2 FreeRTOS V8.2.0rc1 - 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 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 >>! NOTE: The modification to the GPL is included to allow you to !<<
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14 >>! distribute a combined work that includes FreeRTOS without being !<<
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15 >>! obliged to provide the source code for proprietary components !<<
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16 >>! outside of the FreeRTOS kernel. !<<
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18 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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19 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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20 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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21 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * Having a problem? Start by reading the FAQ "My application does *
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28 * not run, what could be wrong?". Have you defined configASSERT()? *
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30 * http://www.FreeRTOS.org/FAQHelp.html *
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32 ***************************************************************************
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34 ***************************************************************************
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36 * FreeRTOS provides completely free yet professionally developed, *
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37 * robust, strictly quality controlled, supported, and cross *
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38 * platform software that is more than just the market leader, it *
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39 * is the industry's de facto standard. *
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41 * Help yourself get started quickly while simultaneously helping *
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42 * to support the FreeRTOS project by purchasing a FreeRTOS *
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43 * tutorial book, reference manual, or both: *
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44 * http://www.FreeRTOS.org/Documentation *
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46 ***************************************************************************
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48 ***************************************************************************
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50 * Investing in training allows your team to be as productive as *
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51 * possible as early as possible, lowering your overall development *
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52 * cost, and enabling you to bring a more robust product to market *
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53 * earlier than would otherwise be possible. Richard Barry is both *
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54 * the architect and key author of FreeRTOS, and so also the world's *
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55 * leading authority on what is the world's most popular real time *
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56 * kernel for deeply embedded MCU designs. Obtaining your training *
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57 * from Richard ensures your team will gain directly from his in-depth *
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58 * product knowledge and years of usage experience. Contact Real Time *
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59 * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
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60 * by Richard Barry: http://www.FreeRTOS.org/contact
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62 ***************************************************************************
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64 ***************************************************************************
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66 * You are receiving this top quality software for free. Please play *
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67 * fair and reciprocate by reporting any suspected issues and *
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68 * participating in the community forum: *
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69 * http://www.FreeRTOS.org/support *
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73 ***************************************************************************
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75 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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76 license and Real Time Engineers Ltd. contact details.
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78 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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79 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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80 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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82 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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83 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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85 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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86 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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87 licenses offer ticketed support, indemnification and commercial middleware.
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89 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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90 engineered and independently SIL3 certified version for use in safety and
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91 mission critical applications that require provable dependability.
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96 /* Standard includes. */
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100 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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101 all the API functions to use the MPU wrappers. That should only be done when
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102 task.h is included from an application file. */
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103 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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105 /* FreeRTOS includes. */
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106 #include "FreeRTOS.h"
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108 #include "timers.h"
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109 #include "StackMacros.h"
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111 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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112 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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113 header files above, but not in this file, in order to generate the correct
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114 privileged Vs unprivileged linkage and placement. */
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115 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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117 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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118 functions but without including stdio.h here. */
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119 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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120 /* At the bottom of this file are two optional functions that can be used
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121 to generate human readable text from the raw data generated by the
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122 uxTaskGetSystemState() function. Note the formatting functions are provided
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123 for convenience only, and are NOT considered part of the kernel. */
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125 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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127 /* Sanity check the configuration. */
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128 #if configUSE_TICKLESS_IDLE != 0
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129 #if INCLUDE_vTaskSuspend != 1
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130 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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131 #endif /* INCLUDE_vTaskSuspend */
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132 #endif /* configUSE_TICKLESS_IDLE */
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135 * Defines the size, in words, of the stack allocated to the idle task.
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137 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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139 #if( configUSE_PREEMPTION == 0 )
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140 /* If the cooperative scheduler is being used then a yield should not be
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141 performed just because a higher priority task has been woken. */
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142 #define taskYIELD_IF_USING_PREEMPTION()
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144 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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147 /* Value that can be assigned to the eNotifyState member of the TCB. */
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150 eNotWaitingNotification = 0,
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151 eWaitingNotification,
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156 * Task control block. A task control block (TCB) is allocated for each task,
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157 * and stores task state information, including a pointer to the task's context
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158 * (the task's run time environment, including register values)
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160 typedef struct tskTaskControlBlock
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162 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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164 #if ( portUSING_MPU_WRAPPERS == 1 )
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165 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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166 BaseType_t xUsingStaticallyAllocatedStack; /* Set to pdTRUE if the stack is a statically allocated array, and pdFALSE if the stack is dynamically allocated. */
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169 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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170 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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171 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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172 StackType_t *pxStack; /*< Points to the start of the stack. */
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173 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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175 #if ( portSTACK_GROWTH > 0 )
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176 StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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179 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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180 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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183 #if ( configUSE_TRACE_FACILITY == 1 )
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184 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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185 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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188 #if ( configUSE_MUTEXES == 1 )
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189 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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190 UBaseType_t uxMutexesHeld;
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193 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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194 TaskHookFunction_t pxTaskTag;
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197 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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198 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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201 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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202 /* Allocate a Newlib reent structure that is specific to this task.
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203 Note Newlib support has been included by popular demand, but is not
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204 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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205 responsible for resulting newlib operation. User must be familiar with
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206 newlib and must provide system-wide implementations of the necessary
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207 stubs. Be warned that (at the time of writing) the current newlib design
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208 implements a system-wide malloc() that must be provided with locks. */
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209 struct _reent xNewLib_reent;
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212 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
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213 volatile uint32_t ulNotifiedValue;
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214 volatile eNotifyValue eNotifyState;
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219 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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220 below to enable the use of older kernel aware debuggers. */
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221 typedef tskTCB TCB_t;
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224 * Some kernel aware debuggers require the data the debugger needs access to to
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225 * be global, rather than file scope.
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227 #ifdef portREMOVE_STATIC_QUALIFIER
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231 /*lint -e956 A manual analysis and inspection has been used to determine which
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232 static variables must be declared volatile. */
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234 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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236 /* Lists for ready and blocked tasks. --------------------*/
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237 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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238 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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239 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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240 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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241 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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242 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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244 #if ( INCLUDE_vTaskDelete == 1 )
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246 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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247 PRIVILEGED_DATA static volatile UBaseType_t uxTasksDeleted = ( UBaseType_t ) 0U;
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251 #if ( INCLUDE_vTaskSuspend == 1 )
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253 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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257 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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259 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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263 /* Other file private variables. --------------------------------*/
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264 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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265 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;
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266 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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267 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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268 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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269 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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270 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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271 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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272 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = portMAX_DELAY;
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274 /* Context switches are held pending while the scheduler is suspended. Also,
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275 interrupts must not manipulate the xGenericListItem of a TCB, or any of the
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276 lists the xGenericListItem can be referenced from, if the scheduler is suspended.
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277 If an interrupt needs to unblock a task while the scheduler is suspended then it
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278 moves the task's event list item into the xPendingReadyList, ready for the
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279 kernel to move the task from the pending ready list into the real ready list
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280 when the scheduler is unsuspended. The pending ready list itself can only be
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281 accessed from a critical section. */
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282 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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284 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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286 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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287 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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293 /* Debugging and trace facilities private variables and macros. ------------*/
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296 * The value used to fill the stack of a task when the task is created. This
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297 * is used purely for checking the high water mark for tasks.
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299 #define tskSTACK_FILL_BYTE ( 0xa5U )
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302 * Macros used by vListTask to indicate which state a task is in.
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304 #define tskBLOCKED_CHAR ( 'B' )
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305 #define tskREADY_CHAR ( 'R' )
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306 #define tskDELETED_CHAR ( 'D' )
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307 #define tskSUSPENDED_CHAR ( 'S' )
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309 /*-----------------------------------------------------------*/
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311 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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313 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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314 performed in a generic way that is not optimised to any particular
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315 microcontroller architecture. */
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317 /* uxTopReadyPriority holds the priority of the highest priority ready
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319 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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321 if( ( uxPriority ) > uxTopReadyPriority ) \
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323 uxTopReadyPriority = ( uxPriority ); \
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325 } /* taskRECORD_READY_PRIORITY */
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327 /*-----------------------------------------------------------*/
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329 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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331 /* Find the highest priority queue that contains ready tasks. */ \
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332 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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334 configASSERT( uxTopReadyPriority ); \
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335 --uxTopReadyPriority; \
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338 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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339 the same priority get an equal share of the processor time. */ \
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340 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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341 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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343 /*-----------------------------------------------------------*/
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345 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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346 they are only required when a port optimised method of task selection is
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348 #define taskRESET_READY_PRIORITY( uxPriority )
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349 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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351 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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353 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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354 performed in a way that is tailored to the particular microcontroller
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355 architecture being used. */
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357 /* A port optimised version is provided. Call the port defined macros. */
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358 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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360 /*-----------------------------------------------------------*/
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362 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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364 UBaseType_t uxTopPriority; \
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366 /* Find the highest priority queue that contains ready tasks. */ \
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367 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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368 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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369 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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370 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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372 /*-----------------------------------------------------------*/
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374 /* A port optimised version is provided, call it only if the TCB being reset
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375 is being referenced from a ready list. If it is referenced from a delayed
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376 or suspended list then it won't be in a ready list. */
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377 #define taskRESET_READY_PRIORITY( uxPriority ) \
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379 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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381 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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385 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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387 /*-----------------------------------------------------------*/
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389 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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390 count overflows. */
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391 #define taskSWITCH_DELAYED_LISTS() \
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395 /* The delayed tasks list should be empty when the lists are switched. */ \
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396 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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398 pxTemp = pxDelayedTaskList; \
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399 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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400 pxOverflowDelayedTaskList = pxTemp; \
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401 xNumOfOverflows++; \
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402 prvResetNextTaskUnblockTime(); \
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405 /*-----------------------------------------------------------*/
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408 * Place the task represented by pxTCB into the appropriate ready list for
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409 * the task. It is inserted at the end of the list.
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411 #define prvAddTaskToReadyList( pxTCB ) \
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412 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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413 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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414 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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415 /*-----------------------------------------------------------*/
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418 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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419 * where NULL is used to indicate that the handle of the currently executing
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420 * task should be used in place of the parameter. This macro simply checks to
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421 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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423 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )
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425 /* The item value of the event list item is normally used to hold the priority
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426 of the task to which it belongs (coded to allow it to be held in reverse
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427 priority order). However, it is occasionally borrowed for other purposes. It
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428 is important its value is not updated due to a task priority change while it is
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429 being used for another purpose. The following bit definition is used to inform
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430 the scheduler that the value should not be changed - in which case it is the
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431 responsibility of whichever module is using the value to ensure it gets set back
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432 to its original value when it is released. */
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433 #if configUSE_16_BIT_TICKS == 1
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434 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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436 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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439 /* Callback function prototypes. --------------------------*/
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440 #if configCHECK_FOR_STACK_OVERFLOW > 0
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441 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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444 #if configUSE_TICK_HOOK > 0
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445 extern void vApplicationTickHook( void );
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448 /* File private functions. --------------------------------*/
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451 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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452 * into the TCB structure.
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454 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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457 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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458 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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459 * is in any other state.
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461 #if ( INCLUDE_vTaskSuspend == 1 )
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462 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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463 #endif /* INCLUDE_vTaskSuspend */
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466 * Utility to ready all the lists used by the scheduler. This is called
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467 * automatically upon the creation of the first task.
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469 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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472 * The idle task, which as all tasks is implemented as a never ending loop.
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473 * The idle task is automatically created and added to the ready lists upon
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474 * creation of the first user task.
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476 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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477 * language extensions. The equivalent prototype for this function is:
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479 * void prvIdleTask( void *pvParameters );
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482 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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485 * Utility to free all memory allocated by the scheduler to hold a TCB,
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486 * including the stack pointed to by the TCB.
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488 * This does not free memory allocated by the task itself (i.e. memory
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489 * allocated by calls to pvPortMalloc from within the tasks application code).
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491 #if ( INCLUDE_vTaskDelete == 1 )
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493 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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498 * Used only by the idle task. This checks to see if anything has been placed
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499 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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500 * and its TCB deleted.
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502 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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505 * The currently executing task is entering the Blocked state. Add the task to
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506 * either the current or the overflow delayed task list.
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508 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake ) PRIVILEGED_FUNCTION;
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511 * Allocates memory from the heap for a TCB and associated stack. Checks the
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512 * allocation was successful.
