2 FreeRTOS V8.1.0 - Copyright (C) 2014 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to !<<
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28 >>! distribute a combined work that includes FreeRTOS without being !<<
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29 >>! obliged to provide the source code for proprietary components !<<
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30 >>! outside of the FreeRTOS kernel. !<<
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 /* Standard includes. */
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70 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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71 all the API functions to use the MPU wrappers. That should only be done when
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72 task.h is included from an application file. */
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73 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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75 /* FreeRTOS includes. */
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76 #include "FreeRTOS.h"
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79 #include "StackMacros.h"
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81 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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82 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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83 header files above, but not in this file, in order to generate the correct
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84 privileged Vs unprivileged linkage and placement. */
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85 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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87 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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88 /* At the bottom of this file are two optional functions that can be used
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89 to generate human readable text from the raw data generated by the
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90 uxTaskGetSystemState() function. Note the formatting functions are provided
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91 for convenience only, and are NOT considered part of the kernel. */
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93 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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95 /* Sanity check the configuration. */
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96 #if configUSE_TICKLESS_IDLE != 0
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97 #if INCLUDE_vTaskSuspend != 1
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98 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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99 #endif /* INCLUDE_vTaskSuspend */
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100 #endif /* configUSE_TICKLESS_IDLE */
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103 * Defines the size, in words, of the stack allocated to the idle task.
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105 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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107 #if( configUSE_PREEMPTION == 0 )
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108 /* If the cooperative scheduler is being used then a yield should not be
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109 performed just because a higher priority task has been woken. */
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110 #define taskYIELD_IF_USING_PREEMPTION()
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112 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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116 * Task control block. A task control block (TCB) is allocated for each task,
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117 * and stores task state information, including a pointer to the task's context
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118 * (the task's run time environment, including register values)
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120 typedef struct tskTaskControlBlock
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122 volatile StackType_t *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
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124 #if ( portUSING_MPU_WRAPPERS == 1 )
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125 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
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128 ListItem_t xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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129 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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130 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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131 StackType_t *pxStack; /*< Points to the start of the stack. */
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132 char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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134 #if ( portSTACK_GROWTH > 0 )
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135 StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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138 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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139 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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142 #if ( configUSE_TRACE_FACILITY == 1 )
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143 UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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144 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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147 #if ( configUSE_MUTEXES == 1 )
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148 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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149 UBaseType_t uxMutexesHeld;
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152 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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153 TaskHookFunction_t pxTaskTag;
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156 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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157 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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160 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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161 /* Allocate a Newlib reent structure that is specific to this task.
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162 Note Newlib support has been included by popular demand, but is not
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163 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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164 responsible for resulting newlib operation. User must be familiar with
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165 newlib and must provide system-wide implementations of the necessary
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166 stubs. Be warned that (at the time of writing) the current newlib design
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167 implements a system-wide malloc() that must be provided with locks. */
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168 struct _reent xNewLib_reent;
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173 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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174 below to enable the use of older kernel aware debuggers. */
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175 typedef tskTCB TCB_t;
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178 * Some kernel aware debuggers require the data the debugger needs access to to
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179 * be global, rather than file scope.
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181 #ifdef portREMOVE_STATIC_QUALIFIER
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185 /*lint -e956 A manual analysis and inspection has been used to determine which
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186 static variables must be declared volatile. */
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188 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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190 /* Lists for ready and blocked tasks. --------------------*/
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191 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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192 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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193 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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194 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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195 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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196 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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198 #if ( INCLUDE_vTaskDelete == 1 )
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200 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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201 PRIVILEGED_DATA static volatile UBaseType_t uxTasksDeleted = ( UBaseType_t ) 0U;
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205 #if ( INCLUDE_vTaskSuspend == 1 )
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207 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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211 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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213 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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217 /* Other file private variables. --------------------------------*/
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218 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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219 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;
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220 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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221 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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222 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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223 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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224 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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225 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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226 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = portMAX_DELAY;
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228 /* Context switches are held pending while the scheduler is suspended. Also,
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229 interrupts must not manipulate the xStateListItem of a TCB, or any of the
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230 lists the xStateListItem can be referenced from, if the scheduler is suspended.
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231 If an interrupt needs to unblock a task while the scheduler is suspended then it
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232 moves the task's event list item into the xPendingReadyList, ready for the
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233 kernel to move the task from the pending ready list into the real ready list
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234 when the scheduler is unsuspended. The pending ready list itself can only be
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235 accessed from a critical section. */
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236 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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238 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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240 PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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241 PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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247 /* Debugging and trace facilities private variables and macros. ------------*/
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250 * The value used to fill the stack of a task when the task is created. This
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251 * is used purely for checking the high water mark for tasks.
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253 #define tskSTACK_FILL_BYTE ( 0xa5U )
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256 * Macros used by vListTask to indicate which state a task is in.
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258 #define tskBLOCKED_CHAR ( 'B' )
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259 #define tskREADY_CHAR ( 'R' )
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260 #define tskDELETED_CHAR ( 'D' )
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261 #define tskSUSPENDED_CHAR ( 'S' )
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263 /*-----------------------------------------------------------*/
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265 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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267 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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268 performed in a generic way that is not optimised to any particular
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269 microcontroller architecture. */
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271 /* uxTopReadyPriority holds the priority of the highest priority ready
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273 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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275 if( ( uxPriority ) > uxTopReadyPriority ) \
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277 uxTopReadyPriority = ( uxPriority ); \
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279 } /* taskRECORD_READY_PRIORITY */
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281 /*-----------------------------------------------------------*/
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283 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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285 /* Find the highest priority queue that contains ready tasks. */ \
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286 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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288 configASSERT( uxTopReadyPriority ); \
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289 --uxTopReadyPriority; \
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292 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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293 the same priority get an equal share of the processor time. */ \
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294 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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295 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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297 /*-----------------------------------------------------------*/
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299 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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300 they are only required when a port optimised method of task selection is
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302 #define taskRESET_READY_PRIORITY( uxPriority )
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303 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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305 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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307 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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308 performed in a way that is tailored to the particular microcontroller
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309 architecture being used. */
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311 /* A port optimised version is provided. Call the port defined macros. */
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312 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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314 /*-----------------------------------------------------------*/
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316 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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318 UBaseType_t uxTopPriority; \
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320 /* Find the highest priority queue that contains ready tasks. */ \
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321 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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322 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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323 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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324 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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326 /*-----------------------------------------------------------*/
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328 /* A port optimised version is provided, call it only if the TCB being reset
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329 is being referenced from a ready list. If it is referenced from a delayed
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330 or suspended list then it won't be in a ready list. */
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331 #define taskRESET_READY_PRIORITY( uxPriority ) \
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333 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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335 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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339 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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341 /*-----------------------------------------------------------*/
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343 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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344 count overflows. */
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345 #define taskSWITCH_DELAYED_LISTS() \
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349 /* The delayed tasks list should be empty when the lists are switched. */ \
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350 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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352 pxTemp = pxDelayedTaskList; \
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353 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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354 pxOverflowDelayedTaskList = pxTemp; \
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355 xNumOfOverflows++; \
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356 prvResetNextTaskUnblockTime(); \
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359 /*-----------------------------------------------------------*/
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362 * Place the task represented by pxTCB into the appropriate ready list for
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363 * the task. It is inserted at the end of the list.
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365 #define prvAddTaskToReadyList( pxTCB ) \
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366 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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367 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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368 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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369 /*-----------------------------------------------------------*/
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372 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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373 * where NULL is used to indicate that the handle of the currently executing
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374 * task should be used in place of the parameter. This macro simply checks to
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375 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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377 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )
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379 /* The item value of the event list item is normally used to hold the priority
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380 of the task to which it belongs (coded to allow it to be held in reverse
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381 priority order). However, it is occasionally borrowed for other purposes. It
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382 is important its value is not updated due to a task priority change while it is
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383 being used for another purpose. The following bit definition is used to inform
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384 the scheduler that the value should not be changed - in which case it is the
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385 responsibility of whichever module is using the value to ensure it gets set back
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386 to its original value when it is released. */
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387 #if configUSE_16_BIT_TICKS == 1
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388 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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390 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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393 /* Callback function prototypes. --------------------------*/
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394 #if configCHECK_FOR_STACK_OVERFLOW > 0
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395 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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398 #if configUSE_TICK_HOOK > 0
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399 extern void vApplicationTickHook( void );
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402 /* File private functions. --------------------------------*/
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405 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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406 * into the TCB structure.
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408 static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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411 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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412 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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413 * is in any other state.
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415 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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418 * Utility to ready all the lists used by the scheduler. This is called
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419 * automatically upon the creation of the first task.
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421 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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424 * The idle task, which as all tasks is implemented as a never ending loop.
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425 * The idle task is automatically created and added to the ready lists upon
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426 * creation of the first user task.
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428 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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429 * language extensions. The equivalent prototype for this function is:
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431 * void prvIdleTask( void *pvParameters );
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434 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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437 * Utility to free all memory allocated by the scheduler to hold a TCB,
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438 * including the stack pointed to by the TCB.
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440 * This does not free memory allocated by the task itself (i.e. memory
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441 * allocated by calls to pvPortMalloc from within the tasks application code).
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443 #if ( INCLUDE_vTaskDelete == 1 )
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445 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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450 * Used only by the idle task. This checks to see if anything has been placed
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451 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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452 * and its TCB deleted.
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454 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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457 * The currently executing task is entering the Blocked state. Add the task to
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458 * either the current or the overflow delayed task list.
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460 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake ) PRIVILEGED_FUNCTION;
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463 * Allocates memory from the heap for a TCB and associated stack. Checks the
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464 * allocation was successful.
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466 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer ) PRIVILEGED_FUNCTION;
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469 * Fills an TaskStatus_t structure with information on each task that is
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470 * referenced from the pxList list (which may be a ready list, a delayed list,
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471 * a suspended list, etc.).
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473 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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474 * NORMAL APPLICATION CODE.
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476 #if ( configUSE_TRACE_FACILITY == 1 )
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478 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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483 * When a task is created, the stack of the task is filled with a known value.
