2 * FreeRTOS Kernel V10.1.1
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3 * Copyright (C) 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /* Standard includes. */
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32 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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33 all the API functions to use the MPU wrappers. That should only be done when
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34 task.h is included from an application file. */
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35 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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37 /* FreeRTOS includes. */
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38 #include "FreeRTOS.h"
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41 #include "stack_macros.h"
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43 /* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
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44 because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
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45 for the header files above, but not in this file, in order to generate the
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46 correct privileged Vs unprivileged linkage and placement. */
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47 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
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49 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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50 functions but without including stdio.h here. */
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51 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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52 /* At the bottom of this file are two optional functions that can be used
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53 to generate human readable text from the raw data generated by the
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54 uxTaskGetSystemState() function. Note the formatting functions are provided
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55 for convenience only, and are NOT considered part of the kernel. */
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57 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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59 #if( configUSE_PREEMPTION == 0 )
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60 /* If the cooperative scheduler is being used then a yield should not be
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61 performed just because a higher priority task has been woken. */
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62 #define taskYIELD_IF_USING_PREEMPTION()
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64 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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67 /* Values that can be assigned to the ucNotifyState member of the TCB. */
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68 #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )
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69 #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
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70 #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
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73 * The value used to fill the stack of a task when the task is created. This
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74 * is used purely for checking the high water mark for tasks.
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76 #define tskSTACK_FILL_BYTE ( 0xa5U )
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78 #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
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79 #define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
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80 #define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
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82 /* If any of the following are set then task stacks are filled with a known
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83 value so the high water mark can be determined. If none of the following are
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84 set then don't fill the stack so there is no unnecessary dependency on memset. */
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85 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
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86 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 1
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88 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 0
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92 * Macros used by vListTask to indicate which state a task is in.
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94 #define tskRUNNING_CHAR ( 'X' )
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95 #define tskBLOCKED_CHAR ( 'B' )
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96 #define tskREADY_CHAR ( 'R' )
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97 #define tskDELETED_CHAR ( 'D' )
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98 #define tskSUSPENDED_CHAR ( 'S' )
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101 * Some kernel aware debuggers require the data the debugger needs access to be
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102 * global, rather than file scope.
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104 #ifdef portREMOVE_STATIC_QUALIFIER
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108 /* The name allocated to the Idle task. This can be overridden by defining
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109 configIDLE_TASK_NAME in FreeRTOSConfig.h. */
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110 #ifndef configIDLE_TASK_NAME
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111 #define configIDLE_TASK_NAME "IDLE"
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114 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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116 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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117 performed in a generic way that is not optimised to any particular
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118 microcontroller architecture. */
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120 /* uxTopReadyPriority holds the priority of the highest priority ready
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122 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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124 if( ( uxPriority ) > uxTopReadyPriority ) \
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126 uxTopReadyPriority = ( uxPriority ); \
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128 } /* taskRECORD_READY_PRIORITY */
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130 /*-----------------------------------------------------------*/
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132 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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134 UBaseType_t uxTopPriority = uxTopReadyPriority; \
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136 /* Find the highest priority queue that contains ready tasks. */ \
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137 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
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139 configASSERT( uxTopPriority ); \
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143 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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144 the same priority get an equal share of the processor time. */ \
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145 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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146 uxTopReadyPriority = uxTopPriority; \
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147 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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149 /*-----------------------------------------------------------*/
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151 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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152 they are only required when a port optimised method of task selection is
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154 #define taskRESET_READY_PRIORITY( uxPriority )
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155 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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157 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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159 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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160 performed in a way that is tailored to the particular microcontroller
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161 architecture being used. */
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163 /* A port optimised version is provided. Call the port defined macros. */
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164 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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166 /*-----------------------------------------------------------*/
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168 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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170 UBaseType_t uxTopPriority; \
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172 /* Find the highest priority list that contains ready tasks. */ \
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173 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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174 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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175 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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176 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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178 /*-----------------------------------------------------------*/
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180 /* A port optimised version is provided, call it only if the TCB being reset
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181 is being referenced from a ready list. If it is referenced from a delayed
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182 or suspended list then it won't be in a ready list. */
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183 #define taskRESET_READY_PRIORITY( uxPriority ) \
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185 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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187 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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191 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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193 /*-----------------------------------------------------------*/
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195 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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196 count overflows. */
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197 #define taskSWITCH_DELAYED_LISTS() \
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201 /* The delayed tasks list should be empty when the lists are switched. */ \
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202 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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204 pxTemp = pxDelayedTaskList; \
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205 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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206 pxOverflowDelayedTaskList = pxTemp; \
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207 xNumOfOverflows++; \
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208 prvResetNextTaskUnblockTime(); \
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211 /*-----------------------------------------------------------*/
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214 * Place the task represented by pxTCB into the appropriate ready list for
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215 * the task. It is inserted at the end of the list.
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217 #define prvAddTaskToReadyList( pxTCB ) \
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218 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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219 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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220 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
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221 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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222 /*-----------------------------------------------------------*/
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225 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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226 * where NULL is used to indicate that the handle of the currently executing
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227 * task should be used in place of the parameter. This macro simply checks to
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228 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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230 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) )
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232 /* The item value of the event list item is normally used to hold the priority
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233 of the task to which it belongs (coded to allow it to be held in reverse
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234 priority order). However, it is occasionally borrowed for other purposes. It
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235 is important its value is not updated due to a task priority change while it is
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236 being used for another purpose. The following bit definition is used to inform
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237 the scheduler that the value should not be changed - in which case it is the
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238 responsibility of whichever module is using the value to ensure it gets set back
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239 to its original value when it is released. */
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240 #if( configUSE_16_BIT_TICKS == 1 )
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241 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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243 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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247 * Task control block. A task control block (TCB) is allocated for each task,
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248 * and stores task state information, including a pointer to the task's context
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249 * (the task's run time environment, including register values)
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251 typedef struct tskTaskControlBlock /* The old naming convention is used to prevent breaking kernel aware debuggers. */
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253 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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255 #if ( portUSING_MPU_WRAPPERS == 1 )
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256 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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259 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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260 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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261 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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262 StackType_t *pxStack; /*< Points to the start of the stack. */
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263 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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265 #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
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266 StackType_t *pxEndOfStack; /*< Points to the highest valid address for the stack. */
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269 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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270 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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273 #if ( configUSE_TRACE_FACILITY == 1 )
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274 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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275 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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278 #if ( configUSE_MUTEXES == 1 )
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279 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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280 UBaseType_t uxMutexesHeld;
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283 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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284 TaskHookFunction_t pxTaskTag;
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287 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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288 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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291 #if( configGENERATE_RUN_TIME_STATS == 1 )
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292 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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295 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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296 /* Allocate a Newlib reent structure that is specific to this task.
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297 Note Newlib support has been included by popular demand, but is not
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298 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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299 responsible for resulting newlib operation. User must be familiar with
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300 newlib and must provide system-wide implementations of the necessary
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301 stubs. Be warned that (at the time of writing) the current newlib design
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302 implements a system-wide malloc() that must be provided with locks. */
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303 struct _reent xNewLib_reent;
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306 #if( configUSE_TASK_NOTIFICATIONS == 1 )
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307 volatile uint32_t ulNotifiedValue;
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308 volatile uint8_t ucNotifyState;
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311 /* See the comments in FreeRTOS.h with the definition of
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312 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
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313 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
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314 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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317 #if( INCLUDE_xTaskAbortDelay == 1 )
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318 uint8_t ucDelayAborted;
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321 #if( configUSE_POSIX_ERRNO == 1 )
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327 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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328 below to enable the use of older kernel aware debuggers. */
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329 typedef tskTCB TCB_t;
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331 /*lint -save -e956 A manual analysis and inspection has been used to determine
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332 which static variables must be declared volatile. */
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333 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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335 /* Lists for ready and blocked tasks. --------------------
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336 xDelayedTaskList1 and xDelayedTaskList2 could be move to function scople but
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337 doing so breaks some kernel aware debuggers and debuggers that rely on removing
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338 the static qualifier. */
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339 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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340 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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341 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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342 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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343 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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344 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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346 #if( INCLUDE_vTaskDelete == 1 )
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348 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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349 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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353 #if ( INCLUDE_vTaskSuspend == 1 )
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355 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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359 /* Global POSIX errno. Its value is changed upon context switching to match
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360 the errno of the currently running task. */
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361 #if ( configUSE_POSIX_ERRNO == 1 )
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362 int FreeRTOS_errno = 0;
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365 /* Other file private variables. --------------------------------*/
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366 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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367 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
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368 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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369 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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370 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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371 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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372 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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373 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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374 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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375 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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377 /* Context switches are held pending while the scheduler is suspended. Also,
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378 interrupts must not manipulate the xStateListItem of a TCB, or any of the
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379 lists the xStateListItem can be referenced from, if the scheduler is suspended.
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380 If an interrupt needs to unblock a task while the scheduler is suspended then it
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381 moves the task's event list item into the xPendingReadyList, ready for the
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382 kernel to move the task from the pending ready list into the real ready list
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383 when the scheduler is unsuspended. The pending ready list itself can only be
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384 accessed from a critical section. */
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385 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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387 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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389 /* Do not move these variables to function scope as doing so prevents the
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390 code working with debuggers that need to remove the static qualifier. */
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391 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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392 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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398 /*-----------------------------------------------------------*/
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400 /* Callback function prototypes. --------------------------*/
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401 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
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403 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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407 #if( configUSE_TICK_HOOK > 0 )
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409 extern void vApplicationTickHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */
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413 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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415 extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */
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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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428 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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430 #endif /* INCLUDE_vTaskSuspend */
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433 * Utility to ready all the lists used by the scheduler. This is called
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434 * automatically upon the creation of the first task.
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436 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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439 * The idle task, which as all tasks is implemented as a never ending loop.
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440 * The idle task is automatically created and added to the ready lists upon
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441 * creation of the first user task.
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443 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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444 * language extensions. The equivalent prototype for this function is:
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446 * void prvIdleTask( void *pvParameters );
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449 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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452 * Utility to free all memory allocated by the scheduler to hold a TCB,
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453 * including the stack pointed to by the TCB.
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455 * This does not free memory allocated by the task itself (i.e. memory
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456 * allocated by calls to pvPortMalloc from within the tasks application code).
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458 #if ( INCLUDE_vTaskDelete == 1 )
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460 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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465 * Used only by the idle task. This checks to see if anything has been placed
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466 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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467 * and its TCB deleted.
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469 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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472 * The currently executing task is entering the Blocked state. Add the task to
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473 * either the current or the overflow delayed task list.
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475 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
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478 * Fills an TaskStatus_t structure with information on each task that is
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479 * referenced from the pxList list (which may be a ready list, a delayed list,
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480 * a suspended list, etc.).
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482 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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483 * NORMAL APPLICATION CODE.
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485 #if ( configUSE_TRACE_FACILITY == 1 )
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487 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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492 * Searches pxList for a task with name pcNameToQuery - returning a handle to
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493 * the task if it is found, or NULL if the task is not found.
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495 #if ( INCLUDE_xTaskGetHandle == 1 )
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497 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
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502 * When a task is created, the stack of the task is filled with a known value.
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503 * This function determines the 'high water mark' of the task stack by
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504 * determining how much of the stack remains at the original preset value.
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506 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
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508 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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513 * Return the amount of time, in ticks, that will pass before the kernel will
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514 * next move a task from the Blocked state to the Running state.
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516 * This conditional compilation should use inequality to 0, not equality to 1.
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517 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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518 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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519 * set to a value other than 1.
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521 #if ( configUSE_TICKLESS_IDLE != 0 )
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523 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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528 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
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529 * will exit the Blocked state.
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531 static void prvResetNextTaskUnblockTime( void );
\r
533 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
536 * Helper function used to pad task names with spaces when printing out
\r
537 * human readable tables of task information.
\r
539 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
\r
544 * Called after a Task_t structure has been allocated either statically or
\r
545 * dynamically to fill in the structure's members.
\r
547 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
548 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
549 const uint32_t ulStackDepth,
\r
550 void * const pvParameters,
\r
551 UBaseType_t uxPriority,
\r
552 TaskHandle_t * const pxCreatedTask,
\r
554 const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
\r
557 * Called after a new task has been created and initialised to place the task
\r
558 * under the control of the scheduler.
\r
560 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
\r
563 * freertos_tasks_c_additions_init() should only be called if the user definable
\r
564 * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
\r
565 * called by the function.
\r
567 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
569 static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
\r
573 /*-----------------------------------------------------------*/
\r
575 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
577 TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
\r
578 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
579 const uint32_t ulStackDepth,
\r
580 void * const pvParameters,
\r
581 UBaseType_t uxPriority,
\r
582 StackType_t * const puxStackBuffer,
\r
583 StaticTask_t * const pxTaskBuffer )
\r
586 TaskHandle_t xReturn;
\r
588 configASSERT( puxStackBuffer != NULL );
\r
589 configASSERT( pxTaskBuffer != NULL );
\r
591 #if( configASSERT_DEFINED == 1 )
\r
593 /* Sanity check that the size of the structure used to declare a
\r
594 variable of type StaticTask_t equals the size of the real task
\r
596 volatile size_t xSize = sizeof( StaticTask_t );
\r
597 configASSERT( xSize == sizeof( TCB_t ) );
\r
598 ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
\r
600 #endif /* configASSERT_DEFINED */
\r
603 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
\r
605 /* The memory used for the task's TCB and stack are passed into this
\r
606 function - use them. */
\r
607 pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
\r
608 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
\r
610 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
612 /* Tasks can be created statically or dynamically, so note this
\r
613 task was created statically in case the task is later deleted. */
\r
614 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
616 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
618 prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
\r
619 prvAddNewTaskToReadyList( pxNewTCB );
\r
629 #endif /* SUPPORT_STATIC_ALLOCATION */
\r
630 /*-----------------------------------------------------------*/
\r
632 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
634 BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
637 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
639 configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
\r
640 configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
\r
642 if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
\r
644 /* Allocate space for the TCB. Where the memory comes from depends
\r
645 on the implementation of the port malloc function and whether or
\r
646 not static allocation is being used. */
\r
647 pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
\r
649 /* Store the stack location in the TCB. */
\r
650 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
652 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
654 /* Tasks can be created statically or dynamically, so note this
\r
655 task was created statically in case the task is later deleted. */
\r
656 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
658 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
660 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
661 pxTaskDefinition->pcName,
\r
662 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
663 pxTaskDefinition->pvParameters,
\r
664 pxTaskDefinition->uxPriority,
\r
665 pxCreatedTask, pxNewTCB,
\r
666 pxTaskDefinition->xRegions );
\r
668 prvAddNewTaskToReadyList( pxNewTCB );
\r
675 #endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
\r
676 /*-----------------------------------------------------------*/
\r
678 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
680 BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
683 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
685 configASSERT( pxTaskDefinition->puxStackBuffer );
\r
687 if( pxTaskDefinition->puxStackBuffer != NULL )
\r
689 /* Allocate space for the TCB. Where the memory comes from depends
\r
690 on the implementation of the port malloc function and whether or
\r
691 not static allocation is being used. */
\r
692 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
694 if( pxNewTCB != NULL )
\r
696 /* Store the stack location in the TCB. */
\r
697 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
699 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
701 /* Tasks can be created statically or dynamically, so note
\r
702 this task had a statically allocated stack in case it is
\r
703 later deleted. The TCB was allocated dynamically. */
\r
704 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
\r
706 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
708 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
709 pxTaskDefinition->pcName,
\r
710 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
711 pxTaskDefinition->pvParameters,
\r
712 pxTaskDefinition->uxPriority,
\r
713 pxCreatedTask, pxNewTCB,
\r
714 pxTaskDefinition->xRegions );
\r
716 prvAddNewTaskToReadyList( pxNewTCB );
\r
724 #endif /* portUSING_MPU_WRAPPERS */
\r
725 /*-----------------------------------------------------------*/
\r
727 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
729 BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
\r
730 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
731 const configSTACK_DEPTH_TYPE usStackDepth,
\r
732 void * const pvParameters,
\r
733 UBaseType_t uxPriority,
\r
734 TaskHandle_t * const pxCreatedTask )
\r
737 BaseType_t xReturn;
\r
739 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
740 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
741 the TCB then the stack. */
\r
742 #if( portSTACK_GROWTH > 0 )
\r
744 /* Allocate space for the TCB. Where the memory comes from depends on
\r
745 the implementation of the port malloc function and whether or not static
\r
746 allocation is being used. */
\r
747 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
749 if( pxNewTCB != NULL )
\r
751 /* Allocate space for the stack used by the task being created.