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514 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer ) PRIVILEGED_FUNCTION;
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517 * Fills an TaskStatus_t structure with information on each task that is
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518 * referenced from the pxList list (which may be a ready list, a delayed list,
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519 * a suspended list, etc.).
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521 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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522 * NORMAL APPLICATION CODE.
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524 #if ( configUSE_TRACE_FACILITY == 1 )
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526 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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531 * When a task is created, the stack of the task is filled with a known value.
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532 * This function determines the 'high water mark' of the task stack by
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533 * determining how much of the stack remains at the original preset value.
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535 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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537 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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542 * Return the amount of time, in ticks, that will pass before the kernel will
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543 * next move a task from the Blocked state to the Running state.
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545 * This conditional compilation should use inequality to 0, not equality to 1.
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546 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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547 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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548 * set to a value other than 1.
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550 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
552 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
\r
557 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
\r
558 * will exit the Blocked state.
\r
560 static void prvResetNextTaskUnblockTime( void );
\r
562 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
565 * Helper function used to pad task names with spaces when printing out
\r
566 * human readable tables of task information.
\r
568 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName );
\r
571 /*-----------------------------------------------------------*/
\r
573 BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
575 BaseType_t xReturn;
\r
577 StackType_t *pxTopOfStack;
\r
579 configASSERT( pxTaskCode );
\r
580 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
\r
582 /* Allocate the memory required by the TCB and stack for the new task,
\r
583 checking that the allocation was successful. */
\r
584 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
\r
586 if( pxNewTCB != NULL )
\r
588 #if( portUSING_MPU_WRAPPERS == 1 )
\r
589 /* Should the task be created in privileged mode? */
\r
590 BaseType_t xRunPrivileged;
\r
591 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
593 xRunPrivileged = pdTRUE;
\r
597 xRunPrivileged = pdFALSE;
\r
599 uxPriority &= ~portPRIVILEGE_BIT;
\r
601 if( puxStackBuffer != NULL )
\r
603 /* The application provided its own stack. Note this so no
\r
604 attempt is made to delete the stack should that task be
\r
606 pxNewTCB->xUsingStaticallyAllocatedStack = pdTRUE;
\r
610 /* The stack was allocated dynamically. Note this so it can be
\r
611 deleted again if the task is deleted. */
\r
612 pxNewTCB->xUsingStaticallyAllocatedStack = pdFALSE;
\r
614 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
616 /* Calculate the top of stack address. This depends on whether the
\r
617 stack grows from high memory to low (as per the 80x86) or vice versa.
\r
618 portSTACK_GROWTH is used to make the result positive or negative as
\r
619 required by the port. */
\r
620 #if( portSTACK_GROWTH < 0 )
\r
622 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );
\r
623 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
625 /* Check the alignment of the calculated top of stack is correct. */
\r
626 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
628 #else /* portSTACK_GROWTH */
\r
630 pxTopOfStack = pxNewTCB->pxStack;
\r
632 /* Check the alignment of the stack buffer is correct. */
\r
633 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
635 /* If we want to use stack checking on architectures that use
\r
636 a positive stack growth direction then we also need to store the
\r
637 other extreme of the stack space. */
\r
638 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
\r
640 #endif /* portSTACK_GROWTH */
\r
642 /* Setup the newly allocated TCB with the initial state of the task. */
\r
643 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
\r
645 /* Initialize the TCB stack to look as if the task was already running,
\r
646 but had been interrupted by the scheduler. The return address is set
\r
647 to the start of the task function. Once the stack has been initialised
\r
648 the top of stack variable is updated. */
\r
649 #if( portUSING_MPU_WRAPPERS == 1 )
\r
651 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
653 #else /* portUSING_MPU_WRAPPERS */
\r
655 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
657 #endif /* portUSING_MPU_WRAPPERS */
\r
659 if( ( void * ) pxCreatedTask != NULL )
\r
661 /* Pass the TCB out - in an anonymous way. The calling function/
\r
662 task can use this as a handle to delete the task later if
\r
664 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
668 mtCOVERAGE_TEST_MARKER();
\r
671 /* Ensure interrupts don't access the task lists while they are being
\r
673 taskENTER_CRITICAL();
\r
675 uxCurrentNumberOfTasks++;
\r
676 if( pxCurrentTCB == NULL )
\r
678 /* There are no other tasks, or all the other tasks are in
\r
679 the suspended state - make this the current task. */
\r
680 pxCurrentTCB = pxNewTCB;
\r
682 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
684 /* This is the first task to be created so do the preliminary
\r
685 initialisation required. We will not recover if this call
\r
686 fails, but we will report the failure. */
\r
687 prvInitialiseTaskLists();
\r
691 mtCOVERAGE_TEST_MARKER();
\r
696 /* If the scheduler is not already running, make this task the
\r
697 current task if it is the highest priority task to be created
\r
699 if( xSchedulerRunning == pdFALSE )
\r
701 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
703 pxCurrentTCB = pxNewTCB;
\r
707 mtCOVERAGE_TEST_MARKER();
\r
712 mtCOVERAGE_TEST_MARKER();
\r
718 #if ( configUSE_TRACE_FACILITY == 1 )
\r
720 /* Add a counter into the TCB for tracing only. */
\r
721 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
723 #endif /* configUSE_TRACE_FACILITY */
\r
724 traceTASK_CREATE( pxNewTCB );
\r
726 prvAddTaskToReadyList( pxNewTCB );
\r
729 portSETUP_TCB( pxNewTCB );
\r
731 taskEXIT_CRITICAL();
\r
735 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
736 traceTASK_CREATE_FAILED();
\r
739 if( xReturn == pdPASS )
\r
741 if( xSchedulerRunning != pdFALSE )
\r
743 /* If the created task is of a higher priority than the current task
\r
744 then it should run now. */
\r
745 if( pxCurrentTCB->uxPriority < uxPriority )
\r
747 taskYIELD_IF_USING_PREEMPTION();
\r
751 mtCOVERAGE_TEST_MARKER();
\r
756 mtCOVERAGE_TEST_MARKER();
\r
762 /*-----------------------------------------------------------*/
\r
764 #if ( INCLUDE_vTaskDelete == 1 )
\r
766 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
770 taskENTER_CRITICAL();
\r
772 /* If null is passed in here then it is the calling task that is
\r
774 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
776 /* Remove task from the ready list and place in the termination list.
\r
777 This will stop the task from be scheduled. The idle task will check
\r
778 the termination list and free up any memory allocated by the
\r
779 scheduler for the TCB and stack. */
\r
780 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
782 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
786 mtCOVERAGE_TEST_MARKER();
\r
789 /* Is the task waiting on an event also? */
\r
790 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
792 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
796 mtCOVERAGE_TEST_MARKER();
\r
799 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
801 /* Increment the ucTasksDeleted variable so the idle task knows
\r
802 there is a task that has been deleted and that it should therefore
\r
803 check the xTasksWaitingTermination list. */
\r
806 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
807 can detect that the task lists need re-generating. */
\r
810 traceTASK_DELETE( pxTCB );
\r
812 taskEXIT_CRITICAL();
\r
814 /* Force a reschedule if it is the currently running task that has just
\r
816 if( xSchedulerRunning != pdFALSE )
\r
818 if( pxTCB == pxCurrentTCB )
\r
820 configASSERT( uxSchedulerSuspended == 0 );
\r
822 /* The pre-delete hook is primarily for the Windows simulator,
\r
823 in which Windows specific clean up operations are performed,
\r
824 after which it is not possible to yield away from this task -
\r
825 hence xYieldPending is used to latch that a context switch is
\r
827 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
828 portYIELD_WITHIN_API();
\r
832 /* Reset the next expected unblock time in case it referred to
\r
833 the task that has just been deleted. */
\r
834 taskENTER_CRITICAL();
\r
836 prvResetNextTaskUnblockTime();
\r
838 taskEXIT_CRITICAL();
\r
843 #endif /* INCLUDE_vTaskDelete */
\r
844 /*-----------------------------------------------------------*/
\r
846 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
848 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
850 TickType_t xTimeToWake;
\r
851 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
853 configASSERT( pxPreviousWakeTime );
\r
854 configASSERT( ( xTimeIncrement > 0U ) );
\r
855 configASSERT( uxSchedulerSuspended == 0 );
\r
859 /* Minor optimisation. The tick count cannot change in this
\r
861 const TickType_t xConstTickCount = xTickCount;
\r
863 /* Generate the tick time at which the task wants to wake. */
\r
864 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
866 if( xConstTickCount < *pxPreviousWakeTime )
\r
868 /* The tick count has overflowed since this function was
\r
869 lasted called. In this case the only time we should ever
\r
870 actually delay is if the wake time has also overflowed,
\r
871 and the wake time is greater than the tick time. When this
\r
872 is the case it is as if neither time had overflowed. */
\r
873 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
875 xShouldDelay = pdTRUE;
\r
879 mtCOVERAGE_TEST_MARKER();
\r
884 /* The tick time has not overflowed. In this case we will
\r
885 delay if either the wake time has overflowed, and/or the
\r
886 tick time is less than the wake time. */
\r
887 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
889 xShouldDelay = pdTRUE;
\r
893 mtCOVERAGE_TEST_MARKER();
\r
897 /* Update the wake time ready for the next call. */
\r
898 *pxPreviousWakeTime = xTimeToWake;
\r
900 if( xShouldDelay != pdFALSE )
\r
902 traceTASK_DELAY_UNTIL();
\r
904 /* Remove the task from the ready list before adding it to the
\r
905 blocked list as the same list item is used for both lists. */
\r
906 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
908 /* The current task must be in a ready list, so there is
\r
909 no need to check, and the port reset macro can be called
\r
911 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
915 mtCOVERAGE_TEST_MARKER();
\r
918 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
922 mtCOVERAGE_TEST_MARKER();
\r
925 xAlreadyYielded = xTaskResumeAll();
\r
927 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
928 have put ourselves to sleep. */
\r
929 if( xAlreadyYielded == pdFALSE )
\r
931 portYIELD_WITHIN_API();
\r
935 mtCOVERAGE_TEST_MARKER();
\r
939 #endif /* INCLUDE_vTaskDelayUntil */
\r
940 /*-----------------------------------------------------------*/
\r
942 #if ( INCLUDE_vTaskDelay == 1 )
\r
944 void vTaskDelay( const TickType_t xTicksToDelay )
\r
946 TickType_t xTimeToWake;
\r
947 BaseType_t xAlreadyYielded = pdFALSE;
\r
950 /* A delay time of zero just forces a reschedule. */
\r
951 if( xTicksToDelay > ( TickType_t ) 0U )
\r
953 configASSERT( uxSchedulerSuspended == 0 );
\r
958 /* A task that is removed from the event list while the
\r
959 scheduler is suspended will not get placed in the ready
\r
960 list or removed from the blocked list until the scheduler
\r
963 This task cannot be in an event list as it is the currently
\r
966 /* Calculate the time to wake - this may overflow but this is
\r
968 xTimeToWake = xTickCount + xTicksToDelay;
\r
970 /* We must remove ourselves from the ready list before adding
\r
971 ourselves to the blocked list as the same list item is used for
\r
973 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
975 /* The current task must be in a ready list, so there is
\r
976 no need to check, and the port reset macro can be called
\r
978 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
982 mtCOVERAGE_TEST_MARKER();
\r
984 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
986 xAlreadyYielded = xTaskResumeAll();
\r
990 mtCOVERAGE_TEST_MARKER();
\r
993 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
994 have put ourselves to sleep. */
\r
995 if( xAlreadyYielded == pdFALSE )
\r
997 portYIELD_WITHIN_API();
\r
1001 mtCOVERAGE_TEST_MARKER();
\r
1005 #endif /* INCLUDE_vTaskDelay */
\r
1006 /*-----------------------------------------------------------*/
\r
1008 #if ( INCLUDE_eTaskGetState == 1 )
\r
1010 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1012 eTaskState eReturn;
\r
1013 List_t *pxStateList;
\r
1014 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1016 configASSERT( pxTCB );
\r
1018 if( pxTCB == pxCurrentTCB )
\r
1020 /* The task calling this function is querying its own state. */
\r
1021 eReturn = eRunning;
\r
1025 taskENTER_CRITICAL();
\r
1027 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
1029 taskEXIT_CRITICAL();
\r
1031 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
1033 /* The task being queried is referenced from one of the Blocked
\r
1035 eReturn = eBlocked;
\r
1038 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1039 else if( pxStateList == &xSuspendedTaskList )
\r
1041 /* The task being queried is referenced from the suspended
\r
1042 list. Is it genuinely suspended or is it block
\r
1044 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1046 eReturn = eSuspended;
\r
1050 eReturn = eBlocked;
\r
1055 #if ( INCLUDE_vTaskDelete == 1 )
\r
1056 else if( pxStateList == &xTasksWaitingTermination )
\r
1058 /* The task being queried is referenced from the deleted
\r
1060 eReturn = eDeleted;
\r
1064 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1066 /* If the task is not in any other state, it must be in the
\r
1067 Ready (including pending ready) state. */
\r
1073 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1075 #endif /* INCLUDE_eTaskGetState */
\r
1076 /*-----------------------------------------------------------*/
\r
1078 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1080 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1083 UBaseType_t uxReturn;
\r
1085 taskENTER_CRITICAL();
\r
1087 /* If null is passed in here then we are changing the
\r
1088 priority of the calling function. */
\r
1089 pxTCB = prvGetTCBFromHandle( xTask );
\r
1090 uxReturn = pxTCB->uxPriority;
\r
1092 taskEXIT_CRITICAL();
\r
1097 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1098 /*-----------------------------------------------------------*/
\r
1100 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1102 UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )
\r
1105 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1107 /* RTOS ports that support interrupt nesting have the concept of a
\r
1108 maximum system call (or maximum API call) interrupt priority.