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484 * This function determines the 'high water mark' of the task stack by
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485 * determining how much of the stack remains at the original preset value.
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487 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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489 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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494 * Return the amount of time, in ticks, that will pass before the kernel will
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495 * next move a task from the Blocked state to the Running state.
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497 * This conditional compilation should use inequality to 0, not equality to 1.
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498 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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499 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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500 * set to a value other than 1.
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502 #if ( configUSE_TICKLESS_IDLE != 0 )
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504 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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509 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
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510 * will exit the Blocked state.
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512 static void prvResetNextTaskUnblockTime( void );
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514 /*-----------------------------------------------------------*/
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516 BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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518 BaseType_t xReturn;
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521 configASSERT( pxTaskCode );
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522 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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524 /* Allocate the memory required by the TCB and stack for the new task,
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525 checking that the allocation was successful. */
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526 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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528 if( pxNewTCB != NULL )
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530 StackType_t *pxTopOfStack;
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532 #if( portUSING_MPU_WRAPPERS == 1 )
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533 /* Should the task be created in privileged mode? */
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534 BaseType_t xRunPrivileged;
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535 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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537 xRunPrivileged = pdTRUE;
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541 xRunPrivileged = pdFALSE;
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543 uxPriority &= ~portPRIVILEGE_BIT;
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544 #endif /* portUSING_MPU_WRAPPERS == 1 */
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546 /* Calculate the top of stack address. This depends on whether the
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547 stack grows from high memory to low (as per the 80x86) or vice versa.
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548 portSTACK_GROWTH is used to make the result positive or negative as
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549 required by the port. */
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550 #if( portSTACK_GROWTH < 0 )
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552 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );
\r
553 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */
\r
555 /* Check the alignment of the calculated top of stack is correct. */
\r
556 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
558 #else /* portSTACK_GROWTH */
\r
560 pxTopOfStack = pxNewTCB->pxStack;
\r
562 /* Check the alignment of the stack buffer is correct. */
\r
563 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
565 /* If we want to use stack checking on architectures that use
\r
566 a positive stack growth direction then we also need to store the
\r
567 other extreme of the stack space. */
\r
568 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
\r
570 #endif /* portSTACK_GROWTH */
\r
572 /* Setup the newly allocated TCB with the initial state of the task. */
\r
573 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
\r
575 /* Initialize the TCB stack to look as if the task was already running,
\r
576 but had been interrupted by the scheduler. The return address is set
\r
577 to the start of the task function. Once the stack has been initialised
\r
578 the top of stack variable is updated. */
\r
579 #if( portUSING_MPU_WRAPPERS == 1 )
\r
581 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
583 #else /* portUSING_MPU_WRAPPERS */
\r
585 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
587 #endif /* portUSING_MPU_WRAPPERS */
\r
589 if( ( void * ) pxCreatedTask != NULL )
\r
591 /* Pass the TCB out - in an anonymous way. The calling function/
\r
592 task can use this as a handle to delete the task later if
\r
594 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
598 mtCOVERAGE_TEST_MARKER();
\r
601 /* Ensure interrupts don't access the task lists while they are being
\r
603 taskENTER_CRITICAL();
\r
605 uxCurrentNumberOfTasks++;
\r
606 if( pxCurrentTCB == NULL )
\r
608 /* There are no other tasks, or all the other tasks are in
\r
609 the suspended state - make this the current task. */
\r
610 pxCurrentTCB = pxNewTCB;
\r
612 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
614 /* This is the first task to be created so do the preliminary
\r
615 initialisation required. We will not recover if this call
\r
616 fails, but we will report the failure. */
\r
617 prvInitialiseTaskLists();
\r
621 mtCOVERAGE_TEST_MARKER();
\r
626 /* If the scheduler is not already running, make this task the
\r
627 current task if it is the highest priority task to be created
\r
629 if( xSchedulerRunning == pdFALSE )
\r
631 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
633 pxCurrentTCB = pxNewTCB;
\r
637 mtCOVERAGE_TEST_MARKER();
\r
642 mtCOVERAGE_TEST_MARKER();
\r
648 #if ( configUSE_TRACE_FACILITY == 1 )
\r
650 /* Add a counter into the TCB for tracing only. */
\r
651 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
653 #endif /* configUSE_TRACE_FACILITY */
\r
654 traceTASK_CREATE( pxNewTCB );
\r
656 prvAddTaskToReadyList( pxNewTCB );
\r
659 portSETUP_TCB( pxNewTCB );
\r
661 taskEXIT_CRITICAL();
\r
665 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
666 traceTASK_CREATE_FAILED();
\r
669 if( xReturn == pdPASS )
\r
671 if( xSchedulerRunning != pdFALSE )
\r
673 /* If the created task is of a higher priority than the current task
\r
674 then it should run now. */
\r
675 if( pxCurrentTCB->uxPriority < uxPriority )
\r
677 taskYIELD_IF_USING_PREEMPTION();
\r
681 mtCOVERAGE_TEST_MARKER();
\r
686 mtCOVERAGE_TEST_MARKER();
\r
692 /*-----------------------------------------------------------*/
\r
694 #if ( INCLUDE_vTaskDelete == 1 )
\r
696 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
700 taskENTER_CRITICAL();
\r
702 /* If null is passed in here then it is the calling task that is
\r
704 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
706 /* Remove task from the ready list and place in the termination list.
\r
707 This will stop the task from be scheduled. The idle task will check
\r
708 the termination list and free up any memory allocated by the
\r
709 scheduler for the TCB and stack. */
\r
710 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
712 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
716 mtCOVERAGE_TEST_MARKER();
\r
719 /* Is the task waiting on an event also? */
\r
720 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
722 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
726 mtCOVERAGE_TEST_MARKER();
\r
729 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
731 /* Increment the ucTasksDeleted variable so the idle task knows
\r
732 there is a task that has been deleted and that it should therefore
\r
733 check the xTasksWaitingTermination list. */
\r
736 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
737 can detect that the task lists need re-generating. */
\r
740 traceTASK_DELETE( pxTCB );
\r
742 taskEXIT_CRITICAL();
\r
744 /* Force a reschedule if it is the currently running task that has just
\r
746 if( xSchedulerRunning != pdFALSE )
\r
748 if( pxTCB == pxCurrentTCB )
\r
750 configASSERT( uxSchedulerSuspended == 0 );
\r
752 /* The pre-delete hook is primarily for the Windows simulator,
\r
753 in which Windows specific clean up operations are performed,
\r
754 after which it is not possible to yield away from this task -
\r
755 hence xYieldPending is used to latch that a context switch is
\r
757 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
758 portYIELD_WITHIN_API();
\r
762 /* Reset the next expected unblock time in case it referred to
\r
763 the task that has just been deleted. */
\r
764 taskENTER_CRITICAL();
\r
766 prvResetNextTaskUnblockTime();
\r
768 taskEXIT_CRITICAL();
\r
773 #endif /* INCLUDE_vTaskDelete */
\r
774 /*-----------------------------------------------------------*/
\r
776 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
778 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
780 TickType_t xTimeToWake;
\r
781 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
783 configASSERT( pxPreviousWakeTime );
\r
784 configASSERT( ( xTimeIncrement > 0U ) );
\r
785 configASSERT( uxSchedulerSuspended == 0 );
\r
789 /* Minor optimisation. The tick count cannot change in this
\r
791 const TickType_t xConstTickCount = xTickCount;
\r
793 /* Generate the tick time at which the task wants to wake. */
\r
794 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
796 if( xConstTickCount < *pxPreviousWakeTime )
\r
798 /* The tick count has overflowed since this function was
\r
799 lasted called. In this case the only time we should ever
\r
800 actually delay is if the wake time has also overflowed,
\r
801 and the wake time is greater than the tick time. When this
\r
802 is the case it is as if neither time had overflowed. */
\r
803 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
805 xShouldDelay = pdTRUE;
\r
809 mtCOVERAGE_TEST_MARKER();
\r
814 /* The tick time has not overflowed. In this case we will
\r
815 delay if either the wake time has overflowed, and/or the
\r
816 tick time is less than the wake time. */
\r
817 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
819 xShouldDelay = pdTRUE;
\r
823 mtCOVERAGE_TEST_MARKER();
\r
827 /* Update the wake time ready for the next call. */
\r
828 *pxPreviousWakeTime = xTimeToWake;
\r
830 if( xShouldDelay != pdFALSE )
\r
832 traceTASK_DELAY_UNTIL();
\r
834 /* Remove the task from the ready list before adding it to the
\r
835 blocked list as the same list item is used for both lists. */
\r
836 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
838 /* The current task must be in a ready list, so there is
\r
839 no need to check, and the port reset macro can be called
\r
841 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
845 mtCOVERAGE_TEST_MARKER();
\r
848 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
852 mtCOVERAGE_TEST_MARKER();
\r
855 xAlreadyYielded = xTaskResumeAll();
\r
857 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
858 have put ourselves to sleep. */
\r
859 if( xAlreadyYielded == pdFALSE )
\r
861 portYIELD_WITHIN_API();
\r
865 mtCOVERAGE_TEST_MARKER();
\r
869 #endif /* INCLUDE_vTaskDelayUntil */
\r
870 /*-----------------------------------------------------------*/
\r
872 #if ( INCLUDE_vTaskDelay == 1 )
\r
874 void vTaskDelay( const TickType_t xTicksToDelay )
\r
876 TickType_t xTimeToWake;
\r
877 BaseType_t xAlreadyYielded = pdFALSE;
\r
880 /* A delay time of zero just forces a reschedule. */
\r
881 if( xTicksToDelay > ( TickType_t ) 0U )
\r
