
\r
3046 /* The event list is sorted in priority order, so the first in the list can
\r
3047 be removed as it is known to be the highest priority. Remove the TCB from
\r
3048 the delayed list, and add it to the ready list.
\r
3050 If an event is for a queue that is locked then this function will never
\r
3051 get called - the lock count on the queue will get modified instead. This
\r
3052 means exclusive access to the event list is guaranteed here.
\r
3054 This function assumes that a check has already been made to ensure that
\r
3055 pxEventList is not empty. */
\r
3056 pxUnblockedTCB = listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3057 configASSERT( pxUnblockedTCB );
\r
3058 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
3060 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3062 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3063 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3067 /* The delayed and ready lists cannot be accessed, so hold this task
\r
3068 pending until the scheduler is resumed. */
\r
3069 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
3072 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3074 /* Return true if the task removed from the event list has a higher
\r
3075 priority than the calling task. This allows the calling task to know if
\r
3076 it should force a context switch now. */
\r
3079 /* Mark that a yield is pending in case the user is not using the
\r
3080 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
3081 xYieldPending = pdTRUE;
\r
3085 xReturn = pdFALSE;
\r
3088 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3090 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
3091 might be set to the blocked task's time out time. If the task is
\r
3092 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
3093 normally left unchanged, because it is automatically reset to a new
\r
3094 value when the tick count equals xNextTaskUnblockTime. However if
\r
3095 tickless idling is used it might be more important to enter sleep mode
\r
3096 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
3097 ensure it is updated at the earliest possible time. */
\r
3098 prvResetNextTaskUnblockTime();
\r
3104 /*-----------------------------------------------------------*/
\r
3106 void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
3108 TCB_t *pxUnblockedTCB;
\r
3110 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3111 the event flags implementation. */
\r
3112 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
3114 /* Store the new item value in the event list. */
\r
3115 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3117 /* Remove the event list form the event flag. Interrupts do not access
\r
3119 pxUnblockedTCB = listGET_LIST_ITEM_OWNER( pxEventListItem ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3120 configASSERT( pxUnblockedTCB );
\r
3121 ( void ) uxListRemove( pxEventListItem );
\r
3123 /* Remove the task from the delayed list and add it to the ready list. The
\r
3124 scheduler is suspended so interrupts will not be accessing the ready
\r
3126 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3127 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3129 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3131 /* The unblocked task has a priority above that of the calling task, so
\r
3132 a context switch is required. This function is called with the
\r
3133 scheduler suspended so xYieldPending is set so the context switch
\r
3134 occurs immediately that the scheduler is resumed (unsuspended). */
\r
3135 xYieldPending = pdTRUE;
\r
3138 /*-----------------------------------------------------------*/
\r
3140 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3142 configASSERT( pxTimeOut );
\r
3143 taskENTER_CRITICAL();
\r
3145 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3146 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3148 taskEXIT_CRITICAL();
\r
3150 /*-----------------------------------------------------------*/
\r
3152 void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3154 /* For internal use only as it does not use a critical section. */
\r
3155 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3156 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3158 /*-----------------------------------------------------------*/
\r
3160 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
3162 BaseType_t xReturn;
\r
3164 configASSERT( pxTimeOut );
\r
3165 configASSERT( pxTicksToWait );
\r
3167 taskENTER_CRITICAL();
\r
3169 /* Minor optimisation. The tick count cannot change in this block. */
\r
3170 const TickType_t xConstTickCount = xTickCount;
\r
3171 const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
\r
3173 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
3174 if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
\r
3176 /* The delay was aborted, which is not the same as a time out,
\r
3177 but has the same result. */
\r
3178 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
3184 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3185 if( *pxTicksToWait == portMAX_DELAY )
\r
3187 /* If INCLUDE_vTaskSuspend is set to 1 and the block time
\r
3188 specified is the maximum block time then the task should block
\r
3189 indefinitely, and therefore never time out. */
\r
3190 xReturn = pdFALSE;
\r
3195 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
3197 /* The tick count is greater than the time at which
\r
3198 vTaskSetTimeout() was called, but has also overflowed since
\r
3199 vTaskSetTimeOut() was called. It must have wrapped all the way
\r
3200 around and gone past again. This passed since vTaskSetTimeout()
\r
3204 else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
\r
3206 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
3207 *pxTicksToWait -= xElapsedTime;
\r
3208 vTaskInternalSetTimeOutState( pxTimeOut );
\r
3209 xReturn = pdFALSE;
\r
3213 *pxTicksToWait = 0;
\r
3217 taskEXIT_CRITICAL();
\r
3221 /*-----------------------------------------------------------*/
\r
3223 void vTaskMissedYield( void )
\r
3225 xYieldPending = pdTRUE;
\r
3227 /*-----------------------------------------------------------*/
\r
3229 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3231 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
3233 UBaseType_t uxReturn;
\r
3234 TCB_t const *pxTCB;
\r
3236 if( xTask != NULL )
\r
3239 uxReturn = pxTCB->uxTaskNumber;
\r
3249 #endif /* configUSE_TRACE_FACILITY */
\r
3250 /*-----------------------------------------------------------*/
\r
3252 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3254 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
3258 if( xTask != NULL )
\r
3261 pxTCB->uxTaskNumber = uxHandle;
\r
3265 #endif /* configUSE_TRACE_FACILITY */
\r
3268 * -----------------------------------------------------------
\r
3270 * ----------------------------------------------------------
\r
3272 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
3273 * language extensions. The equivalent prototype for this function is:
\r
3275 * void prvIdleTask( void *pvParameters );
\r
3278 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
3280 /* Stop warnings. */
\r
3281 ( void ) pvParameters;
\r
3283 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
3284 SCHEDULER IS STARTED. **/
\r
3286 /* In case a task that has a secure context deletes itself, in which case
\r
3287 the idle task is responsible for deleting the task's secure context, if
\r
3289 portTASK_CALLS_SECURE_FUNCTIONS();
\r
3293 /* See if any tasks have deleted themselves - if so then the idle task
\r
3294 is responsible for freeing the deleted task's TCB and stack. */
\r
3295 prvCheckTasksWaitingTermination();
\r
3297 #if ( configUSE_PREEMPTION == 0 )
\r
3299 /* If we are not using preemption we keep forcing a task switch to
\r
3300 see if any other task has become available. If we are using
\r
3301 preemption we don't need to do this as any task becoming available
\r
3302 will automatically get the processor anyway. */
\r
3305 #endif /* configUSE_PREEMPTION */
\r
3307 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
3309 /* When using preemption tasks of equal priority will be
\r
3310 timesliced. If a task that is sharing the idle priority is ready
\r
3311 to run then the idle task should yield before the end of the
\r
3314 A critical region is not required here as we are just reading from
\r
3315 the list, and an occasional incorrect value will not matter. If
\r
3316 the ready list at the idle priority contains more than one task
\r
3317 then a task other than the idle task is ready to execute. */
\r
3318 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
3324 mtCOVERAGE_TEST_MARKER();
\r
3327 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
3329 #if ( configUSE_IDLE_HOOK == 1 )
\r
3331 extern void vApplicationIdleHook( void );
\r
3333 /* Call the user defined function from within the idle task. This
\r
3334 allows the application designer to add background functionality
\r
3335 without the overhead of a separate task.