\r
1109 Interrupts that are above the maximum system call priority are keep
\r
1110 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1111 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1112 is defined in FreeRTOSConfig.h then
\r
1113 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1114 failure if a FreeRTOS API function is called from an interrupt that has
\r
1115 been assigned a priority above the configured maximum system call
\r
1116 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1117 from interrupts that have been assigned a priority at or (logically)
\r
1118 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1119 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1120 simple as possible. More information (albeit Cortex-M specific) is
\r
1121 provided on the following link:
\r
1122 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1123 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1125 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1127 /* If null is passed in here then it is the priority of the calling
\r
1128 task that is being queried. */
\r
1129 pxTCB = prvGetTCBFromHandle( xTask );
\r
1130 uxReturn = pxTCB->uxPriority;
\r
1132 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1137 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1138 /*-----------------------------------------------------------*/
\r
1140 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1142 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1145 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1146 BaseType_t xYieldRequired = pdFALSE;
\r
1148 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1150 /* Ensure the new priority is valid. */
\r
1151 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1153 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1157 mtCOVERAGE_TEST_MARKER();
\r
1160 taskENTER_CRITICAL();
\r
1162 /* If null is passed in here then it is the priority of the calling
\r
1163 task that is being changed. */
\r
1164 pxTCB = prvGetTCBFromHandle( xTask );
\r
1166 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1168 #if ( configUSE_MUTEXES == 1 )
\r
1170 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1174 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1178 if( uxCurrentBasePriority != uxNewPriority )
\r
1180 /* The priority change may have readied a task of higher
\r
1181 priority than the calling task. */
\r
1182 if( uxNewPriority > uxCurrentBasePriority )
\r
1184 if( pxTCB != pxCurrentTCB )
\r
1186 /* The priority of a task other than the currently
\r
1187 running task is being raised. Is the priority being
\r
1188 raised above that of the running task? */
\r
1189 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1191 xYieldRequired = pdTRUE;
\r
1195 mtCOVERAGE_TEST_MARKER();
\r
1200 /* The priority of the running task is being raised,
\r
1201 but the running task must already be the highest
\r
1202 priority task able to run so no yield is required. */
\r
1205 else if( pxTCB == pxCurrentTCB )
\r
1207 /* Setting the priority of the running task down means
\r
1208 there may now be another task of higher priority that
\r
1209 is ready to execute. */
\r
1210 xYieldRequired = pdTRUE;
\r
1214 /* Setting the priority of any other task down does not
\r
1215 require a yield as the running task must be above the
\r
1216 new priority of the task being modified. */
\r
1219 /* Remember the ready list the task might be referenced from
\r
1220 before its uxPriority member is changed so the
\r
1221 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1222 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1224 #if ( configUSE_MUTEXES == 1 )
\r
1226 /* Only change the priority being used if the task is not
\r
1227 currently using an inherited priority. */
\r
1228 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1230 pxTCB->uxPriority = uxNewPriority;
\r
1234 mtCOVERAGE_TEST_MARKER();
\r
1237 /* The base priority gets set whatever. */
\r
1238 pxTCB->uxBasePriority = uxNewPriority;
\r
1242 pxTCB->uxPriority = uxNewPriority;
\r
1246 /* Only reset the event list item value if the value is not
\r
1247 being used for anything else. */
\r
1248 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1250 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
1254 mtCOVERAGE_TEST_MARKER();
\r
1257 /* If the task is in the blocked or suspended list we need do
\r
1258 nothing more than change it's priority variable. However, if
\r
1259 the task is in a ready list it needs to be removed and placed
\r
1260 in the list appropriate to its new priority. */
\r
1261 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1263 /* The task is currently in its ready list - remove before adding
\r
1264 it to it's new ready list. As we are in a critical section we
\r
1265 can do this even if the scheduler is suspended. */
\r
1266 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1268 /* It is known that the task is in its ready list so
\r
1269 there is no need to check again and the port level
\r
1270 reset macro can be called directly. */
\r
1271 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1275 mtCOVERAGE_TEST_MARKER();
\r
1277 prvAddTaskToReadyList( pxTCB );
\r
1281 mtCOVERAGE_TEST_MARKER();
\r
1284 if( xYieldRequired == pdTRUE )
\r
1286 taskYIELD_IF_USING_PREEMPTION();
\r
1290 mtCOVERAGE_TEST_MARKER();
\r
1293 /* Remove compiler warning about unused variables when the port
\r
1294 optimised task selection is not being used. */
\r
1295 ( void ) uxPriorityUsedOnEntry;
\r
1298 taskEXIT_CRITICAL();
\r
1301 #endif /* INCLUDE_vTaskPrioritySet */
\r
1302 /*-----------------------------------------------------------*/
\r
1304 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1306 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1310 taskENTER_CRITICAL();
\r
1312 /* If null is passed in here then it is the running task that is
\r
1313 being suspended. */
\r
1314 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1316 traceTASK_SUSPEND( pxTCB );
\r
1318 /* Remove task from the ready/delayed list and place in the
\r
1319 suspended list. */
\r
1320 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1322 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1326 mtCOVERAGE_TEST_MARKER();
\r
1329 /* Is the task waiting on an event also? */
\r
1330 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1332 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1336 mtCOVERAGE_TEST_MARKER();
\r
1339 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1341 taskEXIT_CRITICAL();
\r
1343 if( pxTCB == pxCurrentTCB )
\r
1345 if( xSchedulerRunning != pdFALSE )
\r
1347 /* The current task has just been suspended. */
\r
1348 configASSERT( uxSchedulerSuspended == 0 );
\r
1349 portYIELD_WITHIN_API();
\r
1353 /* The scheduler is not running, but the task that was pointed
\r
1354 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1355 must be adjusted to point to a different task. */
\r
1356 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1358 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1359 NULL so when the next task is created pxCurrentTCB will
\r
1360 be set to point to it no matter what its relative priority
\r
1362 pxCurrentTCB = NULL;
\r
1366 vTaskSwitchContext();
\r
1372 if( xSchedulerRunning != pdFALSE )
\r
1374 /* A task other than the currently running task was suspended,
\r
1375 reset the next expected unblock time in case it referred to the
\r
1376 task that is now in the Suspended state. */
\r
1377 taskENTER_CRITICAL();
\r
1379 prvResetNextTaskUnblockTime();
\r
1381 taskEXIT_CRITICAL();
\r
1385 mtCOVERAGE_TEST_MARKER();
\r
1390 #endif /* INCLUDE_vTaskSuspend */
\r
1391 /*-----------------------------------------------------------*/
\r
1393 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1395 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1397 BaseType_t xReturn = pdFALSE;
\r
1398 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1400 /* Accesses xPendingReadyList so must be called from a critical
\r
1403 /* It does not make sense to check if the calling task is suspended. */
\r
1404 configASSERT( xTask );
\r
1406 /* Is the task being resumed actually in the suspended list? */
\r
1407 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1409 /* Has the task already been resumed from within an ISR? */
\r
1410 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1412 /* Is it in the suspended list because it is in the Suspended
\r
1413 state, or because is is blocked with no timeout? */
\r
1414 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1420 mtCOVERAGE_TEST_MARKER();
\r
1425 mtCOVERAGE_TEST_MARKER();
\r
1430 mtCOVERAGE_TEST_MARKER();
\r
1434 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1436 #endif /* INCLUDE_vTaskSuspend */
\r
1437 /*-----------------------------------------------------------*/
\r
1439 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1441 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1443 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1445 /* It does not make sense to resume the calling task. */
\r
1446 configASSERT( xTaskToResume );
\r
1448 /* The parameter cannot be NULL as it is impossible to resume the
\r
1449 currently executing task. */
\r
1450 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1452 taskENTER_CRITICAL();
\r
1454 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1456 traceTASK_RESUME( pxTCB );
\r
1458 /* As we are in a critical section we can access the ready
\r
1459 lists even if the scheduler is suspended. */
\r
1460 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1461 prvAddTaskToReadyList( pxTCB );
\r
1463 /* We may have just resumed a higher priority task. */
\r
1464 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1466 /* This yield may not cause the task just resumed to run,
\r
1467 but will leave the lists in the correct state for the
\r
1469 taskYIELD_IF_USING_PREEMPTION();
\r
1473 mtCOVERAGE_TEST_MARKER();
\r
1478 mtCOVERAGE_TEST_MARKER();
\r
1481 taskEXIT_CRITICAL();
\r
1485 mtCOVERAGE_TEST_MARKER();
\r
1489 #endif /* INCLUDE_vTaskSuspend */
\r
1491 /*-----------------------------------------------------------*/
\r
1493 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1495 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1497 BaseType_t xYieldRequired = pdFALSE;
\r
1498 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1499 UBaseType_t uxSavedInterruptStatus;
\r
1501 configASSERT( xTaskToResume );
\r
1503 /* RTOS ports that support interrupt nesting have the concept of a
\r
1504 maximum system call (or maximum API call) interrupt priority.
