2 FreeRTOS V9.0.0rc2 - 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 #if( configUSE_PREEMPTION == 0 )
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102 /* If the cooperative scheduler is being used then a yield should not be
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103 performed just because a higher priority task has been woken. */
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104 #define taskYIELD_IF_USING_PREEMPTION()
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106 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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109 /* Values that can be assigned to the ucNotifyState member of the TCB. */
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110 #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )
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111 #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
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112 #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
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115 * The value used to fill the stack of a task when the task is created. This
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116 * is used purely for checking the high water mark for tasks.
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118 #define tskSTACK_FILL_BYTE ( 0xa5U )
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121 * Macros used by vListTask to indicate which state a task is in.
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123 #define tskBLOCKED_CHAR ( 'B' )
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124 #define tskREADY_CHAR ( 'R' )
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125 #define tskDELETED_CHAR ( 'D' )
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126 #define tskSUSPENDED_CHAR ( 'S' )
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129 * Some kernel aware debuggers require the data the debugger needs access to be
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130 * global, rather than file scope.
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132 #ifdef portREMOVE_STATIC_QUALIFIER
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136 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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138 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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139 performed in a generic way that is not optimised to any particular
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140 microcontroller architecture. */
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142 /* uxTopReadyPriority holds the priority of the highest priority ready
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144 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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146 if( ( uxPriority ) > uxTopReadyPriority ) \
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148 uxTopReadyPriority = ( uxPriority ); \
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150 } /* taskRECORD_READY_PRIORITY */
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152 /*-----------------------------------------------------------*/
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154 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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156 UBaseType_t uxTopPriority = uxTopReadyPriority; \
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158 /* Find the highest priority queue that contains ready tasks. */ \
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159 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
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161 configASSERT( uxTopPriority ); \
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165 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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166 the same priority get an equal share of the processor time. */ \
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167 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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168 uxTopReadyPriority = uxTopPriority; \
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169 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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171 /*-----------------------------------------------------------*/
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173 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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174 they are only required when a port optimised method of task selection is
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176 #define taskRESET_READY_PRIORITY( uxPriority )
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177 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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179 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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181 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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182 performed in a way that is tailored to the particular microcontroller
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183 architecture being used. */
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185 /* A port optimised version is provided. Call the port defined macros. */
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186 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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188 /*-----------------------------------------------------------*/
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190 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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192 UBaseType_t uxTopPriority; \
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194 /* Find the highest priority list that contains ready tasks. */ \
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195 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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196 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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197 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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198 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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200 /*-----------------------------------------------------------*/
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202 /* A port optimised version is provided, call it only if the TCB being reset
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203 is being referenced from a ready list. If it is referenced from a delayed
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204 or suspended list then it won't be in a ready list. */
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205 #define taskRESET_READY_PRIORITY( uxPriority ) \
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207 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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209 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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213 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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215 /*-----------------------------------------------------------*/
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217 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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218 count overflows. */
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219 #define taskSWITCH_DELAYED_LISTS() \
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223 /* The delayed tasks list should be empty when the lists are switched. */ \
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224 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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226 pxTemp = pxDelayedTaskList; \
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227 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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228 pxOverflowDelayedTaskList = pxTemp; \
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229 xNumOfOverflows++; \
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230 prvResetNextTaskUnblockTime(); \
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233 /*-----------------------------------------------------------*/
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236 * Place the task represented by pxTCB into the appropriate ready list for
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237 * the task. It is inserted at the end of the list.
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239 #define prvAddTaskToReadyList( pxTCB ) \
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240 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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241 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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242 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
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243 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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244 /*-----------------------------------------------------------*/
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247 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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248 * where NULL is used to indicate that the handle of the currently executing
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249 * task should be used in place of the parameter. This macro simply checks to
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250 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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252 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )
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254 /* The item value of the event list item is normally used to hold the priority
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255 of the task to which it belongs (coded to allow it to be held in reverse
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256 priority order). However, it is occasionally borrowed for other purposes. It
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257 is important its value is not updated due to a task priority change while it is
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258 being used for another purpose. The following bit definition is used to inform
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259 the scheduler that the value should not be changed - in which case it is the
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260 responsibility of whichever module is using the value to ensure it gets set back
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261 to its original value when it is released. */
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262 #if( configUSE_16_BIT_TICKS == 1 )
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263 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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265 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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269 * Task control block. A task control block (TCB) is allocated for each task,
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270 * and stores task state information, including a pointer to the task's context
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271 * (the task's run time environment, including register values)
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273 typedef struct tskTaskControlBlock
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275 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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277 #if ( portUSING_MPU_WRAPPERS == 1 )
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278 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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281 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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282 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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283 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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284 StackType_t *pxStack; /*< Points to the start of the stack. */
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285 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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287 #if ( portSTACK_GROWTH > 0 )
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288 StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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291 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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292 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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295 #if ( configUSE_TRACE_FACILITY == 1 )
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296 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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297 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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300 #if ( configUSE_MUTEXES == 1 )
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301 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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302 UBaseType_t uxMutexesHeld;
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305 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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306 TaskHookFunction_t pxTaskTag;
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309 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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310 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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313 #if( configGENERATE_RUN_TIME_STATS == 1 )
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314 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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317 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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318 /* Allocate a Newlib reent structure that is specific to this task.
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319 Note Newlib support has been included by popular demand, but is not
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320 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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321 responsible for resulting newlib operation. User must be familiar with
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322 newlib and must provide system-wide implementations of the necessary
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323 stubs. Be warned that (at the time of writing) the current newlib design
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324 implements a system-wide malloc() that must be provided with locks. */
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325 struct _reent xNewLib_reent;
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328 #if( configUSE_TASK_NOTIFICATIONS == 1 )
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329 volatile uint32_t ulNotifiedValue;
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330 volatile uint8_t ucNotifyState;
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333 #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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334 uint8_t ucStaticallyAllocated; /* Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
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337 #if( INCLUDE_xTaskAbortDelay == 1 )
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338 uint8_t ucDelayAborted;
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343 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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344 below to enable the use of older kernel aware debuggers. */
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345 typedef tskTCB TCB_t;
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347 /*lint -e956 A manual analysis and inspection has been used to determine which
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348 static variables must be declared volatile. */
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350 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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352 /* Lists for ready and blocked tasks. --------------------*/
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353 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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354 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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355 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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356 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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357 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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358 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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360 #if( INCLUDE_vTaskDelete == 1 )
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362 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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363 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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367 #if ( INCLUDE_vTaskSuspend == 1 )
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369 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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373 /* Other file private variables. --------------------------------*/
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374 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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375 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;
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376 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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377 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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378 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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379 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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380 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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381 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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382 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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383 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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385 /* Context switches are held pending while the scheduler is suspended. Also,
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386 interrupts must not manipulate the xStateListItem of a TCB, or any of the
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387 lists the xStateListItem can be referenced from, if the scheduler is suspended.
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388 If an interrupt needs to unblock a task while the scheduler is suspended then it
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389 moves the task's event list item into the xPendingReadyList, ready for the
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390 kernel to move the task from the pending ready list into the real ready list
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391 when the scheduler is unsuspended. The pending ready list itself can only be
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392 accessed from a critical section. */
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393 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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395 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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397 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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398 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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404 /*-----------------------------------------------------------*/
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406 /* Callback function prototypes. --------------------------*/
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407 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
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408 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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411 #if( configUSE_TICK_HOOK > 0 )
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412 extern void vApplicationTickHook( void );
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415 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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416 extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint16_t *pusIdleTaskStackSize );
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419 /* File private functions. --------------------------------*/
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422 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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423 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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424 * is in any other state.
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426 #if ( INCLUDE_vTaskSuspend == 1 )
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427 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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428 #endif /* INCLUDE_vTaskSuspend */
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431 * Utility to ready all the lists used by the scheduler. This is called
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432 * automatically upon the creation of the first task.
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434 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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437 * The idle task, which as all tasks is implemented as a never ending loop.
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438 * The idle task is automatically created and added to the ready lists upon
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439 * creation of the first user task.
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441 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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442 * language extensions. The equivalent prototype for this function is:
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444 * void prvIdleTask( void *pvParameters );
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447 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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450 * Utility to free all memory allocated by the scheduler to hold a TCB,
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451 * including the stack pointed to by the TCB.
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453 * This does not free memory allocated by the task itself (i.e. memory
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454 * allocated by calls to pvPortMalloc from within the tasks application code).
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456 #if ( INCLUDE_vTaskDelete == 1 )
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458 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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463 * Used only by the idle task. This checks to see if anything has been placed
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464 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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465 * and its TCB deleted.
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467 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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470 * The currently executing task is entering the Blocked state. Add the task to
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471 * either the current or the overflow delayed task list.
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473 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
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476 * Fills an TaskStatus_t structure with information on each task that is
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477 * referenced from the pxList list (which may be a ready list, a delayed list,
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478 * a suspended list, etc.).
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480 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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481 * NORMAL APPLICATION CODE.
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483 #if ( configUSE_TRACE_FACILITY == 1 )
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485 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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490 * Searches pxList for a task with name pcNameToQuery - returning a handle to
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491 * the task if it is found, or NULL if the task is not found.
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493 #if ( INCLUDE_xTaskGetTaskHandle == 1 )
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495 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
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500 * When a task is created, the stack of the task is filled with a known value.
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501 * This function determines the 'high water mark' of the task stack by
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502 * determining how much of the stack remains at the original preset value.
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504 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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506 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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511 * Return the amount of time, in ticks, that will pass before the kernel will
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512 * next move a task from the Blocked state to the Running state.
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514 * This conditional compilation should use inequality to 0, not equality to 1.
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515 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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516 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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517 * set to a value other than 1.
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519 #if ( configUSE_TICKLESS_IDLE != 0 )
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521 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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526 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
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527 * will exit the Blocked state.
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529 static void prvResetNextTaskUnblockTime( void );
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531 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
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534 * Helper function used to pad task names with spaces when printing out
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535 * human readable tables of task information.
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537 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
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542 * Called after a Task_t structure has been allocated either statically or
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543 * dynamically to fill in the structure's members.
\r
545 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
548 * Called after a new task has been created and initialised to place the task
\r
549 * under the control of the scheduler.
\r
551 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
\r
553 /*-----------------------------------------------------------*/
\r
555 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
557 BaseType_t xTaskCreateStatic( 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 ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
560 BaseType_t xReturn;
\r
562 configASSERT( puxStackBuffer != NULL );
\r
563 configASSERT( pxTaskBuffer != NULL );
\r
565 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
\r
567 /* The memory used for the task's TCB and stack are passed into this
\r
568 function - use them. */
\r
569 pxNewTCB = ( 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
570 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
\r
572 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
574 /* Tasks can be created statically or dynamically, so note this
\r
575 task was created statically in case the task is later deleted. */
\r
576 pxNewTCB->ucStaticallyAllocated = pdTRUE;
\r
578 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
580 prvInitialiseNewTask( pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB );
\r
581 prvAddNewTaskToReadyList( pxNewTCB );
\r
586 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
592 #endif /* SUPPORT_STATIC_ALLOCATION */
\r
593 /*-----------------------------------------------------------*/
\r
595 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
597 BaseType_t xTaskCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
600 BaseType_t xReturn;
\r
602 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
603 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
604 the TCB then the stack. */
\r
605 #if( portSTACK_GROWTH > 0 )
\r
607 /* Allocate space for the TCB. Where the memory comes from depends on
\r
608 the implementation of the port malloc function and whether or not static
\r
609 allocation is being used. */
\r
610 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
612 if( pxNewTCB != NULL )
\r
614 /* Allocate space for the stack used by the task being created.
\r
615 The base of the stack memory stored in the TCB so the task can
\r
616 be deleted later if required. */
\r
617 pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
619 if( pxNewTCB->pxStack == NULL )
\r
621 /* Could not allocate the stack. Delete the allocated TCB. */
\r
622 vPortFree( pxNewTCB );
\r
627 #else /* portSTACK_GROWTH */
\r
629 StackType_t *pxStack;
\r
631 /* Allocate space for the stack used by the task being created. */
\r
632 pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
634 if( pxStack != NULL )
\r
636 /* Allocate space for the TCB. */
\r
637 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e961 MISRA exception as the casts are only redundant for some paths. */
\r
639 if( pxNewTCB != NULL )
\r
641 /* Store the stack location in the TCB. */
\r
642 pxNewTCB->pxStack = pxStack;
\r
646 /* The stack cannot be used as the TCB was not created. Free
\r
648 vPortFree( pxStack );
\r
656 #endif /* portSTACK_GROWTH */
\r
658 if( pxNewTCB != NULL )
\r
660 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
662 /* Tasks can be created statically or dynamically, so note this
\r
663 task was created dynamically in case it is later deleted. */
\r
664 pxNewTCB->ucStaticallyAllocated = pdFALSE;
\r
666 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
668 prvInitialiseNewTask( pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB );
\r
669 prvAddNewTaskToReadyList( pxNewTCB );
\r
674 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
680 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
681 /*-----------------------------------------------------------*/
\r
683 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, TCB_t *pxNewTCB ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
685 StackType_t *pxTopOfStack;
\r
688 #if( portUSING_MPU_WRAPPERS == 1 )
\r
689 /* Should the task be created in privileged mode? */
\r
690 BaseType_t xRunPrivileged;
\r
691 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
693 xRunPrivileged = pdTRUE;
\r
697 xRunPrivileged = pdFALSE;
\r
699 uxPriority &= ~portPRIVILEGE_BIT;
\r
700 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
702 /* Avoid dependency on memset() if it is not required. */
\r
703 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
705 /* Fill the stack with a known value to assist debugging. */
\r
706 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );
\r
708 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
710 /* Calculate the top of stack address. This depends on whether the stack
\r
711 grows from high memory to low (as per the 80x86) or vice versa.