\r
3336 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
3337 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
3338 vApplicationIdleHook();
\r
3340 #endif /* configUSE_IDLE_HOOK */
\r
3342 /* This conditional compilation should use inequality to 0, not equality
\r
3343 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
3344 user defined low power mode implementations require
\r
3345 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
3346 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3348 TickType_t xExpectedIdleTime;
\r
3350 /* It is not desirable to suspend then resume the scheduler on
\r
3351 each iteration of the idle task. Therefore, a preliminary
\r
3352 test of the expected idle time is performed without the
\r
3353 scheduler suspended. The result here is not necessarily
\r
3355 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3357 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3359 vTaskSuspendAll();
\r
3361 /* Now the scheduler is suspended, the expected idle
\r
3362 time can be sampled again, and this time its value can
\r
3364 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
3365 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3367 /* Define the following macro to set xExpectedIdleTime to 0
\r
3368 if the application does not want
\r
3369 portSUPPRESS_TICKS_AND_SLEEP() to be called. */
\r
3370 configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
\r
3372 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3374 traceLOW_POWER_IDLE_BEGIN();
\r
3375 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
3376 traceLOW_POWER_IDLE_END();
\r
3380 mtCOVERAGE_TEST_MARKER();
\r
3383 ( void ) xTaskResumeAll();
\r
3387 mtCOVERAGE_TEST_MARKER();
\r
3390 #endif /* configUSE_TICKLESS_IDLE */
\r
3393 /*-----------------------------------------------------------*/
\r
3395 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3397 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
3399 /* The idle task exists in addition to the application tasks. */
\r
3400 const UBaseType_t uxNonApplicationTasks = 1;
\r
3401 eSleepModeStatus eReturn = eStandardSleep;
\r
3403 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
3405 /* A task was made ready while the scheduler was suspended. */
\r
3406 eReturn = eAbortSleep;
\r
3408 else if( xYieldPending != pdFALSE )
\r
3410 /* A yield was pended while the scheduler was suspended. */
\r
3411 eReturn = eAbortSleep;
\r
3415 /* If all the tasks are in the suspended list (which might mean they
\r
3416 have an infinite block time rather than actually being suspended)
\r
3417 then it is safe to turn all clocks off and just wait for external
\r
3419 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
3421 eReturn = eNoTasksWaitingTimeout;
\r
3425 mtCOVERAGE_TEST_MARKER();
\r
3432 #endif /* configUSE_TICKLESS_IDLE */
\r
3433 /*-----------------------------------------------------------*/
\r
3435 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3437 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
3441 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3443 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
3444 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3448 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3449 /*-----------------------------------------------------------*/
\r
3451 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3453 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
3455 void *pvReturn = NULL;
\r
3458 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3460 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3461 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3471 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3472 /*-----------------------------------------------------------*/
\r
3474 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3476 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3480 /* If null is passed in here then we are modifying the MPU settings of
\r
3481 the calling task. */
\r
3482 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3484 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3487 #endif /* portUSING_MPU_WRAPPERS */
\r
3488 /*-----------------------------------------------------------*/
\r
3490 static void prvInitialiseTaskLists( void )
\r
3492 UBaseType_t uxPriority;
\r
3494 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3496 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3499 vListInitialise( &xDelayedTaskList1 );
\r
3500 vListInitialise( &xDelayedTaskList2 );
\r
3501 vListInitialise( &xPendingReadyList );
\r
3503 #if ( INCLUDE_vTaskDelete == 1 )
\r
3505 vListInitialise( &xTasksWaitingTermination );
\r
3507 #endif /* INCLUDE_vTaskDelete */
\r
3509 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3511 vListInitialise( &xSuspendedTaskList );
\r
3513 #endif /* INCLUDE_vTaskSuspend */
\r
3515 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3517 pxDelayedTaskList = &xDelayedTaskList1;
\r
3518 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3520 /*-----------------------------------------------------------*/
\r
3522 static void prvCheckTasksWaitingTermination( void )
\r
3525 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3527 #if ( INCLUDE_vTaskDelete == 1 )
\r
3531 /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
\r
3532 being called too often in the idle task. */
\r
3533 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3535 taskENTER_CRITICAL();
\r
3537 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3538 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
3539 --uxCurrentNumberOfTasks;
\r
3540 --uxDeletedTasksWaitingCleanUp;
\r
3542 taskEXIT_CRITICAL();
\r
3544 prvDeleteTCB( pxTCB );
\r
3547 #endif /* INCLUDE_vTaskDelete */
\r
3549 /*-----------------------------------------------------------*/
\r
3551 #if( configUSE_TRACE_FACILITY == 1 )
\r
3553 void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
\r
3557 /* xTask is NULL then get the state of the calling task. */
\r
3558 pxTCB = prvGetTCBFromHandle( xTask );
\r
3560 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3561 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
\r
3562 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3563 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3564 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3566 #if ( configUSE_MUTEXES == 1 )
\r
3568 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3572 pxTaskStatus->uxBasePriority = 0;
\r
3576 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3578 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3582 pxTaskStatus->ulRunTimeCounter = 0;
\r
3586 /* Obtaining the task state is a little fiddly, so is only done if the
\r
3587 value of eState passed into this function is eInvalid - otherwise the
\r
3588 state is just set to whatever is passed in. */
\r
3589 if( eState != eInvalid )
\r
3591 if( pxTCB == pxCurrentTCB )