\r
752 The base of the stack memory stored in the TCB so the task can
\r
753 be deleted later if required. */
\r
754 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
756 if( pxNewTCB->pxStack == NULL )
\r
758 /* Could not allocate the stack. Delete the allocated TCB. */
\r
759 vPortFree( pxNewTCB );
\r
764 #else /* portSTACK_GROWTH */
\r
766 StackType_t *pxStack;
\r
768 /* Allocate space for the stack used by the task being created. */
\r
769 pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
\r
771 if( pxStack != NULL )
\r
773 /* Allocate space for the TCB. */
\r
774 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */
\r
776 if( pxNewTCB != NULL )
\r
778 /* Store the stack location in the TCB. */
\r
779 pxNewTCB->pxStack = pxStack;
\r
783 /* The stack cannot be used as the TCB was not created. Free
\r
785 vPortFree( pxStack );
\r
793 #endif /* portSTACK_GROWTH */
\r
795 if( pxNewTCB != NULL )
\r
797 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
\r
799 /* Tasks can be created statically or dynamically, so note this
\r
800 task was created dynamically in case it is later deleted. */
\r
801 pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
\r
803 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
805 prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
\r
806 prvAddNewTaskToReadyList( pxNewTCB );
\r
811 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
817 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
818 /*-----------------------------------------------------------*/
\r
820 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
821 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
822 const uint32_t ulStackDepth,
\r
823 void * const pvParameters,
\r
824 UBaseType_t uxPriority,
\r
825 TaskHandle_t * const pxCreatedTask,
\r
827 const MemoryRegion_t * const xRegions )
\r
829 StackType_t *pxTopOfStack;
\r
832 #if( portUSING_MPU_WRAPPERS == 1 )
\r
833 /* Should the task be created in privileged mode? */
\r
834 BaseType_t xRunPrivileged;
\r
835 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
837 xRunPrivileged = pdTRUE;
\r
841 xRunPrivileged = pdFALSE;
\r
843 uxPriority &= ~portPRIVILEGE_BIT;
\r
844 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
846 /* Avoid dependency on memset() if it is not required. */
\r
847 #if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
\r
849 /* Fill the stack with a known value to assist debugging. */
\r
850 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
\r
852 #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
\r
854 /* Calculate the top of stack address. This depends on whether the stack
\r
855 grows from high memory to low (as per the 80x86) or vice versa.
\r
856 portSTACK_GROWTH is used to make the result positive or negative as required
\r
858 #if( portSTACK_GROWTH < 0 )
\r
860 pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
\r
861 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 !e9033 !e9078 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. Checked by assert(). */
\r
863 /* Check the alignment of the calculated top of stack is correct. */
\r
864 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
866 #if( configRECORD_STACK_HIGH_ADDRESS == 1 )
\r
868 /* Also record the stack's high address, which may assist
\r
870 pxNewTCB->pxEndOfStack = pxTopOfStack;
\r
872 #endif /* configRECORD_STACK_HIGH_ADDRESS */
\r
874 #else /* portSTACK_GROWTH */
\r
876 pxTopOfStack = pxNewTCB->pxStack;
\r
878 /* Check the alignment of the stack buffer is correct. */
\r
879 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
881 /* The other extreme of the stack space is required if stack checking is
\r
883 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
885 #endif /* portSTACK_GROWTH */
\r
887 /* Store the task name in the TCB. */
\r
888 if( pcName != NULL )
\r
890 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
892 pxNewTCB->pcTaskName[ x ] = pcName[ x ];
\r
894 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
895 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
896 string is not accessible (extremely unlikely). */
\r
897 if( pcName[ x ] == ( char ) 0x00 )
\r
903 mtCOVERAGE_TEST_MARKER();
\r
907 /* Ensure the name string is terminated in the case that the string length
\r
908 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
909 pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
913 /* The task has not been given a name, so just ensure there is a NULL
\r
914 terminator when it is read out. */
\r
915 pxNewTCB->pcTaskName[ 0 ] = 0x00;
\r
918 /* This is used as an array index so must ensure it's not too large. First
\r
919 remove the privilege bit if one is present. */
\r
920 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
922 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
926 mtCOVERAGE_TEST_MARKER();
\r
929 pxNewTCB->uxPriority = uxPriority;
\r
930 #if ( configUSE_MUTEXES == 1 )
\r
932 pxNewTCB->uxBasePriority = uxPriority;
\r
933 pxNewTCB->uxMutexesHeld = 0;
\r
935 #endif /* configUSE_MUTEXES */
\r
937 vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
\r
938 vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
\r
940 /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
\r
941 back to the containing TCB from a generic item in a list. */
\r
942 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
\r
944 /* Event lists are always in priority order. */
\r
945 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
946 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
\r
948 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
950 pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
952 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
954 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
956 pxNewTCB->pxTaskTag = NULL;
\r
958 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
960 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
962 pxNewTCB->ulRunTimeCounter = 0UL;
\r
964 #endif /* configGENERATE_RUN_TIME_STATS */
\r
966 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
968 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
\r
972 /* Avoid compiler warning about unreferenced parameter. */
\r
977 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
979 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
981 pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
986 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
988 pxNewTCB->ulNotifiedValue = 0;
\r
989 pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
993 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
995 /* Initialise this task's Newlib reent structure. */
\r
996 _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
\r
1000 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
1002 pxNewTCB->ucDelayAborted = pdFALSE;
\r
1006 /* Initialize the TCB stack to look as if the task was already running,
\r
1007 but had been interrupted by the scheduler. The return address is set
\r
1008 to the start of the task function. Once the stack has been initialised
\r
1009 the top of stack variable is updated. */
\r
1010 #if( portUSING_MPU_WRAPPERS == 1 )
\r
1012 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1014 #else /* portUSING_MPU_WRAPPERS */
\r
1016 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
1018 #endif /* portUSING_MPU_WRAPPERS */
\r
1020 if( pxCreatedTask != NULL )
\r
1022 /* Pass the handle out in an anonymous way. The handle can be used to
\r
1023 change the created task's priority, delete the created task, etc.*/
\r
1024 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
1028 mtCOVERAGE_TEST_MARKER();
\r
1031 /*-----------------------------------------------------------*/
\r
1033 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
\r
1035 /* Ensure interrupts don't access the task lists while the lists are being
\r
1037 taskENTER_CRITICAL();
\r
1039 uxCurrentNumberOfTasks++;
\r
1040 if( pxCurrentTCB == NULL )
\r
1042 /* There are no other tasks, or all the other tasks are in
\r
1043 the suspended state - make this the current task. */
\r
1044 pxCurrentTCB = pxNewTCB;
\r
1046 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
1048 /* This is the first task to be created so do the preliminary
\r
1049 initialisation required. We will not recover if this call
\r
1050 fails, but we will report the failure. */
\r
1051 prvInitialiseTaskLists();
\r
1055 mtCOVERAGE_TEST_MARKER();
\r
1060 /* If the scheduler is not already running, make this task the
\r
1061 current task if it is the highest priority task to be created
\r
1063 if( xSchedulerRunning == pdFALSE )
\r
1065 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
\r
1067 pxCurrentTCB = pxNewTCB;
\r
1071 mtCOVERAGE_TEST_MARKER();
\r
1076 mtCOVERAGE_TEST_MARKER();
\r
1082 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1084 /* Add a counter into the TCB for tracing only. */
\r
1085 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
1087 #endif /* configUSE_TRACE_FACILITY */
\r
1088 traceTASK_CREATE( pxNewTCB );
\r
1090 prvAddTaskToReadyList( pxNewTCB );
\r
1092 portSETUP_TCB( pxNewTCB );
\r
1094 taskEXIT_CRITICAL();
\r
1096 if( xSchedulerRunning != pdFALSE )
\r
1098 /* If the created task is of a higher priority than the current task
\r
1099 then it should run now. */
\r
1100 if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
\r
1102 taskYIELD_IF_USING_PREEMPTION();
\r
1106 mtCOVERAGE_TEST_MARKER();
\r
1111 mtCOVERAGE_TEST_MARKER();
\r
1114 /*-----------------------------------------------------------*/
\r
1116 #if ( INCLUDE_vTaskDelete == 1 )
\r
1118 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
1122 taskENTER_CRITICAL();
\r
1124 /* If null is passed in here then it is the calling task that is
\r
1126 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
1128 /* Remove task from the ready list. */
\r
1129 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1131 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1135 mtCOVERAGE_TEST_MARKER();
\r
1138 /* Is the task waiting on an event also? */
\r
1139 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1141 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1145 mtCOVERAGE_TEST_MARKER();
\r
1148 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
1149 detect that the task lists need re-generating. This is done before
\r
1150 portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
\r
1154 if( pxTCB == pxCurrentTCB )
\r
1156 /* A task is deleting itself. This cannot complete within the
\r
1157 task itself, as a context switch to another task is required.
\r
1158 Place the task in the termination list. The idle task will
\r
1159 check the termination list and free up any memory allocated by
\r
1160 the scheduler for the TCB and stack of the deleted task. */
\r
1161 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
\r
1163 /* Increment the ucTasksDeleted variable so the idle task knows
\r
1164 there is a task that has been deleted and that it should therefore
\r
1165 check the xTasksWaitingTermination list. */
\r
1166 ++uxDeletedTasksWaitingCleanUp;
\r
1168 /* The pre-delete hook is primarily for the Windows simulator,
\r
1169 in which Windows specific clean up operations are performed,
\r
1170 after which it is not possible to yield away from this task -
\r
1171 hence xYieldPending is used to latch that a context switch is
\r
1173 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
1177 --uxCurrentNumberOfTasks;
\r
1178 prvDeleteTCB( pxTCB );
\r
1180 /* Reset the next expected unblock time in case it referred to
\r
1181 the task that has just been deleted. */
\r
1182 prvResetNextTaskUnblockTime();
\r
1185 traceTASK_DELETE( pxTCB );
\r
1187 taskEXIT_CRITICAL();
\r
1189 /* Force a reschedule if it is the currently running task that has just
\r
1191 if( xSchedulerRunning != pdFALSE )
\r
1193 if( pxTCB == pxCurrentTCB )
\r
1195 configASSERT( uxSchedulerSuspended == 0 );
\r
1196 portYIELD_WITHIN_API();
\r
1200 mtCOVERAGE_TEST_MARKER();
\r
1205 #endif /* INCLUDE_vTaskDelete */
\r
1206 /*-----------------------------------------------------------*/
\r
1208 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
1210 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
1212 TickType_t xTimeToWake;
\r
1213 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
1215 configASSERT( pxPreviousWakeTime );
\r
1216 configASSERT( ( xTimeIncrement > 0U ) );
\r
1217 configASSERT( uxSchedulerSuspended == 0 );
\r
1219 vTaskSuspendAll();
\r
1221 /* Minor optimisation. The tick count cannot change in this
\r
1223 const TickType_t xConstTickCount = xTickCount;
\r
1225 /* Generate the tick time at which the task wants to wake. */
\r
1226 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
1228 if( xConstTickCount < *pxPreviousWakeTime )
\r
1230 /* The tick count has overflowed since this function was
\r
1231 lasted called. In this case the only time we should ever
\r
1232 actually delay is if the wake time has also overflowed,
\r
1233 and the wake time is greater than the tick time. When this
\r
1234 is the case it is as if neither time had overflowed. */
\r
1235 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
1237 xShouldDelay = pdTRUE;
\r
1241 mtCOVERAGE_TEST_MARKER();
\r
1246 /* The tick time has not overflowed. In this case we will
\r
1247 delay if either the wake time has overflowed, and/or the
\r
1248 tick time is less than the wake time. */
\r
1249 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
1251 xShouldDelay = pdTRUE;
\r
1255 mtCOVERAGE_TEST_MARKER();
\r
1259 /* Update the wake time ready for the next call. */
\r
1260 *pxPreviousWakeTime = xTimeToWake;
\r
1262 if( xShouldDelay != pdFALSE )
\r
1264 traceTASK_DELAY_UNTIL( xTimeToWake );
\r
1266 /* prvAddCurrentTaskToDelayedList() needs the block time, not
\r
1267 the time to wake, so subtract the current tick count. */
\r
1268 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
\r
1272 mtCOVERAGE_TEST_MARKER();
\r
1275 xAlreadyYielded = xTaskResumeAll();
\r
1277 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1278 have put ourselves to sleep. */
\r
1279 if( xAlreadyYielded == pdFALSE )
\r
1281 portYIELD_WITHIN_API();
\r
1285 mtCOVERAGE_TEST_MARKER();
\r
1289 #endif /* INCLUDE_vTaskDelayUntil */
\r
1290 /*-----------------------------------------------------------*/
\r
1292 #if ( INCLUDE_vTaskDelay == 1 )
\r
1294 void vTaskDelay( const TickType_t xTicksToDelay )
\r
1296 BaseType_t xAlreadyYielded = pdFALSE;
\r
1298 /* A delay time of zero just forces a reschedule. */
\r
1299 if( xTicksToDelay > ( TickType_t ) 0U )
\r
1301 configASSERT( uxSchedulerSuspended == 0 );
\r
1302 vTaskSuspendAll();
\r
1304 traceTASK_DELAY();
\r
1306 /* A task that is removed from the event list while the
\r
1307 scheduler is suspended will not get placed in the ready
\r
1308 list or removed from the blocked list until the scheduler
\r
1311 This task cannot be in an event list as it is the currently
\r
1312 executing task. */
\r
1313 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
\r
1315 xAlreadyYielded = xTaskResumeAll();
\r
1319 mtCOVERAGE_TEST_MARKER();
\r
1322 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1323 have put ourselves to sleep. */
\r
1324 if( xAlreadyYielded == pdFALSE )
\r
1326 portYIELD_WITHIN_API();
\r
1330 mtCOVERAGE_TEST_MARKER();
\r
1334 #endif /* INCLUDE_vTaskDelay */
\r
1335 /*-----------------------------------------------------------*/
\r
1337 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_xTaskAbortDelay == 1 ) )
\r
1339 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1341 eTaskState eReturn;
\r
1342 List_t const * pxStateList, *pxDelayedList, *pxOverflowedDelayedList;
\r
1343 const TCB_t * const pxTCB = xTask;
\r
1345 configASSERT( pxTCB );
\r
1347 if( pxTCB == pxCurrentTCB )
\r
1349 /* The task calling this function is querying its own state. */
\r
1350 eReturn = eRunning;
\r
1354 taskENTER_CRITICAL();
\r
1356 pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
\r
1357 pxDelayedList = pxDelayedTaskList;
\r
1358 pxOverflowedDelayedList = pxOverflowDelayedTaskList;
\r
1360 taskEXIT_CRITICAL();
\r
1362 if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
\r
1364 /* The task being queried is referenced from one of the Blocked
\r
1366 eReturn = eBlocked;
\r
1369 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1370 else if( pxStateList == &xSuspendedTaskList )
\r
1372 /* The task being queried is referenced from the suspended
\r
1373 list. Is it genuinely suspended or is it blocked
\r
1375 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1377 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1379 /* The task does not appear on the event list item of
\r
1380 and of the RTOS objects, but could still be in the
\r
1381 blocked state if it is waiting on its notification
\r
1382 rather than waiting on an object. */
\r
1383 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1385 eReturn = eBlocked;
\r
1389 eReturn = eSuspended;
\r
1394 eReturn = eSuspended;
\r
1400 eReturn = eBlocked;
\r
1405 #if ( INCLUDE_vTaskDelete == 1 )
\r
1406 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1408 /* The task being queried is referenced from the deleted
\r
1409 tasks list, or it is not referenced from any lists at
\r
1411 eReturn = eDeleted;
\r
1415 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1417 /* If the task is not in any other state, it must be in the
\r
1418 Ready (including pending ready) state. */
\r
1424 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1426 #endif /* INCLUDE_eTaskGetState */
\r
1427 /*-----------------------------------------------------------*/
\r
1429 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1431 UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
\r
1433 TCB_t const *pxTCB;
\r
1434 UBaseType_t uxReturn;
\r
1436 taskENTER_CRITICAL();
\r
1438 /* If null is passed in here then it is the priority of the task
\r
1439 that called uxTaskPriorityGet() that is being queried. */
\r
1440 pxTCB = prvGetTCBFromHandle( xTask );
\r
1441 uxReturn = pxTCB->uxPriority;
\r
1443 taskEXIT_CRITICAL();
\r
1448 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1449 /*-----------------------------------------------------------*/
\r
1451 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1453 UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
\r
1455 TCB_t const *pxTCB;
\r
1456 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1458 /* RTOS ports that support interrupt nesting have the concept of a
\r
1459 maximum system call (or maximum API call) interrupt priority.