\r
712 portSTACK_GROWTH is used to make the result positive or negative as required
\r
714 #if( portSTACK_GROWTH < 0 )
\r
716 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );
\r
717 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
719 /* Check the alignment of the calculated top of stack is correct. */
\r
720 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
722 #else /* portSTACK_GROWTH */
\r
724 pxTopOfStack = pxNewTCB->pxStack;
\r
726 /* Check the alignment of the stack buffer is correct. */
\r
727 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
729 /* The other extreme of the stack space is required if stack checking is
\r
731 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );
\r
733 #endif /* portSTACK_GROWTH */
\r
735 /* Store the task name in the TCB. */
\r
736 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
738 pxNewTCB->pcTaskName[ x ] = pcName[ x ];
\r
740 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
741 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
742 string is not accessible (extremely unlikely). */
\r
743 if( pcName[ x ] == 0x00 )
\r
749 mtCOVERAGE_TEST_MARKER();
\r
753 /* Ensure the name string is terminated in the case that the string length
\r
754 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
755 pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
757 /* This is used as an array index so must ensure it's not too large. First
\r
758 remove the privilege bit if one is present. */
\r
759 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
761 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
765 mtCOVERAGE_TEST_MARKER();
\r
768 pxNewTCB->uxPriority = uxPriority;
\r
769 #if ( configUSE_MUTEXES == 1 )
\r
771 pxNewTCB->uxBasePriority = uxPriority;
\r
772 pxNewTCB->uxMutexesHeld = 0;
\r
774 #endif /* configUSE_MUTEXES */
\r
776 vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
\r
777 vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
\r
779 /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
\r
780 back to the containing TCB from a generic item in a list. */
\r
781 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
\r
783 /* Event lists are always in priority order. */
\r
784 listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
785 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
\r
787 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
789 pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
791 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
793 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
795 pxNewTCB->pxTaskTag = NULL;
\r
797 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
799 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
801 pxNewTCB->ulRunTimeCounter = 0UL;
\r
803 #endif /* configGENERATE_RUN_TIME_STATS */
\r
805 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
807 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, usStackDepth );
\r
811 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
813 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
815 pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
820 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
822 pxNewTCB->ulNotifiedValue = 0;
\r
823 pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
827 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
829 /* Initialise this task's Newlib reent structure. */
\r
830 _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
\r
834 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
836 pxNewTCB->ucDelayAborted = pdFALSE;
\r
840 /* Initialize the TCB stack to look as if the task was already running,
\r
841 but had been interrupted by the scheduler. The return address is set
\r
842 to the start of the task function. Once the stack has been initialised
\r
843 the top of stack variable is updated. */
\r
844 #if( portUSING_MPU_WRAPPERS == 1 )
\r
846 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
848 #else /* portUSING_MPU_WRAPPERS */
\r
850 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
852 #endif /* portUSING_MPU_WRAPPERS */
\r
854 if( ( void * ) pxCreatedTask != NULL )
\r
856 /* Pass the handle out in an anonymous way. The handle can be used to
\r
857 change the created task's priority, delete the created task, etc.*/
\r
858 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
862 mtCOVERAGE_TEST_MARKER();
\r
865 /*-----------------------------------------------------------*/
\r
867 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
\r
869 /* Ensure interrupts don't access the task lists while the lists are being
\r
871 taskENTER_CRITICAL();
\r
873 uxCurrentNumberOfTasks++;
\r
874 if( pxCurrentTCB == NULL )
\r
876 /* There are no other tasks, or all the other tasks are in
\r
877 the suspended state - make this the current task. */
\r
878 pxCurrentTCB = pxNewTCB;
\r
880 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
882 /* This is the first task to be created so do the preliminary
\r
883 initialisation required. We will not recover if this call
\r
884 fails, but we will report the failure. */
\r
885 prvInitialiseTaskLists();
\r
889 mtCOVERAGE_TEST_MARKER();
\r
894 /* If the scheduler is not already running, make this task the
\r
895 current task if it is the highest priority task to be created
\r
897 if( xSchedulerRunning == pdFALSE )
\r
899 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
\r
901 pxCurrentTCB = pxNewTCB;
\r
905 mtCOVERAGE_TEST_MARKER();
\r
910 mtCOVERAGE_TEST_MARKER();
\r
916 #if ( configUSE_TRACE_FACILITY == 1 )
\r
918 /* Add a counter into the TCB for tracing only. */
\r
919 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
921 #endif /* configUSE_TRACE_FACILITY */
\r
922 traceTASK_CREATE( pxNewTCB );
\r
924 prvAddTaskToReadyList( pxNewTCB );
\r
926 portSETUP_TCB( pxNewTCB );
\r
928 taskEXIT_CRITICAL();
\r
930 if( xSchedulerRunning != pdFALSE )
\r
932 /* If the created task is of a higher priority than the current task
\r
933 then it should run now. */
\r
934 if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
\r
936 taskYIELD_IF_USING_PREEMPTION();
\r
940 mtCOVERAGE_TEST_MARKER();
\r
945 mtCOVERAGE_TEST_MARKER();
\r
948 /*-----------------------------------------------------------*/
\r
950 #if ( INCLUDE_vTaskDelete == 1 )
\r
952 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
956 taskENTER_CRITICAL();
\r
958 /* If null is passed in here then it is the calling task that is
\r
960 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
962 /* Remove task from the ready list. */
\r
963 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
965 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
969 mtCOVERAGE_TEST_MARKER();
\r
972 /* Is the task waiting on an event also? */
\r
973 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
975 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
979 mtCOVERAGE_TEST_MARKER();
\r
982 if( pxTCB == pxCurrentTCB )
\r
984 /* A task is deleting itself. This cannot complete within the
\r
985 task itself, as a context switch to another task is required.
\r
986 Place the task in the termination list. The idle task will
\r
987 check the termination list and free up any memory allocated by
\r
988 the scheduler for the TCB and stack of the deleted task. */
\r
989 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
\r
991 /* Increment the ucTasksDeleted variable so the idle task knows
\r
992 there is a task that has been deleted and that it should therefore
\r
993 check the xTasksWaitingTermination list. */
\r
994 ++uxDeletedTasksWaitingCleanUp;
\r
998 --uxCurrentNumberOfTasks;
\r
999 prvDeleteTCB( pxTCB );
\r
1002 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
1003 detect that the task lists need re-generating. */
\r
1006 traceTASK_DELETE( pxTCB );
\r
1008 taskEXIT_CRITICAL();
\r
1010 /* Force a reschedule if it is the currently running task that has just
\r
1012 if( xSchedulerRunning != pdFALSE )
\r
1014 if( pxTCB == pxCurrentTCB )
\r
1016 configASSERT( uxSchedulerSuspended == 0 );
\r
1018 /* The pre-delete hook is primarily for the Windows simulator,
\r
1019 in which Windows specific clean up operations are performed,
\r
1020 after which it is not possible to yield away from this task -
\r
1021 hence xYieldPending is used to latch that a context switch is
\r
1023 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
1024 portYIELD_WITHIN_API();
\r
1028 /* Reset the next expected unblock time in case it referred to
\r
1029 the task that has just been deleted. */
\r
1030 taskENTER_CRITICAL();
\r
1032 prvResetNextTaskUnblockTime();
\r
1034 taskEXIT_CRITICAL();
\r
1039 #endif /* INCLUDE_vTaskDelete */
\r
1040 /*-----------------------------------------------------------*/
\r
1042 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
1044 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
1046 TickType_t xTimeToWake;
\r
1047 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
1049 configASSERT( pxPreviousWakeTime );
\r
1050 configASSERT( ( xTimeIncrement > 0U ) );
\r
1051 configASSERT( uxSchedulerSuspended == 0 );
\r
1053 vTaskSuspendAll();
\r
1055 /* Minor optimisation. The tick count cannot change in this
\r
1057 const TickType_t xConstTickCount = xTickCount;
\r
1059 /* Generate the tick time at which the task wants to wake. */
\r
1060 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
1062 if( xConstTickCount < *pxPreviousWakeTime )
\r
1064 /* The tick count has overflowed since this function was
\r
1065 lasted called. In this case the only time we should ever
\r
1066 actually delay is if the wake time has also overflowed,
\r
1067 and the wake time is greater than the tick time. When this
\r
1068 is the case it is as if neither time had overflowed. */
\r
1069 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
1071 xShouldDelay = pdTRUE;
\r
1075 mtCOVERAGE_TEST_MARKER();
\r
1080 /* The tick time has not overflowed. In this case we will
\r
1081 delay if either the wake time has overflowed, and/or the
\r
1082 tick time is less than the wake time. */
\r
1083 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
1085 xShouldDelay = pdTRUE;
\r
1089 mtCOVERAGE_TEST_MARKER();
\r
1093 /* Update the wake time ready for the next call. */
\r
1094 *pxPreviousWakeTime = xTimeToWake;
\r
1096 if( xShouldDelay != pdFALSE )
\r
1098 traceTASK_DELAY_UNTIL( xTimeToWake );
\r
1100 /* prvAddCurrentTaskToDelayedList() needs the block time, not
\r
1101 the time to wake, so subtract the current tick count. */
\r
1102 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
\r
1106 mtCOVERAGE_TEST_MARKER();
\r
1109 xAlreadyYielded = xTaskResumeAll();
\r
1111 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1112 have put ourselves to sleep. */
\r
1113 if( xAlreadyYielded == pdFALSE )
\r
1115 portYIELD_WITHIN_API();
\r
1119 mtCOVERAGE_TEST_MARKER();
\r
1123 #endif /* INCLUDE_vTaskDelayUntil */
\r
1124 /*-----------------------------------------------------------*/
\r
1126 #if ( INCLUDE_vTaskDelay == 1 )
\r
1128 void vTaskDelay( const TickType_t xTicksToDelay )
\r
1130 BaseType_t xAlreadyYielded = pdFALSE;
\r
1132 /* A delay time of zero just forces a reschedule. */
\r
1133 if( xTicksToDelay > ( TickType_t ) 0U )
\r
1135 configASSERT( uxSchedulerSuspended == 0 );
\r
1136 vTaskSuspendAll();
\r
1138 traceTASK_DELAY();
\r
1140 /* A task that is removed from the event list while the
\r
1141 scheduler is suspended will not get placed in the ready
\r
1142 list or removed from the blocked list until the scheduler
\r
1145 This task cannot be in an event list as it is the currently
\r
1146 executing task. */
\r
1147 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
\r
1149 xAlreadyYielded = xTaskResumeAll();
\r
1153 mtCOVERAGE_TEST_MARKER();
\r
1156 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1157 have put ourselves to sleep. */
\r
1158 if( xAlreadyYielded == pdFALSE )
\r
1160 portYIELD_WITHIN_API();
\r
1164 mtCOVERAGE_TEST_MARKER();
\r
1168 #endif /* INCLUDE_vTaskDelay */
\r
1169 /*-----------------------------------------------------------*/
\r
1171 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) )
\r
1173 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1175 eTaskState eReturn;
\r
1176 List_t *pxStateList;
\r
1177 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1179 configASSERT( pxTCB );
\r
1181 if( pxTCB == pxCurrentTCB )
\r
1183 /* The task calling this function is querying its own state. */
\r
1184 eReturn = eRunning;
\r
1188 taskENTER_CRITICAL();
\r
1190 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
\r
1192 taskEXIT_CRITICAL();
\r
1194 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
1196 /* The task being queried is referenced from one of the Blocked
\r
1198 eReturn = eBlocked;
\r
1201 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1202 else if( pxStateList == &xSuspendedTaskList )
\r
1204 /* The task being queried is referenced from the suspended
\r
1205 list. Is it genuinely suspended or is it block
\r
1207 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1209 eReturn = eSuspended;
\r
1213 eReturn = eBlocked;
\r
1218 #if ( INCLUDE_vTaskDelete == 1 )
\r
1219 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1221 /* The task being queried is referenced from the deleted
\r
1222 tasks list, or it is not referenced from any lists at
\r
1224 eReturn = eDeleted;
\r
1228 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1230 /* If the task is not in any other state, it must be in the
\r
1231 Ready (including pending ready) state. */
\r
1237 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1239 #endif /* INCLUDE_eTaskGetState */
\r
1240 /*-----------------------------------------------------------*/
\r
1242 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1244 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1247 UBaseType_t uxReturn;
\r
1249 taskENTER_CRITICAL();
\r
1251 /* If null is passed in here then it is the priority of the that
\r
1252 called uxTaskPriorityGet() that is being queried. */
\r
1253 pxTCB = prvGetTCBFromHandle( xTask );
\r
1254 uxReturn = pxTCB->uxPriority;
\r
1256 taskEXIT_CRITICAL();
\r
1261 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1262 /*-----------------------------------------------------------*/
\r
1264 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1266 UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )
\r
1269 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1271 /* RTOS ports that support interrupt nesting have the concept of a
\r
1272 maximum system call (or maximum API call) interrupt priority.