883 configASSERT( uxSchedulerSuspended == 0 );
\r
888 /* A task that is removed from the event list while the
\r
889 scheduler is suspended will not get placed in the ready
\r
890 list or removed from the blocked list until the scheduler
\r
893 This task cannot be in an event list as it is the currently
\r
896 /* Calculate the time to wake - this may overflow but this is
\r
898 xTimeToWake = xTickCount + xTicksToDelay;
\r
900 /* We must remove ourselves from the ready list before adding
\r
901 ourselves to the blocked list as the same list item is used for
\r
903 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
905 /* The current task must be in a ready list, so there is
\r
906 no need to check, and the port reset macro can be called
\r
908 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
912 mtCOVERAGE_TEST_MARKER();
\r
914 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
916 xAlreadyYielded = xTaskResumeAll();
\r
920 mtCOVERAGE_TEST_MARKER();
\r
923 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
924 have put ourselves to sleep. */
\r
925 if( xAlreadyYielded == pdFALSE )
\r
927 portYIELD_WITHIN_API();
\r
931 mtCOVERAGE_TEST_MARKER();
\r
935 #endif /* INCLUDE_vTaskDelay */
\r
936 /*-----------------------------------------------------------*/
\r
938 #if ( INCLUDE_eTaskGetState == 1 )
\r
940 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
942 eTaskState eReturn;
\r
943 List_t *pxStateList;
\r
944 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
946 configASSERT( pxTCB );
\r
948 if( pxTCB == pxCurrentTCB )
\r
950 /* The task calling this function is querying its own state. */
\r
951 eReturn = eRunning;
\r
955 taskENTER_CRITICAL();
\r
957 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
959 taskEXIT_CRITICAL();
\r
961 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
963 /* The task being queried is referenced from one of the Blocked
\r
965 eReturn = eBlocked;
\r
968 #if ( INCLUDE_vTaskSuspend == 1 )
\r
969 else if( pxStateList == &xSuspendedTaskList )
\r
971 /* The task being queried is referenced from the suspended
\r
972 list. Is it genuinely suspended or is it block
\r
974 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
976 eReturn = eSuspended;
\r
980 eReturn = eBlocked;
\r
985 #if ( INCLUDE_vTaskDelete == 1 )
\r
986 else if( pxStateList == &xTasksWaitingTermination )
\r
988 /* The task being queried is referenced from the deleted
\r
990 eReturn = eDeleted;
\r
996 /* If the task is not in any other state, it must be in the
\r
997 Ready (including pending ready) state. */
\r
1005 #endif /* INCLUDE_eTaskGetState */
\r
1006 /*-----------------------------------------------------------*/
\r
1008 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1010 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1013 UBaseType_t uxReturn;
\r
1015 taskENTER_CRITICAL();
\r
1017 /* If null is passed in here then we are changing the
\r
1018 priority of the calling function. */
\r
1019 pxTCB = prvGetTCBFromHandle( xTask );
\r
1020 uxReturn = pxTCB->uxPriority;
\r
1022 taskEXIT_CRITICAL();
\r
1027 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1028 /*-----------------------------------------------------------*/
\r
1030 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1032 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1035 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1036 BaseType_t xYieldRequired = pdFALSE;
\r
1038 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1040 /* Ensure the new priority is valid. */
\r
1041 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1043 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1047 mtCOVERAGE_TEST_MARKER();
\r
1050 taskENTER_CRITICAL();
\r
1052 /* If null is passed in here then it is the priority of the calling
\r
1053 task that is being changed. */
\r
1054 pxTCB = prvGetTCBFromHandle( xTask );
\r
1056 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1058 #if ( configUSE_MUTEXES == 1 )
\r
1060 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1064 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1068 if( uxCurrentBasePriority != uxNewPriority )
\r
1070 /* The priority change may have readied a task of higher
\r
1071 priority than the calling task. */
\r
1072 if( uxNewPriority > uxCurrentBasePriority )
\r
1074 if( pxTCB != pxCurrentTCB )
\r
1076 /* The priority of a task other than the currently
\r
1077 running task is being raised. Is the priority being
\r
1078 raised above that of the running task? */
\r
1079 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1081 xYieldRequired = pdTRUE;
\r
1085 mtCOVERAGE_TEST_MARKER();
\r
1090 /* The priority of the running task is being raised,
\r
1091 but the running task must already be the highest
\r
1092 priority task able to run so no yield is required. */
\r
1095 else if( pxTCB == pxCurrentTCB )
\r
1097 /* Setting the priority of the running task down means
\r
1098 there may now be another task of higher priority that
\r
1099 is ready to execute. */
\r
1100 xYieldRequired = pdTRUE;
\r
1104 /* Setting the priority of any other task down does not
\r
1105 require a yield as the running task must be above the
\r
1106 new priority of the task being modified. */
\r
1109 /* Remember the ready list the task might be referenced from
\r
1110 before its uxPriority member is changed so the
\r
1111 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1112 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1114 #if ( configUSE_MUTEXES == 1 )
\r
1116 /* Only change the priority being used if the task is not
\r
1117 currently using an inherited priority. */
\r
1118 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1120 pxTCB->uxPriority = uxNewPriority;
\r
1124 mtCOVERAGE_TEST_MARKER();
\r
1127 /* The base priority gets set whatever. */
\r
1128 pxTCB->uxBasePriority = uxNewPriority;
\r
1132 pxTCB->uxPriority = uxNewPriority;
\r
1136 /* Only reset the event list item value if the value is not
\r
1137 being used for anything else. */
\r
1138 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1140 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
1144 mtCOVERAGE_TEST_MARKER();
\r
1147 /* If the task is in the blocked or suspended list we need do
\r
1148 nothing more than change it's priority variable. However, if
\r
1149 the task is in a ready list it needs to be removed and placed
\r
1150 in the list appropriate to its new priority. */
\r
1151 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1153 /* The task is currently in its ready list - remove before adding
\r
1154 it to it's new ready list. As we are in a critical section we
\r
1155 can do this even if the scheduler is suspended. */
\r
1156 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1158 /* It is known that the task is in its ready list so
\r
1159 there is no need to check again and the port level
\r
1160 reset macro can be called directly. */
\r
1161 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1165 mtCOVERAGE_TEST_MARKER();
\r
1167 prvAddTaskToReadyList( pxTCB );
\r
1171 mtCOVERAGE_TEST_MARKER();
\r
1174 if( xYieldRequired == pdTRUE )
\r
1176 taskYIELD_IF_USING_PREEMPTION();
\r
1180 mtCOVERAGE_TEST_MARKER();
\r
1183 /* Remove compiler warning about unused variables when the port
\r
1184 optimised task selection is not being used. */
\r
1185 ( void ) uxPriorityUsedOnEntry;
\r
1188 taskEXIT_CRITICAL();
\r
1191 #endif /* INCLUDE_vTaskPrioritySet */
\r
1192 /*-----------------------------------------------------------*/
\r
1194 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1196 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1200 taskENTER_CRITICAL();
\r
1202 /* If null is passed in here then it is the running task that is
\r
1203 being suspended. */
\r
1204 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1206 traceTASK_SUSPEND( pxTCB );
\r
1208 /* Remove task from the ready/delayed list and place in the
\r
1209 suspended list. */
\r
1210 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1212 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1216 mtCOVERAGE_TEST_MARKER();
\r
1219 /* Is the task waiting on an event also? */
\r
1220 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1222 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1226 mtCOVERAGE_TEST_MARKER();
\r
1229 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1231 taskEXIT_CRITICAL();
\r
1233 if( pxTCB == pxCurrentTCB )
\r
1235 if( xSchedulerRunning != pdFALSE )
\r
1237 /* The current task has just been suspended. */
\r
1238 configASSERT( uxSchedulerSuspended == 0 );
\r
1239 portYIELD_WITHIN_API();
\r
1243 /* The scheduler is not running, but the task that was pointed
\r
1244 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1245 must be adjusted to point to a different task. */
\r
1246 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1248 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1249 NULL so when the next task is created pxCurrentTCB will
\r
1250 be set to point to it no matter what its relative priority
\r
1252 pxCurrentTCB = NULL;
\r
1256 vTaskSwitchContext();
\r
1262 if( xSchedulerRunning != pdFALSE )
\r
1264 /* A task other than the currently running task was suspended,
\r
1265 reset the next expected unblock time in case it referred to the
\r
1266 task that is now in the Suspended state. */
\r
1267 taskENTER_CRITICAL();
\r
1269 prvResetNextTaskUnblockTime();
\r
1271 taskEXIT_CRITICAL();
\r
1275 mtCOVERAGE_TEST_MARKER();
\r
1280 #endif /* INCLUDE_vTaskSuspend */
\r
1281 /*-----------------------------------------------------------*/
\r
1283 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1285 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1287 BaseType_t xReturn = pdFALSE;
\r
1288 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1290 /* Accesses xPendingReadyList so must be called from a critical
\r
1293 /* It does not make sense to check if the calling task is suspended. */
\r
1294 configASSERT( xTask );
\r
1296 /* Is the task being resumed actually in the suspended list? */
\r
1297 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1299 /* Has the task already been resumed from within an ISR? */
\r
1300 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1302 /* Is it in the suspended list because it is in the Suspended
\r
1303 state, or because is is blocked with no timeout? */
\r
1304 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1310 mtCOVERAGE_TEST_MARKER();
\r
1315 mtCOVERAGE_TEST_MARKER();
\r
1320 mtCOVERAGE_TEST_MARKER();
\r
1324 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1326 #endif /* INCLUDE_vTaskSuspend */
\r
1327 /*-----------------------------------------------------------*/
\r
1329 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1331 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1333 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1335 /* It does not make sense to resume the calling task. */
\r
1336 configASSERT( xTaskToResume );
\r
1338 /* The parameter cannot be NULL as it is impossible to resume the
\r
1339 currently executing task. */
\r
1340 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1342 taskENTER_CRITICAL();
\r
1344 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1346 traceTASK_RESUME( pxTCB );
\r
1348 /* As we are in a critical section we can access the ready
\r
1349 lists even if the scheduler is suspended. */
\r
1350 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1351 prvAddTaskToReadyList( pxTCB );
\r
1353 /* We may have just resumed a higher priority task. */
\r
1354 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1356 /* This yield may not cause the task just resumed to run,
\r
1357 but will leave the lists in the correct state for the
\r
1359 taskYIELD_IF_USING_PREEMPTION();
\r
1363 mtCOVERAGE_TEST_MARKER();
\r
1368 mtCOVERAGE_TEST_MARKER();
\r
1371 taskEXIT_CRITICAL();
\r
1375 mtCOVERAGE_TEST_MARKER();
\r
1379 #endif /* INCLUDE_vTaskSuspend */
\r
1381 /*-----------------------------------------------------------*/
\r
1383 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1385 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1387 BaseType_t xYieldRequired = pdFALSE;
\r
1388 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1389 UBaseType_t uxSavedInterruptStatus;
\r
1391 configASSERT( xTaskToResume );
\r
1393 /* RTOS ports that support interrupt nesting have the concept of a
\r
1394 maximum system call (or maximum API call) interrupt priority.