\r
1460 Interrupts that are above the maximum system call priority are keep
\r
1461 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1462 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1463 is defined in FreeRTOSConfig.h then
\r
1464 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1465 failure if a FreeRTOS API function is called from an interrupt that has
\r
1466 been assigned a priority above the configured maximum system call
\r
1467 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1468 from interrupts that have been assigned a priority at or (logically)
\r
1469 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1470 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1471 simple as possible. More information (albeit Cortex-M specific) is
\r
1472 provided on the following link:
\r
1473 https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1474 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1476 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1478 /* If null is passed in here then it is the priority of the calling
\r
1479 task that is being queried. */
\r
1480 pxTCB = prvGetTCBFromHandle( xTask );
\r
1481 uxReturn = pxTCB->uxPriority;
\r
1483 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1488 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1489 /*-----------------------------------------------------------*/
\r
1491 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1493 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1496 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1497 BaseType_t xYieldRequired = pdFALSE;
\r
1499 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1501 /* Ensure the new priority is valid. */
\r
1502 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1504 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1508 mtCOVERAGE_TEST_MARKER();
\r
1511 taskENTER_CRITICAL();
\r
1513 /* If null is passed in here then it is the priority of the calling
\r
1514 task that is being changed. */
\r
1515 pxTCB = prvGetTCBFromHandle( xTask );
\r
1517 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1519 #if ( configUSE_MUTEXES == 1 )
\r
1521 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1525 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1529 if( uxCurrentBasePriority != uxNewPriority )
\r
1531 /* The priority change may have readied a task of higher
\r
1532 priority than the calling task. */
\r
1533 if( uxNewPriority > uxCurrentBasePriority )
\r
1535 if( pxTCB != pxCurrentTCB )
\r
1537 /* The priority of a task other than the currently
\r
1538 running task is being raised. Is the priority being
\r
1539 raised above that of the running task? */
\r
1540 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1542 xYieldRequired = pdTRUE;
\r
1546 mtCOVERAGE_TEST_MARKER();
\r
1551 /* The priority of the running task is being raised,
\r
1552 but the running task must already be the highest
\r
1553 priority task able to run so no yield is required. */
\r
1556 else if( pxTCB == pxCurrentTCB )
\r
1558 /* Setting the priority of the running task down means
\r
1559 there may now be another task of higher priority that
\r
1560 is ready to execute. */
\r
1561 xYieldRequired = pdTRUE;
\r
1565 /* Setting the priority of any other task down does not
\r
1566 require a yield as the running task must be above the
\r
1567 new priority of the task being modified. */
\r
1570 /* Remember the ready list the task might be referenced from
\r
1571 before its uxPriority member is changed so the
\r
1572 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1573 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1575 #if ( configUSE_MUTEXES == 1 )
\r
1577 /* Only change the priority being used if the task is not
\r
1578 currently using an inherited priority. */
\r
1579 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1581 pxTCB->uxPriority = uxNewPriority;
\r
1585 mtCOVERAGE_TEST_MARKER();
\r
1588 /* The base priority gets set whatever. */
\r
1589 pxTCB->uxBasePriority = uxNewPriority;
\r
1593 pxTCB->uxPriority = uxNewPriority;
\r
1597 /* Only reset the event list item value if the value is not
\r
1598 being used for anything else. */
\r
1599 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1601 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
1605 mtCOVERAGE_TEST_MARKER();
\r
1608 /* If the task is in the blocked or suspended list we need do
\r
1609 nothing more than change its priority variable. However, if
\r
1610 the task is in a ready list it needs to be removed and placed
\r
1611 in the list appropriate to its new priority. */
\r
1612 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1614 /* The task is currently in its ready list - remove before
\r
1615 adding it to it's new ready list. As we are in a critical
\r
1616 section we can do this even if the scheduler is suspended. */
\r
1617 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1619 /* It is known that the task is in its ready list so
\r
1620 there is no need to check again and the port level
\r
1621 reset macro can be called directly. */
\r
1622 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1626 mtCOVERAGE_TEST_MARKER();
\r
1628 prvAddTaskToReadyList( pxTCB );
\r
1632 mtCOVERAGE_TEST_MARKER();
\r
1635 if( xYieldRequired != pdFALSE )
\r
1637 taskYIELD_IF_USING_PREEMPTION();
\r
1641 mtCOVERAGE_TEST_MARKER();
\r
1644 /* Remove compiler warning about unused variables when the port
\r
1645 optimised task selection is not being used. */
\r
1646 ( void ) uxPriorityUsedOnEntry;
\r
1649 taskEXIT_CRITICAL();
\r
1652 #endif /* INCLUDE_vTaskPrioritySet */
\r
1653 /*-----------------------------------------------------------*/
\r
1655 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1657 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1661 taskENTER_CRITICAL();
\r
1663 /* If null is passed in here then it is the running task that is
\r
1664 being suspended. */
\r
1665 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1667 traceTASK_SUSPEND( pxTCB );
\r
1669 /* Remove task from the ready/delayed list and place in the
\r
1670 suspended list. */
\r
1671 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1673 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1677 mtCOVERAGE_TEST_MARKER();
\r
1680 /* Is the task waiting on an event also? */
\r
1681 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1683 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1687 mtCOVERAGE_TEST_MARKER();
\r
1690 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
\r
1692 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1694 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1696 /* The task was blocked to wait for a notification, but is
\r
1697 now suspended, so no notification was received. */
\r
1698 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
1703 taskEXIT_CRITICAL();
\r
1705 if( xSchedulerRunning != pdFALSE )
\r
1707 /* Reset the next expected unblock time in case it referred to the
\r
1708 task that is now in the Suspended state. */
\r
1709 taskENTER_CRITICAL();
\r
1711 prvResetNextTaskUnblockTime();
\r
1713 taskEXIT_CRITICAL();
\r
1717 mtCOVERAGE_TEST_MARKER();
\r
1720 if( pxTCB == pxCurrentTCB )
\r
1722 if( xSchedulerRunning != pdFALSE )
\r
1724 /* The current task has just been suspended. */
\r
1725 configASSERT( uxSchedulerSuspended == 0 );
\r
1726 portYIELD_WITHIN_API();
\r
1730 /* The scheduler is not running, but the task that was pointed
\r
1731 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1732 must be adjusted to point to a different task. */
\r
1733 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
\r
1735 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1736 NULL so when the next task is created pxCurrentTCB will
\r
1737 be set to point to it no matter what its relative priority
\r
1739 pxCurrentTCB = NULL;
\r
1743 vTaskSwitchContext();
\r
1749 mtCOVERAGE_TEST_MARKER();
\r
1753 #endif /* INCLUDE_vTaskSuspend */
\r
1754 /*-----------------------------------------------------------*/
\r
1756 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1758 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1760 BaseType_t xReturn = pdFALSE;
\r
1761 const TCB_t * const pxTCB = xTask;
\r
1763 /* Accesses xPendingReadyList so must be called from a critical
\r
1766 /* It does not make sense to check if the calling task is suspended. */
\r
1767 configASSERT( xTask );
\r
1769 /* Is the task being resumed actually in the suspended list? */
\r
1770 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1772 /* Has the task already been resumed from within an ISR? */
\r
1773 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1775 /* Is it in the suspended list because it is in the Suspended
\r
1776 state, or because is is blocked with no timeout? */
\r
1777 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
\r
1783 mtCOVERAGE_TEST_MARKER();
\r
1788 mtCOVERAGE_TEST_MARKER();
\r
1793 mtCOVERAGE_TEST_MARKER();
\r
1797 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1799 #endif /* INCLUDE_vTaskSuspend */
\r
1800 /*-----------------------------------------------------------*/
\r
1802 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1804 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1806 TCB_t * const pxTCB = xTaskToResume;
\r
1808 /* It does not make sense to resume the calling task. */
\r
1809 configASSERT( xTaskToResume );
\r
1811 /* The parameter cannot be NULL as it is impossible to resume the
\r
1812 currently executing task. */
\r
1813 if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) )
\r
1815 taskENTER_CRITICAL();
\r
1817 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1819 traceTASK_RESUME( pxTCB );
\r
1821 /* The ready list can be accessed even if the scheduler is
\r
1822 suspended because this is inside a critical section. */
\r
1823 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1824 prvAddTaskToReadyList( pxTCB );
\r
1826 /* A higher priority task may have just been resumed. */
\r
1827 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1829 /* This yield may not cause the task just resumed to run,
\r
1830 but will leave the lists in the correct state for the
\r
1832 taskYIELD_IF_USING_PREEMPTION();
\r
1836 mtCOVERAGE_TEST_MARKER();
\r
1841 mtCOVERAGE_TEST_MARKER();
\r
1844 taskEXIT_CRITICAL();
\r
1848 mtCOVERAGE_TEST_MARKER();
\r
1852 #endif /* INCLUDE_vTaskSuspend */
\r
1854 /*-----------------------------------------------------------*/
\r
1856 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1858 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1860 BaseType_t xYieldRequired = pdFALSE;
\r
1861 TCB_t * const pxTCB = xTaskToResume;
\r
1862 UBaseType_t uxSavedInterruptStatus;
\r
1864 configASSERT( xTaskToResume );
\r
1866 /* RTOS ports that support interrupt nesting have the concept of a
\r
1867 maximum system call (or maximum API call) interrupt priority.
