2 FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /* Standard includes. */
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74 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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75 all the API functions to use the MPU wrappers. That should only be done when
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76 task.h is included from an application file. */
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77 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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79 /* FreeRTOS includes. */
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80 #include "FreeRTOS.h"
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83 #include "StackMacros.h"
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85 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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86 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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87 header files above, but not in this file, in order to generate the correct
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88 privileged Vs unprivileged linkage and placement. */
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89 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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91 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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92 functions but without including stdio.h here. */
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93 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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94 /* At the bottom of this file are two optional functions that can be used
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95 to generate human readable text from the raw data generated by the
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96 uxTaskGetSystemState() function. Note the formatting functions are provided
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97 for convenience only, and are NOT considered part of the kernel. */
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99 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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101 #if( configUSE_PREEMPTION == 0 )
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102 /* If the cooperative scheduler is being used then a yield should not be
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103 performed just because a higher priority task has been woken. */
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104 #define taskYIELD_IF_USING_PREEMPTION()
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106 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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109 /* Values that can be assigned to the ucNotifyState member of the TCB. */
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110 #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )
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111 #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
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112 #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
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115 * The value used to fill the stack of a task when the task is created. This
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116 * is used purely for checking the high water mark for tasks.
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118 #define tskSTACK_FILL_BYTE ( 0xa5U )
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120 /* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using
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121 dynamically allocated RAM, in which case when any task is deleted it is known
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122 that both the task's stack and TCB need to be freed. Sometimes the
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123 FreeRTOSConfig.h settings only allow a task to be created using statically
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124 allocated RAM, in which case when any task is deleted it is known that neither
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125 the task's stack or TCB should be freed. Sometimes the FreeRTOSConfig.h
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126 settings allow a task to be created using either statically or dynamically
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127 allocated RAM, in which case a member of the TCB is used to record whether the
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128 stack and/or TCB were allocated statically or dynamically, so when a task is
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129 deleted the RAM that was allocated dynamically is freed again and no attempt is
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130 made to free the RAM that was allocated statically.
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131 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a
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132 task to be created using either statically or dynamically allocated RAM. Note
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133 that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with
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134 a statically allocated stack and a dynamically allocated TCB.
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135 !!!NOTE!!! If the definition of tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is
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136 changed then the definition of StaticTask_t must also be updated. */
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137 #define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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138 #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
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139 #define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
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140 #define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
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142 /* If any of the following are set then task stacks are filled with a known
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143 value so the high water mark can be determined. If none of the following are
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144 set then don't fill the stack so there is no unnecessary dependency on memset. */
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145 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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146 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 1
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148 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 0
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152 * Macros used by vListTask to indicate which state a task is in.
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154 #define tskBLOCKED_CHAR ( 'B' )
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155 #define tskREADY_CHAR ( 'R' )
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156 #define tskDELETED_CHAR ( 'D' )
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157 #define tskSUSPENDED_CHAR ( 'S' )
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160 * Some kernel aware debuggers require the data the debugger needs access to be
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161 * global, rather than file scope.
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163 #ifdef portREMOVE_STATIC_QUALIFIER
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167 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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169 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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170 performed in a generic way that is not optimised to any particular
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171 microcontroller architecture. */
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173 /* uxTopReadyPriority holds the priority of the highest priority ready
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175 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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177 if( ( uxPriority ) > uxTopReadyPriority ) \
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179 uxTopReadyPriority = ( uxPriority ); \
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181 } /* taskRECORD_READY_PRIORITY */
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183 /*-----------------------------------------------------------*/
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185 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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187 UBaseType_t uxTopPriority = uxTopReadyPriority; \
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189 /* Find the highest priority queue that contains ready tasks. */ \
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190 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
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192 configASSERT( uxTopPriority ); \
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196 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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197 the same priority get an equal share of the processor time. */ \
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198 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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199 uxTopReadyPriority = uxTopPriority; \
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200 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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202 /*-----------------------------------------------------------*/
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204 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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205 they are only required when a port optimised method of task selection is
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207 #define taskRESET_READY_PRIORITY( uxPriority )
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208 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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210 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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212 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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213 performed in a way that is tailored to the particular microcontroller
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214 architecture being used. */
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216 /* A port optimised version is provided. Call the port defined macros. */
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217 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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219 /*-----------------------------------------------------------*/
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221 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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223 UBaseType_t uxTopPriority; \
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225 /* Find the highest priority list that contains ready tasks. */ \
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226 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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227 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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228 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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229 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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231 /*-----------------------------------------------------------*/
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233 /* A port optimised version is provided, call it only if the TCB being reset
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234 is being referenced from a ready list. If it is referenced from a delayed
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235 or suspended list then it won't be in a ready list. */
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236 #define taskRESET_READY_PRIORITY( uxPriority ) \
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238 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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240 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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244 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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246 /*-----------------------------------------------------------*/
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248 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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249 count overflows. */
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250 #define taskSWITCH_DELAYED_LISTS() \
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254 /* The delayed tasks list should be empty when the lists are switched. */ \
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255 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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257 pxTemp = pxDelayedTaskList; \
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258 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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259 pxOverflowDelayedTaskList = pxTemp; \
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260 xNumOfOverflows++; \
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261 prvResetNextTaskUnblockTime(); \
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264 /*-----------------------------------------------------------*/
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267 * Place the task represented by pxTCB into the appropriate ready list for
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268 * the task. It is inserted at the end of the list.
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270 #define prvAddTaskToReadyList( pxTCB ) \
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271 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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272 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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273 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
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274 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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275 /*-----------------------------------------------------------*/
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278 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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279 * where NULL is used to indicate that the handle of the currently executing
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280 * task should be used in place of the parameter. This macro simply checks to
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281 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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283 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )
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285 /* The item value of the event list item is normally used to hold the priority
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286 of the task to which it belongs (coded to allow it to be held in reverse
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287 priority order). However, it is occasionally borrowed for other purposes. It
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288 is important its value is not updated due to a task priority change while it is
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289 being used for another purpose. The following bit definition is used to inform
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290 the scheduler that the value should not be changed - in which case it is the
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291 responsibility of whichever module is using the value to ensure it gets set back
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292 to its original value when it is released. */
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293 #if( configUSE_16_BIT_TICKS == 1 )
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294 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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296 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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300 * Task control block. A task control block (TCB) is allocated for each task,
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301 * and stores task state information, including a pointer to the task's context
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302 * (the task's run time environment, including register values)
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304 typedef struct tskTaskControlBlock
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306 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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308 #if ( portUSING_MPU_WRAPPERS == 1 )
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309 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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312 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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313 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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314 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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315 StackType_t *pxStack; /*< Points to the start of the stack. */
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316 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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318 #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
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319 StackType_t *pxEndOfStack; /*< Points to the highest valid address for the stack. */
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322 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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323 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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326 #if ( configUSE_TRACE_FACILITY == 1 )
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327 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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328 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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331 #if ( configUSE_MUTEXES == 1 )
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332 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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333 UBaseType_t uxMutexesHeld;
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336 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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337 TaskHookFunction_t pxTaskTag;
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340 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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341 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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344 #if( configGENERATE_RUN_TIME_STATS == 1 )
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345 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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348 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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349 /* Allocate a Newlib reent structure that is specific to this task.
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350 Note Newlib support has been included by popular demand, but is not
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351 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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352 responsible for resulting newlib operation. User must be familiar with
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353 newlib and must provide system-wide implementations of the necessary
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354 stubs. Be warned that (at the time of writing) the current newlib design
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355 implements a system-wide malloc() that must be provided with locks. */
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356 struct _reent xNewLib_reent;
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359 #if( configUSE_TASK_NOTIFICATIONS == 1 )
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360 volatile uint32_t ulNotifiedValue;
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361 volatile uint8_t ucNotifyState;
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364 /* See the comments above the definition of
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365 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
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366 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 Macro has been consolidated for readability reasons. */
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367 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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370 #if( INCLUDE_xTaskAbortDelay == 1 )
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371 uint8_t ucDelayAborted;
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376 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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377 below to enable the use of older kernel aware debuggers. */
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378 typedef tskTCB TCB_t;
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380 /*lint -save -e956 A manual analysis and inspection has been used to determine
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381 which static variables must be declared volatile. */
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383 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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385 /* Lists for ready and blocked tasks. --------------------*/
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386 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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387 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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388 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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389 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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390 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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391 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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393 #if( INCLUDE_vTaskDelete == 1 )
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395 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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396 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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400 #if ( INCLUDE_vTaskSuspend == 1 )
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402 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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406 /* Other file private variables. --------------------------------*/
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407 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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408 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
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409 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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410 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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411 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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412 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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413 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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414 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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415 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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416 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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418 /* Context switches are held pending while the scheduler is suspended. Also,
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419 interrupts must not manipulate the xStateListItem of a TCB, or any of the
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420 lists the xStateListItem can be referenced from, if the scheduler is suspended.
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421 If an interrupt needs to unblock a task while the scheduler is suspended then it
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422 moves the task's event list item into the xPendingReadyList, ready for the
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423 kernel to move the task from the pending ready list into the real ready list
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424 when the scheduler is unsuspended. The pending ready list itself can only be
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425 accessed from a critical section. */
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426 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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428 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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430 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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431 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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437 /*-----------------------------------------------------------*/
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439 /* Callback function prototypes. --------------------------*/
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440 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
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442 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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446 #if( configUSE_TICK_HOOK > 0 )
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448 extern void vApplicationTickHook( void );
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452 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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454 extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );
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458 /* File private functions. --------------------------------*/
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461 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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462 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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463 * is in any other state.
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465 #if ( INCLUDE_vTaskSuspend == 1 )
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467 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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469 #endif /* INCLUDE_vTaskSuspend */
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472 * Utility to ready all the lists used by the scheduler. This is called
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473 * automatically upon the creation of the first task.
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475 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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478 * The idle task, which as all tasks is implemented as a never ending loop.
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479 * The idle task is automatically created and added to the ready lists upon
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480 * creation of the first user task.
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482 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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483 * language extensions. The equivalent prototype for this function is:
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485 * void prvIdleTask( void *pvParameters );
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488 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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491 * Utility to free all memory allocated by the scheduler to hold a TCB,
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492 * including the stack pointed to by the TCB.
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494 * This does not free memory allocated by the task itself (i.e. memory
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495 * allocated by calls to pvPortMalloc from within the tasks application code).
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497 #if ( INCLUDE_vTaskDelete == 1 )
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499 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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504 * Used only by the idle task. This checks to see if anything has been placed
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505 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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506 * and its TCB deleted.
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508 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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511 * The currently executing task is entering the Blocked state. Add the task to
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512 * either the current or the overflow delayed task list.
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514 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
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517 * Fills an TaskStatus_t structure with information on each task that is
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518 * referenced from the pxList list (which may be a ready list, a delayed list,
\r
519 * a suspended list, etc.).
\r
521 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
\r
522 * NORMAL APPLICATION CODE.
\r
524 #if ( configUSE_TRACE_FACILITY == 1 )
\r
526 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
\r
531 * Searches pxList for a task with name pcNameToQuery - returning a handle to
\r
532 * the task if it is found, or NULL if the task is not found.
\r
534 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
536 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
\r
541 * When a task is created, the stack of the task is filled with a known value.
\r
542 * This function determines the 'high water mark' of the task stack by
\r
543 * determining how much of the stack remains at the original preset value.
\r
545 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
547 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
\r
552 * Return the amount of time, in ticks, that will pass before the kernel will
\r
553 * next move a task from the Blocked state to the Running state.
\r
555 * This conditional compilation should use inequality to 0, not equality to 1.
\r
556 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
\r
557 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
\r
558 * set to a value other than 1.
\r
560 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
562 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
\r
567 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
\r
568 * will exit the Blocked state.
\r
570 static void prvResetNextTaskUnblockTime( void );
\r
572 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
575 * Helper function used to pad task names with spaces when printing out
\r
576 * human readable tables of task information.
\r
578 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
\r
583 * Called after a Task_t structure has been allocated either statically or
\r
584 * dynamically to fill in the structure's members.
\r
586 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
587 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
588 const uint32_t ulStackDepth,
\r
589 void * const pvParameters,
\r
590 UBaseType_t uxPriority,
\r
591 TaskHandle_t * const pxCreatedTask,
\r
593 const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
\r
596 * Called after a new task has been created and initialised to place the task
\r
597 * under the control of the scheduler.
\r
599 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
\r
602 * freertos_tasks_c_additions_init() should only be called if the user definable
\r
603 * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
\r
604 * called by the function.