\r
1395 Interrupts that are above the maximum system call priority are keep
\r
1396 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1397 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1398 is defined in FreeRTOSConfig.h then
\r
1399 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1400 failure if a FreeRTOS API function is called from an interrupt that has
\r
1401 been assigned a priority above the configured maximum system call
\r
1402 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1403 from interrupts that have been assigned a priority at or (logically)
\r
1404 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1405 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1406 simple as possible. More information (albeit Cortex-M specific) is
\r
1407 provided on the following link:
\r
1408 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1409 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1411 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1413 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1415 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1417 /* Check the ready lists can be accessed. */
\r
1418 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1420 /* Ready lists can be accessed so move the task from the
\r
1421 suspended list to the ready list directly. */
\r
1422 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1424 xYieldRequired = pdTRUE;
\r
1428 mtCOVERAGE_TEST_MARKER();
\r
1431 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1432 prvAddTaskToReadyList( pxTCB );
\r
1436 /* The delayed or ready lists cannot be accessed so the task
\r
1437 is held in the pending ready list until the scheduler is
\r
1439 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1444 mtCOVERAGE_TEST_MARKER();
\r
1447 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1449 return xYieldRequired;
\r
1452 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1453 /*-----------------------------------------------------------*/
\r
1455 void vTaskStartScheduler( void )
\r
1457 BaseType_t xReturn;
\r
1459 /* Add the idle task at the lowest priority. */
\r
1460 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1462 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1463 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1464 xReturn = xTaskCreate( prvIdleTask, "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1468 /* Create the idle task without storing its handle. */
\r
1469 xReturn = xTaskCreate( prvIdleTask, "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1471 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1473 #if ( configUSE_TIMERS == 1 )
\r
1475 if( xReturn == pdPASS )
\r
1477 xReturn = xTimerCreateTimerTask();
\r
1481 mtCOVERAGE_TEST_MARKER();
\r
1484 #endif /* configUSE_TIMERS */
\r
1486 if( xReturn == pdPASS )
\r
1488 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1489 before or during the call to xPortStartScheduler(). The stacks of
\r
1490 the created tasks contain a status word with interrupts switched on
\r
1491 so interrupts will automatically get re-enabled when the first task
\r
1493 portDISABLE_INTERRUPTS();
\r
1495 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1497 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1498 structure specific to the task that will run first. */
\r
1499 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1501 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1503 xSchedulerRunning = pdTRUE;
\r
1504 xTickCount = ( TickType_t ) 0U;
\r
1506 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1507 macro must be defined to configure the timer/counter used to generate
\r
1508 the run time counter time base. */
\r
1509 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1511 /* Setting up the timer tick is hardware specific and thus in the
\r
1512 portable interface. */
\r
1513 if( xPortStartScheduler() != pdFALSE )
\r
1515 /* Should not reach here as if the scheduler is running the
\r
1516 function will not return. */
\r
1520 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1525 /* This line will only be reached if the kernel could not be started,
\r
1526 because there was not enough FreeRTOS heap to create the idle task
\r
1527 or the timer task. */
\r
1528 configASSERT( xReturn );
\r
1531 /*-----------------------------------------------------------*/
\r
1533 void vTaskEndScheduler( void )
\r
1535 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1536 routine so the original ISRs can be restored if necessary. The port
\r
1537 layer must ensure interrupts enable bit is left in the correct state. */
\r
1538 portDISABLE_INTERRUPTS();
\r
1539 xSchedulerRunning = pdFALSE;
\r
1540 vPortEndScheduler();
\r
1542 /*----------------------------------------------------------*/
\r
1544 void vTaskSuspendAll( void )
\r
1546 /* A critical section is not required as the variable is of type
\r
1547 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
1548 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1549 http://goo.gl/wu4acr */
\r
1550 ++uxSchedulerSuspended;
\r
1552 /*----------------------------------------------------------*/
\r
1554 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1556 static TickType_t prvGetExpectedIdleTime( void )
\r
1558 TickType_t xReturn;
\r
1560 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1564 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1566 /* There are other idle priority tasks in the ready state. If
\r
1567 time slicing is used then the very next tick interrupt must be
\r
1573 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1579 #endif /* configUSE_TICKLESS_IDLE */
\r
1580 /*----------------------------------------------------------*/
\r
1582 BaseType_t xTaskResumeAll( void )
\r
1585 BaseType_t xAlreadyYielded = pdFALSE;
\r
1587 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1588 previous call to vTaskSuspendAll(). */
\r
1589 configASSERT( uxSchedulerSuspended );
\r
1591 /* It is possible that an ISR caused a task to be removed from an event
\r
1592 list while the scheduler was suspended. If this was the case then the
\r
1593 removed task will have been added to the xPendingReadyList. Once the
\r
1594 scheduler has been resumed it is safe to move all the pending ready
\r
1595 tasks from this list into their appropriate ready list. */
\r
1596 taskENTER_CRITICAL();
\r
1598 --uxSchedulerSuspended;
\r
1600 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1602 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
1604 /* Move any readied tasks from the pending list into the
\r
1605 appropriate ready list. */
\r
1606 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1608 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1609 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1610 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1611 prvAddTaskToReadyList( pxTCB );
\r
1613 /* If we have moved a task that has a priority higher than
\r
1614 the current task then we should yield. */
\r
1615 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1617 xYieldPending = pdTRUE;
\r
1621 mtCOVERAGE_TEST_MARKER();
\r
1625 /* If any ticks occurred while the scheduler was suspended then
\r
1626 they should be processed now. This ensures the tick count does
\r
1627 not slip, and that any delayed tasks are resumed at the correct
\r
1629 if( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1631 while( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1633 if( xTaskIncrementTick() != pdFALSE )
\r
1635 xYieldPending = pdTRUE;
\r
1639 mtCOVERAGE_TEST_MARKER();
\r
1646 mtCOVERAGE_TEST_MARKER();
\r
1649 if( xYieldPending == pdTRUE )
\r
1651 #if( configUSE_PREEMPTION != 0 )
\r
1653 xAlreadyYielded = pdTRUE;
\r
1656 taskYIELD_IF_USING_PREEMPTION();
\r
1660 mtCOVERAGE_TEST_MARKER();
\r
1666 mtCOVERAGE_TEST_MARKER();
\r
1669 taskEXIT_CRITICAL();
\r
1671 return xAlreadyYielded;
\r
1673 /*-----------------------------------------------------------*/
\r
1675 TickType_t xTaskGetTickCount( void )
\r
1677 TickType_t xTicks;
\r
1679 /* Critical section required if running on a 16 bit processor. */
\r
1680 taskENTER_CRITICAL();
\r
1682 xTicks = xTickCount;
\r
1684 taskEXIT_CRITICAL();
\r
1688 /*-----------------------------------------------------------*/
\r
1690 TickType_t xTaskGetTickCountFromISR( void )
\r
1692 TickType_t xReturn;
\r
1693 UBaseType_t uxSavedInterruptStatus;
\r
1695 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1696 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1697 above the maximum system call priority are kept permanently enabled, even
\r
1698 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1699 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1700 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1701 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1702 assigned a priority above the configured maximum system call priority.
\r
1703 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1704 that have been assigned a priority at or (logically) below the maximum
\r
1705 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1706 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1707 More information (albeit Cortex-M specific) is provided on the following
\r
1708 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1709 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1711 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1713 xReturn = xTickCount;
\r
1715 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1719 /*-----------------------------------------------------------*/
\r
1721 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
1723 /* A critical section is not required because the variables are of type
\r
1725 return uxCurrentNumberOfTasks;
\r
1727 /*-----------------------------------------------------------*/
\r
1729 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1731 char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery )
\r
1735 /* If null is passed in here then the name of the calling task is being queried. */
\r
1736 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1737 configASSERT( pxTCB );
\r
1738 return &( pxTCB->pcTaskName[ 0 ] );
\r
1741 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1742 /*-----------------------------------------------------------*/
\r
1744 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1746 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
1748 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1750 vTaskSuspendAll();
\r
1752 /* Is there a space in the array for each task in the system? */
\r
1753 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1755 /* Fill in an TaskStatus_t structure with information on each
\r
1756 task in the Ready state. */
\r
1760 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1762 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1764 /* Fill in an TaskStatus_t structure with information on each
\r
1765 task in the Blocked state. */
\r
1766 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
1767 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
1769 #if( INCLUDE_vTaskDelete == 1 )
\r
1771 /* Fill in an TaskStatus_t structure with information on
\r
1772 each task that has been deleted but not yet cleaned up. */
\r
1773 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1777 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1779 /* Fill in an TaskStatus_t structure with information on
\r
1780 each task in the Suspended state. */
\r
1781 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1785 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1787 if( pulTotalRunTime != NULL )
\r
1789 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1790 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
1792 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1798 if( pulTotalRunTime != NULL )
\r
1800 *pulTotalRunTime = 0;
\r
1807 mtCOVERAGE_TEST_MARKER();
\r
1810 ( void ) xTaskResumeAll();
\r
1815 #endif /* configUSE_TRACE_FACILITY */
\r
1816 /*----------------------------------------------------------*/
\r
1818 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1820 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
1822 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1823 started, then xIdleTaskHandle will be NULL. */
\r
1824 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1825 return xIdleTaskHandle;
\r
1828 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1829 /*----------------------------------------------------------*/
\r
1831 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1832 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1833 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1835 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1837 void vTaskStepTick( const TickType_t xTicksToJump )
\r
1839 /* Correct the tick count value after a period during which the tick
\r
1840 was suppressed. Note this does *not* call the tick hook function for
\r
1841 each stepped tick. */
\r
1842 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1843 xTickCount += xTicksToJump;
\r
1844 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
1847 #endif /* configUSE_TICKLESS_IDLE */
\r
1848 /*----------------------------------------------------------*/
\r
1850 BaseType_t xTaskIncrementTick( void )
\r
1853 TickType_t xItemValue;
\r
1854 BaseType_t xSwitchRequired = pdFALSE;
\r
1856 /* Called by the portable layer each time a tick interrupt occurs.