\r
1505 Interrupts that are above the maximum system call priority are keep
\r
1506 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1507 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1508 is defined in FreeRTOSConfig.h then
\r
1509 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1510 failure if a FreeRTOS API function is called from an interrupt that has
\r
1511 been assigned a priority above the configured maximum system call
\r
1512 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1513 from interrupts that have been assigned a priority at or (logically)
\r
1514 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1515 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1516 simple as possible. More information (albeit Cortex-M specific) is
\r
1517 provided on the following link:
\r
1518 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1519 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1521 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1523 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1525 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1527 /* Check the ready lists can be accessed. */
\r
1528 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1530 /* Ready lists can be accessed so move the task from the
\r
1531 suspended list to the ready list directly. */
\r
1532 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1534 xYieldRequired = pdTRUE;
\r
1538 mtCOVERAGE_TEST_MARKER();
\r
1541 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1542 prvAddTaskToReadyList( pxTCB );
\r
1546 /* The delayed or ready lists cannot be accessed so the task
\r
1547 is held in the pending ready list until the scheduler is
\r
1549 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1554 mtCOVERAGE_TEST_MARKER();
\r
1557 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1559 return xYieldRequired;
\r
1562 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1563 /*-----------------------------------------------------------*/
\r
1565 void vTaskStartScheduler( void )
\r
1567 BaseType_t xReturn;
\r
1569 /* Add the idle task at the lowest priority. */
\r
1570 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1572 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1573 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1574 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
1578 /* Create the idle task without storing its handle. */
\r
1579 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
1581 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1583 #if ( configUSE_TIMERS == 1 )
\r
1585 if( xReturn == pdPASS )
\r
1587 xReturn = xTimerCreateTimerTask();
\r
1591 mtCOVERAGE_TEST_MARKER();
\r
1594 #endif /* configUSE_TIMERS */
\r
1596 if( xReturn == pdPASS )
\r
1598 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1599 before or during the call to xPortStartScheduler(). The stacks of
\r
1600 the created tasks contain a status word with interrupts switched on
\r
1601 so interrupts will automatically get re-enabled when the first task
\r
1603 portDISABLE_INTERRUPTS();
\r
1605 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1607 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1608 structure specific to the task that will run first. */
\r
1609 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1611 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1613 xSchedulerRunning = pdTRUE;
\r
1614 xTickCount = ( TickType_t ) 0U;
\r
1616 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1617 macro must be defined to configure the timer/counter used to generate
\r
1618 the run time counter time base. */
\r
1619 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1621 /* Setting up the timer tick is hardware specific and thus in the
\r
1622 portable interface. */
\r
1623 if( xPortStartScheduler() != pdFALSE )
\r
1625 /* Should not reach here as if the scheduler is running the
\r
1626 function will not return. */
\r
1630 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1635 /* This line will only be reached if the kernel could not be started,
\r
1636 because there was not enough FreeRTOS heap to create the idle task
\r
1637 or the timer task. */
\r
1638 configASSERT( xReturn );
\r
1641 /*-----------------------------------------------------------*/
\r
1643 void vTaskEndScheduler( void )
\r
1645 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1646 routine so the original ISRs can be restored if necessary. The port
\r
1647 layer must ensure interrupts enable bit is left in the correct state. */
\r
1648 portDISABLE_INTERRUPTS();
\r
1649 xSchedulerRunning = pdFALSE;
\r
1650 vPortEndScheduler();
\r
1652 /*----------------------------------------------------------*/
\r
1654 void vTaskSuspendAll( void )
\r
1656 /* A critical section is not required as the variable is of type
\r
1657 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
1658 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1659 http://goo.gl/wu4acr */
\r
1660 ++uxSchedulerSuspended;
\r
1662 /*----------------------------------------------------------*/
\r
1664 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1666 static TickType_t prvGetExpectedIdleTime( void )
\r
1668 TickType_t xReturn;
\r
1670 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1674 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1676 /* There are other idle priority tasks in the ready state. If
\r
1677 time slicing is used then the very next tick interrupt must be
\r
1683 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1689 #endif /* configUSE_TICKLESS_IDLE */
\r
1690 /*----------------------------------------------------------*/
\r
1692 BaseType_t xTaskResumeAll( void )
\r
1695 BaseType_t xAlreadyYielded = pdFALSE;
\r
1697 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1698 previous call to vTaskSuspendAll(). */
\r
1699 configASSERT( uxSchedulerSuspended );
\r
1701 /* It is possible that an ISR caused a task to be removed from an event
\r
1702 list while the scheduler was suspended. If this was the case then the
\r
1703 removed task will have been added to the xPendingReadyList. Once the
\r
1704 scheduler has been resumed it is safe to move all the pending ready
\r
1705 tasks from this list into their appropriate ready list. */
\r
1706 taskENTER_CRITICAL();
\r
1708 --uxSchedulerSuspended;
\r
1710 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1712 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
1714 /* Move any readied tasks from the pending list into the
\r
1715 appropriate ready list. */
\r
1716 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1718 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1719 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1720 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1721 prvAddTaskToReadyList( pxTCB );
\r
1723 /* If the moved task has a priority higher than the current
\r
1724 task then a yield must be performed. */
\r
1725 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1727 xYieldPending = pdTRUE;
\r
1731 mtCOVERAGE_TEST_MARKER();
\r
1735 /* If any ticks occurred while the scheduler was suspended then
\r
1736 they should be processed now. This ensures the tick count does
\r
1737 not slip, and that any delayed tasks are resumed at the correct
\r
1739 if( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1741 while( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1743 if( xTaskIncrementTick() != pdFALSE )
\r
1745 xYieldPending = pdTRUE;
\r
1749 mtCOVERAGE_TEST_MARKER();
\r
1756 mtCOVERAGE_TEST_MARKER();
\r
1759 if( xYieldPending == pdTRUE )
\r
1761 #if( configUSE_PREEMPTION != 0 )
\r
1763 xAlreadyYielded = pdTRUE;
\r
1766 taskYIELD_IF_USING_PREEMPTION();
\r
1770 mtCOVERAGE_TEST_MARKER();
\r
1776 mtCOVERAGE_TEST_MARKER();
\r
1779 taskEXIT_CRITICAL();
\r
1781 return xAlreadyYielded;
\r
1783 /*-----------------------------------------------------------*/
\r
1785 TickType_t xTaskGetTickCount( void )
\r
1787 TickType_t xTicks;
\r
1789 /* Critical section required if running on a 16 bit processor. */
\r
1790 portTICK_TYPE_ENTER_CRITICAL();
\r
1792 xTicks = xTickCount;
\r
1794 portTICK_TYPE_EXIT_CRITICAL();
\r
1798 /*-----------------------------------------------------------*/
\r
1800 TickType_t xTaskGetTickCountFromISR( void )
\r
1802 TickType_t xReturn;
\r
1803 UBaseType_t uxSavedInterruptStatus;
\r
1805 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1806 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1807 above the maximum system call priority are kept permanently enabled, even
\r
1808 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1809 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1810 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1811 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1812 assigned a priority above the configured maximum system call priority.
\r
1813 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1814 that have been assigned a priority at or (logically) below the maximum
\r
1815 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1816 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1817 More information (albeit Cortex-M specific) is provided on the following
\r
1818 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1819 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1821 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
1823 xReturn = xTickCount;
\r
1825 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1829 /*-----------------------------------------------------------*/
\r
1831 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
1833 /* A critical section is not required because the variables are of type
\r
1835 return uxCurrentNumberOfTasks;
\r
1837 /*-----------------------------------------------------------*/
\r
1839 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1841 char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
1845 /* If null is passed in here then the name of the calling task is being queried. */
\r
1846 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1847 configASSERT( pxTCB );
\r
1848 return &( pxTCB->pcTaskName[ 0 ] );
\r
1851 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1852 /*-----------------------------------------------------------*/
\r
1854 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1856 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
1858 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1860 vTaskSuspendAll();
\r
1862 /* Is there a space in the array for each task in the system? */
\r
1863 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1865 /* Fill in an TaskStatus_t structure with information on each
\r
1866 task in the Ready state. */
\r
1870 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1872 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1874 /* Fill in an TaskStatus_t structure with information on each
\r
1875 task in the Blocked state. */
\r
1876 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
1877 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
1879 #if( INCLUDE_vTaskDelete == 1 )
\r
1881 /* Fill in an TaskStatus_t structure with information on
\r
1882 each task that has been deleted but not yet cleaned up. */
\r
1883 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1887 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1889 /* Fill in an TaskStatus_t structure with information on
\r
1890 each task in the Suspended state. */
\r
1891 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1895 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1897 if( pulTotalRunTime != NULL )
\r
1899 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1900 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
1902 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1908 if( pulTotalRunTime != NULL )
\r
1910 *pulTotalRunTime = 0;
\r
1917 mtCOVERAGE_TEST_MARKER();
\r
1920 ( void ) xTaskResumeAll();
\r
1925 #endif /* configUSE_TRACE_FACILITY */
\r
1926 /*----------------------------------------------------------*/
\r
1928 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1930 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
1932 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1933 started, then xIdleTaskHandle will be NULL. */
\r
1934 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1935 return xIdleTaskHandle;
\r
1938 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1939 /*----------------------------------------------------------*/
\r
1941 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1942 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1943 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1945 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1947 void vTaskStepTick( const TickType_t xTicksToJump )
\r
1949 /* Correct the tick count value after a period during which the tick
\r
1950 was suppressed. Note this does *not* call the tick hook function for
\r
1951 each stepped tick. */
\r
1952 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1953 xTickCount += xTicksToJump;
\r
1954 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
1957 #endif /* configUSE_TICKLESS_IDLE */
\r
1958 /*----------------------------------------------------------*/
\r
1960 BaseType_t xTaskIncrementTick( void )
\r
1963 TickType_t xItemValue;
\r
1964 BaseType_t xSwitchRequired = pdFALSE;
\r
1966 /* Called by the portable layer each time a tick interrupt occurs.
\r
1967 Increments the tick then checks to see if the new tick value will cause any
\r
1968 tasks to be unblocked. */
\r
1969 traceTASK_INCREMENT_TICK( xTickCount );
\r
1970 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1972 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1973 delayed lists if it wraps to 0. */
\r
1977 /* Minor optimisation. The tick count cannot change in this
\r
1979 const TickType_t xConstTickCount = xTickCount;
\r
1981 if( xConstTickCount == ( TickType_t ) 0U )
\r
1983 taskSWITCH_DELAYED_LISTS();
\r
1987 mtCOVERAGE_TEST_MARKER();
\r
1990 /* See if this tick has made a timeout expire. Tasks are stored in
\r
1991 the queue in the order of their wake time - meaning once one task
\r
1992 has been found whose block time has not expired there is no need to
\r
1993 look any further down the list. */
\r
1994 if( xConstTickCount >= xNextTaskUnblockTime )
\r
1998 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2000 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2001 to the maximum possible value so it is extremely
\r
2003 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2004 next time through. */
\r
2005 xNextTaskUnblockTime = portMAX_DELAY;
\r
2010 /* The delayed list is not empty, get the value of the
\r
2011 item at the head of the delayed list. This is the time
\r
2012 at which the task at the head of the delayed list must
\r
2013 be removed from the Blocked state. */
\r
2014 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
2015 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
2017 if( xConstTickCount < xItemValue )
\r
2019 /* It is not time to unblock this item yet, but the
\r
2020 item value is the time at which the task at the head
\r
2021 of the blocked list must be removed from the Blocked
\r
2022 state - so record the item value in
\r
2023 xNextTaskUnblockTime. */
\r
2024 xNextTaskUnblockTime = xItemValue;
\r
2029 mtCOVERAGE_TEST_MARKER();
\r
2032 /* It is time to remove the item from the Blocked state. */
\r
2033 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2035 /* Is the task waiting on an event also? If so remove
\r
2036 it from the event list. */
\r
2037 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2039 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2043 mtCOVERAGE_TEST_MARKER();
\r
2046 /* Place the unblocked task into the appropriate ready
\r
2048 prvAddTaskToReadyList( pxTCB );
\r
2050 /* A task being unblocked cannot cause an immediate
\r
2051 context switch if preemption is turned off. */
\r
2052 #if ( configUSE_PREEMPTION == 1 )
\r
2054 /* Preemption is on, but a context switch should
\r
2055 only be performed if the unblocked task has a
\r
2056 priority that is equal to or higher than the
\r
2057 currently executing task. */
\r
2058 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2060 xSwitchRequired = pdTRUE;
\r
2064 mtCOVERAGE_TEST_MARKER();
\r
2067 #endif /* configUSE_PREEMPTION */
\r
2073 /* Tasks of equal priority to the currently running task will share
\r
2074 processing time (time slice) if preemption is on, and the application
\r
2075 writer has not explicitly turned time slicing off. */
\r
2076 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2078 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2080 xSwitchRequired = pdTRUE;
\r
2084 mtCOVERAGE_TEST_MARKER();
\r
2087 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2089 #if ( configUSE_TICK_HOOK == 1 )
\r
2091 /* Guard against the tick hook being called when the pended tick
\r
2092 count is being unwound (when the scheduler is being unlocked). */
\r
2093 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2095 vApplicationTickHook();
\r
2099 mtCOVERAGE_TEST_MARKER();
\r
2102 #endif /* configUSE_TICK_HOOK */
\r
2108 /* The tick hook gets called at regular intervals, even if the
\r
2109 scheduler is locked. */
\r
2110 #if ( configUSE_TICK_HOOK == 1 )
\r
2112 vApplicationTickHook();
\r
2117 #if ( configUSE_PREEMPTION == 1 )
\r
2119 if( xYieldPending != pdFALSE )
\r
2121 xSwitchRequired = pdTRUE;
\r
2125 mtCOVERAGE_TEST_MARKER();
\r
2128 #endif /* configUSE_PREEMPTION */
\r
2130 return xSwitchRequired;
\r
2132 /*-----------------------------------------------------------*/
\r
2134 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2136 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2140 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2142 if( xTask == NULL )
\r
2144 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2148 xTCB = ( TCB_t * ) xTask;
\r
2151 /* Save the hook function in the TCB. A critical section is required as
\r
2152 the value can be accessed from an interrupt. */
\r
2153 taskENTER_CRITICAL();
\r
2154 xTCB->pxTaskTag = pxHookFunction;
\r
2155 taskEXIT_CRITICAL();
\r
2158 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2159 /*-----------------------------------------------------------*/
\r
2161 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2163 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2166 TaskHookFunction_t xReturn;
\r
2168 /* If xTask is NULL then we are setting our own task hook. */
\r
2169 if( xTask == NULL )
\r
2171 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2175 xTCB = ( TCB_t * ) xTask;
\r
2178 /* Save the hook function in the TCB. A critical section is required as
\r
2179 the value can be accessed from an interrupt. */
\r
2180 taskENTER_CRITICAL();
\r
2182 xReturn = xTCB->pxTaskTag;
\r
2184 taskEXIT_CRITICAL();
\r
2189 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2190 /*-----------------------------------------------------------*/
\r
2192 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2194 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2197 BaseType_t xReturn;
\r
2199 /* If xTask is NULL then we are calling our own task hook. */
\r
2200 if( xTask == NULL )
\r
2202 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2206 xTCB = ( TCB_t * ) xTask;
\r
2209 if( xTCB->pxTaskTag != NULL )
\r
2211 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2221 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2222 /*-----------------------------------------------------------*/
\r
2224 void vTaskSwitchContext( void )
\r
2226 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2228 /* The scheduler is currently suspended - do not allow a context
\r
2230 xYieldPending = pdTRUE;
\r
2234 xYieldPending = pdFALSE;
\r
2235 traceTASK_SWITCHED_OUT();
\r
2237 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2239 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2240 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2242 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2245 /* Add the amount of time the task has been running to the
\r
2246 accumulated time so far. The time the task started running was
\r
2247 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2248 protection here so count values are only valid until the timer
\r
2249 overflows. The guard against negative values is to protect
\r
2250 against suspect run time stat counter implementations - which
\r
2251 are provided by the application, not the kernel. */
\r
2252 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2254 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2258 mtCOVERAGE_TEST_MARKER();
\r
2260 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2262 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2264 /* Check for stack overflow, if configured. */
\r
2265 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
2266 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
2268 /* Select a new task to run using either the generic C or port
\r
2269 optimised asm code. */
\r
2270 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2271 traceTASK_SWITCHED_IN();
\r
2273 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2275 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2276 structure specific to this task. */
\r
2277 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2279 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2282 /*-----------------------------------------------------------*/
\r
2284 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2286 TickType_t xTimeToWake;
\r
2288 configASSERT( pxEventList );
\r
2290 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2291 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2293 /* Place the event list item of the TCB in the appropriate event list.