\r
3593 pxTaskStatus->eCurrentState = eRunning;
\r
3597 pxTaskStatus->eCurrentState = eState;
\r
3599 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3601 /* If the task is in the suspended list then there is a
\r
3602 chance it is actually just blocked indefinitely - so really
\r
3603 it should be reported as being in the Blocked state. */
\r
3604 if( eState == eSuspended )
\r
3606 vTaskSuspendAll();
\r
3608 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3610 pxTaskStatus->eCurrentState = eBlocked;
\r
3613 ( void ) xTaskResumeAll();
\r
3616 #endif /* INCLUDE_vTaskSuspend */
\r
3621 pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
\r
3624 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3625 parameter is provided to allow it to be skipped. */
\r
3626 if( xGetFreeStackSpace != pdFALSE )
\r
3628 #if ( portSTACK_GROWTH > 0 )
\r
3630 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3634 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3640 pxTaskStatus->usStackHighWaterMark = 0;
\r
3644 #endif /* configUSE_TRACE_FACILITY */
\r
3645 /*-----------------------------------------------------------*/
\r
3647 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3649 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3651 configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
\r
3652 UBaseType_t uxTask = 0;
\r
3654 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3656 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3658 /* Populate an TaskStatus_t structure within the
\r
3659 pxTaskStatusArray array for each task that is referenced from
\r
3660 pxList. See the definition of TaskStatus_t in task.h for the
\r
3661 meaning of each TaskStatus_t structure member. */
\r
3664 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3665 vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3667 } while( pxNextTCB != pxFirstTCB );
\r
3671 mtCOVERAGE_TEST_MARKER();
\r
3677 #endif /* configUSE_TRACE_FACILITY */
\r
3678 /*-----------------------------------------------------------*/
\r
3680 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3682 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3684 uint32_t ulCount = 0U;
\r
3686 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3688 pucStackByte -= portSTACK_GROWTH;
\r
3692 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3694 return ( configSTACK_DEPTH_TYPE ) ulCount;
\r
3697 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3698 /*-----------------------------------------------------------*/
\r
3700 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3702 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3705 uint8_t *pucEndOfStack;
\r
3706 UBaseType_t uxReturn;
\r
3708 pxTCB = prvGetTCBFromHandle( xTask );
\r
3710 #if portSTACK_GROWTH < 0
\r
3712 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3716 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3720 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3725 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3726 /*-----------------------------------------------------------*/
\r
3728 #if ( INCLUDE_vTaskDelete == 1 )
\r
3730 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3732 /* This call is required specifically for the TriCore port. It must be
\r
3733 above the vPortFree() calls. The call is also used by ports/demos that
\r
3734 want to allocate and clean RAM statically. */
\r
3735 portCLEAN_UP_TCB( pxTCB );
\r
3737 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3738 to the task to free any memory allocated at the application level. */
\r
3739 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3741 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3743 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3745 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
\r
3747 /* The task can only have been allocated dynamically - free both
\r
3748 the stack and TCB. */
\r
3749 vPortFree( pxTCB->pxStack );
\r
3750 vPortFree( pxTCB );
\r
3752 #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
3754 /* The task could have been allocated statically or dynamically, so
\r
3755 check what was statically allocated before trying to free the
\r
3757 if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
\r
3759 /* Both the stack and TCB were allocated dynamically, so both
\r
3761 vPortFree( pxTCB->pxStack );
\r
3762 vPortFree( pxTCB );
\r
3764 else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
\r
3766 /* Only the stack was statically allocated, so the TCB is the
\r
3767 only memory that must be freed. */
\r
3768 vPortFree( pxTCB );
\r
3772 /* Neither the stack nor the TCB were allocated dynamically, so
\r
3773 nothing needs to be freed. */
\r
3774 configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
\r
3775 mtCOVERAGE_TEST_MARKER();
\r
3778 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
3781 #endif /* INCLUDE_vTaskDelete */
\r
3782 /*-----------------------------------------------------------*/
\r
3784 static void prvResetNextTaskUnblockTime( void )
\r
3788 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3790 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3791 the maximum possible value so it is extremely unlikely that the
\r
3792 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3793 there is an item in the delayed list. */
\r
3794 xNextTaskUnblockTime = portMAX_DELAY;
\r
3798 /* The new current delayed list is not empty, get the value of
\r
3799 the item at the head of the delayed list. This is the time at
\r
3800 which the task at the head of the delayed list should be removed
\r
3801 from the Blocked state. */
\r
3802 ( pxTCB ) = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3803 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
\r
3806 /*-----------------------------------------------------------*/
\r
3808 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3810 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3812 TaskHandle_t xReturn;
\r
3814 /* A critical section is not required as this is not called from
\r
3815 an interrupt and the current TCB will always be the same for any
\r
3816 individual execution thread. */
\r
3817 xReturn = pxCurrentTCB;
\r
3822 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3823 /*-----------------------------------------------------------*/
\r
3825 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3827 BaseType_t xTaskGetSchedulerState( void )
\r
3829 BaseType_t xReturn;
\r
3831 if( xSchedulerRunning == pdFALSE )
\r
3833 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3837 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3839 xReturn = taskSCHEDULER_RUNNING;
\r
3843 xReturn = taskSCHEDULER_SUSPENDED;
\r
3850 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3851 /*-----------------------------------------------------------*/
\r
3853 #if ( configUSE_MUTEXES == 1 )
\r