\r
606 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
608 static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
\r
612 /*-----------------------------------------------------------*/
\r
614 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
616 TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
\r
617 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
618 const uint32_t ulStackDepth,
\r
619 void * const pvParameters,
\r
620 UBaseType_t uxPriority,
\r
621 StackType_t * const puxStackBuffer,
\r
622 StaticTask_t * const pxTaskBuffer )
\r
625 TaskHandle_t xReturn;
\r
627 configASSERT( puxStackBuffer != NULL );
\r
628 configASSERT( pxTaskBuffer != NULL );
\r
630 #if( configASSERT_DEFINED == 1 )
\r
632 /* Sanity check that the size of the structure used to declare a
\r
633 variable of type StaticTask_t equals the size of the real task
\r
635 volatile size_t xSize = sizeof( StaticTask_t );
\r
636 configASSERT( xSize == sizeof( TCB_t ) );
\r
638 #endif /* configASSERT_DEFINED */
\r
641 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
\r
643 /* The memory used for the task's TCB and stack are passed into this
\r
644 function - use them. */
\r
645 pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
\r
646 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
\r
648 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 Macro has been consolidated for readability reasons. */
\r
650 /* Tasks can be created statically or dynamically, so note this
\r
651 task was created statically in case the task is later deleted. */
\r
652 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
654 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
656 prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
\r
657 prvAddNewTaskToReadyList( pxNewTCB );
\r
667 #endif /* SUPPORT_STATIC_ALLOCATION */
\r
668 /*-----------------------------------------------------------*/
\r
670 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
672 BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
675 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
677 configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
\r
678 configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
\r
680 if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
\r
682 /* Allocate space for the TCB. Where the memory comes from depends
\r
683 on the implementation of the port malloc function and whether or
\r
684 not static allocation is being used. */
\r
685 pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
\r
687 /* Store the stack location in the TCB. */
\r
688 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
690 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
692 /* Tasks can be created statically or dynamically, so note this
\r
693 task was created statically in case the task is later deleted. */
\r
694 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
696 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
698 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
699 pxTaskDefinition->pcName,
\r
700 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
701 pxTaskDefinition->pvParameters,
\r
702 pxTaskDefinition->uxPriority,
\r
703 pxCreatedTask, pxNewTCB,
\r
704 pxTaskDefinition->xRegions );
\r
706 prvAddNewTaskToReadyList( pxNewTCB );
\r
713 #endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
\r
714 /*-----------------------------------------------------------*/
\r
716 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
718 BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
721 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
723 configASSERT( pxTaskDefinition->puxStackBuffer );
\r
725 if( pxTaskDefinition->puxStackBuffer != NULL )
\r
727 /* Allocate space for the TCB. Where the memory comes from depends
\r
728 on the implementation of the port malloc function and whether or
\r
729 not static allocation is being used. */
\r
730 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
732 if( pxNewTCB != NULL )
\r
734 /* Store the stack location in the TCB. */
\r
735 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
737 /* Tasks can be created statically or dynamically, so note
\r
738 this task had a statically allocated stack in case it is
\r
739 later deleted. The TCB was allocated dynamically. */
\r
740 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
\r
742 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
743 pxTaskDefinition->pcName,
\r
744 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
745 pxTaskDefinition->pvParameters,
\r
746 pxTaskDefinition->uxPriority,
\r
747 pxCreatedTask, pxNewTCB,
\r
748 pxTaskDefinition->xRegions );
\r
750 prvAddNewTaskToReadyList( pxNewTCB );
\r
758 #endif /* portUSING_MPU_WRAPPERS */
\r
759 /*-----------------------------------------------------------*/
\r
761 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
763 BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
\r
764 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
765 const configSTACK_DEPTH_TYPE usStackDepth,
\r
766 void * const pvParameters,
\r
767 UBaseType_t uxPriority,
\r
768 TaskHandle_t * const pxCreatedTask )
\r
771 BaseType_t xReturn;
\r
773 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
774 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
775 the TCB then the stack. */
\r
776 #if( portSTACK_GROWTH > 0 )
\r
778 /* Allocate space for the TCB. Where the memory comes from depends on
\r
779 the implementation of the port malloc function and whether or not static
\r
780 allocation is being used. */
\r
781 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
783 if( pxNewTCB != NULL )
\r
785 /* Allocate space for the stack used by the task being created.
\r
786 The base of the stack memory stored in the TCB so the task can
\r
787 be deleted later if required. */
\r
788 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
790 if( pxNewTCB->pxStack == NULL )
\r
792 /* Could not allocate the stack. Delete the allocated TCB. */
\r
793 vPortFree( pxNewTCB );
\r
798 #else /* portSTACK_GROWTH */
\r
800 StackType_t *pxStack;
\r
802 /* Allocate space for the stack used by the task being created. */
\r
803 pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
805 if( pxStack != NULL )
\r
807 /* Allocate space for the TCB. */
\r
808 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e961 MISRA exception as the casts are only redundant for some paths. */
\r
810 if( pxNewTCB != NULL )
\r
812 /* Store the stack location in the TCB. */
\r
813 pxNewTCB->pxStack = pxStack;
\r
817 /* The stack cannot be used as the TCB was not created. Free
\r
819 vPortFree( pxStack );
\r
827 #endif /* portSTACK_GROWTH */
\r
829 if( pxNewTCB != NULL )
\r
831 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 Macro has been consolidated for readability reasons. */
\r
833 /* Tasks can be created statically or dynamically, so note this
\r
834 task was created dynamically in case it is later deleted. */
\r
835 pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
\r
837 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
839 prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
\r
840 prvAddNewTaskToReadyList( pxNewTCB );
\r
845 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
851 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
852 /*-----------------------------------------------------------*/
\r
854 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
855 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
856 const uint32_t ulStackDepth,
\r
857 void * const pvParameters,
\r
858 UBaseType_t uxPriority,
\r
859 TaskHandle_t * const pxCreatedTask,
\r
861 const MemoryRegion_t * const xRegions )
\r
863 StackType_t *pxTopOfStack;
\r
866 #if( portUSING_MPU_WRAPPERS == 1 )
\r
867 /* Should the task be created in privileged mode? */
\r
868 BaseType_t xRunPrivileged;
\r
869 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
871 xRunPrivileged = pdTRUE;
\r
875 xRunPrivileged = pdFALSE;
\r
877 uxPriority &= ~portPRIVILEGE_BIT;
\r
878 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
880 /* Avoid dependency on memset() if it is not required. */
\r
881 #if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
\r
883 /* Fill the stack with a known value to assist debugging. */
\r
884 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
\r
886 #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
\r
888 /* Calculate the top of stack address. This depends on whether the stack
\r
889 grows from high memory to low (as per the 80x86) or vice versa.
\r
890 portSTACK_GROWTH is used to make the result positive or negative as required
\r
892 #if( portSTACK_GROWTH < 0 )
\r
894 pxTopOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
895 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */
\r
897 /* Check the alignment of the calculated top of stack is correct. */
\r
898 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
900 #if( configRECORD_STACK_HIGH_ADDRESS == 1 )
\r
902 /* Also record the stack's high address, which may assist
\r
904 pxNewTCB->pxEndOfStack = pxTopOfStack;
\r
906 #endif /* configRECORD_STACK_HIGH_ADDRESS */
\r
908 #else /* portSTACK_GROWTH */
\r
910 pxTopOfStack = pxNewTCB->pxStack;
\r
912 /* Check the alignment of the stack buffer is correct. */
\r
913 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
915 /* The other extreme of the stack space is required if stack checking is
\r
917 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
919 #endif /* portSTACK_GROWTH */
\r
921 /* Store the task name in the TCB. */
\r
922 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
924 pxNewTCB->pcTaskName[ x ] = pcName[ x ];
\r
926 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
927 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
928 string is not accessible (extremely unlikely). */
\r
929 if( pcName[ x ] == 0x00 )
\r
935 mtCOVERAGE_TEST_MARKER();
\r
939 /* Ensure the name string is terminated in the case that the string length
\r
940 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
941 pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
943 /* This is used as an array index so must ensure it's not too large. First
\r
944 remove the privilege bit if one is present. */
\r
945 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
947 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
951 mtCOVERAGE_TEST_MARKER();
\r
954 pxNewTCB->uxPriority = uxPriority;
\r
955 #if ( configUSE_MUTEXES == 1 )
\r
957 pxNewTCB->uxBasePriority = uxPriority;
\r
958 pxNewTCB->uxMutexesHeld = 0;
\r
960 #endif /* configUSE_MUTEXES */
\r
962 vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
\r
963 vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
\r
965 /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
\r
966 back to the containing TCB from a generic item in a list. */
\r
967 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
\r
969 /* Event lists are always in priority order. */
\r
970 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
971 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
\r
973 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
975 pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
977 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
979 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
981 pxNewTCB->pxTaskTag = NULL;
\r
983 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
985 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
987 pxNewTCB->ulRunTimeCounter = 0UL;
\r
989 #endif /* configGENERATE_RUN_TIME_STATS */
\r
991 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
993 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
\r
997 /* Avoid compiler warning about unreferenced parameter. */
\r
1002 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
1004 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
1006 pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
1011 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1013 pxNewTCB->ulNotifiedValue = 0;
\r
1014 pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
1018 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1020 /* Initialise this task's Newlib reent structure. */
\r
1021 _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
\r
1025 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
1027 pxNewTCB->ucDelayAborted = pdFALSE;
\r
1031 /* Initialize the TCB stack to look as if the task was already running,
\r
1032 but had been interrupted by the scheduler. The return address is set
\r
1033 to the start of the task function. Once the stack has been initialised
\r
1034 the top of stack variable is updated. */
\r
1035 #if( portUSING_MPU_WRAPPERS == 1 )
\r
1037 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1039 #else /* portUSING_MPU_WRAPPERS */
\r
1041 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
1043 #endif /* portUSING_MPU_WRAPPERS */
\r
1045 if( ( void * ) pxCreatedTask != NULL )
\r
1047 /* Pass the handle out in an anonymous way. The handle can be used to
\r
1048 change the created task's priority, delete the created task, etc.*/
\r
1049 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
1053 mtCOVERAGE_TEST_MARKER();
\r
1056 /*-----------------------------------------------------------*/
\r
1058 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
\r
1060 /* Ensure interrupts don't access the task lists while the lists are being
\r
1062 taskENTER_CRITICAL();
\r
1064 uxCurrentNumberOfTasks++;
\r
1065 if( pxCurrentTCB == NULL )
\r
1067 /* There are no other tasks, or all the other tasks are in
\r
1068 the suspended state - make this the current task. */
\r
1069 pxCurrentTCB = pxNewTCB;
\r
1071 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
1073 /* This is the first task to be created so do the preliminary
\r
1074 initialisation required. We will not recover if this call
\r
1075 fails, but we will report the failure. */
\r
1076 prvInitialiseTaskLists();
\r
1080 mtCOVERAGE_TEST_MARKER();
\r
1085 /* If the scheduler is not already running, make this task the
\r
1086 current task if it is the highest priority task to be created
\r
1088 if( xSchedulerRunning == pdFALSE )
\r
1090 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
\r
1092 pxCurrentTCB = pxNewTCB;
\r
1096 mtCOVERAGE_TEST_MARKER();
\r
1101 mtCOVERAGE_TEST_MARKER();
\r
1107 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1109 /* Add a counter into the TCB for tracing only. */
\r
1110 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
1112 #endif /* configUSE_TRACE_FACILITY */
\r
1113 traceTASK_CREATE( pxNewTCB );
\r
1115 prvAddTaskToReadyList( pxNewTCB );
\r
1117 portSETUP_TCB( pxNewTCB );
\r
1119 taskEXIT_CRITICAL();
\r
1121 if( xSchedulerRunning != pdFALSE )
\r
1123 /* If the created task is of a higher priority than the current task
\r
1124 then it should run now. */
\r
1125 if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
\r
1127 taskYIELD_IF_USING_PREEMPTION();
\r
1131 mtCOVERAGE_TEST_MARKER();
\r
1136 mtCOVERAGE_TEST_MARKER();
\r
1139 /*-----------------------------------------------------------*/
\r
1141 #if ( INCLUDE_vTaskDelete == 1 )
\r
1143 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
1147 taskENTER_CRITICAL();
\r
1149 /* If null is passed in here then it is the calling task that is
\r
1151 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
1153 /* Remove task from the ready list. */
\r
1154 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1156 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1160 mtCOVERAGE_TEST_MARKER();
\r
1163 /* Is the task waiting on an event also? */
\r
1164 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1166 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1170 mtCOVERAGE_TEST_MARKER();
\r
1173 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
1174 detect that the task lists need re-generating. This is done before
\r
1175 portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
\r
1179 if( pxTCB == pxCurrentTCB )
\r
1181 /* A task is deleting itself. This cannot complete within the
\r
1182 task itself, as a context switch to another task is required.
