2 FreeRTOS V9.0.0rc1 - Copyright (C) 2016 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /* Standard includes. */
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74 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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75 all the API functions to use the MPU wrappers. That should only be done when
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76 task.h is included from an application file. */
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77 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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79 /* FreeRTOS includes. */
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80 #include "FreeRTOS.h"
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83 #include "StackMacros.h"
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85 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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86 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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87 header files above, but not in this file, in order to generate the correct
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88 privileged Vs unprivileged linkage and placement. */
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89 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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91 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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92 functions but without including stdio.h here. */
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93 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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94 /* At the bottom of this file are two optional functions that can be used
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95 to generate human readable text from the raw data generated by the
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96 uxTaskGetSystemState() function. Note the formatting functions are provided
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97 for convenience only, and are NOT considered part of the kernel. */
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99 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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101 /* Sanity check the configuration. */
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102 #if( configUSE_TICKLESS_IDLE != 0 )
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103 #if( INCLUDE_vTaskSuspend != 1 )
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104 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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105 #endif /* INCLUDE_vTaskSuspend */
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106 #endif /* configUSE_TICKLESS_IDLE */
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108 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION != 1 ) )
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109 #error configSUPPORT_STATIC_ALLOCATION must be set to 1 in FreeRTOSConfig.h when the MPU is used.
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113 * Defines the size, in words, of the stack allocated to the idle task.
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115 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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117 #if( configUSE_PREEMPTION == 0 )
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118 /* If the cooperative scheduler is being used then a yield should not be
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119 performed just because a higher priority task has been woken. */
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120 #define taskYIELD_IF_USING_PREEMPTION()
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122 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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125 /* Bits that can be set in tskTCB->ucStaticAllocationFlags to indicate that the
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126 stack and TCB were statically allocated respectively. When these are statically
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127 allocated they won't be freed if the task using the stack and TCB gets
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129 #define taskSTATICALLY_ALLOCATED_STACK ( ( uint8_t ) 0x01 )
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130 #define taskSTATICALLY_ALLOCATED_TCB ( ( uint8_t ) 0x02 )
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132 /* Values that can be assigned to the ucNotifyState member of the TCB. */
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133 #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )
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134 #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
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135 #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
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138 * Task control block. A task control block (TCB) is allocated for each task,
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139 * and stores task state information, including a pointer to the task's context
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140 * (the task's run time environment, including register values)
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142 typedef struct tskTaskControlBlock
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144 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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146 #if ( portUSING_MPU_WRAPPERS == 1 )
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147 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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150 ListItem_t xStateListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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151 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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152 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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153 StackType_t *pxStack; /*< Points to the start of the stack. */
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154 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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156 #if ( portSTACK_GROWTH > 0 )
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157 StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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160 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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161 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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164 #if ( configUSE_TRACE_FACILITY == 1 )
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165 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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166 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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169 #if ( configUSE_MUTEXES == 1 )
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170 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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171 UBaseType_t uxMutexesHeld;
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174 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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175 TaskHookFunction_t pxTaskTag;
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178 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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179 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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182 #if( configGENERATE_RUN_TIME_STATS == 1 )
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183 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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186 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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187 /* Allocate a Newlib reent structure that is specific to this task.
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188 Note Newlib support has been included by popular demand, but is not
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189 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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190 responsible for resulting newlib operation. User must be familiar with
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191 newlib and must provide system-wide implementations of the necessary
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192 stubs. Be warned that (at the time of writing) the current newlib design
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193 implements a system-wide malloc() that must be provided with locks. */
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194 struct _reent xNewLib_reent;
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197 #if( configUSE_TASK_NOTIFICATIONS == 1 )
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198 volatile uint32_t ulNotifiedValue;
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199 volatile uint8_t ucNotifyState;
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202 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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203 uint8_t ucStaticAllocationFlags; /* Set to pdTRUE if the stack is a statically allocated array, and pdFALSE if the stack is dynamically allocated. */
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206 #if( INCLUDE_xTaskAbortDelay == 1 )
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207 uint8_t ucDelayAborted;
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212 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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213 below to enable the use of older kernel aware debuggers. */
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214 typedef tskTCB TCB_t;
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217 * Some kernel aware debuggers require the data the debugger needs access to be
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218 * global, rather than file scope.
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220 #ifdef portREMOVE_STATIC_QUALIFIER
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224 /*lint -e956 A manual analysis and inspection has been used to determine which
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225 static variables must be declared volatile. */
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227 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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229 /* Lists for ready and blocked tasks. --------------------*/
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230 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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231 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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232 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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233 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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234 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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235 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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237 #if ( INCLUDE_vTaskDelete == 1 )
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239 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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240 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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244 #if ( INCLUDE_vTaskSuspend == 1 )
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246 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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250 /* Other file private variables. --------------------------------*/
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251 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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252 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;
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253 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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254 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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255 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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256 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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257 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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258 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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259 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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260 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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262 /* Context switches are held pending while the scheduler is suspended. Also,
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263 interrupts must not manipulate the xStateListItem of a TCB, or any of the
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264 lists the xStateListItem can be referenced from, if the scheduler is suspended.
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265 If an interrupt needs to unblock a task while the scheduler is suspended then it
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266 moves the task's event list item into the xPendingReadyList, ready for the
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267 kernel to move the task from the pending ready list into the real ready list
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268 when the scheduler is unsuspended. The pending ready list itself can only be
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269 accessed from a critical section. */
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270 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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272 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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274 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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275 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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281 /* Debugging and trace facilities private variables and macros. ------------*/
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284 * The value used to fill the stack of a task when the task is created. This
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285 * is used purely for checking the high water mark for tasks.
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287 #define tskSTACK_FILL_BYTE ( 0xa5U )
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290 * Macros used by vListTask to indicate which state a task is in.
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292 #define tskBLOCKED_CHAR ( 'B' )
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293 #define tskREADY_CHAR ( 'R' )
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294 #define tskDELETED_CHAR ( 'D' )
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295 #define tskSUSPENDED_CHAR ( 'S' )
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297 /*-----------------------------------------------------------*/
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299 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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301 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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302 performed in a generic way that is not optimised to any particular
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303 microcontroller architecture. */
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305 /* uxTopReadyPriority holds the priority of the highest priority ready
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307 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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309 if( ( uxPriority ) > uxTopReadyPriority ) \
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311 uxTopReadyPriority = ( uxPriority ); \
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313 } /* taskRECORD_READY_PRIORITY */
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315 /*-----------------------------------------------------------*/
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317 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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319 /* Find the highest priority queue that contains ready tasks. */ \
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320 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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322 configASSERT( uxTopReadyPriority ); \
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323 --uxTopReadyPriority; \
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326 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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327 the same priority get an equal share of the processor time. */ \
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328 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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329 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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331 /*-----------------------------------------------------------*/
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333 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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334 they are only required when a port optimised method of task selection is
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336 #define taskRESET_READY_PRIORITY( uxPriority )
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337 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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339 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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341 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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342 performed in a way that is tailored to the particular microcontroller
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343 architecture being used. */
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345 /* A port optimised version is provided. Call the port defined macros. */
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346 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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348 /*-----------------------------------------------------------*/
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350 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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352 UBaseType_t uxTopPriority; \
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354 /* Find the highest priority list that contains ready tasks. */ \
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355 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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356 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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357 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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358 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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360 /*-----------------------------------------------------------*/
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362 /* A port optimised version is provided, call it only if the TCB being reset
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363 is being referenced from a ready list. If it is referenced from a delayed
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364 or suspended list then it won't be in a ready list. */
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365 #define taskRESET_READY_PRIORITY( uxPriority ) \
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367 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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369 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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373 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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375 /*-----------------------------------------------------------*/
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377 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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378 count overflows. */
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379 #define taskSWITCH_DELAYED_LISTS() \
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383 /* The delayed tasks list should be empty when the lists are switched. */ \
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384 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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386 pxTemp = pxDelayedTaskList; \
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387 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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388 pxOverflowDelayedTaskList = pxTemp; \
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389 xNumOfOverflows++; \
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390 prvResetNextTaskUnblockTime(); \
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393 /*-----------------------------------------------------------*/
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396 * Place the task represented by pxTCB into the appropriate ready list for
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397 * the task. It is inserted at the end of the list.
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399 #define prvAddTaskToReadyList( pxTCB ) \
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400 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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401 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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402 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
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403 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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404 /*-----------------------------------------------------------*/
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407 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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408 * where NULL is used to indicate that the handle of the currently executing
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409 * task should be used in place of the parameter. This macro simply checks to
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410 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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412 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )
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414 /* The item value of the event list item is normally used to hold the priority
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415 of the task to which it belongs (coded to allow it to be held in reverse
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416 priority order). However, it is occasionally borrowed for other purposes. It
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417 is important its value is not updated due to a task priority change while it is
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418 being used for another purpose. The following bit definition is used to inform
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419 the scheduler that the value should not be changed - in which case it is the
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420 responsibility of whichever module is using the value to ensure it gets set back
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421 to its original value when it is released. */
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422 #if( configUSE_16_BIT_TICKS == 1 )
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423 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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425 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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428 /* Callback function prototypes. --------------------------*/
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429 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
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430 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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433 #if( configUSE_TICK_HOOK > 0 )
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434 extern void vApplicationTickHook( void );
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437 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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438 extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint16_t *pusIdleTaskStackSize );
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441 /* File private functions. --------------------------------*/
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444 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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445 * into the TCB structure.
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447 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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450 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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451 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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452 * is in any other state.
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454 #if ( INCLUDE_vTaskSuspend == 1 )
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455 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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456 #endif /* INCLUDE_vTaskSuspend */
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459 * Utility to ready all the lists used by the scheduler. This is called
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460 * automatically upon the creation of the first task.
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462 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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465 * The idle task, which as all tasks is implemented as a never ending loop.
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466 * The idle task is automatically created and added to the ready lists upon
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467 * creation of the first user task.
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469 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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470 * language extensions. The equivalent prototype for this function is:
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472 * void prvIdleTask( void *pvParameters );
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475 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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478 * Utility to free all memory allocated by the scheduler to hold a TCB,
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479 * including the stack pointed to by the TCB.
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481 * This does not free memory allocated by the task itself (i.e. memory
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482 * allocated by calls to pvPortMalloc from within the tasks application code).
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484 #if ( INCLUDE_vTaskDelete == 1 )
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486 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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491 * Used only by the idle task. This checks to see if anything has been placed
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492 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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493 * and its TCB deleted.
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495 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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498 * The currently executing task is entering the Blocked state. Add the task to
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499 * either the current or the overflow delayed task list.
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501 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
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504 * Allocates memory from the heap for a TCB and associated stack. Checks the
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505 * allocation was successful.
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507 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer, TCB_t * const pucTCBBuffer ) PRIVILEGED_FUNCTION;
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510 * Fills an TaskStatus_t structure with information on each task that is
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511 * referenced from the pxList list (which may be a ready list, a delayed list,
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512 * a suspended list, etc.).
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514 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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515 * NORMAL APPLICATION CODE.
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517 #if ( configUSE_TRACE_FACILITY == 1 )
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519 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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524 * Searches pxList for a task with name pcNameToQuery - returning a handle to
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525 * the task if it is found, or NULL if the task is not found.
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527 #if ( INCLUDE_xTaskGetTaskHandle == 1 )
\r
529 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
\r
534 * When a task is created, the stack of the task is filled with a known value.
\r
535 * This function determines the 'high water mark' of the task stack by
\r
536 * determining how much of the stack remains at the original preset value.
\r
538 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
540 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
\r
545 * Return the amount of time, in ticks, that will pass before the kernel will
\r
546 * next move a task from the Blocked state to the Running state.
\r
548 * This conditional compilation should use inequality to 0, not equality to 1.
\r
549 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
\r
550 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
\r
551 * set to a value other than 1.
\r
553 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
555 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
\r
560 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
\r
561 * will exit the Blocked state.
\r
563 static void prvResetNextTaskUnblockTime( void );
\r
565 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
568 * Helper function used to pad task names with spaces when printing out
\r
569 * human readable tables of task information.
\r
571 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
\r
574 /*-----------------------------------------------------------*/
\r
576 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, StaticTask_t * const pxTaskBuffer, const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
578 BaseType_t xReturn;
\r
580 StackType_t *pxTopOfStack;
\r
582 configASSERT( pxTaskCode );
\r
583 configASSERT( ( ( uxPriority & ( UBaseType_t ) ( ~portPRIVILEGE_BIT ) ) < ( UBaseType_t ) configMAX_PRIORITIES ) );
\r
585 /* Allocate the memory required by the TCB and stack for the new task,
\r
586 checking that the allocation was successful. */
\r
587 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer, ( TCB_t* ) pxTaskBuffer ); /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
\r
589 if( pxNewTCB != NULL )
\r
591 #if( portUSING_MPU_WRAPPERS == 1 )
\r
592 /* Should the task be created in privileged mode? */
\r
593 BaseType_t xRunPrivileged;
\r
594 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
596 xRunPrivileged = pdTRUE;
\r
600 xRunPrivileged = pdFALSE;
\r
602 uxPriority &= ~portPRIVILEGE_BIT;
\r
603 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
605 /* Calculate the top of stack address. This depends on whether the
\r
606 stack grows from high memory to low (as per the 80x86) or vice versa.