\r
1868 Interrupts that are above the maximum system call priority are keep
\r
1869 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1870 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1871 is defined in FreeRTOSConfig.h then
\r
1872 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1873 failure if a FreeRTOS API function is called from an interrupt that has
\r
1874 been assigned a priority above the configured maximum system call
\r
1875 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1876 from interrupts that have been assigned a priority at or (logically)
\r
1877 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1878 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1879 simple as possible. More information (albeit Cortex-M specific) is
\r
1880 provided on the following link:
\r
1881 https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1882 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1884 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1886 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1888 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1890 /* Check the ready lists can be accessed. */
\r
1891 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1893 /* Ready lists can be accessed so move the task from the
\r
1894 suspended list to the ready list directly. */
\r
1895 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1897 xYieldRequired = pdTRUE;
\r
1901 mtCOVERAGE_TEST_MARKER();
\r
1904 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1905 prvAddTaskToReadyList( pxTCB );
\r
1909 /* The delayed or ready lists cannot be accessed so the task
\r
1910 is held in the pending ready list until the scheduler is
\r
1912 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1917 mtCOVERAGE_TEST_MARKER();
\r
1920 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1922 return xYieldRequired;
\r
1925 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1926 /*-----------------------------------------------------------*/
\r
1928 void vTaskStartScheduler( void )
\r
1930 BaseType_t xReturn;
\r
1932 /* Add the idle task at the lowest priority. */
\r
1933 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1935 StaticTask_t *pxIdleTaskTCBBuffer = NULL;
\r
1936 StackType_t *pxIdleTaskStackBuffer = NULL;
\r
1937 uint32_t ulIdleTaskStackSize;
\r
1939 /* The Idle task is created using user provided RAM - obtain the
\r
1940 address of the RAM then create the idle task. */
\r
1941 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
\r
1942 xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
\r
1943 configIDLE_TASK_NAME,
\r
1944 ulIdleTaskStackSize,
\r
1945 ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
\r
1946 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
1947 pxIdleTaskStackBuffer,
\r
1948 pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1950 if( xIdleTaskHandle != NULL )
\r
1961 /* The Idle task is being created using dynamically allocated RAM. */
\r
1962 xReturn = xTaskCreate( prvIdleTask,
\r
1963 configIDLE_TASK_NAME,
\r
1964 configMINIMAL_STACK_SIZE,
\r
1966 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
1967 &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1969 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
1971 #if ( configUSE_TIMERS == 1 )
\r
1973 if( xReturn == pdPASS )
\r
1975 xReturn = xTimerCreateTimerTask();
\r
1979 mtCOVERAGE_TEST_MARKER();
\r
1982 #endif /* configUSE_TIMERS */
\r
1984 if( xReturn == pdPASS )
\r
1986 /* freertos_tasks_c_additions_init() should only be called if the user
\r
1987 definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
\r
1988 the only macro called by the function. */
\r
1989 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
1991 freertos_tasks_c_additions_init();
\r
1995 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1996 before or during the call to xPortStartScheduler(). The stacks of
\r
1997 the created tasks contain a status word with interrupts switched on
\r
1998 so interrupts will automatically get re-enabled when the first task
\r
2000 portDISABLE_INTERRUPTS();
\r
2002 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2004 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2005 structure specific to the task that will run first. */
\r
2006 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2008 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2010 xNextTaskUnblockTime = portMAX_DELAY;
\r
2011 xSchedulerRunning = pdTRUE;
\r
2012 xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
\r
2014 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
2015 macro must be defined to configure the timer/counter used to generate
\r
2016 the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
\r
2017 is set to 0 and the following line fails to build then ensure you do not
\r
2018 have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
\r
2019 FreeRTOSConfig.h file. */
\r
2020 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
2022 traceTASK_SWITCHED_IN();
\r
2024 /* Setting up the timer tick is hardware specific and thus in the
\r
2025 portable interface. */
\r
2026 if( xPortStartScheduler() != pdFALSE )
\r
2028 /* Should not reach here as if the scheduler is running the
\r
2029 function will not return. */
\r
2033 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
2038 /* This line will only be reached if the kernel could not be started,
\r
2039 because there was not enough FreeRTOS heap to create the idle task
\r
2040 or the timer task. */
\r
2041 configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
\r
2044 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
2045 meaning xIdleTaskHandle is not used anywhere else. */
\r
2046 ( void ) xIdleTaskHandle;
\r
2048 /*-----------------------------------------------------------*/
\r
2050 void vTaskEndScheduler( void )
\r
2052 /* Stop the scheduler interrupts and call the portable scheduler end
\r
2053 routine so the original ISRs can be restored if necessary. The port
\r
2054 layer must ensure interrupts enable bit is left in the correct state. */
\r
2055 portDISABLE_INTERRUPTS();
\r
2056 xSchedulerRunning = pdFALSE;
\r
2057 vPortEndScheduler();
\r
2059 /*----------------------------------------------------------*/
\r
2061 void vTaskSuspendAll( void )
\r
2063 /* A critical section is not required as the variable is of type
\r
2064 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
2065 post in the FreeRTOS support forum before reporting this as a bug! -
\r
2066 http://goo.gl/wu4acr */
\r
2067 ++uxSchedulerSuspended;
\r
2069 /*----------------------------------------------------------*/
\r
2071 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2073 static TickType_t prvGetExpectedIdleTime( void )
\r
2075 TickType_t xReturn;
\r
2076 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
2078 /* uxHigherPriorityReadyTasks takes care of the case where
\r
2079 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
2080 task that are in the Ready state, even though the idle task is
\r
2082 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
2084 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
2086 uxHigherPriorityReadyTasks = pdTRUE;
\r
2091 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
2093 /* When port optimised task selection is used the uxTopReadyPriority
\r
2094 variable is used as a bit map. If bits other than the least
\r
2095 significant bit are set then there are tasks that have a priority
\r
2096 above the idle priority that are in the Ready state. This takes
\r
2097 care of the case where the co-operative scheduler is in use. */
\r
2098 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
2100 uxHigherPriorityReadyTasks = pdTRUE;
\r
2105 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
2109 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
2111 /* There are other idle priority tasks in the ready state. If
\r
2112 time slicing is used then the very next tick interrupt must be
\r
2116 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
2118 /* There are tasks in the Ready state that have a priority above the
\r
2119 idle priority. This path can only be reached if
\r
2120 configUSE_PREEMPTION is 0. */
\r
2125 xReturn = xNextTaskUnblockTime - xTickCount;
\r
2131 #endif /* configUSE_TICKLESS_IDLE */
\r
2132 /*----------------------------------------------------------*/
\r
2134 BaseType_t xTaskResumeAll( void )
\r
2136 TCB_t *pxTCB = NULL;
\r
2137 BaseType_t xAlreadyYielded = pdFALSE;
\r
2139 /* If uxSchedulerSuspended is zero then this function does not match a
\r
2140 previous call to vTaskSuspendAll(). */
\r
2141 configASSERT( uxSchedulerSuspended );
\r
2143 /* It is possible that an ISR caused a task to be removed from an event
\r
2144 list while the scheduler was suspended. If this was the case then the
\r
2145 removed task will have been added to the xPendingReadyList. Once the
\r
2146 scheduler has been resumed it is safe to move all the pending ready
\r
2147 tasks from this list into their appropriate ready list. */
\r
2148 taskENTER_CRITICAL();
\r
2150 --uxSchedulerSuspended;
\r
2152 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2154 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
2156 /* Move any readied tasks from the pending list into the
\r
2157 appropriate ready list. */
\r
2158 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
2160 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2161 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2162 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2163 prvAddTaskToReadyList( pxTCB );
\r
2165 /* If the moved task has a priority higher than the current
\r
2166 task then a yield must be performed. */
\r
2167 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2169 xYieldPending = pdTRUE;
\r
2173 mtCOVERAGE_TEST_MARKER();
\r
2177 if( pxTCB != NULL )
\r
2179 /* A task was unblocked while the scheduler was suspended,
\r
2180 which may have prevented the next unblock time from being
\r
2181 re-calculated, in which case re-calculate it now. Mainly
\r
2182 important for low power tickless implementations, where
\r
2183 this can prevent an unnecessary exit from low power
\r
2185 prvResetNextTaskUnblockTime();
\r
2188 /* If any ticks occurred while the scheduler was suspended then
\r
2189 they should be processed now. This ensures the tick count does
\r
2190 not slip, and that any delayed tasks are resumed at the correct
\r
2193 UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */
\r
2195 if( uxPendedCounts > ( UBaseType_t ) 0U )
\r
2199 if( xTaskIncrementTick() != pdFALSE )
\r
2201 xYieldPending = pdTRUE;
\r
2205 mtCOVERAGE_TEST_MARKER();
\r
2208 } while( uxPendedCounts > ( UBaseType_t ) 0U );
\r
2210 uxPendedTicks = 0;
\r
2214 mtCOVERAGE_TEST_MARKER();
\r
2218 if( xYieldPending != pdFALSE )
\r
2220 #if( configUSE_PREEMPTION != 0 )
\r
2222 xAlreadyYielded = pdTRUE;
\r
2225 taskYIELD_IF_USING_PREEMPTION();
\r
2229 mtCOVERAGE_TEST_MARKER();
\r
2235 mtCOVERAGE_TEST_MARKER();
\r
2238 taskEXIT_CRITICAL();
\r
2240 return xAlreadyYielded;
\r
2242 /*-----------------------------------------------------------*/
\r
2244 TickType_t xTaskGetTickCount( void )
\r
2246 TickType_t xTicks;
\r
2248 /* Critical section required if running on a 16 bit processor. */
\r
2249 portTICK_TYPE_ENTER_CRITICAL();
\r
2251 xTicks = xTickCount;
\r
2253 portTICK_TYPE_EXIT_CRITICAL();
\r
2257 /*-----------------------------------------------------------*/
\r
2259 TickType_t xTaskGetTickCountFromISR( void )
\r
2261 TickType_t xReturn;
\r
2262 UBaseType_t uxSavedInterruptStatus;
\r
2264 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
2265 system call (or maximum API call) interrupt priority. Interrupts that are
\r
2266 above the maximum system call priority are kept permanently enabled, even
\r
2267 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
2268 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
2269 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
2270 failure if a FreeRTOS API function is called from an interrupt that has been
\r
2271 assigned a priority above the configured maximum system call priority.
\r
2272 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
2273 that have been assigned a priority at or (logically) below the maximum
\r
2274 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
2275 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
2276 More information (albeit Cortex-M specific) is provided on the following
\r
2277 link: https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
2278 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
2280 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
2282 xReturn = xTickCount;
\r
2284 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2288 /*-----------------------------------------------------------*/
\r
2290 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
2292 /* A critical section is not required because the variables are of type
\r
2294 return uxCurrentNumberOfTasks;
\r
2296 /*-----------------------------------------------------------*/
\r
2298 char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2302 /* If null is passed in here then the name of the calling task is being
\r
2304 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2305 configASSERT( pxTCB );
\r
2306 return &( pxTCB->pcTaskName[ 0 ] );
\r
2308 /*-----------------------------------------------------------*/
\r
2310 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2312 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
\r
2314 TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
\r
2317 BaseType_t xBreakLoop;
\r
2319 /* This function is called with the scheduler suspended. */
\r
2321 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2323 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2327 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2329 /* Check each character in the name looking for a match or
\r
2331 xBreakLoop = pdFALSE;
\r
2332 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2334 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
2336 if( cNextChar != pcNameToQuery[ x ] )
\r
2338 /* Characters didn't match. */
\r
2339 xBreakLoop = pdTRUE;
\r
2341 else if( cNextChar == ( char ) 0x00 )
\r
2343 /* Both strings terminated, a match must have been
\r
2345 pxReturn = pxNextTCB;
\r
2346 xBreakLoop = pdTRUE;
\r
2350 mtCOVERAGE_TEST_MARKER();
\r
2353 if( xBreakLoop != pdFALSE )
\r
2359 if( pxReturn != NULL )
\r
2361 /* The handle has been found. */
\r
2365 } while( pxNextTCB != pxFirstTCB );
\r
2369 mtCOVERAGE_TEST_MARKER();
\r
2375 #endif /* INCLUDE_xTaskGetHandle */
\r
2376 /*-----------------------------------------------------------*/
\r
2378 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2380 TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2382 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
2385 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
\r
2386 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
\r
2388 vTaskSuspendAll();
\r
2390 /* Search the ready lists. */
\r
2394 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
2396 if( pxTCB != NULL )
\r
2398 /* Found the handle. */
\r
2402 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2404 /* Search the delayed lists. */
\r
2405 if( pxTCB == NULL )
\r
2407 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
2410 if( pxTCB == NULL )
\r
2412 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
2415 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2417 if( pxTCB == NULL )
\r
2419 /* Search the suspended list. */
\r
2420 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
2425 #if( INCLUDE_vTaskDelete == 1 )
\r
2427 if( pxTCB == NULL )
\r
2429 /* Search the deleted list. */
\r
2430 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
2435 ( void ) xTaskResumeAll();
\r
2440 #endif /* INCLUDE_xTaskGetHandle */
\r
2441 /*-----------------------------------------------------------*/
\r
2443 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2445 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
2447 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
2449 vTaskSuspendAll();
\r
2451 /* Is there a space in the array for each task in the system? */
\r
2452 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2454 /* Fill in an TaskStatus_t structure with information on each
\r
2455 task in the Ready state. */
\r
2459 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2461 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2463 /* Fill in an TaskStatus_t structure with information on each
\r
2464 task in the Blocked state. */
\r
2465 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2466 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2468 #if( INCLUDE_vTaskDelete == 1 )
\r
2470 /* Fill in an TaskStatus_t structure with information on
\r
2471 each task that has been deleted but not yet cleaned up. */
\r
2472 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2476 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2478 /* Fill in an TaskStatus_t structure with information on
\r
2479 each task in the Suspended state. */
\r
2480 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2484 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
2486 if( pulTotalRunTime != NULL )
\r
2488 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2489 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2491 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2497 if( pulTotalRunTime != NULL )
\r
2499 *pulTotalRunTime = 0;
\r
2506 mtCOVERAGE_TEST_MARKER();
\r
2509 ( void ) xTaskResumeAll();
\r
2514 #endif /* configUSE_TRACE_FACILITY */
\r
2515 /*----------------------------------------------------------*/
\r
2517 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2519 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2521 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2522 started, then xIdleTaskHandle will be NULL. */
\r
2523 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2524 return xIdleTaskHandle;
\r
2527 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2528 /*----------------------------------------------------------*/
\r
2530 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2531 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2532 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2534 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2536 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2538 /* Correct the tick count value after a period during which the tick
\r
2539 was suppressed. Note this does *not* call the tick hook function for
\r
2540 each stepped tick. */
\r
2541 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2542 xTickCount += xTicksToJump;
\r
2543 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2546 #endif /* configUSE_TICKLESS_IDLE */
\r
2547 /*----------------------------------------------------------*/
\r
2549 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
2551 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
\r
2553 TCB_t *pxTCB = xTask;
\r
2554 BaseType_t xReturn;
\r
2556 configASSERT( pxTCB );
\r
2558 vTaskSuspendAll();
\r
2560 /* A task can only be prematurely removed from the Blocked state if
\r
2561 it is actually in the Blocked state. */
\r
2562 if( eTaskGetState( xTask ) == eBlocked )
\r
2566 /* Remove the reference to the task from the blocked list. An
\r
2567 interrupt won't touch the xStateListItem because the
\r
2568 scheduler is suspended. */
\r
2569 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2571 /* Is the task waiting on an event also? If so remove it from
\r
2572 the event list too. Interrupts can touch the event list item,
\r
2573 even though the scheduler is suspended, so a critical section
\r
2575 taskENTER_CRITICAL();
\r
2577 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2579 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2580 pxTCB->ucDelayAborted = pdTRUE;
\r
2584 mtCOVERAGE_TEST_MARKER();
\r
2587 taskEXIT_CRITICAL();
\r
2589 /* Place the unblocked task into the appropriate ready list. */
\r
2590 prvAddTaskToReadyList( pxTCB );
\r
2592 /* A task being unblocked cannot cause an immediate context
\r
2593 switch if preemption is turned off. */
\r
2594 #if ( configUSE_PREEMPTION == 1 )
\r
2596 /* Preemption is on, but a context switch should only be
\r
2597 performed if the unblocked task has a priority that is
\r
2598 equal to or higher than the currently executing task. */
\r
2599 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2601 /* Pend the yield to be performed when the scheduler
\r
2602 is unsuspended. */
\r
2603 xYieldPending = pdTRUE;
\r
2607 mtCOVERAGE_TEST_MARKER();
\r
2610 #endif /* configUSE_PREEMPTION */
\r
2617 ( void ) xTaskResumeAll();
\r
2622 #endif /* INCLUDE_xTaskAbortDelay */
\r
2623 /*----------------------------------------------------------*/
\r
2625 BaseType_t xTaskIncrementTick( void )
\r
2628 TickType_t xItemValue;
\r
2629 BaseType_t xSwitchRequired = pdFALSE;
\r
2631 /* Called by the portable layer each time a tick interrupt occurs.