\r
1183 Place the task in the termination list. The idle task will
\r
1184 check the termination list and free up any memory allocated by
\r
1185 the scheduler for the TCB and stack of the deleted task. */
\r
1186 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
\r
1188 /* Increment the ucTasksDeleted variable so the idle task knows
\r
1189 there is a task that has been deleted and that it should therefore
\r
1190 check the xTasksWaitingTermination list. */
\r
1191 ++uxDeletedTasksWaitingCleanUp;
\r
1193 /* The pre-delete hook is primarily for the Windows simulator,
\r
1194 in which Windows specific clean up operations are performed,
\r
1195 after which it is not possible to yield away from this task -
\r
1196 hence xYieldPending is used to latch that a context switch is
\r
1198 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
1202 --uxCurrentNumberOfTasks;
\r
1203 prvDeleteTCB( pxTCB );
\r
1205 /* Reset the next expected unblock time in case it referred to
\r
1206 the task that has just been deleted. */
\r
1207 prvResetNextTaskUnblockTime();
\r
1210 traceTASK_DELETE( pxTCB );
\r
1212 taskEXIT_CRITICAL();
\r
1214 /* Force a reschedule if it is the currently running task that has just
\r
1216 if( xSchedulerRunning != pdFALSE )
\r
1218 if( pxTCB == pxCurrentTCB )
\r
1220 configASSERT( uxSchedulerSuspended == 0 );
\r
1221 portYIELD_WITHIN_API();
\r
1225 mtCOVERAGE_TEST_MARKER();
\r
1230 #endif /* INCLUDE_vTaskDelete */
\r
1231 /*-----------------------------------------------------------*/
\r
1233 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
1235 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
1237 TickType_t xTimeToWake;
\r
1238 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
1240 configASSERT( pxPreviousWakeTime );
\r
1241 configASSERT( ( xTimeIncrement > 0U ) );
\r
1242 configASSERT( uxSchedulerSuspended == 0 );
\r
1244 vTaskSuspendAll();
\r
1246 /* Minor optimisation. The tick count cannot change in this
\r
1248 const TickType_t xConstTickCount = xTickCount;
\r
1250 /* Generate the tick time at which the task wants to wake. */
\r
1251 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
1253 if( xConstTickCount < *pxPreviousWakeTime )
\r
1255 /* The tick count has overflowed since this function was
\r
1256 lasted called. In this case the only time we should ever
\r
1257 actually delay is if the wake time has also overflowed,
\r
1258 and the wake time is greater than the tick time. When this
\r
1259 is the case it is as if neither time had overflowed. */
\r
1260 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
1262 xShouldDelay = pdTRUE;
\r
1266 mtCOVERAGE_TEST_MARKER();
\r
1271 /* The tick time has not overflowed. In this case we will
\r
1272 delay if either the wake time has overflowed, and/or the
\r
1273 tick time is less than the wake time. */
\r
1274 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
1276 xShouldDelay = pdTRUE;
\r
1280 mtCOVERAGE_TEST_MARKER();
\r
1284 /* Update the wake time ready for the next call. */
\r
1285 *pxPreviousWakeTime = xTimeToWake;
\r
1287 if( xShouldDelay != pdFALSE )
\r
1289 traceTASK_DELAY_UNTIL( xTimeToWake );
\r
1291 /* prvAddCurrentTaskToDelayedList() needs the block time, not
\r
1292 the time to wake, so subtract the current tick count. */
\r
1293 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
\r
1297 mtCOVERAGE_TEST_MARKER();
\r
1300 xAlreadyYielded = xTaskResumeAll();
\r
1302 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1303 have put ourselves to sleep. */
\r
1304 if( xAlreadyYielded == pdFALSE )
\r
1306 portYIELD_WITHIN_API();
\r
1310 mtCOVERAGE_TEST_MARKER();
\r
1314 #endif /* INCLUDE_vTaskDelayUntil */
\r
1315 /*-----------------------------------------------------------*/
\r
1317 #if ( INCLUDE_vTaskDelay == 1 )
\r
1319 void vTaskDelay( const TickType_t xTicksToDelay )
\r
1321 BaseType_t xAlreadyYielded = pdFALSE;
\r
1323 /* A delay time of zero just forces a reschedule. */
\r
1324 if( xTicksToDelay > ( TickType_t ) 0U )
\r
1326 configASSERT( uxSchedulerSuspended == 0 );
\r
1327 vTaskSuspendAll();
\r
1329 traceTASK_DELAY();
\r
1331 /* A task that is removed from the event list while the
\r
1332 scheduler is suspended will not get placed in the ready
\r
1333 list or removed from the blocked list until the scheduler
\r
1336 This task cannot be in an event list as it is the currently
\r
1337 executing task. */
\r
1338 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
\r
1340 xAlreadyYielded = xTaskResumeAll();
\r
1344 mtCOVERAGE_TEST_MARKER();
\r
1347 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1348 have put ourselves to sleep. */
\r
1349 if( xAlreadyYielded == pdFALSE )
\r
1351 portYIELD_WITHIN_API();
\r
1355 mtCOVERAGE_TEST_MARKER();
\r
1359 #endif /* INCLUDE_vTaskDelay */
\r
1360 /*-----------------------------------------------------------*/
\r
1362 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) )
\r
1364 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1366 eTaskState eReturn;
\r
1367 List_t *pxStateList;
\r
1368 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1370 configASSERT( pxTCB );
\r
1372 if( pxTCB == pxCurrentTCB )
\r
1374 /* The task calling this function is querying its own state. */
\r
1375 eReturn = eRunning;
\r
1379 taskENTER_CRITICAL();
\r
1381 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
\r
1383 taskEXIT_CRITICAL();
\r
1385 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
1387 /* The task being queried is referenced from one of the Blocked
\r
1389 eReturn = eBlocked;
\r
1392 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1393 else if( pxStateList == &xSuspendedTaskList )
\r
1395 /* The task being queried is referenced from the suspended
\r
1396 list. Is it genuinely suspended or is it block
\r
1398 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1400 eReturn = eSuspended;
\r
1404 eReturn = eBlocked;
\r
1409 #if ( INCLUDE_vTaskDelete == 1 )
\r
1410 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1412 /* The task being queried is referenced from the deleted
\r
1413 tasks list, or it is not referenced from any lists at
\r
1415 eReturn = eDeleted;
\r
1419 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1421 /* If the task is not in any other state, it must be in the
\r
1422 Ready (including pending ready) state. */
\r
1428 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1430 #endif /* INCLUDE_eTaskGetState */
\r
1431 /*-----------------------------------------------------------*/
\r
1433 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1435 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1438 UBaseType_t uxReturn;
\r
1440 taskENTER_CRITICAL();
\r
1442 /* If null is passed in here then it is the priority of the that
\r
1443 called uxTaskPriorityGet() that is being queried. */
\r
1444 pxTCB = prvGetTCBFromHandle( xTask );
\r
1445 uxReturn = pxTCB->uxPriority;
\r
1447 taskEXIT_CRITICAL();
\r
1452 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1453 /*-----------------------------------------------------------*/
\r
1455 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1457 UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )
\r
1460 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1462 /* RTOS ports that support interrupt nesting have the concept of a
\r
1463 maximum system call (or maximum API call) interrupt priority.
\r
1464 Interrupts that are above the maximum system call priority are keep
\r
1465 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1466 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1467 is defined in FreeRTOSConfig.h then
\r
1468 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1469 failure if a FreeRTOS API function is called from an interrupt that has
\r
1470 been assigned a priority above the configured maximum system call
\r
1471 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1472 from interrupts that have been assigned a priority at or (logically)
\r
1473 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1474 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1475 simple as possible. More information (albeit Cortex-M specific) is
\r
1476 provided on the following link:
\r
1477 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1478 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1480 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1482 /* If null is passed in here then it is the priority of the calling
\r
1483 task that is being queried. */
\r
1484 pxTCB = prvGetTCBFromHandle( xTask );
\r
1485 uxReturn = pxTCB->uxPriority;
\r
1487 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1492 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1493 /*-----------------------------------------------------------*/
\r
1495 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1497 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1500 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1501 BaseType_t xYieldRequired = pdFALSE;
\r
1503 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1505 /* Ensure the new priority is valid. */
\r
1506 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1508 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1512 mtCOVERAGE_TEST_MARKER();
\r
1515 taskENTER_CRITICAL();
\r
1517 /* If null is passed in here then it is the priority of the calling
\r
1518 task that is being changed. */
\r
1519 pxTCB = prvGetTCBFromHandle( xTask );
\r
1521 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1523 #if ( configUSE_MUTEXES == 1 )
\r
1525 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1529 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1533 if( uxCurrentBasePriority != uxNewPriority )
\r
1535 /* The priority change may have readied a task of higher
\r
1536 priority than the calling task. */
\r
1537 if( uxNewPriority > uxCurrentBasePriority )
\r
1539 if( pxTCB != pxCurrentTCB )
\r
1541 /* The priority of a task other than the currently
\r
1542 running task is being raised. Is the priority being
\r
1543 raised above that of the running task? */
\r
1544 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1546 xYieldRequired = pdTRUE;
\r
1550 mtCOVERAGE_TEST_MARKER();
\r
1555 /* The priority of the running task is being raised,
\r
1556 but the running task must already be the highest
\r
1557 priority task able to run so no yield is required. */
\r
1560 else if( pxTCB == pxCurrentTCB )
\r
1562 /* Setting the priority of the running task down means
\r
1563 there may now be another task of higher priority that
\r
1564 is ready to execute. */
\r
1565 xYieldRequired = pdTRUE;
\r
1569 /* Setting the priority of any other task down does not
\r
1570 require a yield as the running task must be above the
\r
1571 new priority of the task being modified. */
\r
1574 /* Remember the ready list the task might be referenced from
\r
1575 before its uxPriority member is changed so the
\r
1576 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1577 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1579 #if ( configUSE_MUTEXES == 1 )
\r
1581 /* Only change the priority being used if the task is not
\r
1582 currently using an inherited priority. */
\r
1583 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1585 pxTCB->uxPriority = uxNewPriority;
\r
1589 mtCOVERAGE_TEST_MARKER();
\r
1592 /* The base priority gets set whatever. */
\r
1593 pxTCB->uxBasePriority = uxNewPriority;
\r
1597 pxTCB->uxPriority = uxNewPriority;
\r
1601 /* Only reset the event list item value if the value is not
\r
1602 being used for anything else. */
\r
1603 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1605 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
1609 mtCOVERAGE_TEST_MARKER();
\r
1612 /* If the task is in the blocked or suspended list we need do
\r
1613 nothing more than change it's priority variable. However, if
\r
1614 the task is in a ready list it needs to be removed and placed
\r
1615 in the list appropriate to its new priority. */
\r
1616 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1618 /* The task is currently in its ready list - remove before adding
\r
1619 it to it's new ready list. As we are in a critical section we
\r
1620 can do this even if the scheduler is suspended. */
\r
1621 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1623 /* It is known that the task is in its ready list so
\r
1624 there is no need to check again and the port level
\r
1625 reset macro can be called directly. */
\r
1626 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1630 mtCOVERAGE_TEST_MARKER();
\r
1632 prvAddTaskToReadyList( pxTCB );
\r
1636 mtCOVERAGE_TEST_MARKER();
\r
1639 if( xYieldRequired != pdFALSE )
\r
1641 taskYIELD_IF_USING_PREEMPTION();
\r
1645 mtCOVERAGE_TEST_MARKER();
\r
1648 /* Remove compiler warning about unused variables when the port
\r
1649 optimised task selection is not being used. */
\r
1650 ( void ) uxPriorityUsedOnEntry;
\r
1653 taskEXIT_CRITICAL();
\r
1656 #endif /* INCLUDE_vTaskPrioritySet */
\r
1657 /*-----------------------------------------------------------*/
\r
1659 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1661 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1665 taskENTER_CRITICAL();
\r
1667 /* If null is passed in here then it is the running task that is
\r
1668 being suspended. */
\r
1669 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1671 traceTASK_SUSPEND( pxTCB );
\r
1673 /* Remove task from the ready/delayed list and place in the
\r
1674 suspended list. */
\r
1675 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1677 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1681 mtCOVERAGE_TEST_MARKER();
\r
1684 /* Is the task waiting on an event also? */
\r
1685 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1687 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1691 mtCOVERAGE_TEST_MARKER();
\r
1694 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
\r
1696 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1698 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1700 /* The task was blocked to wait for a notification, but is
\r
1701 now suspended, so no notification was received. */
\r
1702 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
1707 taskEXIT_CRITICAL();
\r
1709 if( xSchedulerRunning != pdFALSE )
\r
1711 /* Reset the next expected unblock time in case it referred to the
\r
1712 task that is now in the Suspended state. */
\r
1713 taskENTER_CRITICAL();
\r
1715 prvResetNextTaskUnblockTime();
\r
1717 taskEXIT_CRITICAL();
\r
1721 mtCOVERAGE_TEST_MARKER();
\r
1724 if( pxTCB == pxCurrentTCB )
\r
1726 if( xSchedulerRunning != pdFALSE )
\r
1728 /* The current task has just been suspended. */
\r
1729 configASSERT( uxSchedulerSuspended == 0 );
\r
1730 portYIELD_WITHIN_API();
\r
1734 /* The scheduler is not running, but the task that was pointed
\r
1735 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1736 must be adjusted to point to a different task. */
\r
1737 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1739 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1740 NULL so when the next task is created pxCurrentTCB will
\r
1741 be set to point to it no matter what its relative priority
\r
1743 pxCurrentTCB = NULL;
\r
1747 vTaskSwitchContext();
\r
1753 mtCOVERAGE_TEST_MARKER();
\r
1757 #endif /* INCLUDE_vTaskSuspend */
\r
1758 /*-----------------------------------------------------------*/
\r
1760 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1762 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1764 BaseType_t xReturn = pdFALSE;
\r
1765 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1767 /* Accesses xPendingReadyList so must be called from a critical
\r
1770 /* It does not make sense to check if the calling task is suspended. */
\r
1771 configASSERT( xTask );
\r
1773 /* Is the task being resumed actually in the suspended list? */
\r
1774 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1776 /* Has the task already been resumed from within an ISR? */
\r
1777 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1779 /* Is it in the suspended list because it is in the Suspended
\r
1780 state, or because is is blocked with no timeout? */
\r
1781 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
\r
1787 mtCOVERAGE_TEST_MARKER();
\r
1792 mtCOVERAGE_TEST_MARKER();
\r
1797 mtCOVERAGE_TEST_MARKER();
\r
1801 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1803 #endif /* INCLUDE_vTaskSuspend */
\r
1804 /*-----------------------------------------------------------*/
\r
1806 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1808 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1810 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1812 /* It does not make sense to resume the calling task. */
\r
1813 configASSERT( xTaskToResume );
\r
1815 /* The parameter cannot be NULL as it is impossible to resume the
\r
1816 currently executing task. */
\r
1817 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1819 taskENTER_CRITICAL();
\r
1821 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1823 traceTASK_RESUME( pxTCB );
\r
1825 /* The ready list can be accessed even if the scheduler is
\r
1826 suspended because this is inside a critical section. */
\r
1827 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1828 prvAddTaskToReadyList( pxTCB );
\r
1830 /* A higher priority task may have just been resumed. */
\r
1831 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1833 /* This yield may not cause the task just resumed to run,
\r
1834 but will leave the lists in the correct state for the
\r
1836 taskYIELD_IF_USING_PREEMPTION();
\r
1840 mtCOVERAGE_TEST_MARKER();
\r
1845 mtCOVERAGE_TEST_MARKER();
\r
1848 taskEXIT_CRITICAL();
\r
1852 mtCOVERAGE_TEST_MARKER();
\r
1856 #endif /* INCLUDE_vTaskSuspend */
\r
1858 /*-----------------------------------------------------------*/
\r
1860 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1862 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1864 BaseType_t xYieldRequired = pdFALSE;
\r
1865 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1866 UBaseType_t uxSavedInterruptStatus;
\r
1868 configASSERT( xTaskToResume );
\r
1870 /* RTOS ports that support interrupt nesting have the concept of a
\r
1871 maximum system call (or maximum API call) interrupt priority.