3855 BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3857 TCB_t * const pxMutexHolderTCB = pxMutexHolder;
\r
3858 BaseType_t xReturn = pdFALSE;
\r
3860 /* If the mutex was given back by an interrupt while the queue was
\r
3861 locked then the mutex holder might now be NULL. _RB_ Is this still
\r
3862 needed as interrupts can no longer use mutexes? */
\r
3863 if( pxMutexHolder != NULL )
\r
3865 /* If the holder of the mutex has a priority below the priority of
\r
3866 the task attempting to obtain the mutex then it will temporarily
\r
3867 inherit the priority of the task attempting to obtain the mutex. */
\r
3868 if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3870 /* Adjust the mutex holder state to account for its new
\r
3871 priority. Only reset the event list item value if the value is
\r
3872 not being used for anything else. */
\r
3873 if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3875 listSET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3879 mtCOVERAGE_TEST_MARKER();
\r
3882 /* If the task being modified is in the ready state it will need
\r
3883 to be moved into a new list. */
\r
3884 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
\r
3886 if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3888 taskRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority );
\r
3892 mtCOVERAGE_TEST_MARKER();
\r
3895 /* Inherit the priority before being moved into the new list. */
\r
3896 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3897 prvAddTaskToReadyList( pxMutexHolderTCB );
\r
3901 /* Just inherit the priority. */
\r
3902 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3905 traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
\r
3907 /* Inheritance occurred. */
\r
3912 if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
\r
3914 /* The base priority of the mutex holder is lower than the
\r
3915 priority of the task attempting to take the mutex, but the
\r
3916 current priority of the mutex holder is not lower than the
\r
3917 priority of the task attempting to take the mutex.
\r
3918 Therefore the mutex holder must have already inherited a
\r
3919 priority, but inheritance would have occurred if that had
\r
3920 not been the case. */
\r
3925 mtCOVERAGE_TEST_MARKER();
\r
3931 mtCOVERAGE_TEST_MARKER();
\r
3937 #endif /* configUSE_MUTEXES */
\r
3938 /*-----------------------------------------------------------*/
\r
3940 #if ( configUSE_MUTEXES == 1 )
\r
3942 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3944 TCB_t * const pxTCB = pxMutexHolder;
\r
3945 BaseType_t xReturn = pdFALSE;
\r
3947 if( pxMutexHolder != NULL )
\r
3949 /* A task can only have an inherited priority if it holds the mutex.
\r
3950 If the mutex is held by a task then it cannot be given from an
\r
3951 interrupt, and if a mutex is given by the holding task then it must
\r
3952 be the running state task. */
\r
3953 configASSERT( pxTCB == pxCurrentTCB );
\r
3954 configASSERT( pxTCB->uxMutexesHeld );
\r
3955 ( pxTCB->uxMutexesHeld )--;
\r
3957 /* Has the holder of the mutex inherited the priority of another
\r
3959 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3961 /* Only disinherit if no other mutexes are held. */
\r
3962 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3964 /* A task can only have an inherited priority if it holds
\r
3965 the mutex. If the mutex is held by a task then it cannot be
\r
3966 given from an interrupt, and if a mutex is given by the
\r
3967 holding task then it must be the running state task. Remove
\r
3968 the holding task from the ready list. */
\r
3969 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3971 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3975 mtCOVERAGE_TEST_MARKER();
\r
3978 /* Disinherit the priority before adding the task into the
\r
3979 new ready list. */
\r
3980 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3981 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3983 /* Reset the event list item value. It cannot be in use for
\r
3984 any other purpose if this task is running, and it must be
\r
3985 running to give back the mutex. */
\r
3986 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
3987 prvAddTaskToReadyList( pxTCB );
\r
3989 /* Return true to indicate that a context switch is required.
\r
3990 This is only actually required in the corner case whereby
\r
3991 multiple mutexes were held and the mutexes were given back
\r
3992 in an order different to that in which they were taken.
\r
3993 If a context switch did not occur when the first mutex was
\r
3994 returned, even if a task was waiting on it, then a context
\r
3995 switch should occur when the last mutex is returned whether
\r
3996 a task is waiting on it or not. */
\r
4001 mtCOVERAGE_TEST_MARKER();
\r
4006 mtCOVERAGE_TEST_MARKER();
\r
4011 mtCOVERAGE_TEST_MARKER();
\r
4017 #endif /* configUSE_MUTEXES */
\r
4018 /*-----------------------------------------------------------*/
\r
4020 #if ( configUSE_MUTEXES == 1 )
\r
4022 void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask )
\r
4024 TCB_t * const pxTCB = pxMutexHolder;
\r
4025 UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
\r
4026 const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
\r
4028 if( pxMutexHolder != NULL )
\r
4030 /* If pxMutexHolder is not NULL then the holder must hold at least
\r
4032 configASSERT( pxTCB->uxMutexesHeld );
\r
4034 /* Determine the priority to which the priority of the task that
\r
4035 holds the mutex should be set. This will be the greater of the
\r
4036 holding task's base priority and the priority of the highest
\r
4037 priority task that is waiting to obtain the mutex. */
\r
4038 if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
\r
4040 uxPriorityToUse = uxHighestPriorityWaitingTask;
\r
4044 uxPriorityToUse = pxTCB->uxBasePriority;
\r
4047 /* Does the priority need to change? */
\r
4048 if( pxTCB->uxPriority != uxPriorityToUse )
\r
4050 /* Only disinherit if no other mutexes are held. This is a
\r
4051 simplification in the priority inheritance implementation. If
\r
4052 the task that holds the mutex is also holding other mutexes then
\r
4053 the other mutexes may have caused the priority inheritance. */
\r
4054 if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
\r
4056 /* If a task has timed out because it already holds the
\r
4057 mutex it was trying to obtain then it cannot of inherited
\r
4058 its own priority. */
\r
4059 configASSERT( pxTCB != pxCurrentTCB );
\r
4061 /* Disinherit the priority, remembering the previous
\r
4062 priority to facilitate determining the subject task's
\r
4064 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4065 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
4066 pxTCB->uxPriority = uxPriorityToUse;
\r
4068 /* Only reset the event list item value if the value is not
\r
4069 being used for anything else. */
\r
4070 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