\r
607 portSTACK_GROWTH is used to make the result positive or negative as
\r
608 required by the port. */
\r
609 #if( portSTACK_GROWTH < 0 )
\r
611 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );
\r
612 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
614 /* Check the alignment of the calculated top of stack is correct. */
\r
615 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
617 #else /* portSTACK_GROWTH */
\r
619 pxTopOfStack = pxNewTCB->pxStack;
\r
621 /* Check the alignment of the stack buffer is correct. */
\r
622 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
624 /* If we want to use stack checking on architectures that use
\r
625 a positive stack growth direction then we also need to store the
\r
626 other extreme of the stack space. */
\r
627 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );
\r
629 #endif /* portSTACK_GROWTH */
\r
631 /* Setup the newly allocated TCB with the initial state of the task. */
\r
632 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
\r
634 /* Initialize the TCB stack to look as if the task was already running,
\r
635 but had been interrupted by the scheduler. The return address is set
\r
636 to the start of the task function. Once the stack has been initialised
\r
637 the top of stack variable is updated. */
\r
638 #if( portUSING_MPU_WRAPPERS == 1 )
\r
640 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
642 #else /* portUSING_MPU_WRAPPERS */
\r
644 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
646 #endif /* portUSING_MPU_WRAPPERS */
\r
648 if( ( void * ) pxCreatedTask != NULL )
\r
650 /* Pass the TCB out - in an anonymous way. The calling function/
\r
651 task can use this as a handle to delete the task later if
\r
653 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
657 mtCOVERAGE_TEST_MARKER();
\r
660 /* Ensure interrupts don't access the task lists while they are being
\r
662 taskENTER_CRITICAL();
\r
664 uxCurrentNumberOfTasks++;
\r
665 if( pxCurrentTCB == NULL )
\r
667 /* There are no other tasks, or all the other tasks are in
\r
668 the suspended state - make this the current task. */
\r
669 pxCurrentTCB = pxNewTCB;
\r
671 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
673 /* This is the first task to be created so do the preliminary
\r
674 initialisation required. We will not recover if this call
\r
675 fails, but we will report the failure. */
\r
676 prvInitialiseTaskLists();
\r
680 mtCOVERAGE_TEST_MARKER();
\r
685 /* If the scheduler is not already running, make this task the
\r
686 current task if it is the highest priority task to be created
\r
688 if( xSchedulerRunning == pdFALSE )
\r
690 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
692 pxCurrentTCB = pxNewTCB;
\r
696 mtCOVERAGE_TEST_MARKER();
\r
701 mtCOVERAGE_TEST_MARKER();
\r
707 #if ( configUSE_TRACE_FACILITY == 1 )
\r
709 /* Add a counter into the TCB for tracing only. */
\r
710 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
712 #endif /* configUSE_TRACE_FACILITY */
\r
713 traceTASK_CREATE( pxNewTCB );
\r
715 prvAddTaskToReadyList( pxNewTCB );
\r
718 portSETUP_TCB( pxNewTCB );
\r
720 taskEXIT_CRITICAL();
\r
724 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
725 traceTASK_CREATE_FAILED();
\r
728 if( xReturn == pdPASS )
\r
730 if( xSchedulerRunning != pdFALSE )
\r
732 /* If the created task is of a higher priority than the current task
\r
733 then it should run now. */
\r
734 if( pxCurrentTCB->uxPriority < uxPriority )
\r
736 taskYIELD_IF_USING_PREEMPTION();
\r
740 mtCOVERAGE_TEST_MARKER();
\r
745 mtCOVERAGE_TEST_MARKER();
\r
751 /*-----------------------------------------------------------*/
\r
753 #if ( INCLUDE_vTaskDelete == 1 )
\r
755 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
759 taskENTER_CRITICAL();
\r
761 /* If null is passed in here then it is the calling task that is
\r
763 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
765 /* Remove task from the ready list. */
\r
766 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
768 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
772 mtCOVERAGE_TEST_MARKER();
\r
775 /* Is the task waiting on an event also? */
\r
776 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
778 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
782 mtCOVERAGE_TEST_MARKER();
\r
785 if( pxTCB == pxCurrentTCB )
\r
787 /* A task is deleting itself. This cannot complete within the
\r
788 task itself, as a context switch to another task is required.
\r
789 Place the task in the termination list. The idle task will
\r
790 check the termination list and free up any memory allocated by
\r
791 the scheduler for the TCB and stack of the deleted task. */
\r
792 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
\r
794 /* Increment the ucTasksDeleted variable so the idle task knows
\r
795 there is a task that has been deleted and that it should therefore
\r
796 check the xTasksWaitingTermination list. */
\r
797 ++uxDeletedTasksWaitingCleanUp;
\r
801 --uxCurrentNumberOfTasks;
\r
802 prvDeleteTCB( pxTCB );
\r
805 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
806 detect that the task lists need re-generating. */
\r
809 traceTASK_DELETE( pxTCB );
\r
811 taskEXIT_CRITICAL();
\r
813 /* Force a reschedule if it is the currently running task that has just
\r
815 if( xSchedulerRunning != pdFALSE )
\r
817 if( pxTCB == pxCurrentTCB )
\r
819 configASSERT( uxSchedulerSuspended == 0 );
\r
821 /* The pre-delete hook is primarily for the Windows simulator,
\r
822 in which Windows specific clean up operations are performed,
\r
823 after which it is not possible to yield away from this task -
\r
824 hence xYieldPending is used to latch that a context switch is
\r
826 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
827 portYIELD_WITHIN_API();
\r
831 /* Reset the next expected unblock time in case it referred to
\r
832 the task that has just been deleted. */
\r
833 taskENTER_CRITICAL();
\r
835 prvResetNextTaskUnblockTime();
\r
837 taskEXIT_CRITICAL();
\r
842 #endif /* INCLUDE_vTaskDelete */
\r
843 /*-----------------------------------------------------------*/
\r
845 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
847 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
849 TickType_t xTimeToWake;
\r
850 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
852 configASSERT( pxPreviousWakeTime );
\r
853 configASSERT( ( xTimeIncrement > 0U ) );
\r
854 configASSERT( uxSchedulerSuspended == 0 );
\r
858 /* Minor optimisation. The tick count cannot change in this
\r
860 const TickType_t xConstTickCount = xTickCount;
\r
862 /* Generate the tick time at which the task wants to wake. */
\r
863 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
865 if( xConstTickCount < *pxPreviousWakeTime )
\r
867 /* The tick count has overflowed since this function was
\r
868 lasted called. In this case the only time we should ever
\r
869 actually delay is if the wake time has also overflowed,
\r
870 and the wake time is greater than the tick time. When this
\r
871 is the case it is as if neither time had overflowed. */
\r
872 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
874 xShouldDelay = pdTRUE;
\r
878 mtCOVERAGE_TEST_MARKER();
\r
883 /* The tick time has not overflowed. In this case we will
\r
884 delay if either the wake time has overflowed, and/or the
\r
885 tick time is less than the wake time. */
\r
886 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
888 xShouldDelay = pdTRUE;
\r
892 mtCOVERAGE_TEST_MARKER();
\r
896 /* Update the wake time ready for the next call. */
\r
897 *pxPreviousWakeTime = xTimeToWake;
\r
899 if( xShouldDelay != pdFALSE )
\r
901 traceTASK_DELAY_UNTIL( xTimeToWake );
\r
903 /* prvAddCurrentTaskToDelayedList() needs the block time, not
\r
904 the time to wake, so subtract the current tick count. */
\r
905 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
\r
909 mtCOVERAGE_TEST_MARKER();
\r
912 xAlreadyYielded = xTaskResumeAll();
\r
914 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
915 have put ourselves to sleep. */
\r
916 if( xAlreadyYielded == pdFALSE )
\r
918 portYIELD_WITHIN_API();
\r
922 mtCOVERAGE_TEST_MARKER();
\r
926 #endif /* INCLUDE_vTaskDelayUntil */
\r
927 /*-----------------------------------------------------------*/
\r
929 #if ( INCLUDE_vTaskDelay == 1 )
\r
931 void vTaskDelay( const TickType_t xTicksToDelay )
\r
933 BaseType_t xAlreadyYielded = pdFALSE;
\r
935 /* A delay time of zero just forces a reschedule. */
\r
936 if( xTicksToDelay > ( TickType_t ) 0U )
\r
938 configASSERT( uxSchedulerSuspended == 0 );
\r
943 /* A task that is removed from the event list while the
\r
944 scheduler is suspended will not get placed in the ready
\r
945 list or removed from the blocked list until the scheduler
\r
948 This task cannot be in an event list as it is the currently
\r
950 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
\r
952 xAlreadyYielded = xTaskResumeAll();
\r
956 mtCOVERAGE_TEST_MARKER();
\r
959 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
960 have put ourselves to sleep. */
\r
961 if( xAlreadyYielded == pdFALSE )
\r
963 portYIELD_WITHIN_API();
\r
967 mtCOVERAGE_TEST_MARKER();
\r
971 #endif /* INCLUDE_vTaskDelay */
\r
972 /*-----------------------------------------------------------*/
\r
974 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) )
\r
976 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
978 eTaskState eReturn;
\r
979 List_t *pxStateList;
\r
980 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
982 configASSERT( pxTCB );
\r
984 if( pxTCB == pxCurrentTCB )
\r
986 /* The task calling this function is querying its own state. */
\r
987 eReturn = eRunning;
\r
991 taskENTER_CRITICAL();
\r
993 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
\r
995 taskEXIT_CRITICAL();
\r
997 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
999 /* The task being queried is referenced from one of the Blocked
\r
1001 eReturn = eBlocked;
\r
1004 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1005 else if( pxStateList == &xSuspendedTaskList )
\r
1007 /* The task being queried is referenced from the suspended
\r
1008 list. Is it genuinely suspended or is it block
\r
1010 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1012 eReturn = eSuspended;
\r
1016 eReturn = eBlocked;
\r
1021 #if ( INCLUDE_vTaskDelete == 1 )
\r
1022 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1024 /* The task being queried is referenced from the deleted
\r
1025 tasks list, or it is not referenced from any lists at
\r
1027 eReturn = eDeleted;
\r
1031 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1033 /* If the task is not in any other state, it must be in the
\r
1034 Ready (including pending ready) state. */
\r
1040 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1042 #endif /* INCLUDE_eTaskGetState */
\r
1043 /*-----------------------------------------------------------*/
\r
1045 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1047 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1050 UBaseType_t uxReturn;
\r
1052 taskENTER_CRITICAL();
\r
1054 /* If null is passed in here then it is the priority of the that
\r
1055 called uxTaskPriorityGet() that is being queried. */
\r
1056 pxTCB = prvGetTCBFromHandle( xTask );
\r
1057 uxReturn = pxTCB->uxPriority;
\r
1059 taskEXIT_CRITICAL();
\r
1064 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1065 /*-----------------------------------------------------------*/
\r
1067 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1069 UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )
\r
1072 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1074 /* RTOS ports that support interrupt nesting have the concept of a
\r
1075 maximum system call (or maximum API call) interrupt priority.