\r
1872 Interrupts that are above the maximum system call priority are keep
\r
1873 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1874 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1875 is defined in FreeRTOSConfig.h then
\r
1876 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1877 failure if a FreeRTOS API function is called from an interrupt that has
\r
1878 been assigned a priority above the configured maximum system call
\r
1879 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1880 from interrupts that have been assigned a priority at or (logically)
\r
1881 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1882 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1883 simple as possible. More information (albeit Cortex-M specific) is
\r
1884 provided on the following link:
\r
1885 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1886 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1888 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1890 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1892 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1894 /* Check the ready lists can be accessed. */
\r
1895 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1897 /* Ready lists can be accessed so move the task from the
\r
1898 suspended list to the ready list directly. */
\r
1899 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1901 xYieldRequired = pdTRUE;
\r
1905 mtCOVERAGE_TEST_MARKER();
\r
1908 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1909 prvAddTaskToReadyList( pxTCB );
\r
1913 /* The delayed or ready lists cannot be accessed so the task
\r
1914 is held in the pending ready list until the scheduler is
\r
1916 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1921 mtCOVERAGE_TEST_MARKER();
\r
1924 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1926 return xYieldRequired;
\r
1929 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1930 /*-----------------------------------------------------------*/
\r
1932 void vTaskStartScheduler( void )
\r
1934 BaseType_t xReturn;
\r
1936 /* Add the idle task at the lowest priority. */
\r
1937 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1939 StaticTask_t *pxIdleTaskTCBBuffer = NULL;
\r
1940 StackType_t *pxIdleTaskStackBuffer = NULL;
\r
1941 uint32_t ulIdleTaskStackSize;
\r
1943 /* The Idle task is created using user provided RAM - obtain the
\r
1944 address of the RAM then create the idle task. */
\r
1945 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
\r
1946 xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
\r
1948 ulIdleTaskStackSize,
\r
1949 ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
\r
1950 ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ),
\r
1951 pxIdleTaskStackBuffer,
\r
1952 pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1954 if( xIdleTaskHandle != NULL )
\r
1965 /* The Idle task is being created using dynamically allocated RAM. */
\r
1966 xReturn = xTaskCreate( prvIdleTask,
\r
1967 "IDLE", configMINIMAL_STACK_SIZE,
\r
1969 ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ),
\r
1970 &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1972 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
1974 #if ( configUSE_TIMERS == 1 )
\r
1976 if( xReturn == pdPASS )
\r
1978 xReturn = xTimerCreateTimerTask();
\r
1982 mtCOVERAGE_TEST_MARKER();
\r
1985 #endif /* configUSE_TIMERS */
\r
1987 if( xReturn == pdPASS )
\r
1989 /* freertos_tasks_c_additions_init() should only be called if the user
\r
1990 definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
\r
1991 the only macro called by the function. */
\r
1992 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
1994 freertos_tasks_c_additions_init();
\r
1998 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1999 before or during the call to xPortStartScheduler(). The stacks of
\r
2000 the created tasks contain a status word with interrupts switched on
\r
2001 so interrupts will automatically get re-enabled when the first task
\r
2003 portDISABLE_INTERRUPTS();
\r
2005 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2007 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2008 structure specific to the task that will run first. */
\r
2009 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2011 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2013 xNextTaskUnblockTime = portMAX_DELAY;
\r
2014 xSchedulerRunning = pdTRUE;
\r
2015 xTickCount = ( TickType_t ) 0U;
\r
2017 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
2018 macro must be defined to configure the timer/counter used to generate
\r
2019 the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
\r
2020 is set to 0 and the following line fails to build then ensure you do not
\r
2021 have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
\r
2022 FreeRTOSConfig.h file. */
\r
2023 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
2025 /* Setting up the timer tick is hardware specific and thus in the
\r
2026 portable interface. */
\r
2027 if( xPortStartScheduler() != pdFALSE )
\r
2029 /* Should not reach here as if the scheduler is running the
\r
2030 function will not return. */
\r
2034 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
2039 /* This line will only be reached if the kernel could not be started,
\r
2040 because there was not enough FreeRTOS heap to create the idle task
\r
2041 or the timer task. */
\r
2042 configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
\r
2045 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
2046 meaning xIdleTaskHandle is not used anywhere else. */
\r
2047 ( void ) xIdleTaskHandle;
\r
2049 /*-----------------------------------------------------------*/
\r
2051 void vTaskEndScheduler( void )
\r
2053 /* Stop the scheduler interrupts and call the portable scheduler end
\r
2054 routine so the original ISRs can be restored if necessary. The port
\r
2055 layer must ensure interrupts enable bit is left in the correct state. */
\r
2056 portDISABLE_INTERRUPTS();
\r
2057 xSchedulerRunning = pdFALSE;
\r
2058 vPortEndScheduler();
\r
2060 /*----------------------------------------------------------*/
\r
2062 void vTaskSuspendAll( void )
\r
2064 /* A critical section is not required as the variable is of type
\r
2065 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
2066 post in the FreeRTOS support forum before reporting this as a bug! -
\r
2067 http://goo.gl/wu4acr */
\r
2068 ++uxSchedulerSuspended;
\r
2070 /*----------------------------------------------------------*/
\r
2072 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2074 static TickType_t prvGetExpectedIdleTime( void )
\r
2076 TickType_t xReturn;
\r
2077 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
2079 /* uxHigherPriorityReadyTasks takes care of the case where
\r
2080 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
2081 task that are in the Ready state, even though the idle task is
\r
2083 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
2085 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
2087 uxHigherPriorityReadyTasks = pdTRUE;
\r
2092 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
2094 /* When port optimised task selection is used the uxTopReadyPriority
\r
2095 variable is used as a bit map. If bits other than the least
\r
2096 significant bit are set then there are tasks that have a priority
\r
2097 above the idle priority that are in the Ready state. This takes
\r
2098 care of the case where the co-operative scheduler is in use. */
\r
2099 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
2101 uxHigherPriorityReadyTasks = pdTRUE;
\r
2106 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
2110 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
2112 /* There are other idle priority tasks in the ready state. If
\r
2113 time slicing is used then the very next tick interrupt must be
\r
2117 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
2119 /* There are tasks in the Ready state that have a priority above the
\r
2120 idle priority. This path can only be reached if
\r
2121 configUSE_PREEMPTION is 0. */
\r
2126 xReturn = xNextTaskUnblockTime - xTickCount;
\r
2132 #endif /* configUSE_TICKLESS_IDLE */
\r
2133 /*----------------------------------------------------------*/
\r
2135 BaseType_t xTaskResumeAll( void )
\r
2137 TCB_t *pxTCB = NULL;
\r
2138 BaseType_t xAlreadyYielded = pdFALSE;
\r
2140 /* If uxSchedulerSuspended is zero then this function does not match a
\r
2141 previous call to vTaskSuspendAll(). */
\r
2142 configASSERT( uxSchedulerSuspended );
\r
2144 /* It is possible that an ISR caused a task to be removed from an event
\r
2145 list while the scheduler was suspended. If this was the case then the
\r
2146 removed task will have been added to the xPendingReadyList. Once the
\r
2147 scheduler has been resumed it is safe to move all the pending ready
\r
2148 tasks from this list into their appropriate ready list. */
\r
2149 taskENTER_CRITICAL();
\r
2151 --uxSchedulerSuspended;
\r
2153 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2155 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
2157 /* Move any readied tasks from the pending list into the
\r
2158 appropriate ready list. */
\r
2159 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
2161 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
2162 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2163 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2164 prvAddTaskToReadyList( pxTCB );
\r
2166 /* If the moved task has a priority higher than the current
\r
2167 task then a yield must be performed. */
\r
2168 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2170 xYieldPending = pdTRUE;
\r
2174 mtCOVERAGE_TEST_MARKER();
\r
2178 if( pxTCB != NULL )
\r
2180 /* A task was unblocked while the scheduler was suspended,
\r
2181 which may have prevented the next unblock time from being
\r
2182 re-calculated, in which case re-calculate it now. Mainly
\r
2183 important for low power tickless implementations, where
\r
2184 this can prevent an unnecessary exit from low power
\r
2186 prvResetNextTaskUnblockTime();
\r
2189 /* If any ticks occurred while the scheduler was suspended then
\r
2190 they should be processed now. This ensures the tick count does
\r
2191 not slip, and that any delayed tasks are resumed at the correct
\r
2194 UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */
\r
2196 if( uxPendedCounts > ( UBaseType_t ) 0U )
\r
2200 if( xTaskIncrementTick() != pdFALSE )
\r
2202 xYieldPending = pdTRUE;
\r
2206 mtCOVERAGE_TEST_MARKER();
\r
2209 } while( uxPendedCounts > ( UBaseType_t ) 0U );
\r
2211 uxPendedTicks = 0;
\r
2215 mtCOVERAGE_TEST_MARKER();
\r
2219 if( xYieldPending != pdFALSE )
\r
2221 #if( configUSE_PREEMPTION != 0 )
\r
2223 xAlreadyYielded = pdTRUE;
\r
2226 taskYIELD_IF_USING_PREEMPTION();
\r
2230 mtCOVERAGE_TEST_MARKER();
\r
2236 mtCOVERAGE_TEST_MARKER();
\r
2239 taskEXIT_CRITICAL();
\r
2241 return xAlreadyYielded;
\r
2243 /*-----------------------------------------------------------*/
\r
2245 TickType_t xTaskGetTickCount( void )
\r
2247 TickType_t xTicks;
\r
2249 /* Critical section required if running on a 16 bit processor. */
\r
2250 portTICK_TYPE_ENTER_CRITICAL();
\r
2252 xTicks = xTickCount;
\r
2254 portTICK_TYPE_EXIT_CRITICAL();
\r
2258 /*-----------------------------------------------------------*/
\r
2260 TickType_t xTaskGetTickCountFromISR( void )
\r
2262 TickType_t xReturn;
\r
2263 UBaseType_t uxSavedInterruptStatus;
\r
2265 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
2266 system call (or maximum API call) interrupt priority. Interrupts that are
\r
2267 above the maximum system call priority are kept permanently enabled, even
\r
2268 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
2269 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
2270 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
2271 failure if a FreeRTOS API function is called from an interrupt that has been
\r
2272 assigned a priority above the configured maximum system call priority.