\r
1273 Interrupts that are above the maximum system call priority are keep
\r
1274 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1275 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1276 is defined in FreeRTOSConfig.h then
\r
1277 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1278 failure if a FreeRTOS API function is called from an interrupt that has
\r
1279 been assigned a priority above the configured maximum system call
\r
1280 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1281 from interrupts that have been assigned a priority at or (logically)
\r
1282 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1283 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1284 simple as possible. More information (albeit Cortex-M specific) is
\r
1285 provided on the following link:
\r
1286 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1287 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1289 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1291 /* If null is passed in here then it is the priority of the calling
\r
1292 task that is being queried. */
\r
1293 pxTCB = prvGetTCBFromHandle( xTask );
\r
1294 uxReturn = pxTCB->uxPriority;
\r
1296 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1301 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1302 /*-----------------------------------------------------------*/
\r
1304 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1306 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1309 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1310 BaseType_t xYieldRequired = pdFALSE;
\r
1312 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1314 /* Ensure the new priority is valid. */
\r
1315 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1317 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1321 mtCOVERAGE_TEST_MARKER();
\r
1324 taskENTER_CRITICAL();
\r
1326 /* If null is passed in here then it is the priority of the calling
\r
1327 task that is being changed. */
\r
1328 pxTCB = prvGetTCBFromHandle( xTask );
\r
1330 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1332 #if ( configUSE_MUTEXES == 1 )
\r
1334 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1338 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1342 if( uxCurrentBasePriority != uxNewPriority )
\r
1344 /* The priority change may have readied a task of higher
\r
1345 priority than the calling task. */
\r
1346 if( uxNewPriority > uxCurrentBasePriority )
\r
1348 if( pxTCB != pxCurrentTCB )
\r
1350 /* The priority of a task other than the currently
\r
1351 running task is being raised. Is the priority being
\r
1352 raised above that of the running task? */
\r
1353 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1355 xYieldRequired = pdTRUE;
\r
1359 mtCOVERAGE_TEST_MARKER();
\r
1364 /* The priority of the running task is being raised,
\r
1365 but the running task must already be the highest
\r
1366 priority task able to run so no yield is required. */
\r
1369 else if( pxTCB == pxCurrentTCB )
\r
1371 /* Setting the priority of the running task down means
\r
1372 there may now be another task of higher priority that
\r
1373 is ready to execute. */
\r
1374 xYieldRequired = pdTRUE;
\r
1378 /* Setting the priority of any other task down does not
\r
1379 require a yield as the running task must be above the
\r
1380 new priority of the task being modified. */
\r
1383 /* Remember the ready list the task might be referenced from
\r
1384 before its uxPriority member is changed so the
\r
1385 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1386 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1388 #if ( configUSE_MUTEXES == 1 )
\r
1390 /* Only change the priority being used if the task is not
\r
1391 currently using an inherited priority. */
\r
1392 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1394 pxTCB->uxPriority = uxNewPriority;
\r
1398 mtCOVERAGE_TEST_MARKER();
\r
1401 /* The base priority gets set whatever. */
\r
1402 pxTCB->uxBasePriority = uxNewPriority;
\r
1406 pxTCB->uxPriority = uxNewPriority;
\r
1410 /* Only reset the event list item value if the value is not
\r
1411 being used for anything else. */
\r
1412 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1414 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
1418 mtCOVERAGE_TEST_MARKER();
\r
1421 /* If the task is in the blocked or suspended list we need do
\r
1422 nothing more than change it's priority variable. However, if
\r
1423 the task is in a ready list it needs to be removed and placed
\r
1424 in the list appropriate to its new priority. */
\r
1425 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1427 /* The task is currently in its ready list - remove before adding
\r
1428 it to it's new ready list. As we are in a critical section we
\r
1429 can do this even if the scheduler is suspended. */
\r
1430 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1432 /* It is known that the task is in its ready list so
\r
1433 there is no need to check again and the port level
\r
1434 reset macro can be called directly. */
\r
1435 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1439 mtCOVERAGE_TEST_MARKER();
\r
1441 prvAddTaskToReadyList( pxTCB );
\r
1445 mtCOVERAGE_TEST_MARKER();
\r
1448 if( xYieldRequired != pdFALSE )
\r
1450 taskYIELD_IF_USING_PREEMPTION();
\r
1454 mtCOVERAGE_TEST_MARKER();
\r
1457 /* Remove compiler warning about unused variables when the port
\r
1458 optimised task selection is not being used. */
\r
1459 ( void ) uxPriorityUsedOnEntry;
\r
1462 taskEXIT_CRITICAL();
\r
1465 #endif /* INCLUDE_vTaskPrioritySet */
\r
1466 /*-----------------------------------------------------------*/
\r
1468 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1470 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1474 taskENTER_CRITICAL();
\r
1476 /* If null is passed in here then it is the running task that is
\r
1477 being suspended. */
\r
1478 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1480 traceTASK_SUSPEND( pxTCB );
\r
1482 /* Remove task from the ready/delayed list and place in the
\r
1483 suspended list. */
\r
1484 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1486 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1490 mtCOVERAGE_TEST_MARKER();
\r
1493 /* Is the task waiting on an event also? */
\r
1494 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1496 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1500 mtCOVERAGE_TEST_MARKER();
\r
1503 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
\r
1505 taskEXIT_CRITICAL();
\r
1507 if( xSchedulerRunning != pdFALSE )
\r
1509 /* Reset the next expected unblock time in case it referred to the
\r
1510 task that is now in the Suspended state. */
\r
1511 taskENTER_CRITICAL();
\r
1513 prvResetNextTaskUnblockTime();
\r
1515 taskEXIT_CRITICAL();
\r
1519 mtCOVERAGE_TEST_MARKER();
\r
1522 if( pxTCB == pxCurrentTCB )
\r
1524 if( xSchedulerRunning != pdFALSE )
\r
1526 /* The current task has just been suspended. */
\r
1527 configASSERT( uxSchedulerSuspended == 0 );
\r
1528 portYIELD_WITHIN_API();
\r
1532 /* The scheduler is not running, but the task that was pointed
\r
1533 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1534 must be adjusted to point to a different task. */
\r
1535 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1537 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1538 NULL so when the next task is created pxCurrentTCB will
\r
1539 be set to point to it no matter what its relative priority
\r
1541 pxCurrentTCB = NULL;
\r
1545 vTaskSwitchContext();
\r
1551 mtCOVERAGE_TEST_MARKER();
\r
1555 #endif /* INCLUDE_vTaskSuspend */
\r
1556 /*-----------------------------------------------------------*/
\r
1558 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1560 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1562 BaseType_t xReturn = pdFALSE;
\r
1563 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1565 /* Accesses xPendingReadyList so must be called from a critical
\r
1568 /* It does not make sense to check if the calling task is suspended. */
\r
1569 configASSERT( xTask );
\r
1571 /* Is the task being resumed actually in the suspended list? */
\r
1572 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1574 /* Has the task already been resumed from within an ISR? */
\r
1575 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1577 /* Is it in the suspended list because it is in the Suspended
\r
1578 state, or because is is blocked with no timeout? */
\r
1579 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1585 mtCOVERAGE_TEST_MARKER();
\r
1590 mtCOVERAGE_TEST_MARKER();
\r
1595 mtCOVERAGE_TEST_MARKER();
\r
1599 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1601 #endif /* INCLUDE_vTaskSuspend */
\r
1602 /*-----------------------------------------------------------*/
\r
1604 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1606 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1608 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1610 /* It does not make sense to resume the calling task. */
\r
1611 configASSERT( xTaskToResume );
\r
1613 /* The parameter cannot be NULL as it is impossible to resume the
\r
1614 currently executing task. */
\r
1615 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1617 taskENTER_CRITICAL();
\r
1619 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1621 traceTASK_RESUME( pxTCB );
\r
1623 /* As we are in a critical section we can access the ready
\r
1624 lists even if the scheduler is suspended. */
\r
1625 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1626 prvAddTaskToReadyList( pxTCB );
\r
1628 /* We may have just resumed a higher priority task. */
\r
1629 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1631 /* This yield may not cause the task just resumed to run,
\r
1632 but will leave the lists in the correct state for the
\r
1634 taskYIELD_IF_USING_PREEMPTION();
\r
1638 mtCOVERAGE_TEST_MARKER();
\r
1643 mtCOVERAGE_TEST_MARKER();
\r
1646 taskEXIT_CRITICAL();
\r
1650 mtCOVERAGE_TEST_MARKER();
\r
1654 #endif /* INCLUDE_vTaskSuspend */
\r
1656 /*-----------------------------------------------------------*/
\r
1658 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1660 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1662 BaseType_t xYieldRequired = pdFALSE;
\r
1663 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1664 UBaseType_t uxSavedInterruptStatus;
\r
1666 configASSERT( xTaskToResume );
\r
1668 /* RTOS ports that support interrupt nesting have the concept of a
\r
1669 maximum system call (or maximum API call) interrupt priority.