\r
1857 Increments the tick then checks to see if the new tick value will cause any
\r
1858 tasks to be unblocked. */
\r
1859 traceTASK_INCREMENT_TICK( xTickCount );
\r
1860 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1862 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1863 delayed lists if it wraps to 0. */
\r
1867 /* Minor optimisation. The tick count cannot change in this
\r
1869 const TickType_t xConstTickCount = xTickCount;
\r
1871 if( xConstTickCount == ( TickType_t ) 0U )
\r
1873 taskSWITCH_DELAYED_LISTS();
\r
1877 mtCOVERAGE_TEST_MARKER();
\r
1880 /* See if this tick has made a timeout expire. Tasks are stored in
\r
1881 the queue in the order of their wake time - meaning once one task
\r
1882 has been found whose block time has not expired there is no need to
\r
1883 look any further down the list. */
\r
1884 if( xConstTickCount >= xNextTaskUnblockTime )
\r
1888 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1890 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
1891 to the maximum possible value so it is extremely
\r
1893 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1894 next time through. */
\r
1895 xNextTaskUnblockTime = portMAX_DELAY;
\r
1900 /* The delayed list is not empty, get the value of the
\r
1901 item at the head of the delayed list. This is the time
\r
1902 at which the task at the head of the delayed list must
\r
1903 be removed from the Blocked state. */
\r
1904 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1905 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1907 if( xConstTickCount < xItemValue )
\r
1909 /* It is not time to unblock this item yet, but the
\r
1910 item value is the time at which the task at the head
\r
1911 of the blocked list must be removed from the Blocked
\r
1912 state - so record the item value in
\r
1913 xNextTaskUnblockTime. */
\r
1914 xNextTaskUnblockTime = xItemValue;
\r
1919 mtCOVERAGE_TEST_MARKER();
\r
1922 /* It is time to remove the item from the Blocked state. */
\r
1923 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1925 /* Is the task waiting on an event also? If so remove
\r
1926 it from the event list. */
\r
1927 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1929 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1933 mtCOVERAGE_TEST_MARKER();
\r
1936 /* Place the unblocked task into the appropriate ready
\r
1938 prvAddTaskToReadyList( pxTCB );
\r
1940 /* A task being unblocked cannot cause an immediate
\r
1941 context switch if preemption is turned off. */
\r
1942 #if ( configUSE_PREEMPTION == 1 )
\r
1944 /* Preemption is on, but a context switch should
\r
1945 only be performed if the unblocked task has a
\r
1946 priority that is equal to or higher than the
\r
1947 currently executing task. */
\r
1948 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1950 xSwitchRequired = pdTRUE;
\r
1954 mtCOVERAGE_TEST_MARKER();
\r
1957 #endif /* configUSE_PREEMPTION */
\r
1963 /* Tasks of equal priority to the currently running task will share
\r
1964 processing time (time slice) if preemption is on, and the application
\r
1965 writer has not explicitly turned time slicing off. */
\r
1966 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
1968 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
1970 xSwitchRequired = pdTRUE;
\r
1974 mtCOVERAGE_TEST_MARKER();
\r
1977 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
1979 #if ( configUSE_TICK_HOOK == 1 )
\r
1981 /* Guard against the tick hook being called when the pended tick
\r
1982 count is being unwound (when the scheduler is being unlocked). */
\r
1983 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
1985 vApplicationTickHook();
\r
1989 mtCOVERAGE_TEST_MARKER();
\r
1992 #endif /* configUSE_TICK_HOOK */
\r
1998 /* The tick hook gets called at regular intervals, even if the
\r
1999 scheduler is locked. */
\r
2000 #if ( configUSE_TICK_HOOK == 1 )
\r
2002 vApplicationTickHook();
\r
2007 #if ( configUSE_PREEMPTION == 1 )
\r
2009 if( xYieldPending != pdFALSE )
\r
2011 xSwitchRequired = pdTRUE;
\r
2015 mtCOVERAGE_TEST_MARKER();
\r
2018 #endif /* configUSE_PREEMPTION */
\r
2020 return xSwitchRequired;
\r
2022 /*-----------------------------------------------------------*/
\r
2024 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2026 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2030 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2032 if( xTask == NULL )
\r
2034 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2038 xTCB = ( TCB_t * ) xTask;
\r
2041 /* Save the hook function in the TCB. A critical section is required as
\r
2042 the value can be accessed from an interrupt. */
\r
2043 taskENTER_CRITICAL();
\r
2044 xTCB->pxTaskTag = pxHookFunction;
\r
2045 taskEXIT_CRITICAL();
\r
2048 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2049 /*-----------------------------------------------------------*/
\r
2051 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2053 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2056 TaskHookFunction_t xReturn;
\r
2058 /* If xTask is NULL then we are setting our own task hook. */
\r
2059 if( xTask == NULL )
\r
2061 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2065 xTCB = ( TCB_t * ) xTask;
\r
2068 /* Save the hook function in the TCB. A critical section is required as
\r
2069 the value can be accessed from an interrupt. */
\r
2070 taskENTER_CRITICAL();
\r
2072 xReturn = xTCB->pxTaskTag;
\r
2074 taskEXIT_CRITICAL();
\r
2079 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2080 /*-----------------------------------------------------------*/
\r
2082 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2084 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2087 BaseType_t xReturn;
\r
2089 /* If xTask is NULL then we are calling our own task hook. */
\r
2090 if( xTask == NULL )
\r
2092 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2096 xTCB = ( TCB_t * ) xTask;
\r
2099 if( xTCB->pxTaskTag != NULL )
\r
2101 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2111 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2112 /*-----------------------------------------------------------*/
\r
2114 void vTaskSwitchContext( void )
\r
2116 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2118 /* The scheduler is currently suspended - do not allow a context
\r
2120 xYieldPending = pdTRUE;
\r
2124 xYieldPending = pdFALSE;
\r
2125 traceTASK_SWITCHED_OUT();
\r
2127 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2129 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2130 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2132 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2135 /* Add the amount of time the task has been running to the
\r
2136 accumulated time so far. The time the task started running was
\r
2137 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2138 protection here so count values are only valid until the timer
\r
2139 overflows. The guard against negative values is to protect
\r
2140 against suspect run time stat counter implementations - which
\r
2141 are provided by the application, not the kernel. */
\r
2142 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2144 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2148 mtCOVERAGE_TEST_MARKER();
\r
2150 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2152 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2154 /* Check for stack overflow, if configured. */
\r
2155 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
2156 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
2158 /* Select a new task to run using either the generic C or port
\r
2159 optimised asm code. */
\r
2160 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2161 traceTASK_SWITCHED_IN();
\r
2163 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2165 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2166 structure specific to this task. */
\r
2167 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2169 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2172 /*-----------------------------------------------------------*/
\r
2174 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2176 TickType_t xTimeToWake;
\r
2178 configASSERT( pxEventList );
\r
2180 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2181 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2183 /* Place the event list item of the TCB in the appropriate event list.
\r
2184 This is placed in the list in priority order so the highest priority task
\r
2185 is the first to be woken by the event. The queue that contains the event
\r
2186 list is locked, preventing simultaneous access from interrupts. */
\r
2187 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2189 /* The task must be removed from from the ready list before it is added to
\r
2190 the blocked list as the same list item is used for both lists. Exclusive
\r
2191 access to the ready lists guaranteed because the scheduler is locked. */
\r
2192 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2194 /* The current task must be in a ready list, so there is no need to
\r
2195 check, and the port reset macro can be called directly. */
\r
2196 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2200 mtCOVERAGE_TEST_MARKER();
\r
2203 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2205 if( xTicksToWait == portMAX_DELAY )
\r
2207 /* Add the task to the suspended task list instead of a delayed task
\r
2208 list to ensure the task is not woken by a timing event. It will
\r
2209 block indefinitely. */
\r
2210 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2214 /* Calculate the time at which the task should be woken if the event
\r
2215 does not occur. This may overflow but this doesn't matter, the
\r
2216 scheduler will handle it. */
\r
2217 xTimeToWake = xTickCount + xTicksToWait;
\r
2218 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2221 #else /* INCLUDE_vTaskSuspend */
\r
2223 /* Calculate the time at which the task should be woken if the event does
\r
2224 not occur. This may overflow but this doesn't matter, the scheduler
\r
2225 will handle it. */
\r
2226 xTimeToWake = xTickCount + xTicksToWait;
\r
2227 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2229 #endif /* INCLUDE_vTaskSuspend */
\r
2231 /*-----------------------------------------------------------*/
\r
2233 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2235 TickType_t xTimeToWake;
\r
2237 configASSERT( pxEventList );
\r
2239 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2240 the event groups implementation. */
\r
2241 configASSERT( uxSchedulerSuspended != 0 );
\r
2243 /* Store the item value in the event list item. It is safe to access the
\r
2244 event list item here as interrupts won't access the event list item of a
\r
2245 task that is not in the Blocked state. */
\r
2246 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2248 /* Place the event list item of the TCB at the end of the appropriate event
\r
2249 list. It is safe to access the event list here because it is part of an
\r
2250 event group implementation - and interrupts don't access event groups
\r
2251 directly (instead they access them indirectly by pending function calls to
\r
2252 the task level). */
\r
2253 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2255 /* The task must be removed from the ready list before it is added to the
\r
2256 blocked list. Exclusive access can be assured to the ready list as the
\r
2257 scheduler is locked. */
\r
2258 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2260 /* The current task must be in a ready list, so there is no need to
\r
2261 check, and the port reset macro can be called directly. */
\r
2262 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2266 mtCOVERAGE_TEST_MARKER();
\r
2269 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2271 if( xTicksToWait == portMAX_DELAY )
\r
2273 /* Add the task to the suspended task list instead of a delayed task
\r
2274 list to ensure it is not woken by a timing event. It will block
\r
2276 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2280 /* Calculate the time at which the task should be woken if the event
\r
2281 does not occur. This may overflow but this doesn't matter, the
\r
2282 kernel will manage it correctly. */
\r
2283 xTimeToWake = xTickCount + xTicksToWait;
\r
2284 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2287 #else /* INCLUDE_vTaskSuspend */
\r
2289 /* Calculate the time at which the task should be woken if the event does
\r
2290 not occur. This may overflow but this doesn't matter, the kernel
\r
2291 will manage it correctly. */
\r
2292 xTimeToWake = xTickCount + xTicksToWait;
\r
2293 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2295 #endif /* INCLUDE_vTaskSuspend */
\r
2297 /*-----------------------------------------------------------*/
\r
2299 #if configUSE_TIMERS == 1
\r
2301 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2303 TickType_t xTimeToWake;
\r
2305 configASSERT( pxEventList );
\r
2307 /* This function should not be called by application code hence the
\r
2308 'Restricted' in its name. It is not part of the public API. It is
\r
2309 designed for use by kernel code, and has special calling requirements -
\r
2310 it should be called from a critical section. */
\r
2313 /* Place the event list item of the TCB in the appropriate event list.