\r
2632 Increments the tick then checks to see if the new tick value will cause any
\r
2633 tasks to be unblocked. */
\r
2634 traceTASK_INCREMENT_TICK( xTickCount );
\r
2635 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2637 /* Minor optimisation. The tick count cannot change in this
\r
2639 const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
\r
2641 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2642 delayed lists if it wraps to 0. */
\r
2643 xTickCount = xConstTickCount;
\r
2645 if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
\r
2647 taskSWITCH_DELAYED_LISTS();
\r
2651 mtCOVERAGE_TEST_MARKER();
\r
2654 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2655 the queue in the order of their wake time - meaning once one task
\r
2656 has been found whose block time has not expired there is no need to
\r
2657 look any further down the list. */
\r
2658 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2662 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2664 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2665 to the maximum possible value so it is extremely
\r
2667 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2668 next time through. */
\r
2669 xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2674 /* The delayed list is not empty, get the value of the
\r
2675 item at the head of the delayed list. This is the time
\r
2676 at which the task at the head of the delayed list must
\r
2677 be removed from the Blocked state. */
\r
2678 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2679 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
\r
2681 if( xConstTickCount < xItemValue )
\r
2683 /* It is not time to unblock this item yet, but the
\r
2684 item value is the time at which the task at the head
\r
2685 of the blocked list must be removed from the Blocked
\r
2686 state - so record the item value in
\r
2687 xNextTaskUnblockTime. */
\r
2688 xNextTaskUnblockTime = xItemValue;
\r
2689 break; /*lint !e9011 Code structure here is deedmed easier to understand with multiple breaks. */
\r
2693 mtCOVERAGE_TEST_MARKER();
\r
2696 /* It is time to remove the item from the Blocked state. */
\r
2697 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2699 /* Is the task waiting on an event also? If so remove
\r
2700 it from the event list. */
\r
2701 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2703 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2707 mtCOVERAGE_TEST_MARKER();
\r
2710 /* Place the unblocked task into the appropriate ready
\r
2712 prvAddTaskToReadyList( pxTCB );
\r
2714 /* A task being unblocked cannot cause an immediate
\r
2715 context switch if preemption is turned off. */
\r
2716 #if ( configUSE_PREEMPTION == 1 )
\r
2718 /* Preemption is on, but a context switch should
\r
2719 only be performed if the unblocked task has a
\r
2720 priority that is equal to or higher than the
\r
2721 currently executing task. */
\r
2722 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2724 xSwitchRequired = pdTRUE;
\r
2728 mtCOVERAGE_TEST_MARKER();
\r
2731 #endif /* configUSE_PREEMPTION */
\r
2736 /* Tasks of equal priority to the currently running task will share
\r
2737 processing time (time slice) if preemption is on, and the application
\r
2738 writer has not explicitly turned time slicing off. */
\r
2739 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2741 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2743 xSwitchRequired = pdTRUE;
\r
2747 mtCOVERAGE_TEST_MARKER();
\r
2750 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2752 #if ( configUSE_TICK_HOOK == 1 )
\r
2754 /* Guard against the tick hook being called when the pended tick
\r
2755 count is being unwound (when the scheduler is being unlocked). */
\r
2756 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2758 vApplicationTickHook();
\r
2762 mtCOVERAGE_TEST_MARKER();
\r
2765 #endif /* configUSE_TICK_HOOK */
\r
2771 /* The tick hook gets called at regular intervals, even if the
\r
2772 scheduler is locked. */
\r
2773 #if ( configUSE_TICK_HOOK == 1 )
\r
2775 vApplicationTickHook();
\r
2780 #if ( configUSE_PREEMPTION == 1 )
\r
2782 if( xYieldPending != pdFALSE )
\r
2784 xSwitchRequired = pdTRUE;
\r
2788 mtCOVERAGE_TEST_MARKER();
\r
2791 #endif /* configUSE_PREEMPTION */
\r
2793 return xSwitchRequired;
\r
2795 /*-----------------------------------------------------------*/
\r
2797 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2799 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2803 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2805 if( xTask == NULL )
\r
2807 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2814 /* Save the hook function in the TCB. A critical section is required as
\r
2815 the value can be accessed from an interrupt. */
\r
2816 taskENTER_CRITICAL();
\r
2818 xTCB->pxTaskTag = pxHookFunction;
\r
2820 taskEXIT_CRITICAL();
\r
2823 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2824 /*-----------------------------------------------------------*/
\r
2826 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2828 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2831 TaskHookFunction_t xReturn;
\r
2833 /* If xTask is NULL then set the calling task's hook. */
\r
2834 pxTCB = prvGetTCBFromHandle( xTask );
\r
2836 /* Save the hook function in the TCB. A critical section is required as
\r
2837 the value can be accessed from an interrupt. */
\r
2838 taskENTER_CRITICAL();
\r
2840 xReturn = pxTCB->pxTaskTag;
\r
2842 taskEXIT_CRITICAL();
\r
2847 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2848 /*-----------------------------------------------------------*/
\r
2850 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2852 TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask )
\r
2855 TaskHookFunction_t xReturn;
\r
2856 UBaseType_t uxSavedInterruptStatus;
\r
2858 /* If xTask is NULL then set the calling task's hook. */
\r
2859 pxTCB = prvGetTCBFromHandle( xTask );
\r
2861 /* Save the hook function in the TCB. A critical section is required as
\r
2862 the value can be accessed from an interrupt. */
\r
2863 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
2865 xReturn = pxTCB->pxTaskTag;
\r
2867 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2872 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2873 /*-----------------------------------------------------------*/
\r
2875 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2877 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2880 BaseType_t xReturn;
\r
2882 /* If xTask is NULL then we are calling our own task hook. */
\r
2883 if( xTask == NULL )
\r
2885 xTCB = pxCurrentTCB;
\r
2892 if( xTCB->pxTaskTag != NULL )
\r
2894 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2904 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2905 /*-----------------------------------------------------------*/
\r
2907 void vTaskSwitchContext( void )
\r
2909 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2911 /* The scheduler is currently suspended - do not allow a context
\r
2913 xYieldPending = pdTRUE;
\r
2917 xYieldPending = pdFALSE;
\r
2918 traceTASK_SWITCHED_OUT();
\r
2920 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2922 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2923 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2925 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2928 /* Add the amount of time the task has been running to the
\r
2929 accumulated time so far. The time the task started running was
\r
2930 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2931 protection here so count values are only valid until the timer
\r
2932 overflows. The guard against negative values is to protect
\r
2933 against suspect run time stat counter implementations - which
\r
2934 are provided by the application, not the kernel. */
\r
2935 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2937 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2941 mtCOVERAGE_TEST_MARKER();
\r
2943 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2945 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2947 /* Check for stack overflow, if configured. */
\r
2948 taskCHECK_FOR_STACK_OVERFLOW();
\r
2950 /* Before the currently running task is switched out, save its errno. */
\r
2951 #if( configUSE_POSIX_ERRNO == 1 )
\r
2953 pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
\r
2957 /* Select a new task to run using either the generic C or port
\r
2958 optimised asm code. */
\r
2959 taskSELECT_HIGHEST_PRIORITY_TASK(); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2960 traceTASK_SWITCHED_IN();
\r
2962 /* After the new task is switched in, update the global errno. */
\r
2963 #if( configUSE_POSIX_ERRNO == 1 )
\r
2965 FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
\r
2969 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2971 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2972 structure specific to this task. */
\r
2973 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2975 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2978 /*-----------------------------------------------------------*/
\r
2980 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2982 configASSERT( pxEventList );
\r
2984 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2985 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2987 /* Place the event list item of the TCB in the appropriate event list.
\r
2988 This is placed in the list in priority order so the highest priority task
\r
2989 is the first to be woken by the event. The queue that contains the event
\r
2990 list is locked, preventing simultaneous access from interrupts. */
\r
2991 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2993 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2995 /*-----------------------------------------------------------*/
\r
2997 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2999 configASSERT( pxEventList );
\r
3001 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3002 the event groups implementation. */
\r
3003 configASSERT( uxSchedulerSuspended != 0 );
\r
3005 /* Store the item value in the event list item. It is safe to access the
\r
3006 event list item here as interrupts won't access the event list item of a
\r
3007 task that is not in the Blocked state. */
\r
3008 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3010 /* Place the event list item of the TCB at the end of the appropriate event
\r
3011 list. It is safe to access the event list here because it is part of an
\r
3012 event group implementation - and interrupts don't access event groups
\r
3013 directly (instead they access them indirectly by pending function calls to
\r
3014 the task level). */
\r
3015 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3017 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
3019 /*-----------------------------------------------------------*/
\r
3021 #if( configUSE_TIMERS == 1 )
\r
3023 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
3025 configASSERT( pxEventList );
\r
3027 /* This function should not be called by application code hence the
\r
3028 'Restricted' in its name. It is not part of the public API. It is
\r
3029 designed for use by kernel code, and has special calling requirements -
\r
3030 it should be called with the scheduler suspended. */
\r
3033 /* Place the event list item of the TCB in the appropriate event list.
\r
3034 In this case it is assume that this is the only task that is going to
\r
3035 be waiting on this event list, so the faster vListInsertEnd() function
\r
3036 can be used in place of vListInsert. */
\r
3037 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3039 /* If the task should block indefinitely then set the block time to a
\r
3040 value that will be recognised as an indefinite delay inside the
\r
3041 prvAddCurrentTaskToDelayedList() function. */
\r
3042 if( xWaitIndefinitely != pdFALSE )
\r
3044 xTicksToWait = portMAX_DELAY;
\r
3047 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
\r
3048 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
\r
3051 #endif /* configUSE_TIMERS */
\r
3052 /*-----------------------------------------------------------*/
\r
3054 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
3056 TCB_t *pxUnblockedTCB;
\r
3057 BaseType_t xReturn;
\r
3059 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
3060 called from a critical section within an ISR. */
\r
3062 /* The event list is sorted in priority order, so the first in the list can
\r
3063 be removed as it is known to be the highest priority. Remove the TCB from
\r
3064 the delayed list, and add it to the ready list.
\r
3066 If an event is for a queue that is locked then this function will never
\r
3067 get called - the lock count on the queue will get modified instead. This
\r
3068 means exclusive access to the event list is guaranteed here.
\r
3070 This function assumes that a check has already been made to ensure that
\r
3071 pxEventList is not empty. */
\r
3072 pxUnblockedTCB = listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3073 configASSERT( pxUnblockedTCB );
\r
3074 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
3076 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3078 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3079 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3081 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3083 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
3084 might be set to the blocked task's time out time. If the task is
\r
3085 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
3086 normally left unchanged, because it is automatically reset to a new
\r
3087 value when the tick count equals xNextTaskUnblockTime. However if
\r
3088 tickless idling is used it might be more important to enter sleep mode
\r
3089 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
3090 ensure it is updated at the earliest possible time. */
\r
3091 prvResetNextTaskUnblockTime();
\r
3097 /* The delayed and ready lists cannot be accessed, so hold this task
\r
3098 pending until the scheduler is resumed. */
\r
3099 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
3102 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3104 /* Return true if the task removed from the event list has a higher
\r
3105 priority than the calling task. This allows the calling task to know if
\r
3106 it should force a context switch now. */
\r
3109 /* Mark that a yield is pending in case the user is not using the
\r
3110 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
3111 xYieldPending = pdTRUE;
\r
3115 xReturn = pdFALSE;
\r
3120 /*-----------------------------------------------------------*/
\r
3122 void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
3124 TCB_t *pxUnblockedTCB;
\r
3126 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3127 the event flags implementation. */
\r
3128 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
3130 /* Store the new item value in the event list. */
\r
3131 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3133 /* Remove the event list form the event flag. Interrupts do not access
\r
3135 pxUnblockedTCB = listGET_LIST_ITEM_OWNER( pxEventListItem ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3136 configASSERT( pxUnblockedTCB );
\r
3137 ( void ) uxListRemove( pxEventListItem );
\r
3139 /* Remove the task from the delayed list and add it to the ready list. The
\r
3140 scheduler is suspended so interrupts will not be accessing the ready
\r
3142 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3143 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3145 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3147 /* The unblocked task has a priority above that of the calling task, so
\r
3148 a context switch is required. This function is called with the
\r
3149 scheduler suspended so xYieldPending is set so the context switch
\r
3150 occurs immediately that the scheduler is resumed (unsuspended). */
\r
3151 xYieldPending = pdTRUE;
\r
3154 /*-----------------------------------------------------------*/
\r
3156 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3158 configASSERT( pxTimeOut );
\r
3159 taskENTER_CRITICAL();
\r
3161 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3162 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3164 taskEXIT_CRITICAL();
\r
3166 /*-----------------------------------------------------------*/
\r
3168 void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3170 /* For internal use only as it does not use a critical section. */
\r
3171 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3172 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3174 /*-----------------------------------------------------------*/
\r
3176 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
3178 BaseType_t xReturn;
\r
3180 configASSERT( pxTimeOut );
\r
3181 configASSERT( pxTicksToWait );
\r
3183 taskENTER_CRITICAL();
\r
3185 /* Minor optimisation. The tick count cannot change in this block. */
\r
3186 const TickType_t xConstTickCount = xTickCount;
\r
3187 const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
\r
3189 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
3190 if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
\r
3192 /* The delay was aborted, which is not the same as a time out,
\r
3193 but has the same result. */
\r
3194 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
3200 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3201 if( *pxTicksToWait == portMAX_DELAY )
\r
3203 /* If INCLUDE_vTaskSuspend is set to 1 and the block time
\r
3204 specified is the maximum block time then the task should block
\r
3205 indefinitely, and therefore never time out. */
\r
3206 xReturn = pdFALSE;
\r
3211 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
3213 /* The tick count is greater than the time at which
\r
3214 vTaskSetTimeout() was called, but has also overflowed since
\r
3215 vTaskSetTimeOut() was called. It must have wrapped all the way
\r
3216 around and gone past again. This passed since vTaskSetTimeout()
\r
3220 else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
\r
3222 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
3223 *pxTicksToWait -= xElapsedTime;
\r
3224 vTaskInternalSetTimeOutState( pxTimeOut );
\r
3225 xReturn = pdFALSE;
\r
3229 *pxTicksToWait = 0;
\r
3233 taskEXIT_CRITICAL();
\r
3237 /*-----------------------------------------------------------*/
\r
3239 void vTaskMissedYield( void )
\r
3241 xYieldPending = pdTRUE;
\r
3243 /*-----------------------------------------------------------*/
\r
3245 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3247 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
3249 UBaseType_t uxReturn;
\r
3250 TCB_t const *pxTCB;
\r
3252 if( xTask != NULL )
\r
3255 uxReturn = pxTCB->uxTaskNumber;
\r
3265 #endif /* configUSE_TRACE_FACILITY */
\r
3266 /*-----------------------------------------------------------*/
\r
3268 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3270 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
3274 if( xTask != NULL )
\r
3277 pxTCB->uxTaskNumber = uxHandle;
\r
3281 #endif /* configUSE_TRACE_FACILITY */
\r
3284 * -----------------------------------------------------------
\r
3286 * ----------------------------------------------------------
\r
3288 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
3289 * language extensions. The equivalent prototype for this function is:
\r
3291 * void prvIdleTask( void *pvParameters );
\r
3294 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
3296 /* Stop warnings. */
\r
3297 ( void ) pvParameters;
\r
3299 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
3300 SCHEDULER IS STARTED. **/
\r
3302 /* In case a task that has a secure context deletes itself, in which case
\r
3303 the idle task is responsible for deleting the task's secure context, if
\r
3305 portTASK_CALLS_SECURE_FUNCTIONS();
\r
3309 /* See if any tasks have deleted themselves - if so then the idle task
\r
3310 is responsible for freeing the deleted task's TCB and stack. */
\r
3311 prvCheckTasksWaitingTermination();
\r
3313 #if ( configUSE_PREEMPTION == 0 )
\r
3315 /* If we are not using preemption we keep forcing a task switch to
\r
3316 see if any other task has become available. If we are using
\r
3317 preemption we don't need to do this as any task becoming available
\r
3318 will automatically get the processor anyway. */
\r
3321 #endif /* configUSE_PREEMPTION */
\r
3323 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
3325 /* When using preemption tasks of equal priority will be
\r
3326 timesliced. If a task that is sharing the idle priority is ready
\r
3327 to run then the idle task should yield before the end of the
\r
3330 A critical region is not required here as we are just reading from
\r
3331 the list, and an occasional incorrect value will not matter. If
\r
3332 the ready list at the idle priority contains more than one task
\r
3333 then a task other than the idle task is ready to execute. */
\r
3334 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
3340 mtCOVERAGE_TEST_MARKER();
\r
3343 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
3345 #if ( configUSE_IDLE_HOOK == 1 )
\r
3347 extern void vApplicationIdleHook( void );
\r
3349 /* Call the user defined function from within the idle task. This
\r
3350 allows the application designer to add background functionality
\r
3351 without the overhead of a separate task.
