2 FreeRTOS V7.6.0 - Copyright (C) 2013 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 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to distribute
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28 >>! a combined work that includes FreeRTOS without being obliged to provide
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29 >>! the source code for proprietary components outside of the FreeRTOS
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 /* Standard includes. */
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70 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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71 all the API functions to use the MPU wrappers. That should only be done when
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72 task.h is included from an application file. */
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73 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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75 /* FreeRTOS includes. */
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76 #include "FreeRTOS.h"
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79 #include "StackMacros.h"
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81 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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82 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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83 header files above, but not in this file, in order to generate the correct
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84 privileged Vs unprivileged linkage and placement. */
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85 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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87 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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88 /* At the bottom of this file are two optional functions that can be used
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89 to generate human readable text from the raw data generated by the
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90 uxTaskGetSystemState() function. Note the formatting functions are provided
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91 for convenience only, and are NOT considered part of the kernel. */
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93 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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95 /* Sanity check the configuration. */
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96 #if configUSE_TICKLESS_IDLE != 0
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97 #if INCLUDE_vTaskSuspend != 1
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98 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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99 #endif /* INCLUDE_vTaskSuspend */
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100 #endif /* configUSE_TICKLESS_IDLE */
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103 * Defines the size, in words, of the stack allocated to the idle task.
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105 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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107 #if( configUSE_PREEMPTION == 0 )
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108 /* If the cooperative scheduler is being used then a yield should not be
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109 performed just because a higher priority task has been woken. */
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110 #define taskYIELD_IF_USING_PREEMPTION()
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112 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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116 * Task control block. A task control block (TCB) is allocated for each task,
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117 * and stores task state information, including a pointer to the task's context
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118 * (the task's run time environment, including register values)
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120 typedef struct tskTaskControlBlock
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122 volatile portSTACK_TYPE *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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124 #if ( portUSING_MPU_WRAPPERS == 1 )
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125 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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128 xListItem xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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129 xListItem xEventListItem; /*< Used to reference a task from an event list. */
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130 unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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131 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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132 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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134 #if ( portSTACK_GROWTH > 0 )
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135 portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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138 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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139 unsigned portBASE_TYPE uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
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142 #if ( configUSE_TRACE_FACILITY == 1 )
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143 unsigned portBASE_TYPE 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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144 unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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147 #if ( configUSE_MUTEXES == 1 )
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148 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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151 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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152 pdTASK_HOOK_CODE pxTaskTag;
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155 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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156 unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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159 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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160 /* Allocate a Newlib reent structure that is specific to this task.
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161 Note Newlib support has been included by popular demand, but is not
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162 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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163 responsible for resulting newlib operation. User must be familiar with
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164 newlib and must provide system-wide implementations of the necessary
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165 stubs. Be warned that (at the time of writing) the current newlib design
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166 implements a system-wide malloc() that must be provided with locks. */
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167 struct _reent xNewLib_reent;
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173 * Some kernel aware debuggers require the data the debugger needs access to to
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174 * be global, rather than file scope.
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176 #ifdef portREMOVE_STATIC_QUALIFIER
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180 /*lint -e956 A manual analysis and inspection has been used to determine which
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181 static variables must be declared volatile. */
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183 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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185 /* Lists for ready and blocked tasks. --------------------*/
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186 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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187 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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188 PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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189 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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190 PRIVILEGED_DATA static xList * 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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191 PRIVILEGED_DATA static xList 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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193 #if ( INCLUDE_vTaskDelete == 1 )
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195 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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196 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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200 #if ( INCLUDE_vTaskSuspend == 1 )
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202 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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206 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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208 PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
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212 /* Other file private variables. --------------------------------*/
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213 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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214 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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215 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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216 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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217 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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218 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxPendedTicks = ( unsigned portBASE_TYPE ) 0U;
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219 PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending = pdFALSE;
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220 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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221 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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222 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = portMAX_DELAY;
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224 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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226 PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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227 PRIVILEGED_DATA static unsigned long ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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233 /* Debugging and trace facilities private variables and macros. ------------*/
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236 * The value used to fill the stack of a task when the task is created. This
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237 * is used purely for checking the high water mark for tasks.
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239 #define tskSTACK_FILL_BYTE ( 0xa5U )
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242 * Macros used by vListTask to indicate which state a task is in.
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244 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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245 #define tskREADY_CHAR ( ( signed char ) 'R' )
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246 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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247 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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249 /*-----------------------------------------------------------*/
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251 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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253 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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254 performed in a generic way that is not optimised to any particular
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255 microcontroller architecture. */
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257 /* uxTopReadyPriority holds the priority of the highest priority ready
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259 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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261 if( ( uxPriority ) > uxTopReadyPriority ) \
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263 uxTopReadyPriority = ( uxPriority ); \
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265 } /* taskRECORD_READY_PRIORITY */
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267 /*-----------------------------------------------------------*/
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269 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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271 /* Find the highest priority queue that contains ready tasks. */ \
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272 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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274 configASSERT( uxTopReadyPriority ); \
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275 --uxTopReadyPriority; \
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278 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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279 the same priority get an equal share of the processor time. */ \
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280 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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281 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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283 /*-----------------------------------------------------------*/
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285 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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286 they are only required when a port optimised method of task selection is
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288 #define taskRESET_READY_PRIORITY( uxPriority )
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289 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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291 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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293 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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294 performed in a way that is tailored to the particular microcontroller
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295 architecture being used. */
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297 /* A port optimised version is provided. Call the port defined macros. */
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298 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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300 /*-----------------------------------------------------------*/
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302 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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304 unsigned portBASE_TYPE uxTopPriority; \
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306 /* Find the highest priority queue that contains ready tasks. */ \
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307 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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308 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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309 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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310 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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312 /*-----------------------------------------------------------*/
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314 /* A port optimised version is provided, call it only if the TCB being reset
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315 is being referenced from a ready list. If it is referenced from a delayed
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316 or suspended list then it won't be in a ready list. */
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317 #define taskRESET_READY_PRIORITY( uxPriority ) \
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319 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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321 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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325 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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327 /*-----------------------------------------------------------*/
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329 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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330 count overflows. */
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331 #define taskSWITCH_DELAYED_LISTS() \
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335 /* The delayed tasks list should be empty when the lists are switched. */ \
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336 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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338 pxTemp = pxDelayedTaskList; \
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339 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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340 pxOverflowDelayedTaskList = pxTemp; \
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341 xNumOfOverflows++; \
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342 prvResetNextTaskUnblockTime(); \
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345 /*-----------------------------------------------------------*/
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348 * Place the task represented by pxTCB into the appropriate ready list for
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349 * the task. It is inserted at the end of the list.
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351 #define prvAddTaskToReadyList( pxTCB ) \
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352 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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353 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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354 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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355 /*-----------------------------------------------------------*/
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358 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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359 * where NULL is used to indicate that the handle of the currently executing
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360 * task should be used in place of the parameter. This macro simply checks to
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361 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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363 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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365 /* The item value of the event list item is normally used to hold the priority
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366 of the task to which it belongs (coded to allow it to be held in reverse
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367 priority order). However, it is occasionally borrowed for other purposes. It
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368 is important its value is not updated due to a task priority change while it is
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369 being used for another purpose. The following bit definition is used to inform
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370 the scheduler that the value should not be changed - in which case it is the
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371 responsibility of whichever module is using the value to ensure it gets set back
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372 to its original value when it is released. */
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373 #if configUSE_16_BIT_TICKS == 1
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374 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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376 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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379 /* Callback function prototypes. --------------------------*/
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380 #if configCHECK_FOR_STACK_OVERFLOW > 0
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381 extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
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384 #if configUSE_TICK_HOOK > 0
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385 extern void vApplicationTickHook( void );
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388 /* File private functions. --------------------------------*/
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391 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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392 * into the TCB structure.
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394 static void prvInitialiseTCBVariables( tskTCB * const pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, const unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
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397 * Utility to ready all the lists used by the scheduler. This is called
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398 * automatically upon the creation of the first task.
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400 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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403 * The idle task, which as all tasks is implemented as a never ending loop.
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404 * The idle task is automatically created and added to the ready lists upon
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405 * creation of the first user task.
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407 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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408 * language extensions. The equivalent prototype for this function is:
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410 * void prvIdleTask( void *pvParameters );
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413 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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416 * Utility to free all memory allocated by the scheduler to hold a TCB,
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417 * including the stack pointed to by the TCB.
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419 * This does not free memory allocated by the task itself (i.e. memory
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420 * allocated by calls to pvPortMalloc from within the tasks application code).
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422 #if ( INCLUDE_vTaskDelete == 1 )
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424 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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429 * Used only by the idle task. This checks to see if anything has been placed
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430 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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431 * and its TCB deleted.
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433 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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436 * The currently executing task is entering the Blocked state. Add the task to
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437 * either the current or the overflow delayed task list.
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439 static void prvAddCurrentTaskToDelayedList( const portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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442 * Allocates memory from the heap for a TCB and associated stack. Checks the
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443 * allocation was successful.
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445 static tskTCB *prvAllocateTCBAndStack( const unsigned short usStackDepth, portSTACK_TYPE * const puxStackBuffer ) PRIVILEGED_FUNCTION;
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448 * Fills an xTaskStatusType structure with information on each task that is
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449 * referenced from the pxList list (which may be a ready list, a delayed list,
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450 * a suspended list, etc.).
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452 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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453 * NORMAL APPLICATION CODE.
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455 #if ( configUSE_TRACE_FACILITY == 1 )
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457 static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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462 * When a task is created, the stack of the task is filled with a known value.
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463 * This function determines the 'high water mark' of the task stack by
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464 * determining how much of the stack remains at the original preset value.
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466 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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468 static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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473 * Return the amount of time, in ticks, that will pass before the kernel will
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474 * next move a task from the Blocked state to the Running state.
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476 * This conditional compilation should use inequality to 0, not equality to 1.
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477 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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478 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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479 * set to a value other than 1.