\r
1670 Interrupts that are above the maximum system call priority are keep
\r
1671 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1672 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1673 is defined in FreeRTOSConfig.h then
\r
1674 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1675 failure if a FreeRTOS API function is called from an interrupt that has
\r
1676 been assigned a priority above the configured maximum system call
\r
1677 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1678 from interrupts that have been assigned a priority at or (logically)
\r
1679 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1680 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1681 simple as possible. More information (albeit Cortex-M specific) is
\r
1682 provided on the following link:
\r
1683 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1684 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1686 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1688 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1690 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1692 /* Check the ready lists can be accessed. */
\r
1693 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1695 /* Ready lists can be accessed so move the task from the
\r
1696 suspended list to the ready list directly. */
\r
1697 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1699 xYieldRequired = pdTRUE;
\r
1703 mtCOVERAGE_TEST_MARKER();
\r
1706 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1707 prvAddTaskToReadyList( pxTCB );
\r
1711 /* The delayed or ready lists cannot be accessed so the task
\r
1712 is held in the pending ready list until the scheduler is
\r
1714 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1719 mtCOVERAGE_TEST_MARKER();
\r
1722 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1724 return xYieldRequired;
\r
1727 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1728 /*-----------------------------------------------------------*/
\r
1730 void vTaskStartScheduler( void )
\r
1732 BaseType_t xReturn;
\r
1733 uint16_t usIdleTaskStackSize = configMINIMAL_STACK_SIZE;
\r
1735 /* Add the idle task at the lowest priority. */
\r
1736 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1738 StaticTask_t *pxIdleTaskTCBBuffer = NULL;
\r
1739 StackType_t *pxIdleTaskStackBuffer = NULL;
\r
1741 /* The Idle task is created using user provided RAM - obtain the
\r
1742 address of the RAM then create the idle task. */
\r
1743 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &usIdleTaskStackSize );
\r
1744 xReturn = xTaskCreateStatic( prvIdleTask, "IDLE", usIdleTaskStackSize, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle, pxIdleTaskStackBuffer, pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1748 /* The Idle task is being created using dynamically allocated RAM. */
\r
1749 xReturn = xTaskCreate( prvIdleTask, "IDLE", usIdleTaskStackSize, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1751 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
1753 #if ( configUSE_TIMERS == 1 )
\r
1755 if( xReturn == pdPASS )
\r
1757 xReturn = xTimerCreateTimerTask();
\r
1761 mtCOVERAGE_TEST_MARKER();
\r
1764 #endif /* configUSE_TIMERS */
\r
1766 if( xReturn == pdPASS )
\r
1768 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1769 before or during the call to xPortStartScheduler(). The stacks of
\r
1770 the created tasks contain a status word with interrupts switched on
\r
1771 so interrupts will automatically get re-enabled when the first task
\r
1773 portDISABLE_INTERRUPTS();
\r
1775 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1777 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1778 structure specific to the task that will run first. */
\r
1779 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1781 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1783 xNextTaskUnblockTime = portMAX_DELAY;
\r
1784 xSchedulerRunning = pdTRUE;
\r
1785 xTickCount = ( TickType_t ) 0U;
\r
1787 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1788 macro must be defined to configure the timer/counter used to generate
\r
1789 the run time counter time base. */
\r
1790 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1792 /* Setting up the timer tick is hardware specific and thus in the
\r
1793 portable interface. */
\r
1794 if( xPortStartScheduler() != pdFALSE )
\r
1796 /* Should not reach here as if the scheduler is running the
\r
1797 function will not return. */
\r
1801 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1806 /* This line will only be reached if the kernel could not be started,
\r
1807 because there was not enough FreeRTOS heap to create the idle task
\r
1808 or the timer task. */
\r
1809 configASSERT( xReturn );
\r
1812 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
1813 meaning xIdleTaskHandle is not used anywhere else. */
\r
1814 ( void ) xIdleTaskHandle;
\r
1816 /*-----------------------------------------------------------*/
\r
1818 void vTaskEndScheduler( void )
\r
1820 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1821 routine so the original ISRs can be restored if necessary. The port
\r
1822 layer must ensure interrupts enable bit is left in the correct state. */
\r
1823 portDISABLE_INTERRUPTS();
\r
1824 xSchedulerRunning = pdFALSE;
\r
1825 vPortEndScheduler();
\r
1827 /*----------------------------------------------------------*/
\r
1829 void vTaskSuspendAll( void )
\r
1831 /* A critical section is not required as the variable is of type
\r
1832 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
1833 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1834 http://goo.gl/wu4acr */
\r
1835 ++uxSchedulerSuspended;
\r
1837 /*----------------------------------------------------------*/
\r
1839 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1841 static TickType_t prvGetExpectedIdleTime( void )
\r
1843 TickType_t xReturn;
\r
1844 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
1846 /* uxHigherPriorityReadyTasks takes care of the case where
\r
1847 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
1848 task that are in the Ready state, even though the idle task is
\r
1850 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
1852 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
1854 uxHigherPriorityReadyTasks = pdTRUE;
\r
1859 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
1861 /* When port optimised task selection is used the uxTopReadyPriority
\r
1862 variable is used as a bit map. If bits other than the least
\r
1863 significant bit are set then there are tasks that have a priority
\r
1864 above the idle priority that are in the Ready state. This takes
\r
1865 care of the case where the co-operative scheduler is in use. */
\r
1866 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
1868 uxHigherPriorityReadyTasks = pdTRUE;
\r
1873 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1877 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1879 /* There are other idle priority tasks in the ready state. If
\r
1880 time slicing is used then the very next tick interrupt must be
\r
1884 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
1886 /* There are tasks in the Ready state that have a priority above the
\r
1887 idle priority. This path can only be reached if
\r
1888 configUSE_PREEMPTION is 0. */
\r
1893 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1899 #endif /* configUSE_TICKLESS_IDLE */
\r
1900 /*----------------------------------------------------------*/
\r
1902 BaseType_t xTaskResumeAll( void )
\r
1904 TCB_t *pxTCB = NULL;
\r
1905 BaseType_t xAlreadyYielded = pdFALSE;
\r
1907 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1908 previous call to vTaskSuspendAll(). */
\r
1909 configASSERT( uxSchedulerSuspended );
\r
1911 /* It is possible that an ISR caused a task to be removed from an event
\r
1912 list while the scheduler was suspended. If this was the case then the
\r
1913 removed task will have been added to the xPendingReadyList. Once the
\r
1914 scheduler has been resumed it is safe to move all the pending ready
\r
1915 tasks from this list into their appropriate ready list. */
\r
1916 taskENTER_CRITICAL();
\r
1918 --uxSchedulerSuspended;
\r
1920 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1922 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
1924 /* Move any readied tasks from the pending list into the
\r
1925 appropriate ready list. */
\r
1926 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1928 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1929 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1930 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1931 prvAddTaskToReadyList( pxTCB );
\r
1933 /* If the moved task has a priority higher than the current
\r
1934 task then a yield must be performed. */
\r
1935 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1937 xYieldPending = pdTRUE;
\r
1941 mtCOVERAGE_TEST_MARKER();
\r
1945 if( pxTCB != NULL )
\r
1947 /* A task was unblocked while the scheduler was suspended,
\r
1948 which may have prevented the next unblock time from being
\r
1949 re-calculated, in which case re-calculate it now. Mainly
\r
1950 important for low power tickless implementations, where
\r
1951 this can prevent an unnecessary exit from low power
\r
1953 prvResetNextTaskUnblockTime();
\r
1956 /* If any ticks occurred while the scheduler was suspended then
\r
1957 they should be processed now. This ensures the tick count does
\r
1958 not slip, and that any delayed tasks are resumed at the correct
\r
1961 UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */
\r
1963 if( uxPendedCounts > ( UBaseType_t ) 0U )
\r
1967 if( xTaskIncrementTick() != pdFALSE )
\r
1969 xYieldPending = pdTRUE;
\r
1973 mtCOVERAGE_TEST_MARKER();
\r
1976 } while( uxPendedCounts > ( UBaseType_t ) 0U );
\r
1978 uxPendedTicks = 0;
\r
1982 mtCOVERAGE_TEST_MARKER();
\r
1986 if( xYieldPending != pdFALSE )
\r
1988 #if( configUSE_PREEMPTION != 0 )
\r
1990 xAlreadyYielded = pdTRUE;
\r
1993 taskYIELD_IF_USING_PREEMPTION();
\r
1997 mtCOVERAGE_TEST_MARKER();
\r
2003 mtCOVERAGE_TEST_MARKER();
\r
2006 taskEXIT_CRITICAL();
\r
2008 return xAlreadyYielded;
\r
2010 /*-----------------------------------------------------------*/
\r
2012 TickType_t xTaskGetTickCount( void )
\r
2014 TickType_t xTicks;
\r
2016 /* Critical section required if running on a 16 bit processor. */
\r
2017 portTICK_TYPE_ENTER_CRITICAL();
\r
2019 xTicks = xTickCount;
\r
2021 portTICK_TYPE_EXIT_CRITICAL();
\r
2025 /*-----------------------------------------------------------*/
\r
2027 TickType_t xTaskGetTickCountFromISR( void )
\r
2029 TickType_t xReturn;
\r
2030 UBaseType_t uxSavedInterruptStatus;
\r
2032 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
2033 system call (or maximum API call) interrupt priority. Interrupts that are
\r
2034 above the maximum system call priority are kept permanently enabled, even
\r
2035 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
2036 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
2037 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
2038 failure if a FreeRTOS API function is called from an interrupt that has been
\r
2039 assigned a priority above the configured maximum system call priority.
\r
2040 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
2041 that have been assigned a priority at or (logically) below the maximum
\r
2042 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
2043 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
2044 More information (albeit Cortex-M specific) is provided on the following
\r
2045 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
2046 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
2048 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
2050 xReturn = xTickCount;
\r
2052 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2056 /*-----------------------------------------------------------*/
\r
2058 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
2060 /* A critical section is not required because the variables are of type
\r
2062 return uxCurrentNumberOfTasks;
\r
2064 /*-----------------------------------------------------------*/
\r
2066 char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2070 /* If null is passed in here then the name of the calling task is being
\r
2072 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2073 configASSERT( pxTCB );
\r
2074 return &( pxTCB->pcTaskName[ 0 ] );
\r
2076 /*-----------------------------------------------------------*/
\r
2078 #if ( INCLUDE_xTaskGetTaskHandle == 1 )
\r
2080 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
\r
2082 TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
\r
2086 /* This function is called with the scheduler suspended. */
\r
2088 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2090 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2094 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2096 /* Check each character in the name looking for a match or
\r
2098 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2100 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
2102 if( cNextChar != pcNameToQuery[ x ] )
\r
2104 /* Characters didn't match. */
\r
2107 else if( cNextChar == 0x00 )
\r
2109 /* Both strings terminated, a match must have been
\r
2111 pxReturn = pxNextTCB;
\r
2116 mtCOVERAGE_TEST_MARKER();
\r
2120 if( pxReturn != NULL )
\r
2122 /* The handle has been found. */
\r
2126 } while( pxNextTCB != pxFirstTCB );
\r
2130 mtCOVERAGE_TEST_MARKER();
\r
2136 #endif /* INCLUDE_xTaskGetTaskHandle */
\r
2137 /*-----------------------------------------------------------*/
\r
2139 #if ( INCLUDE_xTaskGetTaskHandle == 1 )
\r
2141 TaskHandle_t xTaskGetTaskHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2143 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
2146 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
\r
2147 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
\r
2149 vTaskSuspendAll();
\r
2151 /* Search the ready lists. */
\r
2155 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
2157 if( pxTCB != NULL )
\r
2159 /* Found the handle. */
\r
2163 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2165 /* Search the delayed lists. */
\r
2166 if( pxTCB == NULL )
\r
2168 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
2171 if( pxTCB == NULL )
\r
2173 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
2176 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2178 if( pxTCB == NULL )
\r
2180 /* Search the suspended list. */
\r
2181 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
2186 #if( INCLUDE_vTaskDelete == 1 )
\r
2188 if( pxTCB == NULL )
\r
2190 /* Search the deleted list. */
\r
2191 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
2196 ( void ) xTaskResumeAll();
\r
2198 return ( TaskHandle_t ) pxTCB;
\r
2201 #endif /* INCLUDE_xTaskGetTaskHandle */
\r
2202 /*-----------------------------------------------------------*/
\r
2204 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2206 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
2208 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
2210 vTaskSuspendAll();
\r
2212 /* Is there a space in the array for each task in the system? */
\r
2213 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2215 /* Fill in an TaskStatus_t structure with information on each
\r
2216 task in the Ready state. */
\r
2220 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2222 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2224 /* Fill in an TaskStatus_t structure with information on each
\r
2225 task in the Blocked state. */
\r
2226 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2227 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2229 #if( INCLUDE_vTaskDelete == 1 )
\r
2231 /* Fill in an TaskStatus_t structure with information on
\r
2232 each task that has been deleted but not yet cleaned up. */
\r
2233 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2237 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2239 /* Fill in an TaskStatus_t structure with information on
\r
2240 each task in the Suspended state. */
\r
2241 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2245 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
2247 if( pulTotalRunTime != NULL )
\r
2249 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2250 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2252 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2258 if( pulTotalRunTime != NULL )
\r
2260 *pulTotalRunTime = 0;
\r
2267 mtCOVERAGE_TEST_MARKER();
\r
2270 ( void ) xTaskResumeAll();
\r
2275 #endif /* configUSE_TRACE_FACILITY */
\r
2276 /*----------------------------------------------------------*/
\r
2278 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2280 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2282 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2283 started, then xIdleTaskHandle will be NULL. */
\r
2284 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2285 return xIdleTaskHandle;
\r
2288 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2289 /*----------------------------------------------------------*/
\r
2291 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2292 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2293 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2295 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2297 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2299 /* Correct the tick count value after a period during which the tick
\r
2300 was suppressed. Note this does *not* call the tick hook function for
\r
2301 each stepped tick. */
\r
2302 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2303 xTickCount += xTicksToJump;
\r
2304 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2307 #endif /* configUSE_TICKLESS_IDLE */
\r
2308 /*----------------------------------------------------------*/
\r
2310 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
2312 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
\r
2314 TCB_t *pxTCB = ( TCB_t * ) xTask;
\r
2315 BaseType_t xReturn = pdFALSE;
\r
2317 configASSERT( pxTCB );
\r
2319 vTaskSuspendAll();
\r
2321 /* A task can only be prematurely removed from the Blocked state if
\r
2322 it is actually in the Blocked state. */
\r
2323 if( eTaskGetState( xTask ) == eBlocked )
\r
2325 /* Remove the reference to the task from the blocked list. An
\r
2326 interrupt won't touch the xStateListItem because the
\r
2327 scheduler is suspended. */
\r
2328 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2330 /* Is the task waiting on an event also? If so remove it from
\r
2331 the event list too. Interrupts can touch the event list item,
\r
2332 even though the scheduler is suspended, so a critical section
\r
2334 taskENTER_CRITICAL();
\r
2336 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2338 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2339 pxTCB->ucDelayAborted = pdTRUE;
\r
2343 mtCOVERAGE_TEST_MARKER();
\r
2346 taskEXIT_CRITICAL();
\r
2348 /* Place the unblocked task into the appropriate ready list. */
\r
2349 prvAddTaskToReadyList( pxTCB );
\r
2351 /* A task being unblocked cannot cause an immediate context
\r
2352 switch if preemption is turned off. */
\r
2353 #if ( configUSE_PREEMPTION == 1 )
\r
2355 /* Preemption is on, but a context switch should only be
\r
2356 performed if the unblocked task has a priority that is
\r
2357 equal to or higher than the currently executing task. */
\r
2358 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2360 /* Pend the yield to be performed when the scheduler
\r
2361 is unsuspended. */
\r
2362 xYieldPending = pdTRUE;
\r
2366 mtCOVERAGE_TEST_MARKER();
\r
2369 #endif /* configUSE_PREEMPTION */
\r
2373 mtCOVERAGE_TEST_MARKER();
\r
2381 #endif /* INCLUDE_xTaskAbortDelay */
\r
2382 /*----------------------------------------------------------*/
\r
2384 BaseType_t xTaskIncrementTick( void )
\r
2387 TickType_t xItemValue;
\r
2388 BaseType_t xSwitchRequired = pdFALSE;
\r
2390 /* Called by the portable layer each time a tick interrupt occurs.