4072 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriorityToUse ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
4076 mtCOVERAGE_TEST_MARKER();
\r
4079 /* If the running task is not the task that holds the mutex
\r
4080 then the task that holds the mutex could be in either the
\r
4081 Ready, Blocked or Suspended states. Only remove the task
\r
4082 from its current state list if it is in the Ready state as
\r
4083 the task's priority is going to change and there is one
\r
4084 Ready list per priority. */
\r
4085 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
4087 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4089 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
4093 mtCOVERAGE_TEST_MARKER();
\r
4096 prvAddTaskToReadyList( pxTCB );
\r
4100 mtCOVERAGE_TEST_MARKER();
\r
4105 mtCOVERAGE_TEST_MARKER();
\r
4110 mtCOVERAGE_TEST_MARKER();
\r
4115 mtCOVERAGE_TEST_MARKER();
\r
4119 #endif /* configUSE_MUTEXES */
\r
4120 /*-----------------------------------------------------------*/
\r
4122 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4124 void vTaskEnterCritical( void )
\r
4126 portDISABLE_INTERRUPTS();
\r
4128 if( xSchedulerRunning != pdFALSE )
\r
4130 ( pxCurrentTCB->uxCriticalNesting )++;
\r
4132 /* This is not the interrupt safe version of the enter critical
\r
4133 function so assert() if it is being called from an interrupt
\r
4134 context. Only API functions that end in "FromISR" can be used in an
\r
4135 interrupt. Only assert if the critical nesting count is 1 to
\r
4136 protect against recursive calls if the assert function also uses a
\r
4137 critical section. */
\r
4138 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
4140 portASSERT_IF_IN_ISR();
\r
4145 mtCOVERAGE_TEST_MARKER();
\r
4149 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4150 /*-----------------------------------------------------------*/
\r
4152 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4154 void vTaskExitCritical( void )
\r
4156 if( xSchedulerRunning != pdFALSE )
\r
4158 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
4160 ( pxCurrentTCB->uxCriticalNesting )--;
\r
4162 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
4164 portENABLE_INTERRUPTS();
\r
4168 mtCOVERAGE_TEST_MARKER();
\r
4173 mtCOVERAGE_TEST_MARKER();
\r
4178 mtCOVERAGE_TEST_MARKER();
\r
4182 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4183 /*-----------------------------------------------------------*/
\r
4185 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
4187 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
4191 /* Start by copying the entire string. */
\r
4192 strcpy( pcBuffer, pcTaskName );
\r
4194 /* Pad the end of the string with spaces to ensure columns line up when
\r
4196 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
4198 pcBuffer[ x ] = ' ';
\r
4202 pcBuffer[ x ] = ( char ) 0x00;
\r
4204 /* Return the new end of string. */
\r
4205 return &( pcBuffer[ x ] );
\r
4208 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
4209 /*-----------------------------------------------------------*/
\r
4211 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4213 void vTaskList( char * pcWriteBuffer )
\r
4215 TaskStatus_t *pxTaskStatusArray;
\r
4216 UBaseType_t uxArraySize, x;
\r
4222 * This function is provided for convenience only, and is used by many
\r
4223 * of the demo applications. Do not consider it to be part of the
\r
4226 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
4227 * uxTaskGetSystemState() output into a human readable table that
\r
4228 * displays task names, states and stack usage.
\r
4230 * vTaskList() has a dependency on the sprintf() C library function that
\r
4231 * might bloat the code size, use a lot of stack, and provide different
\r
4232 * results on different platforms. An alternative, tiny, third party,
\r
4233 * and limited functionality implementation of sprintf() is provided in
\r
4234 * many of the FreeRTOS/Demo sub-directories in a file called
\r
4235 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
4236 * snprintf() implementation!).
\r
4238 * It is recommended that production systems call uxTaskGetSystemState()
\r
4239 * directly to get access to raw stats data, rather than indirectly
\r
4240 * through a call to vTaskList().
\r
4244 /* Make sure the write buffer does not contain a string. */
\r
4245 *pcWriteBuffer = ( char ) 0x00;
\r
4247 /* Take a snapshot of the number of tasks in case it changes while this
\r
4248 function is executing. */
\r
4249 uxArraySize = uxCurrentNumberOfTasks;
\r
4251 /* Allocate an array index for each task. NOTE! if
\r
4252 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4253 equate to NULL. */
\r
4254 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
\r
4256 if( pxTaskStatusArray != NULL )
\r
4258 /* Generate the (binary) data. */
\r
4259 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
4261 /* Create a human readable table from the binary data. */
\r
4262 for( x = 0; x < uxArraySize; x++ )
\r
4264 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
4266 case eRunning: cStatus = tskRUNNING_CHAR;
\r
4269 case eReady: cStatus = tskREADY_CHAR;
\r
4272 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
4275 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
4278 case eDeleted: cStatus = tskDELETED_CHAR;
\r
4281 case eInvalid: /* Fall through. */
\r
4282 default: /* Should not get here, but it is included
\r
4283 to prevent static checking errors. */
\r
4284 cStatus = ( char ) 0x00;
\r
4288 /* Write the task name to the string, padding with spaces so it
\r
4289 can be printed in tabular form more easily. */
\r
4290 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4292 /* Write the rest of the string. */
\r
4293 sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4294 pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
\r
4297 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4298 is 0 then vPortFree() will be #defined to nothing. */
\r
4299 vPortFree( pxTaskStatusArray );
\r
4303 mtCOVERAGE_TEST_MARKER();
\r
4307 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
4308 /*----------------------------------------------------------*/
\r
4310 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4312 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
4314 TaskStatus_t *pxTaskStatusArray;
\r
4315 UBaseType_t uxArraySize, x;
\r
4316 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
4318 #if( configUSE_TRACE_FACILITY != 1 )
\r
4320 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
4327 * This function is provided for convenience only, and is used by many
\r
4328 * of the demo applications. Do not consider it to be part of the
\r
4331 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
4332 * of the uxTaskGetSystemState() output into a human readable table that
\r
4333 * displays the amount of time each task has spent in the Running state
\r
4334 * in both absolute and percentage terms.