\r
1076 Interrupts that are above the maximum system call priority are keep
\r
1077 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1078 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1079 is defined in FreeRTOSConfig.h then
\r
1080 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1081 failure if a FreeRTOS API function is called from an interrupt that has
\r
1082 been assigned a priority above the configured maximum system call
\r
1083 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1084 from interrupts that have been assigned a priority at or (logically)
\r
1085 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1086 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1087 simple as possible. More information (albeit Cortex-M specific) is
\r
1088 provided on the following link:
\r
1089 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1090 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1092 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1094 /* If null is passed in here then it is the priority of the calling
\r
1095 task that is being queried. */
\r
1096 pxTCB = prvGetTCBFromHandle( xTask );
\r
1097 uxReturn = pxTCB->uxPriority;
\r
1099 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1104 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1105 /*-----------------------------------------------------------*/
\r
1107 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1109 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1112 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1113 BaseType_t xYieldRequired = pdFALSE;
\r
1115 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1117 /* Ensure the new priority is valid. */
\r
1118 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1120 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1124 mtCOVERAGE_TEST_MARKER();
\r
1127 taskENTER_CRITICAL();
\r
1129 /* If null is passed in here then it is the priority of the calling
\r
1130 task that is being changed. */
\r
1131 pxTCB = prvGetTCBFromHandle( xTask );
\r
1133 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1135 #if ( configUSE_MUTEXES == 1 )
\r
1137 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1141 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1145 if( uxCurrentBasePriority != uxNewPriority )
\r
1147 /* The priority change may have readied a task of higher
\r
1148 priority than the calling task. */
\r
1149 if( uxNewPriority > uxCurrentBasePriority )
\r
1151 if( pxTCB != pxCurrentTCB )
\r
1153 /* The priority of a task other than the currently
\r
1154 running task is being raised. Is the priority being
\r
1155 raised above that of the running task? */
\r
1156 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1158 xYieldRequired = pdTRUE;
\r
1162 mtCOVERAGE_TEST_MARKER();
\r
1167 /* The priority of the running task is being raised,
\r
1168 but the running task must already be the highest
\r
1169 priority task able to run so no yield is required. */
\r
1172 else if( pxTCB == pxCurrentTCB )
\r
1174 /* Setting the priority of the running task down means
\r
1175 there may now be another task of higher priority that
\r
1176 is ready to execute. */
\r
1177 xYieldRequired = pdTRUE;
\r
1181 /* Setting the priority of any other task down does not
\r
1182 require a yield as the running task must be above the
\r
1183 new priority of the task being modified. */
\r
1186 /* Remember the ready list the task might be referenced from
\r
1187 before its uxPriority member is changed so the
\r
1188 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1189 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1191 #if ( configUSE_MUTEXES == 1 )
\r
1193 /* Only change the priority being used if the task is not
\r
1194 currently using an inherited priority. */
\r
1195 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1197 pxTCB->uxPriority = uxNewPriority;
\r
1201 mtCOVERAGE_TEST_MARKER();
\r
1204 /* The base priority gets set whatever. */
\r
1205 pxTCB->uxBasePriority = uxNewPriority;
\r
1209 pxTCB->uxPriority = uxNewPriority;
\r
1213 /* Only reset the event list item value if the value is not
\r
1214 being used for anything else. */
\r
1215 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1217 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
1221 mtCOVERAGE_TEST_MARKER();
\r
1224 /* If the task is in the blocked or suspended list we need do
\r
1225 nothing more than change it's priority variable. However, if
\r
1226 the task is in a ready list it needs to be removed and placed
\r
1227 in the list appropriate to its new priority. */
\r
1228 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1230 /* The task is currently in its ready list - remove before adding
\r
1231 it to it's new ready list. As we are in a critical section we
\r
1232 can do this even if the scheduler is suspended. */
\r
1233 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1235 /* It is known that the task is in its ready list so
\r
1236 there is no need to check again and the port level
\r
1237 reset macro can be called directly. */
\r
1238 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1242 mtCOVERAGE_TEST_MARKER();
\r
1244 prvAddTaskToReadyList( pxTCB );
\r
1248 mtCOVERAGE_TEST_MARKER();
\r
1251 if( xYieldRequired != pdFALSE )
\r
1253 taskYIELD_IF_USING_PREEMPTION();
\r
1257 mtCOVERAGE_TEST_MARKER();
\r
1260 /* Remove compiler warning about unused variables when the port
\r
1261 optimised task selection is not being used. */
\r
1262 ( void ) uxPriorityUsedOnEntry;
\r
1265 taskEXIT_CRITICAL();
\r
1268 #endif /* INCLUDE_vTaskPrioritySet */
\r
1269 /*-----------------------------------------------------------*/
\r
1271 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1273 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1277 taskENTER_CRITICAL();
\r
1279 /* If null is passed in here then it is the running task that is
\r
1280 being suspended. */
\r
1281 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1283 traceTASK_SUSPEND( pxTCB );
\r
1285 /* Remove task from the ready/delayed list and place in the
\r
1286 suspended list. */
\r
1287 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1289 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1293 mtCOVERAGE_TEST_MARKER();
\r
1296 /* Is the task waiting on an event also? */
\r
1297 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1299 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1303 mtCOVERAGE_TEST_MARKER();
\r
1306 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
\r
1308 taskEXIT_CRITICAL();
\r
1310 if( xSchedulerRunning != pdFALSE )
\r
1312 /* Reset the next expected unblock time in case it referred to the
\r
1313 task that is now in the Suspended state. */
\r
1314 taskENTER_CRITICAL();
\r
1316 prvResetNextTaskUnblockTime();
\r
1318 taskEXIT_CRITICAL();
\r
1322 mtCOVERAGE_TEST_MARKER();
\r
1325 if( pxTCB == pxCurrentTCB )
\r
1327 if( xSchedulerRunning != pdFALSE )
\r
1329 /* The current task has just been suspended. */
\r
1330 configASSERT( uxSchedulerSuspended == 0 );
\r
1331 portYIELD_WITHIN_API();
\r
1335 /* The scheduler is not running, but the task that was pointed
\r
1336 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1337 must be adjusted to point to a different task. */
\r
1338 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1340 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1341 NULL so when the next task is created pxCurrentTCB will
\r
1342 be set to point to it no matter what its relative priority
\r
1344 pxCurrentTCB = NULL;
\r
1348 vTaskSwitchContext();
\r
1354 mtCOVERAGE_TEST_MARKER();
\r
1358 #endif /* INCLUDE_vTaskSuspend */
\r
1359 /*-----------------------------------------------------------*/
\r
1361 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1363 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1365 BaseType_t xReturn = pdFALSE;
\r
1366 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1368 /* Accesses xPendingReadyList so must be called from a critical
\r
1371 /* It does not make sense to check if the calling task is suspended. */
\r
1372 configASSERT( xTask );
\r
1374 /* Is the task being resumed actually in the suspended list? */
\r
1375 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1377 /* Has the task already been resumed from within an ISR? */
\r
1378 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1380 /* Is it in the suspended list because it is in the Suspended
\r
1381 state, or because is is blocked with no timeout? */
\r
1382 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1388 mtCOVERAGE_TEST_MARKER();
\r
1393 mtCOVERAGE_TEST_MARKER();
\r
1398 mtCOVERAGE_TEST_MARKER();
\r
1402 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1404 #endif /* INCLUDE_vTaskSuspend */
\r
1405 /*-----------------------------------------------------------*/
\r
1407 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1409 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1411 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1413 /* It does not make sense to resume the calling task. */
\r
1414 configASSERT( xTaskToResume );
\r
1416 /* The parameter cannot be NULL as it is impossible to resume the
\r
1417 currently executing task. */
\r
1418 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1420 taskENTER_CRITICAL();
\r
1422 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1424 traceTASK_RESUME( pxTCB );
\r
1426 /* As we are in a critical section we can access the ready
\r
1427 lists even if the scheduler is suspended. */
\r
1428 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1429 prvAddTaskToReadyList( pxTCB );
\r
1431 /* We may have just resumed a higher priority task. */
\r
1432 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1434 /* This yield may not cause the task just resumed to run,
\r
1435 but will leave the lists in the correct state for the
\r
1437 taskYIELD_IF_USING_PREEMPTION();
\r
1441 mtCOVERAGE_TEST_MARKER();
\r
1446 mtCOVERAGE_TEST_MARKER();
\r
1449 taskEXIT_CRITICAL();
\r
1453 mtCOVERAGE_TEST_MARKER();
\r
1457 #endif /* INCLUDE_vTaskSuspend */
\r
1459 /*-----------------------------------------------------------*/
\r
1461 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1463 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1465 BaseType_t xYieldRequired = pdFALSE;
\r
1466 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1467 UBaseType_t uxSavedInterruptStatus;
\r
1469 configASSERT( xTaskToResume );
\r
1471 /* RTOS ports that support interrupt nesting have the concept of a
\r
1472 maximum system call (or maximum API call) interrupt priority.
\r
1473 Interrupts that are above the maximum system call priority are keep
\r
1474 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1475 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1476 is defined in FreeRTOSConfig.h then
\r
1477 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1478 failure if a FreeRTOS API function is called from an interrupt that has
\r
1479 been assigned a priority above the configured maximum system call
\r
1480 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1481 from interrupts that have been assigned a priority at or (logically)
\r
1482 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1483 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1484 simple as possible. More information (albeit Cortex-M specific) is
\r
1485 provided on the following link:
\r
1486 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1487 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1489 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1491 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1493 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1495 /* Check the ready lists can be accessed. */
\r
1496 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1498 /* Ready lists can be accessed so move the task from the
\r
1499 suspended list to the ready list directly. */
\r
1500 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1502 xYieldRequired = pdTRUE;
\r
1506 mtCOVERAGE_TEST_MARKER();
\r
1509 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1510 prvAddTaskToReadyList( pxTCB );
\r
1514 /* The delayed or ready lists cannot be accessed so the task
\r
1515 is held in the pending ready list until the scheduler is
\r
1517 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1522 mtCOVERAGE_TEST_MARKER();
\r
1525 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1527 return xYieldRequired;
\r
1530 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1531 /*-----------------------------------------------------------*/
\r
1533 void vTaskStartScheduler( void )
\r
1535 BaseType_t xReturn;
\r
1536 StaticTask_t *pxIdleTaskTCBBuffer = NULL;
\r
1537 StackType_t *pxIdleTaskStackBuffer = NULL;
\r
1538 uint16_t usIdleTaskStackSize = tskIDLE_STACK_SIZE;
\r
1540 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1542 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &usIdleTaskStackSize );
\r
1544 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
1546 /* Add the idle task at the lowest priority. */
\r
1547 xReturn = xTaskGenericCreate( prvIdleTask, "IDLE", usIdleTaskStackSize, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle, pxIdleTaskStackBuffer, pxIdleTaskTCBBuffer, NULL ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1549 #if ( configUSE_TIMERS == 1 )
\r
1551 if( xReturn == pdPASS )
\r
1553 xReturn = xTimerCreateTimerTask();
\r
1557 mtCOVERAGE_TEST_MARKER();
\r
1560 #endif /* configUSE_TIMERS */
\r
1562 if( xReturn == pdPASS )
\r
1564 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1565 before or during the call to xPortStartScheduler(). The stacks of
\r
1566 the created tasks contain a status word with interrupts switched on
\r
1567 so interrupts will automatically get re-enabled when the first task
\r
1569 portDISABLE_INTERRUPTS();
\r
1571 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1573 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1574 structure specific to the task that will run first. */
\r
1575 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1577 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1579 xNextTaskUnblockTime = portMAX_DELAY;
\r
1580 xSchedulerRunning = pdTRUE;
\r
1581 xTickCount = ( TickType_t ) 0U;
\r
1583 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1584 macro must be defined to configure the timer/counter used to generate
\r
1585 the run time counter time base. */
\r
1586 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1588 /* Setting up the timer tick is hardware specific and thus in the
\r
1589 portable interface. */
\r
1590 if( xPortStartScheduler() != pdFALSE )
\r
1592 /* Should not reach here as if the scheduler is running the
\r
1593 function will not return. */
\r
1597 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1602 /* This line will only be reached if the kernel could not be started,
\r
1603 because there was not enough FreeRTOS heap to create the idle task
\r
1604 or the timer task. */
\r
1605 configASSERT( xReturn );
\r
1608 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
1609 meaning xIdleTaskHandle is not used anywhere else. */
\r
1610 ( void ) xIdleTaskHandle;
\r
1612 /*-----------------------------------------------------------*/
\r
1614 void vTaskEndScheduler( void )
\r
1616 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1617 routine so the original ISRs can be restored if necessary. The port
\r
1618 layer must ensure interrupts enable bit is left in the correct state. */
\r
1619 portDISABLE_INTERRUPTS();
\r
1620 xSchedulerRunning = pdFALSE;
\r
1621 vPortEndScheduler();
\r
1623 /*----------------------------------------------------------*/
\r
1625 void vTaskSuspendAll( void )
\r
1627 /* A critical section is not required as the variable is of type
\r
1628 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
1629 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1630 http://goo.gl/wu4acr */
\r
1631 ++uxSchedulerSuspended;
\r
1633 /*----------------------------------------------------------*/
\r
1635 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1637 static TickType_t prvGetExpectedIdleTime( void )
\r
1639 TickType_t xReturn;
\r
1640 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
1642 /* uxHigherPriorityReadyTasks takes care of the case where
\r
1643 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
1644 task that are in the Ready state, even though the idle task is
\r
1646 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
1648 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
1650 uxHigherPriorityReadyTasks = pdTRUE;
\r
1655 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
1657 /* When port optimised task selection is used the uxTopReadyPriority
\r
1658 variable is used as a bit map. If bits other than the least
\r
1659 significant bit are set then there are tasks that have a priority
\r
1660 above the idle priority that are in the Ready state. This takes
\r
1661 care of the case where the co-operative scheduler is in use. */
\r
1662 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
1664 uxHigherPriorityReadyTasks = pdTRUE;
\r
1669 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1673 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1675 /* There are other idle priority tasks in the ready state. If
\r
1676 time slicing is used then the very next tick interrupt must be
\r
1680 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
1682 /* There are tasks in the Ready state that have a priority above the
\r
1683 idle priority. This path can only be reached if
\r
1684 configUSE_PREEMPTION is 0. */
\r
1689 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1695 #endif /* configUSE_TICKLESS_IDLE */
\r
1696 /*----------------------------------------------------------*/
\r
1698 BaseType_t xTaskResumeAll( void )
\r
1700 TCB_t *pxTCB = NULL;
\r
1701 BaseType_t xAlreadyYielded = pdFALSE;
\r
1703 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1704 previous call to vTaskSuspendAll(). */
\r
1705 configASSERT( uxSchedulerSuspended );
\r
1707 /* It is possible that an ISR caused a task to be removed from an event
\r
1708 list while the scheduler was suspended. If this was the case then the
\r
1709 removed task will have been added to the xPendingReadyList. Once the
\r
1710 scheduler has been resumed it is safe to move all the pending ready
\r
1711 tasks from this list into their appropriate ready list. */
\r
1712 taskENTER_CRITICAL();
\r
1714 --uxSchedulerSuspended;
\r
1716 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1718 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
1720 /* Move any readied tasks from the pending list into the
\r
1721 appropriate ready list. */
\r
1722 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1724 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1725 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1726 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1727 prvAddTaskToReadyList( pxTCB );
\r
1729 /* If the moved task has a priority higher than the current
\r
1730 task then a yield must be performed. */
\r
1731 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1733 xYieldPending = pdTRUE;
\r
1737 mtCOVERAGE_TEST_MARKER();
\r
1741 if( pxTCB != NULL )
\r
1743 /* A task was unblocked while the scheduler was suspended,
\r
1744 which may have prevented the next unblock time from being
\r
1745 re-calculated, in which case re-calculate it now. Mainly
\r
1746 important for low power tickless implementations, where
\r
1747 this can prevent an unnecessary exit from low power
\r
1749 prvResetNextTaskUnblockTime();
\r
1752 /* If any ticks occurred while the scheduler was suspended then
\r
1753 they should be processed now. This ensures the tick count does
\r
1754 not slip, and that any delayed tasks are resumed at the correct
\r
1756 if( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1758 while( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1760 if( xTaskIncrementTick() != pdFALSE )
\r
1762 xYieldPending = pdTRUE;
\r
1766 mtCOVERAGE_TEST_MARKER();
\r
1773 mtCOVERAGE_TEST_MARKER();
\r
1776 if( xYieldPending != pdFALSE )
\r
1778 #if( configUSE_PREEMPTION != 0 )
\r
1780 xAlreadyYielded = pdTRUE;
\r
1783 taskYIELD_IF_USING_PREEMPTION();
\r
1787 mtCOVERAGE_TEST_MARKER();
\r
1793 mtCOVERAGE_TEST_MARKER();
\r
1796 taskEXIT_CRITICAL();
\r
1798 return xAlreadyYielded;
\r
1800 /*-----------------------------------------------------------*/
\r
1802 TickType_t xTaskGetTickCount( void )
\r
1804 TickType_t xTicks;
\r
1806 /* Critical section required if running on a 16 bit processor. */
\r
1807 portTICK_TYPE_ENTER_CRITICAL();
\r
1809 xTicks = xTickCount;
\r
1811 portTICK_TYPE_EXIT_CRITICAL();
\r
1815 /*-----------------------------------------------------------*/
\r
1817 TickType_t xTaskGetTickCountFromISR( void )
\r
1819 TickType_t xReturn;
\r
1820 UBaseType_t uxSavedInterruptStatus;
\r
1822 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1823 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1824 above the maximum system call priority are kept permanently enabled, even
\r
1825 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1826 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1827 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1828 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1829 assigned a priority above the configured maximum system call priority.