\r
2294 This is placed in the list in priority order so the highest priority task
\r
2295 is the first to be woken by the event. The queue that contains the event
\r
2296 list is locked, preventing simultaneous access from interrupts. */
\r
2297 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2299 /* The task must be removed from from the ready list before it is added to
\r
2300 the blocked list as the same list item is used for both lists. Exclusive
\r
2301 access to the ready lists guaranteed because the scheduler is locked. */
\r
2302 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2304 /* The current task must be in a ready list, so there is no need to
\r
2305 check, and the port reset macro can be called directly. */
\r
2306 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2310 mtCOVERAGE_TEST_MARKER();
\r
2313 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2315 if( xTicksToWait == portMAX_DELAY )
\r
2317 /* Add the task to the suspended task list instead of a delayed task
\r
2318 list to ensure the task is not woken by a timing event. It will
\r
2319 block indefinitely. */
\r
2320 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2324 /* Calculate the time at which the task should be woken if the event
\r
2325 does not occur. This may overflow but this doesn't matter, the
\r
2326 scheduler will handle it. */
\r
2327 xTimeToWake = xTickCount + xTicksToWait;
\r
2328 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2331 #else /* INCLUDE_vTaskSuspend */
\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, the scheduler
\r
2335 will handle it. */
\r
2336 xTimeToWake = xTickCount + xTicksToWait;
\r
2337 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2339 #endif /* INCLUDE_vTaskSuspend */
\r
2341 /*-----------------------------------------------------------*/
\r
2343 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2345 TickType_t xTimeToWake;
\r
2347 configASSERT( pxEventList );
\r
2349 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2350 the event groups implementation. */
\r
2351 configASSERT( uxSchedulerSuspended != 0 );
\r
2353 /* Store the item value in the event list item. It is safe to access the
\r
2354 event list item here as interrupts won't access the event list item of a
\r
2355 task that is not in the Blocked state. */
\r
2356 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2358 /* Place the event list item of the TCB at the end of the appropriate event
\r
2359 list. It is safe to access the event list here because it is part of an
\r
2360 event group implementation - and interrupts don't access event groups
\r
2361 directly (instead they access them indirectly by pending function calls to
\r
2362 the task level). */
\r
2363 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2365 /* The task must be removed from the ready list before it is added to the
\r
2366 blocked list. Exclusive access can be assured to the ready list as the
\r
2367 scheduler is locked. */
\r
2368 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2370 /* The current task must be in a ready list, so there is no need to
\r
2371 check, and the port reset macro can be called directly. */
\r
2372 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2376 mtCOVERAGE_TEST_MARKER();
\r
2379 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2381 if( xTicksToWait == portMAX_DELAY )
\r
2383 /* Add the task to the suspended task list instead of a delayed task
\r
2384 list to ensure it is not woken by a timing event. It will block
\r
2386 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2390 /* Calculate the time at which the task should be woken if the event
\r
2391 does not occur. This may overflow but this doesn't matter, the
\r
2392 kernel will manage it correctly. */
\r
2393 xTimeToWake = xTickCount + xTicksToWait;
\r
2394 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2397 #else /* INCLUDE_vTaskSuspend */
\r
2399 /* Calculate the time at which the task should be woken if the event does
\r
2400 not occur. This may overflow but this doesn't matter, the kernel
\r
2401 will manage it correctly. */
\r
2402 xTimeToWake = xTickCount + xTicksToWait;
\r
2403 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2405 #endif /* INCLUDE_vTaskSuspend */
\r
2407 /*-----------------------------------------------------------*/
\r
2409 #if configUSE_TIMERS == 1
\r
2411 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2413 TickType_t xTimeToWake;
\r
2415 configASSERT( pxEventList );
\r
2417 /* This function should not be called by application code hence the
\r
2418 'Restricted' in its name. It is not part of the public API. It is
\r
2419 designed for use by kernel code, and has special calling requirements -
\r
2420 it should be called from a critical section. */
\r
2423 /* Place the event list item of the TCB in the appropriate event list.
\r
2424 In this case it is assume that this is the only task that is going to
\r
2425 be waiting on this event list, so the faster vListInsertEnd() function
\r
2426 can be used in place of vListInsert. */
\r
2427 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2429 /* We must remove this task from the ready list before adding it to the
\r
2430 blocked list as the same list item is used for both lists. This
\r
2431 function is called form a critical section. */
\r
2432 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2434 /* The current task must be in a ready list, so there is no need to
\r
2435 check, and the port reset macro can be called directly. */
\r
2436 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2440 mtCOVERAGE_TEST_MARKER();
\r
2443 /* Calculate the time at which the task should be woken if the event does
\r
2444 not occur. This may overflow but this doesn't matter. */
\r
2445 xTimeToWake = xTickCount + xTicksToWait;
\r
2447 traceTASK_DELAY_UNTIL();
\r
2448 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2451 #endif /* configUSE_TIMERS */
\r
2452 /*-----------------------------------------------------------*/
\r
2454 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
2456 TCB_t *pxUnblockedTCB;
\r
2457 BaseType_t xReturn;
\r
2459 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
2460 called from a critical section within an ISR. */
\r
2462 /* The event list is sorted in priority order, so the first in the list can
\r
2463 be removed as it is known to be the highest priority. Remove the TCB from
\r
2464 the delayed list, and add it to the ready list.
\r
2466 If an event is for a queue that is locked then this function will never
\r
2467 get called - the lock count on the queue will get modified instead. This
\r
2468 means exclusive access to the event list is guaranteed here.
\r
2470 This function assumes that a check has already been made to ensure that
\r
2471 pxEventList is not empty. */
\r
2472 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2473 configASSERT( pxUnblockedTCB );
\r
2474 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2476 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2478 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2479 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2483 /* The delayed and ready lists cannot be accessed, so hold this task
\r
2484 pending until the scheduler is resumed. */
\r
2485 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2488 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2490 /* Return true if the task removed from the event list has a higher
\r
2491 priority than the calling task. This allows the calling task to know if
\r
2492 it should force a context switch now. */
\r
2495 /* Mark that a yield is pending in case the user is not using the
\r
2496 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2497 xYieldPending = pdTRUE;
\r
2501 xReturn = pdFALSE;
\r
2504 #if( configUSE_TICKLESS_IDLE == 1 )
\r
2506 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
2507 might be set to the blocked task's time out time. If the task is
\r
2508 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
2509 normally left unchanged, because it is automatically get reset to a new
\r
2510 value when the tick count equals xNextTaskUnblockTime. However if
\r
2511 tickless idling is used it might be more important to enter sleep mode
\r
2512 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
2513 ensure it is updated at the earliest possible time. */
\r
2514 prvResetNextTaskUnblockTime();
\r
2520 /*-----------------------------------------------------------*/
\r
2522 BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
2524 TCB_t *pxUnblockedTCB;
\r
2525 BaseType_t xReturn;
\r
2527 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2528 the event flags implementation. */
\r
2529 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
2531 /* Store the new item value in the event list. */
\r
2532 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2534 /* Remove the event list form the event flag. Interrupts do not access
\r
2536 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2537 configASSERT( pxUnblockedTCB );
\r
2538 ( void ) uxListRemove( pxEventListItem );
\r
2540 /* Remove the task from the delayed list and add it to the ready list. The
\r
2541 scheduler is suspended so interrupts will not be accessing the ready
\r
2543 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2544 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2546 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2548 /* Return true if the task removed from the event list has
\r
2549 a higher priority than the calling task. This allows
\r
2550 the calling task to know if it should force a context
\r
2554 /* Mark that a yield is pending in case the user is not using the
\r
2555 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2556 xYieldPending = pdTRUE;
\r
2560 xReturn = pdFALSE;
\r
2565 /*-----------------------------------------------------------*/
\r
2567 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
2569 configASSERT( pxTimeOut );
\r
2570 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2571 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2573 /*-----------------------------------------------------------*/
\r
2575 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
2577 BaseType_t xReturn;
\r
2579 configASSERT( pxTimeOut );
\r
2580 configASSERT( pxTicksToWait );
\r
2582 taskENTER_CRITICAL();
\r
2584 /* Minor optimisation. The tick count cannot change in this block. */
\r
2585 const TickType_t xConstTickCount = xTickCount;
\r
2587 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2588 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2589 the maximum block time then the task should block indefinitely, and
\r
2590 therefore never time out. */
\r
2591 if( *pxTicksToWait == portMAX_DELAY )
\r
2593 xReturn = pdFALSE;
\r
2595 else /* We are not blocking indefinitely, perform the checks below. */
\r
2598 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2600 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2601 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2602 It must have wrapped all the way around and gone past us again. This
\r
2603 passed since vTaskSetTimeout() was called. */
\r
2606 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2608 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2609 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2610 vTaskSetTimeOutState( pxTimeOut );
\r
2611 xReturn = pdFALSE;
\r
2618 taskEXIT_CRITICAL();
\r
2622 /*-----------------------------------------------------------*/
\r
2624 void vTaskMissedYield( void )
\r
2626 xYieldPending = pdTRUE;
\r
2628 /*-----------------------------------------------------------*/
\r
2630 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2632 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
2634 UBaseType_t uxReturn;
\r
2637 if( xTask != NULL )
\r
2639 pxTCB = ( TCB_t * ) xTask;
\r
2640 uxReturn = pxTCB->uxTaskNumber;
\r
2650 #endif /* configUSE_TRACE_FACILITY */
\r
2651 /*-----------------------------------------------------------*/
\r
2653 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2655 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
2659 if( xTask != NULL )
\r
2661 pxTCB = ( TCB_t * ) xTask;
\r
2662 pxTCB->uxTaskNumber = uxHandle;
\r
2666 #endif /* configUSE_TRACE_FACILITY */
\r
2669 * -----------------------------------------------------------
\r
2671 * ----------------------------------------------------------
\r
2673 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2674 * language extensions. The equivalent prototype for this function is:
\r
2676 * void prvIdleTask( void *pvParameters );
\r
2679 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2681 /* Stop warnings. */
\r
2682 ( void ) pvParameters;
\r
2686 /* See if any tasks have been deleted. */
\r
2687 prvCheckTasksWaitingTermination();
\r
2689 #if ( configUSE_PREEMPTION == 0 )
\r
2691 /* If we are not using preemption we keep forcing a task switch to
\r
2692 see if any other task has become available. If we are using
\r
2693 preemption we don't need to do this as any task becoming available
\r
2694 will automatically get the processor anyway. */
\r
2697 #endif /* configUSE_PREEMPTION */
\r
2699 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2701 /* When using preemption tasks of equal priority will be
\r
2702 timesliced. If a task that is sharing the idle priority is ready
\r
2703 to run then the idle task should yield before the end of the
\r
2706 A critical region is not required here as we are just reading from
\r
2707 the list, and an occasional incorrect value will not matter. If
\r
2708 the ready list at the idle priority contains more than one task
\r
2709 then a task other than the idle task is ready to execute. */
\r
2710 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
2716 mtCOVERAGE_TEST_MARKER();
\r
2719 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2721 #if ( configUSE_IDLE_HOOK == 1 )
\r
2723 extern void vApplicationIdleHook( void );
\r
2725 /* Call the user defined function from within the idle task. This
\r
2726 allows the application designer to add background functionality
\r
2727 without the overhead of a separate task.