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481 #if ( configUSE_TICKLESS_IDLE != 0 )
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483 static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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488 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
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489 * will exit the Blocked state.
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491 static void prvResetNextTaskUnblockTime( void );
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493 /*-----------------------------------------------------------*/
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495 signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, const unsigned short usStackDepth, void * const pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle * const pxCreatedTask, portSTACK_TYPE * const puxStackBuffer, const xMemoryRegion * const xRegions )
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497 signed portBASE_TYPE xReturn;
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500 configASSERT( pxTaskCode );
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501 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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503 /* Allocate the memory required by the TCB and stack for the new task,
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504 checking that the allocation was successful. */
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505 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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507 if( pxNewTCB != NULL )
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509 portSTACK_TYPE *pxTopOfStack;
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511 #if( portUSING_MPU_WRAPPERS == 1 )
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512 /* Should the task be created in privileged mode? */
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513 portBASE_TYPE xRunPrivileged;
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514 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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516 xRunPrivileged = pdTRUE;
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520 xRunPrivileged = pdFALSE;
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522 uxPriority &= ~portPRIVILEGE_BIT;
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523 #endif /* portUSING_MPU_WRAPPERS == 1 */
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525 /* Calculate the top of stack address. This depends on whether the
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526 stack grows from high memory to low (as per the 80x86) or vice versa.
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527 portSTACK_GROWTH is used to make the result positive or negative as
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528 required by the port. */
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529 #if( portSTACK_GROWTH < 0 )
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531 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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532 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( 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. */
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534 /* Check the alignment of the calculated top of stack is correct. */
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535 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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537 #else /* portSTACK_GROWTH */
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539 pxTopOfStack = pxNewTCB->pxStack;
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541 /* Check the alignment of the stack buffer is correct. */
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542 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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544 /* If we want to use stack checking on architectures that use
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545 a positive stack growth direction then we also need to store the
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546 other extreme of the stack space. */
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547 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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549 #endif /* portSTACK_GROWTH */
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551 /* Setup the newly allocated TCB with the initial state of the task. */
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552 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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554 /* Initialize the TCB stack to look as if the task was already running,
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555 but had been interrupted by the scheduler. The return address is set
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556 to the start of the task function. Once the stack has been initialised
\r
557 the top of stack variable is updated. */
\r
558 #if( portUSING_MPU_WRAPPERS == 1 )
\r
560 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
562 #else /* portUSING_MPU_WRAPPERS */
\r
564 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
566 #endif /* portUSING_MPU_WRAPPERS */
\r
568 if( ( void * ) pxCreatedTask != NULL )
\r
570 /* Pass the TCB out - in an anonymous way. The calling function/
\r
571 task can use this as a handle to delete the task later if
\r
573 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
\r
577 mtCOVERAGE_TEST_MARKER();
\r
580 /* Ensure interrupts don't access the task lists while they are being
\r
582 taskENTER_CRITICAL();
\r
584 uxCurrentNumberOfTasks++;
\r
585 if( pxCurrentTCB == NULL )
\r
587 /* There are no other tasks, or all the other tasks are in
\r
588 the suspended state - make this the current task. */
\r
589 pxCurrentTCB = pxNewTCB;
\r
591 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
593 /* This is the first task to be created so do the preliminary
\r
594 initialisation required. We will not recover if this call
\r
595 fails, but we will report the failure. */
\r
596 prvInitialiseTaskLists();
\r
600 mtCOVERAGE_TEST_MARKER();
\r
605 /* If the scheduler is not already running, make this task the
\r
606 current task if it is the highest priority task to be created
\r
608 if( xSchedulerRunning == pdFALSE )
\r
610 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
612 pxCurrentTCB = pxNewTCB;
\r
616 mtCOVERAGE_TEST_MARKER();
\r
621 mtCOVERAGE_TEST_MARKER();
\r
627 #if ( configUSE_TRACE_FACILITY == 1 )
\r
629 /* Add a counter into the TCB for tracing only. */
\r
630 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
632 #endif /* configUSE_TRACE_FACILITY */
\r
633 traceTASK_CREATE( pxNewTCB );
\r
635 prvAddTaskToReadyList( pxNewTCB );
\r
638 portSETUP_TCB( pxNewTCB );
\r
640 taskEXIT_CRITICAL();
\r
644 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
645 traceTASK_CREATE_FAILED();
\r
648 if( xReturn == pdPASS )
\r
650 if( xSchedulerRunning != pdFALSE )
\r
652 /* If the created task is of a higher priority than the current task
\r
653 then it should run now. */
\r
654 if( pxCurrentTCB->uxPriority < uxPriority )
\r
656 taskYIELD_IF_USING_PREEMPTION();
\r
660 mtCOVERAGE_TEST_MARKER();
\r
665 mtCOVERAGE_TEST_MARKER();
\r
671 /*-----------------------------------------------------------*/
\r
673 #if ( INCLUDE_vTaskDelete == 1 )
\r
675 void vTaskDelete( xTaskHandle xTaskToDelete )
\r
679 taskENTER_CRITICAL();
\r
681 /* If null is passed in here then it is the calling task that is
\r
683 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
685 /* Remove task from the ready list and place in the termination list.
\r
686 This will stop the task from be scheduled. The idle task will check
\r
687 the termination list and free up any memory allocated by the
\r
688 scheduler for the TCB and stack. */
\r
689 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
691 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
695 mtCOVERAGE_TEST_MARKER();
\r
698 /* Is the task waiting on an event also? */
\r
699 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
701 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
705 mtCOVERAGE_TEST_MARKER();
\r
708 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
710 /* Increment the ucTasksDeleted variable so the idle task knows
\r
711 there is a task that has been deleted and that it should therefore
\r
712 check the xTasksWaitingTermination list. */
\r
715 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
716 can detect that the task lists need re-generating. */
\r
719 traceTASK_DELETE( pxTCB );
\r
721 taskEXIT_CRITICAL();
\r
723 /* Force a reschedule if it is the currently running task that has just
\r
725 if( xSchedulerRunning != pdFALSE )
\r
727 if( pxTCB == pxCurrentTCB )
\r
729 configASSERT( uxSchedulerSuspended == 0 );
\r
731 /* The pre-delete hook is primarily for the Windows simulator,
\r
732 in which Windows specific clean up operations are performed,
\r
733 after which it is not possible to yield away from this task -
\r
734 hence xYieldPending is used to latch that a context switch is
\r
736 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
737 portYIELD_WITHIN_API();
\r
741 /* Reset the next expected unblock time in case it referred to
\r
742 the task that has just been deleted. */
\r
743 prvResetNextTaskUnblockTime();
\r
748 #endif /* INCLUDE_vTaskDelete */
\r
749 /*-----------------------------------------------------------*/
\r
751 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
753 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, const portTickType xTimeIncrement )
\r
755 portTickType xTimeToWake;
\r
756 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
758 configASSERT( pxPreviousWakeTime );
\r
759 configASSERT( ( xTimeIncrement > 0U ) );
\r
760 configASSERT( uxSchedulerSuspended == 0 );
\r
764 /* Minor optimisation. The tick count cannot change in this
\r
766 const portTickType xConstTickCount = xTickCount;
\r
768 /* Generate the tick time at which the task wants to wake. */
\r
769 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
771 if( xConstTickCount < *pxPreviousWakeTime )
\r
773 /* The tick count has overflowed since this function was
\r
774 lasted called. In this case the only time we should ever
\r
775 actually delay is if the wake time has also overflowed,
\r
776 and the wake time is greater than the tick time. When this
\r
777 is the case it is as if neither time had overflowed. */
\r
778 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
780 xShouldDelay = pdTRUE;
\r
784 mtCOVERAGE_TEST_MARKER();
\r
789 /* The tick time has not overflowed. In this case we will
\r
790 delay if either the wake time has overflowed, and/or the
\r
791 tick time is less than the wake time. */
\r
792 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
794 xShouldDelay = pdTRUE;
\r
798 mtCOVERAGE_TEST_MARKER();
\r
802 /* Update the wake time ready for the next call. */
\r
803 *pxPreviousWakeTime = xTimeToWake;
\r
805 if( xShouldDelay != pdFALSE )
\r
807 traceTASK_DELAY_UNTIL();
\r
809 /* We must remove ourselves from the ready list before adding
\r
810 ourselves to the blocked list as the same list item is used for
\r
812 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
814 /* The current task must be in a ready list, so there is
\r
815 no need to check, and the port reset macro can be called
\r
817 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
821 mtCOVERAGE_TEST_MARKER();
\r
824 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
828 mtCOVERAGE_TEST_MARKER();
\r
831 xAlreadyYielded = xTaskResumeAll();
\r
833 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
834 have put ourselves to sleep. */
\r
835 if( xAlreadyYielded == pdFALSE )
\r
837 portYIELD_WITHIN_API();
\r
841 mtCOVERAGE_TEST_MARKER();
\r
845 #endif /* INCLUDE_vTaskDelayUntil */
\r
846 /*-----------------------------------------------------------*/
\r
848 #if ( INCLUDE_vTaskDelay == 1 )
\r
850 void vTaskDelay( const portTickType xTicksToDelay )
\r
852 portTickType xTimeToWake;
\r
853 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
856 /* A delay time of zero just forces a reschedule. */
\r
857 if( xTicksToDelay > ( portTickType ) 0U )
\r
859 configASSERT( uxSchedulerSuspended == 0 );
\r