\r
2314 In this case it is assume that this is the only task that is going to
\r
2315 be waiting on this event list, so the faster vListInsertEnd() function
\r
2316 can be used in place of vListInsert. */
\r
2317 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2319 /* We must remove this task from the ready list before adding it to the
\r
2320 blocked list as the same list item is used for both lists. This
\r
2321 function is called form a critical section. */
\r
2322 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2324 /* The current task must be in a ready list, so there is no need to
\r
2325 check, and the port reset macro can be called directly. */
\r
2326 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2330 mtCOVERAGE_TEST_MARKER();
\r
2333 /* Calculate the time at which the task should be woken if the event does
\r
2334 not occur. This may overflow but this doesn't matter. */
\r
2335 xTimeToWake = xTickCount + xTicksToWait;
\r
2337 traceTASK_DELAY_UNTIL();
\r
2338 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2341 #endif /* configUSE_TIMERS */
\r
2342 /*-----------------------------------------------------------*/
\r
2344 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
2346 TCB_t *pxUnblockedTCB;
\r
2347 BaseType_t xReturn;
\r
2349 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
2350 called from a critical section within an ISR. */
\r
2352 /* The event list is sorted in priority order, so the first in the list can
\r
2353 be removed as it is known to be the highest priority. Remove the TCB from
\r
2354 the delayed list, and add it to the ready list.
\r
2356 If an event is for a queue that is locked then this function will never
\r
2357 get called - the lock count on the queue will get modified instead. This
\r
2358 means exclusive access to the event list is guaranteed here.
\r
2360 This function assumes that a check has already been made to ensure that
\r
2361 pxEventList is not empty. */
\r
2362 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2363 configASSERT( pxUnblockedTCB );
\r
2364 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2366 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2368 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2369 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2373 /* The delayed and ready lists cannot be accessed, so hold this task
\r
2374 pending until the scheduler is resumed. */
\r
2375 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2378 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2380 /* Return true if the task removed from the event list has a higher
\r
2381 priority than the calling task. This allows the calling task to know if
\r
2382 it should force a context switch now. */
\r
2385 /* Mark that a yield is pending in case the user is not using the
\r
2386 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2387 xYieldPending = pdTRUE;
\r
2391 xReturn = pdFALSE;
\r
2396 /*-----------------------------------------------------------*/
\r
2398 BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
2400 TCB_t *pxUnblockedTCB;
\r
2401 BaseType_t xReturn;
\r
2403 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2404 the event flags implementation. */
\r
2405 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
2407 /* Store the new item value in the event list. */
\r
2408 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2410 /* Remove the event list form the event flag. Interrupts do not access
\r
2412 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2413 configASSERT( pxUnblockedTCB );
\r
2414 ( void ) uxListRemove( pxEventListItem );
\r
2416 /* Remove the task from the delayed list and add it to the ready list. The
\r
2417 scheduler is suspended so interrupts will not be accessing the ready
\r
2419 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2420 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2422 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2424 /* Return true if the task removed from the event list has
\r
2425 a higher priority than the calling task. This allows
\r
2426 the calling task to know if it should force a context
\r
2430 /* Mark that a yield is pending in case the user is not using the
\r
2431 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2432 xYieldPending = pdTRUE;
\r
2436 xReturn = pdFALSE;
\r
2441 /*-----------------------------------------------------------*/
\r
2443 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
2445 configASSERT( pxTimeOut );
\r
2446 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2447 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2449 /*-----------------------------------------------------------*/
\r
2451 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
2453 BaseType_t xReturn;
\r
2455 configASSERT( pxTimeOut );
\r
2456 configASSERT( pxTicksToWait );
\r
2458 taskENTER_CRITICAL();
\r
2460 /* Minor optimisation. The tick count cannot change in this block. */
\r
2461 const TickType_t xConstTickCount = xTickCount;
\r
2463 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2464 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2465 the maximum block time then the task should block indefinitely, and
\r
2466 therefore never time out. */
\r
2467 if( *pxTicksToWait == portMAX_DELAY )
\r
2469 xReturn = pdFALSE;
\r
2471 else /* We are not blocking indefinitely, perform the checks below. */
\r
2474 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2476 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2477 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2478 It must have wrapped all the way around and gone past us again. This
\r
2479 passed since vTaskSetTimeout() was called. */
\r
2482 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2484 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2485 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2486 vTaskSetTimeOutState( pxTimeOut );
\r
2487 xReturn = pdFALSE;
\r
2494 taskEXIT_CRITICAL();
\r
2498 /*-----------------------------------------------------------*/
\r
2500 void vTaskMissedYield( void )
\r
2502 xYieldPending = pdTRUE;
\r
2504 /*-----------------------------------------------------------*/
\r
2506 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2508 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
2510 UBaseType_t uxReturn;
\r
2513 if( xTask != NULL )
\r
2515 pxTCB = ( TCB_t * ) xTask;
\r
2516 uxReturn = pxTCB->uxTaskNumber;
\r
2526 #endif /* configUSE_TRACE_FACILITY */
\r
2527 /*-----------------------------------------------------------*/
\r
2529 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2531 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
2535 if( xTask != NULL )
\r
2537 pxTCB = ( TCB_t * ) xTask;
\r
2538 pxTCB->uxTaskNumber = uxHandle;
\r
2542 #endif /* configUSE_TRACE_FACILITY */
\r
2545 * -----------------------------------------------------------
\r
2547 * ----------------------------------------------------------
\r
2549 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2550 * language extensions. The equivalent prototype for this function is:
\r
2552 * void prvIdleTask( void *pvParameters );
\r
2555 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2557 /* Stop warnings. */
\r
2558 ( void ) pvParameters;
\r
2562 /* See if any tasks have been deleted. */
\r
2563 prvCheckTasksWaitingTermination();
\r
2565 #if ( configUSE_PREEMPTION == 0 )
\r
2567 /* If we are not using preemption we keep forcing a task switch to
\r
2568 see if any other task has become available. If we are using
\r
2569 preemption we don't need to do this as any task becoming available
\r
2570 will automatically get the processor anyway. */
\r
2573 #endif /* configUSE_PREEMPTION */
\r
2575 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2577 /* When using preemption tasks of equal priority will be
\r
2578 timesliced. If a task that is sharing the idle priority is ready
\r
2579 to run then the idle task should yield before the end of the
\r
2582 A critical region is not required here as we are just reading from
\r
2583 the list, and an occasional incorrect value will not matter. If
\r
2584 the ready list at the idle priority contains more than one task
\r
2585 then a task other than the idle task is ready to execute. */
\r
2586 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
2592 mtCOVERAGE_TEST_MARKER();
\r
2595 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2597 #if ( configUSE_IDLE_HOOK == 1 )
\r
2599 extern void vApplicationIdleHook( void );
\r
2601 /* Call the user defined function from within the idle task. This
\r
2602 allows the application designer to add background functionality
\r
2603 without the overhead of a separate task.