\r
4336 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
4337 * function that might bloat the code size, use a lot of stack, and
\r
4338 * provide different results on different platforms. An alternative,
\r
4339 * tiny, third party, and limited functionality implementation of
\r
4340 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
4341 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
4342 * a full snprintf() implementation!).
\r
4344 * It is recommended that production systems call uxTaskGetSystemState()
\r
4345 * directly to get access to raw stats data, rather than indirectly
\r
4346 * through a call to vTaskGetRunTimeStats().
\r
4349 /* Make sure the write buffer does not contain a string. */
\r
4350 *pcWriteBuffer = ( char ) 0x00;
\r
4352 /* Take a snapshot of the number of tasks in case it changes while this
\r
4353 function is executing. */
\r
4354 uxArraySize = uxCurrentNumberOfTasks;
\r
4356 /* Allocate an array index for each task. NOTE! If
\r
4357 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4358 equate to NULL. */
\r
4359 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
\r
4361 if( pxTaskStatusArray != NULL )
\r
4363 /* Generate the (binary) data. */
\r
4364 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
4366 /* For percentage calculations. */
\r
4367 ulTotalTime /= 100UL;
\r
4369 /* Avoid divide by zero errors. */
\r
4370 if( ulTotalTime > 0UL )
\r
4372 /* Create a human readable table from the binary data. */
\r
4373 for( x = 0; x < uxArraySize; x++ )
\r
4375 /* What percentage of the total run time has the task used?
\r
4376 This will always be rounded down to the nearest integer.
\r
4377 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
4378 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
4380 /* Write the task name to the string, padding with
\r
4381 spaces so it can be printed in tabular form more
\r
4383 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4385 if( ulStatsAsPercentage > 0UL )
\r
4387 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4389 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
4393 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4394 printf() library can be used. */
\r
4395 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4401 /* If the percentage is zero here then the task has
\r
4402 consumed less than 1% of the total run time. */
\r
4403 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4405 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4409 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4410 printf() library can be used. */
\r
4411 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4416 pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
\r
4421 mtCOVERAGE_TEST_MARKER();
\r
4424 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4425 is 0 then vPortFree() will be #defined to nothing. */
\r
4426 vPortFree( pxTaskStatusArray );
\r
4430 mtCOVERAGE_TEST_MARKER();
\r
4434 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
\r
4435 /*-----------------------------------------------------------*/
\r
4437 TickType_t uxTaskResetEventItemValue( void )
\r
4439 TickType_t uxReturn;
\r
4441 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
4443 /* Reset the event list item to its normal value - so it can be used with
\r
4444 queues and semaphores. */
\r
4445 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
4449 /*-----------------------------------------------------------*/
\r
4451 #if ( configUSE_MUTEXES == 1 )
\r
4453 TaskHandle_t pvTaskIncrementMutexHeldCount( void )
\r
4455 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
4456 then pxCurrentTCB will be NULL. */
\r
4457 if( pxCurrentTCB != NULL )
\r
4459 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4462 return pxCurrentTCB;
\r
4465 #endif /* configUSE_MUTEXES */
\r
4466 /*-----------------------------------------------------------*/
\r
4468 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4470 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
4472 uint32_t ulReturn;
\r
4474 taskENTER_CRITICAL();
\r
4476 /* Only block if the notification count is not already non-zero. */
\r
4477 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
4479 /* Mark this task as waiting for a notification. */
\r
4480 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4482 if( xTicksToWait > ( TickType_t ) 0 )
\r
4484 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4485 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4487 /* All ports are written to allow a yield in a critical
\r
4488 section (some will yield immediately, others wait until the
\r
4489 critical section exits) - but it is not something that
\r
4490 application code should ever do. */
\r
4491 portYIELD_WITHIN_API();
\r
4495 mtCOVERAGE_TEST_MARKER();
\r
4500 mtCOVERAGE_TEST_MARKER();
\r
4503 taskEXIT_CRITICAL();
\r
4505 taskENTER_CRITICAL();
\r
4507 traceTASK_NOTIFY_TAKE();
\r
4508 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4510 if( ulReturn != 0UL )
\r
4512 if( xClearCountOnExit != pdFALSE )
\r
4514 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4518 pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
\r
4523 mtCOVERAGE_TEST_MARKER();
\r
4526 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4528 taskEXIT_CRITICAL();
\r
4533 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4534 /*-----------------------------------------------------------*/
\r
4536 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4538 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4540 BaseType_t xReturn;
\r
4542 taskENTER_CRITICAL();
\r
4544 /* Only block if a notification is not already pending. */
\r
4545 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4547 /* Clear bits in the task's notification value as bits may get
\r
4548 set by the notifying task or interrupt. This can be used to
\r
4549 clear the value to zero. */
\r
4550 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4552 /* Mark this task as waiting for a notification. */
\r
4553 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4555 if( xTicksToWait > ( TickType_t ) 0 )
\r
4557 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4558 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4560 /* All ports are written to allow a yield in a critical
\r
4561 section (some will yield immediately, others wait until the
\r
4562 critical section exits) - but it is not something that
\r
4563 application code should ever do. */
\r
4564 portYIELD_WITHIN_API();
\r
4568 mtCOVERAGE_TEST_MARKER();
\r
4573 mtCOVERAGE_TEST_MARKER();
\r
4576 taskEXIT_CRITICAL();
\r
4578 taskENTER_CRITICAL();
\r
4580 traceTASK_NOTIFY_WAIT();
\r
4582 if( pulNotificationValue != NULL )
\r
4584 /* Output the current notification value, which may or may not
\r
4586 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4589 /* If ucNotifyValue is set then either the task never entered the
\r
4590 blocked state (because a notification was already pending) or the
\r
4591 task unblocked because of a notification. Otherwise the task
\r
4592 unblocked because of a timeout. */
\r
4593 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4595 /* A notification was not received. */
\r
4596 xReturn = pdFALSE;
\r
4600 /* A notification was already pending or a notification was
\r
4601 received while the task was waiting. */
\r
4602 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4606 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4608 taskEXIT_CRITICAL();
\r
4613 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4614 /*-----------------------------------------------------------*/
\r
4616 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4618 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4621 BaseType_t xReturn = pdPASS;
\r
4622 uint8_t ucOriginalNotifyState;
\r
4624 configASSERT( xTaskToNotify );
\r
4625 pxTCB = xTaskToNotify;
\r
4627 taskENTER_CRITICAL();
\r
4629 if( pulPreviousNotificationValue != NULL )
\r
4631 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4634 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4636 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4641 pxTCB->ulNotifiedValue |= ulValue;
\r
4645 ( pxTCB->ulNotifiedValue )++;
\r
4648 case eSetValueWithOverwrite :
\r
4649 pxTCB->ulNotifiedValue = ulValue;
\r
4652 case eSetValueWithoutOverwrite :
\r
4653 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4655 pxTCB->ulNotifiedValue = ulValue;
\r
4659 /* The value could not be written to the task. */
\r
4665 /* The task is being notified without its notify value being
\r
4670 /* Should not get here if all enums are handled.