864 /* A task that is removed from the event list while the
\r
865 scheduler is suspended will not get placed in the ready
\r
866 list or removed from the blocked list until the scheduler
\r
869 This task cannot be in an event list as it is the currently
\r
872 /* Calculate the time to wake - this may overflow but this is
\r
874 xTimeToWake = xTickCount + xTicksToDelay;
\r
876 /* We must remove ourselves from the ready list before adding
\r
877 ourselves to the blocked list as the same list item is used for
\r
879 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
881 /* The current task must be in a ready list, so there is
\r
882 no need to check, and the port reset macro can be called
\r
884 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
888 mtCOVERAGE_TEST_MARKER();
\r
890 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
892 xAlreadyYielded = xTaskResumeAll();
\r
896 mtCOVERAGE_TEST_MARKER();
\r
899 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
900 have put ourselves to sleep. */
\r
901 if( xAlreadyYielded == pdFALSE )
\r
903 portYIELD_WITHIN_API();
\r
907 mtCOVERAGE_TEST_MARKER();
\r
911 #endif /* INCLUDE_vTaskDelay */
\r
912 /*-----------------------------------------------------------*/
\r
914 #if ( INCLUDE_eTaskGetState == 1 )
\r
916 eTaskState eTaskGetState( xTaskHandle xTask )
\r
918 eTaskState eReturn;
\r
919 xList *pxStateList;
\r
920 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
922 configASSERT( pxTCB );
\r
924 if( pxTCB == pxCurrentTCB )
\r
926 /* The task calling this function is querying its own state. */
\r
927 eReturn = eRunning;
\r
931 taskENTER_CRITICAL();
\r
933 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
935 taskEXIT_CRITICAL();
\r
937 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
939 /* The task being queried is referenced from one of the Blocked
\r
941 eReturn = eBlocked;
\r
944 #if ( INCLUDE_vTaskSuspend == 1 )
\r
945 else if( pxStateList == &xSuspendedTaskList )
\r
947 /* The task being queried is referenced from the suspended
\r
948 list. Is it genuinely suspended or is it block
\r
950 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
952 eReturn = eSuspended;
\r
956 eReturn = eBlocked;
\r
961 #if ( INCLUDE_vTaskDelete == 1 )
\r
962 else if( pxStateList == &xTasksWaitingTermination )
\r
964 /* The task being queried is referenced from the deleted
\r
966 eReturn = eDeleted;
\r
972 /* If the task is not in any other state, it must be in the
\r
973 Ready (including pending ready) state. */
\r
981 #endif /* INCLUDE_eTaskGetState */
\r
982 /*-----------------------------------------------------------*/
\r
984 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
986 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
\r
989 unsigned portBASE_TYPE uxReturn;
\r
991 taskENTER_CRITICAL();
\r
993 /* If null is passed in here then we are changing the
\r
994 priority of the calling function. */
\r
995 pxTCB = prvGetTCBFromHandle( xTask );
\r
996 uxReturn = pxTCB->uxPriority;
\r
998 taskEXIT_CRITICAL();
\r
1003 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1004 /*-----------------------------------------------------------*/
\r
1006 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1008 void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
\r
1011 unsigned portBASE_TYPE uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1012 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1014 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1016 /* Ensure the new priority is valid. */
\r
1017 if( uxNewPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
\r
1019 uxNewPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
1023 mtCOVERAGE_TEST_MARKER();
\r
1026 taskENTER_CRITICAL();
\r
1028 /* If null is passed in here then it is the priority of the calling
\r
1029 task that is being changed. */
\r
1030 pxTCB = prvGetTCBFromHandle( xTask );
\r
1032 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1034 #if ( configUSE_MUTEXES == 1 )
\r
1036 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1040 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1044 if( uxCurrentBasePriority != uxNewPriority )
\r
1046 /* The priority change may have readied a task of higher
\r
1047 priority than the calling task. */
\r
1048 if( uxNewPriority > uxCurrentBasePriority )
\r
1050 if( pxTCB != pxCurrentTCB )
\r
1052 /* The priority of a task other than the currently
\r
1053 running task is being raised. Is the priority being
\r
1054 raised above that of the running task? */
\r
1055 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1057 xYieldRequired = pdTRUE;
\r
1061 mtCOVERAGE_TEST_MARKER();
\r
1066 /* The priority of the running task is being raised,
\r
1067 but the running task must already be the highest
\r
1068 priority task able to run so no yield is required. */
\r
1071 else if( pxTCB == pxCurrentTCB )
\r
1073 /* Setting the priority of the running task down means
\r
1074 there may now be another task of higher priority that
\r
1075 is ready to execute. */
\r
1076 xYieldRequired = pdTRUE;
\r
1080 /* Setting the priority of any other task down does not
\r
1081 require a yield as the running task must be above the
\r
1082 new priority of the task being modified. */
\r
1085 /* Remember the ready list the task might be referenced from
\r
1086 before its uxPriority member is changed so the
\r
1087 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1088 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1090 #if ( configUSE_MUTEXES == 1 )
\r
1092 /* Only change the priority being used if the task is not
\r
1093 currently using an inherited priority. */
\r
1094 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1096 pxTCB->uxPriority = uxNewPriority;
\r
1100 mtCOVERAGE_TEST_MARKER();
\r
1103 /* The base priority gets set whatever. */
\r
1104 pxTCB->uxBasePriority = uxNewPriority;
\r
1108 pxTCB->uxPriority = uxNewPriority;
\r
1112 /* Only reset the event list item value if the value is not
\r
1113 being used for anything else. */
\r
1114 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0 )
\r
1116 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1120 mtCOVERAGE_TEST_MARKER();
\r
1123 /* If the task is in the blocked or suspended list we need do
\r
1124 nothing more than change it's priority variable. However, if
\r
1125 the task is in a ready list it needs to be removed and placed
\r
1126 in the list appropriate to its new priority. */
\r
1127 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1129 /* The task is currently in its ready list - remove before adding
\r
1130 it to it's new ready list. As we are in a critical section we
\r
1131 can do this even if the scheduler is suspended. */
\r
1132 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1134 /* It is known that the task is in its ready list so
\r
1135 there is no need to check again and the port level
\r
1136 reset macro can be called directly. */
\r
1137 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1141 mtCOVERAGE_TEST_MARKER();
\r
1143 prvAddTaskToReadyList( pxTCB );
\r
1147 mtCOVERAGE_TEST_MARKER();
\r
1150 if( xYieldRequired == pdTRUE )
\r
1152 taskYIELD_IF_USING_PREEMPTION();
\r
1156 mtCOVERAGE_TEST_MARKER();
\r
1159 /* Remove compiler warning about unused variables when the port
\r
1160 optimised task selection is not being used. */
\r
1161 ( void ) uxPriorityUsedOnEntry;
\r
1164 taskEXIT_CRITICAL();
\r
1167 #endif /* INCLUDE_vTaskPrioritySet */
\r
1168 /*-----------------------------------------------------------*/
\r
1170 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1172 void vTaskSuspend( xTaskHandle xTaskToSuspend )
\r
1176 taskENTER_CRITICAL();
\r
1178 /* If null is passed in here then it is the running task that is
\r
1179 being suspended. */
\r
1180 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1182 traceTASK_SUSPEND( pxTCB );
\r
1184 /* Remove task from the ready/delayed list and place in the
\r
1185 suspended list. */
\r
1186 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1188 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1192 mtCOVERAGE_TEST_MARKER();
\r
1195 /* Is the task waiting on an event also? */
\r
1196 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1198 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1202 mtCOVERAGE_TEST_MARKER();
\r
1205 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1207 taskEXIT_CRITICAL();
\r
1209 if( pxTCB == pxCurrentTCB )
\r
1211 if( xSchedulerRunning != pdFALSE )
\r
1213 /* The current task has just been suspended. */
\r
1214 configASSERT( uxSchedulerSuspended == 0 );
\r
1215 portYIELD_WITHIN_API();
\r
1219 /* The scheduler is not running, but the task that was pointed
\r
1220 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1221 must be adjusted to point to a different task. */
\r
1222 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1224 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1225 NULL so when the next task is created pxCurrentTCB will
\r
1226 be set to point to it no matter what its relative priority
\r
1228 pxCurrentTCB = NULL;
\r
1232 vTaskSwitchContext();
\r
1238 if( xSchedulerRunning != pdFALSE )
\r
1240 /* A task other than the currently running task was suspended,
\r
1241 reset the next expected unblock time in case it referred to the
\r
1242 task that is now in the Suspended state. */
\r
1243 prvResetNextTaskUnblockTime();
\r
1247 mtCOVERAGE_TEST_MARKER();
\r
1252 #endif /* INCLUDE_vTaskSuspend */
\r
1253 /*-----------------------------------------------------------*/
\r
1255 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1257 signed portBASE_TYPE xTaskIsTaskSuspended( const xTaskHandle xTask )
\r
1259 signed portBASE_TYPE xReturn = pdFALSE;
\r
1260 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1262 /* It does not make sense to check if the calling task is suspended. */
\r
1263 configASSERT( xTask );
\r
1265 /* Is the task we are attempting to resume actually in the
\r
1266 suspended list? */
\r
1267 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1269 /* Has the task already been resumed from within an ISR? */
\r
1270 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1272 /* Is it in the suspended list because it is in the
\r
1273 Suspended state? It is possible to be in the suspended
\r
1274 list because it is blocked on a task with no timeout
\r
1276 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1282 mtCOVERAGE_TEST_MARKER();
\r
1287 mtCOVERAGE_TEST_MARKER();
\r
1292 mtCOVERAGE_TEST_MARKER();
\r
1296 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1298 #endif /* INCLUDE_vTaskSuspend */
\r
1299 /*-----------------------------------------------------------*/
\r
1301 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1303 void vTaskResume( xTaskHandle xTaskToResume )
\r
1305 tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
\r
1307 /* It does not make sense to resume the calling task. */
\r
1308 configASSERT( xTaskToResume );
\r
1310 /* The parameter cannot be NULL as it is impossible to resume the
\r
1311 currently executing task. */
\r
1312 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1314 taskENTER_CRITICAL();
\r
1316 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1318 traceTASK_RESUME( pxTCB );
\r
1320 /* As we are in a critical section we can access the ready
\r
1321 lists even if the scheduler is suspended. */
\r
1322 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1323 prvAddTaskToReadyList( pxTCB );
\r
1325 /* We may have just resumed a higher priority task. */
\r
1326 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1328 /* This yield may not cause the task just resumed to run,
\r
1329 but will leave the lists in the correct state for the
\r
1331 taskYIELD_IF_USING_PREEMPTION();
\r
1335 mtCOVERAGE_TEST_MARKER();
\r
1340 mtCOVERAGE_TEST_MARKER();
\r
1343 taskEXIT_CRITICAL();
\r
1347 mtCOVERAGE_TEST_MARKER();
\r
1351 #endif /* INCLUDE_vTaskSuspend */
\r
1353 /*-----------------------------------------------------------*/
\r
1355 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1357 portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
\r
1359 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1360 tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
\r
1361 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1363 configASSERT( xTaskToResume );
\r
1365 /* RTOS ports that support interrupt nesting have the concept of a
\r
1366 maximum system call (or maximum API call) interrupt priority.