\r
1830 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1831 that have been assigned a priority at or (logically) below the maximum
\r
1832 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1833 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1834 More information (albeit Cortex-M specific) is provided on the following
\r
1835 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1836 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1838 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
1840 xReturn = xTickCount;
\r
1842 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1846 /*-----------------------------------------------------------*/
\r
1848 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
1850 /* A critical section is not required because the variables are of type
\r
1852 return uxCurrentNumberOfTasks;
\r
1854 /*-----------------------------------------------------------*/
\r
1856 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1858 char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
1862 /* If null is passed in here then the name of the calling task is being
\r
1864 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1865 configASSERT( pxTCB );
\r
1866 return &( pxTCB->pcTaskName[ 0 ] );
\r
1869 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1870 /*-----------------------------------------------------------*/
\r
1872 #if ( INCLUDE_xTaskGetTaskHandle == 1 )
\r
1874 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
\r
1876 TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
\r
1880 /* This function is called with the scheduler suspended. */
\r
1882 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
1884 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
1888 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
1890 /* Check each character in the name looking for a match or
\r
1892 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
1894 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
1896 if( cNextChar != pcNameToQuery[ x ] )
\r
1898 /* Characters didn't match. */
\r
1901 else if( cNextChar == 0x00 )
\r
1903 /* Both strings terminated, a match must have been
\r
1905 pxReturn = pxNextTCB;
\r
1910 mtCOVERAGE_TEST_MARKER();
\r
1914 if( pxReturn != NULL )
\r
1916 /* The handle has been found. */
\r
1920 } while( pxNextTCB != pxFirstTCB );
\r
1924 mtCOVERAGE_TEST_MARKER();
\r
1930 #endif /* INCLUDE_xTaskGetTaskHandle */
\r
1931 /*-----------------------------------------------------------*/
\r
1933 #if ( INCLUDE_xTaskGetTaskHandle == 1 )
\r
1935 TaskHandle_t xTaskGetTaskHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
1937 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
1940 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
\r
1941 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
\r
1943 vTaskSuspendAll();
\r
1945 /* Search the ready lists. */
\r
1949 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
1951 if( pxTCB != NULL )
\r
1953 /* Found the handle. */
\r
1957 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1959 /* Search the delayed lists. */
\r
1960 if( pxTCB == NULL )
\r
1962 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
1965 if( pxTCB == NULL )
\r
1967 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
1970 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1972 if( pxTCB == NULL )
\r
1974 /* Search the suspended list. */
\r
1975 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
1980 #if( INCLUDE_vTaskDelete == 1 )
\r
1982 if( pxTCB == NULL )
\r
1984 /* Search the deleted list. */
\r
1985 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
1990 ( void ) xTaskResumeAll();
\r
1992 return ( TaskHandle_t ) pxTCB;
\r
1995 #endif /* INCLUDE_xTaskGetTaskHandle */
\r
1996 /*-----------------------------------------------------------*/
\r
1998 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2000 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
2002 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
2004 vTaskSuspendAll();
\r
2006 /* Is there a space in the array for each task in the system? */
\r
2007 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2009 /* Fill in an TaskStatus_t structure with information on each
\r
2010 task in the Ready state. */
\r
2014 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2016 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2018 /* Fill in an TaskStatus_t structure with information on each
\r
2019 task in the Blocked state. */
\r
2020 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2021 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2023 #if( INCLUDE_vTaskDelete == 1 )
\r
2025 /* Fill in an TaskStatus_t structure with information on
\r
2026 each task that has been deleted but not yet cleaned up. */
\r
2027 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2031 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2033 /* Fill in an TaskStatus_t structure with information on
\r
2034 each task in the Suspended state. */
\r
2035 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2039 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
2041 if( pulTotalRunTime != NULL )
\r
2043 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2044 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2046 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2052 if( pulTotalRunTime != NULL )
\r
2054 *pulTotalRunTime = 0;
\r
2061 mtCOVERAGE_TEST_MARKER();
\r
2064 ( void ) xTaskResumeAll();
\r
2069 #endif /* configUSE_TRACE_FACILITY */
\r
2070 /*----------------------------------------------------------*/
\r
2072 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2074 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2076 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2077 started, then xIdleTaskHandle will be NULL. */
\r
2078 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2079 return xIdleTaskHandle;
\r
2082 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2083 /*----------------------------------------------------------*/
\r
2085 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2086 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2087 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2089 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2091 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2093 /* Correct the tick count value after a period during which the tick
\r
2094 was suppressed. Note this does *not* call the tick hook function for
\r
2095 each stepped tick. */
\r
2096 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2097 xTickCount += xTicksToJump;
\r
2098 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2101 #endif /* configUSE_TICKLESS_IDLE */
\r
2102 /*----------------------------------------------------------*/
\r
2104 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
2106 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
\r
2108 TCB_t *pxTCB = ( TCB_t * ) xTask;
\r
2109 BaseType_t xReturn = pdFALSE;
\r
2111 configASSERT( pxTCB );
\r
2113 vTaskSuspendAll();
\r
2115 /* A task can only be prematurely removed from the Blocked state if
\r
2116 it is actually in the Blocked state. */
\r
2117 if( eTaskGetState( xTask ) == eBlocked )
\r
2119 /* Remove the reference to the task from the blocked list. An
\r
2120 interrupt won't touch the xStateListItem because the
\r
2121 scheduler is suspended. */
\r
2122 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2124 /* Is the task waiting on an event also? If so remove it from
\r
2125 the event list too. Interrupts can touch the event list item,
\r
2126 even though the scheduler is suspended, so a critical section
\r
2128 taskENTER_CRITICAL();
\r
2130 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2132 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2133 pxTCB->ucDelayAborted = pdTRUE;
\r
2137 mtCOVERAGE_TEST_MARKER();
\r
2140 taskEXIT_CRITICAL();
\r
2142 /* Place the unblocked task into the appropriate ready list. */
\r
2143 prvAddTaskToReadyList( pxTCB );
\r
2145 /* A task being unblocked cannot cause an immediate context
\r
2146 switch if preemption is turned off. */
\r
2147 #if ( configUSE_PREEMPTION == 1 )
\r
2149 /* Preemption is on, but a context switch should only be
\r
2150 performed if the unblocked task has a priority that is
\r
2151 equal to or higher than the currently executing task. */
\r
2152 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2154 /* Pend the yield to be performed when the scheduler
\r
2155 is unsuspended. */
\r
2156 xYieldPending = pdTRUE;
\r
2160 mtCOVERAGE_TEST_MARKER();
\r
2163 #endif /* configUSE_PREEMPTION */
\r
2167 mtCOVERAGE_TEST_MARKER();
\r
2175 #endif /* INCLUDE_xTaskAbortDelay */
\r
2176 /*----------------------------------------------------------*/
\r
2178 BaseType_t xTaskIncrementTick( void )
\r
2181 TickType_t xItemValue;
\r
2182 BaseType_t xSwitchRequired = pdFALSE;
\r
2184 /* Called by the portable layer each time a tick interrupt occurs.
\r
2185 Increments the tick then checks to see if the new tick value will cause any
\r
2186 tasks to be unblocked. */
\r
2187 traceTASK_INCREMENT_TICK( xTickCount );
\r
2188 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2190 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2191 delayed lists if it wraps to 0. */
\r
2195 /* Minor optimisation. The tick count cannot change in this
\r
2197 const TickType_t xConstTickCount = xTickCount;
\r
2199 if( xConstTickCount == ( TickType_t ) 0U )
\r
2201 taskSWITCH_DELAYED_LISTS();
\r
2205 mtCOVERAGE_TEST_MARKER();
\r
2208 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2209 the queue in the order of their wake time - meaning once one task
\r
2210 has been found whose block time has not expired there is no need to
\r
2211 look any further down the list. */
\r
2212 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2216 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2218 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2219 to the maximum possible value so it is extremely
\r
2221 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2222 next time through. */
\r
2223 xNextTaskUnblockTime = portMAX_DELAY;
\r
2228 /* The delayed list is not empty, get the value of the
\r
2229 item at the head of the delayed list. This is the time
\r
2230 at which the task at the head of the delayed list must
\r
2231 be removed from the Blocked state. */
\r
2232 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
2233 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
\r
2235 if( xConstTickCount < xItemValue )
\r
2237 /* It is not time to unblock this item yet, but the
\r
2238 item value is the time at which the task at the head
\r
2239 of the blocked list must be removed from the Blocked
\r
2240 state - so record the item value in
\r
2241 xNextTaskUnblockTime. */
\r
2242 xNextTaskUnblockTime = xItemValue;
\r
2247 mtCOVERAGE_TEST_MARKER();
\r
2250 /* It is time to remove the item from the Blocked state. */
\r
2251 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2253 /* Is the task waiting on an event also? If so remove
\r
2254 it from the event list. */
\r
2255 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2257 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2261 mtCOVERAGE_TEST_MARKER();
\r
2264 /* Place the unblocked task into the appropriate ready
\r
2266 prvAddTaskToReadyList( pxTCB );
\r
2268 /* A task being unblocked cannot cause an immediate
\r
2269 context switch if preemption is turned off. */
\r
2270 #if ( configUSE_PREEMPTION == 1 )
\r
2272 /* Preemption is on, but a context switch should
\r
2273 only be performed if the unblocked task has a
\r
2274 priority that is equal to or higher than the
\r
2275 currently executing task. */
\r
2276 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2278 xSwitchRequired = pdTRUE;
\r
2282 mtCOVERAGE_TEST_MARKER();
\r
2285 #endif /* configUSE_PREEMPTION */
\r
2291 /* Tasks of equal priority to the currently running task will share
\r
2292 processing time (time slice) if preemption is on, and the application
\r
2293 writer has not explicitly turned time slicing off. */
\r
2294 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2296 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2298 xSwitchRequired = pdTRUE;
\r
2302 mtCOVERAGE_TEST_MARKER();
\r
2305 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2307 #if ( configUSE_TICK_HOOK == 1 )
\r
2309 /* Guard against the tick hook being called when the pended tick
\r
2310 count is being unwound (when the scheduler is being unlocked). */
\r
2311 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2313 vApplicationTickHook();
\r
2317 mtCOVERAGE_TEST_MARKER();
\r
2320 #endif /* configUSE_TICK_HOOK */
\r
2326 /* The tick hook gets called at regular intervals, even if the
\r
2327 scheduler is locked. */
\r
2328 #if ( configUSE_TICK_HOOK == 1 )
\r
2330 vApplicationTickHook();
\r
2335 #if ( configUSE_PREEMPTION == 1 )
\r
2337 if( xYieldPending != pdFALSE )
\r
2339 xSwitchRequired = pdTRUE;
\r
2343 mtCOVERAGE_TEST_MARKER();
\r
2346 #endif /* configUSE_PREEMPTION */
\r
2348 return xSwitchRequired;
\r
2350 /*-----------------------------------------------------------*/
\r
2352 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2354 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2358 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2360 if( xTask == NULL )
\r
2362 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2366 xTCB = ( TCB_t * ) xTask;
\r
2369 /* Save the hook function in the TCB. A critical section is required as
\r
2370 the value can be accessed from an interrupt. */
\r
2371 taskENTER_CRITICAL();
\r
2372 xTCB->pxTaskTag = pxHookFunction;
\r
2373 taskEXIT_CRITICAL();
\r
2376 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2377 /*-----------------------------------------------------------*/
\r
2379 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2381 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2384 TaskHookFunction_t xReturn;
\r
2386 /* If xTask is NULL then we are setting our own task hook. */
\r
2387 if( xTask == NULL )
\r
2389 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2393 xTCB = ( TCB_t * ) xTask;
\r
2396 /* Save the hook function in the TCB. A critical section is required as
\r
2397 the value can be accessed from an interrupt. */
\r
2398 taskENTER_CRITICAL();
\r
2400 xReturn = xTCB->pxTaskTag;
\r
2402 taskEXIT_CRITICAL();
\r
2407 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2408 /*-----------------------------------------------------------*/
\r
2410 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2412 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2415 BaseType_t xReturn;
\r
2417 /* If xTask is NULL then we are calling our own task hook. */
\r
2418 if( xTask == NULL )
\r
2420 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2424 xTCB = ( TCB_t * ) xTask;
\r
2427 if( xTCB->pxTaskTag != NULL )
\r
2429 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2439 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2440 /*-----------------------------------------------------------*/
\r
2442 void vTaskSwitchContext( void )
\r
2444 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2446 /* The scheduler is currently suspended - do not allow a context
\r
2448 xYieldPending = pdTRUE;
\r
2452 xYieldPending = pdFALSE;
\r
2453 traceTASK_SWITCHED_OUT();
\r
2455 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2457 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2458 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2460 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2463 /* Add the amount of time the task has been running to the
\r
2464 accumulated time so far. The time the task started running was
\r
2465 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2466 protection here so count values are only valid until the timer
\r
2467 overflows. The guard against negative values is to protect
\r
2468 against suspect run time stat counter implementations - which
\r
2469 are provided by the application, not the kernel. */
\r
2470 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2472 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2476 mtCOVERAGE_TEST_MARKER();
\r
2478 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2480 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2482 /* Check for stack overflow, if configured. */
\r
2483 taskCHECK_FOR_STACK_OVERFLOW();
\r
2485 /* Select a new task to run using either the generic C or port
\r
2486 optimised asm code. */
\r
2487 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2488 traceTASK_SWITCHED_IN();
\r
2490 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2492 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2493 structure specific to this task. */
\r
2494 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2496 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2499 /*-----------------------------------------------------------*/
\r
2501 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2503 configASSERT( pxEventList );
\r
2505 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2506 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2508 /* Place the event list item of the TCB in the appropriate event list.