\r
2391 Increments the tick then checks to see if the new tick value will cause any
\r
2392 tasks to be unblocked. */
\r
2393 traceTASK_INCREMENT_TICK( xTickCount );
\r
2394 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2396 /* Minor optimisation. The tick count cannot change in this
\r
2398 const TickType_t xConstTickCount = xTickCount + 1;
\r
2400 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2401 delayed lists if it wraps to 0. */
\r
2402 xTickCount = xConstTickCount;
\r
2404 if( xConstTickCount == ( TickType_t ) 0U )
\r
2406 taskSWITCH_DELAYED_LISTS();
\r
2410 mtCOVERAGE_TEST_MARKER();
\r
2413 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2414 the queue in the order of their wake time - meaning once one task
\r
2415 has been found whose block time has not expired there is no need to
\r
2416 look any further down the list. */
\r
2417 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2421 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2423 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2424 to the maximum possible value so it is extremely
\r
2426 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2427 next time through. */
\r
2428 xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2433 /* The delayed list is not empty, get the value of the
\r
2434 item at the head of the delayed list. This is the time
\r
2435 at which the task at the head of the delayed list must
\r
2436 be removed from the Blocked state. */
\r
2437 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
2438 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
\r
2440 if( xConstTickCount < xItemValue )
\r
2442 /* It is not time to unblock this item yet, but the
\r
2443 item value is the time at which the task at the head
\r
2444 of the blocked list must be removed from the Blocked
\r
2445 state - so record the item value in
\r
2446 xNextTaskUnblockTime. */
\r
2447 xNextTaskUnblockTime = xItemValue;
\r
2452 mtCOVERAGE_TEST_MARKER();
\r
2455 /* It is time to remove the item from the Blocked state. */
\r
2456 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2458 /* Is the task waiting on an event also? If so remove
\r
2459 it from the event list. */
\r
2460 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2462 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2466 mtCOVERAGE_TEST_MARKER();
\r
2469 /* Place the unblocked task into the appropriate ready
\r
2471 prvAddTaskToReadyList( pxTCB );
\r
2473 /* A task being unblocked cannot cause an immediate
\r
2474 context switch if preemption is turned off. */
\r
2475 #if ( configUSE_PREEMPTION == 1 )
\r
2477 /* Preemption is on, but a context switch should
\r
2478 only be performed if the unblocked task has a
\r
2479 priority that is equal to or higher than the
\r
2480 currently executing task. */
\r
2481 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2483 xSwitchRequired = pdTRUE;
\r
2487 mtCOVERAGE_TEST_MARKER();
\r
2490 #endif /* configUSE_PREEMPTION */
\r
2495 /* Tasks of equal priority to the currently running task will share
\r
2496 processing time (time slice) if preemption is on, and the application
\r
2497 writer has not explicitly turned time slicing off. */
\r
2498 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2500 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2502 xSwitchRequired = pdTRUE;
\r
2506 mtCOVERAGE_TEST_MARKER();
\r
2509 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2511 #if ( configUSE_TICK_HOOK == 1 )
\r
2513 /* Guard against the tick hook being called when the pended tick
\r
2514 count is being unwound (when the scheduler is being unlocked). */
\r
2515 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2517 vApplicationTickHook();
\r
2521 mtCOVERAGE_TEST_MARKER();
\r
2524 #endif /* configUSE_TICK_HOOK */
\r
2530 /* The tick hook gets called at regular intervals, even if the
\r
2531 scheduler is locked. */
\r
2532 #if ( configUSE_TICK_HOOK == 1 )
\r
2534 vApplicationTickHook();
\r
2539 #if ( configUSE_PREEMPTION == 1 )
\r
2541 if( xYieldPending != pdFALSE )
\r
2543 xSwitchRequired = pdTRUE;
\r
2547 mtCOVERAGE_TEST_MARKER();
\r
2550 #endif /* configUSE_PREEMPTION */
\r
2552 return xSwitchRequired;
\r
2554 /*-----------------------------------------------------------*/
\r
2556 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2558 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2562 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2564 if( xTask == NULL )
\r
2566 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2570 xTCB = ( TCB_t * ) xTask;
\r
2573 /* Save the hook function in the TCB. A critical section is required as
\r
2574 the value can be accessed from an interrupt. */
\r
2575 taskENTER_CRITICAL();
\r
2576 xTCB->pxTaskTag = pxHookFunction;
\r
2577 taskEXIT_CRITICAL();
\r
2580 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2581 /*-----------------------------------------------------------*/
\r
2583 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2585 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2588 TaskHookFunction_t xReturn;
\r
2590 /* If xTask is NULL then we are setting our own task hook. */
\r
2591 if( xTask == NULL )
\r
2593 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2597 xTCB = ( TCB_t * ) xTask;
\r
2600 /* Save the hook function in the TCB. A critical section is required as
\r
2601 the value can be accessed from an interrupt. */
\r
2602 taskENTER_CRITICAL();
\r
2604 xReturn = xTCB->pxTaskTag;
\r
2606 taskEXIT_CRITICAL();
\r
2611 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2612 /*-----------------------------------------------------------*/
\r
2614 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2616 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2619 BaseType_t xReturn;
\r
2621 /* If xTask is NULL then we are calling our own task hook. */
\r
2622 if( xTask == NULL )
\r
2624 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2628 xTCB = ( TCB_t * ) xTask;
\r
2631 if( xTCB->pxTaskTag != NULL )
\r
2633 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2643 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2644 /*-----------------------------------------------------------*/
\r
2646 void vTaskSwitchContext( void )
\r
2648 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2650 /* The scheduler is currently suspended - do not allow a context
\r
2652 xYieldPending = pdTRUE;
\r
2656 xYieldPending = pdFALSE;
\r
2657 traceTASK_SWITCHED_OUT();
\r
2659 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2661 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2662 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2664 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2667 /* Add the amount of time the task has been running to the
\r
2668 accumulated time so far. The time the task started running was
\r
2669 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2670 protection here so count values are only valid until the timer
\r
2671 overflows. The guard against negative values is to protect
\r
2672 against suspect run time stat counter implementations - which
\r
2673 are provided by the application, not the kernel. */
\r
2674 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2676 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2680 mtCOVERAGE_TEST_MARKER();
\r
2682 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2684 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2686 /* Check for stack overflow, if configured. */
\r
2687 taskCHECK_FOR_STACK_OVERFLOW();
\r
2689 /* Select a new task to run using either the generic C or port
\r
2690 optimised asm code. */
\r
2691 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2692 traceTASK_SWITCHED_IN();
\r
2694 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2696 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2697 structure specific to this task. */
\r
2698 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2700 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2703 /*-----------------------------------------------------------*/
\r
2705 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2707 configASSERT( pxEventList );
\r
2709 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2710 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2712 /* Place the event list item of the TCB in the appropriate event list.
\r
2713 This is placed in the list in priority order so the highest priority task
\r
2714 is the first to be woken by the event. The queue that contains the event
\r
2715 list is locked, preventing simultaneous access from interrupts. */
\r
2716 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2718 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2720 /*-----------------------------------------------------------*/
\r
2722 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2724 configASSERT( pxEventList );
\r
2726 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2727 the event groups implementation. */
\r
2728 configASSERT( uxSchedulerSuspended != 0 );
\r
2730 /* Store the item value in the event list item. It is safe to access the
\r
2731 event list item here as interrupts won't access the event list item of a
\r
2732 task that is not in the Blocked state. */
\r
2733 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2735 /* Place the event list item of the TCB at the end of the appropriate event
\r
2736 list. It is safe to access the event list here because it is part of an
\r
2737 event group implementation - and interrupts don't access event groups
\r
2738 directly (instead they access them indirectly by pending function calls to
\r
2739 the task level). */
\r
2740 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2742 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2744 /*-----------------------------------------------------------*/
\r
2746 #if( configUSE_TIMERS == 1 )
\r
2748 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2750 configASSERT( pxEventList );
\r
2752 /* This function should not be called by application code hence the
\r
2753 'Restricted' in its name. It is not part of the public API. It is
\r
2754 designed for use by kernel code, and has special calling requirements -
\r
2755 it should be called with the scheduler suspended. */
\r
2758 /* Place the event list item of the TCB in the appropriate event list.
\r
2759 In this case it is assume that this is the only task that is going to
\r
2760 be waiting on this event list, so the faster vListInsertEnd() function
\r
2761 can be used in place of vListInsert. */
\r
2762 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2764 /* If the task should block indefinitely then set the block time to a
\r
2765 value that will be recognised as an indefinite delay inside the
\r
2766 prvAddCurrentTaskToDelayedList() function. */
\r
2767 if( xWaitIndefinitely != pdFALSE )
\r
2769 xTicksToWait = portMAX_DELAY;
\r
2772 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
\r
2773 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
\r
2776 #endif /* configUSE_TIMERS */
\r
2777 /*-----------------------------------------------------------*/
\r
2779 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
2781 TCB_t *pxUnblockedTCB;
\r
2782 BaseType_t xReturn;
\r
2784 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
2785 called from a critical section within an ISR. */
\r
2787 /* The event list is sorted in priority order, so the first in the list can
\r
2788 be removed as it is known to be the highest priority. Remove the TCB from
\r
2789 the delayed list, and add it to the ready list.
\r
2791 If an event is for a queue that is locked then this function will never
\r
2792 get called - the lock count on the queue will get modified instead. This
\r
2793 means exclusive access to the event list is guaranteed here.