\r
3352 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
3353 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
3354 vApplicationIdleHook();
\r
3356 #endif /* configUSE_IDLE_HOOK */
\r
3358 /* This conditional compilation should use inequality to 0, not equality
\r
3359 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
3360 user defined low power mode implementations require
\r
3361 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
3362 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3364 TickType_t xExpectedIdleTime;
\r
3366 /* It is not desirable to suspend then resume the scheduler on
\r
3367 each iteration of the idle task. Therefore, a preliminary
\r
3368 test of the expected idle time is performed without the
\r
3369 scheduler suspended. The result here is not necessarily
\r
3371 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3373 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3375 vTaskSuspendAll();
\r
3377 /* Now the scheduler is suspended, the expected idle
\r
3378 time can be sampled again, and this time its value can
\r
3380 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
3381 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3383 /* Define the following macro to set xExpectedIdleTime to 0
\r
3384 if the application does not want
\r
3385 portSUPPRESS_TICKS_AND_SLEEP() to be called. */
\r
3386 configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
\r
3388 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3390 traceLOW_POWER_IDLE_BEGIN();
\r
3391 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
3392 traceLOW_POWER_IDLE_END();
\r
3396 mtCOVERAGE_TEST_MARKER();
\r
3399 ( void ) xTaskResumeAll();
\r
3403 mtCOVERAGE_TEST_MARKER();
\r
3406 #endif /* configUSE_TICKLESS_IDLE */
\r
3409 /*-----------------------------------------------------------*/
\r
3411 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3413 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
3415 /* The idle task exists in addition to the application tasks. */
\r
3416 const UBaseType_t uxNonApplicationTasks = 1;
\r
3417 eSleepModeStatus eReturn = eStandardSleep;
\r
3419 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
3421 /* A task was made ready while the scheduler was suspended. */
\r
3422 eReturn = eAbortSleep;
\r
3424 else if( xYieldPending != pdFALSE )
\r
3426 /* A yield was pended while the scheduler was suspended. */
\r
3427 eReturn = eAbortSleep;
\r
3431 /* If all the tasks are in the suspended list (which might mean they
\r
3432 have an infinite block time rather than actually being suspended)
\r
3433 then it is safe to turn all clocks off and just wait for external
\r
3435 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
3437 eReturn = eNoTasksWaitingTimeout;
\r
3441 mtCOVERAGE_TEST_MARKER();
\r
3448 #endif /* configUSE_TICKLESS_IDLE */
\r
3449 /*-----------------------------------------------------------*/
\r
3451 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3453 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
3457 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3459 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
3460 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3464 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3465 /*-----------------------------------------------------------*/
\r
3467 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3469 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
3471 void *pvReturn = NULL;
\r
3474 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3476 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3477 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3487 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3488 /*-----------------------------------------------------------*/
\r
3490 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3492 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3496 /* If null is passed in here then we are modifying the MPU settings of
\r
3497 the calling task. */
\r
3498 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3500 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3503 #endif /* portUSING_MPU_WRAPPERS */
\r
3504 /*-----------------------------------------------------------*/
\r
3506 static void prvInitialiseTaskLists( void )
\r
3508 UBaseType_t uxPriority;
\r
3510 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3512 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3515 vListInitialise( &xDelayedTaskList1 );
\r
3516 vListInitialise( &xDelayedTaskList2 );
\r
3517 vListInitialise( &xPendingReadyList );
\r
3519 #if ( INCLUDE_vTaskDelete == 1 )
\r
3521 vListInitialise( &xTasksWaitingTermination );
\r
3523 #endif /* INCLUDE_vTaskDelete */
\r
3525 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3527 vListInitialise( &xSuspendedTaskList );
\r
3529 #endif /* INCLUDE_vTaskSuspend */
\r
3531 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3533 pxDelayedTaskList = &xDelayedTaskList1;
\r
3534 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3536 /*-----------------------------------------------------------*/
\r
3538 static void prvCheckTasksWaitingTermination( void )
\r
3541 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3543 #if ( INCLUDE_vTaskDelete == 1 )
\r
3547 /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
\r
3548 being called too often in the idle task. */
\r
3549 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3551 taskENTER_CRITICAL();
\r
3553 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3554 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
3555 --uxCurrentNumberOfTasks;
\r
3556 --uxDeletedTasksWaitingCleanUp;
\r
3558 taskEXIT_CRITICAL();
\r
3560 prvDeleteTCB( pxTCB );
\r
3563 #endif /* INCLUDE_vTaskDelete */
\r
3565 /*-----------------------------------------------------------*/
\r
3567 #if( configUSE_TRACE_FACILITY == 1 )
\r
3569 void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
\r
3573 /* xTask is NULL then get the state of the calling task. */
\r
3574 pxTCB = prvGetTCBFromHandle( xTask );
\r
3576 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3577 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
\r
3578 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3579 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3580 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3582 #if ( configUSE_MUTEXES == 1 )
\r
3584 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3588 pxTaskStatus->uxBasePriority = 0;
\r
3592 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3594 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3598 pxTaskStatus->ulRunTimeCounter = 0;
\r
3602 /* Obtaining the task state is a little fiddly, so is only done if the
\r
3603 value of eState passed into this function is eInvalid - otherwise the
\r
3604 state is just set to whatever is passed in. */
\r
3605 if( eState != eInvalid )
\r
3607 if( pxTCB == pxCurrentTCB )
\r
3609 pxTaskStatus->eCurrentState = eRunning;
\r
3613 pxTaskStatus->eCurrentState = eState;
\r
3615 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3617 /* If the task is in the suspended list then there is a
\r
3618 chance it is actually just blocked indefinitely - so really
\r
3619 it should be reported as being in the Blocked state. */
\r
3620 if( eState == eSuspended )
\r
3622 vTaskSuspendAll();
\r
3624 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3626 pxTaskStatus->eCurrentState = eBlocked;
\r
3629 ( void ) xTaskResumeAll();
\r
3632 #endif /* INCLUDE_vTaskSuspend */
\r
3637 pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
\r
3640 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3641 parameter is provided to allow it to be skipped. */
\r
3642 if( xGetFreeStackSpace != pdFALSE )
\r
3644 #if ( portSTACK_GROWTH > 0 )
\r
3646 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3650 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3656 pxTaskStatus->usStackHighWaterMark = 0;
\r
3660 #endif /* configUSE_TRACE_FACILITY */
\r
3661 /*-----------------------------------------------------------*/
\r
3663 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3665 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3667 configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
\r
3668 UBaseType_t uxTask = 0;
\r
3670 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3672 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3674 /* Populate an TaskStatus_t structure within the
\r
3675 pxTaskStatusArray array for each task that is referenced from
\r
3676 pxList. See the definition of TaskStatus_t in task.h for the
\r
3677 meaning of each TaskStatus_t structure member. */
\r
3680 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3681 vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3683 } while( pxNextTCB != pxFirstTCB );
\r
3687 mtCOVERAGE_TEST_MARKER();
\r
3693 #endif /* configUSE_TRACE_FACILITY */
\r
3694 /*-----------------------------------------------------------*/
\r
3696 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
\r
3698 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3700 uint32_t ulCount = 0U;
\r
3702 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3704 pucStackByte -= portSTACK_GROWTH;
\r
3708 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3710 return ( configSTACK_DEPTH_TYPE ) ulCount;
\r
3713 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) */
\r
3714 /*-----------------------------------------------------------*/
\r
3716 #if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 )
\r
3718 /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the
\r
3719 same except for their return type. Using configSTACK_DEPTH_TYPE allows the
\r
3720 user to determine the return type. It gets around the problem of the value
\r
3721 overflowing on 8-bit types without breaking backward compatibility for
\r
3722 applications that expect an 8-bit return type. */
\r
3723 configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask )
\r
3726 uint8_t *pucEndOfStack;
\r
3727 configSTACK_DEPTH_TYPE uxReturn;
\r
3729 /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are
\r
3730 the same except for their return type. Using configSTACK_DEPTH_TYPE
\r
3731 allows the user to determine the return type. It gets around the
\r
3732 problem of the value overflowing on 8-bit types without breaking
\r
3733 backward compatibility for applications that expect an 8-bit return
\r
3736 pxTCB = prvGetTCBFromHandle( xTask );
\r
3738 #if portSTACK_GROWTH < 0
\r
3740 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3744 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3748 uxReturn = prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3753 #endif /* INCLUDE_uxTaskGetStackHighWaterMark2 */
\r
3754 /*-----------------------------------------------------------*/
\r
3756 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3758 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3761 uint8_t *pucEndOfStack;
\r
3762 UBaseType_t uxReturn;
\r
3764 pxTCB = prvGetTCBFromHandle( xTask );
\r
3766 #if portSTACK_GROWTH < 0
\r
3768 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3772 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3776 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3781 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3782 /*-----------------------------------------------------------*/
\r
3784 #if ( INCLUDE_vTaskDelete == 1 )
\r
3786 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3788 /* This call is required specifically for the TriCore port. It must be
\r
3789 above the vPortFree() calls. The call is also used by ports/demos that
\r
3790 want to allocate and clean RAM statically. */
\r
3791 portCLEAN_UP_TCB( pxTCB );
\r
3793 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3794 to the task to free any memory allocated at the application level. */
\r
3795 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3797 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3799 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3801 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
\r
3803 /* The task can only have been allocated dynamically - free both
\r
3804 the stack and TCB. */
\r
3805 vPortFree( pxTCB->pxStack );
\r
3806 vPortFree( pxTCB );
\r
3808 #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
3810 /* The task could have been allocated statically or dynamically, so
\r
3811 check what was statically allocated before trying to free the
\r
3813 if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
\r
3815 /* Both the stack and TCB were allocated dynamically, so both
\r
3817 vPortFree( pxTCB->pxStack );
\r
3818 vPortFree( pxTCB );
\r
3820 else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
\r
3822 /* Only the stack was statically allocated, so the TCB is the
\r
3823 only memory that must be freed. */
\r
3824 vPortFree( pxTCB );
\r
3828 /* Neither the stack nor the TCB were allocated dynamically, so
\r
3829 nothing needs to be freed. */
\r
3830 configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
\r
3831 mtCOVERAGE_TEST_MARKER();
\r
3834 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
3837 #endif /* INCLUDE_vTaskDelete */
\r
3838 /*-----------------------------------------------------------*/
\r
3840 static void prvResetNextTaskUnblockTime( void )
\r
3844 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3846 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3847 the maximum possible value so it is extremely unlikely that the
\r
3848 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3849 there is an item in the delayed list. */
\r
3850 xNextTaskUnblockTime = portMAX_DELAY;
\r
3854 /* The new current delayed list is not empty, get the value of
\r
3855 the item at the head of the delayed list. This is the time at
\r
3856 which the task at the head of the delayed list should be removed
\r
3857 from the Blocked state. */
\r
3858 ( pxTCB ) = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3859 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
\r
3862 /*-----------------------------------------------------------*/
\r
3864 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3866 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3868 TaskHandle_t xReturn;
\r
3870 /* A critical section is not required as this is not called from
\r
3871 an interrupt and the current TCB will always be the same for any
\r
3872 individual execution thread. */
\r
3873 xReturn = pxCurrentTCB;
\r
3878 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3879 /*-----------------------------------------------------------*/
\r
3881 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3883 BaseType_t xTaskGetSchedulerState( void )
\r
3885 BaseType_t xReturn;
\r
3887 if( xSchedulerRunning == pdFALSE )
\r
3889 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3893 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3895 xReturn = taskSCHEDULER_RUNNING;
\r
3899 xReturn = taskSCHEDULER_SUSPENDED;
\r
3906 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3907 /*-----------------------------------------------------------*/
\r
3909 #if ( configUSE_MUTEXES == 1 )
\r
3911 BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3913 TCB_t * const pxMutexHolderTCB = pxMutexHolder;
\r
3914 BaseType_t xReturn = pdFALSE;
\r
3916 /* If the mutex was given back by an interrupt while the queue was
\r
3917 locked then the mutex holder might now be NULL. _RB_ Is this still
\r
3918 needed as interrupts can no longer use mutexes? */
\r
3919 if( pxMutexHolder != NULL )
\r
3921 /* If the holder of the mutex has a priority below the priority of
\r
3922 the task attempting to obtain the mutex then it will temporarily
\r
3923 inherit the priority of the task attempting to obtain the mutex. */
\r
3924 if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3926 /* Adjust the mutex holder state to account for its new
\r
3927 priority. Only reset the event list item value if the value is
\r
3928 not being used for anything else. */
\r
3929 if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3931 listSET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3935 mtCOVERAGE_TEST_MARKER();
\r
3938 /* If the task being modified is in the ready state it will need
\r
3939 to be moved into a new list. */
\r
3940 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
\r
3942 if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3944 taskRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority );
\r
3948 mtCOVERAGE_TEST_MARKER();
\r
3951 /* Inherit the priority before being moved into the new list. */
\r
3952 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3953 prvAddTaskToReadyList( pxMutexHolderTCB );
\r
3957 /* Just inherit the priority. */
\r
3958 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3961 traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
\r
3963 /* Inheritance occurred. */
\r
3968 if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
\r
3970 /* The base priority of the mutex holder is lower than the
\r
3971 priority of the task attempting to take the mutex, but the
\r
3972 current priority of the mutex holder is not lower than the
\r
3973 priority of the task attempting to take the mutex.