\r
2728 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2729 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2730 vApplicationIdleHook();
\r
2732 #endif /* configUSE_IDLE_HOOK */
\r
2734 /* This conditional compilation should use inequality to 0, not equality
\r
2735 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2736 user defined low power mode implementations require
\r
2737 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2738 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2740 TickType_t xExpectedIdleTime;
\r
2742 /* It is not desirable to suspend then resume the scheduler on
\r
2743 each iteration of the idle task. Therefore, a preliminary
\r
2744 test of the expected idle time is performed without the
\r
2745 scheduler suspended. The result here is not necessarily
\r
2747 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2749 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2751 vTaskSuspendAll();
\r
2753 /* Now the scheduler is suspended, the expected idle
\r
2754 time can be sampled again, and this time its value can
\r
2756 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2757 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2759 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2761 traceLOW_POWER_IDLE_BEGIN();
\r
2762 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2763 traceLOW_POWER_IDLE_END();
\r
2767 mtCOVERAGE_TEST_MARKER();
\r
2770 ( void ) xTaskResumeAll();
\r
2774 mtCOVERAGE_TEST_MARKER();
\r
2777 #endif /* configUSE_TICKLESS_IDLE */
\r
2780 /*-----------------------------------------------------------*/
\r
2782 #if configUSE_TICKLESS_IDLE != 0
\r
2784 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2786 eSleepModeStatus eReturn = eStandardSleep;
\r
2788 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2790 /* A task was made ready while the scheduler was suspended. */
\r
2791 eReturn = eAbortSleep;
\r
2793 else if( xYieldPending != pdFALSE )
\r
2795 /* A yield was pended while the scheduler was suspended. */
\r
2796 eReturn = eAbortSleep;
\r
2800 #if configUSE_TIMERS == 0
\r
2802 /* The idle task exists in addition to the application tasks. */
\r
2803 const UBaseType_t uxNonApplicationTasks = 1;
\r
2805 /* If timers are not being used and all the tasks are in the
\r
2806 suspended list (which might mean they have an infinite block
\r
2807 time rather than actually being suspended) then it is safe to
\r
2808 turn all clocks off and just wait for external interrupts. */
\r
2809 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2811 eReturn = eNoTasksWaitingTimeout;
\r
2815 mtCOVERAGE_TEST_MARKER();
\r
2818 #endif /* configUSE_TIMERS */
\r
2823 #endif /* configUSE_TICKLESS_IDLE */
\r
2824 /*-----------------------------------------------------------*/
\r
2826 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
2830 /* Store the task name in the TCB. */
\r
2831 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2833 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2835 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2836 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2837 string is not accessible (extremely unlikely). */
\r
2838 if( pcName[ x ] == 0x00 )
\r
2844 mtCOVERAGE_TEST_MARKER();
\r
2848 /* Ensure the name string is terminated in the case that the string length
\r
2849 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2850 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
2852 /* This is used as an array index so must ensure it's not too large. First
\r
2853 remove the privilege bit if one is present. */
\r
2854 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
2856 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
2860 mtCOVERAGE_TEST_MARKER();
\r
2863 pxTCB->uxPriority = uxPriority;
\r
2864 #if ( configUSE_MUTEXES == 1 )
\r
2866 pxTCB->uxBasePriority = uxPriority;
\r
2867 pxTCB->uxMutexesHeld = 0;
\r
2869 #endif /* configUSE_MUTEXES */
\r
2871 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2872 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2874 /* Set the pxTCB as a link back from the ListItem_t. This is so we can get
\r
2875 back to the containing TCB from a generic item in a list. */
\r
2876 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2878 /* Event lists are always in priority order. */
\r
2879 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
2880 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2882 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2884 pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
2886 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2888 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2890 pxTCB->pxTaskTag = NULL;
\r
2892 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2894 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2896 pxTCB->ulRunTimeCounter = 0UL;
\r
2898 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2900 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2902 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2904 #else /* portUSING_MPU_WRAPPERS */
\r
2906 ( void ) xRegions;
\r
2907 ( void ) usStackDepth;
\r
2909 #endif /* portUSING_MPU_WRAPPERS */
\r
2911 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
2913 pxTCB->ulNotifiedValue = 0;
\r
2914 pxTCB->eNotifyState = eNotWaitingNotification;
\r
2918 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2920 /* Initialise this task's Newlib reent structure. */
\r
2921 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2923 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2925 /*-----------------------------------------------------------*/
\r
2927 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2929 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
2933 /* If null is passed in here then we are deleting ourselves. */
\r
2934 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2936 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2939 #endif /* portUSING_MPU_WRAPPERS */
\r
2940 /*-----------------------------------------------------------*/
\r
2942 static void prvInitialiseTaskLists( void )
\r
2944 UBaseType_t uxPriority;
\r
2946 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
2948 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
2951 vListInitialise( &xDelayedTaskList1 );
\r
2952 vListInitialise( &xDelayedTaskList2 );
\r
2953 vListInitialise( &xPendingReadyList );
\r
2955 #if ( INCLUDE_vTaskDelete == 1 )
\r
2957 vListInitialise( &xTasksWaitingTermination );
\r
2959 #endif /* INCLUDE_vTaskDelete */
\r
2961 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2963 vListInitialise( &xSuspendedTaskList );
\r
2965 #endif /* INCLUDE_vTaskSuspend */
\r
2967 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2969 pxDelayedTaskList = &xDelayedTaskList1;
\r
2970 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2972 /*-----------------------------------------------------------*/
\r
2974 static void prvCheckTasksWaitingTermination( void )
\r
2976 #if ( INCLUDE_vTaskDelete == 1 )
\r
2978 BaseType_t xListIsEmpty;
\r
2980 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2981 too often in the idle task. */
\r
2982 while( uxTasksDeleted > ( UBaseType_t ) 0U )
\r
2984 vTaskSuspendAll();
\r
2986 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2988 ( void ) xTaskResumeAll();
\r
2990 if( xListIsEmpty == pdFALSE )
\r
2994 taskENTER_CRITICAL();
\r
2996 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
2997 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2998 --uxCurrentNumberOfTasks;
\r
3001 taskEXIT_CRITICAL();
\r
3003 prvDeleteTCB( pxTCB );
\r
3007 mtCOVERAGE_TEST_MARKER();
\r
3011 #endif /* vTaskDelete */
\r
3013 /*-----------------------------------------------------------*/
\r
3015 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake )
\r
3017 /* The list item will be inserted in wake time order. */
\r
3018 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
3020 if( xTimeToWake < xTickCount )
\r
3022 /* Wake time has overflowed. Place this item in the overflow list. */
\r
3023 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3027 /* The wake time has not overflowed, so the current block list is used. */
\r
3028 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3030 /* If the task entering the blocked state was placed at the head of the
\r
3031 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
3033 if( xTimeToWake < xNextTaskUnblockTime )
\r
3035 xNextTaskUnblockTime = xTimeToWake;
\r
3039 mtCOVERAGE_TEST_MARKER();
\r
3043 /*-----------------------------------------------------------*/
\r
3045 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer )
\r
3049 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
3050 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
3051 the TCB then the stack. */
\r
3052 #if( portSTACK_GROWTH > 0 )
\r
3054 /* Allocate space for the TCB. Where the memory comes from depends on
\r
3055 the implementation of the port malloc function. */
\r
3056 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
3058 if( pxNewTCB != NULL )
\r
3060 /* Allocate space for the stack used by the task being created.
\r
3061 The base of the stack memory stored in the TCB so the task can
\r
3062 be deleted later if required. */
\r
3063 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
3065 if( pxNewTCB->pxStack == NULL )
\r
3067 /* Could not allocate the stack. Delete the allocated TCB. */
\r
3068 vPortFree( pxNewTCB );
\r
3073 #else /* portSTACK_GROWTH */
\r
3075 StackType_t *pxStack;
\r
3077 /* Allocate space for the stack used by the task being created. */
\r
3078 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
3080 if( pxStack != NULL )
\r
3082 /* Allocate space for the TCB. Where the memory comes from depends
\r
3083 on the implementation of the port malloc function. */
\r
3084 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
3086 if( pxNewTCB != NULL )
\r
3088 /* Store the stack location in the TCB. */
\r
3089 pxNewTCB->pxStack = pxStack;
\r
3093 /* The stack cannot be used as the TCB was not created. Free it
\r
3095 vPortFree( pxStack );
\r
3103 #endif /* portSTACK_GROWTH */
\r
3105 if( pxNewTCB != NULL )
\r
3107 /* Avoid dependency on memset() if it is not required. */
\r
3108 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3110 /* Just to help debugging. */
\r
3111 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );
\r
3113 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
3118 /*-----------------------------------------------------------*/
\r
3120 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3122 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3124 volatile TCB_t *pxNextTCB, *pxFirstTCB;
\r
3125 UBaseType_t uxTask = 0;
\r
3127 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3129 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
3131 /* Populate an TaskStatus_t structure within the
\r
3132 pxTaskStatusArray array for each task that is referenced from
\r
3133 pxList. See the definition of TaskStatus_t in task.h for the
\r
3134 meaning of each TaskStatus_t structure member. */
\r
3137 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
3139 pxTaskStatusArray[ uxTask ].xHandle = ( TaskHandle_t ) pxNextTCB;
\r
3140 pxTaskStatusArray[ uxTask ].pcTaskName = ( const char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
3141 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
3142 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
3143 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
3145 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3147 /* If the task is in the suspended list then there is a chance
\r
3148 it is actually just blocked indefinitely - so really it should
\r
3149 be reported as being in the Blocked state. */
\r
3150 if( eState == eSuspended )
\r
3152 if( listLIST_ITEM_CONTAINER( &( pxNextTCB->xEventListItem ) ) != NULL )
\r
3154 pxTaskStatusArray[ uxTask ].eCurrentState = eBlocked;
\r
3158 #endif /* INCLUDE_vTaskSuspend */
\r
3160 #if ( configUSE_MUTEXES == 1 )
\r
3162 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
3166 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
3170 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3172 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
3176 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
3180 #if ( portSTACK_GROWTH > 0 )
\r
3182 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxEndOfStack );
\r
3186 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxStack );
\r
3192 } while( pxNextTCB != pxFirstTCB );
\r
3196 mtCOVERAGE_TEST_MARKER();
\r
3202 #endif /* configUSE_TRACE_FACILITY */
\r
3203 /*-----------------------------------------------------------*/
\r
3205 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3207 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3209 uint32_t ulCount = 0U;
\r
3211 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3213 pucStackByte -= portSTACK_GROWTH;
\r
3217 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3219 return ( uint16_t ) ulCount;
\r
3222 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3223 /*-----------------------------------------------------------*/
\r
3225 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3227 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3230 uint8_t *pucEndOfStack;
\r
3231 UBaseType_t uxReturn;
\r
3233 pxTCB = prvGetTCBFromHandle( xTask );
\r
3235 #if portSTACK_GROWTH < 0
\r
3237 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3241 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3245 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3250 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3251 /*-----------------------------------------------------------*/
\r
3253 #if ( INCLUDE_vTaskDelete == 1 )