\r
1367 Interrupts that are above the maximum system call priority are keep
\r
1368 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1369 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1370 is defined in FreeRTOSConfig.h then
\r
1371 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1372 failure if a FreeRTOS API function is called from an interrupt that has
\r
1373 been assigned a priority above the configured maximum system call
\r
1374 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1375 from interrupts that have been assigned a priority at or (logically)
\r
1376 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1377 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1378 simple as possible. More information (albeit Cortex-M specific) is
\r
1379 provided on the following link:
\r
1380 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1381 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1383 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1385 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1387 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1389 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1391 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1393 xYieldRequired = pdTRUE;
\r
1397 mtCOVERAGE_TEST_MARKER();
\r
1400 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1401 prvAddTaskToReadyList( pxTCB );
\r
1405 /* We cannot access the delayed or ready lists, so will hold this
\r
1406 task pending until the scheduler is resumed, at which point a
\r
1407 yield will be performed if necessary. */
\r
1408 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1413 mtCOVERAGE_TEST_MARKER();
\r
1416 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1418 return xYieldRequired;
\r
1421 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1422 /*-----------------------------------------------------------*/
\r
1424 void vTaskStartScheduler( void )
\r
1426 portBASE_TYPE xReturn;
\r
1428 /* Add the idle task at the lowest priority. */
\r
1429 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1431 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1432 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1433 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1437 /* Create the idle task without storing its handle. */
\r
1438 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1440 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1442 #if ( configUSE_TIMERS == 1 )
\r
1444 if( xReturn == pdPASS )
\r
1446 xReturn = xTimerCreateTimerTask();
\r
1450 mtCOVERAGE_TEST_MARKER();
\r
1453 #endif /* configUSE_TIMERS */
\r
1455 if( xReturn == pdPASS )
\r
1457 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1458 before or during the call to xPortStartScheduler(). The stacks of
\r
1459 the created tasks contain a status word with interrupts switched on
\r
1460 so interrupts will automatically get re-enabled when the first task
\r
1462 portDISABLE_INTERRUPTS();
\r
1464 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1466 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1467 structure specific to the task that will run first. */
\r
1468 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1470 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1472 xSchedulerRunning = pdTRUE;
\r
1473 xTickCount = ( portTickType ) 0U;
\r
1475 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1476 macro must be defined to configure the timer/counter used to generate
\r
1477 the run time counter time base. */
\r
1478 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1480 /* Setting up the timer tick is hardware specific and thus in the
\r
1481 portable interface. */
\r
1482 if( xPortStartScheduler() != pdFALSE )
\r
1484 /* Should not reach here as if the scheduler is running the
\r
1485 function will not return. */
\r
1489 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1494 /* This line will only be reached if the kernel could not be started,
\r
1495 because there was not enough FreeRTOS heap to create the idle task
\r
1496 or the timer task. */
\r
1497 configASSERT( xReturn );
\r
1500 /*-----------------------------------------------------------*/
\r
1502 void vTaskEndScheduler( void )
\r
1504 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1505 routine so the original ISRs can be restored if necessary. The port
\r
1506 layer must ensure interrupts enable bit is left in the correct state. */
\r
1507 portDISABLE_INTERRUPTS();
\r
1508 xSchedulerRunning = pdFALSE;
\r
1509 vPortEndScheduler();
\r
1511 /*----------------------------------------------------------*/
\r
1513 void vTaskSuspendAll( void )
\r
1515 /* A critical section is not required as the variable is of type
\r
1516 portBASE_TYPE. Please read Richard Barry's reply in the following link to a
\r
1517 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1518 http://goo.gl/wu4acr */
\r
1519 ++uxSchedulerSuspended;
\r
1521 /*----------------------------------------------------------*/
\r
1523 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1525 static portTickType prvGetExpectedIdleTime( void )
\r
1527 portTickType xReturn;
\r
1529 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1533 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1535 /* There are other idle priority tasks in the ready state. If
\r
1536 time slicing is used then the very next tick interrupt must be
\r
1542 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1548 #endif /* configUSE_TICKLESS_IDLE */
\r
1549 /*----------------------------------------------------------*/
\r
1551 signed portBASE_TYPE xTaskResumeAll( void )
\r
1554 portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1556 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1557 previous call to vTaskSuspendAll(). */
\r
1558 configASSERT( uxSchedulerSuspended );
\r
1560 /* It is possible that an ISR caused a task to be removed from an event
\r
1561 list while the scheduler was suspended. If this was the case then the
\r
1562 removed task will have been added to the xPendingReadyList. Once the
\r
1563 scheduler has been resumed it is safe to move all the pending ready
\r
1564 tasks from this list into their appropriate ready list. */
\r
1565 taskENTER_CRITICAL();
\r
1567 --uxSchedulerSuspended;
\r
1569 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1571 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1573 /* Move any readied tasks from the pending list into the
\r
1574 appropriate ready list. */
\r
1575 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1577 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1578 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1579 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1580 prvAddTaskToReadyList( pxTCB );
\r
1582 /* If we have moved a task that has a priority higher than
\r
1583 the current task then we should yield. */
\r
1584 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1586 xYieldPending = pdTRUE;
\r
1590 mtCOVERAGE_TEST_MARKER();
\r
1594 /* If any ticks occurred while the scheduler was suspended then
\r
1595 they should be processed now. This ensures the tick count does
\r
1596 not slip, and that any delayed tasks are resumed at the correct
\r
1598 if( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1600 while( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1602 if( xTaskIncrementTick() != pdFALSE )
\r
1604 xYieldPending = pdTRUE;
\r
1608 mtCOVERAGE_TEST_MARKER();
\r
1615 mtCOVERAGE_TEST_MARKER();
\r
1618 if( xYieldPending == pdTRUE )
\r
1620 #if( configUSE_PREEMPTION != 0 )
\r
1622 xAlreadyYielded = pdTRUE;
\r
1625 taskYIELD_IF_USING_PREEMPTION();
\r
1629 mtCOVERAGE_TEST_MARKER();
\r
1635 mtCOVERAGE_TEST_MARKER();
\r
1638 taskEXIT_CRITICAL();
\r
1640 return xAlreadyYielded;
\r
1642 /*-----------------------------------------------------------*/
\r
1644 portTickType xTaskGetTickCount( void )
\r
1646 portTickType xTicks;
\r
1648 /* Critical section required if running on a 16 bit processor. */
\r
1649 taskENTER_CRITICAL();
\r
1651 xTicks = xTickCount;
\r
1653 taskEXIT_CRITICAL();
\r
1657 /*-----------------------------------------------------------*/
\r
1659 portTickType xTaskGetTickCountFromISR( void )
\r
1661 portTickType xReturn;
\r
1662 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1664 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1665 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1666 above the maximum system call priority are kept permanently enabled, even
\r
1667 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1668 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1669 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1670 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1671 assigned a priority above the configured maximum system call priority.
\r
1672 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1673 that have been assigned a priority at or (logically) below the maximum
\r
1674 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1675 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1676 More information (albeit Cortex-M specific) is provided on the following
\r
1677 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1678 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1680 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1681 xReturn = xTickCount;
\r
1682 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1686 /*-----------------------------------------------------------*/
\r
1688 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1690 /* A critical section is not required because the variables are of type
\r
1692 return uxCurrentNumberOfTasks;
\r
1694 /*-----------------------------------------------------------*/
\r
1696 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1698 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1702 /* If null is passed in here then the name of the calling task is being queried. */
\r
1703 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1704 configASSERT( pxTCB );
\r
1705 return &( pxTCB->pcTaskName[ 0 ] );
\r
1708 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1709 /*-----------------------------------------------------------*/
\r
1711 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1713 unsigned portBASE_TYPE uxTaskGetSystemState( xTaskStatusType * const pxTaskStatusArray, const unsigned portBASE_TYPE uxArraySize, unsigned long * const pulTotalRunTime )
\r
1715 unsigned portBASE_TYPE uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1717 vTaskSuspendAll();
\r
1719 /* Is there a space in the array for each task in the system? */
\r
1720 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1722 /* Fill in an xTaskStatusType structure with information on each
\r
1723 task in the Ready state. */
\r
1727 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1729 } while( uxQueue > ( unsigned portBASE_TYPE ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1731 /* Fill in an xTaskStatusType structure with information on each
\r
1732 task in the Blocked state. */
\r
1733 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxDelayedTaskList, eBlocked );
\r
1734 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxOverflowDelayedTaskList, eBlocked );
\r
1736 #if( INCLUDE_vTaskDelete == 1 )
\r
1738 /* Fill in an xTaskStatusType structure with information on
\r
1739 each task that has been deleted but not yet cleaned up. */
\r
1740 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1744 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1746 /* Fill in an xTaskStatusType structure with information on
\r
1747 each task in the Suspended state. */
\r
1748 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1752 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1754 if( pulTotalRunTime != NULL )
\r
1756 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1757 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
1759 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1765 if( pulTotalRunTime != NULL )
\r
1767 *pulTotalRunTime = 0;
\r
1774 mtCOVERAGE_TEST_MARKER();
\r
1777 ( void ) xTaskResumeAll();
\r
1782 #endif /* configUSE_TRACE_FACILITY */
\r
1783 /*----------------------------------------------------------*/
\r
1785 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1787 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1789 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1790 started, then xIdleTaskHandle will be NULL. */
\r
1791 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1792 return xIdleTaskHandle;
\r
1795 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1796 /*----------------------------------------------------------*/
\r
1798 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1799 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1800 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1802 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1804 void vTaskStepTick( const portTickType xTicksToJump )
\r
1806 /* Correct the tick count value after a period during which the tick
\r
1807 was suppressed. Note this does *not* call the tick hook function for
\r
1808 each stepped tick. */
\r
1809 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1810 xTickCount += xTicksToJump;
\r
1811 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
1814 #endif /* configUSE_TICKLESS_IDLE */
\r
1815 /*----------------------------------------------------------*/
\r
1817 portBASE_TYPE xTaskIncrementTick( void )
\r
1820 portTickType xItemValue;
\r
1821 portBASE_TYPE xSwitchRequired = pdFALSE;
\r
1823 /* Called by the portable layer each time a tick interrupt occurs.