\r
2604 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2605 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2606 vApplicationIdleHook();
\r
2608 #endif /* configUSE_IDLE_HOOK */
\r
2610 /* This conditional compilation should use inequality to 0, not equality
\r
2611 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2612 user defined low power mode implementations require
\r
2613 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2614 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2616 TickType_t xExpectedIdleTime;
\r
2618 /* It is not desirable to suspend then resume the scheduler on
\r
2619 each iteration of the idle task. Therefore, a preliminary
\r
2620 test of the expected idle time is performed without the
\r
2621 scheduler suspended. The result here is not necessarily
\r
2623 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2625 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2627 vTaskSuspendAll();
\r
2629 /* Now the scheduler is suspended, the expected idle
\r
2630 time can be sampled again, and this time its value can
\r
2632 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2633 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2635 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2637 traceLOW_POWER_IDLE_BEGIN();
\r
2638 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2639 traceLOW_POWER_IDLE_END();
\r
2643 mtCOVERAGE_TEST_MARKER();
\r
2646 ( void ) xTaskResumeAll();
\r
2650 mtCOVERAGE_TEST_MARKER();
\r
2653 #endif /* configUSE_TICKLESS_IDLE */
\r
2656 /*-----------------------------------------------------------*/
\r
2658 #if configUSE_TICKLESS_IDLE != 0
\r
2660 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2662 eSleepModeStatus eReturn = eStandardSleep;
\r
2664 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2666 /* A task was made ready while the scheduler was suspended. */
\r
2667 eReturn = eAbortSleep;
\r
2669 else if( xYieldPending != pdFALSE )
\r
2671 /* A yield was pended while the scheduler was suspended. */
\r
2672 eReturn = eAbortSleep;
\r
2676 #if configUSE_TIMERS == 0
\r
2678 /* The idle task exists in addition to the application tasks. */
\r
2679 const UBaseType_t uxNonApplicationTasks = 1;
\r
2681 /* If timers are not being used and all the tasks are in the
\r
2682 suspended list (which might mean they have an infinite block
\r
2683 time rather than actually being suspended) then it is safe to
\r
2684 turn all clocks off and just wait for external interrupts. */
\r
2685 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2687 eReturn = eNoTasksWaitingTimeout;
\r
2691 mtCOVERAGE_TEST_MARKER();
\r
2694 #endif /* configUSE_TIMERS */
\r
2699 #endif /* configUSE_TICKLESS_IDLE */
\r
2700 /*-----------------------------------------------------------*/
\r
2702 static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2706 /* Store the task name in the TCB. */
\r
2707 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2709 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2711 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2712 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2713 string is not accessible (extremely unlikely). */
\r
2714 if( pcName[ x ] == 0x00 )
\r
2720 mtCOVERAGE_TEST_MARKER();
\r
2724 /* Ensure the name string is terminated in the case that the string length
\r
2725 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2726 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
2728 /* This is used as an array index so must ensure it's not too large. First
\r
2729 remove the privilege bit if one is present. */
\r
2730 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
2732 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
2736 mtCOVERAGE_TEST_MARKER();
\r
2739 pxTCB->uxPriority = uxPriority;
\r
2740 #if ( configUSE_MUTEXES == 1 )
\r
2742 pxTCB->uxBasePriority = uxPriority;
\r
2743 pxTCB->uxMutexesHeld = 0;
\r
2745 #endif /* configUSE_MUTEXES */
\r
2747 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2748 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2750 /* Set the pxTCB as a link back from the ListItem_t. This is so we can get
\r
2751 back to the containing TCB from a generic item in a list. */
\r
2752 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2754 /* Event lists are always in priority order. */
\r
2755 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2756 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2758 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2760 pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
2762 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2764 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2766 pxTCB->pxTaskTag = NULL;
\r
2768 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2770 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2772 pxTCB->ulRunTimeCounter = 0UL;
\r
2774 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2776 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2778 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2780 #else /* portUSING_MPU_WRAPPERS */
\r
2782 ( void ) xRegions;
\r
2783 ( void ) usStackDepth;
\r
2785 #endif /* portUSING_MPU_WRAPPERS */
\r
2787 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2789 /* Initialise this task's Newlib reent structure. */
\r
2790 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2792 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2794 /*-----------------------------------------------------------*/
\r
2796 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2798 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
2802 /* If null is passed in here then we are deleting ourselves. */
\r
2803 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2805 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2808 #endif /* portUSING_MPU_WRAPPERS */
\r
2809 /*-----------------------------------------------------------*/
\r
2811 static void prvInitialiseTaskLists( void )
\r
2813 UBaseType_t uxPriority;
\r
2815 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
2817 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
2820 vListInitialise( &xDelayedTaskList1 );
\r
2821 vListInitialise( &xDelayedTaskList2 );
\r
2822 vListInitialise( &xPendingReadyList );
\r
2824 #if ( INCLUDE_vTaskDelete == 1 )
\r
2826 vListInitialise( &xTasksWaitingTermination );
\r
2828 #endif /* INCLUDE_vTaskDelete */
\r
2830 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2832 vListInitialise( &xSuspendedTaskList );
\r
2834 #endif /* INCLUDE_vTaskSuspend */
\r
2836 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2838 pxDelayedTaskList = &xDelayedTaskList1;
\r
2839 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2841 /*-----------------------------------------------------------*/
\r
2843 static void prvCheckTasksWaitingTermination( void )
\r
2845 #if ( INCLUDE_vTaskDelete == 1 )
\r
2847 BaseType_t xListIsEmpty;
\r
2849 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2850 too often in the idle task. */
\r
2851 while( uxTasksDeleted > ( UBaseType_t ) 0U )
\r
2853 vTaskSuspendAll();
\r
2855 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2857 ( void ) xTaskResumeAll();
\r
2859 if( xListIsEmpty == pdFALSE )
\r
2863 taskENTER_CRITICAL();
\r
2865 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
2866 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2867 --uxCurrentNumberOfTasks;
\r
2870 taskEXIT_CRITICAL();
\r
2872 prvDeleteTCB( pxTCB );
\r
2876 mtCOVERAGE_TEST_MARKER();
\r
2880 #endif /* vTaskDelete */
\r
2882 /*-----------------------------------------------------------*/
\r
2884 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake )
\r
2886 /* The list item will be inserted in wake time order. */
\r
2887 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2889 if( xTimeToWake < xTickCount )
\r
2891 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2892 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2896 /* The wake time has not overflowed, so the current block list is used. */
\r
2897 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2899 /* If the task entering the blocked state was placed at the head of the
\r
2900 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2902 if( xTimeToWake < xNextTaskUnblockTime )
\r
2904 xNextTaskUnblockTime = xTimeToWake;
\r
2908 mtCOVERAGE_TEST_MARKER();
\r
2912 /*-----------------------------------------------------------*/
\r
2914 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer )
\r
2918 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2919 the implementation of the port malloc function. */
\r
2920 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
2922 if( pxNewTCB != NULL )
\r
2924 /* Allocate space for the stack used by the task being created.
\r
2925 The base of the stack memory stored in the TCB so the task can
\r
2926 be deleted later if required. */
\r
2927 pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2929 if( pxNewTCB->pxStack == NULL )
\r
2931 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2932 vPortFree( pxNewTCB );
\r
2937 /* Avoid dependency on memset() if it is not required. */
\r
2938 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2940 /* Just to help debugging. */
\r
2941 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );
\r
2943 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
2949 /*-----------------------------------------------------------*/
\r
2951 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2953 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
2955 volatile TCB_t *pxNextTCB, *pxFirstTCB;
\r
2956 UBaseType_t uxTask = 0;
\r
2958 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2960 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2962 /* Populate an TaskStatus_t structure within the
\r
2963 pxTaskStatusArray array for each task that is referenced from
\r
2964 pxList. See the definition of TaskStatus_t in task.h for the
\r
2965 meaning of each TaskStatus_t structure member. */
\r
2968 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2970 pxTaskStatusArray[ uxTask ].xHandle = ( TaskHandle_t ) pxNextTCB;
\r
2971 pxTaskStatusArray[ uxTask ].pcTaskName = ( const char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
2972 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
2973 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
2974 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
2976 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2978 /* If the task is in the suspended list then there is a chance
\r
2979 it is actually just blocked indefinitely - so really it should
\r
2980 be reported as being in the Blocked state. */
\r
2981 if( eState == eSuspended )
\r
2983 if( listLIST_ITEM_CONTAINER( &( pxNextTCB->xEventListItem ) ) != NULL )
\r
2985 pxTaskStatusArray[ uxTask ].eCurrentState = eBlocked;
\r
2989 #endif /* INCLUDE_vTaskSuspend */
\r
2991 #if ( configUSE_MUTEXES == 1 )
\r
2993 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
2997 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
3001 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3003 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
3007 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
3011 #if ( portSTACK_GROWTH > 0 )
\r
3013 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxEndOfStack );
\r
3017 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxStack );
\r
3023 } while( pxNextTCB != pxFirstTCB );
\r
3027 mtCOVERAGE_TEST_MARKER();
\r
3033 #endif /* configUSE_TRACE_FACILITY */
\r
3034 /*-----------------------------------------------------------*/
\r
3036 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3038 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3040 uint32_t ulCount = 0U;
\r
3042 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
3044 pucStackByte -= portSTACK_GROWTH;
\r
3048 ulCount /= ( uint32_t ) sizeof( StackType_t );
\r
3050 return ( uint16_t ) ulCount;
\r
3053 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3054 /*-----------------------------------------------------------*/
\r
3056 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3058 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3061 uint8_t *pucEndOfStack;
\r
3062 UBaseType_t uxReturn;
\r
3064 pxTCB = prvGetTCBFromHandle( xTask );
\r
3066 #if portSTACK_GROWTH < 0
\r
3068 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3072 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3076 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3081 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3082 /*-----------------------------------------------------------*/
\r
3084 #if ( INCLUDE_vTaskDelete == 1 )
\r
3086 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3088 /* This call is required specifically for the TriCore port. It must be
\r
3089 above the vPortFree() calls. The call is also used by ports/demos that
\r
3090 want to allocate and clean RAM statically. */
\r
3091 portCLEAN_UP_TCB( pxTCB );
\r
3093 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3094 to the task to free any memory allocated at the application level. */
\r
3095 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3097 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3099 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3100 vPortFreeAligned( pxTCB->pxStack );
\r
3101 vPortFree( pxTCB );
\r
3104 #endif /* INCLUDE_vTaskDelete */
\r
3105 /*-----------------------------------------------------------*/
\r
3107 static void prvResetNextTaskUnblockTime( void )
\r
3111 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3113 /* The new current delayed list is empty. Set
\r
3114 xNextTaskUnblockTime to the maximum possible value so it is
\r
3115 extremely unlikely that the
\r
3116 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3117 there is an item in the delayed list. */
\r
3118 xNextTaskUnblockTime = portMAX_DELAY;
\r
3122 /* The new current delayed list is not empty, get the value of
\r
3123 the item at the head of the delayed list. This is the time at
\r
3124 which the task at the head of the delayed list should be removed
\r
3125 from the Blocked state. */
\r
3126 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3127 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) );
\r
3130 /*-----------------------------------------------------------*/
\r
3132 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3134 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3136 TaskHandle_t xReturn;
\r
3138 /* A critical section is not required as this is not called from
\r
3139 an interrupt and the current TCB will always be the same for any
\r
3140 individual execution thread. */
\r
3141 xReturn = pxCurrentTCB;
\r
3146 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3147 /*-----------------------------------------------------------*/
\r
3149 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3151 BaseType_t xTaskGetSchedulerState( void )
\r
3153 BaseType_t xReturn;
\r
3155 if( xSchedulerRunning == pdFALSE )
\r
3157 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3161 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3163 xReturn = taskSCHEDULER_RUNNING;
\r
3167 xReturn = taskSCHEDULER_SUSPENDED;
\r
3174 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3175 /*-----------------------------------------------------------*/
\r
3177 #if ( configUSE_MUTEXES == 1 )
\r
3179 void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3181 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3183 /* If the mutex was given back by an interrupt while the queue was
\r
3184 locked then the mutex holder might now be NULL. */
\r
3185 if( pxMutexHolder != NULL )
\r
3187 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3189 /* Adjust the mutex holder state to account for its new
\r
3190 priority. Only reset the event list item value if the value is
\r
3191 not being used for anything else. */
\r
3192 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3194 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3198 mtCOVERAGE_TEST_MARKER();
\r
3201 /* If the task being modified is in the ready state it will need to
\r
3202 be moved into a new list. */
\r
3203 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
3205 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3207 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3211 mtCOVERAGE_TEST_MARKER();
\r
3214 /* Inherit the priority before being moved into the new list. */
\r
3215 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3216 prvAddTaskToReadyList( pxTCB );
\r
3220 /* Just inherit the priority. */
\r
3221 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3224 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
3228 mtCOVERAGE_TEST_MARKER();
\r
3233 mtCOVERAGE_TEST_MARKER();
\r
3237 #endif /* configUSE_MUTEXES */
\r
3238 /*-----------------------------------------------------------*/
\r
3240 #if ( configUSE_MUTEXES == 1 )
\r
3242 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3244 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3245 BaseType_t xReturn = pdFALSE;
\r
3247 if( pxMutexHolder != NULL )
\r
3249 configASSERT( pxTCB->uxMutexesHeld );
\r
3250 ( pxTCB->uxMutexesHeld )--;
\r
3252 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3254 /* Only disinherit if no other mutexes are held. */
\r
3255 if( pxTCB->uxMutexesHeld == 0 )
\r
3257 /* The holding task must be the running task to be able to give
\r
3258 the mutex back. Remove the holding task from the ready list. */
\r
3259 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3261 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3265 mtCOVERAGE_TEST_MARKER();
\r
3268 /* Disinherit the priority before adding the task into the new
\r
3270 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3271 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3273 /* Reset the event list item value. It cannot be in use for
\r
3274 any other purpose if this task is running, and it must be
\r
3275 running to give back the mutex. */
\r
3276 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
3277 prvAddTaskToReadyList( pxTCB );
\r
3279 /* Return true to indicate that a context switch is required.