\r
3255 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3257 /* This call is required specifically for the TriCore port. It must be
\r
3258 above the vPortFree() calls. The call is also used by ports/demos that
\r
3259 want to allocate and clean RAM statically. */
\r
3260 portCLEAN_UP_TCB( pxTCB );
\r
3262 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3263 to the task to free any memory allocated at the application level. */
\r
3264 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3266 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3268 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3270 #if( portUSING_MPU_WRAPPERS == 1 )
\r
3272 /* Only free the stack if it was allocated dynamically in the first
\r
3274 if( pxTCB->xUsingStaticallyAllocatedStack == pdFALSE )
\r
3276 vPortFreeAligned( pxTCB->pxStack );
\r
3281 vPortFreeAligned( pxTCB->pxStack );
\r
3285 vPortFree( pxTCB );
\r
3288 #endif /* INCLUDE_vTaskDelete */
\r
3289 /*-----------------------------------------------------------*/
\r
3291 static void prvResetNextTaskUnblockTime( void )
\r
3295 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3297 /* The new current delayed list is empty. Set
\r
3298 xNextTaskUnblockTime to the maximum possible value so it is
\r
3299 extremely unlikely that the
\r
3300 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3301 there is an item in the delayed list. */
\r
3302 xNextTaskUnblockTime = portMAX_DELAY;
\r
3306 /* The new current delayed list is not empty, get the value of
\r
3307 the item at the head of the delayed list. This is the time at
\r
3308 which the task at the head of the delayed list should be removed
\r
3309 from the Blocked state. */
\r
3310 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3311 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) );
\r
3314 /*-----------------------------------------------------------*/
\r
3316 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3318 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3320 TaskHandle_t xReturn;
\r
3322 /* A critical section is not required as this is not called from
\r
3323 an interrupt and the current TCB will always be the same for any
\r
3324 individual execution thread. */
\r
3325 xReturn = pxCurrentTCB;
\r
3330 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3331 /*-----------------------------------------------------------*/
\r
3333 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3335 BaseType_t xTaskGetSchedulerState( void )
\r
3337 BaseType_t xReturn;
\r
3339 if( xSchedulerRunning == pdFALSE )
\r
3341 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3345 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3347 xReturn = taskSCHEDULER_RUNNING;
\r
3351 xReturn = taskSCHEDULER_SUSPENDED;
\r
3358 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3359 /*-----------------------------------------------------------*/
\r
3361 #if ( configUSE_MUTEXES == 1 )
\r
3363 void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3365 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3367 /* If the mutex was given back by an interrupt while the queue was
\r
3368 locked then the mutex holder might now be NULL. */
\r
3369 if( pxMutexHolder != NULL )
\r
3371 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3373 /* Adjust the mutex holder state to account for its new
\r
3374 priority. Only reset the event list item value if the value is
\r
3375 not being used for anything else. */
\r
3376 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3378 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
3382 mtCOVERAGE_TEST_MARKER();
\r
3385 /* If the task being modified is in the ready state it will need to
\r
3386 be moved into a new list. */
\r
3387 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
3389 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3391 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3395 mtCOVERAGE_TEST_MARKER();
\r
3398 /* Inherit the priority before being moved into the new list. */
\r
3399 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3400 prvAddTaskToReadyList( pxTCB );
\r
3404 /* Just inherit the priority. */
\r
3405 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3408 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
3412 mtCOVERAGE_TEST_MARKER();
\r
3417 mtCOVERAGE_TEST_MARKER();
\r
3421 #endif /* configUSE_MUTEXES */
\r
3422 /*-----------------------------------------------------------*/
\r
3424 #if ( configUSE_MUTEXES == 1 )
\r
3426 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3428 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3429 BaseType_t xReturn = pdFALSE;
\r
3431 if( pxMutexHolder != NULL )
\r
3433 configASSERT( pxTCB->uxMutexesHeld );
\r
3434 ( pxTCB->uxMutexesHeld )--;
\r
3436 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3438 /* Only disinherit if no other mutexes are held. */
\r
3439 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3441 /* A task can only have an inhertied priority if it holds
\r
3442 the mutex. If the mutex is held by a task then it cannot be
\r
3443 given from an interrupt, and if a mutex is given by the
\r
3444 holding task then it must be the running state task. Remove
\r
3445 the holding task from the ready list. */
\r
3446 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3448 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3452 mtCOVERAGE_TEST_MARKER();
\r
3455 /* Disinherit the priority before adding the task into the
\r
3456 new ready list. */
\r
3457 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3458 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3460 /* Reset the event list item value. It cannot be in use for
\r
3461 any other purpose if this task is running, and it must be
\r
3462 running to give back the mutex. */
\r
3463 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
3464 prvAddTaskToReadyList( pxTCB );
\r
3466 /* Return true to indicate that a context switch is required.
\r
3467 This is only actually required in the corner case whereby
\r
3468 multiple mutexes were held and the mutexes were given back
\r
3469 in an order different to that in which they were taken.
\r
3470 If a context switch did not occur when the first mutex was
\r
3471 returned, even if a task was waiting on it, then a context
\r
3472 switch should occur when the last mutex is returned whether
\r
3473 a task is waiting on it or not. */
\r
3478 mtCOVERAGE_TEST_MARKER();
\r
3483 mtCOVERAGE_TEST_MARKER();
\r
3488 mtCOVERAGE_TEST_MARKER();
\r
3494 #endif /* configUSE_MUTEXES */
\r
3495 /*-----------------------------------------------------------*/
\r
3497 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3499 void vTaskEnterCritical( void )
\r
3501 portDISABLE_INTERRUPTS();
\r
3503 if( xSchedulerRunning != pdFALSE )
\r
3505 ( pxCurrentTCB->uxCriticalNesting )++;
\r
3507 /* This is not the interrupt safe version of the enter critical
\r
3508 function so assert() if it is being called from an interrupt
\r
3509 context. Only API functions that end in "FromISR" can be used in an
\r
3510 interrupt. Only assert if the critical nesting count is 1 to
\r
3511 protect against recursive calls if the assert function also uses a
\r
3512 critical section. */
\r
3513 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
3515 portASSERT_IF_IN_ISR();
\r
3521 mtCOVERAGE_TEST_MARKER();
\r
3525 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3526 /*-----------------------------------------------------------*/
\r
3528 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3530 void vTaskExitCritical( void )
\r
3532 if( xSchedulerRunning != pdFALSE )
\r
3534 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
3536 ( pxCurrentTCB->uxCriticalNesting )--;
\r
3538 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
3540 portENABLE_INTERRUPTS();
\r
3544 mtCOVERAGE_TEST_MARKER();
\r
3549 mtCOVERAGE_TEST_MARKER();
\r
3554 mtCOVERAGE_TEST_MARKER();
\r
3558 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3559 /*-----------------------------------------------------------*/
\r
3561 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3563 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
3567 /* Start by copying the entire string. */
\r
3568 strcpy( pcBuffer, pcTaskName );
\r
3570 /* Pad the end of the string with spaces to ensure columns line up when
\r
3572 for( x = strlen( pcBuffer ); x < ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
3574 pcBuffer[ x ] = ' ';
\r
3578 pcBuffer[ x ] = 0x00;
\r
3580 /* Return the new end of string. */
\r
3581 return &( pcBuffer[ x ] );
\r
3584 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
3585 /*-----------------------------------------------------------*/
\r
3587 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3589 void vTaskList( char * pcWriteBuffer )
\r
3591 TaskStatus_t *pxTaskStatusArray;
\r
3592 volatile UBaseType_t uxArraySize, x;
\r
3598 * This function is provided for convenience only, and is used by many
\r
3599 * of the demo applications. Do not consider it to be part of the
\r
3602 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
3603 * uxTaskGetSystemState() output into a human readable table that
\r
3604 * displays task names, states and stack usage.
\r
3606 * vTaskList() has a dependency on the sprintf() C library function that
\r
3607 * might bloat the code size, use a lot of stack, and provide different
\r
3608 * results on different platforms. An alternative, tiny, third party,
\r
3609 * and limited functionality implementation of sprintf() is provided in
\r
3610 * many of the FreeRTOS/Demo sub-directories in a file called
\r
3611 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
3612 * snprintf() implementation!).
\r
3614 * It is recommended that production systems call uxTaskGetSystemState()
\r
3615 * directly to get access to raw stats data, rather than indirectly
\r
3616 * through a call to vTaskList().
\r
3620 /* Make sure the write buffer does not contain a string. */
\r
3621 *pcWriteBuffer = 0x00;
\r
3623 /* Take a snapshot of the number of tasks in case it changes while this
\r
3624 function is executing. */
\r
3625 uxArraySize = uxCurrentNumberOfTasks;
\r
3627 /* Allocate an array index for each task. */
\r
3628 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3630 if( pxTaskStatusArray != NULL )
\r
3632 /* Generate the (binary) data. */
\r
3633 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
3635 /* Create a human readable table from the binary data. */
\r
3636 for( x = 0; x < uxArraySize; x++ )
\r
3638 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
3640 case eReady: cStatus = tskREADY_CHAR;
\r
3643 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
3646 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
3649 case eDeleted: cStatus = tskDELETED_CHAR;
\r
3652 default: /* Should not get here, but it is included
\r
3653 to prevent static checking errors. */
\r
3658 /* Write the task name to the string, padding with spaces so it
\r
3659 can be printed in tabular form more easily. */
\r
3660 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3662 /* Write the rest of the string. */
\r
3663 sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
3664 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3667 /* Free the array again. */
\r
3668 vPortFree( pxTaskStatusArray );
\r
3672 mtCOVERAGE_TEST_MARKER();
\r
3676 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3677 /*----------------------------------------------------------*/
\r
3679 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3681 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
3683 TaskStatus_t *pxTaskStatusArray;
\r
3684 volatile UBaseType_t uxArraySize, x;
\r
3685 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
3687 #if( configUSE_TRACE_FACILITY != 1 )
\r
3689 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
3696 * This function is provided for convenience only, and is used by many
\r
3697 * of the demo applications. Do not consider it to be part of the
\r
3700 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
3701 * of the uxTaskGetSystemState() output into a human readable table that
\r
3702 * displays the amount of time each task has spent in the Running state
\r
3703 * in both absolute and percentage terms.
\r
3705 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
3706 * function that might bloat the code size, use a lot of stack, and
\r
3707 * provide different results on different platforms. An alternative,
\r
3708 * tiny, third party, and limited functionality implementation of
\r
3709 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3710 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3711 * a full snprintf() implementation!).
\r
3713 * It is recommended that production systems call uxTaskGetSystemState()
\r
3714 * directly to get access to raw stats data, rather than indirectly
\r
3715 * through a call to vTaskGetRunTimeStats().
\r
3718 /* Make sure the write buffer does not contain a string. */
\r
3719 *pcWriteBuffer = 0x00;
\r
3721 /* Take a snapshot of the number of tasks in case it changes while this
\r
3722 function is executing. */
\r
3723 uxArraySize = uxCurrentNumberOfTasks;
\r
3725 /* Allocate an array index for each task. */
\r
3726 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3728 if( pxTaskStatusArray != NULL )
\r
3730 /* Generate the (binary) data. */
\r
3731 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
3733 /* For percentage calculations. */
\r
3734 ulTotalTime /= 100UL;
\r
3736 /* Avoid divide by zero errors. */
\r
3737 if( ulTotalTime > 0 )
\r
3739 /* Create a human readable table from the binary data. */
\r
3740 for( x = 0; x < uxArraySize; x++ )
\r
3742 /* What percentage of the total run time has the task used?