\r
2273 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
2274 that have been assigned a priority at or (logically) below the maximum
\r
2275 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
2276 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
2277 More information (albeit Cortex-M specific) is provided on the following
\r
2278 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
2279 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
2281 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
2283 xReturn = xTickCount;
\r
2285 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2289 /*-----------------------------------------------------------*/
\r
2291 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
2293 /* A critical section is not required because the variables are of type
\r
2295 return uxCurrentNumberOfTasks;
\r
2297 /*-----------------------------------------------------------*/
\r
2299 char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2303 /* If null is passed in here then the name of the calling task is being
\r
2305 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2306 configASSERT( pxTCB );
\r
2307 return &( pxTCB->pcTaskName[ 0 ] );
\r
2309 /*-----------------------------------------------------------*/
\r
2311 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2313 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
\r
2315 TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
\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 );
\r
2327 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2329 /* Check each character in the name looking for a match or
\r
2331 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2333 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
2335 if( cNextChar != pcNameToQuery[ x ] )
\r
2337 /* Characters didn't match. */
\r
2340 else if( cNextChar == 0x00 )
\r
2342 /* Both strings terminated, a match must have been
\r
2344 pxReturn = pxNextTCB;
\r
2349 mtCOVERAGE_TEST_MARKER();
\r
2353 if( pxReturn != NULL )
\r
2355 /* The handle has been found. */
\r
2359 } while( pxNextTCB != pxFirstTCB );
\r
2363 mtCOVERAGE_TEST_MARKER();
\r
2369 #endif /* INCLUDE_xTaskGetHandle */
\r
2370 /*-----------------------------------------------------------*/
\r
2372 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2374 TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2376 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
2379 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
\r
2380 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
\r
2382 vTaskSuspendAll();
\r
2384 /* Search the ready lists. */
\r
2388 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
2390 if( pxTCB != NULL )
\r
2392 /* Found the handle. */
\r
2396 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2398 /* Search the delayed lists. */
\r
2399 if( pxTCB == NULL )
\r
2401 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
2404 if( pxTCB == NULL )
\r
2406 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
2409 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2411 if( pxTCB == NULL )
\r
2413 /* Search the suspended list. */
\r
2414 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
2419 #if( INCLUDE_vTaskDelete == 1 )
\r
2421 if( pxTCB == NULL )
\r
2423 /* Search the deleted list. */
\r
2424 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
2429 ( void ) xTaskResumeAll();
\r
2431 return ( TaskHandle_t ) pxTCB;
\r
2434 #endif /* INCLUDE_xTaskGetHandle */
\r
2435 /*-----------------------------------------------------------*/
\r
2437 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2439 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
2441 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
2443 vTaskSuspendAll();
\r
2445 /* Is there a space in the array for each task in the system? */
\r
2446 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2448 /* Fill in an TaskStatus_t structure with information on each
\r
2449 task in the Ready state. */
\r
2453 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2455 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2457 /* Fill in an TaskStatus_t structure with information on each
\r
2458 task in the Blocked state. */
\r
2459 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2460 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2462 #if( INCLUDE_vTaskDelete == 1 )
\r
2464 /* Fill in an TaskStatus_t structure with information on
\r
2465 each task that has been deleted but not yet cleaned up. */
\r
2466 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2470 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2472 /* Fill in an TaskStatus_t structure with information on
\r
2473 each task in the Suspended state. */
\r
2474 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2478 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
2480 if( pulTotalRunTime != NULL )
\r
2482 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2483 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2485 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2491 if( pulTotalRunTime != NULL )
\r
2493 *pulTotalRunTime = 0;
\r
2500 mtCOVERAGE_TEST_MARKER();
\r
2503 ( void ) xTaskResumeAll();
\r
2508 #endif /* configUSE_TRACE_FACILITY */
\r
2509 /*----------------------------------------------------------*/
\r
2511 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2513 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2515 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2516 started, then xIdleTaskHandle will be NULL. */
\r
2517 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2518 return xIdleTaskHandle;
\r
2521 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2522 /*----------------------------------------------------------*/
\r
2524 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2525 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2526 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2528 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2530 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2532 /* Correct the tick count value after a period during which the tick
\r
2533 was suppressed. Note this does *not* call the tick hook function for
\r
2534 each stepped tick. */
\r
2535 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2536 xTickCount += xTicksToJump;
\r
2537 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2540 #endif /* configUSE_TICKLESS_IDLE */
\r
2541 /*----------------------------------------------------------*/
\r
2543 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
2545 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
\r
2547 TCB_t *pxTCB = ( TCB_t * ) xTask;
\r
2548 BaseType_t xReturn = pdFALSE;
\r
2550 configASSERT( pxTCB );
\r
2552 vTaskSuspendAll();
\r
2554 /* A task can only be prematurely removed from the Blocked state if
\r
2555 it is actually in the Blocked state. */
\r
2556 if( eTaskGetState( xTask ) == eBlocked )
\r
2558 /* Remove the reference to the task from the blocked list. An
\r
2559 interrupt won't touch the xStateListItem because the
\r
2560 scheduler is suspended. */
\r
2561 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2563 /* Is the task waiting on an event also? If so remove it from
\r
2564 the event list too. Interrupts can touch the event list item,
\r
2565 even though the scheduler is suspended, so a critical section
\r
2567 taskENTER_CRITICAL();
\r
2569 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2571 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2572 pxTCB->ucDelayAborted = pdTRUE;
\r
2576 mtCOVERAGE_TEST_MARKER();
\r
2579 taskEXIT_CRITICAL();
\r
2581 /* Place the unblocked task into the appropriate ready list. */
\r
2582 prvAddTaskToReadyList( pxTCB );
\r
2584 /* A task being unblocked cannot cause an immediate context
\r
2585 switch if preemption is turned off. */
\r
2586 #if ( configUSE_PREEMPTION == 1 )
\r
2588 /* Preemption is on, but a context switch should only be
\r
2589 performed if the unblocked task has a priority that is
\r
2590 equal to or higher than the currently executing task. */
\r
2591 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2593 /* Pend the yield to be performed when the scheduler
\r
2594 is unsuspended. */
\r
2595 xYieldPending = pdTRUE;
\r
2599 mtCOVERAGE_TEST_MARKER();
\r
2602 #endif /* configUSE_PREEMPTION */
\r
2606 mtCOVERAGE_TEST_MARKER();
\r
2609 ( void ) xTaskResumeAll();
\r
2614 #endif /* INCLUDE_xTaskAbortDelay */
\r
2615 /*----------------------------------------------------------*/
\r
2617 BaseType_t xTaskIncrementTick( void )
\r
2620 TickType_t xItemValue;
\r
2621 BaseType_t xSwitchRequired = pdFALSE;
\r
2623 /* Called by the portable layer each time a tick interrupt occurs.
\r
2624 Increments the tick then checks to see if the new tick value will cause any
\r
2625 tasks to be unblocked. */
\r
2626 traceTASK_INCREMENT_TICK( xTickCount );
\r
2627 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2629 /* Minor optimisation. The tick count cannot change in this
\r
2631 const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
\r
2633 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2634 delayed lists if it wraps to 0. */
\r
2635 xTickCount = xConstTickCount;
\r
2637 if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
\r
2639 taskSWITCH_DELAYED_LISTS();
\r
2643 mtCOVERAGE_TEST_MARKER();
\r
2646 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2647 the queue in the order of their wake time - meaning once one task
\r
2648 has been found whose block time has not expired there is no need to
\r
2649 look any further down the list. */
\r
2650 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2654 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2656 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2657 to the maximum possible value so it is extremely
\r
2659 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2660 next time through. */
\r
2661 xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2666 /* The delayed list is not empty, get the value of the
\r
2667 item at the head of the delayed list. This is the time
\r
2668 at which the task at the head of the delayed list must
\r
2669 be removed from the Blocked state. */
\r
2670 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
2671 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
\r
2673 if( xConstTickCount < xItemValue )
\r
2675 /* It is not time to unblock this item yet, but the
\r
2676 item value is the time at which the task at the head
\r
2677 of the blocked list must be removed from the Blocked
\r
2678 state - so record the item value in
\r
2679 xNextTaskUnblockTime. */
\r
2680 xNextTaskUnblockTime = xItemValue;
\r
2685 mtCOVERAGE_TEST_MARKER();
\r
2688 /* It is time to remove the item from the Blocked state. */
\r
2689 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2691 /* Is the task waiting on an event also? If so remove
\r
2692 it from the event list. */
\r
2693 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2695 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2699 mtCOVERAGE_TEST_MARKER();
\r
2702 /* Place the unblocked task into the appropriate ready
\r
2704 prvAddTaskToReadyList( pxTCB );
\r
2706 /* A task being unblocked cannot cause an immediate
\r
2707 context switch if preemption is turned off. */
\r
2708 #if ( configUSE_PREEMPTION == 1 )
\r
2710 /* Preemption is on, but a context switch should
\r
2711 only be performed if the unblocked task has a
\r
2712 priority that is equal to or higher than the
\r
2713 currently executing task. */
\r
2714 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2716 xSwitchRequired = pdTRUE;
\r
2720 mtCOVERAGE_TEST_MARKER();
\r
2723 #endif /* configUSE_PREEMPTION */
\r
2728 /* Tasks of equal priority to the currently running task will share
\r
2729 processing time (time slice) if preemption is on, and the application
\r
2730 writer has not explicitly turned time slicing off. */
\r
2731 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2733 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2735 xSwitchRequired = pdTRUE;
\r
2739 mtCOVERAGE_TEST_MARKER();
\r
2742 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2744 #if ( configUSE_TICK_HOOK == 1 )
\r
2746 /* Guard against the tick hook being called when the pended tick
\r
2747 count is being unwound (when the scheduler is being unlocked). */
\r
2748 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2750 vApplicationTickHook();
\r
2754 mtCOVERAGE_TEST_MARKER();
\r
2757 #endif /* configUSE_TICK_HOOK */
\r
2763 /* The tick hook gets called at regular intervals, even if the
\r
2764 scheduler is locked. */
\r
2765 #if ( configUSE_TICK_HOOK == 1 )
\r
2767 vApplicationTickHook();
\r
2772 #if ( configUSE_PREEMPTION == 1 )
\r
2774 if( xYieldPending != pdFALSE )
\r
2776 xSwitchRequired = pdTRUE;
\r
2780 mtCOVERAGE_TEST_MARKER();
\r
2783 #endif /* configUSE_PREEMPTION */
\r
2785 return xSwitchRequired;
\r
2787 /*-----------------------------------------------------------*/
\r
2789 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2791 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2795 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2797 if( xTask == NULL )
\r
2799 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2803 xTCB = ( TCB_t * ) xTask;
\r
2806 /* Save the hook function in the TCB. A critical section is required as
\r
2807 the value can be accessed from an interrupt. */
\r
2808 taskENTER_CRITICAL();
\r
2809 xTCB->pxTaskTag = pxHookFunction;
\r
2810 taskEXIT_CRITICAL();
\r
2813 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2814 /*-----------------------------------------------------------*/
\r
2816 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2818 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2821 TaskHookFunction_t xReturn;
\r
2823 /* If xTask is NULL then we are setting our own task hook. */
\r
2824 if( xTask == NULL )
\r
2826 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2830 xTCB = ( TCB_t * ) xTask;
\r
2833 /* Save the hook function in the TCB. A critical section is required as
\r
2834 the value can be accessed from an interrupt. */
\r
2835 taskENTER_CRITICAL();
\r
2837 xReturn = xTCB->pxTaskTag;
\r
2839 taskEXIT_CRITICAL();
\r
2844 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2845 /*-----------------------------------------------------------*/
\r
2847 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2849 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2852 BaseType_t xReturn;
\r
2854 /* If xTask is NULL then we are calling our own task hook. */
\r
2855 if( xTask == NULL )
\r
2857 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2861 xTCB = ( TCB_t * ) xTask;
\r
2864 if( xTCB->pxTaskTag != NULL )
\r
2866 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2876 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2877 /*-----------------------------------------------------------*/
\r
2879 void vTaskSwitchContext( void )
\r
2881 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2883 /* The scheduler is currently suspended - do not allow a context
\r
2885 xYieldPending = pdTRUE;
\r
2889 xYieldPending = pdFALSE;
\r
2890 traceTASK_SWITCHED_OUT();
\r
2892 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2894 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2895 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2897 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2900 /* Add the amount of time the task has been running to the
\r
2901 accumulated time so far. The time the task started running was
\r
2902 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2903 protection here so count values are only valid until the timer
\r
2904 overflows. The guard against negative values is to protect
\r
2905 against suspect run time stat counter implementations - which
\r
2906 are provided by the application, not the kernel. */
\r
2907 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2909 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2913 mtCOVERAGE_TEST_MARKER();
\r
2915 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2917 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2919 /* Check for stack overflow, if configured. */
\r
2920 taskCHECK_FOR_STACK_OVERFLOW();
\r
2922 /* Select a new task to run using either the generic C or port
\r
2923 optimised asm code. */
\r
2924 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2925 traceTASK_SWITCHED_IN();
\r
2927 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2929 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2930 structure specific to this task. */
\r
2931 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2933 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2936 /*-----------------------------------------------------------*/
\r
2938 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2940 configASSERT( pxEventList );
\r
2942 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2943 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2945 /* Place the event list item of the TCB in the appropriate event list.
\r
2946 This is placed in the list in priority order so the highest priority task
\r
2947 is the first to be woken by the event. The queue that contains the event
\r
2948 list is locked, preventing simultaneous access from interrupts. */
\r
2949 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2951 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2953 /*-----------------------------------------------------------*/
\r
2955 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2957 configASSERT( pxEventList );
\r
2959 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2960 the event groups implementation. */
\r
2961 configASSERT( uxSchedulerSuspended != 0 );
\r
2963 /* Store the item value in the event list item. It is safe to access the
\r
2964 event list item here as interrupts won't access the event list item of a
\r
2965 task that is not in the Blocked state. */
\r
2966 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2968 /* Place the event list item of the TCB at the end of the appropriate event
\r
2969 list. It is safe to access the event list here because it is part of an
\r
2970 event group implementation - and interrupts don't access event groups
\r
2971 directly (instead they access them indirectly by pending function calls to
\r
2972 the task level). */
\r
2973 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2975 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2977 /*-----------------------------------------------------------*/
\r
2979 #if( configUSE_TIMERS == 1 )
\r
2981 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2983 configASSERT( pxEventList );
\r
2985 /* This function should not be called by application code hence the
\r
2986 'Restricted' in its name. It is not part of the public API. It is
\r
2987 designed for use by kernel code, and has special calling requirements -
\r
2988 it should be called with the scheduler suspended. */
\r
2991 /* Place the event list item of the TCB in the appropriate event list.
\r
2992 In this case it is assume that this is the only task that is going to
\r
2993 be waiting on this event list, so the faster vListInsertEnd() function
\r
2994 can be used in place of vListInsert. */
\r
2995 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2997 /* If the task should block indefinitely then set the block time to a
\r
2998 value that will be recognised as an indefinite delay inside the
\r
2999 prvAddCurrentTaskToDelayedList() function. */
\r
3000 if( xWaitIndefinitely != pdFALSE )
\r
3002 xTicksToWait = portMAX_DELAY;
\r
3005 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
\r
3006 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
\r
3009 #endif /* configUSE_TIMERS */
\r
3010 /*-----------------------------------------------------------*/
\r
3012 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
3014 TCB_t *pxUnblockedTCB;
\r
3015 BaseType_t xReturn;
\r
3017 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
3018 called from a critical section within an ISR. */
\r
3020 /* The event list is sorted in priority order, so the first in the list can
\r
3021 be removed as it is known to be the highest priority. Remove the TCB from
\r
3022 the delayed list, and add it to the ready list.
\r
3024 If an event is for a queue that is locked then this function will never
\r
3025 get called - the lock count on the queue will get modified instead. This
\r
3026 means exclusive access to the event list is guaranteed here.