\r
3280 This is only actually required in the corner case whereby
\r
3281 multiple mutexes were held and the mutexes were given back
\r
3282 in an order different to that in which they were taken. */
\r
3287 mtCOVERAGE_TEST_MARKER();
\r
3292 mtCOVERAGE_TEST_MARKER();
\r
3297 mtCOVERAGE_TEST_MARKER();
\r
3303 #endif /* configUSE_MUTEXES */
\r
3304 /*-----------------------------------------------------------*/
\r
3306 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3308 void vTaskEnterCritical( void )
\r
3310 portDISABLE_INTERRUPTS();
\r
3312 if( xSchedulerRunning != pdFALSE )
\r
3314 ( pxCurrentTCB->uxCriticalNesting )++;
\r
3316 /* This is not the interrupt safe version of the enter critical
\r
3317 function so assert() if it is being called from an interrupt
\r
3318 context. Only API functions that end in "FromISR" can be used in an
\r
3319 interrupt. Only assert if the critical nesting count is 1 to
\r
3320 protect against recursive calls if the assert function also uses a
\r
3321 critical section. */
\r
3322 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
3324 portASSERT_IF_IN_ISR();
\r
3330 mtCOVERAGE_TEST_MARKER();
\r
3334 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3335 /*-----------------------------------------------------------*/
\r
3337 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3339 void vTaskExitCritical( void )
\r
3341 if( xSchedulerRunning != pdFALSE )
\r
3343 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
3345 ( pxCurrentTCB->uxCriticalNesting )--;
\r
3347 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
3349 portENABLE_INTERRUPTS();
\r
3353 mtCOVERAGE_TEST_MARKER();
\r
3358 mtCOVERAGE_TEST_MARKER();
\r
3363 mtCOVERAGE_TEST_MARKER();
\r
3367 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3368 /*-----------------------------------------------------------*/
\r
3370 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
3372 void vTaskList( char * pcWriteBuffer )
\r
3374 TaskStatus_t *pxTaskStatusArray;
\r
3375 volatile UBaseType_t uxArraySize, x;
\r
3381 * This function is provided for convenience only, and is used by many
\r
3382 * of the demo applications. Do not consider it to be part of the
\r
3385 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
3386 * uxTaskGetSystemState() output into a human readable table that
\r
3387 * displays task names, states and stack usage.
\r
3389 * vTaskList() has a dependency on the sprintf() C library function that
\r
3390 * might bloat the code size, use a lot of stack, and provide different
\r
3391 * results on different platforms. An alternative, tiny, third party,
\r
3392 * and limited functionality implementation of sprintf() is provided in
\r
3393 * many of the FreeRTOS/Demo sub-directories in a file called
\r
3394 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
3395 * snprintf() implementation!).
\r
3397 * It is recommended that production systems call uxTaskGetSystemState()
\r
3398 * directly to get access to raw stats data, rather than indirectly
\r
3399 * through a call to vTaskList().
\r
3403 /* Make sure the write buffer does not contain a string. */
\r
3404 *pcWriteBuffer = 0x00;
\r
3406 /* Take a snapshot of the number of tasks in case it changes while this
\r
3407 function is executing. */
\r
3408 uxArraySize = uxCurrentNumberOfTasks;
\r
3410 /* Allocate an array index for each task. */
\r
3411 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3413 if( pxTaskStatusArray != NULL )
\r
3415 /* Generate the (binary) data. */
\r
3416 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
3418 /* Create a human readable table from the binary data. */
\r
3419 for( x = 0; x < uxArraySize; x++ )
\r
3421 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
3423 case eReady: cStatus = tskREADY_CHAR;
\r
3426 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
3429 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
3432 case eDeleted: cStatus = tskDELETED_CHAR;
\r
3435 default: /* Should not get here, but it is included
\r
3436 to prevent static checking errors. */
\r
3441 sprintf( pcWriteBuffer, "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
3442 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3445 /* Free the array again. */
\r
3446 vPortFree( pxTaskStatusArray );
\r
3450 mtCOVERAGE_TEST_MARKER();
\r
3454 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */
\r
3455 /*----------------------------------------------------------*/
\r
3457 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
3459 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
3461 TaskStatus_t *pxTaskStatusArray;
\r
3462 volatile UBaseType_t uxArraySize, x;
\r
3463 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
3465 #if( configUSE_TRACE_FACILITY != 1 )
\r
3467 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
3474 * This function is provided for convenience only, and is used by many
\r
3475 * of the demo applications. Do not consider it to be part of the
\r
3478 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
3479 * of the uxTaskGetSystemState() output into a human readable table that
\r
3480 * displays the amount of time each task has spent in the Running state
\r
3481 * in both absolute and percentage terms.
\r
3483 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
3484 * function that might bloat the code size, use a lot of stack, and
\r
3485 * provide different results on different platforms. An alternative,
\r
3486 * tiny, third party, and limited functionality implementation of
\r
3487 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3488 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3489 * a full snprintf() implementation!).
\r
3491 * It is recommended that production systems call uxTaskGetSystemState()
\r
3492 * directly to get access to raw stats data, rather than indirectly
\r
3493 * through a call to vTaskGetRunTimeStats().
\r
3496 /* Make sure the write buffer does not contain a string. */
\r
3497 *pcWriteBuffer = 0x00;
\r
3499 /* Take a snapshot of the number of tasks in case it changes while this
\r
3500 function is executing. */
\r
3501 uxArraySize = uxCurrentNumberOfTasks;
\r
3503 /* Allocate an array index for each task. */
\r
3504 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3506 if( pxTaskStatusArray != NULL )
\r
3508 /* Generate the (binary) data. */
\r
3509 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
3511 /* For percentage calculations. */
\r
3512 ulTotalTime /= 100UL;
\r
3514 /* Avoid divide by zero errors. */
\r
3515 if( ulTotalTime > 0 )
\r
3517 /* Create a human readable table from the binary data. */
\r
3518 for( x = 0; x < uxArraySize; x++ )
\r
3520 /* What percentage of the total run time has the task used?
\r
3521 This will always be rounded down to the nearest integer.
\r
3522 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
3523 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
3525 if( ulStatsAsPercentage > 0UL )
\r
3527 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3529 sprintf( pcWriteBuffer, "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
3533 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3534 printf() library can be used. */
\r
3535 sprintf( pcWriteBuffer, "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
3541 /* If the percentage is zero here then the task has
\r
3542 consumed less than 1% of the total run time. */
\r
3543 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3545 sprintf( pcWriteBuffer, "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3549 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3550 printf() library can be used. */
\r
3551 sprintf( pcWriteBuffer, "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3556 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3561 mtCOVERAGE_TEST_MARKER();
\r
3564 /* Free the array again. */
\r
3565 vPortFree( pxTaskStatusArray );
\r
3569 mtCOVERAGE_TEST_MARKER();
\r
3573 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */
\r
3574 /*-----------------------------------------------------------*/
\r
3576 TickType_t uxTaskResetEventItemValue( void )
\r
3578 TickType_t uxReturn;
\r
3580 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
3582 /* Reset the event list item to its normal value - so it can be used with
\r
3583 queues and semaphores. */
\r
3584 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
3588 /*-----------------------------------------------------------*/
\r
3590 void *pvTaskIncrementMutexHeldCount( void )
\r
3592 #if ( configUSE_MUTEXES == 1 )
\r
3594 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
3595 then pxCurrentTCB will be NULL. */
\r
3596 if( pxCurrentTCB != NULL )
\r
3598 ( pxCurrentTCB->uxMutexesHeld )++;
\r
3601 return pxCurrentTCB;
\r
3605 /*-----------------------------------------------------------*/
\r
3607 #ifdef FREERTOS_MODULE_TEST
\r
3608 #include "tasks_test_access_functions.h"
\r
projects / freertos / blob