\r
1824 Increments the tick then checks to see if the new tick value will cause any
\r
1825 tasks to be unblocked. */
\r
1826 traceTASK_INCREMENT_TICK( xTickCount );
\r
1827 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1829 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1830 delayed lists if it wraps to 0. */
\r
1834 /* Minor optimisation. The tick count cannot change in this
\r
1836 const portTickType xConstTickCount = xTickCount;
\r
1838 if( xConstTickCount == ( portTickType ) 0U )
\r
1840 taskSWITCH_DELAYED_LISTS();
\r
1844 mtCOVERAGE_TEST_MARKER();
\r
1847 /* See if this tick has made a timeout expire. Tasks are stored in
\r
1848 the queue in the order of their wake time - meaning once one task
\r
1849 has been found whose block time has not expired there is no need to
\r
1850 look any further down the list. */
\r
1851 if( xConstTickCount >= xNextTaskUnblockTime )
\r
1855 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1857 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
1858 to the maximum possible value so it is extremely
\r
1860 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1861 next time through. */
\r
1862 xNextTaskUnblockTime = portMAX_DELAY;
\r
1867 /* The delayed list is not empty, get the value of the
\r
1868 item at the head of the delayed list. This is the time
\r
1869 at which the task at the head of the delayed list must
\r
1870 be removed from the Blocked state. */
\r
1871 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1872 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1874 if( xConstTickCount < xItemValue )
\r
1876 /* It is not time to unblock this item yet, but the
\r
1877 item value is the time at which the task at the head
\r
1878 of the blocked list must be removed from the Blocked
\r
1879 state - so record the item value in
\r
1880 xNextTaskUnblockTime. */
\r
1881 xNextTaskUnblockTime = xItemValue;
\r
1886 mtCOVERAGE_TEST_MARKER();
\r
1889 /* It is time to remove the item from the Blocked state. */
\r
1890 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1892 /* Is the task waiting on an event also? If so remove
\r
1893 it from the event list. */
\r
1894 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1896 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1900 mtCOVERAGE_TEST_MARKER();
\r
1903 /* Place the unblocked task into the appropriate ready
\r
1905 prvAddTaskToReadyList( pxTCB );
\r
1907 /* A task being unblocked cannot cause an immediate
\r
1908 context switch if preemption is turned off. */
\r
1909 #if ( configUSE_PREEMPTION == 1 )
\r
1911 /* Preemption is on, but a context switch should
\r
1912 only be performed if the unblocked task has a
\r
1913 priority that is equal to or higher than the
\r
1914 currently executing task. */
\r
1915 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1917 xSwitchRequired = pdTRUE;
\r
1921 mtCOVERAGE_TEST_MARKER();
\r
1924 #endif /* configUSE_PREEMPTION */
\r
1930 /* Tasks of equal priority to the currently running task will share
\r
1931 processing time (time slice) if preemption is on, and the application
\r
1932 writer has not explicitly turned time slicing off. */
\r
1933 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
1935 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1937 xSwitchRequired = pdTRUE;
\r
1941 mtCOVERAGE_TEST_MARKER();
\r
1944 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
1946 #if ( configUSE_TICK_HOOK == 1 )
\r
1948 /* Guard against the tick hook being called when the pended tick
\r
1949 count is being unwound (when the scheduler is being unlocked). */
\r
1950 if( uxPendedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1952 vApplicationTickHook();
\r
1956 mtCOVERAGE_TEST_MARKER();
\r
1959 #endif /* configUSE_TICK_HOOK */
\r
1965 /* The tick hook gets called at regular intervals, even if the
\r
1966 scheduler is locked. */
\r
1967 #if ( configUSE_TICK_HOOK == 1 )
\r
1969 vApplicationTickHook();
\r
1974 #if ( configUSE_PREEMPTION == 1 )
\r
1976 if( xYieldPending != pdFALSE )
\r
1978 xSwitchRequired = pdTRUE;
\r
1982 mtCOVERAGE_TEST_MARKER();
\r
1985 #endif /* configUSE_PREEMPTION */
\r
1987 return xSwitchRequired;
\r
1989 /*-----------------------------------------------------------*/
\r
1991 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1993 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1997 /* If xTask is NULL then it is the task hook of the calling task that is
\r
1999 if( xTask == NULL )
\r
2001 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
2005 xTCB = ( tskTCB * ) xTask;
\r
2008 /* Save the hook function in the TCB. A critical section is required as
\r
2009 the value can be accessed from an interrupt. */
\r
2010 taskENTER_CRITICAL();
\r
2011 xTCB->pxTaskTag = pxHookFunction;
\r
2012 taskEXIT_CRITICAL();
\r
2015 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2016 /*-----------------------------------------------------------*/
\r
2018 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2020 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
2023 pdTASK_HOOK_CODE xReturn;
\r
2025 /* If xTask is NULL then we are setting our own task hook. */
\r
2026 if( xTask == NULL )
\r
2028 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
2032 xTCB = ( tskTCB * ) xTask;
\r
2035 /* Save the hook function in the TCB. A critical section is required as
\r
2036 the value can be accessed from an interrupt. */
\r
2037 taskENTER_CRITICAL();
\r
2039 xReturn = xTCB->pxTaskTag;
\r
2041 taskEXIT_CRITICAL();
\r
2046 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2047 /*-----------------------------------------------------------*/
\r
2049 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2051 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
2054 portBASE_TYPE xReturn;
\r
2056 /* If xTask is NULL then we are calling our own task hook. */
\r
2057 if( xTask == NULL )
\r
2059 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
2063 xTCB = ( tskTCB * ) xTask;
\r
2066 if( xTCB->pxTaskTag != NULL )
\r
2068 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2078 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2079 /*-----------------------------------------------------------*/
\r
2081 void vTaskSwitchContext( void )
\r
2083 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
2085 /* The scheduler is currently suspended - do not allow a context
\r
2087 xYieldPending = pdTRUE;
\r
2091 xYieldPending = pdFALSE;
\r
2092 traceTASK_SWITCHED_OUT();
\r
2094 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2096 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2097 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2099 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2102 /* Add the amount of time the task has been running to the
\r
2103 accumulated time so far. The time the task started running was
\r
2104 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2105 protection here so count values are only valid until the timer
\r
2106 overflows. The guard against negative values is to protect
\r
2107 against suspect run time stat counter implementations - which
\r
2108 are provided by the application, not the kernel. */
\r
2109 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2111 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2115 mtCOVERAGE_TEST_MARKER();
\r
2117 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2119 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2121 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
2122 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
2124 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2126 traceTASK_SWITCHED_IN();
\r
2128 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2130 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2131 structure specific to this task. */
\r
2132 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2134 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2137 /*-----------------------------------------------------------*/
\r
2139 void vTaskPlaceOnEventList( xList * const pxEventList, const portTickType xTicksToWait )
\r
2141 portTickType xTimeToWake;
\r
2143 configASSERT( pxEventList );
\r
2145 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
2146 SCHEDULER SUSPENDED. */
\r
2148 /* Place the event list item of the TCB in the appropriate event list.
\r
2149 This is placed in the list in priority order so the highest priority task
\r
2150 is the first to be woken by the event. */
\r
2151 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2153 /* We must remove ourselves from the ready list before adding ourselves
\r
2154 to the blocked list as the same list item is used for both lists. We have
\r
2155 exclusive access to the ready lists as the scheduler is locked. */
\r
2156 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
2158 /* The current task must be in a ready list, so there is no need to
\r
2159 check, and the port reset macro can be called directly. */
\r
2160 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2164 mtCOVERAGE_TEST_MARKER();
\r
2167 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2169 if( xTicksToWait == portMAX_DELAY )
\r
2171 /* Add ourselves to the suspended task list instead of a delayed task
\r
2172 list to ensure we are not woken by a timing event. We will block
\r
2174 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2178 /* Calculate the time at which the task should be woken if the event does
\r
2179 not occur. This may overflow but this doesn't matter. */
\r
2180 xTimeToWake = xTickCount + xTicksToWait;
\r
2181 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2184 #else /* INCLUDE_vTaskSuspend */
\r
2186 /* Calculate the time at which the task should be woken if the event does
\r
2187 not occur. This may overflow but this doesn't matter. */
\r
2188 xTimeToWake = xTickCount + xTicksToWait;
\r
2189 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2191 #endif /* INCLUDE_vTaskSuspend */
\r
2193 /*-----------------------------------------------------------*/
\r
2195 void vTaskPlaceOnUnorderedEventList( xList * pxEventList, const portTickType xItemValue, const portTickType xTicksToWait )
\r
2197 portTickType xTimeToWake;
\r
2199 configASSERT( pxEventList );
\r
2201 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
2202 SCHEDULER SUSPENDED. */
\r
2204 /* Store the item value in the event list item. */
\r
2205 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2207 /* Place the event list item of the TCB at the end of the appropriate event
\r
2209 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2211 /* The task must be removed from the ready list before it is added to the
\r
2212 blocked list. Exclusive access can be assured to the ready list as the
\r
2213 scheduler is locked. */
\r
2214 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
2216 /* The current task must be in a ready list, so there is no need to
\r
2217 check, and the port reset macro can be called directly. */
\r
2218 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2222 mtCOVERAGE_TEST_MARKER();
\r
2225 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2227 if( xTicksToWait == portMAX_DELAY )
\r
2229 /* Add the task to the suspended task list instead of a delayed task
\r
2230 list to ensure it is not woken by a timing event. It will block
\r
2232 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2236 /* Calculate the time at which the task should be woken if the event does
\r
2237 not occur. This may overflow but this doesn't matter. */
\r
2238 xTimeToWake = xTickCount + xTicksToWait;
\r
2239 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2242 #else /* INCLUDE_vTaskSuspend */
\r
2244 /* Calculate the time at which the task should be woken if the event does
\r
2245 not occur. This may overflow but this doesn't matter. */
\r
2246 xTimeToWake = xTickCount + xTicksToWait;
\r
2247 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2249 #endif /* INCLUDE_vTaskSuspend */
\r
2251 /*-----------------------------------------------------------*/
\r
2253 #if configUSE_TIMERS == 1
\r
2255 void vTaskPlaceOnEventListRestricted( xList * const pxEventList, const portTickType xTicksToWait )
\r
2257 portTickType xTimeToWake;
\r
2259 configASSERT( pxEventList );
\r
2261 /* This function should not be called by application code hence the
\r
2262 'Restricted' in its name. It is not part of the public API. It is
\r
2263 designed for use by kernel code, and has special calling requirements -
\r
2264 it should be called from a critical section. */
\r
2267 /* Place the event list item of the TCB in the appropriate event list.