\r
3974 Therefore the mutex holder must have already inherited a
\r
3975 priority, but inheritance would have occurred if that had
\r
3976 not been the case. */
\r
3981 mtCOVERAGE_TEST_MARKER();
\r
3987 mtCOVERAGE_TEST_MARKER();
\r
3993 #endif /* configUSE_MUTEXES */
\r
3994 /*-----------------------------------------------------------*/
\r
3996 #if ( configUSE_MUTEXES == 1 )
\r
3998 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
4000 TCB_t * const pxTCB = pxMutexHolder;
\r
4001 BaseType_t xReturn = pdFALSE;
\r
4003 if( pxMutexHolder != NULL )
\r
4005 /* A task can only have an inherited priority if it holds the mutex.
\r
4006 If the mutex is held by a task then it cannot be given from an
\r
4007 interrupt, and if a mutex is given by the holding task then it must
\r
4008 be the running state task. */
\r
4009 configASSERT( pxTCB == pxCurrentTCB );
\r
4010 configASSERT( pxTCB->uxMutexesHeld );
\r
4011 ( pxTCB->uxMutexesHeld )--;
\r
4013 /* Has the holder of the mutex inherited the priority of another
\r
4015 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
4017 /* Only disinherit if no other mutexes are held. */
\r
4018 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
4020 /* A task can only have an inherited priority if it holds
\r
4021 the mutex. If the mutex is held by a task then it cannot be
\r
4022 given from an interrupt, and if a mutex is given by the
\r
4023 holding task then it must be the running state task. Remove
\r
4024 the holding task from the ready list. */
\r
4025 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4027 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
4031 mtCOVERAGE_TEST_MARKER();
\r
4034 /* Disinherit the priority before adding the task into the
\r
4035 new ready list. */
\r
4036 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4037 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
4039 /* Reset the event list item value. It cannot be in use for
\r
4040 any other purpose if this task is running, and it must be
\r
4041 running to give back the mutex. */
\r
4042 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
4043 prvAddTaskToReadyList( pxTCB );
\r
4045 /* Return true to indicate that a context switch is required.
\r
4046 This is only actually required in the corner case whereby
\r
4047 multiple mutexes were held and the mutexes were given back
\r
4048 in an order different to that in which they were taken.
\r
4049 If a context switch did not occur when the first mutex was
\r
4050 returned, even if a task was waiting on it, then a context
\r
4051 switch should occur when the last mutex is returned whether
\r
4052 a task is waiting on it or not. */
\r
4057 mtCOVERAGE_TEST_MARKER();
\r
4062 mtCOVERAGE_TEST_MARKER();
\r
4067 mtCOVERAGE_TEST_MARKER();
\r
4073 #endif /* configUSE_MUTEXES */
\r
4074 /*-----------------------------------------------------------*/
\r
4076 #if ( configUSE_MUTEXES == 1 )
\r
4078 void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask )
\r
4080 TCB_t * const pxTCB = pxMutexHolder;
\r
4081 UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
\r
4082 const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
\r
4084 if( pxMutexHolder != NULL )
\r
4086 /* If pxMutexHolder is not NULL then the holder must hold at least
\r
4088 configASSERT( pxTCB->uxMutexesHeld );
\r
4090 /* Determine the priority to which the priority of the task that
\r
4091 holds the mutex should be set. This will be the greater of the
\r
4092 holding task's base priority and the priority of the highest
\r
4093 priority task that is waiting to obtain the mutex. */
\r
4094 if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
\r
4096 uxPriorityToUse = uxHighestPriorityWaitingTask;
\r
4100 uxPriorityToUse = pxTCB->uxBasePriority;
\r
4103 /* Does the priority need to change? */
\r
4104 if( pxTCB->uxPriority != uxPriorityToUse )
\r
4106 /* Only disinherit if no other mutexes are held. This is a
\r
4107 simplification in the priority inheritance implementation. If
\r
4108 the task that holds the mutex is also holding other mutexes then
\r
4109 the other mutexes may have caused the priority inheritance. */
\r
4110 if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
\r
4112 /* If a task has timed out because it already holds the
\r
4113 mutex it was trying to obtain then it cannot of inherited
\r
4114 its own priority. */
\r
4115 configASSERT( pxTCB != pxCurrentTCB );
\r
4117 /* Disinherit the priority, remembering the previous
\r
4118 priority to facilitate determining the subject task's
\r
4120 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4121 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
4122 pxTCB->uxPriority = uxPriorityToUse;
\r
4124 /* Only reset the event list item value if the value is not
\r
4125 being used for anything else. */
\r
4126 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
4128 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriorityToUse ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
4132 mtCOVERAGE_TEST_MARKER();
\r
4135 /* If the running task is not the task that holds the mutex
\r
4136 then the task that holds the mutex could be in either the
\r
4137 Ready, Blocked or Suspended states. Only remove the task
\r
4138 from its current state list if it is in the Ready state as
\r
4139 the task's priority is going to change and there is one
\r
4140 Ready list per priority. */
\r
4141 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
4143 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4145 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
4149 mtCOVERAGE_TEST_MARKER();
\r
4152 prvAddTaskToReadyList( pxTCB );
\r
4156 mtCOVERAGE_TEST_MARKER();
\r
4161 mtCOVERAGE_TEST_MARKER();
\r
4166 mtCOVERAGE_TEST_MARKER();
\r
4171 mtCOVERAGE_TEST_MARKER();
\r
4175 #endif /* configUSE_MUTEXES */
\r
4176 /*-----------------------------------------------------------*/
\r
4178 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4180 void vTaskEnterCritical( void )
\r
4182 portDISABLE_INTERRUPTS();
\r
4184 if( xSchedulerRunning != pdFALSE )
\r
4186 ( pxCurrentTCB->uxCriticalNesting )++;
\r
4188 /* This is not the interrupt safe version of the enter critical
\r
4189 function so assert() if it is being called from an interrupt
\r
4190 context. Only API functions that end in "FromISR" can be used in an
\r
4191 interrupt. Only assert if the critical nesting count is 1 to
\r
4192 protect against recursive calls if the assert function also uses a
\r
4193 critical section. */
\r
4194 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
4196 portASSERT_IF_IN_ISR();
\r
4201 mtCOVERAGE_TEST_MARKER();
\r
4205 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4206 /*-----------------------------------------------------------*/
\r
4208 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4210 void vTaskExitCritical( void )
\r
4212 if( xSchedulerRunning != pdFALSE )
\r
4214 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
4216 ( pxCurrentTCB->uxCriticalNesting )--;
\r
4218 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
4220 portENABLE_INTERRUPTS();
\r
4224 mtCOVERAGE_TEST_MARKER();
\r
4229 mtCOVERAGE_TEST_MARKER();
\r
4234 mtCOVERAGE_TEST_MARKER();
\r
4238 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4239 /*-----------------------------------------------------------*/
\r
4241 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
4243 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
4247 /* Start by copying the entire string. */
\r
4248 strcpy( pcBuffer, pcTaskName );
\r
4250 /* Pad the end of the string with spaces to ensure columns line up when
\r
4252 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
4254 pcBuffer[ x ] = ' ';
\r
4258 pcBuffer[ x ] = ( char ) 0x00;
\r
4260 /* Return the new end of string. */
\r
4261 return &( pcBuffer[ x ] );
\r
4264 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
4265 /*-----------------------------------------------------------*/
\r
4267 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4269 void vTaskList( char * pcWriteBuffer )
\r
4271 TaskStatus_t *pxTaskStatusArray;
\r
4272 UBaseType_t uxArraySize, x;
\r
4278 * This function is provided for convenience only, and is used by many
\r
4279 * of the demo applications. Do not consider it to be part of the
\r
4282 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
4283 * uxTaskGetSystemState() output into a human readable table that
\r
4284 * displays task names, states and stack usage.
\r
4286 * vTaskList() has a dependency on the sprintf() C library function that
\r
4287 * might bloat the code size, use a lot of stack, and provide different
\r
4288 * results on different platforms. An alternative, tiny, third party,
\r
4289 * and limited functionality implementation of sprintf() is provided in
\r
4290 * many of the FreeRTOS/Demo sub-directories in a file called
\r
4291 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
4292 * snprintf() implementation!).
\r
4294 * It is recommended that production systems call uxTaskGetSystemState()
\r
4295 * directly to get access to raw stats data, rather than indirectly
\r
4296 * through a call to vTaskList().
\r
4300 /* Make sure the write buffer does not contain a string. */
\r
4301 *pcWriteBuffer = ( char ) 0x00;
\r
4303 /* Take a snapshot of the number of tasks in case it changes while this
\r
4304 function is executing. */
\r
4305 uxArraySize = uxCurrentNumberOfTasks;
\r
4307 /* Allocate an array index for each task. NOTE! if
\r
4308 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4309 equate to NULL. */
\r
4310 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
\r
4312 if( pxTaskStatusArray != NULL )
\r
4314 /* Generate the (binary) data. */
\r
4315 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
4317 /* Create a human readable table from the binary data. */
\r
4318 for( x = 0; x < uxArraySize; x++ )
\r
4320 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
4322 case eRunning: cStatus = tskRUNNING_CHAR;
\r
4325 case eReady: cStatus = tskREADY_CHAR;
\r
4328 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
4331 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
4334 case eDeleted: cStatus = tskDELETED_CHAR;
\r
4337 case eInvalid: /* Fall through. */
\r
4338 default: /* Should not get here, but it is included
\r
4339 to prevent static checking errors. */
\r
4340 cStatus = ( char ) 0x00;
\r
4344 /* Write the task name to the string, padding with spaces so it
\r
4345 can be printed in tabular form more easily. */
\r
4346 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4348 /* Write the rest of the string. */
\r
4349 sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4350 pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
\r
4353 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4354 is 0 then vPortFree() will be #defined to nothing. */
\r
4355 vPortFree( pxTaskStatusArray );
\r
4359 mtCOVERAGE_TEST_MARKER();
\r
4363 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
4364 /*----------------------------------------------------------*/
\r
4366 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4368 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
4370 TaskStatus_t *pxTaskStatusArray;
\r
4371 UBaseType_t uxArraySize, x;
\r
4372 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
4374 #if( configUSE_TRACE_FACILITY != 1 )
\r
4376 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
4383 * This function is provided for convenience only, and is used by many
\r
4384 * of the demo applications. Do not consider it to be part of the
\r
4387 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
4388 * of the uxTaskGetSystemState() output into a human readable table that
\r
4389 * displays the amount of time each task has spent in the Running state
\r
4390 * in both absolute and percentage terms.
\r
4392 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
4393 * function that might bloat the code size, use a lot of stack, and
\r
4394 * provide different results on different platforms. An alternative,
\r
4395 * tiny, third party, and limited functionality implementation of
\r
4396 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
4397 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
4398 * a full snprintf() implementation!).
\r
4400 * It is recommended that production systems call uxTaskGetSystemState()
\r
4401 * directly to get access to raw stats data, rather than indirectly
\r
4402 * through a call to vTaskGetRunTimeStats().
\r
4405 /* Make sure the write buffer does not contain a string. */
\r
4406 *pcWriteBuffer = ( char ) 0x00;
\r
4408 /* Take a snapshot of the number of tasks in case it changes while this
\r
4409 function is executing. */
\r
4410 uxArraySize = uxCurrentNumberOfTasks;
\r
4412 /* Allocate an array index for each task. NOTE! If
\r
4413 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4414 equate to NULL. */
\r
4415 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
\r
4417 if( pxTaskStatusArray != NULL )
\r
4419 /* Generate the (binary) data. */
\r
4420 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
4422 /* For percentage calculations. */
\r
4423 ulTotalTime /= 100UL;
\r
4425 /* Avoid divide by zero errors. */
\r
4426 if( ulTotalTime > 0UL )
\r
4428 /* Create a human readable table from the binary data. */
\r
4429 for( x = 0; x < uxArraySize; x++ )
\r
4431 /* What percentage of the total run time has the task used?