\r
3743 This will always be rounded down to the nearest integer.
\r
3744 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
3745 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
3747 /* Write the task name to the string, padding with
\r
3748 spaces so it can be printed in tabular form more
\r
3750 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3752 if( ulStatsAsPercentage > 0UL )
\r
3754 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3756 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
3760 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3761 printf() library can be used. */
\r
3762 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
3768 /* If the percentage is zero here then the task has
\r
3769 consumed less than 1% of the total run time. */
\r
3770 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3772 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3776 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3777 printf() library can be used. */
\r
3778 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3783 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3788 mtCOVERAGE_TEST_MARKER();
\r
3791 /* Free the array again. */
\r
3792 vPortFree( pxTaskStatusArray );
\r
3796 mtCOVERAGE_TEST_MARKER();
\r
3800 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3801 /*-----------------------------------------------------------*/
\r
3803 TickType_t uxTaskResetEventItemValue( void )
\r
3805 TickType_t uxReturn;
\r
3807 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
3809 /* Reset the event list item to its normal value - so it can be used with
\r
3810 queues and semaphores. */
\r
3811 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
3815 /*-----------------------------------------------------------*/
\r
3817 #if ( configUSE_MUTEXES == 1 )
\r
3819 void *pvTaskIncrementMutexHeldCount( void )
\r
3821 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
3822 then pxCurrentTCB will be NULL. */
\r
3823 if( pxCurrentTCB != NULL )
\r
3825 ( pxCurrentTCB->uxMutexesHeld )++;
\r
3828 return pxCurrentTCB;
\r
3831 #endif /* configUSE_MUTEXES */
\r
3832 /*-----------------------------------------------------------*/
\r
3834 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
3836 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
3838 TickType_t xTimeToWake;
\r
3839 uint32_t ulReturn;
\r
3841 taskENTER_CRITICAL();
\r
3843 /* Only block if the notification count is not already non-zero. */
\r
3844 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
3846 /* Mark this task as waiting for a notification. */
\r
3847 pxCurrentTCB->eNotifyState = eWaitingNotification;
\r
3849 if( xTicksToWait > ( TickType_t ) 0 )
\r
3851 /* The task is going to block. First it must be removed
\r
3852 from the ready list. */
\r
3853 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3855 /* The current task must be in a ready list, so there is
\r
3856 no need to check, and the port reset macro can be called
\r
3858 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
3862 mtCOVERAGE_TEST_MARKER();
\r
3865 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3867 if( xTicksToWait == portMAX_DELAY )
\r
3869 /* Add the task to the suspended task list instead
\r
3870 of a delayed task list to ensure the task is not
\r
3871 woken by a timing event. It will block
\r
3873 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3877 /* Calculate the time at which the task should be
\r
3878 woken if no notification events occur. This may
\r
3879 overflow but this doesn't matter, the scheduler will
\r
3881 xTimeToWake = xTickCount + xTicksToWait;
\r
3882 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
3885 #else /* INCLUDE_vTaskSuspend */
\r
3887 /* Calculate the time at which the task should be
\r
3888 woken if the event does not occur. This may
\r
3889 overflow but this doesn't matter, the scheduler will
\r
3891 xTimeToWake = xTickCount + xTicksToWait;
\r
3892 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
3894 #endif /* INCLUDE_vTaskSuspend */
\r
3896 /* All ports are written to allow a yield in a critical
\r
3897 section (some will yield immediately, others wait until the
\r
3898 critical section exits) - but it is not something that
\r
3899 application code should ever do. */
\r
3900 portYIELD_WITHIN_API();
\r
3904 mtCOVERAGE_TEST_MARKER();
\r
3909 mtCOVERAGE_TEST_MARKER();
\r
3912 taskEXIT_CRITICAL();
\r
3914 taskENTER_CRITICAL();
\r
3916 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
3918 if( ulReturn != 0UL )
\r
3920 if( xClearCountOnExit != pdFALSE )
\r
3922 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
3926 ( pxCurrentTCB->ulNotifiedValue )--;
\r
3931 mtCOVERAGE_TEST_MARKER();
\r
3934 pxCurrentTCB->eNotifyState = eNotWaitingNotification;
\r
3936 taskEXIT_CRITICAL();
\r
3941 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
3942 /*-----------------------------------------------------------*/
\r
3944 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
3946 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
3948 TickType_t xTimeToWake;
\r
3949 BaseType_t xReturn;
\r
3951 taskENTER_CRITICAL();
\r
3953 /* Only block if a notification is not already pending. */
\r
3954 if( pxCurrentTCB->eNotifyState != eNotified )
\r
3956 /* Clear bits in the task's notification value as bits may get
\r
3957 set by the notifying task or interrupt. This can be used to
\r
3958 clear the value to zero. */
\r
3959 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
3961 /* Mark this task as waiting for a notification. */
\r
3962 pxCurrentTCB->eNotifyState = eWaitingNotification;
\r
3964 if( xTicksToWait > ( TickType_t ) 0 )
\r
3966 /* The task is going to block. First it must be removed
\r
3967 from the ready list. */
\r
3968 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3970 /* The current task must be in a ready list, so there is
\r
3971 no need to check, and the port reset macro can be called
\r
3973 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
3977 mtCOVERAGE_TEST_MARKER();
\r
3980 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3982 if( xTicksToWait == portMAX_DELAY )
\r
3984 /* Add the task to the suspended task list instead
\r
3985 of a delayed task list to ensure the task is not
\r
3986 woken by a timing event. It will block
\r
3988 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3992 /* Calculate the time at which the task should be
\r
3993 woken if no notification events occur. This may
\r
3994 overflow but this doesn't matter, the scheduler will
\r
3996 xTimeToWake = xTickCount + xTicksToWait;
\r
3997 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
4000 #else /* INCLUDE_vTaskSuspend */
\r
4002 /* Calculate the time at which the task should be
\r
4003 woken if the event does not occur. This may
\r
4004 overflow but this doesn't matter, the scheduler will
\r
4006 xTimeToWake = xTickCount + xTicksToWait;
\r
4007 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
4009 #endif /* INCLUDE_vTaskSuspend */
\r
4011 /* All ports are written to allow a yield in a critical
\r
4012 section (some will yield immediately, others wait until the
\r
4013 critical section exits) - but it is not something that
\r
4014 application code should ever do. */
\r
4015 portYIELD_WITHIN_API();
\r
4019 mtCOVERAGE_TEST_MARKER();
\r
4024 mtCOVERAGE_TEST_MARKER();
\r
4027 taskEXIT_CRITICAL();
\r
4029 taskENTER_CRITICAL();
\r
4031 if( pulNotificationValue != NULL )
\r
4033 /* Output the current notification value, which may or may not
\r
4035 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4038 /* If eNotifyValue is set then either the task never entered the
\r
4039 blocked state (because a notification was already pending) or the
\r
4040 task unblocked because of a notification. Otherwise the task
\r
4041 unblocked because of a timeout. */
\r
4042 if( pxCurrentTCB->eNotifyState == eWaitingNotification )
\r
4044 /* A notification was not received. */
\r
4045 xReturn = pdFALSE;
\r
4049 /* A notification was already pending or a notification was
\r
4050 received while the task was waiting. */
\r
4051 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4055 pxCurrentTCB->eNotifyState = eNotWaitingNotification;
\r
4057 taskEXIT_CRITICAL();
\r
4062 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4063 /*-----------------------------------------------------------*/
\r
4065 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4067 BaseType_t xTaskNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction )
\r
4070 eNotifyValue eOriginalNotifyState;
\r
4071 BaseType_t xReturn = pdPASS;
\r
4073 configASSERT( xTaskToNotify );
\r
4074 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4076 taskENTER_CRITICAL();
\r
4078 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4080 pxTCB->eNotifyState = eNotified;
\r
4085 pxTCB->ulNotifiedValue |= ulValue;
\r
4089 ( pxTCB->ulNotifiedValue )++;
\r
4092 case eSetValueWithOverwrite :
\r
4093 pxTCB->ulNotifiedValue = ulValue;
\r
4096 case eSetValueWithoutOverwrite :
\r
4097 if( eOriginalNotifyState != eNotified )
\r
4099 pxTCB->ulNotifiedValue = ulValue;
\r
4103 /* The value could not be written to the task. */
\r
4109 /* The task is being notified without its notify value being
\r
4115 /* If the task is in the blocked state specifically to wait for a
\r
4116 notification then unblock it now. */
\r
4117 if( eOriginalNotifyState == eWaitingNotification )
\r
4119 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4120 prvAddTaskToReadyList( pxTCB );
\r
4122 /* The task should not have been on an event list. */
\r
4123 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4125 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4127 /* The notified task has a priority above the currently
\r
4128 executing task so a yield is required. */
\r
4129 portYIELD_WITHIN_API();
\r
4133 mtCOVERAGE_TEST_MARKER();
\r
4138 mtCOVERAGE_TEST_MARKER();
\r
4141 taskEXIT_CRITICAL();
\r
4146 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4147 /*-----------------------------------------------------------*/
\r
4149 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4151 BaseType_t xTaskNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken )
\r
4154 eNotifyValue eOriginalNotifyState;
\r
4155 BaseType_t xReturn = pdPASS;
\r
4156 UBaseType_t uxSavedInterruptStatus;
\r
4158 configASSERT( xTaskToNotify );
\r
4160 /* RTOS ports that support interrupt nesting have the concept of a
\r
4161 maximum system call (or maximum API call) interrupt priority.
\r
4162 Interrupts that are above the maximum system call priority are keep
\r
4163 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4164 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4165 is defined in FreeRTOSConfig.h then
\r
4166 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4167 failure if a FreeRTOS API function is called from an interrupt that has
\r
4168 been assigned a priority above the configured maximum system call
\r
4169 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4170 from interrupts that have been assigned a priority at or (logically)
\r
4171 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4172 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4173 simple as possible. More information (albeit Cortex-M specific) is
\r
4174 provided on the following link:
\r
4175 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4176 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4178 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4180 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4182 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4184 pxTCB->eNotifyState = eNotified;
\r
4189 pxTCB->ulNotifiedValue |= ulValue;
\r
4193 ( pxTCB->ulNotifiedValue )++;
\r
4196 case eSetValueWithOverwrite :
\r
4197 pxTCB->ulNotifiedValue = ulValue;
\r
4200 case eSetValueWithoutOverwrite :
\r
4201 if( eOriginalNotifyState != eNotified )
\r
4203 pxTCB->ulNotifiedValue = ulValue;
\r
4207 /* The value could not be written to the task. */
\r
4213 /* The task is being notified without its notify value being
\r
4219 /* If the task is in the blocked state specifically to wait for a
\r
4220 notification then unblock it now. */
\r
4221 if( eOriginalNotifyState == eWaitingNotification )
\r
4223 /* The task should not have been on an event list. */
\r
4224 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4226 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4228 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4229 prvAddTaskToReadyList( pxTCB );
\r
4233 /* The delayed and ready lists cannot be accessed, so hold
\r
4234 this task pending until the scheduler is resumed. */
\r
4235 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4238 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4240 /* The notified task has a priority above the currently
\r
4241 executing task so a yield is required. */
\r
4242 if( pxHigherPriorityTaskWoken != NULL )
\r
4244 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4249 mtCOVERAGE_TEST_MARKER();
\r
4253 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4258 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4259 /*-----------------------------------------------------------*/
\r
4261 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4263 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4266 eNotifyValue eOriginalNotifyState;
\r
4267 UBaseType_t uxSavedInterruptStatus;
\r
4269 configASSERT( xTaskToNotify );
\r
4271 /* RTOS ports that support interrupt nesting have the concept of a
\r
4272 maximum system call (or maximum API call) interrupt priority.
\r
4273 Interrupts that are above the maximum system call priority are keep
\r
4274 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4275 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4276 is defined in FreeRTOSConfig.h then
\r
4277 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4278 failure if a FreeRTOS API function is called from an interrupt that has
\r
4279 been assigned a priority above the configured maximum system call
\r
4280 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4281 from interrupts that have been assigned a priority at or (logically)
\r
4282 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4283 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4284 simple as possible. More information (albeit Cortex-M specific) is
\r
4285 provided on the following link:
\r
4286 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4287 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4289 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4291 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4293 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4294 pxTCB->eNotifyState = eNotified;
\r
4296 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4298 ( pxTCB->ulNotifiedValue )++;
\r
4300 /* If the task is in the blocked state specifically to wait for a
\r
4301 notification then unblock it now. */
\r
4302 if( eOriginalNotifyState == eWaitingNotification )
\r
4304 /* The task should not have been on an event list. */
\r
4305 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4307 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4309 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4310 prvAddTaskToReadyList( pxTCB );
\r
4314 /* The delayed and ready lists cannot be accessed, so hold
\r
4315 this task pending until the scheduler is resumed. */
\r
4316 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4319 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4321 /* The notified task has a priority above the currently
\r
4322 executing task so a yield is required. */
\r
4323 if( pxHigherPriorityTaskWoken != NULL )
\r
4325 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4330 mtCOVERAGE_TEST_MARKER();
\r
4334 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4337 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4339 /*-----------------------------------------------------------*/
\r
4342 #ifdef FREERTOS_MODULE_TEST
\r
4343 #include "tasks_test_access_functions.h"
\r
projects / freertos / blob