\r
2268 In this case it is assume that this is the only task that is going to
\r
2269 be waiting on this event list, so the faster vListInsertEnd() function
\r
2270 can be used in place of vListInsert. */
\r
2271 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2273 /* We must remove this task from the ready list before adding it to the
\r
2274 blocked list as the same list item is used for both lists. This
\r
2275 function is called form a critical section. */
\r
2276 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
2278 /* The current task must be in a ready list, so there is no need to
\r
2279 check, and the port reset macro can be called directly. */
\r
2280 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2284 mtCOVERAGE_TEST_MARKER();
\r
2287 /* Calculate the time at which the task should be woken if the event does
\r
2288 not occur. This may overflow but this doesn't matter. */
\r
2289 xTimeToWake = xTickCount + xTicksToWait;
\r
2291 traceTASK_DELAY_UNTIL();
\r
2292 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2295 #endif /* configUSE_TIMERS */
\r
2296 /*-----------------------------------------------------------*/
\r
2298 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
2300 tskTCB *pxUnblockedTCB;
\r
2301 portBASE_TYPE xReturn;
\r
2303 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
2304 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
2306 /* The event list is sorted in priority order, so we can remove the
\r
2307 first in the list, remove the TCB from the delayed list, and add
\r
2308 it to the ready list.
\r
2310 If an event is for a queue that is locked then this function will never
\r
2311 get called - the lock count on the queue will get modified instead. This
\r
2312 means we can always expect exclusive access to the event list here.
\r
2314 This function assumes that a check has already been made to ensure that
\r
2315 pxEventList is not empty. */
\r
2316 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2317 configASSERT( pxUnblockedTCB );
\r
2318 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2320 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2322 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2323 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2327 /* We cannot access the delayed or ready lists, so will hold this
\r
2328 task pending until the scheduler is resumed. */
\r
2329 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2332 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2334 /* Return true if the task removed from the event list has
\r
2335 a higher priority than the calling task. This allows
\r
2336 the calling task to know if it should force a context
\r
2340 /* Mark that a yield is pending in case the user is not using the
\r
2341 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2342 xYieldPending = pdTRUE;
\r
2346 xReturn = pdFALSE;
\r
2351 /*-----------------------------------------------------------*/
\r
2353 signed portBASE_TYPE xTaskRemoveFromUnorderedEventList( xListItem * pxEventListItem, const portTickType xItemValue )
\r
2355 tskTCB *pxUnblockedTCB;
\r
2356 portBASE_TYPE xReturn;
\r
2358 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
2359 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
2361 /* Store the new item value in the event list. */
\r
2362 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2364 /* Remove the TCB from the delayed list, and add it to the ready list. */
\r
2366 pxUnblockedTCB = ( tskTCB * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2367 configASSERT( pxUnblockedTCB );
\r
2368 ( void ) uxListRemove( pxEventListItem );
\r
2370 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2372 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2373 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2377 /* Cannot access the delayed or ready lists, so will hold this task
\r
2378 pending until the scheduler is resumed. */
\r
2379 vListInsertEnd( &( xPendingReadyList ), pxEventListItem );
\r
2382 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2384 /* Return true if the task removed from the event list has
\r
2385 a higher priority than the calling task. This allows
\r
2386 the calling task to know if it should force a context
\r
2390 /* Mark that a yield is pending in case the user is not using the
\r
2391 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2392 xYieldPending = pdTRUE;
\r
2396 xReturn = pdFALSE;
\r
2401 /*-----------------------------------------------------------*/
\r
2403 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
2405 configASSERT( pxTimeOut );
\r
2406 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2407 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2409 /*-----------------------------------------------------------*/
\r
2411 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
2413 portBASE_TYPE xReturn;
\r
2415 configASSERT( pxTimeOut );
\r
2416 configASSERT( pxTicksToWait );
\r
2418 taskENTER_CRITICAL();
\r
2420 /* Minor optimisation. The tick count cannot change in this block. */
\r
2421 const portTickType xConstTickCount = xTickCount;
\r
2423 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2424 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2425 the maximum block time then the task should block indefinitely, and
\r
2426 therefore never time out. */
\r
2427 if( *pxTicksToWait == portMAX_DELAY )
\r
2429 xReturn = pdFALSE;
\r
2431 else /* We are not blocking indefinitely, perform the checks below. */
\r
2434 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2436 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2437 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2438 It must have wrapped all the way around and gone past us again. This
\r
2439 passed since vTaskSetTimeout() was called. */
\r
2442 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2444 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2445 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2446 vTaskSetTimeOutState( pxTimeOut );
\r
2447 xReturn = pdFALSE;
\r
2454 taskEXIT_CRITICAL();
\r
2458 /*-----------------------------------------------------------*/
\r
2460 void vTaskMissedYield( void )
\r
2462 xYieldPending = pdTRUE;
\r
2464 /*-----------------------------------------------------------*/
\r
2466 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2468 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2470 unsigned portBASE_TYPE uxReturn;
\r
2473 if( xTask != NULL )
\r
2475 pxTCB = ( tskTCB * ) xTask;
\r
2476 uxReturn = pxTCB->uxTaskNumber;
\r
2486 #endif /* configUSE_TRACE_FACILITY */
\r
2487 /*-----------------------------------------------------------*/
\r
2489 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2491 void vTaskSetTaskNumber( xTaskHandle xTask, const unsigned portBASE_TYPE uxHandle )
\r
2495 if( xTask != NULL )
\r
2497 pxTCB = ( tskTCB * ) xTask;
\r
2498 pxTCB->uxTaskNumber = uxHandle;
\r
2502 #endif /* configUSE_TRACE_FACILITY */
\r
2505 * -----------------------------------------------------------
\r
2507 * ----------------------------------------------------------
\r
2509 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2510 * language extensions. The equivalent prototype for this function is:
\r
2512 * void prvIdleTask( void *pvParameters );
\r
2515 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2517 /* Stop warnings. */
\r
2518 ( void ) pvParameters;
\r
2522 /* See if any tasks have been deleted. */
\r
2523 prvCheckTasksWaitingTermination();
\r
2525 #if ( configUSE_PREEMPTION == 0 )
\r
2527 /* If we are not using preemption we keep forcing a task switch to
\r
2528 see if any other task has become available. If we are using
\r
2529 preemption we don't need to do this as any task becoming available
\r
2530 will automatically get the processor anyway. */
\r
2533 #endif /* configUSE_PREEMPTION */
\r
2535 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2537 /* When using preemption tasks of equal priority will be
\r
2538 timesliced. If a task that is sharing the idle priority is ready
\r
2539 to run then the idle task should yield before the end of the
\r
2542 A critical region is not required here as we are just reading from
\r
2543 the list, and an occasional incorrect value will not matter. If
\r
2544 the ready list at the idle priority contains more than one task
\r
2545 then a task other than the idle task is ready to execute. */
\r
2546 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2552 mtCOVERAGE_TEST_MARKER();
\r
2555 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2557 #if ( configUSE_IDLE_HOOK == 1 )
\r
2559 extern void vApplicationIdleHook( void );
\r
2561 /* Call the user defined function from within the idle task. This
\r
2562 allows the application designer to add background functionality
\r
2563 without the overhead of a separate task.