\r
2795 This function assumes that a check has already been made to ensure that
\r
2796 pxEventList is not empty. */
\r
2797 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2798 configASSERT( pxUnblockedTCB );
\r
2799 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2801 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2803 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
2804 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2808 /* The delayed and ready lists cannot be accessed, so hold this task
\r
2809 pending until the scheduler is resumed. */
\r
2810 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2813 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2815 /* Return true if the task removed from the event list has a higher
\r
2816 priority than the calling task. This allows the calling task to know if
\r
2817 it should force a context switch now. */
\r
2820 /* Mark that a yield is pending in case the user is not using the
\r
2821 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2822 xYieldPending = pdTRUE;
\r
2826 xReturn = pdFALSE;
\r
2829 #if( configUSE_TICKLESS_IDLE != 0 )
\r
2831 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
2832 might be set to the blocked task's time out time. If the task is
\r
2833 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
2834 normally left unchanged, because it is automatically reset to a new
\r
2835 value when the tick count equals xNextTaskUnblockTime. However if
\r
2836 tickless idling is used it might be more important to enter sleep mode
\r
2837 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
2838 ensure it is updated at the earliest possible time. */
\r
2839 prvResetNextTaskUnblockTime();
\r
2845 /*-----------------------------------------------------------*/
\r
2847 BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
2849 TCB_t *pxUnblockedTCB;
\r
2850 BaseType_t xReturn;
\r
2852 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2853 the event flags implementation. */
\r
2854 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
2856 /* Store the new item value in the event list. */
\r
2857 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2859 /* Remove the event list form the event flag. Interrupts do not access
\r
2861 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2862 configASSERT( pxUnblockedTCB );
\r
2863 ( void ) uxListRemove( pxEventListItem );
\r
2865 /* Remove the task from the delayed list and add it to the ready list. The
\r
2866 scheduler is suspended so interrupts will not be accessing the ready
\r
2868 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
2869 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2871 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2873 /* Return true if the task removed from the event list has
\r
2874 a higher priority than the calling task. This allows
\r
2875 the calling task to know if it should force a context
\r
2879 /* Mark that a yield is pending in case the user is not using the
\r
2880 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2881 xYieldPending = pdTRUE;
\r
2885 xReturn = pdFALSE;
\r
2890 /*-----------------------------------------------------------*/
\r
2892 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
2894 configASSERT( pxTimeOut );
\r
2895 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2896 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2898 /*-----------------------------------------------------------*/
\r
2900 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
2902 BaseType_t xReturn;
\r
2904 configASSERT( pxTimeOut );
\r
2905 configASSERT( pxTicksToWait );
\r
2907 taskENTER_CRITICAL();
\r
2909 /* Minor optimisation. The tick count cannot change in this block. */
\r
2910 const TickType_t xConstTickCount = xTickCount;
\r
2912 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
2913 if( pxCurrentTCB->ucDelayAborted != pdFALSE )
\r
2915 /* The delay was aborted, which is not the same as a time out,
\r
2916 but has the same result. */
\r
2917 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
2923 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2924 if( *pxTicksToWait == portMAX_DELAY )
\r
2926 /* If INCLUDE_vTaskSuspend is set to 1 and the block time
\r
2927 specified is the maximum block time then the task should block
\r
2928 indefinitely, and therefore never time out. */
\r
2929 xReturn = pdFALSE;
\r
2934 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2936 /* The tick count is greater than the time at which
\r
2937 vTaskSetTimeout() was called, but has also overflowed since
\r
2938 vTaskSetTimeOut() was called. It must have wrapped all the way
\r
2939 around and gone past again. This passed since vTaskSetTimeout()
\r
2943 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
2945 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2946 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2947 vTaskSetTimeOutState( pxTimeOut );
\r
2948 xReturn = pdFALSE;
\r
2955 taskEXIT_CRITICAL();
\r
2959 /*-----------------------------------------------------------*/
\r
2961 void vTaskMissedYield( void )
\r
2963 xYieldPending = pdTRUE;
\r
2965 /*-----------------------------------------------------------*/
\r
2967 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2969 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
2971 UBaseType_t uxReturn;
\r
2974 if( xTask != NULL )
\r
2976 pxTCB = ( TCB_t * ) xTask;
\r
2977 uxReturn = pxTCB->uxTaskNumber;
\r
2987 #endif /* configUSE_TRACE_FACILITY */
\r
2988 /*-----------------------------------------------------------*/
\r
2990 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2992 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
2996 if( xTask != NULL )
\r
2998 pxTCB = ( TCB_t * ) xTask;
\r
2999 pxTCB->uxTaskNumber = uxHandle;
\r
3003 #endif /* configUSE_TRACE_FACILITY */
\r
3006 * -----------------------------------------------------------
\r
3008 * ----------------------------------------------------------
\r
3010 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
3011 * language extensions. The equivalent prototype for this function is:
\r
3013 * void prvIdleTask( void *pvParameters );
\r
3016 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
3018 /* Stop warnings. */
\r
3019 ( void ) pvParameters;
\r
3021 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
3022 SCHEDULER IS STARTED. **/
\r
3026 /* See if any tasks have deleted themselves - if so then the idle task
\r
3027 is responsible for freeing the deleted task's TCB and stack. */
\r
3028 prvCheckTasksWaitingTermination();
\r
3030 #if ( configUSE_PREEMPTION == 0 )
\r
3032 /* If we are not using preemption we keep forcing a task switch to
\r
3033 see if any other task has become available. If we are using
\r
3034 preemption we don't need to do this as any task becoming available
\r
3035 will automatically get the processor anyway. */
\r
3038 #endif /* configUSE_PREEMPTION */
\r
3040 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
3042 /* When using preemption tasks of equal priority will be
\r
3043 timesliced. If a task that is sharing the idle priority is ready
\r
3044 to run then the idle task should yield before the end of the
\r
3047 A critical region is not required here as we are just reading from
\r
3048 the list, and an occasional incorrect value will not matter. If
\r
3049 the ready list at the idle priority contains more than one task
\r
3050 then a task other than the idle task is ready to execute. */
\r
3051 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
3057 mtCOVERAGE_TEST_MARKER();
\r
3060 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
3062 #if ( configUSE_IDLE_HOOK == 1 )
\r
3064 extern void vApplicationIdleHook( void );
\r
3066 /* Call the user defined function from within the idle task. This
\r
3067 allows the application designer to add background functionality
\r
3068 without the overhead of a separate task.
\r
3069 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
3070 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
3071 vApplicationIdleHook();
\r
3073 #endif /* configUSE_IDLE_HOOK */
\r
3075 /* This conditional compilation should use inequality to 0, not equality
\r
3076 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
3077 user defined low power mode implementations require
\r
3078 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
3079 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3081 TickType_t xExpectedIdleTime;
\r
3083 /* It is not desirable to suspend then resume the scheduler on
\r
3084 each iteration of the idle task. Therefore, a preliminary
\r
3085 test of the expected idle time is performed without the
\r
3086 scheduler suspended. The result here is not necessarily
\r
3088 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3090 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3092 vTaskSuspendAll();
\r
3094 /* Now the scheduler is suspended, the expected idle
\r
3095 time can be sampled again, and this time its value can
\r
3097 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
3098 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3100 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3102 traceLOW_POWER_IDLE_BEGIN();
\r
3103 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
3104 traceLOW_POWER_IDLE_END();
\r
3108 mtCOVERAGE_TEST_MARKER();
\r
3111 ( void ) xTaskResumeAll();
\r
3115 mtCOVERAGE_TEST_MARKER();
\r
3118 #endif /* configUSE_TICKLESS_IDLE */
\r
3121 /*-----------------------------------------------------------*/
\r
3123 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3125 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
3127 /* The idle task exists in addition to the application tasks. */
\r
3128 const UBaseType_t uxNonApplicationTasks = 1;
\r
3129 eSleepModeStatus eReturn = eStandardSleep;
\r
3131 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
3133 /* A task was made ready while the scheduler was suspended. */
\r
3134 eReturn = eAbortSleep;
\r
3136 else if( xYieldPending != pdFALSE )
\r
3138 /* A yield was pended while the scheduler was suspended. */
\r
3139 eReturn = eAbortSleep;
\r
3143 /* If all the tasks are in the suspended list (which might mean they
\r
3144 have an infinite block time rather than actually being suspended)
\r
3145 then it is safe to turn all clocks off and just wait for external
\r
3147 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
3149 eReturn = eNoTasksWaitingTimeout;
\r
3153 mtCOVERAGE_TEST_MARKER();
\r
3160 #endif /* configUSE_TICKLESS_IDLE */
\r
3161 /*-----------------------------------------------------------*/
\r
3163 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3165 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
3169 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3171 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
3172 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3176 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3177 /*-----------------------------------------------------------*/
\r
3179 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3181 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
3183 void *pvReturn = NULL;
\r
3186 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3188 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3189 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3199 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3200 /*-----------------------------------------------------------*/
\r
3202 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3204 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3208 /* If null is passed in here then we are modifying the MPU settings of
\r
3209 the calling task. */
\r
3210 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3212 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3215 #endif /* portUSING_MPU_WRAPPERS */
\r
3216 /*-----------------------------------------------------------*/
\r
3218 static void prvInitialiseTaskLists( void )
\r
3220 UBaseType_t uxPriority;
\r
3222 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3224 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3227 vListInitialise( &xDelayedTaskList1 );
\r
3228 vListInitialise( &xDelayedTaskList2 );
\r
3229 vListInitialise( &xPendingReadyList );
\r
3231 #if ( INCLUDE_vTaskDelete == 1 )
\r
3233 vListInitialise( &xTasksWaitingTermination );
\r
3235 #endif /* INCLUDE_vTaskDelete */
\r
3237 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3239 vListInitialise( &xSuspendedTaskList );
\r
3241 #endif /* INCLUDE_vTaskSuspend */
\r
3243 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3245 pxDelayedTaskList = &xDelayedTaskList1;
\r
3246 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3248 /*-----------------------------------------------------------*/
\r
3250 static void prvCheckTasksWaitingTermination( void )
\r
3253 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3255 #if ( INCLUDE_vTaskDelete == 1 )
\r
3257 BaseType_t xListIsEmpty;
\r
3259 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
3260 too often in the idle task. */
\r
3261 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3263 vTaskSuspendAll();
\r
3265 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
3267 ( void ) xTaskResumeAll();
\r
3269 if( xListIsEmpty == pdFALSE )
\r
3273 taskENTER_CRITICAL();
\r
3275 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
3276 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
3277 --uxCurrentNumberOfTasks;
\r
3278 --uxDeletedTasksWaitingCleanUp;
\r
3280 taskEXIT_CRITICAL();
\r
3282 prvDeleteTCB( pxTCB );
\r
3286 mtCOVERAGE_TEST_MARKER();
\r
3290 #endif /* INCLUDE_vTaskDelete */
\r
3292 /*-----------------------------------------------------------*/
\r
3294 #if( configUSE_TRACE_FACILITY == 1 )
\r
3296 void vTaskGetTaskInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
\r
3300 /* xTask is NULL then get the state of the calling task. */
\r
3301 pxTCB = prvGetTCBFromHandle( xTask );
\r
3303 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3304 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
\r
3305 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3306 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3307 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3309 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3311 /* If the task is in the suspended list then there is a chance it is
\r
3312 actually just blocked indefinitely - so really it should be reported as
\r
3313 being in the Blocked state. */
\r
3314 if( pxTaskStatus->eCurrentState == eSuspended )
\r
3316 vTaskSuspendAll();
\r
3318 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3320 pxTaskStatus->eCurrentState = eBlocked;
\r
3326 #endif /* INCLUDE_vTaskSuspend */
\r
3328 #if ( configUSE_MUTEXES == 1 )
\r
3330 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3334 pxTaskStatus->uxBasePriority = 0;
\r
3338 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3340 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3344 pxTaskStatus->ulRunTimeCounter = 0;
\r
3348 /* Obtaining the task state is a little fiddly, so is only done if the value
\r
3349 of eState passed into this function is eInvalid - otherwise the state is
\r
3350 just set to whatever is passed in. */
\r
3351 if( eState != eInvalid )
\r
3353 pxTaskStatus->eCurrentState = eState;
\r
3357 pxTaskStatus->eCurrentState = eTaskGetState( xTask );
\r
3360 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3361 parameter is provided to allow it to be skipped. */
\r
3362 if( xGetFreeStackSpace != pdFALSE )
\r
3364 #if ( portSTACK_GROWTH > 0 )
\r
3366 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3370 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3376 pxTaskStatus->usStackHighWaterMark = 0;
\r
3380 #endif /* configUSE_TRACE_FACILITY */
\r
3381 /*-----------------------------------------------------------*/
\r
3383 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3385 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3387 volatile TCB_t *pxNextTCB, *pxFirstTCB;
\r
3388 UBaseType_t uxTask = 0;
\r
3390 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3392 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
3394 /* Populate an TaskStatus_t structure within the
\r
3395 pxTaskStatusArray array for each task that is referenced from
\r
3396 pxList. See the definition of TaskStatus_t in task.h for the
\r
3397 meaning of each TaskStatus_t structure member. */
\r
3400 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
3401 vTaskGetTaskInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3403 } while( pxNextTCB != pxFirstTCB );
\r
3407 mtCOVERAGE_TEST_MARKER();
\r
3413 #endif /* configUSE_TRACE_FACILITY */
\r
3414 /*-----------------------------------------------------------*/
\r
3416 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3418 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3420 uint32_t ulCount = 0U;
\r
3422 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3424 pucStackByte -= portSTACK_GROWTH;
\r
3428 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3430 return ( uint16_t ) ulCount;
\r
3433 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3434 /*-----------------------------------------------------------*/
\r
3436 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3438 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3441 uint8_t *pucEndOfStack;
\r
3442 UBaseType_t uxReturn;
\r
3444 pxTCB = prvGetTCBFromHandle( xTask );
\r
3446 #if portSTACK_GROWTH < 0
\r
3448 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3452 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3456 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3461 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3462 /*-----------------------------------------------------------*/
\r
3464 #if ( INCLUDE_vTaskDelete == 1 )
\r
3466 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3468 /* This call is required specifically for the TriCore port. It must be
\r
3469 above the vPortFree() calls. The call is also used by ports/demos that
\r
3470 want to allocate and clean RAM statically. */
\r
3471 portCLEAN_UP_TCB( pxTCB );
\r
3473 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3474 to the task to free any memory allocated at the application level. */
\r
3475 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3477 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3479 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3481 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
\r
3483 /* The task can only have been allocated dynamically - free it
\r
3485 vPortFree( pxTCB->pxStack );
\r
3486 vPortFree( pxTCB );
\r
3488 #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
3490 /* The task could have been allocated statically or dynamically, so
\r
3491 check before attempting to free the memory. */
\r
3492 if( pxTCB->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
\r
3494 vPortFree( pxTCB->pxStack );
\r
3495 vPortFree( pxTCB );
\r
3499 mtCOVERAGE_TEST_MARKER();
\r
3502 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
3505 #endif /* INCLUDE_vTaskDelete */
\r
3506 /*-----------------------------------------------------------*/
\r
3508 static void prvResetNextTaskUnblockTime( void )
\r
3512 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3514 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3515 the maximum possible value so it is extremely unlikely that the
\r
3516 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3517 there is an item in the delayed list. */
\r
3518 xNextTaskUnblockTime = portMAX_DELAY;
\r
3522 /* The new current delayed list is not empty, get the value of
\r
3523 the item at the head of the delayed list. This is the time at
\r
3524 which the task at the head of the delayed list should be removed
\r
3525 from the Blocked state. */
\r
3526 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3527 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
\r
3530 /*-----------------------------------------------------------*/
\r
3532 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3534 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3536 TaskHandle_t xReturn;
\r
3538 /* A critical section is not required as this is not called from
\r
3539 an interrupt and the current TCB will always be the same for any
\r
3540 individual execution thread. */
\r
3541 xReturn = pxCurrentTCB;
\r
3546 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3547 /*-----------------------------------------------------------*/
\r
3549 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3551 BaseType_t xTaskGetSchedulerState( void )
\r
3553 BaseType_t xReturn;
\r
3555 if( xSchedulerRunning == pdFALSE )
\r
3557 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3561 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3563 xReturn = taskSCHEDULER_RUNNING;
\r
3567 xReturn = taskSCHEDULER_SUSPENDED;
\r
3574 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3575 /*-----------------------------------------------------------*/
\r
3577 #if ( configUSE_MUTEXES == 1 )
\r
3579 void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3581 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3583 /* If the mutex was given back by an interrupt while the queue was
\r
3584 locked then the mutex holder might now be NULL. */
\r
3585 if( pxMutexHolder != NULL )
\r
3587 /* If the holder of the mutex has a priority below the priority of
\r
3588 the task attempting to obtain the mutex then it will temporarily
\r
3589 inherit the priority of the task attempting to obtain the mutex. */
\r
3590 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3592 /* Adjust the mutex holder state to account for its new
\r
3593 priority. Only reset the event list item value if the value is
\r
3594 not being used for anything else. */
\r
3595 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3597 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
3601 mtCOVERAGE_TEST_MARKER();
\r
3604 /* If the task being modified is in the ready state it will need
\r
3605 to be moved into a new list. */
\r
3606 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
3608 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3610 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3614 mtCOVERAGE_TEST_MARKER();
\r
3617 /* Inherit the priority before being moved into the new list. */
\r
3618 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3619 prvAddTaskToReadyList( pxTCB );
\r
3623 /* Just inherit the priority. */
\r
3624 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3627 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
3631 mtCOVERAGE_TEST_MARKER();
\r
3636 mtCOVERAGE_TEST_MARKER();
\r
3640 #endif /* configUSE_MUTEXES */
\r
3641 /*-----------------------------------------------------------*/
\r
3643 #if ( configUSE_MUTEXES == 1 )
\r
3645 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3647 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3648 BaseType_t xReturn = pdFALSE;
\r
3650 if( pxMutexHolder != NULL )
\r
3652 /* A task can only have an inherited priority if it holds the mutex.