\r
2509 This is placed in the list in priority order so the highest priority task
\r
2510 is the first to be woken by the event. The queue that contains the event
\r
2511 list is locked, preventing simultaneous access from interrupts. */
\r
2512 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2514 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2516 /*-----------------------------------------------------------*/
\r
2518 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2520 configASSERT( pxEventList );
\r
2522 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2523 the event groups implementation. */
\r
2524 configASSERT( uxSchedulerSuspended != 0 );
\r
2526 /* Store the item value in the event list item. It is safe to access the
\r
2527 event list item here as interrupts won't access the event list item of a
\r
2528 task that is not in the Blocked state. */
\r
2529 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2531 /* Place the event list item of the TCB at the end of the appropriate event
\r
2532 list. It is safe to access the event list here because it is part of an
\r
2533 event group implementation - and interrupts don't access event groups
\r
2534 directly (instead they access them indirectly by pending function calls to
\r
2535 the task level). */
\r
2536 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2538 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2540 /*-----------------------------------------------------------*/
\r
2542 #if( configUSE_TIMERS == 1 )
\r
2544 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2546 configASSERT( pxEventList );
\r
2548 /* This function should not be called by application code hence the
\r
2549 'Restricted' in its name. It is not part of the public API. It is
\r
2550 designed for use by kernel code, and has special calling requirements -
\r
2551 it should be called with the scheduler suspended. */
\r
2554 /* Place the event list item of the TCB in the appropriate event list.
\r
2555 In this case it is assume that this is the only task that is going to
\r
2556 be waiting on this event list, so the faster vListInsertEnd() function
\r
2557 can be used in place of vListInsert. */
\r
2558 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2560 /* If the task should block indefinitely then set the block time to a
\r
2561 value that will be recognised as an indefinite delay inside the
\r
2562 prvAddCurrentTaskToDelayedList() function. */
\r
2563 if( xWaitIndefinitely != pdFALSE )
\r
2565 xTicksToWait = portMAX_DELAY;
\r
2568 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
\r
2569 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
\r
2572 #endif /* configUSE_TIMERS */
\r
2573 /*-----------------------------------------------------------*/
\r
2575 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
2577 TCB_t *pxUnblockedTCB;
\r
2578 BaseType_t xReturn;
\r
2580 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
2581 called from a critical section within an ISR. */
\r
2583 /* The event list is sorted in priority order, so the first in the list can
\r
2584 be removed as it is known to be the highest priority. Remove the TCB from
\r
2585 the delayed list, and add it to the ready list.
\r
2587 If an event is for a queue that is locked then this function will never
\r
2588 get called - the lock count on the queue will get modified instead. This
\r
2589 means exclusive access to the event list is guaranteed here.
\r
2591 This function assumes that a check has already been made to ensure that
\r
2592 pxEventList is not empty. */
\r
2593 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2594 configASSERT( pxUnblockedTCB );
\r
2595 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2597 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2599 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
2600 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2604 /* The delayed and ready lists cannot be accessed, so hold this task
\r
2605 pending until the scheduler is resumed. */
\r
2606 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2609 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2611 /* Return true if the task removed from the event list has a higher
\r
2612 priority than the calling task. This allows the calling task to know if
\r
2613 it should force a context switch now. */
\r
2616 /* Mark that a yield is pending in case the user is not using the
\r
2617 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2618 xYieldPending = pdTRUE;
\r
2622 xReturn = pdFALSE;
\r
2625 #if( configUSE_TICKLESS_IDLE != 0 )
\r
2627 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
2628 might be set to the blocked task's time out time. If the task is
\r
2629 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
2630 normally left unchanged, because it is automatically reset to a new
\r
2631 value when the tick count equals xNextTaskUnblockTime. However if
\r
2632 tickless idling is used it might be more important to enter sleep mode
\r
2633 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
2634 ensure it is updated at the earliest possible time. */
\r
2635 prvResetNextTaskUnblockTime();
\r
2641 /*-----------------------------------------------------------*/
\r
2643 BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
2645 TCB_t *pxUnblockedTCB;
\r
2646 BaseType_t xReturn;
\r
2648 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2649 the event flags implementation. */
\r
2650 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
2652 /* Store the new item value in the event list. */
\r
2653 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2655 /* Remove the event list form the event flag. Interrupts do not access
\r
2657 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2658 configASSERT( pxUnblockedTCB );
\r
2659 ( void ) uxListRemove( pxEventListItem );
\r
2661 /* Remove the task from the delayed list and add it to the ready list. The
\r
2662 scheduler is suspended so interrupts will not be accessing the ready
\r
2664 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
2665 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2667 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2669 /* Return true if the task removed from the event list has
\r
2670 a higher priority than the calling task. This allows
\r
2671 the calling task to know if it should force a context
\r
2675 /* Mark that a yield is pending in case the user is not using the
\r
2676 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2677 xYieldPending = pdTRUE;
\r
2681 xReturn = pdFALSE;
\r
2686 /*-----------------------------------------------------------*/
\r
2688 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
2690 configASSERT( pxTimeOut );
\r
2691 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2692 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2694 /*-----------------------------------------------------------*/
\r
2696 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
2698 BaseType_t xReturn;
\r
2700 configASSERT( pxTimeOut );
\r
2701 configASSERT( pxTicksToWait );
\r
2703 taskENTER_CRITICAL();
\r
2705 /* Minor optimisation. The tick count cannot change in this block. */
\r
2706 const TickType_t xConstTickCount = xTickCount;
\r
2708 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
2709 if( pxCurrentTCB->ucDelayAborted != pdFALSE )
\r
2711 /* The delay was aborted, which is not the same as a time out,
\r
2712 but has the same result. */
\r
2713 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
2719 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2720 if( *pxTicksToWait == portMAX_DELAY )
\r
2722 /* If INCLUDE_vTaskSuspend is set to 1 and the block time
\r
2723 specified is the maximum block time then the task should block
\r
2724 indefinitely, and therefore never time out. */
\r
2725 xReturn = pdFALSE;
\r
2730 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2732 /* The tick count is greater than the time at which
\r
2733 vTaskSetTimeout() was called, but has also overflowed since
\r
2734 vTaskSetTimeOut() was called. It must have wrapped all the way
\r
2735 around and gone past again. This passed since vTaskSetTimeout()
\r
2739 else if( ( ( TickType_t ) ( xConstTickCount - pxTimeOut->xTimeOnEntering ) ) < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
\r
2741 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2742 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2743 vTaskSetTimeOutState( pxTimeOut );
\r
2744 xReturn = pdFALSE;
\r
2751 taskEXIT_CRITICAL();
\r
2755 /*-----------------------------------------------------------*/
\r
2757 void vTaskMissedYield( void )
\r
2759 xYieldPending = pdTRUE;
\r
2761 /*-----------------------------------------------------------*/
\r
2763 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2765 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
2767 UBaseType_t uxReturn;
\r
2770 if( xTask != NULL )
\r
2772 pxTCB = ( TCB_t * ) xTask;
\r
2773 uxReturn = pxTCB->uxTaskNumber;
\r
2783 #endif /* configUSE_TRACE_FACILITY */
\r
2784 /*-----------------------------------------------------------*/
\r
2786 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2788 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
2792 if( xTask != NULL )
\r
2794 pxTCB = ( TCB_t * ) xTask;
\r
2795 pxTCB->uxTaskNumber = uxHandle;
\r
2799 #endif /* configUSE_TRACE_FACILITY */
\r
2802 * -----------------------------------------------------------
\r
2804 * ----------------------------------------------------------
\r
2806 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2807 * language extensions. The equivalent prototype for this function is:
\r
2809 * void prvIdleTask( void *pvParameters );
\r
2812 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2814 /* Stop warnings. */
\r
2815 ( void ) pvParameters;
\r
2817 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
2818 SCHEDULER IS STARTED. **/
\r
2822 /* See if any tasks have deleted themselves - if so then the idle task
\r
2823 is responsible for freeing the deleted task's TCB and stack. */
\r
2824 prvCheckTasksWaitingTermination();
\r
2826 #if ( configUSE_PREEMPTION == 0 )
\r
2828 /* If we are not using preemption we keep forcing a task switch to
\r
2829 see if any other task has become available. If we are using
\r
2830 preemption we don't need to do this as any task becoming available
\r
2831 will automatically get the processor anyway. */
\r
2834 #endif /* configUSE_PREEMPTION */
\r
2836 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2838 /* When using preemption tasks of equal priority will be
\r
2839 timesliced. If a task that is sharing the idle priority is ready
\r
2840 to run then the idle task should yield before the end of the
\r
2843 A critical region is not required here as we are just reading from
\r
2844 the list, and an occasional incorrect value will not matter. If
\r
2845 the ready list at the idle priority contains more than one task
\r
2846 then a task other than the idle task is ready to execute. */
\r
2847 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
2853 mtCOVERAGE_TEST_MARKER();
\r
2856 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2858 #if ( configUSE_IDLE_HOOK == 1 )
\r
2860 extern void vApplicationIdleHook( void );
\r
2862 /* Call the user defined function from within the idle task. This
\r
2863 allows the application designer to add background functionality
\r
2864 without the overhead of a separate task.