\r
2564 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2565 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2566 vApplicationIdleHook();
\r
2568 #endif /* configUSE_IDLE_HOOK */
\r
2570 /* This conditional compilation should use inequality to 0, not equality
\r
2571 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2572 user defined low power mode implementations require
\r
2573 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2574 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2576 portTickType xExpectedIdleTime;
\r
2578 /* It is not desirable to suspend then resume the scheduler on
\r
2579 each iteration of the idle task. Therefore, a preliminary
\r
2580 test of the expected idle time is performed without the
\r
2581 scheduler suspended. The result here is not necessarily
\r
2583 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2585 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2587 vTaskSuspendAll();
\r
2589 /* Now the scheduler is suspended, the expected idle
\r
2590 time can be sampled again, and this time its value can
\r
2592 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2593 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2595 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2597 traceLOW_POWER_IDLE_BEGIN();
\r
2598 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2599 traceLOW_POWER_IDLE_END();
\r
2603 mtCOVERAGE_TEST_MARKER();
\r
2606 ( void ) xTaskResumeAll();
\r
2610 mtCOVERAGE_TEST_MARKER();
\r
2613 #endif /* configUSE_TICKLESS_IDLE */
\r
2616 /*-----------------------------------------------------------*/
\r
2618 #if configUSE_TICKLESS_IDLE != 0
\r
2620 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2622 eSleepModeStatus eReturn = eStandardSleep;
\r
2624 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2626 /* A task was made ready while the scheduler was suspended. */
\r
2627 eReturn = eAbortSleep;
\r
2629 else if( xYieldPending != pdFALSE )
\r
2631 /* A yield was pended while the scheduler was suspended. */
\r
2632 eReturn = eAbortSleep;
\r
2636 #if configUSE_TIMERS == 0
\r
2638 /* The idle task exists in addition to the application tasks. */
\r
2639 const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
\r
2641 /* If timers are not being used and all the tasks are in the
\r
2642 suspended list (which might mean they have an infinite block
\r
2643 time rather than actually being suspended) then it is safe to
\r
2644 turn all clocks off and just wait for external interrupts. */
\r
2645 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2647 eReturn = eNoTasksWaitingTimeout;
\r
2651 mtCOVERAGE_TEST_MARKER();
\r
2654 #endif /* configUSE_TIMERS */
\r
2659 #endif /* configUSE_TICKLESS_IDLE */
\r
2660 /*-----------------------------------------------------------*/
\r
2662 static void prvInitialiseTCBVariables( tskTCB * const pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, const unsigned short usStackDepth )
\r
2664 unsigned portBASE_TYPE x;
\r
2666 /* Store the task name in the TCB. */
\r
2667 for( x = ( unsigned portBASE_TYPE ) 0; x < ( unsigned portBASE_TYPE ) configMAX_TASK_NAME_LEN; x++ )
\r
2669 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2671 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2672 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2673 string is not accessible (extremely unlikely). */
\r
2674 if( pcName[ x ] == 0x00 )
\r
2680 mtCOVERAGE_TEST_MARKER();
\r
2684 /* Ensure the name string is terminated in the case that the string length
\r
2685 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2686 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = ( signed char ) '\0';
\r
2688 /* This is used as an array index so must ensure it's not too large. First
\r
2689 remove the privilege bit if one is present. */
\r
2690 if( uxPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
\r
2692 uxPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2696 mtCOVERAGE_TEST_MARKER();
\r
2699 pxTCB->uxPriority = uxPriority;
\r
2700 #if ( configUSE_MUTEXES == 1 )
\r
2702 pxTCB->uxBasePriority = uxPriority;
\r
2704 #endif /* configUSE_MUTEXES */
\r
2706 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2707 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2709 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2710 back to the containing TCB from a generic item in a list. */
\r
2711 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2713 /* Event lists are always in priority order. */
\r
2714 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2715 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2717 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2719 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2721 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2723 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2725 pxTCB->pxTaskTag = NULL;
\r
2727 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2729 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2731 pxTCB->ulRunTimeCounter = 0UL;
\r
2733 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2735 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2737 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2739 #else /* portUSING_MPU_WRAPPERS */
\r
2741 ( void ) xRegions;
\r
2742 ( void ) usStackDepth;
\r
2744 #endif /* portUSING_MPU_WRAPPERS */
\r
2746 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2748 /* Initialise this task's Newlib reent structure. */
\r
2749 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2751 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2753 /*-----------------------------------------------------------*/
\r
2755 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2757 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2761 /* If null is passed in here then we are deleting ourselves. */
\r
2762 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2764 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2767 #endif /* portUSING_MPU_WRAPPERS */
\r
2768 /*-----------------------------------------------------------*/
\r
2770 static void prvInitialiseTaskLists( void )
\r
2772 unsigned portBASE_TYPE uxPriority;
\r
2774 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < ( unsigned portBASE_TYPE ) configMAX_PRIORITIES; uxPriority++ )
\r
2776 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
2779 vListInitialise( &xDelayedTaskList1 );
\r
2780 vListInitialise( &xDelayedTaskList2 );
\r
2781 vListInitialise( &xPendingReadyList );
\r
2783 #if ( INCLUDE_vTaskDelete == 1 )
\r
2785 vListInitialise( &xTasksWaitingTermination );
\r
2787 #endif /* INCLUDE_vTaskDelete */
\r
2789 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2791 vListInitialise( &xSuspendedTaskList );
\r
2793 #endif /* INCLUDE_vTaskSuspend */
\r
2795 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2797 pxDelayedTaskList = &xDelayedTaskList1;
\r
2798 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2800 /*-----------------------------------------------------------*/
\r
2802 static void prvCheckTasksWaitingTermination( void )
\r
2804 #if ( INCLUDE_vTaskDelete == 1 )
\r
2806 portBASE_TYPE xListIsEmpty;
\r
2808 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2809 too often in the idle task. */
\r
2810 while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2812 vTaskSuspendAll();
\r
2813 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2814 ( void ) xTaskResumeAll();
\r
2816 if( xListIsEmpty == pdFALSE )
\r
2820 taskENTER_CRITICAL();
\r
2822 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
2823 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2824 --uxCurrentNumberOfTasks;
\r
2827 taskEXIT_CRITICAL();
\r
2829 prvDeleteTCB( pxTCB );
\r
2833 mtCOVERAGE_TEST_MARKER();
\r
2837 #endif /* vTaskDelete */
\r
2839 /*-----------------------------------------------------------*/
\r
2841 static void prvAddCurrentTaskToDelayedList( const portTickType xTimeToWake )
\r
2843 /* The list item will be inserted in wake time order. */
\r
2844 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2846 if( xTimeToWake < xTickCount )
\r
2848 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2849 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2853 /* The wake time has not overflowed, so the current block list is used. */
\r
2854 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2856 /* If the task entering the blocked state was placed at the head of the
\r
2857 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2859 if( xTimeToWake < xNextTaskUnblockTime )
\r
2861 xNextTaskUnblockTime = xTimeToWake;
\r
2865 mtCOVERAGE_TEST_MARKER();
\r
2869 /*-----------------------------------------------------------*/
\r
2871 static tskTCB *prvAllocateTCBAndStack( const unsigned short usStackDepth, portSTACK_TYPE * const puxStackBuffer )
\r
2875 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2876 the implementation of the port malloc function. */
\r
2877 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2879 if( pxNewTCB != NULL )
\r
2881 /* Allocate space for the stack used by the task being created.
\r
2882 The base of the stack memory stored in the TCB so the task can
\r
2883 be deleted later if required. */
\r
2884 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2886 if( pxNewTCB->pxStack == NULL )
\r
2888 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2889 vPortFree( pxNewTCB );
\r
2894 /* Avoid dependency on memset() if it is not required. */
\r
2895 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2897 /* Just to help debugging. */
\r
2898 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2900 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
2906 /*-----------------------------------------------------------*/
\r
2908 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2910 static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState )
\r
2912 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2913 unsigned portBASE_TYPE uxTask = 0;
\r
2915 if( listCURRENT_LIST_LENGTH( pxList ) > ( unsigned portBASE_TYPE ) 0 )
\r
2917 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2919 /* Populate an xTaskStatusType structure within the
\r
2920 pxTaskStatusArray array for each task that is referenced from
\r
2921 pxList. See the definition of xTaskStatusType in task.h for the
\r
2922 meaning of each xTaskStatusType structure member. */
\r
2925 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2927 pxTaskStatusArray[ uxTask ].xHandle = ( xTaskHandle ) pxNextTCB;
\r
2928 pxTaskStatusArray[ uxTask ].pcTaskName = ( const signed char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
2929 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
2930 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
2931 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
2933 #if ( configUSE_MUTEXES == 1 )
\r
2935 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
2939 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
2943 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2945 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
2949 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
2953 #if ( portSTACK_GROWTH > 0 )
\r
2955 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2959 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2965 } while( pxNextTCB != pxFirstTCB );
\r
2969 mtCOVERAGE_TEST_MARKER();
\r
2975 #endif /* configUSE_TRACE_FACILITY */
\r
2976 /*-----------------------------------------------------------*/
\r
2978 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2980 static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2982 unsigned long ulCount = 0U;
\r
2984 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2986 pucStackByte -= portSTACK_GROWTH;
\r
2990 ulCount /= ( unsigned long ) sizeof( portSTACK_TYPE );
\r
2992 return ( unsigned short ) ulCount;
\r
2995 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
2996 /*-----------------------------------------------------------*/
\r
2998 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3000 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
3003 unsigned char *pcEndOfStack;
\r
3004 unsigned portBASE_TYPE uxReturn;
\r
3006 pxTCB = prvGetTCBFromHandle( xTask );
\r
3008 #if portSTACK_GROWTH < 0
\r
3010 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
3014 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
3018 uxReturn = ( unsigned portBASE_TYPE ) prvTaskCheckFreeStackSpace( pcEndOfStack );
\r
3023 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3024 /*-----------------------------------------------------------*/
\r
3026 #if ( INCLUDE_vTaskDelete == 1 )
\r
3028 static void prvDeleteTCB( tskTCB *pxTCB )
\r
3030 /* This call is required specifically for the TriCore port. It must be
\r
3031 above the vPortFree() calls. The call is also used by ports/demos that
\r
3032 want to allocate and clean RAM statically. */
\r
3033 portCLEAN_UP_TCB( pxTCB );
\r
3035 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
3036 the task to free any memory allocated at the application level. */
\r
3037 vPortFreeAligned( pxTCB->pxStack );
\r
3038 vPortFree( pxTCB );
\r
3041 #endif /* INCLUDE_vTaskDelete */
\r
3042 /*-----------------------------------------------------------*/
\r
3044 static void prvResetNextTaskUnblockTime( void )
\r
3048 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3050 /* The new current delayed list is empty. Set
\r
3051 xNextTaskUnblockTime to the maximum possible value so it is
\r
3052 extremely unlikely that the
\r
3053 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3054 there is an item in the delayed list. */
\r
3055 xNextTaskUnblockTime = portMAX_DELAY;
\r
3059 /* The new current delayed list is not empty, get the value of
\r
3060 the item at the head of the delayed list. This is the time at
\r
3061 which the task at the head of the delayed list should be removed
\r
3062 from the Blocked state. */
\r
3063 ( pxTCB ) = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3064 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) );
\r
3067 /*-----------------------------------------------------------*/
\r
3069 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3071 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
3073 xTaskHandle xReturn;
\r
3075 /* A critical section is not required as this is not called from
\r
3076 an interrupt and the current TCB will always be the same for any
\r
3077 individual execution thread. */
\r
3078 xReturn = pxCurrentTCB;
\r
3083 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3084 /*-----------------------------------------------------------*/
\r
3086 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3088 portBASE_TYPE xTaskGetSchedulerState( void )
\r
3090 portBASE_TYPE xReturn;
\r
3092 if( xSchedulerRunning == pdFALSE )
\r
3094 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3098 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
3100 xReturn = taskSCHEDULER_RUNNING;
\r
3104 xReturn = taskSCHEDULER_SUSPENDED;
\r
3111 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3112 /*-----------------------------------------------------------*/
\r
3114 #if ( configUSE_MUTEXES == 1 )
\r
3116 void vTaskPriorityInherit( xTaskHandle const pxMutexHolder )
\r
3118 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
3120 /* If the mutex was given back by an interrupt while the queue was
\r
3121 locked then the mutex holder might now be NULL. */
\r
3122 if( pxMutexHolder != NULL )
\r
3124 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3126 /* Adjust the mutex holder state to account for its new
\r
3127 priority. Only reset the event list item value if the value is
\r
3128 not being used for anything else. */
\r
3129 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0 )
\r
3131 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3135 mtCOVERAGE_TEST_MARKER();
\r
3138 /* If the task being modified is in the ready state it will need to
\r
3139 be moved into a new list. */
\r
3140 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
3142 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
3144 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3148 mtCOVERAGE_TEST_MARKER();
\r
3151 /* Inherit the priority before being moved into the new list. */
\r
3152 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3153 prvAddTaskToReadyList( pxTCB );
\r
3157 /* Just inherit the priority. */
\r
3158 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3161 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
3165 mtCOVERAGE_TEST_MARKER();
\r
3170 mtCOVERAGE_TEST_MARKER();
\r
3174 #endif /* configUSE_MUTEXES */
\r
3175 /*-----------------------------------------------------------*/
\r
3177 #if ( configUSE_MUTEXES == 1 )
\r
3179 void vTaskPriorityDisinherit( xTaskHandle const pxMutexHolder )
\r
3181 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
3183 if( pxMutexHolder != NULL )
\r
3185 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3187 /* We must be the running task to be able to give the mutex back.