\r
3653 If the mutex is held by a task then it cannot be given from an
\r
3654 interrupt, and if a mutex is given by the holding task then it must
\r
3655 be the running state task. */
\r
3656 configASSERT( pxTCB == pxCurrentTCB );
\r
3658 configASSERT( pxTCB->uxMutexesHeld );
\r
3659 ( pxTCB->uxMutexesHeld )--;
\r
3661 /* Has the holder of the mutex inherited the priority of another
\r
3663 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3665 /* Only disinherit if no other mutexes are held. */
\r
3666 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3668 /* A task can only have an inherited priority if it holds
\r
3669 the mutex. If the mutex is held by a task then it cannot be
\r
3670 given from an interrupt, and if a mutex is given by the
\r
3671 holding task then it must be the running state task. Remove
\r
3672 the holding task from the ready list. */
\r
3673 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3675 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3679 mtCOVERAGE_TEST_MARKER();
\r
3682 /* Disinherit the priority before adding the task into the
\r
3683 new ready list. */
\r
3684 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3685 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3687 /* Reset the event list item value. It cannot be in use for
\r
3688 any other purpose if this task is running, and it must be
\r
3689 running to give back the mutex. */
\r
3690 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
3691 prvAddTaskToReadyList( pxTCB );
\r
3693 /* Return true to indicate that a context switch is required.
\r
3694 This is only actually required in the corner case whereby
\r
3695 multiple mutexes were held and the mutexes were given back
\r
3696 in an order different to that in which they were taken.
\r
3697 If a context switch did not occur when the first mutex was
\r
3698 returned, even if a task was waiting on it, then a context
\r
3699 switch should occur when the last mutex is returned whether
\r
3700 a task is waiting on it or not. */
\r
3705 mtCOVERAGE_TEST_MARKER();
\r
3710 mtCOVERAGE_TEST_MARKER();
\r
3715 mtCOVERAGE_TEST_MARKER();
\r
3721 #endif /* configUSE_MUTEXES */
\r
3722 /*-----------------------------------------------------------*/
\r
3724 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3726 void vTaskEnterCritical( void )
\r
3728 portDISABLE_INTERRUPTS();
\r
3730 if( xSchedulerRunning != pdFALSE )
\r
3732 ( pxCurrentTCB->uxCriticalNesting )++;
\r
3734 /* This is not the interrupt safe version of the enter critical
\r
3735 function so assert() if it is being called from an interrupt
\r
3736 context. Only API functions that end in "FromISR" can be used in an
\r
3737 interrupt. Only assert if the critical nesting count is 1 to
\r
3738 protect against recursive calls if the assert function also uses a
\r
3739 critical section. */
\r
3740 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
3742 portASSERT_IF_IN_ISR();
\r
3747 mtCOVERAGE_TEST_MARKER();
\r
3751 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3752 /*-----------------------------------------------------------*/
\r
3754 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3756 void vTaskExitCritical( void )
\r
3758 if( xSchedulerRunning != pdFALSE )
\r
3760 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
3762 ( pxCurrentTCB->uxCriticalNesting )--;
\r
3764 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
3766 portENABLE_INTERRUPTS();
\r
3770 mtCOVERAGE_TEST_MARKER();
\r
3775 mtCOVERAGE_TEST_MARKER();
\r
3780 mtCOVERAGE_TEST_MARKER();
\r
3784 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3785 /*-----------------------------------------------------------*/
\r
3787 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3789 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
3793 /* Start by copying the entire string. */
\r
3794 strcpy( pcBuffer, pcTaskName );
\r
3796 /* Pad the end of the string with spaces to ensure columns line up when
\r
3798 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
3800 pcBuffer[ x ] = ' ';
\r
3804 pcBuffer[ x ] = 0x00;
\r
3806 /* Return the new end of string. */
\r
3807 return &( pcBuffer[ x ] );
\r
3810 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
3811 /*-----------------------------------------------------------*/
\r
3813 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3815 void vTaskList( char * pcWriteBuffer )
\r
3817 TaskStatus_t *pxTaskStatusArray;
\r
3818 volatile UBaseType_t uxArraySize, x;
\r
3824 * This function is provided for convenience only, and is used by many
\r
3825 * of the demo applications. Do not consider it to be part of the
\r
3828 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
3829 * uxTaskGetSystemState() output into a human readable table that
\r
3830 * displays task names, states and stack usage.
\r
3832 * vTaskList() has a dependency on the sprintf() C library function that
\r
3833 * might bloat the code size, use a lot of stack, and provide different
\r
3834 * results on different platforms. An alternative, tiny, third party,
\r
3835 * and limited functionality implementation of sprintf() is provided in
\r
3836 * many of the FreeRTOS/Demo sub-directories in a file called
\r
3837 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
3838 * snprintf() implementation!).
\r
3840 * It is recommended that production systems call uxTaskGetSystemState()
\r
3841 * directly to get access to raw stats data, rather than indirectly
\r
3842 * through a call to vTaskList().
\r
3846 /* Make sure the write buffer does not contain a string. */
\r
3847 *pcWriteBuffer = 0x00;
\r
3849 /* Take a snapshot of the number of tasks in case it changes while this
\r
3850 function is executing. */
\r
3851 uxArraySize = uxCurrentNumberOfTasks;
\r
3853 /* Allocate an array index for each task. NOTE! if
\r
3854 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
3855 equate to NULL. */
\r
3856 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3858 if( pxTaskStatusArray != NULL )
\r
3860 /* Generate the (binary) data. */
\r
3861 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
3863 /* Create a human readable table from the binary data. */
\r
3864 for( x = 0; x < uxArraySize; x++ )
\r
3866 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
3868 case eReady: cStatus = tskREADY_CHAR;
\r
3871 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
3874 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
3877 case eDeleted: cStatus = tskDELETED_CHAR;
\r
3880 default: /* Should not get here, but it is included
\r
3881 to prevent static checking errors. */
\r
3886 /* Write the task name to the string, padding with spaces so it
\r
3887 can be printed in tabular form more easily. */
\r
3888 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3890 /* Write the rest of the string. */
\r
3891 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
3892 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3895 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
3896 is 0 then vPortFree() will be #defined to nothing. */
\r
3897 vPortFree( pxTaskStatusArray );
\r
3901 mtCOVERAGE_TEST_MARKER();
\r
3905 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3906 /*----------------------------------------------------------*/
\r
3908 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3910 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
3912 TaskStatus_t *pxTaskStatusArray;
\r
3913 volatile UBaseType_t uxArraySize, x;
\r
3914 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
3916 #if( configUSE_TRACE_FACILITY != 1 )
\r
3918 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
3925 * This function is provided for convenience only, and is used by many
\r
3926 * of the demo applications. Do not consider it to be part of the
\r
3929 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
3930 * of the uxTaskGetSystemState() output into a human readable table that
\r
3931 * displays the amount of time each task has spent in the Running state
\r
3932 * in both absolute and percentage terms.
\r
3934 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
3935 * function that might bloat the code size, use a lot of stack, and
\r
3936 * provide different results on different platforms. An alternative,
\r
3937 * tiny, third party, and limited functionality implementation of
\r
3938 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3939 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3940 * a full snprintf() implementation!).
\r
3942 * It is recommended that production systems call uxTaskGetSystemState()
\r
3943 * directly to get access to raw stats data, rather than indirectly
\r
3944 * through a call to vTaskGetRunTimeStats().
\r
3947 /* Make sure the write buffer does not contain a string. */
\r
3948 *pcWriteBuffer = 0x00;
\r
3950 /* Take a snapshot of the number of tasks in case it changes while this
\r
3951 function is executing. */
\r
3952 uxArraySize = uxCurrentNumberOfTasks;
\r
3954 /* Allocate an array index for each task. NOTE! If
\r
3955 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
3956 equate to NULL. */
\r
3957 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3959 if( pxTaskStatusArray != NULL )
\r
3961 /* Generate the (binary) data. */
\r
3962 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
3964 /* For percentage calculations. */
\r
3965 ulTotalTime /= 100UL;
\r
3967 /* Avoid divide by zero errors. */
\r
3968 if( ulTotalTime > 0 )
\r
3970 /* Create a human readable table from the binary data. */
\r
3971 for( x = 0; x < uxArraySize; x++ )
\r
3973 /* What percentage of the total run time has the task used?