\r
2865 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2866 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2867 vApplicationIdleHook();
\r
2869 #endif /* configUSE_IDLE_HOOK */
\r
2871 /* This conditional compilation should use inequality to 0, not equality
\r
2872 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2873 user defined low power mode implementations require
\r
2874 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2875 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2877 TickType_t xExpectedIdleTime;
\r
2879 /* It is not desirable to suspend then resume the scheduler on
\r
2880 each iteration of the idle task. Therefore, a preliminary
\r
2881 test of the expected idle time is performed without the
\r
2882 scheduler suspended. The result here is not necessarily
\r
2884 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2886 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2888 vTaskSuspendAll();
\r
2890 /* Now the scheduler is suspended, the expected idle
\r
2891 time can be sampled again, and this time its value can
\r
2893 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2894 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2896 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2898 traceLOW_POWER_IDLE_BEGIN();
\r
2899 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2900 traceLOW_POWER_IDLE_END();
\r
2904 mtCOVERAGE_TEST_MARKER();
\r
2907 ( void ) xTaskResumeAll();
\r
2911 mtCOVERAGE_TEST_MARKER();
\r
2914 #endif /* configUSE_TICKLESS_IDLE */
\r
2917 /*-----------------------------------------------------------*/
\r
2919 #if( configUSE_TICKLESS_IDLE != 0 )
\r
2921 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2923 /* The idle task exists in addition to the application tasks. */
\r
2924 const UBaseType_t uxNonApplicationTasks = 1;
\r
2925 eSleepModeStatus eReturn = eStandardSleep;
\r
2927 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2929 /* A task was made ready while the scheduler was suspended. */
\r
2930 eReturn = eAbortSleep;
\r
2932 else if( xYieldPending != pdFALSE )
\r
2934 /* A yield was pended while the scheduler was suspended. */
\r
2935 eReturn = eAbortSleep;
\r
2939 /* If all the tasks are in the suspended list (which might mean they
\r
2940 have an infinite block time rather than actually being suspended)
\r
2941 then it is safe to turn all clocks off and just wait for external
\r
2943 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2945 eReturn = eNoTasksWaitingTimeout;
\r
2949 mtCOVERAGE_TEST_MARKER();
\r
2956 #endif /* configUSE_TICKLESS_IDLE */
\r
2957 /*-----------------------------------------------------------*/
\r
2959 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
2963 /* Store the task name in the TCB. */
\r
2964 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2966 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2968 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2969 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2970 string is not accessible (extremely unlikely). */
\r
2971 if( pcName[ x ] == 0x00 )
\r
2977 mtCOVERAGE_TEST_MARKER();
\r
2981 /* Ensure the name string is terminated in the case that the string length
\r
2982 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2983 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
2985 /* This is used as an array index so must ensure it's not too large. First
\r
2986 remove the privilege bit if one is present. */
\r
2987 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
2989 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
2993 mtCOVERAGE_TEST_MARKER();
\r
2996 pxTCB->uxPriority = uxPriority;
\r
2997 #if ( configUSE_MUTEXES == 1 )
\r
2999 pxTCB->uxBasePriority = uxPriority;
\r
3000 pxTCB->uxMutexesHeld = 0;
\r
3002 #endif /* configUSE_MUTEXES */
\r
3004 vListInitialiseItem( &( pxTCB->xStateListItem ) );
\r
3005 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
3007 /* Set the pxTCB as a link back from the ListItem_t. This is so we can get
\r
3008 back to the containing TCB from a generic item in a list. */
\r
3009 listSET_LIST_ITEM_OWNER( &( pxTCB->xStateListItem ), pxTCB );
\r
3011 /* Event lists are always in priority order. */
\r
3012 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
3013 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
3015 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3017 pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
3019 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3021 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
3023 pxTCB->pxTaskTag = NULL;
\r
3025 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
3027 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3029 pxTCB->ulRunTimeCounter = 0UL;
\r
3031 #endif /* configGENERATE_RUN_TIME_STATS */
\r
3033 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3035 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
3037 #else /* portUSING_MPU_WRAPPERS */
\r
3039 ( void ) xRegions;
\r
3040 ( void ) usStackDepth;
\r
3042 #endif /* portUSING_MPU_WRAPPERS */
\r
3044 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3046 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
3048 pxTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
3053 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
3055 pxTCB->ulNotifiedValue = 0;
\r
3056 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
3060 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3062 /* Initialise this task's Newlib reent structure. */
\r
3063 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
3067 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
3069 pxTCB->ucDelayAborted = pdFALSE;
\r
3073 /*-----------------------------------------------------------*/
\r
3075 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3077 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
3081 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3083 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
3084 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3088 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3089 /*-----------------------------------------------------------*/
\r
3091 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3093 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
3095 void *pvReturn = NULL;
\r
3098 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3100 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3101 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3111 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3112 /*-----------------------------------------------------------*/
\r
3114 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3116 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3120 /* If null is passed in here then we are modifying the MPU settings of
\r
3121 the calling task. */
\r
3122 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3124 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3127 #endif /* portUSING_MPU_WRAPPERS */
\r
3128 /*-----------------------------------------------------------*/
\r
3130 static void prvInitialiseTaskLists( void )
\r
3132 UBaseType_t uxPriority;
\r
3134 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3136 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3139 vListInitialise( &xDelayedTaskList1 );
\r
3140 vListInitialise( &xDelayedTaskList2 );
\r
3141 vListInitialise( &xPendingReadyList );
\r
3143 #if ( INCLUDE_vTaskDelete == 1 )
\r
3145 vListInitialise( &xTasksWaitingTermination );
\r
3147 #endif /* INCLUDE_vTaskDelete */
\r
3149 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3151 vListInitialise( &xSuspendedTaskList );
\r
3153 #endif /* INCLUDE_vTaskSuspend */
\r
3155 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3157 pxDelayedTaskList = &xDelayedTaskList1;
\r
3158 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3160 /*-----------------------------------------------------------*/
\r
3162 static void prvCheckTasksWaitingTermination( void )
\r
3165 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3167 #if ( INCLUDE_vTaskDelete == 1 )
\r
3169 BaseType_t xListIsEmpty;
\r
3171 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
3172 too often in the idle task. */
\r
3173 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3175 vTaskSuspendAll();
\r
3177 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
3179 ( void ) xTaskResumeAll();
\r
3181 if( xListIsEmpty == pdFALSE )
\r
3185 taskENTER_CRITICAL();
\r
3187 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
3188 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
3189 --uxCurrentNumberOfTasks;
\r
3190 --uxDeletedTasksWaitingCleanUp;
\r
3192 taskEXIT_CRITICAL();
\r
3194 prvDeleteTCB( pxTCB );
\r
3198 mtCOVERAGE_TEST_MARKER();
\r
3202 #endif /* INCLUDE_vTaskDelete */
\r
3204 /*-----------------------------------------------------------*/
\r
3206 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer, TCB_t * const pxTaskBuffer )
\r
3210 #if( ( configASSERT_DEFINED == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
3212 /* Sanity check that the size of the structure used to declare a
\r
3213 variable of type StaticTask_t matches the size of the actual TCB_t
\r
3215 volatile size_t xSize = sizeof( StaticTask_t );
\r
3216 configASSERT( xSize == sizeof( TCB_t ) );
\r
3218 #endif /* configASSERT_DEFINED */
\r
3220 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
3221 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
3222 the TCB then the stack. */
\r
3223 #if( portSTACK_GROWTH > 0 )
\r
3225 /* Allocate space for the TCB. Where the memory comes from depends on
\r
3226 the implementation of the port malloc function. */
\r
3227 pxNewTCB = ( TCB_t * ) pvPortMallocAligned( sizeof( TCB_t ), pxTaskBuffer );
\r
3229 if( pxNewTCB != NULL )
\r
3231 /* Allocate space for the stack used by the task being created.
\r
3232 The base of the stack memory stored in the TCB so the task can
\r
3233 be deleted later if required. */
\r
3234 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
3236 if( pxNewTCB->pxStack == NULL )
\r
3238 /* Could not allocate the stack. Delete the allocated TCB - if
\r
3239 it was allocated dynamically. */
\r
3240 if( pxTaskBuffer == NULL )
\r
3242 vPortFree( pxNewTCB );
\r
3248 #else /* portSTACK_GROWTH */
\r
3250 StackType_t *pxStack;
\r
3252 /* Allocate space for the stack used by the task being created. */
\r
3253 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
3255 if( pxStack != NULL )
\r
3257 /* Allocate space for the TCB. */
\r
3258 pxNewTCB = ( TCB_t * ) pvPortMallocAligned( sizeof( TCB_t ), pxTaskBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some paths. */
\r
3260 if( pxNewTCB != NULL )
\r
3262 /* Store the stack location in the TCB. */
\r
3263 pxNewTCB->pxStack = pxStack;
\r
3267 /* The stack cannot be used as the TCB was not created. Free it
\r
3269 if( puxStackBuffer == NULL )
\r
3271 vPortFree( pxStack );
\r
3275 mtCOVERAGE_TEST_MARKER();
\r
3284 #endif /* portSTACK_GROWTH */
\r
3286 if( pxNewTCB != NULL )
\r
3288 /* Avoid dependency on memset() if it is not required. */
\r
3289 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3291 /* Just to help debugging. */
\r
3292 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );
\r
3294 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
3296 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
3298 pxNewTCB->ucStaticAllocationFlags = 0;
\r
3300 if( puxStackBuffer != NULL )
\r
3302 /* The application provided its own stack - note the fact so no
\r
3303 attempt is made to delete the stack if the task is deleted. */
\r
3304 pxNewTCB->ucStaticAllocationFlags |= taskSTATICALLY_ALLOCATED_STACK;
\r
3308 mtCOVERAGE_TEST_MARKER();
\r
3311 if( pxTaskBuffer != NULL )
\r
3313 /* The application provided its own TCB. Note the fact so no
\r
3314 attempt is made to delete the TCB if the task is deleted. */
\r
3315 pxNewTCB->ucStaticAllocationFlags |= taskSTATICALLY_ALLOCATED_TCB;
\r
3319 mtCOVERAGE_TEST_MARKER();
\r
3322 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
3327 /*-----------------------------------------------------------*/
\r
3329 #if( configUSE_TRACE_FACILITY == 1 )
\r
3331 void vTaskGetTaskInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
\r
3335 /* xTask is NULL then get the state of the calling task. */
\r
3336 pxTCB = prvGetTCBFromHandle( xTask );
\r
3338 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3339 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
\r
3340 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3341 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3342 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3344 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3346 /* If the task is in the suspended list then there is a chance it is
\r
3347 actually just blocked indefinitely - so really it should be reported as
\r
3348 being in the Blocked state. */
\r
3349 if( pxTaskStatus->eCurrentState == eSuspended )
\r
3351 vTaskSuspendAll();
\r
3353 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3355 pxTaskStatus->eCurrentState = eBlocked;
\r
3361 #endif /* INCLUDE_vTaskSuspend */
\r
3363 #if ( configUSE_MUTEXES == 1 )
\r
3365 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3369 pxTaskStatus->uxBasePriority = 0;
\r
3373 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3375 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3379 pxTaskStatus->ulRunTimeCounter = 0;
\r
3383 /* Obtaining the task state is a little fiddly, so is only done if the value
\r
3384 of eState passed into this function is eInvalid - otherwise the state is
\r
3385 just set to whatever is passed in. */
\r
3386 if( eState != eInvalid )
\r
3388 pxTaskStatus->eCurrentState = eState;
\r
3392 pxTaskStatus->eCurrentState = eTaskGetState( xTask );
\r
3395 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3396 parameter is provided to allow it to be skipped. */
\r
3397 if( xGetFreeStackSpace != pdFALSE )
\r
3399 #if ( portSTACK_GROWTH > 0 )
\r
3401 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3405 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3411 pxTaskStatus->usStackHighWaterMark = 0;
\r
3415 #endif /* configUSE_TRACE_FACILITY */
\r
3416 /*-----------------------------------------------------------*/
\r
3418 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3420 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3422 volatile TCB_t *pxNextTCB, *pxFirstTCB;
\r
3423 UBaseType_t uxTask = 0;
\r
3425 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3427 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
3429 /* Populate an TaskStatus_t structure within the
\r
3430 pxTaskStatusArray array for each task that is referenced from
\r
3431 pxList. See the definition of TaskStatus_t in task.h for the
\r
3432 meaning of each TaskStatus_t structure member. */
\r
3435 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
3436 vTaskGetTaskInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3438 } while( pxNextTCB != pxFirstTCB );
\r
3442 mtCOVERAGE_TEST_MARKER();
\r
3448 #endif /* configUSE_TRACE_FACILITY */
\r
3449 /*-----------------------------------------------------------*/
\r
3451 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3453 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3455 uint32_t ulCount = 0U;
\r
3457 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3459 pucStackByte -= portSTACK_GROWTH;
\r
3463 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3465 return ( uint16_t ) ulCount;
\r
3468 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3469 /*-----------------------------------------------------------*/
\r
3471 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3473 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3476 uint8_t *pucEndOfStack;
\r
3477 UBaseType_t uxReturn;
\r
3479 pxTCB = prvGetTCBFromHandle( xTask );
\r
3481 #if portSTACK_GROWTH < 0
\r
3483 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3487 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3491 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3496 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3497 /*-----------------------------------------------------------*/
\r
3499 #if ( INCLUDE_vTaskDelete == 1 )
\r
3501 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3503 /* This call is required specifically for the TriCore port. It must be
\r
3504 above the vPortFree() calls. The call is also used by ports/demos that
\r
3505 want to allocate and clean RAM statically. */
\r
3506 portCLEAN_UP_TCB( pxTCB );
\r
3508 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3509 to the task to free any memory allocated at the application level. */
\r
3510 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3512 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3514 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3516 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
3518 /* Only free the stack and TCB if they were allocated dynamically in
\r
3519 the first place. */
\r
3520 if( ( pxTCB->ucStaticAllocationFlags & taskSTATICALLY_ALLOCATED_STACK ) == ( uint8_t ) 0 )
\r
3522 vPortFreeAligned( pxTCB->pxStack );
\r
3526 mtCOVERAGE_TEST_MARKER();
\r
3529 if( ( pxTCB->ucStaticAllocationFlags & taskSTATICALLY_ALLOCATED_TCB ) == ( uint8_t ) 0 )
\r
3531 vPortFreeAligned( pxTCB );
\r
3535 mtCOVERAGE_TEST_MARKER();
\r
3540 vPortFreeAligned( pxTCB->pxStack );
\r
3541 vPortFree( pxTCB );
\r
3546 #endif /* INCLUDE_vTaskDelete */
\r
3547 /*-----------------------------------------------------------*/
\r
3549 static void prvResetNextTaskUnblockTime( void )
\r
3553 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3555 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3556 the maximum possible value so it is extremely unlikely that the
\r
3557 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3558 there is an item in the delayed list. */
\r
3559 xNextTaskUnblockTime = portMAX_DELAY;
\r
3563 /* The new current delayed list is not empty, get the value of
\r
3564 the item at the head of the delayed list. This is the time at
\r
3565 which the task at the head of the delayed list should be removed
\r
3566 from the Blocked state. */
\r
3567 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3568 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
\r
3571 /*-----------------------------------------------------------*/
\r
3573 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3575 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3577 TaskHandle_t xReturn;
\r
3579 /* A critical section is not required as this is not called from
\r
3580 an interrupt and the current TCB will always be the same for any
\r
3581 individual execution thread. */
\r
3582 xReturn = pxCurrentTCB;
\r
3587 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3588 /*-----------------------------------------------------------*/
\r
3590 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3592 BaseType_t xTaskGetSchedulerState( void )
\r
3594 BaseType_t xReturn;
\r
3596 if( xSchedulerRunning == pdFALSE )
\r
3598 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3602 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3604 xReturn = taskSCHEDULER_RUNNING;
\r
3608 xReturn = taskSCHEDULER_SUSPENDED;
\r
3615 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3616 /*-----------------------------------------------------------*/
\r
3618 #if ( configUSE_MUTEXES == 1 )
\r
3620 void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3622 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3624 /* If the mutex was given back by an interrupt while the queue was
\r
3625 locked then the mutex holder might now be NULL. */
\r
3626 if( pxMutexHolder != NULL )
\r
3628 /* If the holder of the mutex has a priority below the priority of
\r
3629 the task attempting to obtain the mutex then it will temporarily
\r
3630 inherit the priority of the task attempting to obtain the mutex. */
\r
3631 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3633 /* Adjust the mutex holder state to account for its new
\r
3634 priority. Only reset the event list item value if the value is
\r
3635 not being used for anything else. */
\r
3636 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3638 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
3642 mtCOVERAGE_TEST_MARKER();
\r
3645 /* If the task being modified is in the ready state it will need
\r
3646 to be moved into a new list. */
\r
3647 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
3649 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3651 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3655 mtCOVERAGE_TEST_MARKER();
\r
3658 /* Inherit the priority before being moved into the new list. */
\r
3659 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3660 prvAddTaskToReadyList( pxTCB );
\r
3664 /* Just inherit the priority. */
\r
3665 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3668 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
3672 mtCOVERAGE_TEST_MARKER();
\r
3677 mtCOVERAGE_TEST_MARKER();
\r
3681 #endif /* configUSE_MUTEXES */
\r
3682 /*-----------------------------------------------------------*/
\r
3684 #if ( configUSE_MUTEXES == 1 )
\r
3686 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3688 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3689 BaseType_t xReturn = pdFALSE;
\r
3691 if( pxMutexHolder != NULL )
\r
3693 /* A task can only have an inherited priority if it holds the mutex.