\r
3028 This function assumes that a check has already been made to ensure that
\r
3029 pxEventList is not empty. */
\r
3030 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
3031 configASSERT( pxUnblockedTCB );
\r
3032 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
3034 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3036 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3037 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3041 /* The delayed and ready lists cannot be accessed, so hold this task
\r
3042 pending until the scheduler is resumed. */
\r
3043 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
3046 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3048 /* Return true if the task removed from the event list has a higher
\r
3049 priority than the calling task. This allows the calling task to know if
\r
3050 it should force a context switch now. */
\r
3053 /* Mark that a yield is pending in case the user is not using the
\r
3054 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
3055 xYieldPending = pdTRUE;
\r
3059 xReturn = pdFALSE;
\r
3062 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3064 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
3065 might be set to the blocked task's time out time. If the task is
\r
3066 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
3067 normally left unchanged, because it is automatically reset to a new
\r
3068 value when the tick count equals xNextTaskUnblockTime. However if
\r
3069 tickless idling is used it might be more important to enter sleep mode
\r
3070 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
3071 ensure it is updated at the earliest possible time. */
\r
3072 prvResetNextTaskUnblockTime();
\r
3078 /*-----------------------------------------------------------*/
\r
3080 void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
3082 TCB_t *pxUnblockedTCB;
\r
3084 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3085 the event flags implementation. */
\r
3086 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
3088 /* Store the new item value in the event list. */
\r
3089 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3091 /* Remove the event list form the event flag. Interrupts do not access
\r
3093 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
3094 configASSERT( pxUnblockedTCB );
\r
3095 ( void ) uxListRemove( pxEventListItem );
\r
3097 /* Remove the task from the delayed list and add it to the ready list. The
\r
3098 scheduler is suspended so interrupts will not be accessing the ready
\r
3100 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3101 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3103 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3105 /* The unblocked task has a priority above that of the calling task, so
\r
3106 a context switch is required. This function is called with the
\r
3107 scheduler suspended so xYieldPending is set so the context switch
\r
3108 occurs immediately that the scheduler is resumed (unsuspended). */
\r
3109 xYieldPending = pdTRUE;
\r
3112 /*-----------------------------------------------------------*/
\r
3114 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3116 configASSERT( pxTimeOut );
\r
3117 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3118 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3120 /*-----------------------------------------------------------*/
\r
3122 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
3124 BaseType_t xReturn;
\r
3126 configASSERT( pxTimeOut );
\r
3127 configASSERT( pxTicksToWait );
\r
3129 taskENTER_CRITICAL();
\r
3131 /* Minor optimisation. The tick count cannot change in this block. */
\r
3132 const TickType_t xConstTickCount = xTickCount;
\r
3134 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
3135 if( pxCurrentTCB->ucDelayAborted != pdFALSE )
\r
3137 /* The delay was aborted, which is not the same as a time out,
\r
3138 but has the same result. */
\r
3139 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
3145 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3146 if( *pxTicksToWait == portMAX_DELAY )
\r
3148 /* If INCLUDE_vTaskSuspend is set to 1 and the block time
\r
3149 specified is the maximum block time then the task should block
\r
3150 indefinitely, and therefore never time out. */
\r
3151 xReturn = pdFALSE;
\r
3156 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
3158 /* The tick count is greater than the time at which
\r
3159 vTaskSetTimeout() was called, but has also overflowed since
\r
3160 vTaskSetTimeOut() was called. It must have wrapped all the way
\r
3161 around and gone past again. This passed since vTaskSetTimeout()
\r
3165 else if( ( ( TickType_t ) ( xConstTickCount - pxTimeOut->xTimeOnEntering ) ) < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
\r
3167 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
3168 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
3169 vTaskSetTimeOutState( pxTimeOut );
\r
3170 xReturn = pdFALSE;
\r
3177 taskEXIT_CRITICAL();
\r
3181 /*-----------------------------------------------------------*/
\r
3183 void vTaskMissedYield( void )
\r
3185 xYieldPending = pdTRUE;
\r
3187 /*-----------------------------------------------------------*/
\r
3189 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3191 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
3193 UBaseType_t uxReturn;
\r
3196 if( xTask != NULL )
\r
3198 pxTCB = ( TCB_t * ) xTask;
\r
3199 uxReturn = pxTCB->uxTaskNumber;
\r
3209 #endif /* configUSE_TRACE_FACILITY */
\r
3210 /*-----------------------------------------------------------*/
\r
3212 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3214 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
3218 if( xTask != NULL )
\r
3220 pxTCB = ( TCB_t * ) xTask;
\r
3221 pxTCB->uxTaskNumber = uxHandle;
\r
3225 #endif /* configUSE_TRACE_FACILITY */
\r
3228 * -----------------------------------------------------------
\r
3230 * ----------------------------------------------------------
\r
3232 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
3233 * language extensions. The equivalent prototype for this function is:
\r
3235 * void prvIdleTask( void *pvParameters );
\r
3238 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
3240 /* Stop warnings. */
\r
3241 ( void ) pvParameters;
\r
3243 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
3244 SCHEDULER IS STARTED. **/
\r
3248 /* See if any tasks have deleted themselves - if so then the idle task
\r
3249 is responsible for freeing the deleted task's TCB and stack. */
\r
3250 prvCheckTasksWaitingTermination();
\r
3252 #if ( configUSE_PREEMPTION == 0 )
\r
3254 /* If we are not using preemption we keep forcing a task switch to
\r
3255 see if any other task has become available. If we are using
\r
3256 preemption we don't need to do this as any task becoming available
\r
3257 will automatically get the processor anyway. */
\r
3260 #endif /* configUSE_PREEMPTION */
\r
3262 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
3264 /* When using preemption tasks of equal priority will be
\r
3265 timesliced. If a task that is sharing the idle priority is ready
\r
3266 to run then the idle task should yield before the end of the
\r
3269 A critical region is not required here as we are just reading from
\r
3270 the list, and an occasional incorrect value will not matter. If
\r
3271 the ready list at the idle priority contains more than one task
\r
3272 then a task other than the idle task is ready to execute. */
\r
3273 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
3279 mtCOVERAGE_TEST_MARKER();
\r
3282 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
3284 #if ( configUSE_IDLE_HOOK == 1 )
\r
3286 extern void vApplicationIdleHook( void );
\r
3288 /* Call the user defined function from within the idle task. This
\r
3289 allows the application designer to add background functionality
\r
3290 without the overhead of a separate task.
\r
3291 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
3292 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
3293 vApplicationIdleHook();
\r
3295 #endif /* configUSE_IDLE_HOOK */
\r
3297 /* This conditional compilation should use inequality to 0, not equality
\r
3298 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
3299 user defined low power mode implementations require
\r
3300 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
3301 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3303 TickType_t xExpectedIdleTime;
\r
3305 /* It is not desirable to suspend then resume the scheduler on
\r
3306 each iteration of the idle task. Therefore, a preliminary
\r
3307 test of the expected idle time is performed without the
\r
3308 scheduler suspended. The result here is not necessarily
\r
3310 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3312 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3314 vTaskSuspendAll();
\r
3316 /* Now the scheduler is suspended, the expected idle
\r
3317 time can be sampled again, and this time its value can
\r
3319 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
3320 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3322 /* Define the following macro to set xExpectedIdleTime to 0
\r
3323 if the application does not want
\r
3324 portSUPPRESS_TICKS_AND_SLEEP() to be called. */
\r
3325 configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
\r
3327 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3329 traceLOW_POWER_IDLE_BEGIN();
\r
3330 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
3331 traceLOW_POWER_IDLE_END();
\r
3335 mtCOVERAGE_TEST_MARKER();
\r
3338 ( void ) xTaskResumeAll();
\r
3342 mtCOVERAGE_TEST_MARKER();
\r
3345 #endif /* configUSE_TICKLESS_IDLE */
\r
3348 /*-----------------------------------------------------------*/
\r
3350 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3352 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
3354 /* The idle task exists in addition to the application tasks. */
\r
3355 const UBaseType_t uxNonApplicationTasks = 1;
\r
3356 eSleepModeStatus eReturn = eStandardSleep;
\r
3358 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
3360 /* A task was made ready while the scheduler was suspended. */
\r
3361 eReturn = eAbortSleep;
\r
3363 else if( xYieldPending != pdFALSE )
\r
3365 /* A yield was pended while the scheduler was suspended. */
\r
3366 eReturn = eAbortSleep;
\r
3370 /* If all the tasks are in the suspended list (which might mean they
\r
3371 have an infinite block time rather than actually being suspended)
\r
3372 then it is safe to turn all clocks off and just wait for external
\r
3374 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
3376 eReturn = eNoTasksWaitingTimeout;
\r
3380 mtCOVERAGE_TEST_MARKER();
\r
3387 #endif /* configUSE_TICKLESS_IDLE */
\r
3388 /*-----------------------------------------------------------*/
\r
3390 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3392 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
3396 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3398 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
3399 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3403 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3404 /*-----------------------------------------------------------*/
\r
3406 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3408 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
3410 void *pvReturn = NULL;
\r
3413 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3415 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3416 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3426 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3427 /*-----------------------------------------------------------*/
\r
3429 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3431 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3435 /* If null is passed in here then we are modifying the MPU settings of
\r
3436 the calling task. */
\r
3437 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3439 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3442 #endif /* portUSING_MPU_WRAPPERS */
\r
3443 /*-----------------------------------------------------------*/
\r
3445 static void prvInitialiseTaskLists( void )
\r
3447 UBaseType_t uxPriority;
\r
3449 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3451 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3454 vListInitialise( &xDelayedTaskList1 );
\r
3455 vListInitialise( &xDelayedTaskList2 );
\r
3456 vListInitialise( &xPendingReadyList );
\r
3458 #if ( INCLUDE_vTaskDelete == 1 )
\r
3460 vListInitialise( &xTasksWaitingTermination );
\r
3462 #endif /* INCLUDE_vTaskDelete */
\r
3464 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3466 vListInitialise( &xSuspendedTaskList );
\r
3468 #endif /* INCLUDE_vTaskSuspend */
\r
3470 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3472 pxDelayedTaskList = &xDelayedTaskList1;
\r
3473 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3475 /*-----------------------------------------------------------*/
\r
3477 static void prvCheckTasksWaitingTermination( void )
\r
3480 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3482 #if ( INCLUDE_vTaskDelete == 1 )
\r
3484 BaseType_t xListIsEmpty;
\r
3486 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
3487 too often in the idle task. */
\r
3488 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3490 vTaskSuspendAll();
\r
3492 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
3494 ( void ) xTaskResumeAll();
\r
3496 if( xListIsEmpty == pdFALSE )
\r
3500 taskENTER_CRITICAL();
\r
3502 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
3503 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
3504 --uxCurrentNumberOfTasks;
\r
3505 --uxDeletedTasksWaitingCleanUp;
\r
3507 taskEXIT_CRITICAL();
\r
3509 prvDeleteTCB( pxTCB );
\r
3513 mtCOVERAGE_TEST_MARKER();
\r
3517 #endif /* INCLUDE_vTaskDelete */
\r
3519 /*-----------------------------------------------------------*/
\r
3521 #if( configUSE_TRACE_FACILITY == 1 )
\r
3523 void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
\r
3527 /* xTask is NULL then get the state of the calling task. */
\r
3528 pxTCB = prvGetTCBFromHandle( xTask );
\r
3530 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3531 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
\r
3532 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3533 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3534 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3536 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3538 /* If the task is in the suspended list then there is a chance it is
\r
3539 actually just blocked indefinitely - so really it should be reported as
\r
3540 being in the Blocked state. */
\r
3541 if( pxTaskStatus->eCurrentState == eSuspended )
\r
3543 vTaskSuspendAll();
\r
3545 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3547 pxTaskStatus->eCurrentState = eBlocked;
\r
3550 ( void ) xTaskResumeAll();
\r
3553 #endif /* INCLUDE_vTaskSuspend */
\r
3555 #if ( configUSE_MUTEXES == 1 )
\r
3557 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3561 pxTaskStatus->uxBasePriority = 0;
\r
3565 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3567 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3571 pxTaskStatus->ulRunTimeCounter = 0;
\r
3575 /* Obtaining the task state is a little fiddly, so is only done if the value
\r
3576 of eState passed into this function is eInvalid - otherwise the state is
\r
3577 just set to whatever is passed in. */
\r
3578 if( eState != eInvalid )
\r
3580 pxTaskStatus->eCurrentState = eState;
\r
3584 pxTaskStatus->eCurrentState = eTaskGetState( xTask );
\r
3587 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3588 parameter is provided to allow it to be skipped. */
\r
3589 if( xGetFreeStackSpace != pdFALSE )
\r
3591 #if ( portSTACK_GROWTH > 0 )
\r
3593 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3597 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3603 pxTaskStatus->usStackHighWaterMark = 0;
\r
3607 #endif /* configUSE_TRACE_FACILITY */
\r
3608 /*-----------------------------------------------------------*/
\r
3610 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3612 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3614 configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
\r
3615 UBaseType_t uxTask = 0;
\r
3617 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3619 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
3621 /* Populate an TaskStatus_t structure within the
\r
3622 pxTaskStatusArray array for each task that is referenced from
\r
3623 pxList. See the definition of TaskStatus_t in task.h for the
\r
3624 meaning of each TaskStatus_t structure member. */
\r
3627 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