\r
4671 Artificially force an assert by testing a value the
\r
4672 compiler can't assume is const. */
\r
4673 configASSERT( pxTCB->ulNotifiedValue == ~0UL );
\r
4678 traceTASK_NOTIFY();
\r
4680 /* If the task is in the blocked state specifically to wait for a
\r
4681 notification then unblock it now. */
\r
4682 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4684 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4685 prvAddTaskToReadyList( pxTCB );
\r
4687 /* The task should not have been on an event list. */
\r
4688 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4690 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4692 /* If a task is blocked waiting for a notification then
\r
4693 xNextTaskUnblockTime might be set to the blocked task's time
\r
4694 out time. If the task is unblocked for a reason other than
\r
4695 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4696 because it will automatically get reset to a new value when
\r
4697 the tick count equals xNextTaskUnblockTime. However if
\r
4698 tickless idling is used it might be more important to enter
\r
4699 sleep mode at the earliest possible time - so reset
\r
4700 xNextTaskUnblockTime here to ensure it is updated at the
\r
4701 earliest possible time. */
\r
4702 prvResetNextTaskUnblockTime();
\r
4706 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4708 /* The notified task has a priority above the currently
\r
4709 executing task so a yield is required. */
\r
4710 taskYIELD_IF_USING_PREEMPTION();
\r
4714 mtCOVERAGE_TEST_MARKER();
\r
4719 mtCOVERAGE_TEST_MARKER();
\r
4722 taskEXIT_CRITICAL();
\r
4727 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4728 /*-----------------------------------------------------------*/
\r
4730 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4732 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4735 uint8_t ucOriginalNotifyState;
\r
4736 BaseType_t xReturn = pdPASS;
\r
4737 UBaseType_t uxSavedInterruptStatus;
\r
4739 configASSERT( xTaskToNotify );
\r
4741 /* RTOS ports that support interrupt nesting have the concept of a
\r
4742 maximum system call (or maximum API call) interrupt priority.
\r
4743 Interrupts that are above the maximum system call priority are keep
\r
4744 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4745 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4746 is defined in FreeRTOSConfig.h then
\r
4747 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4748 failure if a FreeRTOS API function is called from an interrupt that has
\r
4749 been assigned a priority above the configured maximum system call
\r
4750 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4751 from interrupts that have been assigned a priority at or (logically)
\r
4752 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4753 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4754 simple as possible. More information (albeit Cortex-M specific) is
\r
4755 provided on the following link:
\r
4756 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4757 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4759 pxTCB = xTaskToNotify;
\r
4761 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4763 if( pulPreviousNotificationValue != NULL )
\r
4765 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4768 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4769 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4774 pxTCB->ulNotifiedValue |= ulValue;
\r
4778 ( pxTCB->ulNotifiedValue )++;
\r
4781 case eSetValueWithOverwrite :
\r
4782 pxTCB->ulNotifiedValue = ulValue;
\r
4785 case eSetValueWithoutOverwrite :
\r
4786 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4788 pxTCB->ulNotifiedValue = ulValue;
\r
4792 /* The value could not be written to the task. */
\r
4798 /* The task is being notified without its notify value being
\r
4803 /* Should not get here if all enums are handled.
\r
4804 Artificially force an assert by testing a value the
\r
4805 compiler can't assume is const. */
\r
4806 configASSERT( pxTCB->ulNotifiedValue == ~0UL );
\r
4810 traceTASK_NOTIFY_FROM_ISR();
\r
4812 /* If the task is in the blocked state specifically to wait for a
\r
4813 notification then unblock it now. */
\r
4814 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4816 /* The task should not have been on an event list. */
\r
4817 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4819 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4821 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4822 prvAddTaskToReadyList( pxTCB );
\r
4826 /* The delayed and ready lists cannot be accessed, so hold
\r
4827 this task pending until the scheduler is resumed. */
\r
4828 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4831 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4833 /* The notified task has a priority above the currently
\r
4834 executing task so a yield is required. */
\r
4835 if( pxHigherPriorityTaskWoken != NULL )
\r
4837 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4840 /* Mark that a yield is pending in case the user is not
\r
4841 using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
4842 safe FreeRTOS function. */
\r
4843 xYieldPending = pdTRUE;
\r
4847 mtCOVERAGE_TEST_MARKER();
\r
4851 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4856 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4857 /*-----------------------------------------------------------*/
\r
4859 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4861 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4864 uint8_t ucOriginalNotifyState;
\r
4865 UBaseType_t uxSavedInterruptStatus;
\r
4867 configASSERT( xTaskToNotify );
\r
4869 /* RTOS ports that support interrupt nesting have the concept of a
\r
4870 maximum system call (or maximum API call) interrupt priority.