\r
3694 If the mutex is held by a task then it cannot be given from an
\r
3695 interrupt, and if a mutex is given by the holding task then it must
\r
3696 be the running state task. */
\r
3697 configASSERT( pxTCB == pxCurrentTCB );
\r
3699 configASSERT( pxTCB->uxMutexesHeld );
\r
3700 ( pxTCB->uxMutexesHeld )--;
\r
3702 /* Has the holder of the mutex inherited the priority of another
\r
3704 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3706 /* Only disinherit if no other mutexes are held. */
\r
3707 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3709 /* A task can only have an inherited priority if it holds
\r
3710 the mutex. If the mutex is held by a task then it cannot be
\r
3711 given from an interrupt, and if a mutex is given by the
\r
3712 holding task then it must be the running state task. Remove
\r
3713 the holding task from the ready list. */
\r
3714 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3716 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3720 mtCOVERAGE_TEST_MARKER();
\r
3723 /* Disinherit the priority before adding the task into the
\r
3724 new ready list. */
\r
3725 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3726 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3728 /* Reset the event list item value. It cannot be in use for
\r
3729 any other purpose if this task is running, and it must be
\r
3730 running to give back the mutex. */
\r
3731 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
3732 prvAddTaskToReadyList( pxTCB );
\r
3734 /* Return true to indicate that a context switch is required.
\r
3735 This is only actually required in the corner case whereby
\r
3736 multiple mutexes were held and the mutexes were given back
\r
3737 in an order different to that in which they were taken.
\r
3738 If a context switch did not occur when the first mutex was
\r
3739 returned, even if a task was waiting on it, then a context
\r
3740 switch should occur when the last mutex is returned whether
\r
3741 a task is waiting on it or not. */
\r
3746 mtCOVERAGE_TEST_MARKER();
\r
3751 mtCOVERAGE_TEST_MARKER();
\r
3756 mtCOVERAGE_TEST_MARKER();
\r
3762 #endif /* configUSE_MUTEXES */
\r
3763 /*-----------------------------------------------------------*/
\r
3765 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3767 void vTaskEnterCritical( void )
\r
3769 portDISABLE_INTERRUPTS();
\r
3771 if( xSchedulerRunning != pdFALSE )
\r
3773 ( pxCurrentTCB->uxCriticalNesting )++;
\r
3775 /* This is not the interrupt safe version of the enter critical
\r
3776 function so assert() if it is being called from an interrupt
\r
3777 context. Only API functions that end in "FromISR" can be used in an
\r
3778 interrupt. Only assert if the critical nesting count is 1 to
\r
3779 protect against recursive calls if the assert function also uses a
\r
3780 critical section. */
\r
3781 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
3783 portASSERT_IF_IN_ISR();
\r
3788 mtCOVERAGE_TEST_MARKER();
\r
3792 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3793 /*-----------------------------------------------------------*/
\r
3795 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3797 void vTaskExitCritical( void )
\r
3799 if( xSchedulerRunning != pdFALSE )
\r
3801 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
3803 ( pxCurrentTCB->uxCriticalNesting )--;
\r
3805 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
3807 portENABLE_INTERRUPTS();
\r
3811 mtCOVERAGE_TEST_MARKER();
\r
3816 mtCOVERAGE_TEST_MARKER();
\r
3821 mtCOVERAGE_TEST_MARKER();
\r
3825 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3826 /*-----------------------------------------------------------*/
\r
3828 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3830 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
3834 /* Start by copying the entire string. */
\r
3835 strcpy( pcBuffer, pcTaskName );
\r
3837 /* Pad the end of the string with spaces to ensure columns line up when
\r
3839 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
3841 pcBuffer[ x ] = ' ';
\r
3845 pcBuffer[ x ] = 0x00;
\r
3847 /* Return the new end of string. */
\r
3848 return &( pcBuffer[ x ] );
\r
3851 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
3852 /*-----------------------------------------------------------*/
\r
3854 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3856 void vTaskList( char * pcWriteBuffer )
\r
3858 TaskStatus_t *pxTaskStatusArray;
\r
3859 volatile UBaseType_t uxArraySize, x;
\r
3865 * This function is provided for convenience only, and is used by many
\r
3866 * of the demo applications. Do not consider it to be part of the
\r
3869 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
3870 * uxTaskGetSystemState() output into a human readable table that
\r
3871 * displays task names, states and stack usage.
\r
3873 * vTaskList() has a dependency on the sprintf() C library function that
\r
3874 * might bloat the code size, use a lot of stack, and provide different
\r
3875 * results on different platforms. An alternative, tiny, third party,
\r
3876 * and limited functionality implementation of sprintf() is provided in
\r
3877 * many of the FreeRTOS/Demo sub-directories in a file called
\r
3878 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
3879 * snprintf() implementation!).
\r
3881 * It is recommended that production systems call uxTaskGetSystemState()
\r
3882 * directly to get access to raw stats data, rather than indirectly
\r
3883 * through a call to vTaskList().
\r
3887 /* Make sure the write buffer does not contain a string. */
\r
3888 *pcWriteBuffer = 0x00;
\r
3890 /* Take a snapshot of the number of tasks in case it changes while this
\r
3891 function is executing. */
\r
3892 uxArraySize = uxCurrentNumberOfTasks;
\r
3894 /* Allocate an array index for each task. */
\r
3895 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3897 if( pxTaskStatusArray != NULL )
\r
3899 /* Generate the (binary) data. */
\r
3900 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
3902 /* Create a human readable table from the binary data. */
\r
3903 for( x = 0; x < uxArraySize; x++ )
\r
3905 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
3907 case eReady: cStatus = tskREADY_CHAR;
\r
3910 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
3913 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
3916 case eDeleted: cStatus = tskDELETED_CHAR;
\r
3919 default: /* Should not get here, but it is included
\r
3920 to prevent static checking errors. */
\r
3925 /* Write the task name to the string, padding with spaces so it
\r
3926 can be printed in tabular form more easily. */
\r
3927 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3929 /* Write the rest of the string. */
\r
3930 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
3931 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3934 /* Free the array again. */
\r
3935 vPortFree( pxTaskStatusArray );
\r
3939 mtCOVERAGE_TEST_MARKER();
\r
3943 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3944 /*----------------------------------------------------------*/
\r
3946 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3948 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
3950 TaskStatus_t *pxTaskStatusArray;
\r
3951 volatile UBaseType_t uxArraySize, x;
\r
3952 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
3954 #if( configUSE_TRACE_FACILITY != 1 )
\r
3956 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
3963 * This function is provided for convenience only, and is used by many
\r
3964 * of the demo applications. Do not consider it to be part of the
\r
3967 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
3968 * of the uxTaskGetSystemState() output into a human readable table that
\r
3969 * displays the amount of time each task has spent in the Running state
\r
3970 * in both absolute and percentage terms.
\r
3972 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
3973 * function that might bloat the code size, use a lot of stack, and
\r
3974 * provide different results on different platforms. An alternative,
\r
3975 * tiny, third party, and limited functionality implementation of
\r
3976 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3977 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3978 * a full snprintf() implementation!).
\r
3980 * It is recommended that production systems call uxTaskGetSystemState()
\r
3981 * directly to get access to raw stats data, rather than indirectly
\r
3982 * through a call to vTaskGetRunTimeStats().
\r
3985 /* Make sure the write buffer does not contain a string. */
\r
3986 *pcWriteBuffer = 0x00;
\r
3988 /* Take a snapshot of the number of tasks in case it changes while this
\r
3989 function is executing. */
\r
3990 uxArraySize = uxCurrentNumberOfTasks;
\r
3992 /* Allocate an array index for each task. */
\r
3993 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3995 if( pxTaskStatusArray != NULL )
\r
3997 /* Generate the (binary) data. */
\r
3998 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
4000 /* For percentage calculations. */
\r
4001 ulTotalTime /= 100UL;
\r
4003 /* Avoid divide by zero errors. */
\r
4004 if( ulTotalTime > 0 )
\r
4006 /* Create a human readable table from the binary data. */
\r
4007 for( x = 0; x < uxArraySize; x++ )
\r
4009 /* What percentage of the total run time has the task used?