3628 vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3630 } while( pxNextTCB != pxFirstTCB );
\r
3634 mtCOVERAGE_TEST_MARKER();
\r
3640 #endif /* configUSE_TRACE_FACILITY */
\r
3641 /*-----------------------------------------------------------*/
\r
3643 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3645 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3647 uint32_t ulCount = 0U;
\r
3649 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3651 pucStackByte -= portSTACK_GROWTH;
\r
3655 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3657 return ( uint16_t ) ulCount;
\r
3660 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3661 /*-----------------------------------------------------------*/
\r
3663 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3665 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3668 uint8_t *pucEndOfStack;
\r
3669 UBaseType_t uxReturn;
\r
3671 pxTCB = prvGetTCBFromHandle( xTask );
\r
3673 #if portSTACK_GROWTH < 0
\r
3675 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3679 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3683 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3688 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3689 /*-----------------------------------------------------------*/
\r
3691 #if ( INCLUDE_vTaskDelete == 1 )
\r
3693 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3695 /* This call is required specifically for the TriCore port. It must be
\r
3696 above the vPortFree() calls. The call is also used by ports/demos that
\r
3697 want to allocate and clean RAM statically. */
\r
3698 portCLEAN_UP_TCB( pxTCB );
\r
3700 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3701 to the task to free any memory allocated at the application level. */
\r
3702 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3704 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3706 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3708 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
\r
3710 /* The task can only have been allocated dynamically - free both
\r
3711 the stack and TCB. */
\r
3712 vPortFree( pxTCB->pxStack );
\r
3713 vPortFree( pxTCB );
\r
3715 #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 Macro has been consolidated for readability reasons. */
\r
3717 /* The task could have been allocated statically or dynamically, so
\r
3718 check what was statically allocated before trying to free the
\r
3720 if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
\r
3722 /* Both the stack and TCB were allocated dynamically, so both
\r
3724 vPortFree( pxTCB->pxStack );
\r
3725 vPortFree( pxTCB );
\r
3727 else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
\r
3729 /* Only the stack was statically allocated, so the TCB is the
\r
3730 only memory that must be freed. */
\r
3731 vPortFree( pxTCB );
\r
3735 /* Neither the stack nor the TCB were allocated dynamically, so
\r
3736 nothing needs to be freed. */
\r
3737 configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB )
\r
3738 mtCOVERAGE_TEST_MARKER();
\r
3741 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
3744 #endif /* INCLUDE_vTaskDelete */
\r
3745 /*-----------------------------------------------------------*/
\r
3747 static void prvResetNextTaskUnblockTime( void )
\r
3751 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3753 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3754 the maximum possible value so it is extremely unlikely that the
\r
3755 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3756 there is an item in the delayed list. */
\r
3757 xNextTaskUnblockTime = portMAX_DELAY;
\r
3761 /* The new current delayed list is not empty, get the value of
\r
3762 the item at the head of the delayed list. This is the time at
\r
3763 which the task at the head of the delayed list should be removed
\r
3764 from the Blocked state. */
\r
3765 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3766 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
\r
3769 /*-----------------------------------------------------------*/
\r
3771 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3773 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3775 TaskHandle_t xReturn;
\r
3777 /* A critical section is not required as this is not called from
\r
3778 an interrupt and the current TCB will always be the same for any
\r
3779 individual execution thread. */
\r
3780 xReturn = pxCurrentTCB;
\r
3785 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3786 /*-----------------------------------------------------------*/
\r
3788 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3790 BaseType_t xTaskGetSchedulerState( void )
\r
3792 BaseType_t xReturn;
\r
3794 if( xSchedulerRunning == pdFALSE )
\r
3796 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3800 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3802 xReturn = taskSCHEDULER_RUNNING;
\r
3806 xReturn = taskSCHEDULER_SUSPENDED;
\r
3813 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3814 /*-----------------------------------------------------------*/
\r
3816 #if ( configUSE_MUTEXES == 1 )
\r
3818 BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3820 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3821 BaseType_t xReturn = pdFALSE;
\r
3823 /* If the mutex was given back by an interrupt while the queue was
\r
3824 locked then the mutex holder might now be NULL. _RB_ Is this still
\r
3825 needed as interrupt can no longer use mutexes? */
\r
3826 if( pxMutexHolder != NULL )
\r
3828 /* If the holder of the mutex has a priority below the priority of
\r
3829 the task attempting to obtain the mutex then it will temporarily
\r
3830 inherit the priority of the task attempting to obtain the mutex. */
\r
3831 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3833 /* Adjust the mutex holder state to account for its new
\r
3834 priority. Only reset the event list item value if the value is
\r
3835 not being used for anything else. */
\r
3836 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3838 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3842 mtCOVERAGE_TEST_MARKER();
\r
3845 /* If the task being modified is in the ready state it will need
\r
3846 to be moved into a new list. */
\r
3847 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
3849 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3851 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3855 mtCOVERAGE_TEST_MARKER();
\r
3858 /* Inherit the priority before being moved into the new list. */
\r
3859 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3860 prvAddTaskToReadyList( pxTCB );
\r
3864 /* Just inherit the priority. */
\r
3865 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3868 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
3870 /* Inheritance occurred. */
\r
3875 mtCOVERAGE_TEST_MARKER();
\r
3880 mtCOVERAGE_TEST_MARKER();
\r
3886 #endif /* configUSE_MUTEXES */
\r
3887 /*-----------------------------------------------------------*/
\r
3889 #if ( configUSE_MUTEXES == 1 )
\r
3891 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3893 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3894 BaseType_t xReturn = pdFALSE;
\r
3896 if( pxMutexHolder != NULL )
\r
3898 /* A task can only have an inherited priority if it holds the mutex.
\r
3899 If the mutex is held by a task then it cannot be given from an
\r
3900 interrupt, and if a mutex is given by the holding task then it must
\r
3901 be the running state task. */
\r
3902 configASSERT( pxTCB == pxCurrentTCB );
\r
3904 configASSERT( pxTCB->uxMutexesHeld );
\r
3905 ( pxTCB->uxMutexesHeld )--;
\r
3907 /* Has the holder of the mutex inherited the priority of another
\r
3909 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3911 /* Only disinherit if no other mutexes are held. */
\r
3912 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3914 /* A task can only have an inherited priority if it holds
\r
3915 the mutex. If the mutex is held by a task then it cannot be
\r
3916 given from an interrupt, and if a mutex is given by the
\r
3917 holding task then it must be the running state task. Remove
\r
3918 the holding task from the ready list. */
\r
3919 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3921 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3925 mtCOVERAGE_TEST_MARKER();
\r
3928 /* Disinherit the priority before adding the task into the
\r
3929 new ready list. */
\r
3930 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3931 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3933 /* Reset the event list item value. It cannot be in use for
\r
3934 any other purpose if this task is running, and it must be
\r
3935 running to give back the mutex. */
\r
3936 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
3937 prvAddTaskToReadyList( pxTCB );
\r
3939 /* Return true to indicate that a context switch is required.
\r
3940 This is only actually required in the corner case whereby
\r
3941 multiple mutexes were held and the mutexes were given back
\r
3942 in an order different to that in which they were taken.
\r
3943 If a context switch did not occur when the first mutex was
\r
3944 returned, even if a task was waiting on it, then a context
\r
3945 switch should occur when the last mutex is returned whether
\r
3946 a task is waiting on it or not. */
\r
3951 mtCOVERAGE_TEST_MARKER();
\r
3956 mtCOVERAGE_TEST_MARKER();
\r
3961 mtCOVERAGE_TEST_MARKER();
\r
3967 #endif /* configUSE_MUTEXES */
\r
3968 /*-----------------------------------------------------------*/
\r
3970 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3972 void vTaskEnterCritical( void )
\r
3974 portDISABLE_INTERRUPTS();
\r
3976 if( xSchedulerRunning != pdFALSE )
\r
3978 ( pxCurrentTCB->uxCriticalNesting )++;
\r
3980 /* This is not the interrupt safe version of the enter critical
\r
3981 function so assert() if it is being called from an interrupt
\r
3982 context. Only API functions that end in "FromISR" can be used in an
\r
3983 interrupt. Only assert if the critical nesting count is 1 to
\r
3984 protect against recursive calls if the assert function also uses a
\r
3985 critical section. */
\r
3986 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
3988 portASSERT_IF_IN_ISR();
\r
3993 mtCOVERAGE_TEST_MARKER();
\r
3997 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3998 /*-----------------------------------------------------------*/
\r
4000 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4002 void vTaskExitCritical( void )
\r
4004 if( xSchedulerRunning != pdFALSE )
\r
4006 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
4008 ( pxCurrentTCB->uxCriticalNesting )--;
\r
4010 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
4012 portENABLE_INTERRUPTS();
\r
4016 mtCOVERAGE_TEST_MARKER();
\r
4021 mtCOVERAGE_TEST_MARKER();
\r
4026 mtCOVERAGE_TEST_MARKER();
\r
4030 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4031 /*-----------------------------------------------------------*/
\r
4033 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
4035 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
4039 /* Start by copying the entire string. */
\r
4040 strcpy( pcBuffer, pcTaskName );
\r
4042 /* Pad the end of the string with spaces to ensure columns line up when
\r
4044 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
4046 pcBuffer[ x ] = ' ';
\r
4050 pcBuffer[ x ] = 0x00;
\r
4052 /* Return the new end of string. */
\r
4053 return &( pcBuffer[ x ] );
\r
4056 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
4057 /*-----------------------------------------------------------*/
\r
4059 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4061 void vTaskList( char * pcWriteBuffer )
\r
4063 TaskStatus_t *pxTaskStatusArray;
\r
4064 volatile UBaseType_t uxArraySize, x;
\r
4070 * This function is provided for convenience only, and is used by many
\r
4071 * of the demo applications. Do not consider it to be part of the
\r
4074 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
4075 * uxTaskGetSystemState() output into a human readable table that
\r
4076 * displays task names, states and stack usage.
\r
4078 * vTaskList() has a dependency on the sprintf() C library function that
\r
4079 * might bloat the code size, use a lot of stack, and provide different
\r
4080 * results on different platforms. An alternative, tiny, third party,
\r
4081 * and limited functionality implementation of sprintf() is provided in
\r
4082 * many of the FreeRTOS/Demo sub-directories in a file called
\r
4083 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
4084 * snprintf() implementation!).
\r
4086 * It is recommended that production systems call uxTaskGetSystemState()
\r
4087 * directly to get access to raw stats data, rather than indirectly
\r
4088 * through a call to vTaskList().
\r
4092 /* Make sure the write buffer does not contain a string. */
\r
4093 *pcWriteBuffer = 0x00;
\r
4095 /* Take a snapshot of the number of tasks in case it changes while this
\r
4096 function is executing. */
\r
4097 uxArraySize = uxCurrentNumberOfTasks;
\r
4099 /* Allocate an array index for each task. NOTE! if
\r
4100 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4101 equate to NULL. */
\r
4102 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
4104 if( pxTaskStatusArray != NULL )
\r
4106 /* Generate the (binary) data. */
\r
4107 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
4109 /* Create a human readable table from the binary data. */
\r
4110 for( x = 0; x < uxArraySize; x++ )
\r
4112 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
4114 case eReady: cStatus = tskREADY_CHAR;
\r
4117 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
4120 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
4123 case eDeleted: cStatus = tskDELETED_CHAR;
\r
4126 default: /* Should not get here, but it is included
\r
4127 to prevent static checking errors. */
\r
4132 /* Write the task name to the string, padding with spaces so it
\r
4133 can be printed in tabular form more easily. */
\r
4134 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4136 /* Write the rest of the string. */
\r
4137 sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
4138 pcWriteBuffer += strlen( pcWriteBuffer );
\r
4141 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4142 is 0 then vPortFree() will be #defined to nothing. */
\r
4143 vPortFree( pxTaskStatusArray );
\r
4147 mtCOVERAGE_TEST_MARKER();
\r
4151 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
4152 /*----------------------------------------------------------*/
\r
4154 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4156 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
4158 TaskStatus_t *pxTaskStatusArray;
\r
4159 volatile UBaseType_t uxArraySize, x;
\r
4160 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
4162 #if( configUSE_TRACE_FACILITY != 1 )
\r
4164 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
4171 * This function is provided for convenience only, and is used by many
\r
4172 * of the demo applications. Do not consider it to be part of the
\r
4175 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
4176 * of the uxTaskGetSystemState() output into a human readable table that
\r
4177 * displays the amount of time each task has spent in the Running state
\r
4178 * in both absolute and percentage terms.
\r
4180 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
4181 * function that might bloat the code size, use a lot of stack, and
\r
4182 * provide different results on different platforms. An alternative,
\r
4183 * tiny, third party, and limited functionality implementation of
\r
4184 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
4185 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
4186 * a full snprintf() implementation!).
\r
4188 * It is recommended that production systems call uxTaskGetSystemState()
\r
4189 * directly to get access to raw stats data, rather than indirectly
\r
4190 * through a call to vTaskGetRunTimeStats().
\r
4193 /* Make sure the write buffer does not contain a string. */
\r
4194 *pcWriteBuffer = 0x00;
\r
4196 /* Take a snapshot of the number of tasks in case it changes while this
\r
4197 function is executing. */
\r
4198 uxArraySize = uxCurrentNumberOfTasks;
\r
4200 /* Allocate an array index for each task. NOTE! If
\r
4201 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4202 equate to NULL. */
\r
4203 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
4205 if( pxTaskStatusArray != NULL )
\r
4207 /* Generate the (binary) data. */
\r
4208 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
4210 /* For percentage calculations. */
\r
4211 ulTotalTime /= 100UL;
\r
4213 /* Avoid divide by zero errors. */
\r
4214 if( ulTotalTime > 0 )
\r
4216 /* Create a human readable table from the binary data. */
\r
4217 for( x = 0; x < uxArraySize; x++ )
\r
4219 /* What percentage of the total run time has the task used?