\r
4871 Interrupts that are above the maximum system call priority are keep
\r
4872 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4873 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4874 is defined in FreeRTOSConfig.h then
\r
4875 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4876 failure if a FreeRTOS API function is called from an interrupt that has
\r
4877 been assigned a priority above the configured maximum system call
\r
4878 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4879 from interrupts that have been assigned a priority at or (logically)
\r
4880 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4881 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4882 simple as possible. More information (albeit Cortex-M specific) is
\r
4883 provided on the following link:
\r
4884 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4885 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4887 pxTCB = xTaskToNotify;
\r
4889 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4891 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4892 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4894 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4896 ( pxTCB->ulNotifiedValue )++;
\r
4898 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
4900 /* If the task is in the blocked state specifically to wait for a
\r
4901 notification then unblock it now. */
\r
4902 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4904 /* The task should not have been on an event list. */
\r
4905 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4907 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4909 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4910 prvAddTaskToReadyList( pxTCB );
\r
4914 /* The delayed and ready lists cannot be accessed, so hold
\r
4915 this task pending until the scheduler is resumed. */
\r
4916 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4919 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4921 /* The notified task has a priority above the currently
\r
4922 executing task so a yield is required. */
\r
4923 if( pxHigherPriorityTaskWoken != NULL )
\r
4925 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4928 /* Mark that a yield is pending in case the user is not
\r
4929 using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
4930 safe FreeRTOS function. */
\r
4931 xYieldPending = pdTRUE;
\r
4935 mtCOVERAGE_TEST_MARKER();
\r
4939 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4942 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4944 /*-----------------------------------------------------------*/
\r
4946 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4948 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
4951 BaseType_t xReturn;
\r
4953 /* If null is passed in here then it is the calling task that is having
\r
4954 its notification state cleared. */
\r
4955 pxTCB = prvGetTCBFromHandle( xTask );
\r
4957 taskENTER_CRITICAL();
\r
4959 if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
\r
4961 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4969 taskEXIT_CRITICAL();
\r
4974 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4975 /*-----------------------------------------------------------*/
\r
4978 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
\r
4980 TickType_t xTimeToWake;
\r
4981 const TickType_t xConstTickCount = xTickCount;
\r
4983 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
4985 /* About to enter a delayed list, so ensure the ucDelayAborted flag is
\r
4986 reset to pdFALSE so it can be detected as having been set to pdTRUE
\r
4987 when the task leaves the Blocked state. */
\r
4988 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
4992 /* Remove the task from the ready list before adding it to the blocked list
\r
4993 as the same list item is used for both lists. */
\r
4994 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4996 /* The current task must be in a ready list, so there is no need to
\r
4997 check, and the port reset macro can be called directly. */
\r
4998 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); /*lint !e931 pxCurrentTCB cannot change as it is the calling task. pxCurrentTCB->uxPriority and uxTopReadyPriority cannot change as called with scheduler suspended or in a critical section. */
\r
5002 mtCOVERAGE_TEST_MARKER();
\r
5005 #if ( INCLUDE_vTaskSuspend == 1 )
\r
5007 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
\r
5009 /* Add the task to the suspended task list instead of a delayed task
\r
5010 list to ensure it is not woken by a timing event. It will block
\r
5012 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5016 /* Calculate the time at which the task should be woken if the event
\r
5017 does not occur. This may overflow but this doesn't matter, the
\r
5018 kernel will manage it correctly. */
\r
5019 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5021 /* The list item will be inserted in wake time order. */
\r
5022 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5024 if( xTimeToWake < xConstTickCount )
\r
5026 /* Wake time has overflowed. Place this item in the overflow
\r
5028 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5032 /* The wake time has not overflowed, so the current block list
\r
5034 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5036 /* If the task entering the blocked state was placed at the
\r
5037 head of the list of blocked tasks then xNextTaskUnblockTime
\r
5038 needs to be updated too. */
\r
5039 if( xTimeToWake < xNextTaskUnblockTime )
\r
5041 xNextTaskUnblockTime = xTimeToWake;
\r
5045 mtCOVERAGE_TEST_MARKER();
\r
5050 #else /* INCLUDE_vTaskSuspend */
\r
5052 /* Calculate the time at which the task should be woken if the event
\r
5053 does not occur. This may overflow but this doesn't matter, the kernel
\r
5054 will manage it correctly. */
\r
5055 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5057 /* The list item will be inserted in wake time order. */
\r
5058 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5060 if( xTimeToWake < xConstTickCount )
\r
5062 /* Wake time has overflowed. Place this item in the overflow list. */
\r
5063 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5067 /* The wake time has not overflowed, so the current block list is used. */
\r
5068 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5070 /* If the task entering the blocked state was placed at the head of the
\r
5071 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
5073 if( xTimeToWake < xNextTaskUnblockTime )
\r
5075 xNextTaskUnblockTime = xTimeToWake;
\r
5079 mtCOVERAGE_TEST_MARKER();
\r
5083 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
\r
5084 ( void ) xCanBlockIndefinitely;
\r
5086 #endif /* INCLUDE_vTaskSuspend */
\r
5089 /* Code below here allows additional code to be inserted into this source file,
\r
5090 especially where access to file scope functions and data is needed (for example
\r
5091 when performing module tests). */
\r
5093 #ifdef FREERTOS_MODULE_TEST
\r
5094 #include "tasks_test_access_functions.h"
\r
5098 #if( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
\r
5100 #include "freertos_tasks_c_additions.h"
\r
5102 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
5103 static void freertos_tasks_c_additions_init( void )
\r
5105 FREERTOS_TASKS_C_ADDITIONS_INIT();
\r
projects / freertos / blob