\r
4010 This will always be rounded down to the nearest integer.
\r
4011 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
4012 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
4014 /* Write the task name to the string, padding with
\r
4015 spaces so it can be printed in tabular form more
\r
4017 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4019 if( ulStatsAsPercentage > 0UL )
\r
4021 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4023 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
4027 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4028 printf() library can be used. */
\r
4029 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
4035 /* If the percentage is zero here then the task has
\r
4036 consumed less than 1% of the total run time. */
\r
4037 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4039 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4043 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4044 printf() library can be used. */
\r
4045 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4050 pcWriteBuffer += strlen( pcWriteBuffer );
\r
4055 mtCOVERAGE_TEST_MARKER();
\r
4058 /* Free the array again. */
\r
4059 vPortFree( pxTaskStatusArray );
\r
4063 mtCOVERAGE_TEST_MARKER();
\r
4067 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
4068 /*-----------------------------------------------------------*/
\r
4070 TickType_t uxTaskResetEventItemValue( void )
\r
4072 TickType_t uxReturn;
\r
4074 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
4076 /* Reset the event list item to its normal value - so it can be used with
\r
4077 queues and semaphores. */
\r
4078 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
4082 /*-----------------------------------------------------------*/
\r
4084 #if ( configUSE_MUTEXES == 1 )
\r
4086 void *pvTaskIncrementMutexHeldCount( void )
\r
4088 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
4089 then pxCurrentTCB will be NULL. */
\r
4090 if( pxCurrentTCB != NULL )
\r
4092 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4095 return pxCurrentTCB;
\r
4098 #endif /* configUSE_MUTEXES */
\r
4099 /*-----------------------------------------------------------*/
\r
4101 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4103 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
4105 uint32_t ulReturn;
\r
4107 taskENTER_CRITICAL();
\r
4109 /* Only block if the notification count is not already non-zero. */
\r
4110 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
4112 /* Mark this task as waiting for a notification. */
\r
4113 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4115 if( xTicksToWait > ( TickType_t ) 0 )
\r
4117 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4118 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4120 /* All ports are written to allow a yield in a critical
\r
4121 section (some will yield immediately, others wait until the
\r
4122 critical section exits) - but it is not something that
\r
4123 application code should ever do. */
\r
4124 portYIELD_WITHIN_API();
\r
4128 mtCOVERAGE_TEST_MARKER();
\r
4133 mtCOVERAGE_TEST_MARKER();
\r
4136 taskEXIT_CRITICAL();
\r
4138 taskENTER_CRITICAL();
\r
4140 traceTASK_NOTIFY_TAKE();
\r
4141 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4143 if( ulReturn != 0UL )
\r
4145 if( xClearCountOnExit != pdFALSE )
\r
4147 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4151 ( pxCurrentTCB->ulNotifiedValue )--;
\r
4156 mtCOVERAGE_TEST_MARKER();
\r
4159 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4161 taskEXIT_CRITICAL();
\r
4166 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4167 /*-----------------------------------------------------------*/
\r
4169 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4171 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4173 BaseType_t xReturn;
\r
4175 taskENTER_CRITICAL();
\r
4177 /* Only block if a notification is not already pending. */
\r
4178 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4180 /* Clear bits in the task's notification value as bits may get
\r
4181 set by the notifying task or interrupt. This can be used to
\r
4182 clear the value to zero. */
\r
4183 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4185 /* Mark this task as waiting for a notification. */
\r
4186 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4188 if( xTicksToWait > ( TickType_t ) 0 )
\r
4190 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4191 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4193 /* All ports are written to allow a yield in a critical
\r
4194 section (some will yield immediately, others wait until the
\r
4195 critical section exits) - but it is not something that
\r
4196 application code should ever do. */
\r
4197 portYIELD_WITHIN_API();
\r
4201 mtCOVERAGE_TEST_MARKER();
\r
4206 mtCOVERAGE_TEST_MARKER();
\r
4209 taskEXIT_CRITICAL();
\r
4211 taskENTER_CRITICAL();
\r
4213 traceTASK_NOTIFY_WAIT();
\r
4215 if( pulNotificationValue != NULL )
\r
4217 /* Output the current notification value, which may or may not
\r
4219 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4222 /* If ucNotifyValue is set then either the task never entered the
\r
4223 blocked state (because a notification was already pending) or the
\r
4224 task unblocked because of a notification. Otherwise the task
\r
4225 unblocked because of a timeout. */
\r
4226 if( pxCurrentTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
4228 /* A notification was not received. */
\r
4229 xReturn = pdFALSE;
\r
4233 /* A notification was already pending or a notification was
\r
4234 received while the task was waiting. */
\r
4235 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4239 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4241 taskEXIT_CRITICAL();
\r
4246 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4247 /*-----------------------------------------------------------*/
\r
4249 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4251 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4254 BaseType_t xReturn = pdPASS;
\r
4255 uint8_t ucOriginalNotifyState;
\r
4257 configASSERT( xTaskToNotify );
\r
4258 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4260 taskENTER_CRITICAL();
\r
4262 if( pulPreviousNotificationValue != NULL )
\r
4264 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4267 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4269 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4274 pxTCB->ulNotifiedValue |= ulValue;
\r
4278 ( pxTCB->ulNotifiedValue )++;
\r
4281 case eSetValueWithOverwrite :
\r
4282 pxTCB->ulNotifiedValue = ulValue;
\r
4285 case eSetValueWithoutOverwrite :
\r
4286 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4288 pxTCB->ulNotifiedValue = ulValue;
\r
4292 /* The value could not be written to the task. */
\r
4298 /* The task is being notified without its notify value being
\r
4303 traceTASK_NOTIFY();
\r
4305 /* If the task is in the blocked state specifically to wait for a
\r
4306 notification then unblock it now. */
\r
4307 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4309 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4310 prvAddTaskToReadyList( pxTCB );
\r
4312 /* The task should not have been on an event list. */
\r
4313 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4315 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4317 /* If a task is blocked waiting for a notification then
\r
4318 xNextTaskUnblockTime might be set to the blocked task's time
\r
4319 out time. If the task is unblocked for a reason other than
\r
4320 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4321 because it will automatically get reset to a new value when
\r
4322 the tick count equals xNextTaskUnblockTime. However if
\r
4323 tickless idling is used it might be more important to enter
\r
4324 sleep mode at the earliest possible time - so reset
\r
4325 xNextTaskUnblockTime here to ensure it is updated at the
\r
4326 earliest possible time. */
\r
4327 prvResetNextTaskUnblockTime();
\r
4331 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4333 /* The notified task has a priority above the currently
\r
4334 executing task so a yield is required. */
\r
4335 taskYIELD_IF_USING_PREEMPTION();
\r
4339 mtCOVERAGE_TEST_MARKER();
\r
4344 mtCOVERAGE_TEST_MARKER();
\r
4347 taskEXIT_CRITICAL();
\r
4352 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4353 /*-----------------------------------------------------------*/
\r
4355 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4357 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4360 uint8_t ucOriginalNotifyState;
\r
4361 BaseType_t xReturn = pdPASS;
\r
4362 UBaseType_t uxSavedInterruptStatus;
\r
4364 configASSERT( xTaskToNotify );
\r
4366 /* RTOS ports that support interrupt nesting have the concept of a
\r
4367 maximum system call (or maximum API call) interrupt priority.
\r
4368 Interrupts that are above the maximum system call priority are keep
\r
4369 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4370 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4371 is defined in FreeRTOSConfig.h then
\r
4372 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4373 failure if a FreeRTOS API function is called from an interrupt that has
\r
4374 been assigned a priority above the configured maximum system call
\r
4375 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4376 from interrupts that have been assigned a priority at or (logically)
\r
4377 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4378 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4379 simple as possible. More information (albeit Cortex-M specific) is
\r
4380 provided on the following link:
\r
4381 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4382 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4384 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4386 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4388 if( pulPreviousNotificationValue != NULL )
\r
4390 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4393 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4394 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4399 pxTCB->ulNotifiedValue |= ulValue;
\r
4403 ( pxTCB->ulNotifiedValue )++;
\r
4406 case eSetValueWithOverwrite :
\r
4407 pxTCB->ulNotifiedValue = ulValue;
\r
4410 case eSetValueWithoutOverwrite :
\r
4411 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4413 pxTCB->ulNotifiedValue = ulValue;
\r
4417 /* The value could not be written to the task. */
\r
4423 /* The task is being notified without its notify value being
\r
4428 traceTASK_NOTIFY_FROM_ISR();
\r
4430 /* If the task is in the blocked state specifically to wait for a
\r
4431 notification then unblock it now. */
\r
4432 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4434 /* The task should not have been on an event list. */
\r
4435 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4437 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4439 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4440 prvAddTaskToReadyList( pxTCB );
\r
4444 /* The delayed and ready lists cannot be accessed, so hold
\r
4445 this task pending until the scheduler is resumed. */
\r
4446 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4449 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4451 /* The notified task has a priority above the currently
\r
4452 executing task so a yield is required. */
\r
4453 if( pxHigherPriorityTaskWoken != NULL )
\r
4455 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4459 /* Mark that a yield is pending in case the user is not
\r
4460 using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
4461 safe FreeRTOS function. */
\r
4462 xYieldPending = pdTRUE;
\r
4467 mtCOVERAGE_TEST_MARKER();
\r
4471 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4476 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4477 /*-----------------------------------------------------------*/
\r
4479 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4481 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4484 uint8_t ucOriginalNotifyState;
\r
4485 UBaseType_t uxSavedInterruptStatus;
\r
4487 configASSERT( xTaskToNotify );
\r
4489 /* RTOS ports that support interrupt nesting have the concept of a
\r
4490 maximum system call (or maximum API call) interrupt priority.
\r
4491 Interrupts that are above the maximum system call priority are keep
\r
4492 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4493 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4494 is defined in FreeRTOSConfig.h then
\r
4495 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4496 failure if a FreeRTOS API function is called from an interrupt that has
\r
4497 been assigned a priority above the configured maximum system call
\r
4498 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4499 from interrupts that have been assigned a priority at or (logically)
\r
4500 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4501 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4502 simple as possible. More information (albeit Cortex-M specific) is
\r
4503 provided on the following link:
\r
4504 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4505 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4507 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4509 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4511 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4512 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4514 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4516 ( pxTCB->ulNotifiedValue )++;
\r
4518 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
4520 /* If the task is in the blocked state specifically to wait for a
\r
4521 notification then unblock it now. */
\r
4522 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4524 /* The task should not have been on an event list. */
\r
4525 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4527 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4529 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4530 prvAddTaskToReadyList( pxTCB );
\r
4534 /* The delayed and ready lists cannot be accessed, so hold
\r
4535 this task pending until the scheduler is resumed. */
\r
4536 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4539 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4541 /* The notified task has a priority above the currently
\r
4542 executing task so a yield is required. */
\r
4543 if( pxHigherPriorityTaskWoken != NULL )
\r
4545 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4549 /* Mark that a yield is pending in case the user is not
\r
4550 using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
4551 safe FreeRTOS function. */
\r
4552 xYieldPending = pdTRUE;
\r
4557 mtCOVERAGE_TEST_MARKER();
\r
4561 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4564 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4566 /*-----------------------------------------------------------*/
\r
4568 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4570 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
4573 BaseType_t xReturn;
\r
4575 /* If null is passed in here then it is the calling task that is having
\r
4576 its notification state cleared. */
\r
4577 pxTCB = prvGetTCBFromHandle( xTask );
\r
4579 taskENTER_CRITICAL();
\r
4581 if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
\r
4583 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4591 taskEXIT_CRITICAL();
\r
4596 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4597 /*-----------------------------------------------------------*/
\r
4600 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
\r
4602 TickType_t xTimeToWake;
\r
4604 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
4606 /* About to enter a delayed list, so ensure the ucDelayAborted flag is
\r
4607 reset to pdFALSE so it can be detected as having been set to pdTRUE
\r
4608 when the task leaves the Blocked state. */
\r
4609 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
4613 /* Remove the task from the ready list before adding it to the blocked list
\r
4614 as the same list item is used for both lists. */
\r
4615 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4617 /* The current task must be in a ready list, so there is no need to
\r
4618 check, and the port reset macro can be called directly. */
\r
4619 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
4623 mtCOVERAGE_TEST_MARKER();
\r
4627 #if ( INCLUDE_vTaskSuspend == 1 )
\r
4629 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
\r
4631 /* Add the task to the suspended task list instead of a delayed task
\r
4632 list to ensure it is not woken by a timing event. It will block
\r
4634 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4638 /* Calculate the time at which the task should be woken if the event
\r
4639 does not occur. This may overflow but this doesn't matter, the
\r
4640 kernel will manage it correctly. */
\r
4641 xTimeToWake = xTickCount + xTicksToWait;
\r
4643 /* The list item will be inserted in wake time order. */
\r
4644 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
4646 if( xTimeToWake < xTickCount )
\r
4648 /* Wake time has overflowed. Place this item in the overflow
\r
4650 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4654 /* The wake time has not overflowed, so the current block list
\r
4656 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4658 /* If the task entering the blocked state was placed at the
\r
4659 head of the list of blocked tasks then xNextTaskUnblockTime
\r
4660 needs to be updated too. */
\r
4661 if( xTimeToWake < xNextTaskUnblockTime )
\r
4663 xNextTaskUnblockTime = xTimeToWake;
\r
4667 mtCOVERAGE_TEST_MARKER();
\r
4672 #else /* INCLUDE_vTaskSuspend */
\r
4674 /* Calculate the time at which the task should be woken if the event
\r
4675 does not occur. This may overflow but this doesn't matter, the kernel
\r
4676 will manage it correctly. */
\r
4677 xTimeToWake = xTickCount + xTicksToWait;
\r
4679 /* The list item will be inserted in wake time order. */
\r
4680 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
4682 if( xTimeToWake < xTickCount )
\r
4684 /* Wake time has overflowed. Place this item in the overflow list. */
\r
4685 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4689 /* The wake time has not overflowed, so the current block list is used. */
\r
4690 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4692 /* If the task entering the blocked state was placed at the head of the
\r
4693 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
4695 if( xTimeToWake < xNextTaskUnblockTime )
\r
4697 xNextTaskUnblockTime = xTimeToWake;
\r
4701 mtCOVERAGE_TEST_MARKER();
\r
4705 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
\r
4706 ( void ) xCanBlockIndefinitely;
\r
4708 #endif /* INCLUDE_vTaskSuspend */
\r
4712 #ifdef FREERTOS_MODULE_TEST
\r
4713 #include "tasks_test_access_functions.h"
\r
projects / freertos / blob