\r
3188 Remove ourselves from the ready list we currently appear in. */
\r
3189 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
3191 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3195 mtCOVERAGE_TEST_MARKER();
\r
3198 /* Disinherit the priority before adding the task into the new
\r
3200 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3201 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3203 /* Only reset the event list item value if the value is not
\r
3204 being used for anything else. */
\r
3205 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0 )
\r
3207 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3211 mtCOVERAGE_TEST_MARKER();
\r
3213 prvAddTaskToReadyList( pxTCB );
\r
3217 mtCOVERAGE_TEST_MARKER();
\r
3222 mtCOVERAGE_TEST_MARKER();
\r
3226 #endif /* configUSE_MUTEXES */
\r
3227 /*-----------------------------------------------------------*/
\r
3229 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3231 void vTaskEnterCritical( void )
\r
3233 portDISABLE_INTERRUPTS();
\r
3235 if( xSchedulerRunning != pdFALSE )
\r
3237 ( pxCurrentTCB->uxCriticalNesting )++;
\r
3241 mtCOVERAGE_TEST_MARKER();
\r
3245 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3246 /*-----------------------------------------------------------*/
\r
3248 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3250 void vTaskExitCritical( void )
\r
3252 if( xSchedulerRunning != pdFALSE )
\r
3254 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
3256 ( pxCurrentTCB->uxCriticalNesting )--;
\r
3258 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
3260 portENABLE_INTERRUPTS();
\r
3264 mtCOVERAGE_TEST_MARKER();
\r
3269 mtCOVERAGE_TEST_MARKER();
\r
3274 mtCOVERAGE_TEST_MARKER();
\r
3278 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3279 /*-----------------------------------------------------------*/
\r
3281 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
3283 void vTaskList( signed char * pcWriteBuffer )
\r
3285 xTaskStatusType *pxTaskStatusArray;
\r
3286 volatile unsigned portBASE_TYPE uxArraySize, x;
\r
3287 signed char cStatus;
\r
3292 * This function is provided for convenience only, and is used by many
\r
3293 * of the demo applications. Do not consider it to be part of the
\r
3296 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
3297 * uxTaskGetSystemState() output into a human readable table that
\r
3298 * displays task names, states and stack usage.
\r
3300 * vTaskList() has a dependency on the sprintf() C library function that
\r
3301 * might bloat the code size, use a lot of stack, and provide different
\r
3302 * results on different platforms. An alternative, tiny, third party,
\r
3303 * and limited functionality implementation of sprintf() is provided in
\r
3304 * many of the FreeRTOS/Demo sub-directories in a file called
\r
3305 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
3306 * snprintf() implementation!).
\r
3308 * It is recommended that production systems call uxTaskGetSystemState()
\r
3309 * directly to get access to raw stats data, rather than indirectly
\r
3310 * through a call to vTaskList().
\r
3314 /* Make sure the write buffer does not contain a string. */
\r
3315 *pcWriteBuffer = 0x00;
\r
3317 /* Take a snapshot of the number of tasks in case it changes while this
\r
3318 function is executing. */
\r
3319 uxArraySize = uxCurrentNumberOfTasks;
\r
3321 /* Allocate an array index for each task. */
\r
3322 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
\r
3324 if( pxTaskStatusArray != NULL )
\r
3326 /* Generate the (binary) data. */
\r
3327 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
3329 /* Create a human readable table from the binary data. */
\r
3330 for( x = 0; x < uxArraySize; x++ )
\r
3332 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
3334 case eReady: cStatus = tskREADY_CHAR;
\r
3337 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
3340 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
3343 case eDeleted: cStatus = tskDELETED_CHAR;
\r
3346 default: /* Should not get here, but it is included
\r
3347 to prevent static checking errors. */
\r
3352 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, ( char ) cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
3353 pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
\r
3356 /* Free the array again. */
\r
3357 vPortFree( pxTaskStatusArray );
\r
3361 mtCOVERAGE_TEST_MARKER();
\r
3365 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */
\r
3366 /*----------------------------------------------------------*/
\r
3368 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
3370 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
3372 xTaskStatusType *pxTaskStatusArray;
\r
3373 volatile unsigned portBASE_TYPE uxArraySize, x;
\r
3374 unsigned long ulTotalTime, ulStatsAsPercentage;
\r
3379 * This function is provided for convenience only, and is used by many
\r
3380 * of the demo applications. Do not consider it to be part of the
\r
3383 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
3384 * of the uxTaskGetSystemState() output into a human readable table that
\r
3385 * displays the amount of time each task has spent in the Running state
\r
3386 * in both absolute and percentage terms.
\r
3388 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
3389 * function that might bloat the code size, use a lot of stack, and
\r
3390 * provide different results on different platforms. An alternative,
\r
3391 * tiny, third party, and limited functionality implementation of
\r
3392 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3393 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3394 * a full snprintf() implementation!).
\r
3396 * It is recommended that production systems call uxTaskGetSystemState()
\r
3397 * directly to get access to raw stats data, rather than indirectly
\r
3398 * through a call to vTaskGetRunTimeStats().
\r
3401 /* Make sure the write buffer does not contain a string. */
\r
3402 *pcWriteBuffer = 0x00;
\r
3404 /* Take a snapshot of the number of tasks in case it changes while this
\r
3405 function is executing. */
\r
3406 uxArraySize = uxCurrentNumberOfTasks;
\r
3408 /* Allocate an array index for each task. */
\r
3409 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
\r
3411 if( pxTaskStatusArray != NULL )
\r
3413 /* Generate the (binary) data. */
\r
3414 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
3416 /* For percentage calculations. */
\r
3417 ulTotalTime /= 100UL;
\r
3419 /* Avoid divide by zero errors. */
\r
3420 if( ulTotalTime > 0 )
\r
3422 /* Create a human readable table from the binary data. */
\r
3423 for( x = 0; x < uxArraySize; x++ )
\r
3425 /* What percentage of the total run time has the task used?
\r
3426 This will always be rounded down to the nearest integer.
\r
3427 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
3428 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
3430 if( ulStatsAsPercentage > 0UL )
\r
3432 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3434 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
3438 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3439 printf() library can be used. */
\r
3440 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
3446 /* If the percentage is zero here then the task has
\r
3447 consumed less than 1% of the total run time. */
\r
3448 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3450 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3454 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3455 printf() library can be used. */
\r
3456 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3461 pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
\r
3466 mtCOVERAGE_TEST_MARKER();
\r
3469 /* Free the array again. */
\r
3470 vPortFree( pxTaskStatusArray );
\r
3474 mtCOVERAGE_TEST_MARKER();
\r
3478 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */
\r
3479 /*-----------------------------------------------------------*/
\r
3481 portTickType uxTaskResetEventItemValue( void )
\r
3483 portTickType uxReturn;
\r
3485 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
3487 /* Reset the event list item to its normal value - so it can be used with
\r
3488 queues and semaphores. */
\r
3489 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3493 /*-----------------------------------------------------------*/
\r
3495 #ifdef FREERTOS_MODULE_TEST
\r
3496 #include "tasks_test_access_functions.h"
\r
projects / freertos / blob