\r
4220 This will always be rounded down to the nearest integer.
\r
4221 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
4222 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
4224 /* Write the task name to the string, padding with
\r
4225 spaces so it can be printed in tabular form more
\r
4227 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4229 if( ulStatsAsPercentage > 0UL )
\r
4231 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4233 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
4237 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4238 printf() library can be used. */
\r
4239 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
4245 /* If the percentage is zero here then the task has
\r
4246 consumed less than 1% of the total run time. */
\r
4247 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4249 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4253 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4254 printf() library can be used. */
\r
4255 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4260 pcWriteBuffer += strlen( pcWriteBuffer );
\r
4265 mtCOVERAGE_TEST_MARKER();
\r
4268 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4269 is 0 then vPortFree() will be #defined to nothing. */
\r
4270 vPortFree( pxTaskStatusArray );
\r
4274 mtCOVERAGE_TEST_MARKER();
\r
4278 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
\r
4279 /*-----------------------------------------------------------*/
\r
4281 TickType_t uxTaskResetEventItemValue( void )
\r
4283 TickType_t uxReturn;
\r
4285 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
4287 /* Reset the event list item to its normal value - so it can be used with
\r
4288 queues and semaphores. */
\r
4289 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
4293 /*-----------------------------------------------------------*/
\r
4295 #if ( configUSE_MUTEXES == 1 )
\r
4297 void *pvTaskIncrementMutexHeldCount( void )
\r
4299 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
4300 then pxCurrentTCB will be NULL. */
\r
4301 if( pxCurrentTCB != NULL )
\r
4303 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4306 return pxCurrentTCB;
\r
4309 #endif /* configUSE_MUTEXES */
\r
4310 /*-----------------------------------------------------------*/
\r
4312 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4314 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
4316 uint32_t ulReturn;
\r
4318 taskENTER_CRITICAL();
\r
4320 /* Only block if the notification count is not already non-zero. */
\r
4321 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
4323 /* Mark this task as waiting for a notification. */
\r
4324 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4326 if( xTicksToWait > ( TickType_t ) 0 )
\r
4328 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4329 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4331 /* All ports are written to allow a yield in a critical
\r
4332 section (some will yield immediately, others wait until the
\r
4333 critical section exits) - but it is not something that
\r
4334 application code should ever do. */
\r
4335 portYIELD_WITHIN_API();
\r
4339 mtCOVERAGE_TEST_MARKER();
\r
4344 mtCOVERAGE_TEST_MARKER();
\r
4347 taskEXIT_CRITICAL();
\r
4349 taskENTER_CRITICAL();
\r
4351 traceTASK_NOTIFY_TAKE();
\r
4352 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4354 if( ulReturn != 0UL )
\r
4356 if( xClearCountOnExit != pdFALSE )
\r
4358 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4362 pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
\r
4367 mtCOVERAGE_TEST_MARKER();
\r
4370 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4372 taskEXIT_CRITICAL();
\r
4377 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4378 /*-----------------------------------------------------------*/
\r
4380 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4382 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4384 BaseType_t xReturn;
\r
4386 taskENTER_CRITICAL();
\r
4388 /* Only block if a notification is not already pending. */
\r
4389 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4391 /* Clear bits in the task's notification value as bits may get
\r
4392 set by the notifying task or interrupt. This can be used to
\r
4393 clear the value to zero. */
\r
4394 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4396 /* Mark this task as waiting for a notification. */
\r
4397 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4399 if( xTicksToWait > ( TickType_t ) 0 )
\r
4401 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4402 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4404 /* All ports are written to allow a yield in a critical
\r
4405 section (some will yield immediately, others wait until the
\r
4406 critical section exits) - but it is not something that
\r
4407 application code should ever do. */
\r
4408 portYIELD_WITHIN_API();
\r
4412 mtCOVERAGE_TEST_MARKER();
\r
4417 mtCOVERAGE_TEST_MARKER();
\r
4420 taskEXIT_CRITICAL();
\r
4422 taskENTER_CRITICAL();
\r
4424 traceTASK_NOTIFY_WAIT();
\r
4426 if( pulNotificationValue != NULL )
\r
4428 /* Output the current notification value, which may or may not
\r
4430 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4433 /* If ucNotifyValue is set then either the task never entered the
\r
4434 blocked state (because a notification was already pending) or the
\r
4435 task unblocked because of a notification. Otherwise the task
\r
4436 unblocked because of a timeout. */
\r
4437 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4439 /* A notification was not received. */
\r
4440 xReturn = pdFALSE;
\r
4444 /* A notification was already pending or a notification was
\r
4445 received while the task was waiting. */
\r
4446 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4450 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4452 taskEXIT_CRITICAL();
\r
4457 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4458 /*-----------------------------------------------------------*/
\r
4460 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4462 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4465 BaseType_t xReturn = pdPASS;
\r
4466 uint8_t ucOriginalNotifyState;
\r
4468 configASSERT( xTaskToNotify );
\r
4469 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4471 taskENTER_CRITICAL();
\r
4473 if( pulPreviousNotificationValue != NULL )
\r
4475 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4478 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4480 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4485 pxTCB->ulNotifiedValue |= ulValue;
\r
4489 ( pxTCB->ulNotifiedValue )++;
\r
4492 case eSetValueWithOverwrite :
\r
4493 pxTCB->ulNotifiedValue = ulValue;
\r
4496 case eSetValueWithoutOverwrite :
\r
4497 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4499 pxTCB->ulNotifiedValue = ulValue;
\r
4503 /* The value could not be written to the task. */
\r
4509 /* The task is being notified without its notify value being
\r
4514 traceTASK_NOTIFY();
\r
4516 /* If the task is in the blocked state specifically to wait for a
\r
4517 notification then unblock it now. */
\r
4518 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4520 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4521 prvAddTaskToReadyList( pxTCB );
\r
4523 /* The task should not have been on an event list. */
\r
4524 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4526 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4528 /* If a task is blocked waiting for a notification then
\r
4529 xNextTaskUnblockTime might be set to the blocked task's time
\r
4530 out time. If the task is unblocked for a reason other than
\r
4531 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4532 because it will automatically get reset to a new value when
\r
4533 the tick count equals xNextTaskUnblockTime. However if
\r
4534 tickless idling is used it might be more important to enter
\r
4535 sleep mode at the earliest possible time - so reset
\r
4536 xNextTaskUnblockTime here to ensure it is updated at the
\r
4537 earliest possible time. */
\r
4538 prvResetNextTaskUnblockTime();
\r
4542 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4544 /* The notified task has a priority above the currently
\r
4545 executing task so a yield is required. */
\r
4546 taskYIELD_IF_USING_PREEMPTION();
\r
4550 mtCOVERAGE_TEST_MARKER();
\r
4555 mtCOVERAGE_TEST_MARKER();
\r
4558 taskEXIT_CRITICAL();
\r
4563 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4564 /*-----------------------------------------------------------*/
\r
4566 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4568 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4571 uint8_t ucOriginalNotifyState;
\r
4572 BaseType_t xReturn = pdPASS;
\r
4573 UBaseType_t uxSavedInterruptStatus;
\r
4575 configASSERT( xTaskToNotify );
\r
4577 /* RTOS ports that support interrupt nesting have the concept of a
\r
4578 maximum system call (or maximum API call) interrupt priority.
\r
4579 Interrupts that are above the maximum system call priority are keep
\r
4580 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4581 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4582 is defined in FreeRTOSConfig.h then
\r
4583 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4584 failure if a FreeRTOS API function is called from an interrupt that has
\r
4585 been assigned a priority above the configured maximum system call
\r
4586 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4587 from interrupts that have been assigned a priority at or (logically)
\r
4588 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4589 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4590 simple as possible. More information (albeit Cortex-M specific) is
\r
4591 provided on the following link:
\r
4592 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4593 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4595 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4597 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4599 if( pulPreviousNotificationValue != NULL )
\r
4601 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4604 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4605 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4610 pxTCB->ulNotifiedValue |= ulValue;
\r
4614 ( pxTCB->ulNotifiedValue )++;
\r
4617 case eSetValueWithOverwrite :
\r
4618 pxTCB->ulNotifiedValue = ulValue;
\r
4621 case eSetValueWithoutOverwrite :
\r
4622 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4624 pxTCB->ulNotifiedValue = ulValue;
\r
4628 /* The value could not be written to the task. */
\r
4634 /* The task is being notified without its notify value being
\r
4639 traceTASK_NOTIFY_FROM_ISR();
\r
4641 /* If the task is in the blocked state specifically to wait for a
\r
4642 notification then unblock it now. */
\r
4643 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4645 /* The task should not have been on an event list. */
\r
4646 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4648 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4650 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4651 prvAddTaskToReadyList( pxTCB );
\r
4655 /* The delayed and ready lists cannot be accessed, so hold
\r
4656 this task pending until the scheduler is resumed. */
\r
4657 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4660 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4662 /* The notified task has a priority above the currently
\r
4663 executing task so a yield is required. */
\r
4664 if( pxHigherPriorityTaskWoken != NULL )
\r
4666 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4670 /* Mark that a yield is pending in case the user is not
\r
4671 using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
4672 safe FreeRTOS function. */
\r
4673 xYieldPending = pdTRUE;
\r
4678 mtCOVERAGE_TEST_MARKER();
\r
4682 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4687 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4688 /*-----------------------------------------------------------*/
\r
4690 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4692 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4695 uint8_t ucOriginalNotifyState;
\r
4696 UBaseType_t uxSavedInterruptStatus;
\r
4698 configASSERT( xTaskToNotify );
\r
4700 /* RTOS ports that support interrupt nesting have the concept of a
\r
4701 maximum system call (or maximum API call) interrupt priority.
\r
4702 Interrupts that are above the maximum system call priority are keep
\r
4703 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4704 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4705 is defined in FreeRTOSConfig.h then
\r
4706 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4707 failure if a FreeRTOS API function is called from an interrupt that has
\r
4708 been assigned a priority above the configured maximum system call
\r
4709 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4710 from interrupts that have been assigned a priority at or (logically)
\r
4711 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4712 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4713 simple as possible. More information (albeit Cortex-M specific) is
\r
4714 provided on the following link:
\r
4715 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4716 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4718 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4720 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4722 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4723 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4725 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4727 ( pxTCB->ulNotifiedValue )++;
\r
4729 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
4731 /* If the task is in the blocked state specifically to wait for a
\r
4732 notification then unblock it now. */
\r
4733 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4735 /* The task should not have been on an event list. */
\r
4736 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4738 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4740 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4741 prvAddTaskToReadyList( pxTCB );
\r
4745 /* The delayed and ready lists cannot be accessed, so hold
\r
4746 this task pending until the scheduler is resumed. */
\r
4747 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4750 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4752 /* The notified task has a priority above the currently
\r
4753 executing task so a yield is required. */
\r
4754 if( pxHigherPriorityTaskWoken != NULL )
\r
4756 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4760 /* Mark that a yield is pending in case the user is not
\r
4761 using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
4762 safe FreeRTOS function. */
\r
4763 xYieldPending = pdTRUE;
\r
4768 mtCOVERAGE_TEST_MARKER();
\r
4772 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4775 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4777 /*-----------------------------------------------------------*/
\r
4779 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4781 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
4784 BaseType_t xReturn;
\r
4786 /* If null is passed in here then it is the calling task that is having
\r
4787 its notification state cleared. */
\r
4788 pxTCB = prvGetTCBFromHandle( xTask );
\r
4790 taskENTER_CRITICAL();
\r
4792 if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
\r
4794 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4802 taskEXIT_CRITICAL();
\r
4807 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4808 /*-----------------------------------------------------------*/
\r
4811 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
\r
4813 TickType_t xTimeToWake;
\r
4814 const TickType_t xConstTickCount = xTickCount;
\r
4816 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
4818 /* About to enter a delayed list, so ensure the ucDelayAborted flag is
\r
4819 reset to pdFALSE so it can be detected as having been set to pdTRUE
\r
4820 when the task leaves the Blocked state. */
\r
4821 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
4825 /* Remove the task from the ready list before adding it to the blocked list
\r
4826 as the same list item is used for both lists. */
\r
4827 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4829 /* The current task must be in a ready list, so there is no need to
\r
4830 check, and the port reset macro can be called directly. */
\r
4831 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
4835 mtCOVERAGE_TEST_MARKER();
\r
4838 #if ( INCLUDE_vTaskSuspend == 1 )
\r
4840 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
\r
4842 /* Add the task to the suspended task list instead of a delayed task
\r
4843 list to ensure it is not woken by a timing event. It will block
\r
4845 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4849 /* Calculate the time at which the task should be woken if the event
\r
4850 does not occur. This may overflow but this doesn't matter, the
\r
4851 kernel will manage it correctly. */
\r
4852 xTimeToWake = xConstTickCount + xTicksToWait;
\r
4854 /* The list item will be inserted in wake time order. */
\r
4855 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
4857 if( xTimeToWake < xConstTickCount )
\r
4859 /* Wake time has overflowed. Place this item in the overflow
\r
4861 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4865 /* The wake time has not overflowed, so the current block list
\r
4867 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4869 /* If the task entering the blocked state was placed at the
\r
4870 head of the list of blocked tasks then xNextTaskUnblockTime
\r
4871 needs to be updated too. */
\r
4872 if( xTimeToWake < xNextTaskUnblockTime )
\r
4874 xNextTaskUnblockTime = xTimeToWake;
\r
4878 mtCOVERAGE_TEST_MARKER();
\r
4883 #else /* INCLUDE_vTaskSuspend */
\r
4885 /* Calculate the time at which the task should be woken if the event
\r
4886 does not occur. This may overflow but this doesn't matter, the kernel
\r
4887 will manage it correctly. */
\r
4888 xTimeToWake = xConstTickCount + xTicksToWait;
\r
4890 /* The list item will be inserted in wake time order. */
\r
4891 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
4893 if( xTimeToWake < xConstTickCount )
\r
4895 /* Wake time has overflowed. Place this item in the overflow list. */
\r
4896 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4900 /* The wake time has not overflowed, so the current block list is used. */
\r
4901 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4903 /* If the task entering the blocked state was placed at the head of the
\r
4904 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
4906 if( xTimeToWake < xNextTaskUnblockTime )
\r
4908 xNextTaskUnblockTime = xTimeToWake;
\r
4912 mtCOVERAGE_TEST_MARKER();
\r
4916 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
\r
4917 ( void ) xCanBlockIndefinitely;
\r
4919 #endif /* INCLUDE_vTaskSuspend */
\r
4922 /* Code below here allows additional code to be inserted into this source file,
\r
4923 especially where access to file scope functions and data is needed (for example
\r
4924 when performing module tests). */
\r
4926 #ifdef FREERTOS_MODULE_TEST
\r
4927 #include "tasks_test_access_functions.h"
\r
4931 #if( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
\r
4933 #include "freertos_tasks_c_additions.h"
\r
4935 static void freertos_tasks_c_additions_init( void )
\r
4937 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
4938 FREERTOS_TASKS_C_ADDITIONS_INIT();
\r
projects / freertos / blob