\r
3974 This will always be rounded down to the nearest integer.
\r
3975 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
3976 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
3978 /* Write the task name to the string, padding with
\r
3979 spaces so it can be printed in tabular form more
\r
3981 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3983 if( ulStatsAsPercentage > 0UL )
\r
3985 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3987 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
3991 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3992 printf() library can be used. */
\r
3993 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
3999 /* If the percentage is zero here then the task has
\r
4000 consumed less than 1% of the total run time. */
\r
4001 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4003 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4007 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4008 printf() library can be used. */
\r
4009 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4014 pcWriteBuffer += strlen( pcWriteBuffer );
\r
4019 mtCOVERAGE_TEST_MARKER();
\r
4022 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4023 is 0 then vPortFree() will be #defined to nothing. */
\r
4024 vPortFree( pxTaskStatusArray );
\r
4028 mtCOVERAGE_TEST_MARKER();
\r
4032 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
4033 /*-----------------------------------------------------------*/
\r
4035 TickType_t uxTaskResetEventItemValue( void )
\r
4037 TickType_t uxReturn;
\r
4039 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
4041 /* Reset the event list item to its normal value - so it can be used with
\r
4042 queues and semaphores. */
\r
4043 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
4047 /*-----------------------------------------------------------*/
\r
4049 #if ( configUSE_MUTEXES == 1 )
\r
4051 void *pvTaskIncrementMutexHeldCount( void )
\r
4053 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
4054 then pxCurrentTCB will be NULL. */
\r
4055 if( pxCurrentTCB != NULL )
\r
4057 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4060 return pxCurrentTCB;
\r
4063 #endif /* configUSE_MUTEXES */
\r
4064 /*-----------------------------------------------------------*/
\r
4066 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4068 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
4070 uint32_t ulReturn;
\r
4072 taskENTER_CRITICAL();
\r
4074 /* Only block if the notification count is not already non-zero. */
\r
4075 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
4077 /* Mark this task as waiting for a notification. */
\r
4078 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4080 if( xTicksToWait > ( TickType_t ) 0 )
\r
4082 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4083 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4085 /* All ports are written to allow a yield in a critical
\r
4086 section (some will yield immediately, others wait until the
\r
4087 critical section exits) - but it is not something that
\r
4088 application code should ever do. */
\r
4089 portYIELD_WITHIN_API();
\r
4093 mtCOVERAGE_TEST_MARKER();
\r
4098 mtCOVERAGE_TEST_MARKER();
\r
4101 taskEXIT_CRITICAL();
\r
4103 taskENTER_CRITICAL();
\r
4105 traceTASK_NOTIFY_TAKE();
\r
4106 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4108 if( ulReturn != 0UL )
\r
4110 if( xClearCountOnExit != pdFALSE )
\r
4112 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4116 pxCurrentTCB->ulNotifiedValue = ulReturn - 1;
\r
4121 mtCOVERAGE_TEST_MARKER();
\r
4124 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4126 taskEXIT_CRITICAL();
\r
4131 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4132 /*-----------------------------------------------------------*/
\r
4134 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4136 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4138 BaseType_t xReturn;
\r
4140 taskENTER_CRITICAL();
\r
4142 /* Only block if a notification is not already pending. */
\r
4143 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4145 /* Clear bits in the task's notification value as bits may get
\r
4146 set by the notifying task or interrupt. This can be used to
\r
4147 clear the value to zero. */
\r
4148 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4150 /* Mark this task as waiting for a notification. */
\r
4151 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4153 if( xTicksToWait > ( TickType_t ) 0 )
\r
4155 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4156 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4158 /* All ports are written to allow a yield in a critical
\r
4159 section (some will yield immediately, others wait until the
\r
4160 critical section exits) - but it is not something that
\r
4161 application code should ever do. */
\r
4162 portYIELD_WITHIN_API();
\r
4166 mtCOVERAGE_TEST_MARKER();
\r
4171 mtCOVERAGE_TEST_MARKER();
\r
4174 taskEXIT_CRITICAL();
\r
4176 taskENTER_CRITICAL();
\r
4178 traceTASK_NOTIFY_WAIT();
\r
4180 if( pulNotificationValue != NULL )
\r
4182 /* Output the current notification value, which may or may not
\r
4184 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4187 /* If ucNotifyValue is set then either the task never entered the
\r
4188 blocked state (because a notification was already pending) or the
\r
4189 task unblocked because of a notification. Otherwise the task
\r
4190 unblocked because of a timeout. */
\r
4191 if( pxCurrentTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
4193 /* A notification was not received. */
\r
4194 xReturn = pdFALSE;
\r
4198 /* A notification was already pending or a notification was
\r
4199 received while the task was waiting. */
\r
4200 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4204 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4206 taskEXIT_CRITICAL();
\r
4211 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4212 /*-----------------------------------------------------------*/
\r
4214 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4216 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4219 BaseType_t xReturn = pdPASS;
\r
4220 uint8_t ucOriginalNotifyState;
\r
4222 configASSERT( xTaskToNotify );
\r
4223 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4225 taskENTER_CRITICAL();
\r
4227 if( pulPreviousNotificationValue != NULL )
\r
4229 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4232 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4234 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4239 pxTCB->ulNotifiedValue |= ulValue;
\r
4243 ( pxTCB->ulNotifiedValue )++;
\r
4246 case eSetValueWithOverwrite :
\r
4247 pxTCB->ulNotifiedValue = ulValue;
\r
4250 case eSetValueWithoutOverwrite :
\r
4251 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4253 pxTCB->ulNotifiedValue = ulValue;
\r
4257 /* The value could not be written to the task. */
\r
4263 /* The task is being notified without its notify value being
\r
4268 traceTASK_NOTIFY();
\r
4270 /* If the task is in the blocked state specifically to wait for a
\r
4271 notification then unblock it now. */
\r
4272 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4274 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4275 prvAddTaskToReadyList( pxTCB );
\r
4277 /* The task should not have been on an event list. */
\r
4278 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4280 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4282 /* If a task is blocked waiting for a notification then
\r
4283 xNextTaskUnblockTime might be set to the blocked task's time
\r
4284 out time. If the task is unblocked for a reason other than
\r
4285 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4286 because it will automatically get reset to a new value when
\r
4287 the tick count equals xNextTaskUnblockTime. However if
\r
4288 tickless idling is used it might be more important to enter
\r
4289 sleep mode at the earliest possible time - so reset
\r
4290 xNextTaskUnblockTime here to ensure it is updated at the
\r
4291 earliest possible time. */
\r
4292 prvResetNextTaskUnblockTime();
\r
4296 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4298 /* The notified task has a priority above the currently
\r
4299 executing task so a yield is required. */
\r
4300 taskYIELD_IF_USING_PREEMPTION();
\r
4304 mtCOVERAGE_TEST_MARKER();
\r
4309 mtCOVERAGE_TEST_MARKER();
\r
4312 taskEXIT_CRITICAL();
\r
4317 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4318 /*-----------------------------------------------------------*/
\r
4320 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4322 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4325 uint8_t ucOriginalNotifyState;
\r
4326 BaseType_t xReturn = pdPASS;
\r
4327 UBaseType_t uxSavedInterruptStatus;
\r
4329 configASSERT( xTaskToNotify );
\r
4331 /* RTOS ports that support interrupt nesting have the concept of a
\r
4332 maximum system call (or maximum API call) interrupt priority.
\r
4333 Interrupts that are above the maximum system call priority are keep
\r
4334 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4335 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4336 is defined in FreeRTOSConfig.h then
\r
4337 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4338 failure if a FreeRTOS API function is called from an interrupt that has
\r
4339 been assigned a priority above the configured maximum system call
\r
4340 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4341 from interrupts that have been assigned a priority at or (logically)
\r
4342 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4343 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4344 simple as possible. More information (albeit Cortex-M specific) is
\r
4345 provided on the following link:
\r
4346 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4347 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4349 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4351 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4353 if( pulPreviousNotificationValue != NULL )
\r
4355 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4358 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4359 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4364 pxTCB->ulNotifiedValue |= ulValue;
\r
4368 ( pxTCB->ulNotifiedValue )++;
\r
4371 case eSetValueWithOverwrite :
\r
4372 pxTCB->ulNotifiedValue = ulValue;
\r
4375 case eSetValueWithoutOverwrite :
\r
4376 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4378 pxTCB->ulNotifiedValue = ulValue;
\r
4382 /* The value could not be written to the task. */
\r
4388 /* The task is being notified without its notify value being
\r
4393 traceTASK_NOTIFY_FROM_ISR();
\r
4395 /* If the task is in the blocked state specifically to wait for a
\r
4396 notification then unblock it now. */
\r
4397 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4399 /* The task should not have been on an event list. */
\r
4400 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4402 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4404 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4405 prvAddTaskToReadyList( pxTCB );
\r
4409 /* The delayed and ready lists cannot be accessed, so hold
\r
4410 this task pending until the scheduler is resumed. */
\r
4411 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4414 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4416 /* The notified task has a priority above the currently
\r
4417 executing task so a yield is required. */
\r
4418 if( pxHigherPriorityTaskWoken != NULL )
\r
4420 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4424 /* Mark that a yield is pending in case the user is not
\r
4425 using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
4426 safe FreeRTOS function. */
\r
4427 xYieldPending = pdTRUE;
\r
4432 mtCOVERAGE_TEST_MARKER();
\r
4436 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4441 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4442 /*-----------------------------------------------------------*/
\r
4444 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4446 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4449 uint8_t ucOriginalNotifyState;
\r
4450 UBaseType_t uxSavedInterruptStatus;
\r
4452 configASSERT( xTaskToNotify );
\r
4454 /* RTOS ports that support interrupt nesting have the concept of a
\r
4455 maximum system call (or maximum API call) interrupt priority.
\r
4456 Interrupts that are above the maximum system call priority are keep
\r
4457 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4458 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4459 is defined in FreeRTOSConfig.h then
\r
4460 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4461 failure if a FreeRTOS API function is called from an interrupt that has
\r
4462 been assigned a priority above the configured maximum system call
\r
4463 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4464 from interrupts that have been assigned a priority at or (logically)
\r
4465 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4466 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4467 simple as possible. More information (albeit Cortex-M specific) is
\r
4468 provided on the following link:
\r
4469 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4470 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4472 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4474 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4476 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4477 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4479 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4481 ( pxTCB->ulNotifiedValue )++;
\r
4483 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
4485 /* If the task is in the blocked state specifically to wait for a
\r
4486 notification then unblock it now. */
\r
4487 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4489 /* The task should not have been on an event list. */
\r
4490 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4492 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4494 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4495 prvAddTaskToReadyList( pxTCB );
\r
4499 /* The delayed and ready lists cannot be accessed, so hold
\r
4500 this task pending until the scheduler is resumed. */
\r
4501 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4504 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4506 /* The notified task has a priority above the currently
\r
4507 executing task so a yield is required. */
\r
4508 if( pxHigherPriorityTaskWoken != NULL )
\r
4510 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4514 /* Mark that a yield is pending in case the user is not
\r
4515 using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
4516 safe FreeRTOS function. */
\r
4517 xYieldPending = pdTRUE;
\r
4522 mtCOVERAGE_TEST_MARKER();
\r
4526 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4529 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4531 /*-----------------------------------------------------------*/
\r
4533 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4535 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
4538 BaseType_t xReturn;
\r
4540 /* If null is passed in here then it is the calling task that is having
\r
4541 its notification state cleared. */
\r
4542 pxTCB = prvGetTCBFromHandle( xTask );
\r
4544 taskENTER_CRITICAL();
\r
4546 if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
\r
4548 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4556 taskEXIT_CRITICAL();
\r
4561 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4562 /*-----------------------------------------------------------*/
\r
4565 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
\r
4567 TickType_t xTimeToWake;
\r
4568 const TickType_t xConstTickCount = xTickCount;
\r
4570 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
4572 /* About to enter a delayed list, so ensure the ucDelayAborted flag is
\r
4573 reset to pdFALSE so it can be detected as having been set to pdTRUE
\r
4574 when the task leaves the Blocked state. */
\r
4575 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
4579 /* Remove the task from the ready list before adding it to the blocked list
\r
4580 as the same list item is used for both lists. */
\r
4581 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4583 /* The current task must be in a ready list, so there is no need to
\r
4584 check, and the port reset macro can be called directly. */
\r
4585 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
4589 mtCOVERAGE_TEST_MARKER();
\r
4592 #if ( INCLUDE_vTaskSuspend == 1 )
\r
4594 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
\r
4596 /* Add the task to the suspended task list instead of a delayed task
\r
4597 list to ensure it is not woken by a timing event. It will block
\r
4599 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4603 /* Calculate the time at which the task should be woken if the event
\r
4604 does not occur. This may overflow but this doesn't matter, the
\r
4605 kernel will manage it correctly. */
\r
4606 xTimeToWake = xConstTickCount + xTicksToWait;
\r
4608 /* The list item will be inserted in wake time order. */
\r
4609 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
4611 if( xTimeToWake < xConstTickCount )
\r
4613 /* Wake time has overflowed. Place this item in the overflow
\r
4615 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4619 /* The wake time has not overflowed, so the current block list
\r
4621 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4623 /* If the task entering the blocked state was placed at the
\r
4624 head of the list of blocked tasks then xNextTaskUnblockTime
\r
4625 needs to be updated too. */
\r
4626 if( xTimeToWake < xNextTaskUnblockTime )
\r
4628 xNextTaskUnblockTime = xTimeToWake;
\r
4632 mtCOVERAGE_TEST_MARKER();
\r
4637 #else /* INCLUDE_vTaskSuspend */
\r
4639 /* Calculate the time at which the task should be woken if the event
\r
4640 does not occur. This may overflow but this doesn't matter, the kernel
\r
4641 will manage it correctly. */
\r
4642 xTimeToWake = xConstTickCount + xTicksToWait;
\r
4644 /* The list item will be inserted in wake time order. */
\r
4645 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
4647 if( xTimeToWake < xConstTickCount )
\r
4649 /* Wake time has overflowed. Place this item in the overflow list. */
\r
4650 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4654 /* The wake time has not overflowed, so the current block list is used. */
\r
4655 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4657 /* If the task entering the blocked state was placed at the head of the
\r
4658 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
4660 if( xTimeToWake < xNextTaskUnblockTime )
\r
4662 xNextTaskUnblockTime = xTimeToWake;
\r
4666 mtCOVERAGE_TEST_MARKER();
\r
4670 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
\r
4671 ( void ) xCanBlockIndefinitely;
\r
4673 #endif /* INCLUDE_vTaskSuspend */
\r
4677 #ifdef FREERTOS_MODULE_TEST
\r
4678 #include "tasks_test_access_functions.h"
\r
projects / freertos / blob