\r
4432 This will always be rounded down to the nearest integer.
\r
4433 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
4434 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
4436 /* Write the task name to the string, padding with
\r
4437 spaces so it can be printed in tabular form more
\r
4439 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4441 if( ulStatsAsPercentage > 0UL )
\r
4443 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4445 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
4449 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4450 printf() library can be used. */
\r
4451 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4457 /* If the percentage is zero here then the task has
\r
4458 consumed less than 1% of the total run time. */
\r
4459 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4461 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4465 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4466 printf() library can be used. */
\r
4467 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4472 pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
\r
4477 mtCOVERAGE_TEST_MARKER();
\r
4480 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4481 is 0 then vPortFree() will be #defined to nothing. */
\r
4482 vPortFree( pxTaskStatusArray );
\r
4486 mtCOVERAGE_TEST_MARKER();
\r
4490 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
\r
4491 /*-----------------------------------------------------------*/
\r
4493 TickType_t uxTaskResetEventItemValue( void )
\r
4495 TickType_t uxReturn;
\r
4497 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
4499 /* Reset the event list item to its normal value - so it can be used with
\r
4500 queues and semaphores. */
\r
4501 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
4505 /*-----------------------------------------------------------*/
\r
4507 #if ( configUSE_MUTEXES == 1 )
\r
4509 TaskHandle_t pvTaskIncrementMutexHeldCount( void )
\r
4511 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
4512 then pxCurrentTCB will be NULL. */
\r
4513 if( pxCurrentTCB != NULL )
\r
4515 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4518 return pxCurrentTCB;
\r
4521 #endif /* configUSE_MUTEXES */
\r
4522 /*-----------------------------------------------------------*/
\r
4524 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4526 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
4528 uint32_t ulReturn;
\r
4530 taskENTER_CRITICAL();
\r
4532 /* Only block if the notification count is not already non-zero. */
\r
4533 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
4535 /* Mark this task as waiting for a notification. */
\r
4536 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4538 if( xTicksToWait > ( TickType_t ) 0 )
\r
4540 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4541 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4543 /* All ports are written to allow a yield in a critical
\r
4544 section (some will yield immediately, others wait until the
\r
4545 critical section exits) - but it is not something that
\r
4546 application code should ever do. */
\r
4547 portYIELD_WITHIN_API();
\r
4551 mtCOVERAGE_TEST_MARKER();
\r
4556 mtCOVERAGE_TEST_MARKER();
\r
4559 taskEXIT_CRITICAL();
\r
4561 taskENTER_CRITICAL();
\r
4563 traceTASK_NOTIFY_TAKE();
\r
4564 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4566 if( ulReturn != 0UL )
\r
4568 if( xClearCountOnExit != pdFALSE )
\r
4570 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4574 pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
\r
4579 mtCOVERAGE_TEST_MARKER();
\r
4582 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4584 taskEXIT_CRITICAL();
\r
4589 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4590 /*-----------------------------------------------------------*/
\r
4592 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4594 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4596 BaseType_t xReturn;
\r
4598 taskENTER_CRITICAL();
\r
4600 /* Only block if a notification is not already pending. */
\r
4601 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4603 /* Clear bits in the task's notification value as bits may get
\r
4604 set by the notifying task or interrupt. This can be used to
\r
4605 clear the value to zero. */
\r
4606 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4608 /* Mark this task as waiting for a notification. */
\r
4609 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4611 if( xTicksToWait > ( TickType_t ) 0 )
\r
4613 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4614 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4616 /* All ports are written to allow a yield in a critical
\r
4617 section (some will yield immediately, others wait until the
\r
4618 critical section exits) - but it is not something that
\r
4619 application code should ever do. */
\r
4620 portYIELD_WITHIN_API();
\r
4624 mtCOVERAGE_TEST_MARKER();
\r
4629 mtCOVERAGE_TEST_MARKER();
\r
4632 taskEXIT_CRITICAL();
\r
4634 taskENTER_CRITICAL();
\r
4636 traceTASK_NOTIFY_WAIT();
\r
4638 if( pulNotificationValue != NULL )
\r
4640 /* Output the current notification value, which may or may not
\r
4642 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4645 /* If ucNotifyValue is set then either the task never entered the
\r
4646 blocked state (because a notification was already pending) or the
\r
4647 task unblocked because of a notification. Otherwise the task
\r
4648 unblocked because of a timeout. */
\r
4649 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4651 /* A notification was not received. */
\r
4652 xReturn = pdFALSE;
\r
4656 /* A notification was already pending or a notification was
\r
4657 received while the task was waiting. */
\r
4658 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4662 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4664 taskEXIT_CRITICAL();
\r
4669 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4670 /*-----------------------------------------------------------*/
\r
4672 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4674 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4677 BaseType_t xReturn = pdPASS;
\r
4678 uint8_t ucOriginalNotifyState;
\r
4680 configASSERT( xTaskToNotify );
\r
4681 pxTCB = xTaskToNotify;
\r
4683 taskENTER_CRITICAL();
\r
4685 if( pulPreviousNotificationValue != NULL )
\r
4687 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4690 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4692 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4697 pxTCB->ulNotifiedValue |= ulValue;
\r
4701 ( pxTCB->ulNotifiedValue )++;
\r
4704 case eSetValueWithOverwrite :
\r
4705 pxTCB->ulNotifiedValue = ulValue;
\r
4708 case eSetValueWithoutOverwrite :
\r
4709 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4711 pxTCB->ulNotifiedValue = ulValue;
\r
4715 /* The value could not be written to the task. */
\r
4721 /* The task is being notified without its notify value being
\r
4726 /* Should not get here if all enums are handled.
\r
4727 Artificially force an assert by testing a value the
\r
4728 compiler can't assume is const. */
\r
4729 configASSERT( pxTCB->ulNotifiedValue == ~0UL );
\r
4734 traceTASK_NOTIFY();
\r
4736 /* If the task is in the blocked state specifically to wait for a
\r
4737 notification then unblock it now. */
\r
4738 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4740 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4741 prvAddTaskToReadyList( pxTCB );
\r
4743 /* The task should not have been on an event list. */
\r
4744 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4746 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4748 /* If a task is blocked waiting for a notification then
\r
4749 xNextTaskUnblockTime might be set to the blocked task's time
\r
4750 out time. If the task is unblocked for a reason other than
\r
4751 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4752 because it will automatically get reset to a new value when
\r
4753 the tick count equals xNextTaskUnblockTime. However if
\r
4754 tickless idling is used it might be more important to enter
\r
4755 sleep mode at the earliest possible time - so reset
\r
4756 xNextTaskUnblockTime here to ensure it is updated at the
\r
4757 earliest possible time. */
\r
4758 prvResetNextTaskUnblockTime();
\r
4762 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4764 /* The notified task has a priority above the currently
\r
4765 executing task so a yield is required. */
\r
4766 taskYIELD_IF_USING_PREEMPTION();
\r
4770 mtCOVERAGE_TEST_MARKER();
\r
4775 mtCOVERAGE_TEST_MARKER();
\r
4778 taskEXIT_CRITICAL();
\r
4783 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4784 /*-----------------------------------------------------------*/
\r
4786 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4788 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4791 uint8_t ucOriginalNotifyState;
\r
4792 BaseType_t xReturn = pdPASS;
\r
4793 UBaseType_t uxSavedInterruptStatus;
\r
4795 configASSERT( xTaskToNotify );
\r
4797 /* RTOS ports that support interrupt nesting have the concept of a
\r
4798 maximum system call (or maximum API call) interrupt priority.
\r
4799 Interrupts that are above the maximum system call priority are keep
\r
4800 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4801 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4802 is defined in FreeRTOSConfig.h then
\r
4803 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4804 failure if a FreeRTOS API function is called from an interrupt that has
\r
4805 been assigned a priority above the configured maximum system call
\r
4806 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4807 from interrupts that have been assigned a priority at or (logically)
\r
4808 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4809 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4810 simple as possible. More information (albeit Cortex-M specific) is
\r
4811 provided on the following link:
\r
4812 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4813 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4815 pxTCB = xTaskToNotify;
\r
4817 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4819 if( pulPreviousNotificationValue != NULL )
\r
4821 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4824 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4825 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4830 pxTCB->ulNotifiedValue |= ulValue;
\r
4834 ( pxTCB->ulNotifiedValue )++;
\r
4837 case eSetValueWithOverwrite :
\r
4838 pxTCB->ulNotifiedValue = ulValue;
\r
4841 case eSetValueWithoutOverwrite :
\r
4842 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4844 pxTCB->ulNotifiedValue = ulValue;
\r
4848 /* The value could not be written to the task. */
\r
4854 /* The task is being notified without its notify value being
\r
4859 /* Should not get here if all enums are handled.
\r
4860 Artificially force an assert by testing a value the
\r
4861 compiler can't assume is const. */
\r
4862 configASSERT( pxTCB->ulNotifiedValue == ~0UL );
\r
4866 traceTASK_NOTIFY_FROM_ISR();
\r
4868 /* If the task is in the blocked state specifically to wait for a
\r
4869 notification then unblock it now. */
\r
4870 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4872 /* The task should not have been on an event list. */
\r
4873 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4875 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4877 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4878 prvAddTaskToReadyList( pxTCB );
\r
4882 /* The delayed and ready lists cannot be accessed, so hold
\r
4883 this task pending until the scheduler is resumed. */
\r
4884 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4887 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4889 /* The notified task has a priority above the currently
\r
4890 executing task so a yield is required. */
\r
4891 if( pxHigherPriorityTaskWoken != NULL )
\r
4893 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4896 /* Mark that a yield is pending in case the user is not
\r
4897 using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
4898 safe FreeRTOS function. */
\r
4899 xYieldPending = pdTRUE;
\r
4903 mtCOVERAGE_TEST_MARKER();
\r
4907 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4912 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4913 /*-----------------------------------------------------------*/
\r
4915 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4917 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4920 uint8_t ucOriginalNotifyState;
\r
4921 UBaseType_t uxSavedInterruptStatus;
\r
4923 configASSERT( xTaskToNotify );
\r
4925 /* RTOS ports that support interrupt nesting have the concept of a
\r
4926 maximum system call (or maximum API call) interrupt priority.
\r
4927 Interrupts that are above the maximum system call priority are keep
\r
4928 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4929 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4930 is defined in FreeRTOSConfig.h then
\r
4931 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4932 failure if a FreeRTOS API function is called from an interrupt that has
\r
4933 been assigned a priority above the configured maximum system call
\r
4934 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4935 from interrupts that have been assigned a priority at or (logically)
\r
4936 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4937 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4938 simple as possible. More information (albeit Cortex-M specific) is
\r
4939 provided on the following link:
\r
4940 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4941 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4943 pxTCB = xTaskToNotify;
\r
4945 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4947 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4948 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4950 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4952 ( pxTCB->ulNotifiedValue )++;
\r
4954 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
4956 /* If the task is in the blocked state specifically to wait for a
\r
4957 notification then unblock it now. */
\r
4958 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4960 /* The task should not have been on an event list. */
\r
4961 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4963 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4965 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4966 prvAddTaskToReadyList( pxTCB );
\r
4970 /* The delayed and ready lists cannot be accessed, so hold
\r
4971 this task pending until the scheduler is resumed. */
\r
4972 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4975 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4977 /* The notified task has a priority above the currently
\r
4978 executing task so a yield is required. */
\r
4979 if( pxHigherPriorityTaskWoken != NULL )
\r
4981 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4984 /* Mark that a yield is pending in case the user is not
\r
4985 using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
4986 safe FreeRTOS function. */
\r
4987 xYieldPending = pdTRUE;
\r
4991 mtCOVERAGE_TEST_MARKER();
\r
4995 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4998 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5000 /*-----------------------------------------------------------*/
\r
5002 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
5004 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
5007 BaseType_t xReturn;
\r
5009 /* If null is passed in here then it is the calling task that is having
\r
5010 its notification state cleared. */
\r
5011 pxTCB = prvGetTCBFromHandle( xTask );
\r
5013 taskENTER_CRITICAL();
\r
5015 if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
\r
5017 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
5025 taskEXIT_CRITICAL();
\r
5030 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5031 /*-----------------------------------------------------------*/
\r
5033 #if( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
\r
5034 TickType_t xTaskGetIdleRunTimeCounter( void )
\r
5036 return xIdleTaskHandle->ulRunTimeCounter;
\r
5039 /*-----------------------------------------------------------*/
\r
5041 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
\r
5043 TickType_t xTimeToWake;
\r
5044 const TickType_t xConstTickCount = xTickCount;
\r
5046 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
5048 /* About to enter a delayed list, so ensure the ucDelayAborted flag is
\r
5049 reset to pdFALSE so it can be detected as having been set to pdTRUE
\r
5050 when the task leaves the Blocked state. */
\r
5051 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
5055 /* Remove the task from the ready list before adding it to the blocked list
\r
5056 as the same list item is used for both lists. */
\r
5057 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
5059 /* The current task must be in a ready list, so there is no need to
\r
5060 check, and the port reset macro can be called directly. */
\r
5061 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); /*lint !e931 pxCurrentTCB cannot change as it is the calling task. pxCurrentTCB->uxPriority and uxTopReadyPriority cannot change as called with scheduler suspended or in a critical section. */
\r
5065 mtCOVERAGE_TEST_MARKER();
\r
5068 #if ( INCLUDE_vTaskSuspend == 1 )
\r
5070 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
\r
5072 /* Add the task to the suspended task list instead of a delayed task
\r
5073 list to ensure it is not woken by a timing event. It will block
\r
5075 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5079 /* Calculate the time at which the task should be woken if the event
\r
5080 does not occur. This may overflow but this doesn't matter, the
\r
5081 kernel will manage it correctly. */
\r
5082 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5084 /* The list item will be inserted in wake time order. */
\r
5085 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5087 if( xTimeToWake < xConstTickCount )
\r
5089 /* Wake time has overflowed. Place this item in the overflow
\r
5091 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5095 /* The wake time has not overflowed, so the current block list
\r
5097 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5099 /* If the task entering the blocked state was placed at the
\r
5100 head of the list of blocked tasks then xNextTaskUnblockTime
\r
5101 needs to be updated too. */
\r
5102 if( xTimeToWake < xNextTaskUnblockTime )
\r
5104 xNextTaskUnblockTime = xTimeToWake;
\r
5108 mtCOVERAGE_TEST_MARKER();
\r
5113 #else /* INCLUDE_vTaskSuspend */
\r
5115 /* Calculate the time at which the task should be woken if the event
\r
5116 does not occur. This may overflow but this doesn't matter, the kernel
\r
5117 will manage it correctly. */
\r
5118 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5120 /* The list item will be inserted in wake time order. */
\r
5121 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5123 if( xTimeToWake < xConstTickCount )
\r
5125 /* Wake time has overflowed. Place this item in the overflow list. */
\r
5126 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5130 /* The wake time has not overflowed, so the current block list is used. */
\r
5131 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5133 /* If the task entering the blocked state was placed at the head of the
\r
5134 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
5136 if( xTimeToWake < xNextTaskUnblockTime )
\r
5138 xNextTaskUnblockTime = xTimeToWake;
\r
5142 mtCOVERAGE_TEST_MARKER();
\r
5146 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
\r
5147 ( void ) xCanBlockIndefinitely;
\r
5149 #endif /* INCLUDE_vTaskSuspend */
\r
5152 /* Code below here allows additional code to be inserted into this source file,
\r
5153 especially where access to file scope functions and data is needed (for example
\r
5154 when performing module tests). */
\r
5156 #ifdef FREERTOS_MODULE_TEST
\r
5157 #include "tasks_test_access_functions.h"
\r
5161 #if( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
\r
5163 #include "freertos_tasks_c_additions.h"
\r
5165 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
5166 static void freertos_tasks_c_additions_init( void )
\r
5168 FREERTOS_TASKS_C_ADDITIONS_INIT();
\r
projects / freertos / blob